A PM synchronous servo motor drive with an online trained fuzzy neural network controller

A permanent magnet (PM) synchronous servo motor drive with integral-proportional (IP) position controller and a proposed online trained fuzzy neural network (FNN) controller is introduced in this paper. First, an IP position controller is designed according to the estimated plant model to match the time-domain command tracking specifications. Then the resulting closed-loop tracking transfer function is used as the reference model, and an adaptive signal generated from the proposed FNN controller, whose membership functions and connective weights are trained online according to the model-following error of the states, is added to the control system to preserve a favorable model-following characteristics under various operating conditions.