Neuronskih mreža u upravljačkoj šemi sa unutrašnjim modelom

Abstract

In this research, control of the Direct Current motor is accomplished using a neuro controller in the Internal Model Control scheme. Two Feed Forward Neural Networks are trained using historical input-output data. The first neural network is trained to identify the object's dynamic behavior, and that model is used as an internal model in the control scheme. The second neural network is trained to obtain an inverse model of the object, which is applied as a neuro controller. Experiment is conducted on the real direct current motor in laboratory conditions. Obtained results are compared to those achieved by implementing the Direct Inverse Control method with the same neuro controller. It was demonstrated that the proposed control method is simple to implement and the system robustness is achieved, which is a great benefit, aside from the fact that no mathematical model of the system is necessary to synthesize the controller of the real object.