Design and Implementation of the CMAC-Based Controller for Permanent Magnet Synchronous Motor.

In this article, the most common behavior of motor's motion is roughly classified into two categories: normal mode (NM) and continuous mode (CM). By the categories, we can concurrently transform the independent command data such as position, velocity and acceleration (å, V *, and D *) ordered by user into the dependent command signal (θ r *, ω r * r , and ω r *). Then we apply a cerebellar-model-articulation-controller (CMAC) as an auxiliary controller with a dominant proportional-integral (PI) controller to accomplish the position, velocity and acceleration motion control of a permanent-magnet synchronous motor (PMSM). At this time, we do not need to optimize the gain of the PI controller. In fact, when the system is stable, users can order any independent command data to control the behavior of a motor's motion. It is seen that the tracking error performance of the system with CMAC-based controller is always better than systems without it. Especially in the early period of the response, the tracking error performance of the system without CMAC-based controller is always larger than the systems with it. [ABSTRACT FROM AUTHOR]