scholarly journals Adaptive PID Control and Its Application Based on a Double-Layer BP Neural Network

Processes ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 1475
Author(s):  
Ming-Li Zhang ◽  
Yi-Jie Zhang ◽  
Xiao-Long He ◽  
Zheng-Jie Gao

In this paper, focusing on the inconvenience of variable value PID based on manual parameter adjustment for the hydraulic drive unit (HDU) of a legged robot, a method employing double-layer back propagation (BP) neural networks for learning the law of PID control parameters is proposed. The first layer is used to learn the relationship between different control parameters and the control performance of the system under various working conditions. The second layer is used to study the relationship between the parameters of the working conditions and the optimizing control parameters under various working conditions. The effectiveness of the proposed control method was verified by simulation and experiment. The results showed that the proposed method can provide a theoretical and experimental basis for the selection of control parameters, and can be extended to similar controllers, therefore possessing engineering application value.

2017 ◽  
Vol 865 ◽  
pp. 417-422
Author(s):  
Xiang Dong Kong ◽  
Kai Xian Ba ◽  
Bin Yu ◽  
Chun He Li ◽  
Qi Xin Zhu ◽  
...  

In this paper, the single leg hydraulic drive system of the quadruped robot is taken as the research object. Then the nonlinear mathematical model of the hydraulic system is built. According to the real mechanical structure parameters of the single leg, the relationship between position control characteristics of the system and variation of single leg trajectory is investigated. Besides, the tracing accuracy of single leg foot displacement in one trot gait condition is analyzed through combination of kinematics solution and simulation analysis. In conclusion, the research indicates that the nonlinear mathematical model can be used to analyze the position control performance of the single leg hydraulic drive system. This research provides a basic foundation for further research of control method.


2004 ◽  
Vol 471-472 ◽  
pp. 528-531
Author(s):  
Y.J. Liu ◽  
X.Z. Kong ◽  
Z.W. Li

A PID controller based on Back-propagation neural networks is presented and used to the pneumatic proportional positioning system in this paper. A proportional valve-cylinder without rod system for buffering and positioning, which is controlled by microcomputer, is designed and completed in this paper. The experimental results show that the system gains self-adaptability because of the application of this control method. And the buffering and positioning of the cylinder can be implemented under different working conditions.


Author(s):  
Pan Yang ◽  
Feng Gao

In this paper, a new kind of 6-legged robot is presented. It was designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism and the actuation can be controlled both by position and force. The mechanism design method of the robot is discussed. The relationship between control method and motion topology under different working conditions is studied. The kinematical model is built, based on which the motion plan are made. The control method is position-force control, so the calculation of actuation force is done. Finally, the simulation result is showed: the robot can drill on the fuselage surface successfully and the position-force control method can improve its performance a lot.


2011 ◽  
Vol 361-363 ◽  
pp. 1795-1798
Author(s):  
Yang Cao ◽  
Zhan Shuang Hu ◽  
Wei Ping Zhao

The PID control is a popularly control method that used in control systems, which is still adopted in many practical application processes.This paper is based on the oringinal navigation aircraft longitudinal channels model,and discusses the setting of navigation autopilot longitudinal channels model in the PID controller parameters, using General Aviation Aircraft Longitudinal channels of PID control parameters optimization based on Genetic Algorithm.In contrast with the simulink7.1 simulation results of the longitudinal channel model, base on the thought of genetic algorithm and use MATLAB language program to get the parameters of the controller, adjusting the parameters to achieve the optimization of PID control parameters. The result of SIMULINK simulation: The PID controller which is designed by using the genetic algorithm is more adaptability, flexibility, and can guarantee the system control effect.


2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhou Zhou ◽  
Xin Cheng ◽  
Hui Chang ◽  
Jingmei Zhou ◽  
Xiangmo Zhao

Due to the complex and diverse forms of automobile emission detection faults and various interference factors, it is difficult to determine the fault types effectively and accurately use the traditional diagnosis model. In this paper, a multicondition auto fault diagnosis method based on a vehicle chassis dynamometer is proposed. 3σ method and data normalization were used to pretreat tail gas data. BPNN-RNN (Back Propagation Neural Networks-Recurrent Neural Networks) variable speed integral PID control method was used to achieve high-precision vehicle chassis dynamometer control. Accurate tail gas data were obtained. The simulation and test results of BPNN-RNN variable speed integral PID control were verified and analyzed. The PID control method can quickly adjust PID parameters (within 10 control cycles), control overshoot within 2% of the target value, eliminate the static error, and improve the control performance of the vehicle chassis dynamometer. Combined with BPNN (Back Propagation Neural Network) and SOM (Self-organizing Maps) network, a BPNN-SOM fault diagnosis model is proposed in this paper. By comparing and analyzing the fault diagnosis performance of various neural networks and SOM-BPNN algorithm, it is found that the SOM-BPNN model has the best comprehensive result, the prediction accuracy is 98.75%, the time is 0.45 seconds, and it has good real-time stability. The proposed model can effectively diagnose the vehicle fault, provide a certain direction for maintenance personnel to judge the vehicle state, and provide certain help to alleviate traffic pollution problem.


2011 ◽  
Vol 255-260 ◽  
pp. 1660-1664
Author(s):  
Han Xiao ◽  
Jia Shi Tang ◽  
Wei Yan

Spring pendulum with single-frequency excitation can be expressed in a group of complicated nonlinear equations. Bifurcation of the spring pendulum with single-frequency is studied in this paper, feedback controllers are designed, analysis method is used to obtain the control equation of excited system, and the relationship function between control parameters and bifurcation is gained. This acts as an implementation of feedback control method to saddle-node bifurcation control, and also brings average method to numerical calculation of multiple-degree-of-freedom nonlinear system.


2012 ◽  
Vol 461 ◽  
pp. 642-646
Author(s):  
Chen Wu ◽  
Guo Huan Lou

In the complex control processes of the industrial boiler combustion system with non-linear, time-varying and multivariable, aim at the original control parameters fixed, slow response, delay regulation and other problems, this paper introduces a control method that combines ant colony algorithm with fuzzy PID control, improves the design of fuzzy control rules table and optimizes the PID control parameters. Simulation results show that this control scheme is superior to conventional PID control and fuzzy PID control.


2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092461
Author(s):  
Qixin Zhu ◽  
Bin Yu ◽  
Zhipeng Huang ◽  
Yan Kang ◽  
Xiangdong Kong ◽  
...  

In this article, the hydraulic drive unit that drives the movement of the joint of a legged robot was researched, aiming at improving the control accuracy of the position-based impedance control system with dual input and single output. The state feedback control containing more state information of the system was adopted to replace the traditional output feedback and proportional-integral-derivative (PID) control, through the real-time calculation of the time-varying parameters of the servo valve flow, the nonlinear state space expression of the system was derived, the state feedback matrix and the input transformation amplifier were obtained and the full-dimensional state observer was designed. The experimental results show that the designed full-dimensional state observer can track the state variables of the actual system better. Compared with the traditional output feedback and PID control, state feedback control performs better in aspects of accuracy and system dynamics for the position-based impedance control system, which can further improve the compliance performance of the robot.


2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.


2018 ◽  
Vol 28 (1) ◽  
pp. 265-272
Author(s):  
Venelin Terziev ◽  
Preslava Dimitrova

The social policy of a country is a set of specific activities aimed at regulating the social relations between different in their social status subjects. This approach to clarifying social policy is also called functional and essentially addresses social policy as an activity to regulate the relationship of equality or inequality in society. It provides an opportunity to look for inequalities in the economic positions of individuals in relation to ownership, labor and working conditions, distribution of income and consumption, social security and health, to look for the sources of these inequalities and their social justification or undue application.The modern state takes on social functions that seek to regulate imbalances, to protect weak social positions and prevent the disintegration of the social system. It regulates the processes in society by harmonizing interests and opposing marginalization. Every modern country develops social activities that reflect the specifics of a particular society, correspond to its economic, political and cultural status. They are the result of political decisions aimed at directing and regulating the process of adaptation of the national society to the transformations of the market environment. Social policy is at the heart of the development and governance of each country. Despite the fact that too many factors and problems affect it, it largely determines the physical and mental state of the population as well as the relationships and interrelationships between people. On the other hand, social policy allows for a more global study and solving of vital social problems of civil society. On the basis of the programs and actions of political parties and state bodies, the guidelines for the development of society are outlined. Social policy should be seen as an activity to regulate the relationship of equality or inequality between different individuals and social groups in society. Its importance is determined by the possibility of establishing on the basis of the complex approach: the economic positions of the different social groups and individuals, by determining the differences between them in terms of income, consumption, working conditions, health, etc .; to explain the causes of inequality; to look for concrete and specific measures to overcome the emerging social disparities.


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