小腦模式在馬達速度控制之實現

Implementation of DC Motor Speed Control Based on CMAC

陳珍源(Jen-Yang Chen) ； 蔡樸生(Pu-Sheng Tsai)

《中華技術學院學報》 26期 (2003/04) Pp. 160-169

https://doi.org/10.7095/JCIT.200304.0160

摘要

小腦模型是模仿人類小腦的一種學習架構，在實際應用上為－查表法。在控制領域設計中，較簡易直覺的作法是不需經過學習的過程而能使控制系統即可在忍受範圍內工作，進一步藉由輔助修正機制優化原系統參數達到線上學習的需求。欲實現小腦模式控制演算法，其最可行的辦法即是植入人類最豐富的經驗知識。因此本論文提出以邊界條件的方法，事先給定小腦模型之權重參數，使控制器不需經過學習即可工作。實驗結果驗證了我們設計的期望及滿意的成果。

關鍵字

控制系統 ； 類神經網路 ； 滑動控制 ； 經驗法則

並列摘要

This paper proposes an intelligent Cerebella Model Articulation Controller (CMAC) with the sliding mode control. Generally speaking, the CMAC is first trained from an existed controller; then the CMAC can be used to instead of the original controller for achieving a fast operating system performance. Moreover, it can be easily realized through FPGA and operated in the requirement of real-time control cases. However, the overall performance of control system depends on the trained CMAC; usually, it is not easy to yield the same performance as the original controller. Therefore, to improve the performance without learning process maybe is a good idea Finally, the DC motor speed control is employed to illustrate the performance and applicability of the proposed control scheme.

並列關鍵字

Control System ； Neural-Network ； Sliding mode control ； Heuristic Rules