A precise control of AC servo motor using neural network PID controller

Author(s): Geum-Bae Cho and Pyoung-Ho Kim

Source: Current Science , 10 July 2005, Vol. 89, No. 1 (10 July 2005), pp. 23-29
Published by: Current Science Association

Stable URL: http://www.jstor.com/stable/24110424

JSTOR is a not-for-profit service that helps scholars, researchers, and students discover, use, and build upon a wide
range of content in a trusted digital archive. We use information technology and tools to increase productivity and
facilitate new forms of scholarship. For more information about JSTOR, please contact support@jstor.org.

Your use of the JSTOR archive indicates your acceptance of the Terms & Conditions of Use, available at
https://about.jstor.org/terms

is collaborating with JSTOR to digitize, preserve and extend access to Current Science

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
 TECHNICAL NOTES

A precise control of AC servo motor using neural network P

controller

Geum-Bae Cho and Pyoung-Ho Kim

A new control technique based on a neural network, is proposed here for control of AC servo motors. The
PID control is widely used in servo systems as it has simple structure, safety and reliability. However, it has
certain problems in a complex system, resulting in imperfect action in the presence of uncertain parameters
To solve these problems, a new hybrid control algorithm of the PID controller is proposed, which coul
prove the adequacy of the proposed control algorithm through simulation and experiments after driving the A
servo motor system using neural network PID controller.

Advanced developments in microcomputers type neural network PID controller, using data, because it is robust to noise compare
based on microprocessors are making past data as well as current inputs and to a conventional control and utilizes
them cheaper. AC controllers can be as outputs in order to control the AC servo both qualitative and quantitative data s
cheap as DC controllers in terms of control. motor, can be implemented easily; it is multaneously. Since it has several input
An AC controller has easy maintainabi- considered to be robust to immeasurable and outputs, it is adequate for multi-inpu
lity. The use of DC servo motors for the disturbances of load6. With results from and multi-output systems, and it can im
purpose of high-speed and high-torque both experiments and digital simulation, prove the control through learning. More
applications is limited due to commutation the proposed method could be verified over it is not required to model the plan
problem. The brush in the DC servo motor and hence utilized for high-performance and circumstance because of learning
is subject to wear; hence installation of servo-control. ability. Due to the above advantages and
DC servo motor is difficult in places characteristics, a robot control having the
where checking or swapping is needed. . neural network controller can solve prob
As an AC servo motor does not have any esign o AC servo motor lemS of a conventional
brush, it is highly reliable. Besides, the
AC servo motor is usually used in the Neural network controller
analogue form due to rapid reaction res- Structure of PID cont
ponse and precise control is achieved be- The neural network makes process speed neural network
cause of digitalization1. In the industry, faster because of hardware implementa
the PI or PID controller is widely used tion. Also it can be implemented when Figure 1 shows the
by means of servo system control. These the structure of the circuit net is large7. It controller using ne
controllers enable excellent ability if a is closer to a nonlinear control due to ac- The proposed con
simple control algorithm be implemented. cessibility of actual problem, such as conventional PID
However, these have low reliability be- function mapping in nonlinear theory. rect neural network,
cause these control results are sensitive The neural network enables parallel and led by only input
to change in system parameters and do distributed processes because of its parallel Jacobian of unkn
not react rapidly to parameter changes. To structure**, hence it can be used for con- direct neural ne
solve these problems, the neural network 'roi m real time. It makes synthesis of emulator superv
controller that adjusts itself to control sensor data easy to interface with different the neural networ
circumstances is studied2,3.
Here we describe implementation of a Model
Model

PID controller for an AC servo motor, Disturbance

Disturbance
Model
based on TMS320C31. One could obtain System state

superior and highly precise control res

ponse than a conventional PID controller,
i_£
Controller
which could resolve the disadvantages of Control p Network
Weighting Design Tracking
parameter changes in an inferior environ
ment4. Contrary to the processing method
of a digital computer, which carries out a
single computation at a time in an ALU
Output
because of parallel and distributed proc Self tuning PID
System
Controller Control r
esses, information stored in neurons is s?
Action
processed in parallel and does not affect
the overall output in case several process
elements are perturbed or if immeasurable
disturbances occur5. Therefore, online- Figure 1. 1.
Figure PIDPID controller of neural
controller of neural network. network.

CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005 23

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
TECHNICAL NOTES

zero, the servo motor current id is given by

eq. (4)

R.. . V.,
L = -L 2!_ + -â.. (4)
A 4 A
-►
-►U(n)
U(n)
Figure 3 shows the blo
(4) using integrator.
When the sampling int
input is maintained cons
function is expressed by

-St
1-e
G(z) = Z
-G(s) (5)

Since G(s) is the transfer function, it can

be expanded in partial fractions and Z
Figure
Figure2. Internal
2. structure
Internalof proposed
structure
neuro controller.of proposed neuro controller
transformed, and the result is shown in
Figure 4.
Table
Table 1. Ratings of 11 kW servo
1. Ratings of motor
11 InkW
Figureservo
4, G(s) = ajm(s)/I0(s)
motoris given by

Rated
Ratedvoltagevoltage
220 V Rotor resistance R, 5 n
Rated current 35 A Stator resistance Rs 4.5 n
Rated speed 3000 rpm Rotor inductance L, 0.243 H
Stator inductance Ls 0.244 H Moment of inertia Jm 0.082 kg m2 G(î)=s*
2,+RVK
+ Kvk*.
+ 1.5/r + V (6)
Mutual inductance Lm 0.239 H
4

control objects. Here, all variables and The middle stage of neural network Th
structure of emulator and controller are controller is a single stage and the numbe
considered to be the same in order to easily of middle-stage neurons is five. Bias is
design the controller. The disadvantage applied as in the input stage and the tame
that the parameters of conventional PID threshold function of each neuron is the
controller must be adjusted to the system linear function whose slope is unity. The
is avoided, as the controller adjusts to the number of output-stage neurons, u(n), is
system through learning of neural network. one. The threshold function of the output
Figure 2 shows the internal structure stage neuron is linear as in the middle by
of the proposed neural controller, which stage, but its slope can be arbitrarily ad-
explains the number of neurons of each justed to control the output gain in order
stage and threshold function of activation to obtain optimum output during learning
output of neuron. Arguments to neural locity-response waveform using PID con
controller are composed of time-delay . . trailer of neural network as the velocity is
component of error between set-up value Simulation changed to 500, 1500 and 0 rpm. The
and actual output value, e(ri), error variation servo motor is well followed by self
according to time change, ce(n), amount ^ digital simulation is made in order to tuned proportional integrator. Figur
of error variation cce(n). e(n) is the time- consider the feasibility of AC servo motor shows velocity-response waveform
delay component of e(n + 1), which is control algorithm using PID controller PID controller under similar conditio
expressed as in eq. (1) and ce(n) and and neural network algorithm. The power in Figure 5 a. The PI controller give
cce(n) are given by eqs (2) and (3) res- rating of the servo motor for simulation is performance when the system param
pectively. 1 ' kW and its rated velocity is 3000 rpm. are constant. However, it is difficul
The detailed parameters shown in Table tune in the presence of immeasurable
e(n) = TD[e(n + 1)] = TD[R(n +1) 1 are used with proportional and integral disturbances in the system parameters.
-Y{n + 1 )j, (1) velocity controller, whose gain is self- Figure 6a shows results for slow cont
tuned by reverse neural network. Velocity- by PID velocity controller. Figure 6
ce(n) = e(n) - e(n + 1), (2) response characteristics are compared in shows the change in performance fo
cce{n) = ce(n) - ce(n +1) (3) servo motor according to self-tuned pro- 15% change in the stator and rotor i
portional and integral controller, and tance. Figure 7 a shows results for slow
Stable neuron output is obtained by in- proportional and integral controller. control by PID controller of neural n
putting fourth argument to middle-stage Assuming that relative velocity of axis work. Figure 7 b shows steady-stat
neuron as bias. to sinusoidal AC flow in the motor is lation when inductance of stator and rotor

24 CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
 TECHNICAL NOTES

+ _ y(n)
£-> K
—-{r - 8 + o8)
K,
+
«r I—

Z,("+1) Zi<")
K,
^ JI
Kv
La o m
Z,w
-Kur + ßs)
K»

Z,<"+»
K„

Figure
Figure3.3.Block diagram
Block of d-axis
diagram current control.
of cf-axis current control. Figured Discrete model of AC
Figure servo motor.
4. Discrete model of AC servo motor.

wm

1500 a :
;
lOOO

500

1.20
O 1.20 2 . 3.60
2.40 40 3.60
4.804.8Q 6. 7.20
6. OO OO 7.20
8. 40 8. 40 9.60 O 1.20 2 .40 3.60 4.80 6. OO 7.20 8.40 9.60
9.60
sec/div
sec/div sec/div

Figure 5. Speed character

Wm wm
750 750

SOO
500 500
*".
25Ü
250 250

0.40 0.80
0.8O 1.20
1.20 1.60
1.60 2.
2. OO
OO 2.40
2.40 2.80
2.803.
3.20
20 3.
3.60
60 O
O 0.40
0.40 0.80
0.80 1.20
1.20 1.60
1.60 2.
2. OO
OO 2.40
2.40 2.80
2.80 3.20
3.20 3.60

sec/div sec/div

Figure 6. Low-speed charact

Wm ,
Wm wm
750 a 750
750 -

500 I 500
SOO■

2SO
250 250
250■

0.400.80
0.40 0.80 1.20
1.20 1.601.60
2. OO2.
2 OO
.40 22.40 2. 20
. 8Q 3. 803 3.
.6020 3 .60 0.40 0.80
0.40 O1.20
. 80 11.60 2. 2OO
.20 1.60 . OO2.40
2 . 402.80 3.20
2.80 3 3.60
. 20 3 . 60

sec/div sec/div

Figure 7. Speed character

tance of stator and rotor.

Wm
Un

450 450
a - ß 1111 450 450

300
b f 1
Dh ...
300
300 , ; ; ; 300 /' r !
zTzz
15Q 7^
i5o ' 150
150
r ! i ?
T

.
.
J..
1. 00
OO 22 .. 00
„
„ _
OO 3
or,«
3 .
.
__ _
„
00
«
__
OO 4
««
4 . OO
_
00 3
0
3 .
„
. OO
00
l.OO
o l.OO
2.00
2.00 3.00
3.00 4.00
4.00 5.
5.00
OO

Un

450 c
45 O .

3O0
300■

150
150 -

1 . OO 2 . OO 3 . OO 4. OO 5 . OO

Figure 8. Starting characteristics by (a) PI contr

CURRENT SCIENCE, VOL. 89, NO. 1,10 JULY 2005 25

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
TECHNICAL NOTES

NNC

>c

NNE

"TE

Figure 9. Block diagram of servo system.

SACMM
Supply
AC Supply

J Ac servo motor Load

Vdc
W H

J
iTfe
Gate Drive Circuit

4-Ch
Getting Generator A/D

TMS320C31 A— converter

DSP
IN V 3z:
MEMORY

TMS320C31DSP Controller

Figure 10. Configuration of AC servo system.

is changed by 15%. From Figure la and ing to the change in work process and neural network. In the digital servo struc
b, it is clear that the PID controller using surrounding environment. The PID con- ture, the instruction given by the progra
neural network is more robust to change trailer using neural network has slow ris- is processed by the controller to positio
in environment than a PI controller. De- ing time, but can approach steady state each axis. This instruction is transferred
lay in simulation results occurs when in- without overshoot. Since the torque is to the high-performance microprocessor,
ertia coefficient, friction coefficient and not constant, if an overshoot occurs in a The microprocessor batch-processes the
integral coefficient I are not proper. Fig- servo system used in an industrial robot, a control of position, velocity and curren
ure 8 a-c compares the systems impie- PID control using neural network is better based on the information and outputs th
mented by PI, PID controller and PID than conventional P, PI, PID controls. PWM control signal. This signal input
controller with neural network. It can be the servo amplifier equipped separately,
seen that the rising time of the general _ which amplifies the PWM control signal
controller is faster than the PID control- Experiments and supplies power to the AC serv
1er with neural network, wherever over- The driving current of the motor passes
shoot of the former occurs. Although gain Experimental equipment the servo amplifier and
tuning of the controller can eliminate velocity are fed back by the controller
overshoot, it is difficult to tune automati- Figure 9 shows the block diagram of a through the
cally the gain coefficients on-line accord- servo system using PID tuning of indirect mentioned above,

26 CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
 TECHNICAL NOTES

START

Read No. of pulses

Speed Estimation
Yes * Algorithm
Speed Calculation
(OW)
(oir)

Current controller
(Vqe, Vde)
1 Y Speed Controller

Return

Return
J*— No

Figure 11. Flow chart of system.

detects the position and velocity it selects software. The initializing progr
and performs the operation. cides the initial global variables and
Figure 10 shows the system structure. controller gain, and initializes t
The AC servo motor, which is the control ments which belong to the contro
object, is a synchronous motor and the Because the routine for control k
load is an induction motor. In order to period of sampling constant tim
supply power to the control object motor, composed of the interrupt rout
the inverter and controller are composed interrupt can be divided into th
and the load is supplied by the voltage interrupt (TINTO) for current con
transposed in the three-phase transformer external interrupt (INTO) for
and is let contrary to rotate motor. The and external interrupt (INT1) for
power inverter has Insulated Gate Bipolar control. decreasing speed for change in reference
Transistor (IGBT) in order to reduce the The sampling period for the current speed from 500 to 1500 rpm. It
current ripple of Pulse Width Modulation control is set to 90 ps because of the DSP to 1500 rpm after 10 s and
(PWM). The control algorithm of velo- speed. Sampling for velocity control oc- 500 rpm after 7 s. Response s
city and position, neural network control curs ten times that of the current control motor converges within 1
algorithm and PID control algorithm are loop. The current control interrupt makes reference speed is 500 rpm. I
processed digitally by the microproces- the gating for the inverter and executes to the steady state without ov
sor. DSP TMS320C31 which operates at the modulation routine of spatial voltage within 200 ms when increased t
33 MHz and is capable of 32 bit floating- vector. The interrupt to calculate the actual after 0 s, and within 200
point, is used. velocity is M/T-type and the sampling creased to 500 rpm after 500 ms. The res
period of velocity measurement is proc- ponse characteristics of increasing and
essed after AT later than sampling period decreasing speed are nearly the same,
Control software 0f current sampling. The velocity control which is similar to the simulation wa
interrupt estimates velocity using intelli- form. Figure 12 b shows speed response
The software has an initializing program gence control algorithm and then executes results for change in reference speed fr
and interrupt routine carrying out the the indirect vector control after calculât- 1500 to Orpm. Figure 12 c shows s
control algorithm in the constant period. ing the current instruction value in the response characteristics of 85% ra
Figure 11 is the overall flowchart of control velocity controller. The slope of learning load and 6% changing load injectio

CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005 27

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
TECHNICAL NOTES

1500rpm
CH1«1V
CHIsiV «-»2s/<Jiv
<->2s/div 1500rpm
CHI—IV
CHlsiv Jb *->2s;/div
«-►2s;/div
DC
DQ 10:1
10:1 da \ /i DC 10:1 U
250
250rpm
rpm f{ NORM:200S/s
DO 10:1
f*rY NORM:200S/s
norm:2oos/s

/*

/
Jf f
1000 rpm
lOOOrpm lUOUrpm
lUDOrpm
/ i
/ ?
/]
/j
J
750rpm
750rpm: : 750rtom:
750 rbm:

'
s?®'?!;);.
50£!rP!!),j,
.1 .j, 500 rdm :
5P9rA' —L ill y
n

250rpm
250 rpm

20sec
Osec 20sec
;
=Tracel= Hi gh 5.840V
gh 5.8 40V Lo<
Low u 1 . 520V
920V =Trace 1= Hi gh 5. 540V
940V Lo<
Loi v
u 1 . 180V

ill:
; :
i i f ::

3000rpm 3000rpm CH2 «-*2sydiv

CH2 =2 V <->2s/div

c DO 10:1
2500rpn
d DC >ä
norm:2oos/s
250 rpr norm:2oos/s

f
2000rpir
2000rpn 1
ISOOrpir 1500 rprr :

1000rpir lOOOrpn ,
f] ,,,

h I ft 500rpm

1 1 L
J
500rpm

1
Ii l Ii l |L»-—
kösec
T
J

20sec

3500rpm
3S00rpm 3S00rprn
3S00rppi
CH2 -2V <-*2»;/<liv
DC io:i

3000rprr e NORM.2003/S

2500 rpn

2000rprr

I500rprr

"1 r

i,i
5001 pm

•*"1 n«l
20sec

Figure 12. Speed response character

response characteristics of 85% rat
reference speed from (d) 0 to 500 r
with 17% load; and (f) 0 to 1500 rpm

100 rpm. Figure 12 d shows speed

characteristics for change in ref
speed from 0 to 500 rpm with
and 500 rpm with 6% load. Figure 12 e servo motor controller without informa
shows speed response characteristics for tion on model structure is implemented
change in reference speed from 0 to Conclusions by TMS320C31 and compared with
1000 rpm, with 141% load and 1000 rpm ventional PID controller. The optimum
with 17% load. Figure 12/shows speed In this note, the PID controller using control value according to error detec
response characteristics for change in neural network is implemented by the value can be obtained by PID contro
reference speed from 0 to 1500 rpm with proposed algorithm. The speed character- using neural network differently tha
141% and 1500 rpm with 23% load. This istics to reference speed are studied by PI conventional control method. S

28 CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms
 TECHNICAL NOTES

PID Controller using neural network Qingding,

has G., Limei, W. and Ruifu, L.,
9. Ohm, D. Y. and Mazurkiewicz, J., Control
Completely digital AC servo system using of AC motors for servo
learning ability of nonlinear function applications, PCIM'91,
neural network controller. ICEPE'95, 1995, 1991, pp. 288-298.
without mathematical modelling and is
robust to changeable parameters, itpp.
can51-55.
Ha, Q. P. and Negnevistsky, M., A neural
identify complex systems such as nonlinear
network-based controller for servo drives. ACKNOWLEDGEMENT. This study was
systems by learning. If the neural net
IEEE'96, 1996, pp. 904-909. supported by research funds from Chosun
work follower by conventional reverse
Fu, K. S., Gonzalez, R. C. and Lee, C. S. University 2003.
learning method is applied to the proposed
G., Robotics, McGraw-Hill, 1988, pp. 149—
algorithm, the speed control characteristics
265.

are excellent. However, the speed estimate

Galvan, E., Barrero, F., Aguirre, M. A., Received 1 September 2004; revised accepted
is not stable, and is improved whenTorralba,
the A. and Franquelo, L. G., A robust 11 April 2005
back-propagation neural network and speedloadcontrol of AC motor drives based on
observer applied machine constantfuzzy are reasoning, IAS'93, Part III, 1993,
added. Each coefficient of machine tool pp. 2055-2058. Geum-Bae Cho* is in the Department of
Kim, H-W., Choi, J-W. and Sul, S-K., Ac
Electrical Engineering, College of Engi
is applied to the servo system, and hence
curate position control for servo motor using
the characteristics of PID controller using neering, Chosun University, 375 Seosuk
novel speed estimator, IECON'95, 1995,
neural network can be improved. dong, Dong-gu, Gwangju, Republic of Ko
vol. 1, pp. 627-632.
rea; Pyoung-Ho Kim is in the Depart
Patel, D. M., High speed floating-point robot
ment of Information and Communication,
controller, CAMC'87, 1987, pp. 13-22.
1. Ruangsheng, W., Pingyang, W., Song, Y. Takakura, S., Murakami, T. and Ohnishi, Seokang College 789-1 woon am-dong,
H. and Johns, A. T., Coordinated system of K., An approach to collision detection and Pukku, Gwang ju, Republic of Korea.
fuzzy logic control and neural network. recovery motion in industrial robot, IEEE, *For correspondence,
ICEE'96, 1996, vol. 2, pp. 1178-1183. 1989, pp. 421-426. e-mail: gbcho@chosun.ac.kr

MEETINGS/SYMPOSIA/SEMINARS

Sedimentary Basins of the Himalaya: Challenges for the International Conference on Ethnopharm
Future and XXII Convention of Indian Association of Sedi- ternative Medicine (ICEAM 2006) and Fifth Annual Con
mentologists ference of National Society of Ethnopharmacology

Date: 21-23 December 2005 Date: 20-22 January 2006

Place: Dehra Dun Place: Thrissur, India

Themes include: Himalayan sedimentary basins; Foreland bas

systems; Proterozoic sedimentary basins; Responses of sedi-
mentary systems to south Indian Monsoonal shifts; Applicatio
of sedimentology to geohazards; Petroliferous sedimentary b
sin - Challenges. medicine in modern perspective including molecular aspects,
Nutraceuticals in health case, Phytomedicine and I
Contact: Dr Sumit K. Ghosh issues.
Convener, XXII IAS Convention
Wadia Institute of Himalayan Geology Contact: Dr K. K. Janardhanan
33, GMS Road Organizing Secretary, ICEAM 2006
Dehra Dun 248 001 Amala Cancer Research Centre
Ph: 0135 2624806 Ext 551 (O), 0135-2625773 (R) Amala Nagar, Thrissur 680 555
Mobile: 09412381151 Ph: 91-487-2307950/2307951/2307868
E-mail: skghosh@wihg.res.in Fax: 91-487 2307868
E-mail: info@iceam.org
URL: www.iceam.org

CURRENT SCIENCE, VOL. 89, NO. 1, 10 JULY 2005 29

This content downloaded from

201.131.90.36 on Mon, 27 Jul 2020 06:44:25 UTC
All use subject to https://about.jstor.org/terms