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    题名: Digital signal processor-based cross-coupled synchronous control of dual linear motors via functional link radial basis function network
    作者: Lin,FJ;Hsieh,HJ;Chou,PH;Lin,YS
    贡献者: 電機工程學系
    关键词: RECURRENT NEURAL-NETWORKS;MULTIPLE MOTION AXES;FEEDBACK LINEARIZATION;PATH-TRACKING;MOBILE ROBOT;SYSTEMS;SYNCHRONIZATION;DRIVE
    日期: 2011
    上传时间: 2012-03-28 10:14:19 (UTC+8)
    出版者: 國立中央大學
    摘要: A digital signal processor-based cross-coupled functional link (FL) radial basis function network (FLRBFN) control is proposed in this study for the synchronous control of a dual linear motors servo system that is installed in a gantry position stage. The dual linear motors servo system comprises two parallel permanent magnet linear synchronous motors (PMLSMs). First, the dynamics of the field-oriented control PMLSM servo drive with a lumped uncertainty, which contains parameter variations, external disturbance and friction force, is introduced. Then, to achieve accurate trajectory tracking performance with robustness, an intelligent control approach using FLRBFN is proposed for the field-oriented control PMLSM servo drive system. The proposed FLRBFN is a radial basis function network embedded with a FL neural network. Moreover, to guarantee the convergence of the FLRBFN, a discrete-type Lyapunov function is provided to determine the varied learning rates of the FLRBFN. In addition, since a cross-coupled technology is incorporated into the proposed intelligent control scheme for the gantry position stage, both the position tracking errors and synchronous errors of dual linear motors will converge to zero, simultaneously. Finally, some experimental results are illustrated to depict the validity of the proposed control approach.
    關聯: IET CONTROL THEORY AND APPLICATIONS
    显示于类别:[電機工程學系] 期刊論文

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