Адаптивний регулятор з динамічною Fuzzy-корекцією настройки для мехатронного привода мобільної машини

Abstract

It has been determined that one of the tendencies in the development of mobile working machines is transition to the systems of mechatronic drives that include variable pumps, proportional equipment and controllers. A system of mechatronic drives with an adaptive regulator is presented, which was developed in Vinnytsia National Technical University. The adaptive regulator provides mechatronic drive operation in three modes. Mechatronic drive with the developed adaptive regulator provides the possibility of proportional control and stabilization of the working member motion speed, which ensures significant improvement of the operator’s work and higher productivity of the machine operation. On the basis of the elaborated mathematical model the dependence of the transfer factor of the adaptive regulator adjusting component on the mechatronic drive operation modes has been determined. The dependence is of a fuzzy character and for its implementation in the adaptive regulator a Mamdani fuzzy inference procedure with membership functions of the Gaussian curve type is used. Application of the adaptive regulator with fuzzy dependence of the transfer factor of the adaptive regulator adjusting component makes it possible to reduce oscillation, regulation time and overshoot period in the mechatronic drive.