Open AccessResearch on fuzzy control of permanent magnet synchronous motor for a mobile robot
Author(s) -
Ren Huanhuan,
Lizhong Zhang,
Chengzhi Su,
Jian Sun,
Daoxue Liu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1754/1/012172
Subject(s) - control theory (sociology) , pid controller , overshoot (microwave communication) , computer science , permanent magnet synchronous motor , robustness (evolution) , control engineering , servomotor , fuzzy logic , servomechanism , fuzzy control system , nonlinear system , engineering , magnet , control (management) , artificial intelligence , physics , temperature control , mechanical engineering , telecommunications , biochemistry , chemistry , gene , quantum mechanics
In this paper, a biped robot powered by permanent magnet synchronous motor (PMSM) is proposed, and each leg of the robot is a 6-degrees of freedom (DOF) parallel mechanism. Due to highly nonlinear characteristics of the leg structure, the conventional PID control strategy based on trial-error process cannot maintain the high performance of the PMSM. In order to improve the robustness of PMSM servo system and the dynamic stability of the robot, the PID controller based on fuzzy theory is developed. Fuzzy PID controller can improve the tracking accuracy and load rejection capability of PMSM, which makes the real-time system response faster without overshoot. The simulation results show that compared with conventional PID, fuzzy PID can reduce position tracking error of PMSM and deal with the external disturbance effectively.