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PID and Fuzzy Logic Controllers

PID and Fuzzy Logic Controllers

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Published by humansamir

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Published by: humansamir on Oct 28, 2009
Copyright:Attribution Non-commercial

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03/26/2014

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Performance Evaluation of Digital Control Algorithms forA DC Motor System
Heng-Ming Tai
Department of Electrical EngineeringUniversity of Tulsa
 
DC Motor Control Objectives
Achieve fast and smooth speed responseRobustness to load variationsHowever, due to
saturation nonlinearity
in the speed control loop,windup effect degrades the performance of the PID controller.Input command to the motor is saturated because of the magneticsaturation and motor overheating protection.
Both anti-windup PID and fuzzy logic controllersachieve similar control performance.Improved performance includes small overshoot, shortsettling time, and robustness.
 
Control Block Diagram
 
e
(
 k
) =
 r
(
 k
) -
 y
p
(
 k
)
 
e
(
 k
) =
e
(
 k
) -
e
(
 k
-1)
 
u
c
(
 k
) =
 N 
u
F
[
 N 
e
e
(
 k
),
 N 
e
 
e
(
 k
)]
e
,
 N 
e
, and
 N 
u
are scaling factors
e
(
 k
) and
e
(
 k
): the error and change of error of dc motor speed
F
represents the FLC operation
x
Scaling factors are tuned according to hardware specificationand system response
e u u
c
u
max
u
max
 ry
P
+
MotorFuzzy Logic, PID,or Anti-WindupPID Control(
Speed 
)

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