A Professional PID Implemented using a Non-singleton Type-1 Fuzzy Logic System to Control a Stepper Motor
Abstract
This paper describes the stepper motor position control implemented using a novel non- singleton type-1 fuzzy logic system to update the gains of the professional proportional-integral-derivative controller running on ATMEGA 2560 microcontroller. In this work, three controllers are compared: a) the professional proportional-integral-derivative controller, b) the type-1 singleton fuzzy logic system coupled with the professional proportional-integral-derivative controller, and c) the novel type-1 non-singleton fuzzy logic system coupled with the professional proportional-integralderivative controller. The experimental results show that the proposed controller has the best performance.
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Introduction
Currently the use of motors is present around the world on almost any device. Since it was invented it has been investigated to control them in an efficient way. In the modern style of live, it is important to take control of its position, speed and acceleration.
The use of fuzzy logic to improve processes is accepted by several researches. More recently it has been used to adjust the performance of a proportional-integral-derivative (PID) controller, which is acceptable in classical applications.
This paper presents a novel controller that uses the type-1 non-singleton fuzzy logic system tuning the gains of the professional PID (T1 NSFLS P-PID) controller, which was tested with a manufactured fuzzy controller.
In the literature of the singleton fuzzy logic system is used to update the gains of a [1]-[4]. Non-singleton fuzzy logic systems type has been used as controllers [5], [6], and there are several publications available about this theory [7], [8]. As the best knowledge of the authors the type-1 non-singleton fuzzy logic systems have not been used to update the PID controller gains.
There are different techniques for tuning the PID controller gains, some of these techniques include the use of neural networks, genetic algorithms, [9], [10], among others, which are not the scope of this paper.
The performance of the type-1 non-singleton fuzzy logic system coupled with the professional PID (T1 NSFLS P-PID) controller was compared with the P-PID controller and the type-1 singleton fuzzy logic system coupled with the professionalPID (T1 SFLS P-PID) controller. The target of the position of the unipolar stepper motor using an ATMEGA 2560 microcontroller.
In this work Section II explain the basis of the professional PID controller. Section III describes the type-1 singleton fuzzy logic system coupled with the professional PID controller. Section IV explains the design and construction of the proposed type-1 non-singleton fuzzy logic system coupled with the professional PID controller. Section V shows the experiment processes and their results Section VI shows the Conclusions.
Conclusion
According to experimental results the proposed hybrid controller, T1 NSFLS P-PID, presents the best performance controlling the position of the stepper motor when is compared with the P-PID controller and T1 SFLS P-PID controller.
The PID controller can have a good answer with its fixed gains, but gains update online Kp, Ki and Kd, improves system response, reducing the overshoot and accelerating the steady state. Fuzzy logic can be adapted in different processes, and in this case being adapted to control the gains of a PID controller, the set point is obtained faster than P-PID controller. For the preparation of the fuzzy rules, it must have a thorough knowledge about the behavior of the controller to be adapted.
In this paper, the use of T1 NSFLS P-PID reduced the overshooting and the stabilization time.