REAL TIME LEARNING CONTROLLER

摘要

PURPOSE: A real time learning controller is provided to construct an optimum controller for a changed system while performing identification between real time control and real time plant on line without constructing any off-line data base even though a parameter of the system is changed and improve the learning speed by using a neural emulator. CONSTITUTION: First and second comparators(10,20) compare a target speed and a real speed of an induction motor(1) to output error items. A time delay part(30) delays the error item output from the first comparator. A third comparator(40) compares the error item of the first comparator with the delayed item for outputting a change amount of the error item. A self-learning fuzzy controller(50) outputs a reference current value of torque component for real time plant identification to control the speed of the induction motor according to the error items output from the first and third comparators. A fourth comparator(60) compares an estimation speed with the real speed for outputting an error item. A neural emulator(70) outputs the estimation speed according to the reference current value and the error items of the first and third comparators while changing the estimation speed closely to the real speed, and controls error of the reference current value of the torque component.