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DC MOTORS Speed and Position Fuzzy Control

DC Motor Std. Control vs Fuzzy Control

DC MOTORS Speed and Position Fuzzy Control
STMicroelectronics
DC Motor Std. Control vs Fuzzy Control
TRADITIONAL CONTROL
FUZZY CONTROL
NEG. NEG. ZERO POS. NM L VVL ZERO VS Z VL POS. VVS S PM
State Feedback
IF Error IS.. AND Speed IS.. THEN Vout IS ..
THIS CONTROL CAN BE ACHIEVED BY USING A DSP
9 FUZZY RULES CAN OBTAIN HIGHER PERFORMANCES AND CAN BE IMPLEMENTED BY USING A VERY SIMPLE HARDWARE STRUCTURE
DC Motor Fuzzy Model
A DC motor is usually represented by a second order linear system. In this way non-linearities of static friction are not considered and power actuator is not modelled. For these reasons it can be convenient to use a fuzzy model of the system. By using the Neuro-Fuzzy module a simple fuzzy model with 16 rules is sufficient to to identify a DC motor.
DC Motor Fuzzy Model: results
Speed
Time (Sec.) Measured Data Fuzzy Model
Fuzzy Controller Description
Fuzzification
Error
Rules Inference
Defuzzification
Statoric Voltage
Speed
Fuzzy Control Results
Time (Sec.) Fuzzy Cont. Std. Cont.
Fuzzy Control Results
Position
Time (Sec.) Ref. Fuzzy Cont. Std. Cont.
Brushless Motor Speed Control by ST52x301
Brushless Motor
J7 1 2 3 4 5 6 7 8 CON8 3 2 74LS00 U2B H2 4 6 5 74LS00 U2C H3 9 8 10 74LS00 PWM IN3 RPM IN2 R11 10 k SPEED REFERENCE AIN0 AIN1 AIN2 AIN3 IN1 AGND 20 21 29 30 33 43 42 41 40 27 25 19 26 AVDD AGND VCC VCC 0.22uF CEL04 1N4148 100uF 16V C23 rc05 R8 10k TO92 Q4 BC308 2.2K rc05 1N4148 10nF +Vs 100uF DO41 6 Vboot Vref 16 17 18 7 4 L6234 8 19 2 10 1 11 20 13 14 3 5 12 9 15 D15 4.3V R9 2.2K R10 C21 rc05 1uF 10V C20 27 0.1uF 10uF 10V C22 0.1uF AGND Masse JP1 VCC L2 CEL04 AVDD C15 22pF 5MHz C16 22pF 2 3 6 31 AIN0 AIN1 AIN2 AIN3 AIN0.3 8SIP100 U V W U2A H1 1
ST52T301
BG(44)
10uH R7 C19
IN2 En1
En2 En3
Brushless Motor Speed Control by ST52x301
FUZZYSTUDIO3.0 Main Program Development Window
Speed Measurement
Hall Sensor signal
Start Timer
Stop Timer
The timer counter value is proportional to the rotor speed. The Ext. Interrupt is used to start and stop the timer counting. The Timer count is then used in the Main Program for the control law definition.
FUZZYSTUDIO3.0 External Interrupt flow chart
Timer Settings
The Start / Stop signal of the Timer is driven by the Hall Sensor Signal by using the EXT. Interrupt. The DC motor speed is measured using the value of the Timer Counter.
FUZZYSTUDIO3.0 TIMER settings dialog-box
Duty Cycle modulation
The value defined by the fuzzy controller is the variation of the duty cycle. This value is then integrated and sent to the PWM driver to regulate the motor speed.
FUZZYSTUDIO3.0 TRIAC Driver settings dialog box