Development of Fuzzy Controller Using 8-Bit Microcontroller for Switch Mode DC Servo Motor Control

摘要

This paper describes the challenges and solutions for low cost control of DC-DC converter with robust fuzzy logic based controller for robotic/servo applications. Robotic applications need design of compact and versatile controllers for its manipulator. Control of the DC servomotors as actuators for robotic arm is done recently by DC-DC converters with PWM control methods as a single processor multi-motor system. Design approaches for PWM controller is often investigated because of its nonlinear nature due to inherent switching in DC-DC converters. Robust controller for this system can be designed using fuzzy logic which is difficult to implement on low cost digital processors. The proposed approach makes it possible to design the fuzzy controller with low cost microcontroller for PWM based control of DC servomotor.