Experimental Study on Speed Control of Ultrasonic Motor using Intelligent IMC-PID Control

In the speed control of Ultrasonic Motor (USM) which contains nonlinearity and characteristic changes, an intelligent IMC-PID control using Neural Networks (NNs) combined with Particle Swarm optimization (PSO) algorithm is introduced to obtain satisfactory control performance. With the proposed intelligent control method, the gain in IMC-PID control is autotuned to minimize the errors in the speed control. The proposed method is with simple structure and easy to be implemented in realtime estimation. The proposed hybridization of NN and PSO makes the intelligent scheme superior in usefulness and effectiveness. In this paper, the control performance and effectiveness of the proposed method was confirmed and studied according to experimental results on an existing USM servo system.