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1、(17)3.Designoftheneuro-fuzzycontrollerTheblockdiagramoftheNFCforthespeedcontrolofthePMSMisshowninFig.3.TheNFCiscomposedofapatternset,anoff-linelearningalgorithmwithbackpropagationandaneuro-fuzzynetwork.Theneuro-fuzzynetworkistrainedusingoff-linelearningalgorithm.Fortheoff-linelearn
2、ing,apatternsetisrealizedusingdynamicsignalanalysisofthemotor.Thepatternsetisalookuptablethatconsistof%(/),RHOand△/*(/)・Iisnumberofpatterninthepatternset(/=1,300).Thelookuptableisusedinoff-linelearning.Fig.3.BlockdiagramoftheNFCforthespeedcontrolofthePMSM.TheNFChastwoinputs,thespee
3、derrore(0andthederivativeofspeederror离叭TheoutputischangeofthecontrolcurrentA/.FortheNFC,afourlayerneuralnetworkasshowninFig.4isused.LayersI,II,IIIandIVrepresenttheinputsofthenetwork,themembershipfunctions,thefuzzyrulebaseandtheoutputsofthenetwork,respectively.Fig.4.Schematicdiagram
4、oftheneuro-fuzzynetwork.3.1.ThefeedforwardalgorithmLayerI:Inputsandoutputsofnodesinthislayerarerepresentedasnet；=%,#=.A1(net；)=net；=%net2=©g、兄=(net?)=net?=&切where^)areinputsand3?areoutputsofinputlayer.Inthislayer,theweightsareunityandfixed.LayerII:Inthislayer,eachnodeperformsafuzzy
5、setandtheGaussianfunctionisadoptedasmembershipfunction此「GgU)-exp(n&jJ問=)=exp(nei；：)(18)where加尙，〃必and吩，arethemeanandthestandarddeviationoftheGaussianfunction,respectively.Therearej+nodesinthislayer.LayerIII:ThislayerrepresentsrulebaseusedintheFLC.Inthislayer,aproductoperatorisusedto
6、representaruleineachnodenct#=(£xx；1：),球=(net；］1)=net；］1(〔刃咗(/)=啞卩-1)+从A喷⑴(25)wherethevaluesoflinkweightsbetweenmembershiplayerandrulebaselayerareunity.LayerIV:ThislayerincludesinferenceanddefuzzificationusedintheFLC.Fordefuzzification,thecenterofareamethodisused“力力啜堺心力力閲Jtjk碘'上老卅=£
7、v(nc世三(20)vvivwhere心iscentersoftheoutputmembershipfunctionsusedintheFLC・"hisoutputoftherulelayer・aandharethenumeratorandthedenominatorofthefunctionusedinthecenterofareamethod,respectively.IntheNFC,theaimoflearningalgorithmadjusttheweightsof,砲占anday,.Thesupervisedgradientdescentmeth
8、odisusedinthelearningalgor
