自調式類神經PID控制於超音波馬達之應用

• Main Authors: Hsu An-Jan, 許安仁
• Other Authors: Chuang Han-Tung
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/31910927404334707868

碩士 === 國立中央大學 === 機械工程研究所 === 88 === 　　The PID controller has been used widely as a major control method in industrial applications. However, it is difficult to tune the PID gains during the controller development, and can only be carried out by expert with control knowledge and experience. 　　This thesis presents a self-tuning PID controller based on the neural network theories. There are two multilayer neural networks within the self-tuning PID controller, one for system identification for unknown controlled systems, and the other for the PID gains determination. Back-propagation method is adopted to perform both the neural networks training. 　　The results of computer simulation show that the neural based PID control scheme can tune suitable PID gains within a short period. In addition, the controller was implemented to the position control of an ultrasonic motor. The experimental results have shown that the control scheme is also practically successful.