Motor Std. Control Fuzzy Control TRADITIONAL CONTROL FUZZY C
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MOTORS Speed Position Fuzzy Control
Motor Std. Control Fuzzy Control
TRADITIONAL CONTROL
FUZZY CONTROL
NEG. NEG. ZERO POS. ZERO POS.
State Feedback
Error Speed THEN Vout
THIS CONTROL ACHIEVED USING
FUZZY RULES OBTAIN HIGHER PERFORMANCES IMPLEMENTED USING VERY SIMPLE HARDWARE STRUCTURE
Motor Fuzzy Model
motor usually represented second order linear system. this non-linearities static friction considered power actuator modelled. these reasons convenient fuzzy model system. using Neuro-Fuzzy module simple fuzzy model with rules sufficient identify motor.
Motor Fuzzy Model: results
Speed
Time (Sec.) Measured Data Fuzzy Model
Fuzzy Controller Description
Fuzzification
Error
Rules Inference
er_n der_n THEN vout v_nn er_n der_z THEN vout v_nz er_n der_p THEN vout v_np er_z der_z THEN vout v_zz er_p der_n THEN vout v_pn er_p der_z THEN vout v_pz er_p der_p THEN vout v_pp er_z der_n THEN vout v_zn er_z der_p THEN vout v_zp
Defuzzification
Statoric Voltage
Speed
Fuzzy Control Results
Ref.
Time (Sec.) Fuzzy Cont. Std. Cont.
Fuzzy Control Results
Position
Time (Sec.) Ref. Fuzzy Cont. Std. Cont.
Brushless Motor Speed Control ST52x301
Brushless Motor
CON8 74LS00 74LS00 74LS00 SPEED REFERENCE AIN0 AIN1 AIN2 AIN3 AGND AVDD AGND 0.22uF CEL04 1N4148 100uF rc05 TO92 BC308 2.2K rc05 1N4148 10nF 100uF DO41 Vboot Vref L6234 4.3V 2.2K rc05 0.1uF 10uF 0.1uF AGND Masse CEL04 AVDD 22pF 5MHz 22pF AIN0 AIN1 AIN2 AIN3 AIN[0.3] 8SIP100
ST52T301
MAIN2 MAIN1 TRES TCTRL TCLK AIN0 AIN1 AIN2 AIN3 MODE TEST RESET AVDD AVSS OSCOUT READY IO_MODE TRIACOUT TIMEROUT AIN_OUT OSCIN
BusI/O CON7 7sip100
BG(44)
10uH
Brushless Motor Speed Control ST52x301
FUZZYSTUDIO3.0 Main Program Development Window
Speed Measurement
Hall Sensor signal
Start Timer
Stop Timer
timer counter value proportional rotor speed. Ext. Interrupt used start stop timer counting. Timer count then used Main Program control definition.
FUZZYSTUDIO3.0 External Interrupt flow chart
Timer Settings
Start/Stop signal Timer driven Hall Sensor Signal using EXT. Interrupt. motor speed measured using value Timer Counter.
FUZZYSTUDIO3.0 TIMER settings dialog-box
Duty Cycle modulation
value defined fuzzy controller variation duty cycle. This value then integrated sent driver regulate motor speed.
FUZZYSTUDIO3.0 TRIAC Driver settings dialog
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