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Control of a direct-drive DC motor by fuzzy logic

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2 Author(s)
Hoang Le-Huy ; Dept. of Electr. Eng., Univ. Laval, Ste-Foy, Que., Canada ; Hamdi, M.

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

Published in:

Industry Applications Society Annual Meeting, 1993., Conference Record of the 1993 IEEE

Date of Conference:

2-8 Oct 1993