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PID-type fuzzy adaptive control for two-mass servo-drive system: Design, simulation and experiment

The article discusses the features of the control system of telescope axes' drive. Conventional PID control system can not reach a satisfaction tracking accuracy in the case of low speeds of axes movement due to elastic coupling and friction action in these two-mass systems. As a consequence in the systems oscillations occur. In this study, fuzzy adaptive PID controller is described and this controller is used in position loop of control system. MATLAB/Simulink software is used to simulate the fuzzy adaptive PID and conventional PID control systems. The experiment is made with help of hardware setup of a special electromechanical device whose structure is similar to the azimuthal axis of the telescope. The results of the simulation and experiment show that the fuzzy adaptive PID has a high accuracy due to the suppression of vibrations in the tracking system.