PID and fuzzy controller design for DC motor positioning
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Oct 27, 2010
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Abstract
The performance of PID and fuzzy controllers is compared in a commercial device normally used in model airplanes: the S3004 Futaba Servo. The controller circuit, the power amplifier and the sensor are modified, and then the motor is observed. Next, a root-locus method is used to tune a PID for angular position control. Simulations and control are made in Matlab’s Simulink, and also a data acquisition card (PCI 6024E) is used. Results are analyzed at the end of the document: although the PID controller works better, the fuzzy controller shows a similar performance.
Keywords
PID controllers, intelligent control, servomechanismsControlador PID, control difuso, servomecanismos
References
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RAIRÁN, D.; SIERRA, Y. y MORENO, N. Implementación de dos estrategias de control para la velocidad de un motor DC. Revista de Ingeniería e Investigación. 2009, vol. 29, núm. 2, pp. 100-106.
SUSPERREGUI, A.; TAPIA, G. y TAPIA, A. Application of two alternative sliding-mode control approaches to DC servomotor position tracking. IET Electric Power Applications. 2007, vol. 1, núm. 4, pp. 611-621.
WAHYUNGGORO, O. y SAAD, N. Development of fuzzy-logic-based self tuning PI controller for servomotor. 10th Intl. Conf. on Control, Automation, Robotics and Vision, Hanoi, Vietnam, 17-20 de diciembre de 2008, pp. 1.545-1.550.
ZHANG, Y. et al. High performance position control system based on SR-PM motor. Tsinghua Science and Technology. 2007, vol. 12, núm. 5, pp. 614-619.
ZHIMING, W. et al. Study on positioning control of transfer robot with solar cell. The Ninth International Conference on Electronic Measurement & Instruments ICEMI’2009, pp. 913-919.
ABROSHAN, M. et al. An optimal control for saturated interior permanent magnet linear synchronous motors incorporating field weakening. 13th International Power Electronics and Motion Control Conference, Poland, 1-3 de septiembre de 2008, pp. 1.117-1.122.
ALI, F. H. y ALGREER, M. Fuzzy PID control for positioning plants with uncertain parameters variation. Information and Communication Technologies. 2006, vol. 1, pp. 1.428-1.433.
ATTAIANESE, C. y TOMASSO, G. Position measurement in industrial drives by means of low-cost resolver-to-digital converter. Instrumentation and Measurement, IEEE Transactions. 2007, vol. 56, núm. 6, pp. 2.155-2.159.
FACCIO, M. et al. An embedded system for position and speed measurement adopting incremental encoders. Industry Applications Conference. 39th IAS Annual Meeting Conference, Monteluco di Roio, L’Aquila, Italy, 3-7 de octubre de 2004, vol. 2, pp. 1.192-1.199.
HONGFU, Z. DC servo motor PID control in mobile robots with embedded DSP. International Conference on Intelligent Computation Technology and Automation. 2008, pp. 332-336.
LIU, Y. et al. Remodeling of fuzzy PID controller based on dynamic NN. Automation Congress, septiembre de 2008, pp. 1-5.
MARZI, H. Fuzzy Control of an inverted pendulum using AC induction motor actuator. IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, La Coruña, julio de 2006, pp. 109-114.
NGOC, Q. L.; JUNG, U. C. y JAE, W. J. Application of velocity profile generation and closed-loop control in step motor control system. International Joint Conference. Bexco, Busan, Korea, 18-21 de octubre de 2006, pp. 3593-3598.
PERRON, M.; DE LAFONTAINE, J. y DESJARDINS, Y. Sliding-mode control of a servomotor-pump in a position control application. Saskatoon, mayo de 2005, pp. 1.287-1.291.
RAIRÁN, D.; SIERRA, Y. y MORENO, N. Implementación de dos estrategias de control para la velocidad de un motor DC. Revista de Ingeniería e Investigación. 2009, vol. 29, núm. 2, pp. 100-106.
SUSPERREGUI, A.; TAPIA, G. y TAPIA, A. Application of two alternative sliding-mode control approaches to DC servomotor position tracking. IET Electric Power Applications. 2007, vol. 1, núm. 4, pp. 611-621.
WAHYUNGGORO, O. y SAAD, N. Development of fuzzy-logic-based self tuning PI controller for servomotor. 10th Intl. Conf. on Control, Automation, Robotics and Vision, Hanoi, Vietnam, 17-20 de diciembre de 2008, pp. 1.545-1.550.
ZHANG, Y. et al. High performance position control system based on SR-PM motor. Tsinghua Science and Technology. 2007, vol. 12, núm. 5, pp. 614-619.
ZHIMING, W. et al. Study on positioning control of transfer robot with solar cell. The Ninth International Conference on Electronic Measurement & Instruments ICEMI’2009, pp. 913-919.
How to Cite
Rairán-Antolines, J. D., Guerrero-Cifuentes, C. E., & Mateus-Pineda, J. A. (2010). PID and fuzzy controller design for DC motor positioning. Ingenieria Y Universidad, 14(1). https://doi.org/10.11144/Javeriana.iyu14-1.dctp
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