Speed Control of a DC Motor Using BP Neural Networks

Zilong Liu Xianyi Zhuang Shuyi Wang

presented in a way that will contribute to a better understanding of the neural networks applications to speed control
1 . SYSTEM DYNAMICS 1

tackling the problem of the speed control of a de motor, the conventional constant gain feedback controller fails to maintain the performance of the system at acceptable levels under unknown in dynamics load torque. Meanwhile, artificial neural networks so far acted as the effectivetools to implement the model and adaptive control in a complicated nonlinear system have got expansive allocations. Thus in order to shun the drawbacks of the conventional constant gain feedback controller, this paper makes use of the power of feedforward artifical neural networks to identify and control online, therefore modulate a rational control rate. Finally, this method is proved to be feasible by virtue of the existence of the simulation results.
Abstract-In

The motoriload dynamical equations can be expressed in the following form[2]: di, Kw(r) = - R j o ( / )- L, - ( I )
dl

+ V,(r)

(1)

Index Term- BP neural networks, nonlinearities, online identification and control.

K-torque and back-EMF constant, R, -the armature resistance,

L, -the armature inductance, J -the rotor mass moment of inertia, D -the damping constant.

I. INTRODUCTION

-T

he development of high-performance motor drives is very important in industrial applications. Generally, a high-performance motor drive system must have good dynamic speed command tracking and load regulating response. Many practical control issues, particularly, motor control problems, are characterized by variable and unpredictable inputs, noise propagation along a series of unit processes, unknown parameters, and changes in load dynamics. Under these conditions, the conventional constant pain feedback controller fails to maintain the performance of the system at acceptable levels. The incorporation of feedfonvard in artificial neural networks is important for several reasons the dynamical properties of the system, and in practice it may improve the performance. Furthermore, feedfonvard is generally present in most nonlinear dynamical system and can be used to implement specific structures such as winner-take-all networks[ I]. In this paper, a new altemative for a feedforward neural networks identification is implemented, the new approach was

w(t)-denote the rotor angular velocity, ;,(I) -the armature current,

v,(l)-the terminal

voltage,

r,,(t)-the load torque. The functional form of the right-hand side of equation (3) is motivated by the physically obvious criterion that the load torque always opposes the direction of motion. The dynamics described by equations( 1H3) correspond to a separately excited dc motor.Using a sampling time interval AT, and a first-order finite difference approximation for the first derivatives and a second-order approximation for the second derivatives in equation (3), the finite difference equation that governs the discrete-time dynamics of the dc motor can be shown to be o ( k + 1) = a o ( k ) + o ( k - I ) p + r i g n ( u ( k ) ) u ' ( k +Ssign(w(k - I))o'(k - 1) (4) )
+ Cv,(k)

Manuscript received Janualy 17,2003. Zilong Liu is a doctor in Department of Control Science and Engineering of Harbin 1ns:itute of Technology, Harbin of China.(Phone:OX6-0451-6416571; e-mail: zikmgli@ hatmail.com). Xianyi Zhuang, is the professor in Department of Control Science and Engineering of Harhin Indlule of Technology, Harbin of China.(Phone: 086-045 1-641 6572): Shuyi Wang. is the associale professor in Department o f Control Science and Engineer& of Harhin Institute ofTechnology. Harhin afChina.(Phone: 086-0451-641 6572).
832

It can be demonstrated that a=

2(L,J+ R,J+ L J - RODAT- K ' A T ) L, J + 2 R, J + 2L,D

(5)
(6)

p=y=-

LeJ LoJ+?R,J+2L,D LaJ+ 2K,J

2p(L, + R,AT)

+ 2 L, D

(7)

0-7803-7729-X/03/$17.00 02003 IEEE.

2KAT '= L,J t 2RJ + 2 LaD

(9)

yt is connection weight value between the k th neuron in the

hidden layer and in the i th neuron output layer. 0, is bias of i th neuron in the output layer.
111. DYNAMIC FEEDFORWARD NEURAL NETWOKS

Feedfonvard neural networks (FN"s) are widely used to solve complex problems in pattern classification, system modeling and identification, and nonlinear signal processing [3]-[5]. It is h o w n that the leaming process of a F is " characterized by the rate of convergence to a solution and the possibility to reach an optimal solution. The classical method for leaming a FNN is the backpropagation (BP) algorithm [ 6 ] , [7] which is based on the gradient descent optimization technique and the BP strategy.

n is number of neurons in the output layer. ,j2 9. and again the corresponding output is j = (j, ,_..., )with
j = net, ,
(13)

The cost hnction of BP learning algorithm is now written as:

4 .L.U

...... I

By modifying the learning parameters o and 0 , we can meet the above objective of this investigation,

Fig. 1 . Architecture ofa three-layer FA".

For simplicity, a three layer neural network shown in Fig. 1 is considered. The same concept can easily be extended for multi-layer neural networks. Consider a set of training pairs
{(~',j'),(yz,jizj (y",g")} w i t h X ' ~ R " ' a s the ,......

p th input
k th

vector and-?' E R" as the corresponding output vector. Given

*,.....,X,,,) , the net input of the an input data 2 = (x, ,x

neuron in the bidden layer can be obtained as:

wL,is connection weight value hetween the j th neuron in

the input layer and k th neuron in the hidden layer. 8, is bias of k th neuron in the hidden layer.

m is number of neurons in the input layer.

1 is number of neurons in the hidden layer. and the output of hidden layer of the k th neuron is
h,
= f(net,)

for k = 1 , 2 ,.....,1

(1 1)

where ((-1 is the activation function. The net input for the i th neuron in the output layer is:

833

parameters are q o K ,q o , q,,, , q,, E (OJ] called the leaming rate. IV. ONLINE IDENTIFICATION AND CONTROL USING DBP LEARNING Three layer feedfonvard neural networks are often used for modeling systems. In those approaches, the task is to obtain networks that can act as closely to the system to be modeled as possible. Since neural networks estimate functions without requiring mathematical description of how the outputs functionally dependon the inputs, they are often referred to as model-free estimators [8]. In this section, the two control topologies considered in are used for the purpose of designing a full nonlinear control law. The first control topology includes the network identifier,the separately excited, dc motor, and the reference model. In MRAC, the controller is designed to vary the terminal voltage in such a way so as to cause the dc motor output to follow a specific reference model. For the present problem, the following second-order reference model is used[2]:
w , ( k + l ) = 0.6 ( k ) + 0 . 2 w m ( k - I ) + r ( k )

In the limit ask j m f+ f and from equation (27) and equation (23), w(k + I) + um(k + 1) to accomplish the desired result. The block diagram in Fig. 2 shows the implementation of the controller structure[2].

F
P Ikl

Fig. 2. Controller~trucm

V. A SIMULATIONEXAMPLE Take a separately excited dc motor with rating values of 1 hp, 220 Vvand 550 rimin.. The following numerical values for the various physical parameters of the system were used in the simulation performed in this paper[2]:
J

(23)

=0.068 Kg.m2;

wherer(k) is the hounded input to the reference model, and the constant coefficients are specifically chosen to make the unforced system asymptotically stable. Equation (4) is rewritten as:

K =3.475N.m.A-l;

Ra=7.56n;

Lo =0.055H;
D =0.03475N.m.s; p =0.0039Mn .m.s2; AT = 0.01s.
The structure of a FANN is N2,s,l,that is, a neural network with two nenrons in the input layer, 5 in the hidden layer, and 1 in the output layer. The activation function of the hidden layer:
h=

w(k t 1 )

= a w ( k ) + pw(k - I ) +

J ( w ( k ) ,w(k - 1)) + V,(k)

(24)

where

I I + exp(-r)

A FANN is trained online to approximate f as given in (24),the two inputs to the identifier are, in succession, the previous rotor angular speed o(k- 1) and the current rotor angular speed w ( k ) ,Letting f(o(k),o(k denote the -1)) output of the F A identifier, if the terminal voltage (control input) is chosen to be:
I V , ( k ) = - [ - f ( w ( k ) , o ( k - 1))-au(k)

is shown in Fig 3. The simulations results are shown in Figs.4-6 The simulations results of Fig4-6 have proved the output tracking curve ideal, leaming time short and illustrated this controller is excellent to the considered system. VI. CONCLUSION

-pu(k - 1)+0.6w(k)+O.2w(k-l)+ (k)] r

(26) Then, using (26) in (24):

o ( k + l ) = f(w(k),w(k-1))

A three layered feedfonvard artificial neural-network based adaptive control structnre for unknown load of a motor dynamics. The controller topologies considered have been shown to yield satisfactory tracking performance. A excellence of the control topologies was the short training times observed.

-f(~(k),o(k-1))+0.6~(k)+0.2w(k-1)

(27)

834

15
E
m
Y

.C 0.5

g o
I

94 5 0

e +
X

-1
-1.5

U 10 20 30 40 50
Time (5) Fig 6.The output tracking ermr cuwe of identifier

Figure.3 activation function of the hidden layei

REFERENCES
[ I ]Arai,K.,Keller.E.I..QEdelman,J.A. I994.Twodimensional neural network model of primate saccadic system .Neural Netwrks,7,11l5-1135. [2] Ahmed Rubaai. Raj Kotaru Online Idenf@cotion ond Control gfa DC Motor Using Learning Adaptation ofNeurol NehvorWlEEE transactions on industry applications,vol. 36,no. 3, pp935-942,2000 [3] Chen, S. Billings, and P. Grant, Nowlinear system identification using S. neuralnetworks,Inf J. Contr.,vol. 51,no. 6,pp. 1191-1214,1990. [4]N. Morgan and H. A. Bourlard, Neural networks for statistical recognition of continuous speech, Proc. IEEE, vol. 83, no. 5 , pp. 741-770. [SI S. Haykin, Neural networks expand SPs horizons, IEEE Signal Processing Mag., vol. 3, no. 3, pp. 2449, 1996. [6] D.E. Rumelhw, G. E. Hinton, and R. I. Williams, Learning Disiributed Processing: Explorations in the Microstructure o/Cogtiirion, D. E. Rumelhan and J. L. McClelland, Eds. Cambridge, MA: MIT Press, 1986,vol. 1: Foundations. 1 1 R. Lippmann, An intmduction to computing with neural nets. IEEEASSP 7 Mag.. no. 4,pp. 4-22, 1987. 181 8. Kosko, Neural Network7 and F u r Systems, A Dynamical Svsiems ~ Approach io Machine lnlelligence. Englewood Cliffs, NI: Prentice-Hall,

Time ( 5 ) Fie 4 Tracking oerfomnance for a reference

0.151

1992.

Zilong Liu received the M.Sc. degree in Mechanical Engineering and Automation from Harbin lnstiNteofTechnology, China, in 2000,and will receive the Ph.D. degree in Control Science and Engineering from Harbin Institute af Technology, in 2003.Hisresearch interest is theoly and application of Neural Networks.

-0.15

-0.2 0

10

20
Time (5)

30

40

50

FigS. The output tracking c w e of identifier

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