Control PI difuso de ganancias programables para un sistema mecatrónico de posicionamiento angular-lineal

In this paper we shows the experimental results using a microcontroller and hardware integration with the EMC2 software, using the Fuzzy Gain Scheduling PI Controller in a mechatronic prototype. The structure of the fuzzy 157 Research in Computing Science 116 (2016) pp. 157–169; rec. 2016-03-23; acc. 2016-05-11 controller is composed by two-inputs and two-outputs, is a TITO system. The error control feedback and their derivative are the inputs, while the proportional and integral gains are the fuzzy controller outputs. Was defined five Gaussian membership functions for the fuzzy sets by each input, the product fuzzy logic operator (AND connective) and the centroid defuzzifier was used to infer the gains outputs. The structure of fuzzy rule base are type Sugeno, zero-order. The experimental result in closed-loop shows the viability end effectiveness of the position fuzzy controller strategy. To verify the robustness of this controller structure, two different experiments was making: undisturbed and disturbance both in closed-loop. This work presents comparative experimental results, using the Classical tune rule of Ziegler-Nichols and the Fuzzy Gain Scheduling PI Controller, for a mechatronic system widely used in various industries applications.