dSPACE DSP-Based Rapid Prototyping of Fuzzy PID Controls for High Performance Brushless Servo Drives

This paper presents a complete and integrated environment for rapid prototyping of robust proportional-integral-derivative (PID) fuzzy controller that allows rapid realization of novel designs. The architecture of the proposed controller is basically composed of three independent fuzzy sub-controllers. Then, the three sub-controllers are combined together to form the overall fuzzy PID controller. The design strategy incorporates a fuzzy tuner for realizing a guaranteed-PID performance fuzzy controller that can assist practitioner to achieve the best control design for the entire operating envelop. The design, analysis, and implementation stages are carried out entirely using a dSPACE DS1104 digital signal processor (DSP)-based real-time data acquisition control (DAC) system, and MATLAB/Simulink environment. Experimental results show that the proposed fuzzy PID controller produces superior control performance than the conventional PID controllers, particularly in handling nonlinearities and external disturbances