Authors: A.Z. Mohamed, A.M. Zaki
Affilation: Electronics Research Inst., Egypt
Pages: 602 - 607
Keywords: microsteping, control, hybrid stepper motor, fuzzy logic, robotics
The work on this paper focuses on the design of high accuracy and high performance of positioning tracking controller of th. Hybrid stepper system (HSM). realized for the application of direct drive robot (DDR). The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. Also high tracking performance requires that the actual system trajectory matches the desired trajectory as close as possible. Fuzzy logic control (FLC) has been used widely in many practical and industrial applications with large degree of uncertainty and nonlinearity. The design of this position tracking system based on microstepping controlled HSM is achieved by implementation of FLC techniques. Simulation results have been carried out to test the performance of the controlled system.