Regulacija pneumatskih servosustava primjenom neizrazitog regulatora

Šitum, Željko (2001) Regulacija pneumatskih servosustava primjenom neizrazitog regulatora. = Pneumatic servosystem control using fuzzy controller. Doctoral thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Novaković, Branko.

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Abstract (Croatian)

U ovoj disertaciji, istražene su, projektirane i eksperimentalno ispitane različite regulacijske strukture elektropneumatskog servosustava. Razvijeni su matematički modeli pneumatskog cilindra bez klipnjače upravljanog s tri tipa ventila: proporcionalnim ventilom, proporcionalnim tlačnim regulatorima i elektromagnetskim dvopoložajnim ventilima. Dinamički modeli izgrađeni su na temelju teoretskih razmatranja i eksperimentalno snimljenih podataka. U svrhu analize i usporedbe struktura regulacije položaja pneumatskog pogona upravljanog različitim tipom ventila razmotreno je nekoliko konvencionalnih struktura regulatora. U slučaju pneumatskog pogona upravljanog proporcionalnim ventilom istražene su mogućnosti regulacije položaja primjenom neizrazitog regulatora. Za prevazilaženje problema u postupku projektiranja neizrazitog regulatora u smislu eksponencijalnog porasta broja pravila ponašanja s porastom broja ulaznih varijabli, projektiran je neizraziti regulator koji ne koristi bazu pravila ponašanja. Da bi se poboljšala točnost i smanjio utjecaj nelinearnosti i promjenljivosti parametara procesa tijekom postupka regulacije, istražena je mogućnost primjene kombinirane strukture regulacije. Ovakav koncept regulacije sačinjavaju konvencionalni PID regulator podešen prema optimumu dvostrukog odnosa, koji uključuje nelinearnu kompenzaciju trenja i neizraziti regulator projektiran u svrhu povećanja robustnosti regulacijskog sustava uslijed promjenljivosti parametara procesa. Razvijeni regulacijski algoritmi provjereni su eksperimentima na laboratorijskom modelu pneumatskog servopogona.

Abstract

In this thesis, the research, design and experimental examination of different control structures on electropneumatic servosystem have been presented. The mathematical models of a pneumatic rodless cylinder controlled by three types of valves: proportional directional control valve, proportional pressure regulators and on/off solenoid valves are given. The dynamic models were built on the basis of theoretical considerations and of experimental data. In order to analyse and compare the usefulness of control structures of position control system with each type of valves, several conventional control strategies have been considered. For pneumatic actuator controlled by proportional directional control valve the usefulness of position control system using a fuzzy logic controller is designed and verified. In order to cope with a problem in fuzzy controller of exponential growth in rules with increase of the number of input variables, an adaptive fuzzy logic controller without a fuzzy rule base has been developed. For the sake of improving the accuracy and reducing the nonlinear effects and time varying of parameter's during the control process, a hybrid structure has been realized. This control concept is composed of PID controller tuned according to the damping optimum which is expanded with a nonlinear friction compensator, and fuzzy logic controller designed in order to increase the robustness of the control system to variations of system parameters. The developed control algorithms are experimentally examined on a laboratory model of the pneumatic servodrive.

Item Type: Thesis (Doctoral thesis)
Uncontrolled Keywords: elektropneumatski servosustav; dinamički model; proporcionalni ventil; kompenzacija trenja
Keywords (Croatian): electropneumatic servosystem; dynamic model; proportional valve; friction compensation
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 13:19
URI: http://repozitorij.fsb.hr/id/eprint/187

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