Autor:
Brdyś, Mieczysław A. ; Littler, Jonathan J.
Współtwórca:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Tytuł:
Fuzzy logic gain scheduling for non-linear servo tracking
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
tracking ; servo control ; gain scheduling ; fuzzy logic ; stiction friction ; hard non-linearities
Abstract:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
Strony:
Źródło:
AMCS, volume 12, number 2 (2002) ; kliknij tutaj, żeby przejść