Neural Network Based on Direct Inverse Control for Electro-Hydraulic Servo Drive |
| A. Winnicki, B. Guś
Faculty of Mechatronics, Institute of Automatic Control and Robotics, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland |
| Full Text PDF |
| This paper describes the use of the nonlinear autoregressive with exogenous inputs neural network for the control of electro-hydraulic servo drive. The direct inverse controller was trained on a real object in an online way with the use of a programmable logic controller before starting work on a real object, and appropriate tests were performed in the MATLAB/Simulink environment in order to select the right structure of the neural network. Also, the paper includes various network learning algorithms: gradient descent, resilient backpropagation, and adaptive moment estimation, which belong to backpropagation algorithms. In order to compare the suitability of the direct inverse controller, the controller was implemented on a real electro-hudraulic test stand, and its performance was compared with the performance of a proportional-integral-derivative controller. |
DOI:10.12693/APhysPolA.146.406 topics: artificial neural network (ANN), control engineering, direct inverse control, electro-hydraulic servo drive |