Positional-trajectory electromechanical control systems based on fuzzy logical output algorithms

The issues of constructing positional-trajectory electromechanical control systems, ensuring the formation of quasi-optimal motion of the object variables - position, speed and acceleration - at unknown in size and time changes of the set effects are considered. It is assumed that specific limits are imposed on the values of speed and acceleration due to the combination of technological, energy, ergonomic and other requirements. An approach to the synthesis of the object positioning system on a certain spatial axis based on the application of fuzzy logical output algorithms, which have found wide application for systems with high complexity and structural and parametric uncertainty of the control object model, has been proposed. It is shown that for electromechanical control systems of low complexity, but with incomplete information about the external environment, this approach allows you to get simple, but quite effective control algorithms. The fuzzy regulator has two input variables (position error and speed) and one output (acceleration). Six fuzzy sets have been defined for the input variables, and two sets for the output variable. Belonging to these sets allowed to get a fuzzy-logical regulator, equivalent in structure to the proportional regulator, but providing self-tuning to the notoriously unknown parameters of the positioning of the object. The proposed approach can be used in the construction of positional-trajectory control systems, the formation of S-ramp to limit phase variable electric drives or when building reference models for adaptive control systems. The results of the simulation, confirming the effectiveness of the proposed approach, are presented.

Keywords

Authors

References