Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Intelligent Position Control in a Multivariable 2 DOF System
Submission Author:
Gustavo Silva , RN
Co-Authors:
Gustavo Silva, Pedro Leite, Fábio Meneghetti Ugulino de Araújo
Presenter: Fábio Meneghetti Ugulino de Araújo
doi://10.26678/ABCM.COBEM2019.COB2019-0968
Abstract
In this paper, the control of the position of a multivariate mechatronic system with two degrees of freedom is performed by an intelligent controller, which has its performance compared to a PD controller. The system consists of two servo motors (SVR02) of Quanser interconnected by four rigid bars. The tuning of the Fuzzy controller is done empirically and the tuning of the PD controller is done by approaching the transfer function of the system to the canonical form of a second order linear system. The results show that the Fuzzy controller obtained a lower Integral Absolut Error (IAE) and Integral of the Time weighted Absolute Error (ITAE), whereas the PD controlled obtained a lower Goodhart Index (GI). The Fuzzy controller proved to be more efficient in following the previously established trajectory, it presented a smaller error in transient regime and steady regime, with a less oscillatory control signal.
Keywords
Position Control, MIMO System, Fuzzy controller
