Abstract
In this paper, a biped robot powered by permanent magnet synchronous motor (PMSM) is proposed, and each leg of the robot is a 6-degrees of freedom (DOF) parallel mechanism. Due to highly nonlinear characteristics of the leg structure, the conventional PID control strategy based on trial-error process cannot maintain the high performance of the PMSM. In order to improve the robustness of PMSM servo system and the dynamic stability of the robot, the PID controller based on fuzzy theory is developed. Fuzzy PID controller can improve the tracking accuracy and load rejection capability of PMSM, which makes the real-time system response faster without overshoot. The simulation results show that compared with conventional PID, fuzzy PID can reduce position tracking error of PMSM and deal with the external disturbance effectively.
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