SENSITIVITY ANALYSIS OF LOW COST FUZZY CONTROLLED SERVO SYSTEMS
SENSITIVITY ANALYSIS OF LOW COST FUZZY CONTROLLED SERVO SYSTEMS
复制标题
低成本模糊控制伺服系统灵敏度分析
DOI：
10.3182/20050703-6-cz-1902.01135
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Z. Preitl
中科院分区：
文献类型：
--
作者：
S. Preitl;Radu;Z. Preitl
摘要本文针对采矿技术中使用的一类两自由度轮式移动的机器人，在伺服系统采用低成本模糊控制系统的情况下，进行了被控对象参数变化的灵敏度分析，重点解决了跟踪控制问题。将扩展对称优化方法应用于串级控制系统结构中的基本线性PI控制器，提出了一种新的Takagi-Sugeno PI模糊控制器的设计方法。原始的敏感性模型。最后通过一个实例验证了该方法的有效性。
Abstract The paper performs the sensitivity analysis with respect to the parametric variations of the controlled plant in the case of low cost fuzzy control systems dedicated to servo systems, with focus on solving the tracking control problem for a class of wheeled mobile robots with two degrees of freedom used in mining technologies. A new development method for Takagi-Sugeno PI-fuzzy controllers is proposed, based on applying the Extended Symmetrical Optimum method to the basic linear PI controllers in a cascaded control system structure. Original sensitivity models are derived. The approaches are validated by a case study.