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.
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.
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.
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.
This research work is supported by National Science Centre (Poland) under grant Adaptive fuzzy control of the complex drive system with changeable parameters UMO-2011/03/B/ST7/02517 (2012-2015).
Serkies, P. and Szabat, K. (2017), "Predictive speed control with fuzzy compensation of a two-mass drive with friction", COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, Vol. 36 No. 1, pp. 62-77. https://doi.org/10.1108/COMPEL-03-2016-0093Download as .RIS
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