Modeling and simulation of fuzzy based BLDC fed vertically rotating one DOF robot arm position control system

Abstract

Automation grows in recent years for manufacturing industries to increase their productivity. Multiple robotic arms are used for handle the materials to lift in flexible directions. Vertical rotation of 360° single arm is considered in this research for position servo drive with brushless DC motor. The load torque of an arm varies depending upon angular displacement due to gravity, so it required four quadrant operation of drive with robust feedback controller. This paper deals with the design and performance comparison of conventional PID feedback controller with fuzzy based PID controller and suggests the most suitable controller. The design was simulated through MATLAB/SIMULINK to verify the dynamic behaviors of all four modes of quadrants.