Control of a direct-drive DC motor by fuzzy logic

Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting Pub Date : 1993-10-02 DOI:10.1109/IAS.1993.298871

H. Le-Huy, M. Hamdi

引用次数: 22

Abstract

The application of fuzzy logic theory to control a direct-drive DC motor in a robot arm is studied. The design of a fuzzy logic controller for position control of a single-link robot arm is presented. Simulation results show that the response of the fuzzy controller is very good, and it remains the same when the load mass changes in a wide range. The designed fuzzy controller has been implemented on an 8-bit microcontroller (68HC11) to evaluate the obtainable performance with a low-cost processor. Even with a relatively low sampling rate (66 Hz) due to the limited execution speed of the microcontroller, the fuzzy logic controller performs well in a wide range of operating conditions. Good experimental results were obtained, illustrating the high robustness of the controller to the load mass change.<>

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用模糊逻辑控制直驱直流电动机

研究了模糊逻辑理论在机械臂直驱直流电动机控制中的应用。介绍了一种用于单连杆机械臂位置控制的模糊控制器的设计。仿真结果表明，该模糊控制器具有良好的响应性，且在负载质量较大范围内变化时保持不变。所设计的模糊控制器已在8位微控制器(68HC11)上实现，以评估低成本处理器可获得的性能。由于微控制器的执行速度有限，即使具有相对较低的采样率(66 Hz)，模糊逻辑控制器在广泛的操作条件下也表现良好。实验结果表明，该控制器对负载质量变化具有较高的鲁棒性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting

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