การออกแบบตัวควบคุมสำหรับเครื่องรีดยางพาราอัตโนมัติด้วยฟัซซีลอจิกวิธีใหม่

บทคัดย่อ บทความนี้นำเสนอการออกแบบตัวควบคุมฟัซซีลอจิกวิธีใหม่สำหรับเครื่องรีดยางพาราอัตโนมัติ วัตถุประสงค์ของบทความนี้ คือ การควบคุมความเร็วของเครื่องรีดยางพาราให้คงที่ เพื่อให้ความหนาของแผ่นยางพาราสม่ำเสมอ ด้วยการควบคุมความเร็วของมอเตอร์ไฟฟ้ากระแสตรงที่ใช้สำหรับขับเคลื่อนลูกรีดของเครื่องรีดยางพารา ความเร็วของมอเตอร์ไฟฟ้ากระแสตรงถูกควบคุมผ่านค่าแรงดันเอาต์พุตของวงจรแปลงผันดีซีเป็นดีซี ซึ่งอาศัยการควบคุมค่าวัฏจักรหน้าที่ด้วยตัวควบคุมฟัซซีลอจิก ตัวควบคุมดังกล่าวได้รับการออกแบบตำแหน่งฟังก์ชันสมาชิกภาพด้วยวิธีการใหม่ นอกจากนี้ บทความนี้ได้นำเสนอการทดสอบระบบควบคุมความเร็วของเครื่องรีดยางพาราด้วยชุดฮาร์ดแวร์ที่สร้างขึ้น ซึ่งผลการทดสอบแสดงให้เห็นว่า ตัวควบคุมฟัซซีลอจิกที่มีการออกแบบตามแนวทางที่นำเสนอ สามารถควบคุมความเร็วของเครื่องรีดยางพาราได้ตามต้องการ คำสำคัญ: เครื่องรีดยางพารา ตัวควบคุมฟัซซีลอจิก ฟังก์ชันสมาชิกภาพ การควบคุมความเร็ว ABSTRACT This paper presents a novel design of fuzzy logic controller for automatic Para rubber rolling machine. The speed control of Para rubber rolling machine is the aim of the paper. The constant speed can provide the constant thickness of the Para sheets. The DC motor connected with the Para rubber rolling machine is the considered system. The duty cycle controlled by fuzzy controller is used to regulate the output voltage of the DC/DC converter. This output voltage is used to control the speed of DC motor. The new design approach of the membership functions for the fuzzy logic controller is proposed in the paper. Moreover, the hardware implementation of the considered system is also presented. The experimental results show that the fuzzy logic controller can control the speed of the Para rubber rolling machine to the desired values. Keyword: Para rubber rolling machine, Fuzzy logic controller, Membership function, Speed contro

Evaluation of fuzzy logic techniques applied to the control of electrical machines

Este artículo presenta un trabajo desarrollado para una evaluación de la aplicación de técnicas de lógica difusa (fuzzy) al control de máquinas eléctricas, y más específicamente a un motor de inducción trifásico. Se realiza una introducción del Matlab/Simulink, utilizado para desarrollar y simular todo el sistema basado en la técnica referida. Asimismo se presenta la herramienta informática fuzzyTECH, empleada para desarrollar, depurar y posteriormente generar el código correspondiente al sistema de control. En este trabajo se compara la ejecución de un regulador fuzzy con un regulador PI y se demuestra que, mediante una elección adequada de las reglas y de las funciones pertenencia, su comportamiento dinámico es mejor, principalmente, en términos de la insensibilidad a la variación de parámetros. Los resultados obtenidos permite inferir que las técnicas de lógica difusa es posible en este tipo de aplicaciones siendo una alternativa interesante a las técnicas de control clásico.This paper reports work that is being developed in the evaluation of fuzzy logic techniques applied to the control of electrical machines, using the induction motor as an example. An overview of a CACSD (Computer Aided Control System Design) tools is also presented: Matlab/Simulink, used to design and simulate a control system based on the referred techniques; fuzzyTECH, used to design, tune and subsequently generate the code which implements fuzzy controller. The evaluation of the fuzzy logic controller behaviour is made through the comparison with a traditional PI controller and it will be shown that, with a proper selection of membership functions, its dynamic response is better, namely in terms of robustness. From the results obtained, it can be concluded that the use of fuzzy logic control for this kind of applications is not only viable, but also an interesting alternative to more conventional techniques.(undefined

ACTUALIZACIÓN DE LA BIBLIOTECA DEL SISTEMA LABCON (LABORATORIO REMOTO DE CONTROL AUTOMATICO)

El siguiente trabajo tiene como propósito aumentar la cantidad de bloques que posee actualmente el sistema LabCon de modo que se disponga de una mayor cantidad de elementos para trabajar dentro de una simulación, consecuentemente fue necesario crear un documento tipo tutorial dentro del cual se describen los diferentes pasos a seguir para poder agregar un nuevo bloque (existen dos tipos de bloques: simulink y planta). Además, se modifico la interfase para mejorar el comportamiento con los diferentes bloques y se implementó un nuevo bloque “Fuzzy Logic Controller” para poder trabajar con simulaciones con un controlador difuso. Para poder confirmar el correcto funcionamiento del bloque “Fuzzy Logic Controller” fue necesario crear un archivo de control con extensión “.fis” que posea toda la lógica difusa y luego crear una simulación en tiempo real usando la planta de tres tanques de agua representada dentro del sistema LabCon con el bloque tipo planta llamada “Planta3T”.The pupporse of this paper is to increase the number of blocks that actually are in the LabCon System so we can have a large amount of elements to work inside a real-time simulation, so to achieve this objective was require to create a tutorial document with the neccesary steps to add a new block (there are two kinds of block: simulink and plant). Also, we need to modified the interfase to improve the behavior with the different blocks and a new block was created “Fuzzy Logic Controller” to work with real-time simulations with a difuse controller. To confirm the correct performance from the block “Fuzzy Logic Controller” was necessary to generate an archive with extension “.fis” with the fuzzy logic programation and then create a real-time simulation using the plant of the three water tanks represented in the LabCon System with the block type plant called “Planta3T”

Expert supervision of an anti-skid control system of a commercial aircraft

A rule-based supervising system that incorporates fuzzy logic has been designed to back-up a conventional anti-skid braking system (ABS). Expressing the expert knowledge about the ABS in terms of linguistic rules, the supervising fuzzy system adapts the reference wheel slip of the ABS with respect to the actual runway condition. Two approaches are presented: The first uses a simple rule-based decision logic, which evaluates a new reference slip directly from the measured system variables. The second approach employes an explicit identification of the runway condition, which is used as input information of a fuzzy system to evaluate a new reference slip. This application example demonstrates the capabilities of a parallel use of conventional control techniques and fuzzy logic

Min-Max Predictive Control of a Five-Phase Induction Machine

In this paper, a fuzzy-logic based operator is used instead of a traditional cost function for the predictive stator current control of a five-phase induction machine (IM). The min-max operator is explored for the first time as an alternative to the traditional loss function. With this proposal, the selection of voltage vectors does not need weighting factors that are normally used within the loss function and require a cumbersome procedure to tune. In order to cope with conflicting criteria, the proposal uses a decision function that compares predicted errors in the torque producing subspace and in the x-y subspace. Simulations and experimental results are provided, showing how the proposal compares with the traditional method of fixed tuning for predictive stator current control.Ministerio de Economía y Competitividad DPI 2016-76493-C3-1-R y 2014/425Unión Europea DPI 2016-76493-C3-1-R y 2014/425Universidad de Sevilla DPI 2016-76493-C3-1-R y 2014/42

Platform Relative Sensor Abstractions across Mobile Robots using Computer Vision and Sensor Integration

Uniform sensor management and abstraction across different robot platforms is a difficult task due to the sheer diversity of sensing devices. However, because these sensors can be grouped into categories that in essence provide the same information, we can capture their similarities and create abstractions. An example would be distance data measured by an assortment of range sensors, or alternatively extracted from a camera using image processing. This paper describes how using software components it is possible to uniformly construct high-level abstractions of sensor information across various robots in a way to support the portability of common code that uses these abstractions (e.g. obstacle avoidance, wall following). We demonstrate our abstractions on a number of robots using different configurations of range sensors and cameras

Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staf

Generación de piloto automático difuso para maniobras de embarcaciones

This paper introduces a method to generate autopilots for ship headings by using issues from the observation of control actions performed by human operators. The controller is designed based on fuzzy logic and uses triangular membership functions for the antecedent and consequent functions for Singleton type. For an automatic adjustment of the consequential, the recursive least squares method was used. This method is used to generate and validate the course driver of a 350-m tanker, at different load conditions.Este documento presenta un método para generar pilotos automáticos para rumbo de embarcación mediante el uso de asuntos provenientes de la observación de acciones de control realizadas por operadores humanos. El controlador está diseñado basado en lógica difusa (fuzzy logic) y utiliza funciones de pertenencia triangular para las funciones antecedentes y consecuentes para tipo Singleton. Para un ajuste automático de la consecuente, se utilizó el método de mínimos cuadrados recursivos. Este método es utilizado para generar y validar el conductor de curso de un buque cisterna de 350 m, en diferentes condiciones de carga

Using Building Blocks to Design Analog Neuro-Fuzzy Controllers

We present a parallel architecture for fuzzy controllers and a methodology for their realization as analog CMOS chips for low- and medium-precision applications. These chips can be made to learn through the adaptation of electrically controllable parameters guided by a dedicated hardware-compatible learning algorithm. Our designs emphasize simplicity at the circuit level—a prerequisite for increasing processor complexity and operation speed. Examples include a three-input, four-rule controller chip in 1.5-μm CMOS, single-poly, double-metal technology