Title :
Control of a direct-drive DC motor by fuzzy logic
Author :
Le-Huy, Hoang ; Hamdi, Maher
Author_Institution :
Dept. of Electr. Eng., Univ. Laval, Ste-Foy, Que., Canada
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
Keywords :
DC motors; electric drives; fuzzy control; machine control; microcontrollers; position control; robots; 66 Hz; 68HC11; 8-bit microcontroller; controller; direct-drive DC motor; fuzzy logic; load mass change; position control; single-link robot arm; Automatic control; Control systems; DC motors; Fuzzy control; Fuzzy logic; Fuzzy set theory; Mathematical model; Microcontrollers; Nonlinear control systems; Robots;
Conference_Titel :
Industry Applications Society Annual Meeting, 1993., Conference Record of the 1993 IEEE
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-1462-X
DOI :
10.1109/IAS.1993.298871
