Hybrid Fuzzy Controller Design for Slider Robot with Touch Screen Human-Machine Interface

• Main Authors: yen-chung Hsu, 許顏忠
• Other Authors: Chin-Pao Hung
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/83377636203508686862

碩士 === 國立勤益科技大學 === 電機工程系 === 100 === The thesis presents a single-axis slider robot system design, including a slider robot mechanism, an electrical control system, a hybrid fuzzy controller, and a touch human-machine interface. The main objectives of this thesis are listed as follows. 1. Mechanism design of a single-axis slider robot The single-axis slider robot mechanism contains three parts, a slider, a slider fixed base, and a motor drive unit. The slider is installed on the upper plane of the fixed base to load the desired tools. The fixed base is composed of a number of pillars, fixed blocks, and belt adjustment structure. The belt is driven by motor drive unit, including a DC motor and a gear-box. The belt is connected to the mobile platform installed on the upper plane of the slider. Then the mobile platform can move freely on the slider by the motor drive unit. 2. Electrical control system design of the single-axis slider robot The electronic control system of single-axis slider robot is mainly composed of two modules, including a modular QVGA touch panel and a mother control board. The mother control board contains a control kernel, a DC motor drive circuit, a RS-232 communication port, a memory expansion circuit, and other required peripheral circuits. Mother control board can receive the commands from the QVGA touch panel or communication port. Depending on the command type, the control kernel executes the corresponding motion. It is beneficial to modular electrical control system design and promotes the flexibility of application. 3. Hybrid fuzzy controller design Controller plays an important role in the developed system. Regardless the position-loop or velocity-loop all requires a controller to achieve the desired performance, such as zero steady state error, fast rising time, and shorter settling time. This thesis proposes hybrid fuzzy controller design, integrating traditional PID controller and fuzzy controller, to obtain better performance, even though noise or load disturbance appears in the control process. The simulation and experimental results demonstrate the hybrid fuzzy controller outperforms than PID controller or fuzzy controller on the performance requirements described above. 4. Touch human-machine interface system design Generally, human-machine interface is based on a PC-based system in industry application. The user inputs the desired command from the PC-based system and then the control kernel executes the relative action. This structure requires an additional PC, thereby increasing the cost and size of the equipment. In order to reduce the equipment cost and size, using an embedded QVGA touch panel as the human-machine interface is the better choice. The developed QVGA human-machine interface achieves many advantages, such as low cost, simple, and friendly operation. Finally, all the developed system is implemented in the mechatronics laboratory. Integrating the mechanism, electrical control system, hybrid fuzzy controller, and the QVGA human-machine interface, the experimental results demonstrates the slider robot achieves fast and precise speed and position servo control. It can be applied to any single-axis robot system. Moreover, modular electrical control system is easily extended to multi-axis slider robot system.