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Design and DSP implementation of fuzzy controllers for servo drives

Entwurf und DSP-Implementierung von Fuzzy-Reglern für Servomotoren

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Contents

This is the first paper to discuss the design and implementation of multiple fuzzy logic controllers in servo drives. Both ac and dc drives are considered since both types are used in high performance applications and their basic control structures are similar. The progressive development of single and multiple fuzzy logic controllers and detailed simulation and experimental results are presented for servo drives incorporating interacting fuzzy controllers. For the dc drive considered, the controllers are a speed controller, an armature current controller and a flux (field current) controller. In the case of the fully digital ac drive, a fuzzy speed controller is implemented in real time using the TI TMS320C30 DSP and is shown to provide stable, robust control. The design procedures and the drive responses are compared to those for conventional non-adaptive and self-tuning controllers. The advantages of a fuzzy approach to the design of variable speed drive systems are also discussed together with practical considerations for implementation.

Übersicht

Dies ist die erste Veröffentlichung, die den Entwurf und die Umsetzung von mehreren Fuzzy-Logik-Reglern für Servomotoren diskutiert. Sowohl Gleichstrom- als auch Asynchronmotoren werden betrachtet, da beide Motorentypen als hochleistungsfähige Antriebe verwendet werden und ihre grundlegenden Regelungskonzepte ähnlich sind. Die schrittweise Entwicklung von einzelnen und mehreren, sich gegenseitig beeinflussenden Fuzzy-Logik-Reglern, ausführliche Simulationen über das dynamische Verhalten so geregelter Antriebe und experimentelle Ergebnisse werden vorgestellt. Die für den Gleichstrommotor verwendete Regelung enthält einen Drehzahl-, einen Ankerstrom- und einen Erregerstromregler. Die Regelung des Asynchronmotors, die einen Fuzzy-Logik-Drehzahlregler enthält, wurde auf einem TI TMS320C30 DSP implementiert und erwies sich als stabil und robust. Die Entwurfsschritte und das Verhalten der so geregelten Motoren werden sowohl mit konventionell geregelten, nich adaptiven, als auch Regelungen mit selbst-tunenden Reglern verglichen. Die Vorzüge bei der Verwendung von Fuzzy Logik hinsichtlich des Entwurfs von drehzahl-variablen Antrieben werden zusammen mit praktischen Betrachtungen bei der Implementierung vorgestellt.

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Abbreviations

CE :

change of error

CO :

change of output

E :

error

NL, NM, NS, NZ :

linguistic variables-negative large, negative medium, negative small, negative zero

PL, PM, PS, PZ :

linguistic variables-positive large, positive medium, positive small, positive zero

f m :

viscous friction coefficient (Nmsrad−1)

i a ,i f :

armature and field currents, respectively (A)

J m :

moment of inertia (kgm2)

K a ,K c :

motor constants

L a ,L f :

armature and field inductances, respectively (H)

R a ,R f :

armature and field resistances, respectively (Ω)

T ext :

external torque (Nm)

u a ,u f :

armature and field voltages, respectively (V)

μ:

membership function

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Authors and Affiliations

  1. Department of Engineering, University of Aberdeen, AB9 2UE, Aberdeen, UK

    P. Vas, A. F. Stronach & M. Neuroth

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  1. P. Vas
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  2. A. F. Stronach
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  3. M. Neuroth
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Vas, P., Stronach, A.F. & Neuroth, M. Design and DSP implementation of fuzzy controllers for servo drives. Electrical Engineering 79, 265–276 (1996). https://doi.org/10.1007/BF01245878

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