Neuro-PID Control of Hybrid Machines With 2-DOF for Trajectory Tracking Problems

摘要：

A hybrid-driven machine is such a machine where its drive system combines the servomotor and the constant velocity motor, and the machine has the advantage of application flexibility and low cost. In practical application, accurate trajectory control of this machine is essential. To achieve excellent tracking performance, two control approaches, the traditional Proportion Differential (PD) control and the Neuro-PID (Proportion Integral Differential) control, are adopted to control a hybrid-driven five-bar mechanism in this paper. The control performance of each control approach are compared and simulation results show that the Neuro-PID controller is much more effective than the PD controller in terms of the reduction in position tracking errors.

关键词： hybrid machine Neuro-PID control PD control BP

作者: Zhenghong Chen Yong wang Yan Li

作者单位: School of Mechanical Engineering Shandong University Jinan, China;Engineering Machinery Department S School of Mechanical Engineering Shandong University Jinan, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）