IMC-PID Control of Ultra-Sonic Motor Servo System Based on Neural Network

Author

Li, Shan ; Li, Jinhua

Author_Institution

Dept. of Electron. Inf. & Autom., Chongqing Univ.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8275

Lastpage

8279

Abstract

Aimed at ultra-sonic motor (USM) has nonlinear input-output characteristics and the control parameters of conventional internal model control (IMC) cannot adjust automatically, an neural network (NN) is employed to tune the parameter of the IMC-PID control. The parameter is tuned online, and this will compensate the characteristics variation and uncertain non-linearity of the USM. Let the parameter be the output of the 3-layer NN. NN can get the suitable control parameters of a real-time control system after on-line learning. The weights of the NN are updated to minimize the positioning error of the USM servo system. The experiment results are shown that the control strategy is effective

Keywords

machine control; neurocontrollers; servomotors; three-term control; ultrasonic motors; IMC-PID control; internal model control; neural network; nonlinear input-output characteristics; on-line learning; parameter tuning; real-time control system; ultrasonic motor servo system; Automatic control; Control systems; Error correction; Neural networks; Nonlinear control systems; Position control; Servomechanisms; Servomotors; Three-term control; Torque; IMC-PID; Neural network; Servo system; Ultra-Sonic motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713588

Filename

1713588