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Since the permanent magnet synchronous motor system in this research needs about 40 ms to finish a control cycle, such a long delay in time strongly causes the bad performance for the conventional controllers, especially for position control. To well control the speed and position, an adaptive neural predictive control is proposed. A two-layer recursive neural network is employed as a speed predictor, and an extended Kalman filter is utilized to tune the parameters of the predictor adaptively. Chaos optimization algorithm and Newton-Raphson optimization are combined to solve the problem of predictive control. As for the speed control, the proposed method shows better performance. The position control is designed based on the speed control. Due to the physical limitation of the plant, the steady state error is still large. Hence, a fuzzy compensator is applied. From the experiment, the error is reduced obviously.

Adaptive Neural Predictive Control for Permanent Magnet Synchronous Motor Systems With Long Delay Time