超声波电机转速的PIDNN控制

针对行波超声波电机运行过程中的较强时变性与非线性特征,引入了一种比例—积分—微分神经元网络(PIDNN)电机速度控制器.控制器网络融合了状态转换函数,具备动态映射能力,利用PID控制律先验知识确定权值初值,通过可变学习速度反传算法(VLBP)在线学习,使训练结果快速收敛,不易陷入局部极小,从而实现对超声波电机稳定快速的控制.采用参数变化电机模型对控制器进行仿真校验,仿真结果表明:方法具有较快的响应速度和较高的鲁棒性,能通过在线学习补偿电机运行过程中的非线性.

PIDNN rotating speed control of ultrasonic motor

Aiming at strong time-varying and non-linear characteristics in the process of ultrasonic motor operation,a motor speed proportion integration differentiation neural network(PIDNN)controller is introduced. The controller network fuses the state transition function,and uses the PID control law prior knowledge to determine the initial value of the weights. Through the variable learning speed BP(VLBP)algorithm,training results are quickly converged and it is difficult to fall into the local minimum,so as to stably and fastly control ultrasonic motor. Use parametric-variable motor model to simulate and verify controller. The simulation results show that the method has a fast response speed and high robustness,and can compensate the nonlinearity of the motor during operation by online learning.