DESIGN OF NONLINEAR COMPENSATOR FOR POSITIONING CONTROL IN A MASS-STORAGE SYSTEM - (A NEURAL-NETWORK-BASED CONTROLLER)

被引：3

作者：

TAKAHASHI, K

TAKAYANAGI, M

YAMADA, I

TORP, S

机构：

[1] NIPPON TELEGRAPH & TELEPHONE CORP,TOKAI TELECOMMUN SYST DEPT,HIGASHI KU,NAGOYA 461,JAPAN

[2] NIPPON TELEGRAPH & TELEPHONE CORP,TECHNOL RES DEPT,CHIYODA KU,TOKYO 10019,JAPAN

[3] DANISH INST TECHNOL,DK-2630 TASTRUP,DENMARK

来源：

JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING | 1994年 / 37卷 / 03期

关键词：

NEURAL NETWORK; DISTURBANCE OBSERVER; MASS STORAGE SYSTEM; SOLID FRICTION; INERTIA VARIATION;

D O I：

10.1299/jsmec1993.37.573

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Mass storage systems (MSSs) with automatic mediahandling mechanisms have become widely used in the field of information processing, and faster media handling is desired. Although there are various handling mechanisms, in all cases, disturbances such as solid friction and inertia variations are major obstacles to faster handling. This paper investigates a neural-network-based controller that compensates for these disturbances. A direct-type neural controller is proposed. The capability and characteristics of the controller are numerically and experimentally investigated by testing the positioning control of a rotary storehouse mechanism in an MSS. Experimental results, compared with those obtained using a conventional disturbance observer, indicate that the proposed neural-network-based controller can compensate effectively for nonlinear disturbances in the mechanisms.

引用

页码：573 / 580

页数：8

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