Predictive speed control with fuzzy compensation of a two-mass drive with friction
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Piotr Serkies [1] ; Krzysztof Szabat [1]
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[1] Wrocław University of Technology
Wrocław University of Technology
Breslavia, Polonia
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- Localización: Compel: International journal for computation and mathematics in electrical and electronic engineering, ISSN 0332-1649, Vol. 36, Nº 1, 2017, págs. 62-77
- Idioma: inglés
- Enlaces
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Resumen
Purpose – The purpose of this paper is to design and test a linear predictive control algorithm with elements of fuzzy logic in the non-linear speed region of a two-mass system with a flexible shaft.
Design/methodology/approach – To compensate the non-linearity of friction in the low-speed region, the elements of the Q matrix have been retuned with the use of fuzzy logic. First, the influence of the Q matrix on the dynamics of the drive has been discussed. On the basis of these findings a fuzzy system has been developed.
Findings – It has been demonstrated that applying a relatively simple fuzzy system can reduce unwanted non-linear phenomena in the low-speed region; at the same time, the dynamics of the drive in the other regions is not deteriorated.
Originality/value – The solutions presented in the paper are original and have not been published so far. The influence of non-linear friction on the work of the drive in the low-speed region at different values of the matrix Q has been shown. Also, a novel system of online adjustment of the values of the Q matrix in a predictive speed controller has been introduced. Besides, the system has been compared against the classical predictive regulator.
