DSP based real-time implementation of an adaptive fuzzy controller for the tracking control of servo-motor drives

An embedded hybrid adaptive fuzzy control structure is implemented for trajectory tracking control of a brushless servo drive system (BSDS). The control structure employs a fuzzy logic controller incorporating an H_∞ tracking controller via an actual acceleration feedback signal. The fuzzy logic controller is equipped with an adaptive law-based Lyapunov synthesis approach to compensate for system uncertainty and random changes in the external load acting on the drive system. The proposed control structure is simulated and experimentally verified on a state-of-the-art dSpace DS1104 digital signal processor (DSP) based data acquisition and control (DAC) system in a laboratory 1-hp ac brushless motor. The result is a powerful test bed for the rapid design, and implementation of the proposed controllers for a wide variety of operating conditions. Computer simulation and experimental results are provided to verify the effectiveness of the proposed controller. Considerable improvement in performance generated by the approach compared with the traditional PI controller.