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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.

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This article deals with performance analysis and implementation of a four-quadrant chopper fed dc motor drive system. Control structure of the system is effected through a digital processor. The closed-loop control scheme of the drive utilizes the sliding mode controller (SMC) in its outer speed loop, while the inner loop is equipped with the Pulse Width Modulated (PWM) hysteresis current controller. An algorithmis evolved to eliminate the mechanical speed sensor. To simulate performance of the drive system, a mathematical model is developed. An experimental verification is carried out for the simulated performance. [ABSTRACT FROM AUTHOR]