Self-adapting control structure for active damping of the servomechanism residual vibration

This paper describes an approach that leads to increased robustness of the model based active damping control (so called SEM) structure against servomechanism residual frequency variation due to changing the parameters of the servomechanism (such as length of the crane rope or weight of carried load). SEM control structure uses the mathematical model of the servomechanism to generate the final active damping correction signal. This type of control structures typically suffer from the high dependency on compliance mathematical model with real physical system of the servomechanism. The compliance has a major effect on the effectiveness of active damping but also to the inherent stability of control system. Otherwise, the mathematical model does not produce the correct frequency of residual vibration and because of this can hardly damp the real servomechanism vibration. This is why we focus on self-adaptation of the active adaptation of mathematical model parameters using an artificial intelligence technique such as fuzzy logic. Fuzzy systems are widely used in modelling of unknown and dynamically changing parameters likewise in uncertainty compensation. Fuzzy modelling approach of certain parameter of the servomechanism model is going to be presented and validated.