Implementation of an Adaptive Robust Neural Network Based Motion Controller for Position Tracking of AC Servo Drives

Kim, Won-Ho

doi:10.5391/ijfis.2009.9.4.294

Cited by 1 publication

(1 citation statement)

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“…However, this controller depends on only one specific motion system and cannot be widely implemented. Several additional control methods have been introduced, such as optimal control [5], adaptive robust control [6], adaptive robust neural network [7] [8], variable structure control [9] and linear-quadratic regulator (LQR) [10]. However, these solutions do not incorporate existing human knowledge into their algorithm.…”

Section: Introductionmentioning

confidence: 99%

Implementation of Fuzzy Self-Tuning PID and Feed-Forward Design for High-Performance Motion Control System

Ngo¹,

Kim

2014

International Journal of Fuzzy Logic and Intelligent Systems

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The existing conventional motion controller does not perform well in the presence of nonlinear properties, uncertain factors, and servo lag phenomena of industrial actuators. Hence, a feasible and effective fuzzy self-tuning proportional integral derivative (PID) and feed-forward control scheme is introduced to overcome these problems. In this design, a fuzzy tuner is used to tune the PID parameters resulting in the rejection of the disturbance, which achieves better performance. Then, both velocity and acceleration feed-forward units are added to considerably reduce the tracking error due to servo lag. To verify the capability and effectiveness of the proposed control scheme, the hardware configuration includes digital signal processing (DSP) which plays the main role, dual-port RAM (DPRAM) to guarantee rapid and reliable communication with the host, field-programmable gate array (FPGA) to handle the task of the address decoder and receive the feed-back encoder signal, and several peripheral logic circuits. The results from the experiments show that the proposed motion controller has a smooth profile, with high tracking precision and real-time performance, which are applicable in various manufacturing fields.

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