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DC MOTOR CONTROL USING ROUND

FUZZY LOGIC BASED MICROCONTROLLER 8031Oleh:

Resmana A!"s S"#$% &'(a!(% (an Ma#sel'n% S"(a#)%

*"#"san Te+n'+ Ele+)#%Un',e#s')as -#'s)en .e)#a

S'/alan+e#)% 11131 S"#a2a$a In(%nes'a

Telp : (031) 8439040, fax : (031) 8436418Ema'l :

#esmana45e)#a6a76'(

Abstract

This paper describes the developmet of a f!""# lo$ic cotrol o cotrolli$ dc

motor rotatio is implemeted o a 8%bit microcotroller &tel's 8031 The pro$ram has

bee set !p f!""# lo$ic ro!tie i assembl# la$!a$e !""# lo$ic cotrol here has t*oip!ts that cha$e the speed error si$al ad error, ad has a o!tp!t that is a cha$e i

the volta$e applied to the dc motor driver +oth ip!t ad o!tp!t has five labels i its

membership f!ctio, ad - f!""# if%the r!les are !sed i this s#stem The desi$ of

membership f!ctios ad f!""# r!les, here !si$ a approach of the cotrol s#stem

performace berfeedbac.

/river dc motor !si$ p!lse *idth mod!latio techi!e (2), ad the feedbac.

si$al obtaied from the optical ecoder si$als are co!pled to a dc motor shaft otrol

respose $eerated b# setti$%poit step f!ctio *ith load variatios imposed o the

motor shaft ad the removal of some of the f!""# r!les also performed 5esposes ca

cotrol o!tp!t to follo* a $ive load variatios, as *ell as the removal of some f!""#

r!les, do ot ma.e the s#stem si$ificatl# de$raded This sho*s that the f!""# cotrol

is !ite tolerat of errors, ad sho* the pheomeo of red!dat &mplemetatio of f!""# cotrol i m!lti%f!ctio microcotroller is reasoabl# priced ad does ot re!ire

special f!""# processors

The !se of !""# o$ic cotrol

techi!es have bee !ite *idespread

i a variet# of applicatios ra$i$ from

id!strial process cotrol, ho!sehold

electroics, robot cotrol ad others 71

& this paper, $ive a example of asimple applicatio !si$ f!""# cotrol,

the dc motor cotrol s#stem !""#

cotrol is relativel# eas# ad flexible

desi$ed, *ith ot ivolve complex

mathematical model of the s#stem to be

cotrolled

/c motor cotrol is here !sed as a

potter#%ma.i$ machie pla#er 5o!d

cotrolled *ithi the ra$e of 0%00

rpm *ith loadi$ the ra* material of

potter# aro!d 3%- .$ etti$%poit

ro!ds are $ive *ith the help of

pedals, there are t*o pedals here

respectivel# for meabah ad red!ce the

setti$%poit

The desi$ of f!""# cotrol based o

the performace of baited cotrol bac.

i $eeral f the cotrol respose is

extracted membership f!ctio adf!""# if%the r!le her The s#stem *as

tested *ith a set%poit $ave the variatio

ad variable loadi$ 5emoval of some

f!""# r!les is also doe b# observi$

the effect o the o!tp!t respose The

res!lts sho* the cotrol respose f!""#

lo$ic cotrol ca follo* load variatios

as *ell as the removal of some cotrol

r!le does ot res!lt i si$ificat

de$radatio

mailto:[email protected]

mailto:[email protected]



.LANING SYSTEM

& fi$!re 1 is sho* a bloc.

dia$ram of a s#stem i *hich the bloc.s are:

1 iim!m #stem 8031

soft*are *ith f!""# iferece

s#stem rocess cotrol is

performed b# the

microcotroller, ra$i$ from

si$al capt!re setti$ poit, the

feedbac. si$al, the error si$al

calc!latio, calc!latio of f!""#

lo$ic process ad iss!e the

res!lts are !sed to excite themotor

A/ circ!it that f!ctios as a

coverter from aalo$ to di$ital

scale ma$it!de, this A/

circ!it receives ip!t (setti$

poit) o chael 0 ad ;

(reset ;al!e) o chael 1 i

the form of a feedbac. si$al

o!tp!t motor rotatio

3 The circ!it /A is !sed to

covert di$ital scale to scale

f!""# calc!latio res!lts for the

aalo$ volta$e is the fed to the

dc motor driver

4 The series of < ; covert the

o!tp!t fre!ec# is $eerated b#

the optical ecoder of the motor

servo volta$e to the volta$e the

this is the price of reset ;al!e

(;) received b# the A/

- /rivers of motor f!ctio to provide excitatio volta$e

achor servo motor, *hich is

co!pled to the motor shaft belt

mechaism for mem!tarpiri$a

potters This motor driver $ets

ip!t aalo$ volta$e from the

/A

6 / displa# is !sed to displa#

the val!e of the ad ; ad

process parameters for the f!""#

lo$ic de$!$$i$ ad testi$

p!rposes

= &p!t the form of t*o pedals,

*hich f!ctio to r! a small

motor that is co!pled *ith a potetiometer pedals *hich

rotate the potetiometer to the

left ad oe t!ri$ to the ri$ht

The o!tp!t of this potetiometer

form a volta$e ip!t

i$!re 1

#stem +loc. /ia$ram

a .lan'n! a#(/a#e

i$!re

.etch of echaical #stems

laed mechaical s#stem ca be see

i i$!re , *hich cosists of:

a The frame*or. is a tool holder

ad the motor shaft is made of

a$le iro *ith a si"e of 3 x 3

b The trasmissio belt is a device

that coects a / motor *ith a

p!lle# p!lle# potter# pla#er



c /rive motor that !ses a /

motor *ith speed cotrolled

!si$ f!""# lo$ic cotrol

d !lle# potter# pla#er that p!lle#

that trasmits rotatio of a /motor thro!$h a belt p!lle# disc

to potters

e ompariso bet*ee the fi$ers

of a / motor *ith a shaft

p!lle# pla#er is 1-: 8, so that

the red!ctio of the p!lle# to the

shaft rotatio pla#er is at 81>

f The disc pla#er potter# made of

particle board that is as a cla#

laid

$ lots pemiri$ is to provide thetool tilt a$le Tool cha$i$

mechaisms slope is located

!der the frame*or. of the tool

26 .lan'n! S%9)/a#e

laed membership f!ctios

for ip!t ad ∆ ?rr ?rr (error ad

error cha$e rate) cosists of five

labels that @+ (e$ative bi$), @

(e$ative small), ? ("ero),

(positive small), ad + (positive

bi$ ) 2here:

?rr() B () C ;() (1)

∆?rr() B ?rr() C ?rr(%1) ()

2here is the set%poit val!e ad

; is the preset val!e 2hile the

f!ctio of the f!""# o!tp!t

membership form to the shapesi$leto ∆!tp!t have the same

label ad ∆ ?rr ?rr to the

motor driver o!tp!ts are:

!tp!t()B!tp!t(1)D∆!tp!t (3)

embership f!ctio is sho*

i i$!re 3 5!le is sched!led to

cosist of a basic r!le 9, 10 ad 6

additioal complemetar# r!le o

i total there are - r!le 9 basic r!le

derived from the poits of referece

(poits ah) *hich is i fi$!re 4,

i$!re 3embership f!ctio

2hich sho*s the t#pical respose of

a cotrol s#stem ad the divisio of

baited behid divisio 7, the ext

r!le is 10 additioal r!les to refie

the t#pical s#stem respose ad 6

complemetar# r!le to be !sed i

extreme coditios ?ach r!le i the

r!le is derived from the additioal

poits that are bet*ee t*o poits

of referece 9 f!""# cotrol r!le

base is preseted i Table 1, 10

additioal r!le f!""# cotrol are

preseted i table , 6 *hile the last

r!le is preseted i Table 3



i$!re 4

T#pical #stem 5espose ad

/istrib!tio Area

Table 1 !""# otrol 5!le 5!le +asic

Table 5!le%5!le !""# otrol

!pplemet

Table 3 5!le%5!le !""# otrol!pplemet

The de$ree of each r!le is obtaiedfrom the miim!m val!e of the label or

labels ∆ ?rr ?rr The miim!m val!e is

ta.e as part of the coditios

associated *ith the lo$ical 'A@/' so

that all the parts have to be f!lfilled

sim!ltaeo!sl# To r!le eval!atio

process !sed maxim!m iferece

method, meai$ that the lar$est val!e

is ta.e bet*ee the r!le *ith the same

label

i$!re -lo* hart of ai ro$ram

isti$ ai ro$ram :

TA5T

A /?AE

; ,F4G

H&@&T &

; A,F080G

; /T5,F2

;I J/T5,AH&@&T KTKT B 0

; KTKT,F00G

; A,KTKT

; /T5,F5TA

;I J/T5,A

A &@&&A&A&L/

A TA&LL;

H&@&T ?5&A

;

T@,F01000000+



;

T/,F00100010+

; @,F00G

; TG1,F0/G

; T1,F0/G

;

@,F01000000+

H&@&T &@T0

?T+ &T0

?T+ ?A

?T+ ?I0

H &@&T TA& A@/ ;

; @T5,F00G

; A,F00G

; /T5,FA/L ;I J/T5,A

KA@M

A

K@TL?55L/?55

HKE &@?5?@? ET?

A &

A KT/ATA

A TA&L5

A /?AE

H ?@/ /ATA ANK&&T&@

A @@?T&@

O KA@M

Gere the process is doe b# the

!""# &ferece #stem !""# Perel

etra!" & process icl!des

f!""ificatio, r!le eval!atio, ad

def!""ificatio !""# Perel b!ilt i

assembl# la$!a$e for microcotroller

-1 famil#

Gere the a!thors *ated to test the

s#stem respose to the load variatio

ad variatios i Testi$ *as also

doe b# providi$ iterferece from

o!tside i the form of additioal frictio

ad icrease load s!ddel# The tests

*ere cod!cted as follo*s:

1) The s#stem *ith r!le !mber -

pieces:

a +!rde o pla#ers earthe*are

dish at 10 P$ ad are set at a

speed of 00 5

b +!rde o pla#ers earthe*are

dish at 10 P$ ad alteredc +!rde o pla#ers earthe*are

dish at - P$ ad the added

aother - P$

) #stem b# red!ci$ the !mber of

r!les to 19 pieces:

a +!rde o pla#ers earthe*are

dish at 10 P$ ad are set at a

speed of 00 5

b +!rde o pla#ers earthe*are

dish at 10 P$ ad altered

(raisi$ ad decreasi$)c +!rde o pla#ers earthe*are

dish at - P$ ad the added

aother - P$

The s#stem respose is the

displa#ed o a comp!ter scree *ith the

help of data facilities A!ititio

cotaied o etra!" pro$ram

etra!" pro$ram receives data from

the s#stem respose s#stem 8031

microcotroller is set seriall# i$!re

6 sho*s etra!" ro$ram

i$!re 6 etra!" pro$ram

a6 Res5%nse S$s)em /')h #"le

#stem respods to fixed poit

setti$, sho* i i$!re = The

!mber of r!les that are !sed -,

*hich is 9 basic r!le, 10 additioal



r!le ad complemetar# r!le 6 *ith

a load of 10 .$

i$!re =

#stem 5espose to etti$ oit

ixed

rom the fi$!re it ca be see that

the respose time of the s#stem has

a ver# fast rise time of

approximatel# 3%4 secods to shoot

over approximatel# -%10 5

tead# tate ?rror respose of the

s#stem is also ver# small D 1 5

i$!re 13 sho*s the s#stem

respose to variatios i setti$

poit etti$ poit cha$e from 00

5 the lo*ered to 1-0 5, 1005, ad the last -0 5 &

cotrast to the 14 ima$es sho*

boosts the s#stem respods to

etti$ oit

i$!re 8

#stem 5espose to ;ariatio ,

The load 10 P$

i$!re 9

#stem 5espose to ;ariatio ,

The load 10 P$

rom the fi$!re it ca be see that it

ta.es time D secods to achievea# cha$e i etti$ oit 2ith a

reach of -%10 5 overshoot

5espose s#stems *ith var#i$ load

ca be see i i$!re 1-

i$!re 10

5espose #stem to oad ;ariatio

Mive the load $rad!all#, first - P$

ad the added aother - P$ 5!le !sed

is a basic r!le, the additioal r!le ad

complemetar# r!le *ith a total of -r!les

The fi$!res sho* that the f!""#

lo$ic cotroller respose is ver# fast, to

cha$es i load The time eeded to

reach the setti$ poit after

experieci$ the additio of load

bet*ee 1% secods

26 Res5%nse S$s)em /')h #"le 1;

i$!re 11 sho*s the respose of the

s#stem *ith ol# the r!le !mber 19,



this r!le is the basic r!les < basic pl!s a

additioal r!le oad !sed 10 P$

i$!re 11

5espose #stem *ith r!le 19, B

00 5, The load 10 P$

rom the i$!re it ca be see

that the red!ctio r!les do ot affect

the respose of the s#stem

si$ificatl# i$!re 1= ad i$!re

18 sho*s the s#stem respose to

variatios setti$ poit

i$!re 1

5espose #stem *ith 5!le 19 of the

;ariatio , oad 10 P$

i$!re 13

5espose #stem *ith 5!le 19 of the

oad ;ariatio, B 00 5

rom i$!re 1=, i$!re 18 adi$!re 19 it ca be see that the s#stem

respose to variatios i etti$ oit

ad load variatios *ith the basic r!les

ad additioal r!les, amo!ti$ to 19,

there are o si$ificat cha$es,

altho!$h to achieve the desired setti$

poit slo*do* aro!d D 1 sec To

tead# tate ?rror of each ima$e e!al

to the tead# tate ?rror i s#stem

respose *ith r!le !mber -

CONCLUSION

+ased o the res!lts that have bee

obtaied, it ca be a !mber of

cocl!sios, amo$ others:

1 !""# o$ic otroller is a s#stem

that is relativel# eas# to cotrol its

desi$, beca!se it ta.es o exact

mathematical model of the s#stem 2ith

the r!le%based approach ad a commo

sese s#stem desi$ed ad b!ilt

At this plat 9 basic r!les (basic

r!les) is the pricipal r!le is !sed o

vertices, 10 additioal r!le is !sed to

refie the s#stem respose ad 6

complemetar# r!le is !sed *he the

s#stem is experieci$ extreme

disr!ptio

3 !""# o$ic cotrol has a red!dat

ad fa!lt tolerat at!re, i *hich thered!ctio r!le does ot lead to a

!cotrollable s#stem Ge still ca be

cotrolled b# de$raded

BIBLIOGRA.Y

1 Plir, Meor$e O, Q!""# ets ad

!""# o$ics : Theor# ad

ApplicatiosR, @O : retice Gall,

199-



2a$, a!l S /ai, Oi$, Q/esi$

of !""# otroller Accordi$ to

the arameters of A eedbac.

#stemR, Techical 5eport

?lectrical ?$ieeri$ /epartmet,/!.e Kiversit#, 1994

3. Thia$, Gaa*ati, A, ad 5esmaa

"Petrafuz : Sistem Pengembangan

Kendali Fuzzy Logic berbasis

Mikrokontroler Keluarga MCS51" ,

rosidi$ emiar @asioal

eerapa Te.olo$i Pedali da

&str!metasi pada ertaia,

+T%Oa.arta .tober, 1998

?5TA@EAA@:

1. Apa it! f!""# lo$ic

2. +a$aimaa cara m$$!a.a

soft*are etra!"-1

3 e$$apa f!""# lo$ic dapat

mela.!.a pe$at!ra terhadap

motor dc

!mber:

http:<<p!slitpetraacid<eportfolio<artef

act<file<do*loadphpfileB14=683

http://puslit2.petra.ac.id/eportfolio/artefact/file/download.php?file=147683




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