The design of the DC servo motor controller based on fuzzy immune PID algorithm

Conventional parameter-not-adjustable PID controller has a poor dynamic response, and the output cannot follow the input quickly, accurately and stably when dealing with the uncertain parameters, non-linear, wide input system. Current mainstream self-turning algorithms are difficult to transplant to the embedded platform due to the large volume, real-time issue. A fuzzy immune PID algorithm based on the conventional PID controller is put forward to realize the self-tuning of the PID parameters following motor speed value. Against the proportional parameter, it is adjusted according to the mechanism of the human immune system, and its non-linear part is approximated by the fuzzy algorithm; Against the integral and derivative parameters, its self-adjustment is directly realized by the fuzzy algorithm. Finally, the validity of the whole algorithm is verified by using MATLAB / Simulink simulation platform. The hardware of the controller manufacture based on the STM32 produced by St semiconductor is completed and velocity tracking experiments are done. When the servo motor is given 60r/min and 360r/min speed inputs, the response time is within 130ms and the amount of overshoot is below 0.5%. In the case of external disturbance, the speed fluctuation value is within 0.2%. Then the controller is applied to full range chassis and succeeded in controlling it with high precision. Simulation and experiments both show that the controller has good dynamic and static performance, and it can effectively control the servo motor.