基于神经网络—遗传算法的双轴运动系统PID控制

The PID Controller of the Two-Axis Moving System Based on the Neural Network and Genetic Algorithm

提出了一种针对双轴运动系统的基于神经网络一遗传算法的PID控制器参数寻优设计方案。离线部分用遗传算法 (GA)的寻优得到一组最优的PID参数K p ,K i ,K d ,并将其作为在线调整部分的初始值 ;在线部分用神经网络的BP网络调整系统的瞬态PID响应 ,同时利用插补器使双轴运动系统进行圆弧插补运动。通过计算机仿真可证明 。

In order to optimize the PID controller of the Two-Axis Moving System,a method based on neural network and Genetic Algorithm(GA)is presented.By means of off-line genetic algorithm,a group of optimal PID parameters K * p,K * i,K * p are obtained,which are used as the initial values for the on-line tuning part.In the on-line part,BP network is used to adjust the PID parameters on-line.And by using interpolator,the Two-Axis Movement system makes round movement.The results of computer simulation show that the method presented has good control performance.