Microcontroller-Based B-Spline Neural Position Control for Voice Coil Motors

Author

Chun-Fei Hsu ; Yi-Chuan Chen

Author_Institution

Dept. of Electr. Eng., Tamkang Univ., Taipei, Taiwan

Volume

62

Issue

9

fYear

2015

fDate

Sept. 2015

Firstpage

5644

Lastpage

5654

Abstract

Since the system dynamic of a voice coil motor (VCM) is difficult to obtain, this paper uses a B-spline neural network to online approximate an unknown nonlinear term in the system dynamics of a VCM by tuning its interior parameters. Meanwhile, a B-spline neural position control (BNPC) system, which is composed of a position controller and a fuzzy compensator, is proposed. A proportional-integral adaptation law is derived to speed up the convergence of tracking error in the sense of the projection algorithm and Lyapunov stability theorem. Finally, the proposed BNPC system is implemented on a 32-b microcontroller. The experimental results show that the proposed BNPC system is robust against payload variations with high accuracy motion response.

Keywords

Lyapunov methods; PI control; machine control; microcontrollers; neural nets; neurocontrollers; position control; splines (mathematics); Lyapunov stability theorem; fuzzy compensator; microcontroller-based B-spline neural position control; neural network; position controller; projection algorithm; proportional-integral adaptation law; tracking error; voice coil motors; Approximation error; Force; Microcontrollers; Position control; Splines (mathematics); Vectors; B-spline neural network; B-spline neural network (BNN); Lyapunov function; microcontroller; voice coil motor; voice coil motor (VCM);

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2015.2416347

Filename

7067382