{"title":"Control of a direct-drive DC motor by fuzzy logic","authors":"H. Le-Huy, M. Hamdi","doi":"10.1109/IAS.1993.298871","DOIUrl":null,"url":null,"abstract":"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.<<ETX>>","PeriodicalId":345027,"journal":{"name":"Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"22","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IAS.1993.298871","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 22
Abstract
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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