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SU Xiao-dong, LUO Qing-sheng, ZHI Wei. Improved single-neuron PID controller for DC motor applied in robot system[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2012, 21(4): 472-478.
Citation: SU Xiao-dong, LUO Qing-sheng, ZHI Wei. Improved single-neuron PID controller for DC motor applied in robot system[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2012, 21(4): 472-478.
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Improved single-neuron PID controller for DC motor applied in robot system

  • School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081,China

  • Received Date:2011-09-29
    Abstract
  • An improved single-neuron proportional integral derivative (PID) controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an external load to DC motor. Both the motor module and the load module are created in Simulink to achieve simulation results closer to real robot system. In this way, it can well verify the performance of the improved single-neuron PID controller, which is a combined controller of normal PID controller and single-neuron PID controller. Besides, an intelligent switcher can help to realize the function of choosing a better control algorithm according to motor’s velocity output. Simulated results confirm the rapid and stable response of the improved PID controller. Moreover, the improved single-neuron PID controller has an excellent ability to overcome the load impact and supress the jamming signals. At last, a GUI interface platform is built to make the controller easier to be applied in other robot systems.
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