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DC Motor Speed and Position Fuzzy Control

Fuzzy Logic B.U.

DC Motor Speed and Position Fuzzy Control
Fuzzy Logic B.U.
STMicroelectronics
Fuzzy Logic B.U. 02 / 29 / 00 1
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
Fuzzy Logic B.U. 02 / 29 / 00
DC Motor Fuzzy Model
The DC motor is normally represented by a second order linear system. In this way the non-linearity of the static frictions are not considered. Furthermore the power actuator is not modeled. For these reasons it seem more convenient to use a linguistic model of the system. By using Fuzzy Logic a simple fuzzy model was obtained. Only 16 rules have been used to identify the system behavior
Fuzzy Logic B.U. 02 / 29 / 00
DC Motor Fuzzy Model: The results
Speed
Time (Sec.) Measured Data Fuzzy Model
Fuzzy Logic B.U. 02 / 29 / 00
Fuzzy Controller Description
Fuzzification
Error
Rules Inference
Defuzzification
Statoric Voltage
Speed
Fuzzy Logic B.U. 02 / 29 / 00
Fuzzy Control Results
Time (Sec.) Fuzzy Cont. Std. Cont.
Fuzzy Logic B.U. 02 / 29 / 00
Fuzzy Control Results
Position
Time (Sec.) Fuzzy Cont. Std. Cont.
Fuzzy Logic B.U. 02 / 29 / 00
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 Vref VCP Vboot IN1 IN2 En1 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 VCC L2 CEL04 10uH R7 C20 27 0.1uF 10uF 10V C22 C19 0.1uF AGND Masse JP1 AVDD C15 22pF 2 3 6 31 AIN0 AIN1 AIN2 AIN3 AIN0.3 8SIP100 U V W U2A H1 1
ST52T301
BG(44)
IN3 En2 En3
Fuzzy Logic B.U. 02 / 29 / 00
Brushless Motor Speed Control by ST52x301
Fuzzy Logic B.U. 02 / 29 / 00
Speed Measurement by ST52x301
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.
Fuzzy Logic B.U. 02 / 29 / 00
ST52x301 Timer Setting
The Start / Stop signal of the timer is driven by the Hall Sensor Signal by using the EXT. Interrupt. Then the speed is measured by using the value of the Timer Counter
Fuzzy Logic B.U. 02 / 29 / 00
Duty Cycle modulation by ST52x301
The value defined by the fuzzy controller is the variation of the duty cycle. This value is then integrated and send to the PWM driver for the motor speed control.
Fuzzy Logic B.U. 02 / 29 / 00