Fuzzy-PID 알고리듬을 이용한 MR 브레이크의 토크 추종 제어

Abstract

In the present work, torque tracking control performance of MR brake is evaluated through experimental test. After manufacturing the MR brake, which has been originally designed for haptic application, torque characteristics are investigated with respect to input currents. To achieve enhanced tracking control performance, a new Fuzzy-PID control algorithm is designed and implemented to the system. Torque tracking control performances are evaluated by adopting various desired torque trajectories with sinusoidal, square input signals and square input with multi-magnitudes. It is demonstrated that the proposed MR brake can successfully generate braking torques according to desired inputs by applying proper input current which can be determined based on the proposed control algorithm.