1. dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive
- Author
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Rajendran Somasundram, Arulmozhiyal Ramasamy, and Manikandan Ramasamy
- Subjects
0301 basic medicine ,Engineering ,General Computer Science ,General Mathematics ,General Physics and Astronomy ,PID controller ,four quadrant drive ,DSPACE ,Fuzzy logic ,DC motor ,03 medical and health sciences ,0302 clinical medicine ,Control theory ,Servo drive ,position servo control ,lcsh:Science (General) ,dSPACE DS1104 ,business.industry ,Angular displacement ,General Engineering ,Open-loop controller ,vertical rotating single arm robot ,Control engineering ,General Chemistry ,fuzzy PID controller ,030104 developmental biology ,lcsh:TA1-2040 ,General Earth and Planetary Sciences ,BLDC motor ,lcsh:Engineering (General). Civil engineering (General) ,business ,Robotic arm ,030217 neurology & neurosurgery ,lcsh:Q1-390 - Abstract
Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.
- Published
- 2017
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