自动化与仪器仪表
自動化與儀器儀錶
자동화여의기의표
AUTOMATION & INSTRUMENTATION
2014年
1期
6-9
,共4页
PID神经元网络%智能车%控制系统
PID神經元網絡%智能車%控製繫統
PID신경원망락%지능차%공제계통
PID neural network%Intelligent vehicle%Speed control system
研究了基于PID神经元网络的智能车多变量控制系统。智能车的转向控制与速度控制相互关联、相互影响、且都具有时变性，针对智能车在行驶时要求电机的动态响应速度要快、舵机的动态响应时间要短的特点，提出了将PID神经元网络（PIDNN）控制器及其算法应用到智能车的控制系统中来对传统PID控制进行改进。PIDNN控制系统不依赖智能车电机与舵机的数学模型，能够根据控制效果在线训练和学习，调整网络连接权重值，最终使系统的目标函数达到最小来实现智能车的精确控制。Matlab仿真测试表明，PIDNN控制系统的响应快，超调小、无静差，与传统PID控制算法相比，大大提高了智能车控制系统的性能。
研究瞭基于PID神經元網絡的智能車多變量控製繫統。智能車的轉嚮控製與速度控製相互關聯、相互影響、且都具有時變性，針對智能車在行駛時要求電機的動態響應速度要快、舵機的動態響應時間要短的特點，提齣瞭將PID神經元網絡（PIDNN）控製器及其算法應用到智能車的控製繫統中來對傳統PID控製進行改進。PIDNN控製繫統不依賴智能車電機與舵機的數學模型，能夠根據控製效果在線訓練和學習，調整網絡連接權重值，最終使繫統的目標函數達到最小來實現智能車的精確控製。Matlab倣真測試錶明，PIDNN控製繫統的響應快，超調小、無靜差，與傳統PID控製算法相比，大大提高瞭智能車控製繫統的性能。
연구료기우PID신경원망락적지능차다변량공제계통。지능차적전향공제여속도공제상호관련、상호영향、차도구유시변성，침대지능차재행사시요구전궤적동태향응속도요쾌、타궤적동태향응시간요단적특점，제출료장PID신경원망락（PIDNN）공제기급기산법응용도지능차적공제계통중래대전통PID공제진행개진。PIDNN공제계통불의뢰지능차전궤여타궤적수학모형，능구근거공제효과재선훈련화학습，조정망락련접권중치，최종사계통적목표함수체도최소래실현지능차적정학공제。Matlab방진측시표명，PIDNN공제계통적향응쾌，초조소、무정차，여전통PID공제산법상비，대대제고료지능차공제계통적성능。
Research on intelligent vehicle multi variable control system based on PID neural network. The steering control and speed control of interrelated connected to each other, and influence each other, and has time-varying , for smart car when driving mo-tor faster dynamic response, the steering gear of the characteristics of dynamic response time is shorter, the PID neural network (PIDNN) controller and its algorithm are put forward to improve the classic PID control. PIDNN control system does not rely on the mathematical model of intelligent car motor and steering gear, can according to the control effect of online training and learning, and adjust the network connection weights, eventually make the system objective function to minimize to realize accurate control of the smart car. Matlab simulation tests show that the PIDNN control system fast response, small overshoot, no steady-state error, com-pared with the traditional PID control algorithm, greatly improves the performance of the intelligent vehicle control system.
