A DSP-based permanent magnet linear motor servo drive using adaptive fuzzy-neural-network control

Abstract

An adaptive fuzzy neural network (AFNN) control system is proposed to control the position of the mover of a field-oriented control permanent magnet linear synchronous motor (PMLSM) servo drive system to track periodic reference trajectories in this study. In the proposed AFNN control system, a FNN with accurate approximation capability is employed to approximate the unknown dynamics of the PMLSM, and a robust compensator is proposed to confront the inevitable approximation errors due to finite number of membership functions and disturbances including the friction force. The adaptive learning algorithm that can learn the parameters of the FNN on line is derived using Lyapunov stability theorem. Moreover, to relax the requirement for the value of lumped uncertainty in the robust compensator which comprises a minimum approximation error, optimal parameter vectors, higher-order terms in Taylor series and friction force, an adaptive lumped uncertainty estimation law is investigated. Furthermore, all the control algorithms are implemented in a TMS320C32 DSP-based control computer. The experimental results due to periodic reference trajectories show that the dynamic behaviors of the proposed control systems are robust with regard to uncertainties.