Robust fuzzy control of electrical drive

Mamdani and Takagi-Sugeno fuzzy controllers were prepared. The controllers were designed using Fuzzy Logic Toolbox. The membership functions and rules were used as design tools that give opportunity to model a control surface and controller properties. The control system of d.c. (direct current) motor drive with two feedback loops is considered. First loop is used for stabilization of armature current (proportional to electrical torque), second loop is used for speed stabilization. Simulink model was used for simulation of d.c. motor drive and mechanical system. The moment of inertia and disturbance load were changed independently several times. Time response of armature current and motor speed against disturbances of load torque and moment of inertia was tested for the above system. Drive systems using fuzzy controllers (Mamdani and Sugeno) were compared with drive using conventional PI controllers. Nonlinear Control Design (NCD) Blockset (an extension of Simulink) was used for tuning PI controller parameters.