ANALYSIS AND IMPROVEMENT OF INTELLIGENT PID CONTROL

ALGORITHM BASED ON NEURAL NETWORK

ZHUO ZENG', JIAN MING LIAO', JIAN-PING LI" 2

'School of Software, University of Electronic Science and Technology of China, Chengdu, 610054, China
2International Centre for Wavelet Analysis and Its Applications, Logistical Engineering University, Chongqing, 400016,
China
E-MAIL:zz20036900@ I63.com

Abstract:
A kind of adaptive PID control algorithm is analyzed, and
the drawbacks of the existing algorithms are commented. As
an improvement, a neural network intelligent control
algorithm based on one-step prediction is developed. Result
show that the new control method is more adaptable to the
control of time-varying and nonlinear control systems.
Keywords:
Neural networks; intelligent PID control; one-step
prediction
1. Introduction
2. Neural network intelligent PID control system
The control system structure as shown in Figure 1. In
Figure 1 , Neural network AN1 target for the online
identification; AN2 is the single neuron that has three
entered. I represent the ratio of deviation signalL;
represents the integral of deviation signal; iA represents the
differential of deviation signal. Obviously single
neuron AN2 has the structure of PID controller.

PID control has been widely used for various real

control systems so far. This is because the PID controller is
simple in structure, small reliance on the model and easy to
implement on projects [1]. But, when the object is nonlinear
and time-varying characteristics, the traditional PID control
is often difficult to achieve satisfactory control results.
In recent years, People are greatly concerned about
artificial neural network. The combination of neural
network and traditional control theory has made great
progress in the control area [2]. The various existing PID
algorithm controller parameters to adjust output are the
smallest step forecast error for the optimization of
indicators. The single-step forecast error can not be better
reflecting the dynamic and, static system response
composite indicator [3]. In order to make the next step
output error minimum, Controller proportional gain regular
tune too big that makes the systems oscillated.
In this paper, the neural network controller of the
intelligent PID done a detailed analysis of the phenomenon, Figure. 1. Neural networks intelligent PID control System
and a one-step output forecast of intelligent PID algorithm In a given standard on the optimization and neural
was proposed.
network learning algorithm, the controller parameters
gradually approach the best merits of PID parameters of
self-optimizing [4]. The information about the object model
which PID parameters optimization need, can be obtained,

978-1-4244-3425-1/08/$25.00 42008 IEEE 53

from AN, It was described as follows:
y(t + 1) = f[y(t), ., y(t - n +1),
u(t), .., u(t - m + 1)] (
Specifically, y (t) is the enter of the target, and u (t) is
the output of the target at the T moment. N is the order;
f nRm+R is nonlinear function [5]. Because the
feed-forward neural network (BP network) of the three-tier
structure can approach any function with the precision of
expectations, so AN1adopt three-tier BP neural network.
the network structure and learning algorithms, object model
ANI and the input r(t) all were used to forecast the next
step output y(t + 1) the same ,and adjust the PID
parameters of AN2 the according to optimization
indicators. I will introduce a kind of controller learning
algorithm .The controller is:
u(t) = k1 (t)1A (t) + k2 (t)h2 (t) + k3 (t)h3 (t)
(t) e(t) = r(t) - y(t)
t

The network input layer as follow: h2(t) = E e(i)

i=O

Oil(t)=y(t-k),O<k<n-1
k u(t-k+n),n<k<m+n-1
2
(2) h3(t) = Ae(t) = e(t) - e(t -1)
(7)
The hidden network as follow:
Optimization indicators:
r (t) kt) (t)+0
E vrk (t)1k
t net = I A 2
k J(t)=-[r(t+1)-y(t+1)]
2
(3)
02(I) = si g(net (t)) A
A

,Lki (t)=A[r(t+l)-y(t+l)]hi (t)ay(t+I )

au(t)i,
i4=l2,3
Specifically,trk
v (t) is coefficient, 0 is the hidden
r
threshold, and si g( is the activation function. (8)
sig(x) = (1- e-x) /(1 + e-x) (4) Let us analysis the change of e proportional
The output layer of the network is:
gain ki (t) of PID controller:
Ak1(t) =
y(t + 1) = E Wr (t)02 (t) +)y
A

(5) A
A 8y(t +)
A[r(t + 1) - y(t + 1)] [r(t) - y(t)] ut )
y is the output of neural network AN,, wr is the
coefficient of neural network, and y is the threshold. (9)
Reverse propagation algorithm was used to learning and A/

change the coefficient of neural network and threshold [6]. In the formula, y(t + 1) / u(t) is the relationship
So we have this Performance indicator: of object model between input and output. For most of
1 A the actual object, its symbolic value is certain, its can be
Jm =-_y(t + 1)-y(t + 1)] (6) set up its positive. From the formula (9), we can see,
m2 A

3. The PID learning algorithm based on single-step
forecast output
Although many intelligent PID control algorithm,
Based on various neural network, are little different form
only when [r(t) - y(t)] and r(t + 1) - y(t + 1)] were different,
in the other words only when Before step is less than a
given value and then the next step over a given value,
A k1 (t) was negative [7].
Compared to the traditional PID algorithm, The PID

54
learning algorithm has two main advantages: (1) to achieve
stability in the transition process and increase the time was
shorter than before. (2) Adaptive strong, difficult changes in 80 _
the external environment. Conventional PID control system TI
70 1
in the control of a process before the target must be tuning 60 T2
PID parameters, including the proportional gain, integration 50 AI
time, the time differential [8]. However, BP neural network 40
PID control system as PID parameters of the online setting, 30
the system can quickly adapt to the changes, and other 20
parameters, which can better track a given value, thereby 10
improving the quality of products. This shows that BP
neural network PID control of the multi-variable, strong
coupling, nonlinear, the time delay of the system has good
control [9]. t [s]

4. Simulation Figure 2. Output final iterative process

System 1:
y(t + 1) = 0.6y(t) - 0.3y(t - 1)
+0. lu(t) + 0. lu(t - 1)
Square-wave signals are input into the system, which
Signal cycle is 100 and signal amplitude is 1. The 4 - 10 - 1
of the three-tier BP is used to identification.
The initial PID parameters are: kl (O) 0.1, k2 (0) =
0. 1, k3(0) =0.1. AN, network weights learning step r =
0.1, Controller parameters learning step X = 0.1. When t =
5000, PID parameters have converged in k = 0.39, k2 =
2.37,k3 =1.1. At this point system response curve see
Figure 2 curve TI.
System 2:
y(t + 1) = (0.3 +0. le-Y 2 (t))yt
-(0.1+ 0.09e-y (t) )y(t -1)
+0. lu(t) + 0. lu(t - 1) + 0.05u(t)y(t - 1)
The initial conditions of System 2 are the same as
system 1.
The initial PID parameters are: kl () = 0.1,
k2(0) = 0.1, k3(0) =0.1. AN, network weights
learning step q = 0.1, Controller parameters learning step
X = 0.1. When t = 6000, PID parameters have converged
in k1 = 0.90, k2 = 2.21, k3 =0.70. At this point system
response curve see Figure 2 curve T2.
5. Conclusions
In this paper, one-step prediction control
strategy expanded reflects useful information of the static
and dynamic system and enhanced the capacity of
self-optimizing of PID controller. Large number of
simulation showed that when the object faster response (in
a short period of several sampling cycle so that the output
changes to the specified value), the parameters of an
inevitable convergence. Practice has proved method is
effective.
Acknowledgements
This work was supported by the National High
Technology Research and Development Program of China
(No:2007AAOZ423), the National Natural Science
Foundation of China (No:60703113), China Academy of
Engineering Physical (No:2006Z0604), Sichuan Science
and Technology Project, Sichuan Committee of Economics
Project (No:2008CD00053) and Chongqing Natural
Science Foundation Project.
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