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Precise position control of an ultrasonic motor using the PID controller combined with NN
Author(s) -
Tanaka Kanya,
Oka Masato,
Uchibori Akihiko,
Iwata Youichirou,
Morioka Hiroshi
Publication year - 2004
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.10199
Subject(s) - pid controller , control theory (sociology) , backpropagation , controller (irrigation) , nonlinear system , ultrasonic motor , artificial neural network , control engineering , engineering , computer science , control (management) , artificial intelligence , temperature control , physics , mechanical engineering , agronomy , stator , quantum mechanics , biology
The input‐output characteristic of an ultrasonic motor (USM) has nonlinear elements and changes with a temperature rise or fluctuation of load‐mass. Therefore, it is difficult to accomplish satisfactory control performance by using conventional PID controllers. In this paper, we propose a PID controller combined with a neural network (NN‐PID controller). In this design method, the controller gains consist of constant gains of the PID controller and variable gains of the NN controller. The weights of the NN are adjusted by the backpropagation method so that the control error can be minimized. This method does not require long learning time of the NN. The effectiveness of the proposed design method is confirmed by experiments using an existing USM. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 146(3): 46–54, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10199