A Parameter Varying PD Control for Fuzzy Servo Mechanism  

作　　者：Nader Jamali Soufi Mohsen Kabiri Moghaddam Saeed Sfandiarpour Boroujeni Alireza Vahidifar 

机构地区：[1]Department of Electrical and Electronic Engineering, K. N. Toosi University of Technology, Tehran, Iran [2]Department of Electrical and Electronic Engineering, University of Shiraz, Shiraz, Iran [3]Sama Technical and Vocational Training College, Islamic Azad University, Islamshahr Branch, Tehran, Iran

出　　处：《Intelligent Control and Automation》2014年第3期156-169,共14页智能控制与自动化（英文）

摘　　要：This paper presents the formulation of novel implementation method based on parameter varying PD controller for fuzzy servo controllers. This formulation uses the approximation of fuzzy nonlinear function including error and error derivation in operation point. Obtained fuzzy control law has been employed to control angular position of servo using digital control technique applied to a typical microcontroller like AVR. The performance and robustness of modified fuzzy controller in comparison with PID controller evaluated in no load, applied external disturbance with different magnitude conditions has been studied. The simulation results showed that the proposed fuzzy controller has a considerable advantage in rise time, settling time and overshoot respect to PID controller when the servo system encounters with nonlinear features like saturation and friction.This paper presents the formulation of novel implementation method based on parameter varying PD controller for fuzzy servo controllers. This formulation uses the approximation of fuzzy nonlinear function including error and error derivation in operation point. Obtained fuzzy control law has been employed to control angular position of servo using digital control technique applied to a typical microcontroller like AVR. The performance and robustness of modified fuzzy controller in comparison with PID controller evaluated in no load, applied external disturbance with different magnitude conditions has been studied. The simulation results showed that the proposed fuzzy controller has a considerable advantage in rise time, settling time and overshoot respect to PID controller when the servo system encounters with nonlinear features like saturation and friction.

关 键 词：PARAMETER VARYING PD Controller FUZZY Position Control (FPC) System FLC SERVO MOTOR 

分 类 号：O1[理学—数学]