퍼지 PID 제어기를 이용한 DC 모터의 속도제어

Abstract

DC Motors have widely used in a variety of industrial process including a robot manipulator. But the precise control of DC Motor using conventional linear controllers is difficult because of the nonlinear characteristics of DC Motors. Therefore, the control method considering those nonlinear characteristics is required. To control the nonlinear systems, the control methods such as time optional control, control using describing function method, variable structure control have been suggested. This paper presents a design method of the DC Motor control. The controller is designed from fuzzy models of a DC Motor. The fuzzy models of the DC motor are identified by using input-output data obtained by inputing pseudo random data to the DC motor. And the fuzzy models are used to design fuzzy PID controllers to control DC motor. The results of experiments show the efficiency of the developed fuzzy PID controller.