Robust Speed Controllers with Autotuning for Electrically Driven Equipment

摘要

In the light of the growing demands for robustness of machine tools and apparatus equipment, this paper focuses on the speed control of electrically driven moving parts, such as supports, cars, loaders, forklift trucks, carriers, etc. The research lays emphasis on how to maintain identical dynamics in terms of the speed overshoot and the speed rise time at driving obstacles that cannot be confidently foreseen. This issue is typical for machines operated in rather stable conditions at moderate speeds those frictions, gaps, backlashes, or elasticity may change unpredictably during operation. Two autotuning procedures are designed and studied. The first one based on an iterative binary logic algorithm addresses the accurate following the demanded dynamics. The second one based on the one-step fuzzy logic approach provides rapid achieving the setpoint with rather good dynamics.