An adaptive fuzzy-neural-network controller for ultrasonic motor drive using the LLCC resonant technique

In this study an adaptive fuzzy-neural network controller (AFNNC) is propos ed to control a rotary traveling wave-type ultrasonic motor (USM) drive sys tem. The USM is derived by a newly designed, high-frequency, two-phase volt age source inverter using two inductances and two capacitances (LLCC) reson ant technique. Then, because the dynamic characteristics of the USM are com plicated and the motor parameters are time varying, an AFNNC is proposed to control the rotor position of the USM. In the proposed controller, the USM drive system is identified by a fuzzy-neural-network identifier (FNNI) to provide the sensitivity information of the drive system to an adaptive cont roller. The backpropagation algorithm is used to train the FNNI on line. Mo reover, to guarantee the convergence of identification and tracking errors, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the FNNI and the optimal learnin g rate of the adaptive controller. In addition, the effectiveness of the ad aptive fuzzy-neural-network (AFNN) controlled USM drive system is demonstra ted by some experimental results.