الفهرس 
صفحة العنوانOnly 14 pages are availabe for public view
 |  | from | 210 |  |  |
| | | from | 210 | | |
Abstract
Industrial requests for increasing the mass production rates lead to the need
for faster production machines that can produce, manipulate, or assemble parts at
higher speeds and with acceptable accuracy than ever before. This brings the
motivation for the research in this thesis, which has been to develop new control
strategies that can achieve high performance for servomechanisms systems, and
also, accommodate many disturbances in their motion delivery so that better tool
positioning accuracy can be realized at high speeds. Detailed dynamic modeling
and system identification has been derived, considering nonlinearity resources
(friction and backlash). New intelligent controllers were designed with different
techniques. The first methodology of these techniques is the fixed structure
controllers such as the PID controller, the Fractional order PlO (FOPID) control
and a new form of Non linear PID (NPID) control. The optimal values of the
controller’s parameters were tl’btained using the Harmony Search (HS)
optimization technique based on a suitable objective function. Still, the
servomechanism system has poor performance in case of different operating
points because of the fixed structure of controllers. So, this study resorts to the
second methodology where the controller structure is variable. A new technique
was developed to tune the FOPID control parameters online based on the optimal
model reference adaptive system (MRAS). Also, this study presents a novel
technique for variable structure (VS) fuzzy PO control where the rule base of the
fuzzy system is tuned online according to optimal MRAS. A complete simulation
for the advanced control techniques has been studied. The experimental setup has
been implemented to verify the