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Corresponding Author

Mohamed, Amal

Subject Area

Electronics and Communication Engineering

Article Type

Original Study

Abstract

The work on this paper focuses on the design of high accuracy and high performance of positioning tracking controller of the Hybrid stepper system (HSM), realized for the application of direct drive robot (DDR). The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. Also high tracking performance requires that the actual system trajectory matches the desired trajectory as close as possible. Fuzzy logic control (FLC) technique has been used widely in many practical and industrial applications with large degree of uncertainty and nonlinearity. The design of this position tracking system based on microstepping controlled HSM is achieved by implementation of FLC techniques. Simulation results are obtained to illustrate the performance of the controlled system. Practical work is done to test the HSM incremental motion operation.

Keywords

Hybrid stepping motor; microstepping operation; Fuzzy logic control; robotics application

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