Enhancing of nominal characteristic trajectory following control for motion systems

摘要

The goal of this paper is to enhance a practical nominal characteristic trajectory following(NCTF) controller that is specifically designed for two-mass point-to-point positioning systems. A nominal characteristics trajectory contained in the NCTF controller acts as movement/motion reference and a compensator is utilized to force the object to detect and follow the reference/desired trajectory. The object must follow and track closely and should be as fast as possible. The NCTF controller is designed with two different intelligent based compensator approaches which are fuzzy logic and extended minimal resource allocation network. The proposed controller which is NCTF are compared with the conventional proportional integral compensator. Then the results of simulation are discussed for the positioning performances. The inertia variations due to the effect of the design parameters are also assessed to see the robustness of controllers. The results show that the NCTF control method designed from an intelligent based compensator has a better positioning performance in terms of percentage of overshoot, settling time, and steady state error than the classical based compensator.