锻造操作机大车行走机构的单神经元自适应 PID 控制

摘要

In order to solve the delay problem caused by the large moment of inertia in the process of transporting forgings ,the dynamics model of walking mechanism of forging manipulator cart is established and the single neuron adaptive PID control algorithm is proposed .The single neuron adaptive PID control model of cart w alking mechanism is simulated .T he simulation results show :While the single neuron adaptive PID control is used ,the overshoot amount is lower than 3 s and is less than the critical overshoot volume of the traditional PID .The running state of the cart will enter the steady state after 3 s .The walking device response acceleration is up to 1 000 mm・s-2 ,the speed adjustment error is ± 5 mm・s-1 ,the cart w alking repeat positioning error is less than ± 10 mm .%为了解决锻造操作机在运送锻件过程中因惯量较大原因引起的响应滞后问题，通过建立锻造操作机大车行走机构动力学模型，提出了单神经元自适应PID控制算法．对锻造操作机大车行走机构单神经元自适应PID控制模型进行仿真．仿真结果表明：采用单神经元自适应PID控制时，超调量低于3s，小于传统PID临界超调量；大车在3s之后达到匀速运行状态，大车行走机构响应加速度达1000mm・s－2，速度调整误差为±5mm・s－1，大车行走重复定位误差小于±10mm．