Servo-Hydraulic Cylinder Position Control Using Hybrid Learning Algorithm of Neuro-Fuzzy Control Method

• Main Authors: Kuo-Chen Lee, 李國全
• Other Authors: Ming-Chang Shih
• Format: Others
• Language: zh-TW
• Published: 1994
• Online Access: http://ndltd.ncl.edu.tw/handle/14875043919175320261

碩士 === 國立成功大學 === 機械工程研究所 === 82 === The electro-hydraulic servocylinder control system is a highly nonlinear system, which system parameters are time- varying due to the friction-force,the load , or the unknown disturbances. It is usually time-consuming to formulate and decide an accurate system mathematical model for the controller design. It is unnecessary to derive and bulid up the system mathematical model for the fuzzy controller design , but the fuzzy logic rules are obtained from the knowledges and experience of experts and operators and they lack the abilities to integrate the segmental knowledges. Therefore, in this paper we apply the learning ability of neural network to the fuzzy control system. Such neuro-fuzzy controller can be constructed from training data to find the optimal fuzzy control rules and the relative membership function. In the study , we use the belled shape membership functions and the type of the Mamdani inference to construct a neuro-fuzzy controller network structure , and combine both unsupervised and supervised learning schemes (hybrid learning algorithm),the learning speed converges much faster than the original back- propagation learning algorithm.Through the neuro-fuzzy controller design process , one can get the fuzzy control rules , perform the rules elimination and find the optimal membership functions. So the neuro-fuzzy controller network structure avoids the rule-matching time of the inference engine in the traditional fuzzy logic system. Applying the result and implemented in a microprocessor based controller for the experiment of the electro-hydraulic servocylinder position control. The experiment results indicate that the neuro-fuzzy control technique has good control performance.