CONTROL OF NONLINEAR MECHANISM BY USING SOFT COMPUTING CONTROL METHODS

V diplomskem delu smo predstavili uporabo dveh mehkih metod računanja za vodenje nelinearnega mehanizma z eno prostostno stopnjo. Opisano je vodenje s pomočjo umetne nevronske mreže in mehke logike. Hkrati je bilo za primerjavo rezultatov obeh mehkih metod izvedeno vodenje s PD-regulatorjem. Sistemi vodenja so bili narejeni in simulirani v programskem paketu MATLAB/Simulink, sami algoritmi pa napisani v jeziku C. Izvajanje in testiranje algoritmov je potekalo na realnem mehanizmu s pomočjo DSP-2-modula.In this thesis, we present usage of two soft computing methods to control a nonlinear mechanism with one degree of freedom. Used soft computing methods are artificial neural networks and fuzzy logic. Obtained results are compared with those given by the PD controller. Control systems are made in the MATLAB/Simulink environment with algorithms written in C programming language. Implementation and testing was realised on a real mechanism by using DSP-2 module