Fuzzy logic control of a 1 dof balancing mechanism

Balancing systems are used in ships and planes to control the swinging motions in planes that is perpendicular to axis of movement. In this project, a 1 DOF balancing platform is designed and proportional, integral, derivative, Mamdani and Takagi-Sugeno type fuzzy control algorithms are applied on the system. The platform is made up of a planar load balancing mechanism, a shaft, a linear guide, a gear belt that is strained by a spring tensioning mechanism and DC motor connection. The straight platform, on horizontal plane, is connected to a operating shaft from its middle axis. A feedback (potentiometer) is connected to main shaft axis. Control mechanism is made up of a computer, a data gathering card to maintain data transfer between the computer and model and a motor driver circuit. Parameters of our mathematical model are calculated by performing tests on the mechanism.Then, proportional, integrational, derivational (PID) and fuzzy logic control algorithms are applied on the real-time system by using linearized and nonlinear simulation models generated in Matlab Simulink.Concerning at the results of this study, energy consumptions of common and interchangeable control algorithms are compared.