Control of the Position DC Servo Motor

by Fuzzy Logic
Nalunat Khongkoom, Attapol Kanchanathep, Surasak Tamthong*, Satean Tunyasrirut*
& Suthichai Nopnakeepong &Ritsu Kagawa* *
Faculty of Engineering and Research Center for *Faculty of Engineering, Pathumwan Institute of
Communications and Information Technology Technology, Ramal Rd., Pathumwan, Bangkok, Thailand
Institute of Technology, King Mongkut's Institute of **Yonago National College of Technology
Technology, Ladkrabang Chalongkrung Road, Ladkrabang, 4448 Hikona, Yonago Tottor, 683-8502, Japan
Thailand e-mail: s 1061227@,kmitl.ac.th

Abstract: In this paper, presents fuzzy logic controller is more robustness plant pacameters than classical control
applied for control the position of dc servo motor. The algorithum and has better noise rejection capability, it must
position of the angle location is limited at - E to E radian. be so, because the fuzzy control is more flexible. The main
Fuzzy inference engine using angle position by angular advantage of fuzzy logic as compared to the conventional
position sensor, and angular velocity. The dc servo motor control approach reside in the fact that no mathematical
revolves the circle of axis at the number of revolutions are modeling is required for the design of the controller. The
corresponding to binding voltage. In the revolved axis, controller rules are based especially on the knowledge of
there are the moment of inertia and viscous coefficient of the system behavior and on the experience of the control
frictions around its axis, it exerts the influence. The angle engineer. Since the fuzzy logic controller requires less
is detected by rotary encoder, and input as angular complex mathematical modeling than classical controllers.
information of controlled system to computer. The applied However, to achieve high performance fuzzy logic
voltage is determined by computer and sent to dc servo controllers need an effective tums scheme.
motor. The results of experiment on the real plant
demonstrate that the proposed fuzzy logic controller is able 11. CONTROLLER DESIGN
to sensitiveness to variation of the reference position
attention. A. Mathematical Model of DC Servo Motor

Keywords In what follows we shall discuss armature control of dc

fuzzy logic, position control servomotors[4]. Consider the armature-controlled dc
servomotor, where the fiela current is held constant. In this
I. INTRODUCTION system can be written trans.fer function as shown in Fig. 1 as
follow equation ( 1 ) .
There are many types of dc servo motors use in
industries. The dc servo motors that are called dc
servomotors. In dc servomotors, the rotor inertia has been
made very small, with the result that motors with very high
torque-to-inertia ratios are commercially available. Some dc
servomotors have extremely small time constants with
relatively small power ratings are used in instruments and
computer-related equipments such as disk drives, tape
i,=%tant b
drives, printers, and word processors for the medium and
large power ratings are used in robot systems, numerically Fig. 1 schematic diagram of armature-controlled dc servo
controlled milling machines, and so on. motor
In recent years the advantages in fuzzy control are
more robust control method than usual PID control to Transfer function of dc servo motor,
variation of system parameter. Fuzzy set theory, first
formulated by L.A. Zadeh [ 11, constitutes the fundamentals
of fuzzy set theory and a generization of the infinite-value
logic. Fuzzy logic can be considered as a mathematical
theory combining multi-valued logic, probably theory and
where
artifitial intellegence[2]. In electric motor drives and
motion control areas, fuzzy logic has been recently propose R, = armature resistance, ohm
to control different systems such as static power converter, L, = armature inductance, henry
induction and dc servo motors, robots and ac servo[3]. In
these works, it has been reported that fuzzy controller is

IEEE
0-7803-6355-8/00/$10.0002000 111-354
 i, = armature current, ampere B. Driver Circuit the Proportional Gain of Motor
if = field current, ampere DC servo motor for the experimental device is connected to
e, = applied armature voltage, volt driver circuit, so driver circuit controls number of
revolution in accordance with applied velocity binding
e, = back emf, volt voltage. The servo-driver controls the motion of a dc servo
motor and operates in various modes. The use of electronics
8 = angular displacement of the
motor shaft, radian
motion controller using a pulse-width-modulated driver to
T = torque
developed by the motor, N-m control torque in accordance with load to acquire number of
J = equivalent moment of inertia of the motor and load revolution that are bound by driver circuit. Actually, the
referred to the motor shaft, kg-m2 condition of dc servo motor is fed back to driver circuit, so
b = equivalent viscous-friction coefficient of the motor if consider this case simulation in this time becomes very
and load referred to the motor shaft, N-m/rad/sec complicated. So to meet the condition that dc servo motor
revolves as number of revolution that is bound, made built
The transfer function for the dc servomotor considered here in model at between driver circuit and dc servo motor. The
is obtained as equation 1. The inductance Lain the temporal delay between driver circuit and dc servo motor is
more minute than delay by load. Now proportional gain
armature circuit is usually small and may be neglected. If between driver circuit and motor, that velocity binding
Lais neglected, then the transfer function given by voltage (0-5V) is input and angular velocity is output.
Equation (1) reduces to When applied velocity binding voltage to driver circuit, dc
servo motor revolves the number of revolutions to velocity
binding voltage. The characteristic of number revolutions to
velocity binding voltage dc servo motor is shown in Fig. 2

where Km = K /(Rab + KK,) is motor gain constant and

T, = R,J/(R,b + KK,) is motor time constant.

From equation 1 and 2, it can be seen that the transfer

functions involve the term I/s. Thus, this system possesses 0 ' 1 2 3 4 5
an integrating property. In Equation 2, notice that the time DC Voltage[VDC]
constant of the motor is smaller for a smaller and small R, Fig. 2 Number of revolutions characteristic of the
motor to velocity binding voltage
J . With small J , as the resistance R,is reduced, the
motor time constant approaches zero, and the motor acts as In Fig.2, velocity and number of revolutions (rpm) are
an ideal integrator. A state-space model for the armature- proportionate. Now when proportion constants are defined
controlled dc servo motor system just considered may be with K,
obtained as follows: First, notice that from Equation (2) the
differential equation for the system is K = -400
5
We convert the number of revolutions (rpm) to angular
velocity. From equation (l), proportion constants (K,) are,

Define state variables x1and x2, by x1 = 8 x2 = 8,the 400x27~

K =-- (7)
input variable U , by U = e, and the output variable y by 5x60
y = 8 = xl, these variables can be transformed to the
Next, to input the value of proportional gain of equation (7)
state space equation as follows: to equation (3) , the angular velocity that is the output of
equation (5) must convert to the torque that is input of
equation (4). To calculate necessary torque when dc servo
motor revolves load at bond angular velocity.

111. FUZZY LOGIC CONTROLLER

In the design and analysis of a PID controller, the

(5) determination of the control gain paramaters that give
acceptable outputs are obtained. Its control strategy is more

111-355
 IV. EXPERIMENTAL RESULTS

In this case it can be tested by experimental as shown in

the microcomputer used in this experimental is the HP-
VECTRA VE4 61200 MMX, Pentium CPU with a 200
MHz clock speed. A simple responses of the position
controlled system using hzzy logic controller is tested by
real dc servo motor stated previously. The experimental
C0mp"lcr

Digital to
Analog

Fig.5 Demonstration plant of dc servo motor.

The experimental results of the proposed position

controlled system are shown in Fig.5. In order to compare
the satisfied results thus obtained. It can observe that
overshoot of the propose position controlled system is not
the overshoot. It is understanding that the sampling time Ts
NB=[-O.l2 -0.12 01
of the system did with 36 ms. . The target angular position
23-0.03 0 0.031 and velocity did with n I4 rad as shown in Fig.6,7 and n 12
PS30 0.12 0.121
PB=[O.W0.631
rad as shown in Fig.8,9 controlled system.

-1, n
NB=[-3 0.6 -0.241
NS=I0.42-0.1201
Z=[-O.I~OO.I~I
... ..
ps=[no.12o.42] ,'
PB=IO.24 0.6 31

I 0
changed-error
NE+-0.9 -0.2 0 . 1 1
NS=[-0.2 -0. I 01
z=[-n.io a . i i
PS=[OO.I0.21
m=[aI 0.2 0.91
-0.9 n 0.9 Fig. 6 Step Response of Angular Position n I4 rad
output increment
Time = x 0.036 sec
Fig. 3 Membership functions
PositiveZero

PositivePositive

-5
Applied voltage Vout[Volt]

Fig. 4 Applied voltage to driver

Fig. 7 Step Response of Angular Position n I4 rad
Time = x 0.036 sec

111-356
 [4] Katsuhiko Ogata, “Modern control engineering”,
Prentice Hall, Inc., 1990
[5] Yangwon Kwon, Jongkyu Park, Haksoo Kang and
Taechon Ahn, “Application of Fuzzy-PID Controller Based
on Genetic Algorithm for Speed Control of Induction
Motors”, Proceedings of the 14 th KACC, Oct. , pp. 309-
312, 1999
[6] Marzuki Khalid, Sigeru Omatu and Rubiyah Yusof,
“Adaptive Fuzzy-Neuro Control with Application to the
water Bath Process”, 0-7803-1872-2/94/$4.00 0IEEE, pp.
173-178, 1994
[7] The Math Works Inc. “Fuzzy Logic and the Neural
Network Toolbox” The Math Works,Inc., 24 Prime Park
Fig. 8 Step Response of Angular velocity at n 14 rad Way, Natick,MA,O1760
[8] George Bojadziev, Maria Bojadziev, “Fuzzy sets, Fuzzy
Time = x 0.036 sec
logic, Applications”, World Scientific Publishing
Co.Pte.Ltd., 1995

Fig. 9 Step Response of Angular Position n 14 rad

Time = x 0.036 sec

V. CONCLUSION
This paper proposed the result of the experiment with fuzzy
controller reaches the reference position and speed with out
any overshoot. The results of the control are as follows. 1.
The position control of dc servo motor showed the
proposed controller gains optimal performance. 2. The
proposed controller achieved to overcome the disadvantage
of the use conventional PID control sensitiveness to inertia
variation and sensitiveness to variation of the position with
drive system of dc servo motor.

VI. REFERENCE

[ 11 L.A. Zadeh, “Fuzzy sets”, Information and Control, vol.

8, pp. 338-353, 1965
[2] Hoang Le-Huy and Maher Hamdi, “Control of a Direct-
Drive Dc servo motor by Fuzzy Logic”, 0-7803-1462-
x/93$03.00 0, IEEE, pp. 732-738, 1993
[3] Zakharov Alexei, Halasz Sandor, “Robust Speed Fuzzy
Logic Controller for DC Drive”, 0-7803-3627-5/97/$5.00 0
IEEE, pp. 385-389, 1997

111-357