Intelligent PID Control for USM Using PSO in Real-Time Environment

In this paper, an intelligent PID controller is proposed for ultrasonic motor (USM) in real-time environment. To overcome the problems of characteristic variation and non-linearity, an intelligent PID controller using neural network (NN) combined with particle swarm optimization (PSO) is studied. In the proposed method, an NN controller is designed for adjusting PID gains. The learning of NN is implemented by PSO updating the weights of NN on-line. By employing the proposed method, the characteristic changes and non-linearity of USM can be compensated effectively in real-time environment. The effectiveness of the method is confirmed by experiments.