This paper describes an application of a fuzzy logic[1] implementation on an ARM-Cortex microcontroller. The microcontroller with integrated fuzzy logic was tested on motor position and speed control application. Fuzzy logic is a subtype of multi-valued logic and can be used in combination with other controller types (PI, PID, neural networks, genetic algorithms, etc.). The microcontroller is the core, or the "brains", of the device. Complex devices include two or more microcontrollers that exchange data via various communication protocols. Each microcontroller has integrated software, which represents the "mind" of the microcontroller. Without software, the microcontroller is just a useless electronic component. The software represents fuzzy logic, which controls the motor position in this application. The microcontroller's software is often written in the C programming language. Expression often means that there are available more programming languages. Position control has a closed loop, meaning that the position of the motor is regulated to a reference position if the motor load is changing. The first goal of this application is to write a C language source code for a fuzzy logic inference engine for the ARM Cortex M3 microcontroller. The second goal is to test this fuzzy logic inference engine on an automatic door for position control with combination of PI speed controller. The last goal is to analyze the automatic door behavior with fuzzy logic controller by variable door wing weight.
Original scientific paperThis paper describes design using state-transition methodology. This state-transition methodology is straightforward, with a simply-perceived relation between the programming and the corresponding sequential function. The current operational function of the system is described as the current state of the system using state-transition programming. The state transition diagram or table describes the current state and the conditions for transition. The operation is transferred to a corresponding destination state when a set of conditions become valid for leaving the current state. Thus, the sequential operation is explicit, and any continuous conditions scanning (from command source and sensors) only include those that are pertinent for leaving the current state. The methodology is highly-structured and efficient, the programming tasks are readily comprehensible, and fault diagnostics can be easily included within the program's structure. The presented application of an automatic sliding-door illustrates the feasibility of this approach. This paper presents the MFSM (Modular Finite-State Machine), the ECA (EventCondition-Action) system, motion generation, motion control with load estimation, and an example of a DSP (Digital Signal Processor) system. The limitations and attributes of each technique are discussed, and a state-table format is presented with the capability of representing parallel asynchronous sequential processes. Key words: FSM, Software design, Adaptive automatic door motion, State flow, DSPMehatronički sustav upravljanja na automatu s konačnim brojem stanja. U ovom radu opisan je dizajn koristeći metodu prijelaza stanja. Metoda prijelaza stanja je izravna metoda s jednostavnim odnosom izmeîu programiranja i odgovarajuće funkcije. Trenutna funkcija sustava opisana je kao trenutno stanje sustava koristeći programiranje s prijelazom stanja. Dijagram ili tablica prijelaza stanja opisuje trenutno stanje i uvjete prijelaza u drugo stanje. Ako su zadovoljeni uvjeti prijelaza sustav prelazi u odgovarajuće stanje. Dakle, slijed je definiran eksplicitno te provjera kontinuiranih stanja sustava (upravljački signal ili senzori) obuhvaća samo ona stanja koja su značajna za prijelaz u sljedeće stanje. Metodologija je dobro strukturirana i učinkovita, programski zadaci su lako razumljivi i prepoznavanje pogreške može se lako uključiti u strukturu programa. Izvodljivost ovog pristupa ilustrirana je na primjeru automatskih kliznih vrata. Ovaj rad prikazuje modularni automat s konačnim brojem stanja, dogaîajno uvjetovanu radnju, gibanje, upravljanje gibanjem s estimacijom tereta i primjer sustava s digitalnim signalnim procesorom. Komentirana su ograničenja i značajke svake od ovih metoda i prikazana je tablica stanja s mogućnošću prikazivanja paralelnih asinkronih slijednih procesa.Ključne riječi: automat s konačnim brojem stanja, dizajn softvera, adaptivno gibanje automatskih vrata, digitalni signalni procesor INTRODUCTIONHybrid systems [1], covering the heterogeneous continuous, and discr...
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