The Artificial Neural Networks applied to servo control…人工神经网络应用于伺服控制.pdfVIP

18 The Artificial Neural Networks applied to servo control systems Yuan Kang1 , Yi-Wei Chen2, Ming-Huei Chu2, Der-Ming Chry2 1Department of Mechanical Engineering, Chung Yuan Christian University 2Department of Mechatronical Engineering, TungNan University Abstract: This chapter utilizes the direct neural control (DNC) based on back propagation neural networks (BPN) with specialized learning architecture applied to the speed control of DC servo motor. The proposed neural controller can be treated as a speed regulator to keep the motor in constant speed, and be applied to DC servo motor speed control. The proposed neural control applied to position control for hydraulic servo system is also studied for some modern robotic applications. A tangent hyperbolic function is used as the activation function, and the back propagation error is approximated by a linear combination of error and error!s differential. The simulation and experiment results reveal that the proposed neural controller is available to DC servo control system and hydraulic servo system with high convergent speed, and enhances the adaptability of the control system. Keywords: Neural networks, DC servo motor, Speed regulator, Speed control, Hydraulic servo System 1. Introduction The neural controls have been put into use in various fields owing to their capability of on line learning and adaptability. In recent years, many learning strategies for neural control have been proposed and applied to some specified nonlinear control systems to overcome the unknown model and parameters variatio