RBFNN speed compensate controller use in high precision servo systems

Hongjie Hu; Dedi Li

doi:10.1117/12.807394

13 October 2008 RBFNN speed compensate controller use in high precision servo systems

Hongjie Hu, Dedi Li

Proceedings Volume 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration; 71291A (2008) https://doi.org/10.1117/12.807394
Event: Seventh International Symposium on Instrumentation and Control Technology, 2008, Beijing, China

Abstract

This paper proposed three control schemes using model reference adaptive control (MRAC) and RBF neural network(RBFNN). Through comparision, it proposed a MRAC scheme with RBFNN compensator for speed control of high precision servo systems. The MRAC scheme is used to give better solutions with online adaptation and guarantee the stablity of the system. In the feedback channel, the parameter K_p makes it easier to design the system poles. By using a PI controller before K_p, the dynamic performance of the system is improved. As a speed compensate controller, the RBFNN is designed parallel with the model reference control. The RBFNN controller is able to online learn the unknown model dynamics, parameter variation and disturbance of the system. Thus, it is feasible to preserve favorable model-following characteristics under various conditions. The effectiveness of the proposed control scheme is demonstrated by simulation. It is found that the proposed scheme can reduce the plant's sensitivity to parameter variation and disturbance. High precision performance is obtained when given constant and sine wave disturbance at the same time.

Citation Download Citation

Hongjie Hu and Dedi Li "RBFNN speed compensate controller use in high precision servo systems", Proc. SPIE 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration, 71291A (13 October 2008); https://doi.org/10.1117/12.807394

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