DYNAMICAL QUALITY IMPROVEMENT OF MECHATRONIC SERVO SYSTEM USING VARIABLE STRUCTURE VELOCITY CONTROLLER

Abstract

A technique of dynamical quality improvement of the mechatronic servo system is presented in the article. Application of variable structure velocity controller, whose control law during the transient regime of the system can be automatically changed from the proportional-integrating (PI) to the proportional (P) law and vice versa, is the core of this technique. Two methods based on fuzzy logic and preprogrammed "Lookup Table" application, ensuring automatic change of velocity controller structure, are proposed and investigated. The simulation results of the servo system confirming suitability of the proposed dynamical quality improvement technique are presented and discussed.