Scientific Journal of Control Engineering

April 2014, Volume 4, Issue 2, PP.58-63

The Design of Constant Tension System Based

on BP Neural Network PID Control
Wenan Kang1, Ting Chu 2#, Haixia Zhao2
1. College of Mechanical and Electronic Engineering, Shandong University of Science & Technology, Qingdao 266590, China
2. College of Electromechanical Engineering, Qingdao University of Science & Technology, Qingdao 266061, China
#

Email: chuting2012@126.com

Abstract
In textile machinery, to improve product quality requires us to control the tension of the yarn. This paper designs a kind of constant
tension control system by using proportional tension regulating circuit, the master controller uses the programmable controller,
algorithm uses the BP neural network PID control algorithm to overcome the shortcomings of conventional PID controller and
achieve the on-line adjustments of proportional, differential, integral parameter. The simulation results show that the BP neural
network PID control effect is better than conventional PID, fast response, less overshoot, small steady-state error, and strong
anti-interference capability.
Keywords: Proportional Tension Regulating Circuit; Constant Tension Control; Conventional PID Controller; BP Neural
Network PID

BP PID
1, 2 2
1. 266590
2. 266061

BP PID PID
BP PID PID

PID BP PID

PID
[1]
; BP PID PID

1
1.1
F
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[2]

1.2

[2]
F pV / 2 R

(1)

p
V

1 F p R
p p1 p2 p1 p2 p2
p1 R
1 PLC

2 BP PID
2.1 PID
PID
[3]PID 2
PID PID e(t ) r (t ) c(t ) r (t )
c(t ) e
PID
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u(t ) u(t 1) k p (e(t ) e(t 1)) ki e(t ) kd (e(t ) 2e(t 1) e(t 2))

(2)

u (t ) k p kd ki e(t )
PID

2 PID

2.2 BP PID
PID BP PID k p kd
ki

u(t ) f (u(t 1), k p , ki , kd , e(t ), e(t 1), e(t 2))

(3)

f ( ) u(t ), u(t 1), k p , ki , kd

k p ki kd

3 BP PID

BP PID 3 BP PID BP PID

PID PID

2.3 BP

4 BP
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PID
k pkikd Sigmoid
Sigmoid [4]
BP 4-5-3BP 4
4 :
o(1)
j xt j e(t j )( j 1, 2,3)

(4)

:
x1 e(t ) e(t 1)

x2 e(t )

x3 e(t ) 2e(t 1) e(t 2)

x4 u (t 1)

(5)

M
(2)
net
(
t
)

wij(2) o(1)

j
i
j

o(2) (t ) f net (2) (t ) i 1

2 3
4 5
i
i

(6)

net l(3) Q wli(3) oi(3) (t )

i 0

oi(3) (t ) g (net l(3) (t ))(l 1

2 3)
(3)
o1 (t ) k p
(3)
o2 (t ) k
o(3) (t ) k
d
3

(7)

(2)

w ij

(1)(2)(3)

:
1
E (t ) (r (t ) y (t ))2
2

(8)

[5]

wli(3) (t)

E (t )
wli(3) (t 1)
wli(3)

(9)

wli(3) (t) wli(3) (t-1) i(3) oi(2) (t )

y (t ) u (t )
(3)
(3)
2
3)
i e(t )sin u (t ) o(3) (t ) g (netl (t ))(l 1
l

(10)

w ij(2) (t ) ow ij(2) (t 1) i(2) o(1)

j (t )

3
(2) f (net (2) (t )) (3) w(3) (t )
i

i
l
li

l 1
g () g ( x)(1 g ( x))

f () (1 f (2) ( x)) 2
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(11)

3
MATLAB PID 5 BP
6

5 PID

6 BP

5 6 BP PID 13.68s
PID

7 BP PID PID
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 7BP PID PID 15s

kp=0.4217ki=0.7096 kd=0.4443

4
BP PID
PID BP PID
PID

REFERENCES
[1] . PID [M]. : , 2004 [Yonghua Tao. New PID Control and Its Application [M].
Beijing, China Machine Press .2004]
[2] . PID [J]. /2009 .[Yu Shen. Constant Tension Control Based on Fuzzy PID.[J]
Hydraulic and Pneumatic Seals / 2009 second period.]
[3] .[M]. : , 2008[Aimin Xi. Fuzzy Control Technology [M]. Xi'an, Xi'an
University of Electronic Science and Technology Press .2008]
[4] .[M]. : .[Lina Xu . Neural Network Control [M]. Harbin, Harbin Institute of
Technology Press. ]
[5] . PID MATLAB [M]. : , 2003.[Jinkun Liu . Advanced PID Control and
MATLAB Simulation [M] Beijing: Electronic Industry Press, 2003.]

1989-

1988-

Email: huting2012@126.com

Email: kangwenan2012@126.com

1970-

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