Implementing Fuzzy Logic Controller and PID Controller to a DC Encoder Motor - “A case of an Automated Guided Vehicle”

It becomes essential to run AGV at a constant speed or RPM in the plant to reduce downtime and lead time. Fuzzy logic controller and PID controller are applied to achieve constant RPM in AGV. AGV contains DC brushed motor with encoder, motor driver, microcontroller and battery. Encoder gives feedback to microcontroller in the form of shaft position. Microcontroller reduces error in the system based on the parameters defined by the algorithms. The first phase of the paper gives brief information about the hardware, software and the algorithms. In the second phase of the paper, methodology for implementing the algorithm to the system is shown. In the final phase of the paper, results and discussions are mentioned based on the applied algorithms. Comparison between PID controller and fuzzy PID controller is also shown. Ziegler-Nichols Algorithms is used to find PID parameters. MATLAB simulink and fuzzy logic tool box are used for simulation. Arduino Microcontroller is used to accept the feedback given by the encoder and to control the speed of motor. In a nut shell, these control strategies help AGV to run at a constant RPM with reduced settling time, steady state error and overshooting.