MODEL-REFERENCE ADAPTIVE-CONTROL OF AN ELECTROHYDRAULIC MOTOR DRIVE USING AN ARTIFICIAL NEURAL-NETWORK COMPENSATOR

An artificial neural network is used as the feedback compensation elem ent of a servovalve/motor speed control system. The network is establi shed on a variable gain/acceleration feedback principle and trained us ing computer simulation techniques. The network is then emulated as a real-time controller to significantly improve the speed characteristic of the motor. It is then shown how a feedforward network utilizing th e motor pressure differential and speed may be readily adapted, in res ponse to changes in motor speed, supply pressure and load torque, to t rack the prescribed input/output dynamic model.