dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive

Manikandan Ramasamy, Rajendran Somasundram, Arulmozhiyal Ramasamy


Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.



BLDC motor; dSPACE DS1104; four quadrant drive; fuzzy PID controller; position servo control; vertical rotating single arm robot.

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DOI: http://dx.doi.org/10.4025/actascitechnol.v39i3.28416

ISSN 1806-2563 (impresso) e ISSN 1807-8664 (on-line) e-mail: actatech@uem.br


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