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1, MARCH 2004
Abstract—A self-constructing fuzzy neural network (SCFNN) only parameter learning based on the supervised backpropaga-
is proposed to control the rotor position of a permanent-magnet tion algorithm, in which the parameters of the membership func-
synchronous motor (PMSM) drive to track periodic step and si- tions and the connected weights are adjusted and the structure of
nusoidal reference inputs in this study. The structure and the pa-
rameter learning phases are preformed concurrently and online the FNN has been determined in advanced and fixed. Though the
in the SCFNN. The structure learning is based on the partition of control performance of the fixed structure FNNs with the ability
input space, and the parameter learning is based on the supervised of online parameter learning are usually acceptable [6], large
gradient decent method using a delta adaptation law. Several sim- numbers of nodes are usually needed in the hidden layers for
ulation and experimental results are provided to demonstrate the complex controlled plant. On the other hand, several approaches
effectiveness of the proposed SCFNN control stratagem under the
occurrence of parameter variations and external disturbance. consist of structure and parameter learning phases for the FNN
have been proposed in [10]–[13]. These two phases learning al-
Index Terms—Fuzzy neural network, gradient decent method,
self-constructing, synchronous motor. gorithms not only extract the fuzzy logic rule from input data
with adjustment of fuzzy partitions for the input and output
spaces but also adjust the parameters of the FNN. Traditionally,
I. INTRODUCTION these two phases are done sequentially [11] (i.e., the structure
learning phase is employed to decide the structure of fuzzy rules
T HE ac servo drives, including permanent-magnet synch-
ronous motors (PMSMs) [both trapezoidal and sinusoidal
types], switched reluctance motors, and induction motors have
first, and then the parameter learning phase is used to tune the
coefficients of each rule) [e.g., membership functions]. The dis-
been widely used in robotics, computer-numerically-controlled advantage of this sequential learning scheme is the suitability
(CNC) machine tools, elevators, and many other applications in only for offline instead of online operation [11], and a large
the area of mechatronics [1], [2] for decades. To achieve fast amount of representative data should be collected in advance
four-quadrant operation and smooth starting and acceleration, for the implementation of this scheme. Moreover, the indepen-
the field-oriented control [1]–[3], or vector control, is used in dent realization of the structure and parameter learning usually
the design of ac servo drives. Compared with induction servo spends a lot of time. To overcome these problems and to achieve
motors, a PM synchronous motor has such advantages as higher the purpose of fast learning, a self-constructing neural fuzzy in-
efficiency owing to the absence of rotor losses and lower no-load ference network (SONFIN) was proposed in [13] to perform the
current below the rated speed; moreover, its decoupled control structure and parameter learning phases concurrently. However,
performance is much less sensitive to the parameter variations of the network structure and parameter learning algorithms pro-
the motor [1], [2]. Thus, the PM synchronous motor drive plays posed in [13] are both complicated. Therefore, the SONFIN is
a vitally important role in motion-control applications in the difficult to implement for practical applications. To solve the
low-to medium-power range. However, the control performance mentioned difficulty, the SCFNN is proposed in this study. The
of the PM synchronous motor servo drive is still influenced by structure parameter learning phase and the parameter learning
the uncertainties, which usually are composed of unpredictable phase are done concurrently and online in the SCFNN. In addi-
plant parameter variations, external load disturbances, unmod- tion, the structure learning algorithm of SCFNN, which is based
eled, and nonlinear dynamics of the controlled plant. on the partition of the input space, is simpler than SONFIN, and
The fuzzy neural networks (FNNs) combine the capability of the parameter learning algorithm of SCFNN is based on the su-
fuzzy reasoning in handling uncertain information [4]–[6] and pervised gradient decent method [6]–[9] using the delta adapta-
the capability of neural networks in learning from processes tion law proposed in [14].
[7]–[9]. Generally, the learning for most FNN applications is In this study, a field-oriented control PMSM servo drive using
a SCFNN position controller is designed to track periodic sinu-
soidal reference input of rotor position with robust and accuracy
Manuscript received August 6, 2001; revised June 16, 2002. This work was
supported by the National Science Council, Republic of China, under Project tracking performance. First, the field-oriented control PM syn-
NSC 89-2213-E-033-048. chronous servo motor drive is introduced. Next, the structure
F.-J. Lin is with the Department of Electrical Engineering, National Dong and learning algorithms of the SCFNN are described in detail.
Hwa University, Hualien 974, Taiwan, R.O.C.
C.-H. Lin is with the Department of Electrical Engineering, National Lien-Ho The SCFNN position controller is then implemented in a com-
University, Miao Li 360, Taiwan, R.O.C. puter-controlled PMSM servo drive. Finally, the effectiveness
Digital Object Identifier 10.1109/TEC.2003.821835
respectively, to be measured. Assume , it follows that In layer 4, the error term to be propagated is computed as
can be computed by the following equation [11], [13]:
(24)
(25)
(19)
where factor is the learning-rate parameter of the link weight
where . Then a suitable similarity measure [14]. The link weights in layer 4 are updated according to the
[11], [13] is given by the entropy following equation:
(20) (26)
The similarity checking was performed on all input variables where denotes the iteration number of the th link.
in [11], [13]. However, this increases the complexity of the In layer 3, only the error term needs to be calculated and
algorithm significantly and is not a practical realization. There- propagated
fore, in this study, the similarity check is performed only on
the first input variable (i.e., the position error). The similarity (27)
measure between the new membership function and all ex-
isting ones are calculated and the maximum one is found In layer 3, the error term is computed as follows:
as follows:
max (28)
(21)
where represents the Gaussian membership func-
tion defined as (12) with mean and standard deviation ; The update law of is
is also the number of membership functions of the th
input variable. If , where is a preset value, (29)
then the new membership function is adopted and the number
is incremented; that is
The update law of is
(22)
(34)
SCFNN position controller both in the conditions of parameter Fig. 10. Measure responses of SCFNN position controller at case 3 for
variations and external load disturbance is obvious. periodic sinusoidal command: (a) Tracking response. (b) Control effort.
B. Experimentation of SCFNN Position Controller effort is needed due to parameter variation and external load
disturbance. Furthermore, accurate tracking responses are ob-
The proposed servo drive system is implemented using a
tained after approximate 300 times of online learning under the
Pentium computer with Turbo C package [6] and the sampling
occurrence of uncertainties. Thus, the robustness of the SCFNN
rate of the SCFNN controller including the online training
controller is obvious. On the other hand, if the robustness of the
algorithms is 2 ms. The current-controlled PWM VSI is
controller is not good enough, the degenerated response is the
implemented by an IPM switching component (PM50RSA060)
result due to the occurrence of uncertainties [6]. In addition, the
manufactured by Mitsubishi Co. with a switching frequency of
undulate phenomena presented in the control efforts are mainly
15 kHz.
due to torque pulsation and friction of the motor drive system.
Using the same conditions as in the simulation, some exper-
imental results are provided here to demonstrate the effective-
V. CONCLUSION
ness of the proposed SCFNN position controller. The measured
responses of reference model and rotor position and the asso- A self-constructing-type fuzzy neural network, the SCFNN,
ciated control effort at case 1 for periodic sinusoidal command is successfully developed for practical application of PMSM
changing from to rad are shown in Fig. 8. Accurate servo drive in this study. There are only input and output
tracking responses are obtained after approximate 200 times of nodes in the proposed SCFNN initially, and the structure and
online learning. Moreover, the measured responses of reference parameter learning are done concurrently and online. First,
model and rotor speed and the associated control efforts at case the structure of the network and the training algorithms were
2 and case 3 for periodic sinusoidal command changing from described in detail. Next, a PMSM servo drive system was
to rad are shown in Figs. 9 and 10, respectively. The adopted to verify the effectiveness of the proposed position
external load disturbance also occurs at 5.6 s for periodic sinu- controller. Finally, simulation and experimental results have
soidal command. From the experimental results, large control shown that the proposed SCFNN control system is robust
72 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO. 1, MARCH 2004
in regard to plant parameter variations and external load [12] C. T. Lin and C. S. G. Lee, Neural Fuzzy System: A Neural-Fuzzy Syner-
disturbance. The SCFNN position controller has the merits of gism to Intelligent System. Englewood Cliffs, NJ: Prentice-Hall, 1996.
[13] C. F. Juang and C. T. Lin, “An on-line self-constructing neural fuzzy
robustness, accurate tracking performance, simple structure, inference network and its application,” IEEE Trans. Fuzzy Syst., vol. 6,
and parameter learning algorithms. pp. 12–32, Feb. 1998.
[14] F. J. Lin, R. J. Wai, and C. C. Lee, “Fuzzy neural network position con-
troller for ultrasonic motor drive using push-pull DC-DC converter,”
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[5] L. X. Wang, A Course in Fuzzy Systems and Control. Englewood in 1983 and 1985, respectively, and the Ph.D. degree in electrical engineering
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[6] F. J. Lin, W. J. Huang, and R. J. Wai, “A supervisory fuzzy neural net- Currently, he is Chairman and Professor in the Department of Electrical En-
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Trans. Neural Networks, vol. 5, pp. 306–319, Mar. 1994. Chih-Hong Lin was born in Taichung, Taiwan, R.O.C., in 1964. He received
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1995. respectively, and the Ph.D. degree in electrical engineering from Chung Yuan
[10] C. T. Sun, “Rule-based structure identification in an adaptive-net- Christian University, Chung Li, Taiwan, R.O.C., in 2001.
work-based fuzzy inference system,” IEEE Trans. Fuzzy Syst., vol. 2, Currently, he is an Associate Professor in the Department of Electrical Engi-
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[11] C. T. Lin, “A neural fuzzy control system with structure and parameter been since 1992. His research interests include motor servo drives and intelli-
learning,” Fuzzy Sets Syst., vol. 70, no. 2–3, pp. 183–212, Mar. 1995. gent control.