SUPERVISORY CONTROL WITH INCREMENTAL CHANGE OF REGULATOR COEFFICIENTS

Abstract

The article considers the method of constructing an incremental fuzzy supervisor, in order to correct the coefficients of the PD controller based on information about the error and its derivative. The fuzzy system is used to modify the parameters of the lower-level controller, which works as the main controller. The use of a fuzzy incremental supervisor is most effective when controlling a non-stationary control object, as well as when the parameters of the object are not precisely known. The basic controller can be configured using a standard method (for example, Ziegler-Nichols), and the fuzzy supervisor allows you to vary the coefficients of the basic controller, improving the quality of control. The use of a parallel-functioning fuzzy incremental controller makes it possible to increase the robustness of the automatic control system to external disturbances that are unpredictable. Increasing robustness allows automation systems to adapt to operating conditions in an external environment in which significant fluctuations in disturbing factors are observed. Resistance to disturbances is achieved by dynamically adapting the incremental fuzzy supervisor of the transfer coefficients of classical controllers. To set the rules for the functioning of the fuzzy supervisor, an analysis was carried out on the phase plane of a typical graph of the transient process. According to the analysis, a table of linguistic rules for the functioning of the fuzzy supervisor was developed. The description provides for the use of a uniform linguistic normalized values of the control error and its derivative, as well as a control signal in the form of triangular membership functions. According to the results of the synthesis of a fuzzy incremental controller, a graphical representation of the control surface was obtained, and a comparison of the acquired graphs of the transient process of the object when controlled with a classical PD controller was carried out..