Intelligent control method for two-mass rotary positioning systems

The nominal characteristic trajectory following (NCTF) control structure consists of a nominal characteristic trajectory (NCT) which is the reference motion of control system and a compensator. The NCT is easily determined from the open-loop experimental of the systems. The compensator function is to force the object motion follow the reference trajectory and stop at its origin. The controller parameter can be designed and determined easily without an exact model of the plant and it parameters specification. This paper introduced a fuzzy logic as a compensator for two-mass rotary point-to-point (PTP) positioning systems. The proposed method is adopted to improve the existing NCTF controller by increasing the positioning performances of the systems. The effectiveness of the controller also is evaluated for robustness to inertia variations and compared with existing NCTF controller. The simulation results showed that fuzzy based NCTF controller has a consistent positioning performance and better robustness than existing NCTF controller.