Design of PID Type servo controller using Neural networks and it′s Implementation

신경회로망을 이용한 이득 자동조정 서보제어기 설계 및 구현

Conventional gain-tuning methods such as Ziegler-Nickels methods, have many disadvantages that optimal control ler gain should be tuned manually. In this paper, modified PID controllers which include self-tuning characteristics are proposed. Proposed controllers automatically tune the PID gains in on-1ine using neural networks. A new learning scheme was proposed for improving learning speed in neural networks and satisfying the real time condition. In this paper, using a nonlinear mapping capability of neural networks, we derive a tuning method of PID controller based on a Back propagation(BP)method of multilayered neural networks. Simulated and experimental results show that the proposed method can give the appropriate parameters of PID controller when it is implemented to DC Motor.