Abstract
This paper presents original concepts of control systems for an electrical drive with an elastic mechanical coupling between the motor and the driven mechanism. The synthesis procedure of the speed controller uses a proposed quality index (cost function) of system operation ensures the minimization of both tracking errors and torsional vibrations. Proper selection of the cost function focusses more on the reduction of torsional vibrations due to their negative influence on the drive’s mechanical coupling vitality. The omission of the plant identification of an adaptive fuzzy controller was proposed. Two types of fuzzy controllers were analyzed, namely with type I and type II fuzzy membership functions. The novelty of the presented approach is in the application of a Petri transition layer in a type II fuzzy controller which reduces the numerical complexity in case of a large number of complicated type II fuzzy sets. The presented simulation and experimental results prove that the best dumping of mechanical vibrations ensures the adaptive fuzzy controller with type II functions and a Petri transition layer.
Highlights
The demand for the productivity of technological processes is still growing
The main goal of the paper is to present issues related to the application of the adaptive control structure with fuzzy controller based on two types of fuzzy sets
In order to reduce the numerical complexity introduced by the type II fuzzy sets, Petri nets are implemented in the considered fuzzy controller
Summary
The demand for the productivity of technological processes is still growing. This goal can be achieved by increasing the speed of the industrial lines. It is shown that all systems can be divided into three major groups with identical performance Another approach visible in the literature is based on the application of the state controller [11,12,13]. In order to eliminate this drawback, the fuzzy sliding-mode controller has been proposed in [29], since it allows a faster adaptation process and makes the control system more robust to additional disturbances. The main goal of the paper is to present issues related to the application of the adaptive control structure with fuzzy controller based on two types of fuzzy sets. In order to reduce the numerical complexity introduced by the type II fuzzy sets, Petri nets are implemented in the considered fuzzy controller This drastically reduces the numerical burden of the proposed algorithm and allows real-time implementation on relatively cheap microprocessor. The logarithm and multiplication (103 in nominator) allow us to adjust the levels of importance of tracking error (which values is generally bigger) and torsional vibrations causing difference in motor and load speed (ω1−2) effectively the used cost function allows obtaining good tracking with minimized torsional vibrations
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