Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

Full Text (PDF, 514KB), PP.29-35

Views: 0 Downloads: 0


Abdol Majid Mirshekaran 1,* Farzin Piltan 1 Nasri Sulaiman 1,2 Alireza Siahbazi 1 Ali Barzegar 1 Mahmood Vosoogh 1

1. Research and Development Department, Institute of Advance Science and Technology-IRAN SSP, Shiraz/Iran

2. Department of Electrical and Electronic Engineering, Faculty of Engineering,Universiti Putra Malaysia, Malaysia

* Corresponding author.


Received: 3 Jul. 2014 / Revised: 2 Aug. 2014 / Accepted: 1 Sep. 2014 / Published: 8 Oct. 2014

Index Terms

Fuzzy Hybrid guidance control, PID like fuzzy control, PD like fuzzy control, conventional PI control, three dimension spherical motor


The minimum rule base Proportional Integral Derivative (PID) Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. A three dimensions spherical motor is well equipped with conventional control techniques and, in particular, various PID controllers which demonstrate a good performance and successfully solve different guidance problems. Guidance control in a three dimensions spherical motor is performed by the PID controllers producing the control signals which are applied to systems torque. The necessary reference inputs for a PID controller are usually supplied by the system's sensors based on different data. The popularity of PID Fuzzy hybrid guidance Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base. Linear type PID controller is used to modify PID fuzzy logic theory to design hybrid guidance methodology. This research is used to reduce or eliminate the fuzzy and conventional PID controller problem based on minimum rule base fuzzy logic theory and modified it by PID method to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

Cite This Paper

Abdol Majid Mirshekaran, Farzin Piltan, Nasri Sulaiman, Alireza Siahbazi, Ali Barzegar, Mahmood Vosoogh, "Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor", International Journal of Information Engineering and Electronic Business(IJIEEB), vol.6, no.5, pp.29-35, 2014. DOI:10.5815/ijieeb.2014.05.05


[1]Vachtsevanos, G. I., Davey, K. and Lee, K. M., "Development of a Novel Intelligent Robotic Manipulator," IEEE Control System Magazine, 1987, pp.9-15.

[2]Davey, K., Vachtsevanos, G. I., and Powers, R., "An analysis of Fields and Torques in Spherical Induction Motors," lEE Transactions on Magnetics, Vol. MAG-23, 1987, pp. 273-282.

[3]Foggia, A., Oliver, E., Chappuis, F., "New Three Degrees of Freedom Electromagnetic Actuator," Conference Record -lAS Annual Meeting, Vol. 35, New York, 1988.

[4]Lee, K. M., Vachtsevanos, G. and Kwan, C-K., "Development of a Spherical Wrist Stepper Motor," Proceedings of the 1988 IEEE lntemational Conference on Robotics and Automation, Philadelphia, PA. April 26-29.

[5]Lee, K. M., Pei. I., "Kinematic Analysis of a Three Degree-of-Freedom Spherical Wrist Actuator," The Fifth International Conference on Advanced Robotics, Italy, 1991.

[6]Wang, I., Jewel, G., Howe, D., "Modeling of a Novel Spherical Pennanent Magnet Actuator," Proceedings of IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp 1190-1195, 1997.

[7]Wang, I., Jewel, G., Howe, D., "Analysis, Design and Control of a Novel Spherical Pennanent Magnet Actuator," lEE Proceedings on Electrical Power Applications., vol. 154, no. 1, 1998.

[8]Chirikjian, G. S., and Stein, D., "Kinematic Design and Commutation of a Spherical Stepper Motor," IEEEIASME Transactions on Mechatronics, vol. 4, n 4, Piscataway, New Jersey, pp. 342-353, Dec. 1999.

[9]Kahlen, K., and De Doncker, R. W., "CW'l'ent Regulators for Multi-phase Pennanent Magnet Spherical Machines." Industry Applications Conference Record of the 2000 IEEE, vol. 3, 2000, pp. 2011-2016.

[10]Lee, K. M., Pei, I., and Gilboa, U., "On the Development of a Spherical Wrist Actuator," Proceedings of the 16th NSF Conference on Manufacturing Systems Research, Tempe AZ, January 8-12, 1990.

[11]Yang, C., Back, Y. S., "Design and Control of the 3-dcgn: es of freedom actuator by Controlling the Electromagnetic Force," IEEE Transactions on Magnetics, May, 1999, pp. 3607-3609.

[12]Mahdi Mirshekaran, Farzin Piltan,Zahra Esmaeili, Tannaz Khajeaian, Meysam Kazeminasab,"Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", IJMECS, vol.5, no.10, pp.53-63, 2013.DOI: 10.5815/ijmecs.2013.10.07.

[13]Mojtaba Yaghoot, Farzin Piltan, Meysam Esmaeili, Mohammad Ali Tayebi, Mahsa Piltan,"Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor", IJMECS, vol.6, no.3, pp.61-72, 2014.DOI: 10.5815/ijmecs.2014.03.08.

[14]Farzin Matin, Farzin Piltan, Hamid Cheraghi, Nasim Sobhani, Maryam Rahmani,"Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor", IJIEEB, vol.6, no.2, pp.53-63, 2014. DOI: 10.5815/ijieeb.2014.02.07.

[15]Ali Barzegar, Farzin Piltan, Mahmood Vosoogh, Abdol Majid Mirshekaran, Alireza Siahbazi,"Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor", IJITCS, vol.6, no.5, pp.72-83, 2014. DOI: 10.5815/ijitcs.2014.05.10.