SoftCtrlDC-M: Embedded control software for brushed direct current motors

Abstract

SoftCtrlDC-M is a control software designed to facilitate the development of a direct current (DC) motor driver by implementing core control code utilizing proportional (P) and integral (I) gains. At the same time, the P gain is dynamically updated using fuzzy-logic (FL) based on the Takagi–Sugeno (TS) model. This type of controller is called a fuzzy-logic controller (FLC), and the FLC is adept at accommodating non-linearities. Mechatronic systems often rely on DC motors and require high-precision positioning and accurate speed regulation. In the contemporary engineering landscape, stringent control requirements are needed throughout the system’s lifespan. Researchers are actively exploring techniques to optimize gains through dynamic settings by adapting gains to system changes, while customers look for a system that provides comfortable and reliable operation. Soft computing contributes significantly to both areas, providing a framework for implementing a strategy that adapts gains to changes in system dynamics. This control software is available for reuse or execution in a microcontroller unit (MCU). This control software also met control requirements effectively and exhibited the benefits of using it at low shaft speeds (low speed represents a challenge for mechatronic systems since it requires the highest precision). The results of the test cases (groups) showed that the fuzzy-logic controller Takagi–Sugeno (FLC TS) exhibited less variability in five out of eight groups compared to the proportional–integral (PI) controller, representing a 62.5% improvement. Additionally, this proposed control method exhibited between 3% to 16% overshoot reduction compared to PI in high inertia testing and maintained the current speed within ±1% in 100% of the cases contrasted to PI with 85%.

Keywords

• Embedded code
• Electrical motor control
• Fuzzy-logic controller software
• Takagi–Sugeno controller
• Non-linear control