An advanced DC brushless servo drive system with fuzzy logic-based self-tuning control scheme and its practical evaluations

This paper describes a feasible auto-tuning method of a DC brushless servomotor system which introduces fuzzy algorithms. This is basically considered as technique to adjust two gains of a PI compensator under the principle providing an additional reference generator, observer and fuzzy reasoning with a general-purpose speed control loop including a PI regulator. It is possible to adjust the gains so as to maintain an optimum level through repeating 10 responses or more step responses in relation to variations of load inertia and mechanical vibration in addition to control characteristic fluctuations. It is proven that a DC brushless servomotor system can be automatically tuned to provide an optimum response if it is in a completely unstable state on the basis of experimental results