퍼지 누럴 네트워크를 이용한 서보모터 드라이브의 강인 적응 위치 제어

Abstract

A robust adaptive position control algorithm is proposed for servomotor drive system with uncertainties and load disturbance. The proposed controller is comprised of a nominal controller and a robust control. The nominal controller is designed in the condition without all the external load disturbance, nonlinear friction and unpredicted uncertainties. The robust controller containing lumped uncertainty approximator using fuzzy-neural network(FNN) is designed to dispel the effect of uncertainties and load disturbance. The interconnection weight of the FNN can be online tuned in the sense of the Lyapunov stability theorem, thus asymptotic stability of the proposed control system can be guaranteed. Finally, simulation results verify that the proposed control algorithm can achieve favorable tracking performance for the induction servomotor drive system.