Quick and Precise Position Control of Ultrasonic Motor Using PI Controller Combined with NN
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概要
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We propose the Pl controller combined with neural network to position control of USM. The PI controller can control even if the control objects is strange. However, in case of the control object is nonlinear or time varying system, Pl controller cannot carry out precise control. This proposed method, the Pl controller is used as main, and NN rectifies the portion which cannot be compensated by Pl controller. Weights of NN are adjusted by back propagation method so that control error may be minimized. And drive frequency is selected by two values to realize high-speed position control. The effectiveness of proposed design method is confirmed by experiments using the existent USM.
- 一般社団法人 日本機械学会の論文
一般社団法人 日本機械学会 | 論文
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