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2008, vol. 34, br. 3-4, str. 193-202
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Fazi upravljanje elektrohidrauličkim sistemom
Fuzzy control of electrohydraulic system
Univerzitet u Novom Sadu, Poljoprivredni fakultet, Srbija
Sažetak
U radu je prikazan metod projektovanja fazi PD kontrolera za primenu u elektrohidrauličkim sistemima upravljanja. Fazi kontroleri, za razliku od kontrolera zasnovanih na modelu, inkorporiraju heurističko znanje čoveka o tome kako upravljati objektom. Pošto su fazi kontroleri nelinearni, znatno je teže podešavanje njihovih parametara u poređenju sa proporcionalno-integralno-diferencijalnim (PID) kontrolerima. U radu je primenjen postupak koji koristi klasični PD kontroler kao osnovu za projektovanje ekvivalentnog linearnog fazi kontrolera, stvaranje nelinearnog kontrolera i njegovo fino podešavanje. Karakteristični parametri kontrolera optimalizovani su metodom pretraživanja uzoraka i genetskog algoritma. Efikasnost tih upravljačkih šema proverena je poređenjem sa klasičnim PD upravljanjem.
Abstract
This paper presents a method for designing a fuzzy PD controller for application in electrohydraulic control systems. A fuzzy controller, unlike most other mathematical model based controllers, incorporates human heuristic knowledge on how to control a plant. Since fuzzy controllers are nonlinear, it is more difficult to set the controller parameters compared to proportional-integral-derivative (PID) controllers. The paper contains a design approach, which uses a classical PD controller as a starting point. The idea is to start with a tuned, conventional PD controller, replace it with an equivalent linear fuzzy controller, make the fuzzy controller nonlinear, and fine-tune the nonlinear fuzzy controller. The characteristic parameters of controllers are optimized through pattern search and genetic algorithm. The effectiveness of this control scheme is verified by comparison with that of a classical PD or PI control.
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