한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제18권4호
  • /
  • Pages.209-218
  • /
  • 2001
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

퍼지 추론 시스템 기반의 다중 신경회로망 제어기를 이용한 초음파 모터의 위치제어

Fuzzy Inference System Based Multiple Neural Network Controllers for Position Control of Ultrasonic Motor

  • 최재원 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 민병우 (부산대학교 기계공학부) ;
  • 박운식 (부산대학교 기계기술연구소)
  • Choi, Jae-Weon (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University) ;
  • Min, Byung-Woo (Busan National University) ;
  • Park, Un-Sik (Mechanical Technology Research Center, Busan National University)
  • 발행 : 2001.04.01
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초록

Ultrasonic motors are newly developed motors which are expected to be useful as actuators in many practical systems such as robot arms or manipulators because of several advantages against the electromagnetic motors. However, the precise control of the ultrasonic motor is generally difficult due to the absence of appropriate and rigorous mathematical model. Furthermore, owing to heavy nonlinearity, the position control of a pendulum system driven by the ultrasonic motor has a problem that control method using multiple neural network controllers based on a fuzzy inference system that can determine the initial position of the pendulum in the beginning of control operation. In addition, and appropriate neural network controller that has been learned to operate well at the corresponding initial position is adopted by switching schemes. The effectiveness of the proposed method was verified and evaluated from real experiments.

키워드

참고문헌

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