Fuzzy logic gain scheduling for non-linear servo tracking

• Autorzy: Mieczysław A. Brdyś , Jonathan J. Littler
• Języki publikacji: EN

Abstrakty

EN

This paper proposes the use of gain scheduling as a method of controlling a servo system with hard non-linear elements. The servo controls two elements of a tracker mounted on a ship at sea. There is stiction at the zero velocity point and non-linear friction against the motion of each tracker axis. A dual feedback loop control structure is employed. Fuzzy logic is used to provide smoothly varying non-linear scheduling functions to map the velocity of the servo relevant to the deck of the ship onto the rate loop controller parameters. Consideration is given to the use of a derivative signal as a secondary input to the fuzzy inference system. Results are presented which demonstrate that this method of controlling the servo system gives a dramatic improvement over the traditional linear control methodology for low velocity tracking performance. A linear PID controller is used in the outer loop and its design is also given some consideration.

Słowa kluczowe

EN

servo control; gain scheduling; stiction friction; tracking; hard non-linearities; fuzzy logic

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2002
• Tom: 12
• Numer: 2
• Strony: 209-219

Daty

wydano

2002

otrzymano

2001-02-12

poprawiono

2001-07-17

(nieznana)

2001-11-10

Twórcy

autor

Mieczysław A. Brdyś

• School of Electronic, Electrical and Computer Engineering University of Birmingham, Birmingham B 15 2TT, UK

autor

Jonathan J. Littler

• School of Electronic, Electrical and Computer Engineering University of Birmingham, Birmingham B 15 2TT, UK

Bibliografia

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