基于单神经元PID的挖掘机铲斗位姿自适应控制

为实现挖掘机作业过程自动控制，需要对铲斗位姿准确定位。建立了挖掘机工作装置运动学模型及电液控制系统模型，针对挖掘机电液控制系统的时变性与外界干扰的不确定性特点，设计了一个单神经元自适应PID控制器，并采用二次型性能指标对控制器参数进行在线优化。仿真试验表明，该控制器响应快速、平稳，对参数时变与不确定扰动具有一定鲁棒性，能有效地对挖掘机铲斗位姿进行精确控制。

Adaptive control for bucket position of excavator based on single neuron PID

To control a excavator automatically,the bucket position should be precisely controlled.The kinetic model of the working unit and model of the electro hydraulic control system for the excavator were built. According to the characteristics such as parameter uncertainty of the electro hydraulic control system and uncertain disturbance, a single neuron proportional integral derivative (PID) controller was developed to implement the adaptive control of the bucket position. The optimum parameters of the controller were obtained by minimizing the quadratic performance index. The simulation experiments demontrate that the single neuron PID controller is more precise and robust than the traditional PID, and can control the bucket position effectively.