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Control Of A Direct-drive DC Motor By Fuzzy Logic

H. Le-Huy, M. Hamdi
Published 1993 · Engineering

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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.<>
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