Positioning Electromechanical System with Adaptive Fuzzy Proportional-Plus-Integral Position Controller

Abstract

The structure of an electromechanical system (EMS) with the positioning control loop operating based on fuzzy PI position controller is developed. The model of adaptation of the positioning process to the change of position reference signal is proposed. The solution allows us to obtain optimal plant’s laws of motion in the full positioning range in different directions. The structure of a fuzzy proportional-plus-integral (FPI) position controller based on the Mamdani algorithm is proposed and designed. The structural Simulink model of the positioning EMS with the adaptive fuzzy PI controller is developed, and computer simulations of the positioning control for both directions of the plant’s motion are performed. The analysis of the obtained positioning control proved the correctness and effectiveness of the proposed adaptation model, as far as it allows obtaining optimal (without overshoots and dragging modes) plant’s motions into an arbitrary position from both directions.