单神经元PID在多电机控制中的应用.pdfVIP

59 PID , , (东华大学 机械工程学院, 上海 201600) : 本文通过对多电机同步控制的原理及其特点分析, 设计了具有自学习和自适应能力的单神经元PID 同步控制器,建立了单 神经元PID控制规则, 提出了多电机同步控制的单神经元 PID学习算法系统仿真结果表明, 运用单神经元自适应 PID控制器 能有效实现多电机同步控制, 收敛速度较快, 鲁棒性较好, 且抗干扰能力强最后, 基于MCF5235微控制器, 通过VxW orks实时嵌 入式操作系统,应用于四轴同步控制系统, 结果表明单神经元自适应PID 同步控制器能大大增强系统的动态性能,有效缓解负载 带来的同步误差,在相同扰动情况下, 该方法能更好的使多电机以一定速度同步运行 : 多电机 MCF5235微控制器 单神经元PID控制器 M atlab仿真 嵌入式操作系统 : P273. 3 : B : 1002- 6886( 2010)04- 0004- 04 Application of SingleNeuron PID inMultimotor Control LI Junl,i HE Yong, WANG Sheng e Abstract: According to the principles and characteristics of the multimotor synchronous control, a single neuron adaptive PID control and synchronous controllerw ith the selfleaning and adaptive ability was designed. Control rulesw ere set and the single neuron adaptive con trol andPID control learning algorithm wasproposed. System smi ulation results showed that the single neuron adaptivePID controllerwasable to controlmultimotor synchronous control system effectively, w ith higher convergence speed, better robustness and stronger antijamm ing abil ity. Finally, based onMCF5235 microcontroller, the controllerw ith VxWorks realtmi e embedded operating system, was used in fouraxis smi ultaneous control system. Results showed that system dynamic performance was enhanced greatly by the single neuron adaptive PID syn chronous controller; synchronization errors caused by the loadw ere alleviated effectively. In the same circumstances, the motor can operate synchronously betterw ith certain speed by thismethod. Key words: multimotor; MCF5235microcontroller; single neuron adaptive PID controller; matlab smi ulation; embedded operating system PID, 0 , PID