Fuzzy Control
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The usage of linear permanent-magnet (PM) actuators, and their associated controllers, increases in a wide variety of applications, due to the exhibited high force density, robustness, and accuracy. The s-curve motion profiling is the motion trajectory usually employed in common industrial applications. In this control scheme, the trajectory shape is determined by maximum acceleration, maximum speed, and the target distance. The values of speed and acceleration must be chosen carefully. If they are chosen excessively large or very small, it may not be possible for the system to track the generated trajectory with good accuracy. This paper, considers the control of a single degree-of-freedom (DOF) mechanical system, in which a PM Tubular Linear Synchronous Motor (PM-TLSM) is used as the actuator. Since the fuzzy logic control controllers are based on heuristics are therefore able to incorporate human intuition and experience. The resulting motion trajectory obtained from the fuzzy logic is particularly suited to high accuracy applications such as parallels manipulators, robotics systems and factory automation. Computer simulation results verify the effectiveness of the proposed scheme.