Improved single-neuron PID controller for DC motor applied in robot system

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An improved single-neuron proportional integral derivative ( PID) controller and a new method to build the DC motor system w ere 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 w ay，it can w ell verify the performance of the improved single-neuron PID controller，w hich is a combined controller of normal PID controller and single-neuron PID controller． Besides，an intelligent sw itcher 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．