| Popis: |
After applying the ball on plate stabilization system in practice, a big problem appeared, which is that the servo motors used must be very fast and have large-angle but these motors are rare and expensive Therefore, commonly used servo motors that have large angles and low speed are used in the practical experiment, and this makes the angle of the plate large and this increases the nonlinearity in this system, Therefore, a model was developed that deals with the large nonlinearity in the system, depending on Takagi-Sugeno (T-S) fuzzy to improve the tracking and stabilization of the ball on the plate system (BOPS) and this model not presented in any scientific paper before. This paper introduces the mathematical model of the two degree of freedom BOPS using state space and modeling through Takagi-Sugeno (T-S) fuzzy. The T-S fuzzy is utilized for improving the controller performance by aiding the state feedback controller. The determination of the gains of the controller is performed through the linear quadratic regulator (LQR) method. The proposed controller gives more precisely tracking the desired trajectory of the ball position. |
