Adaptive Control of Linear Ultrasonic Motor Based on Fuzzy Neural Network

In view of the strong non-linear and time-varying characteristics of linear ultrasonic motors,put forward a fuzzy recurrent neural network controller.In order to better integrate the experience of the PID control into fuzzy neural network,the discrete PID expression were divided into the tracking error,the change of tracking error and the change rate of tracking error,which input into the fuzzy neural networks.In order to improve the control of the convergence speed and robustness of the proposed controller,the adaptive law and BP algorithm and gradient descent optimization mechanism for learning and accurate optimization were adopted.The results show that the fuzzy recurrent neural network controller is better than PID and self-structuring neural network controller,and has a good anti-interference capability.