Fuzzy PI+D tuning for permanent magnet linear synchronous motor

This paper presents a fuzzy PI+D controller design for a direct drive motion control system actuated by permanent magnet linear synchronous motor (PMLSM). The employed Fuzzy PI+D is derived from the conventional continuous-time linear PI+D controller. The resulting controller is a discrete-time fuzzy version of the conventional PI+D controller. The proportional, integral and derivative gains are nonlinear functions of the input signals. The designed fuzzy PI+D controller is proposed to compensate for nonlinear friction, cogging effects, and external load disturbance and to reduce tracking errors based on an inverse model of the direct drive system. Computer simulation results have shown the fuzzy PI+D controller can achieve a high tracking accuracy as well as provide disturbance rejection and robustness.