Abstract
In this paper we addressed the problem of improving the control of AC motors used for the specific application of 3 degrees of freedom moving base flight simulator. Indeed the presence of backlash in DC motors gearboxes induces shocks and naturally limits the flight feeling. A comparison is hence set up between two techniques aiming to deal with this problem: Adaptive Fuzzy Controller and Neural Controller. Dynamic inversion with Fuzzy Logic is used to design an adaptive backlash compensator. The classification property of fuzzy logic techniques makes them a natural candidate for the rejection of errors induced by the backlash. A tuning algorithm is given for the fuzzy logic parameters, so that the output backlash compensation scheme becomes adaptive. The compensator uses the Neural Networks techniques demonstrate that artificial neural networks can be used to compensate hysteresis caused by gear backlash in precision position-controlled mechanisms. A major contribution of this research is that physical analysis of the system nonlinearities and optimal control are used to design the neural network structure.
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