DC Motor Speed Control Using Inverse Dynamics and the Fuzzy Technique

역동력학과 퍼지기법을 이용한 DC 모터의 속도제어

  • 김병만 (한국해양대학교 대학원 제어계측공학과) ;
  • 유성호 (한국해양대학교 대학원 제어계측공학과) ;
  • 박승수 (한국해양대학교 대학원 제어계측공학과) ;
  • 김종화 (한국해양대학교 기계·정보공학부) ;
  • 진강규 (한국해양대학교 기계·정보공학부)
  • Published : 2000.10.01

Abstract

In this paper, a methodology for designing a controller based on inverse dynamics for speed control of DC motors is presented. The proposed controller consists of a prefilter, the inverse dynamic model of a system and a fuzzy logic controller. The prefilter prevents high frequency effects from the inverse dynamic model. The model of the system is characterized by a nonlinear equation with coulomb friction. The fuzzy logic controller regulates the error between the set-point and the system output which may be caused by disturbances and it simultaneously traces the change o( the reference input. The parameters of the model are estimated by a genetic a]gorithm. An experimental work on a DC motor system is carried out to illustrate the performance of the proposed controller

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