Modelling and Intelligent Control of Micro PMBLDC for Surgical Robotic Applications

Abstract

Micro motors in the robotic application have the advantage of lightweight, small size, more reliable and highly efficient. The objective of this study is to improve the speed characteristics of micro PMBLDC for surgical robot applications. In this paper, the micro PMBLDC for various configurations of inter pole is developed to obtain the desired torque and magnetic flux. The PID controller and fuzzy logic controller using ANFIS is proposed to regulate the speed response of the BLDC motor. The combination of PID and fuzzy logic in the closed-loop gives a steady-state error of 2.376%, and the use of a PID controller alone gives a steady-state error of 12.5%. With the proposed design of the controller for BLDC motor, the desired speed with lesser steady-state error obtained for surgical stapler application.