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Intelligent IMC-PID Control for Ultrasonic Motor
Shenglin Mu,Kanya Tanaka,Yuji Wakasa,Takuya Akashi,Yuki Nishimura,Masato Oka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Ultrasonic motor(USM) is an electronic motor which causes serious characteristic changes during operation and contains non-linearity caused by friction. For USM control application, proportional integral differential(PID) con-trol is a widespread control method. But inpractical process, setting three gains before hand is not an easy work. On the other hand, the internal model control type PID(IMC-PID) which requires only one parameter setting beforehand, mainly used in process control, is more effective relatively. However, in USM control, there are limitations of control perfor-mance on conventional fixed-gain type IMC-PID control since USM’s characteristic changes and non-linearity caused by friction. So, in this paper we propose an improved method of variable gain type IMC-PID control combined with neural network(NN) named “intelligent IMC-PID for USM”. In this proposed method, system identification method is adopted to over come serious characteristic changes and neural network is used to compensate non-linearity. And the effectiveness of the proposed method has been confirmed by experiments.
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