Abstract
In the practical use of the serpentine arm robot, there are complex internal space, surrounding electromagnetic environment interference, sudden change of load and so on, which will interfere with the control motor. This study investigates and develops a Fuzzy adaptive PID algorithm based on the transfer function of a DC motor in attempt to achieve good control performance. Firstly, the mechanical structure and electromagnetic characteristics of the DC brushed motor are analyzed, and establish mathematical model. The transfer function of the motor is identified by LabVIEW and FPGA platform experiments. Then, compare the reference speed and feedback speed in attempt to get speed error and error change rate. The error and error change rate are used as input, and the voltage is used as output to establish a Fuzzy adaptive algorithm. Finally, compare the control effects of the control system under conventional PID and Fuzzy adaptive PID algorithms by simulation experiments. The Experiments show that the designed Fuzzy PID algorithm is better than the traditional PID. The stability time, overshoot and setting time are less than the traditional PID in step response, pulse interference and square wave tracking experiments, and shows good robustness and control.
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