Keywords
magnetically operated mover
electromagnetic field
clamping electromagnet
clamping force control system
neuro-fuzzy observer мобільний робот
магнітокерований рушій
електромагнітне поле
притискний електромагніт
система керування притискним зусиллям
нейро-нечіткий спостерігач
How to Cite
Abstract
The models of observers for clamping force identification on the basis of ANFIS type hybrid neuro-fuzzy computational system (NFCS) is offered for magnetically operated movers of mobile robots for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of breakaway effort measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are brought that provides effective training NFCS, built into the clamping force automatic control system of the mobile robot. A comparative analysis of the developed observers with different types of membership functions is performed. Results of formed clamping force identification and an analysis of the adequacy of the observers’ synthesized models are presented. References 14, tables 3, figures 4.
References
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