Simulation and Implementation of PID and Fuzzy Logic Controller for Speed Control of BLDC Motor in Underwater Robotic Applications

摘要

Now-a-days, brushless DC (BLDC) motors are becoming very popular in the field of underwater robotic propulsion systems due to its unique characteristics such as high efficiency, low losses, noiseless operation and no maintenance due to elimination of brushes. Since the thrusters which are being used in underwater robotic vehicles has incorporated Brushless DC motors for its propulsion system. Hence, it is very important to precise control of the speed of brushless DC motor for the underwater robotic application. So, to monitor and control the motor speed for specific application such as underwater robotics, many control strategies such as Proportional, Integral and Derivative (PID) controller, fuzzy logic based control technique etc., are adopted. The response of motor speed using conventional PID controller and fuzzy controller are compared and their results are proposed for the underwater robotics.