Self-tuning PD2-PID Controller Design by Using Fuzzy Logic for Ball and Beam System

摘要

Nowadays, the science of aircraft equipment has made remarkable progress. However, due to the heavy costs and sensitivity, study on a laboratory scale for this equipment is impossible. Therefore, equivalent systems are used. The ball and beam is one of the systems which is used to simulate the aviation sciences. This system is composed of one motor, one ball and one beam. The purpose of this system is controlling and balancing the ball position on the beam at a desired value. There are several challenges like sensors noise and servo motor nonlinearities in the controlling this system. To solve these problems, a new control method is presented in this paper. This approach is made from the combination of two different methods consist of PD2-PID and fuzzy logic controller. The main purpose of the presented approach is realizing the best performance of the system and locating the ball position in desired value in the lowest time, steady state error and overshot. The obtained simulation results indicate the proposed method has better performance in controlling the ball and beam system compared to the other techniques like traditional PD2-PID.