油圧モータ・負荷系へのニューラルネットの適用 : 第4報,ディザーとPWM信号との併用による効果(機械力学,計測,自動制御)

概要

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In this paper, a Neural Network position control system with both dither and PWM circuits is newly proposed for overcoming the inherent dead zone of a hydraulic motor. To decide the optimum frequency and amplitude of the dither, in the view of the steady characteristics, a design criterion was established by simulation results. The analytical solution using describing function and experimental works confirmed that these values are quite reasonable. Tracking characteristics were experimentally evaluated by providing sinusoidal waves with low frequency and small amplitude as the reference input. As a result, it is clear that the Neural Network control systems using PWM signals together with dither signals, and using only PWM signals considering an adjustable gain, have excellent performance compared to other systems. In addition, the two control systems attained accurate positioning when extremely small step responses are given. However it should be noted that introduction of the adjustable gain have not an effect on steady characteristics.
一般社団法人日本機械学会の論文
2004-07-25