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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Hybrid Control of a Mechatronic System: Fuzzy Logic and Grey System Modeling Approach
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Hybrid Control of a Mechatronic System: Fuzzy Logic and Grey System Modeling Approach

机译：机电系统的混合控制：模糊逻辑和灰色系统建模方法

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This paper presents a method of fuzzy control combined with grey system modeling approach of a mechatronic system to be used in driving a four-bar mechanism by a dc motor through a buck converter. The main contribution of this paper is that it predicts the future error values in terms of the previous error values using a grey estimator and determines the control action for the following step that depends on the predicted error value before it occurs. Despite the basic assumption that the angular velocity of the crank is constant in most of the mechanism analysis, this may not be valid when the mechanism is connected to an electric motor. In this paper, a complete state–space mathematical model of each part of the converter–motor–mechanism system is first developed and numerically simulated to demonstrate the crank angular speed fluctuations for the case of a constant voltage supply. Then, a fuzzy logic controller combined with grey system modeling approach is designed to regulate the crank angular speed of the mechanism and compared with a fuzzy controller used alone. Finally, results are obtained for each part of the system separately, then related parts are connected as cascade, and complete system control is tested for the proposed control approach. The connection between dc motor and four-bar mechanism has been considered as a dynamic load for the converter. Comparatively better results are obtained when the fuzzy controller is used together with grey system modeling approach. The results obtained from the proposed controller are not only superior in the rise time, speed fluctuations, and percent overshoot, but also much better in the controller output signal structure.
机译：本文提出了一种模糊控制方法，结合机电系统的灰色系统建模方法，该方法将用于直流电动机通过降压转换器驱动四连杆机构。本文的主要贡献在于，它使用灰色估计器根据先前的误差值来预测未来的误差值，并根据误差的预测值确定下一步发生的控制措施。尽管在大多数机构分析中基本假设曲柄的角速度是恒定的，但是当机构连接到电动机时，这可能无效。在本文中，首先开发了转换器-电动机-机械系统各部分的完整状态-空间数学模型，并进行了数值模拟，以证明在恒定电压情况下曲柄角速度波动。然后，设计了一种与灰色系统建模方法相结合的模糊逻辑控制器来调节机构的曲柄角速度，并与单独使用的模糊控制器进行了比较。最后，分别获得系统各部分的结果，然后将相关部分串联起来，并针对所提出的控制方法对完整的系统控制进行了测试。直流电动机和四杆机构之间的连接已被视为转换器的动态负载。当将模糊控制器与灰色系统建模方法一起使用时，可获得相对较好的结果。从所提出的控制器获得的结果不仅在上升时间，速度波动和超调百分比方面更为出色，而且在控制器输出信号结构方面也要好得多。

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