Motion control is widely used in industrial applications since machinery, robots, conveyor bands use smooth movements in order to reach a desired position decreasing the steady error and energy consumption. In this paper, a new Proportional-Integral-Derivative (PID) -type fuzzy logic controller (FLC) tuning strategy that is based on direct fuzzy relations is proposed in order to compute the PID constants. The motion control algorithm is composed by PID-type FLC and S-curve velocity profile, which is developed in C/C++ programming language; therefore, a license is not required to reproduce the code among embedded systems. The self-tuning controller is carried out online, it depends on error and change in error to adapt according to the system variations. The experimental results were obtained in a linear platform integrated by a direct current (DC) motor connected to an encoder to measure the position. The shaft of the motor is connected to an endless screw; a cart is placed on the screw to control its position. The rise time, overshoot, and settling time values measured in the experimentation are 0.124 s, 8.985% and 0.248 s, respectively. These results presented in part 6 demonstrate the performance of the controller, since the rise time and settling time are improved according to the state of the art. Besides, these parameters are compared with different control architectures reported in the literature. This comparison is made after applying a step input signal to the DC motor.

中文翻译：

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一种基于PID型模糊逻辑控制器的运动控制方法。

运动控制已广泛用于工业应用中，因为机械，机器人，输送带采用平滑运动以达到所需位置，从而降低了稳定误差和能耗。为了计算PID常数，提出了一种基于直接模糊关系的比例积分微分（PID）型模糊逻辑控制器（FLC）调节策略。运动控制算法由PID型FLC和S曲线速度曲线组成，采用C / C ++编程语言开发。因此，不需要许可证就可以在嵌入式系统之间复制代码。自整定控制器是在线执行的，它取决于误差和误差变化，以根据系统变化进行调整。实验结果是在线性平台中获得的，该线性平台由连接到编码器以测量位置的直流（DC）电动机集成。电机的轴连接到一个环形螺钉上。将推车放在螺钉上以控制其位置。实验中测得的上升时间，过冲和稳定时间值分别为0.124 s，8.985％和0.248 s。第6部分中给出的这些结果证明了控制器的性能，因为根据现有技术，上升时间和稳定时间得到了改善。此外，将这些参数与文献中报道的不同控制架构进行了比较。比较是在将步进输入信号施加到直流电动机之后进行的。将推车放在螺钉上以控制其位置。实验中测得的上升时间，过冲和稳定时间值分别为0.124 s，8.985％和0.248 s。第6部分中给出的这些结果证明了控制器的性能，因为根据现有技术，上升时间和稳定时间得到了改善。此外，将这些参数与文献中报道的不同控制架构进行了比较。比较是在将步进输入信号施加到直流电动机之后进行的。将推车放在螺钉上以控制其位置。实验中测得的上升时间，过冲和稳定时间值分别为0.124 s，8.985％和0.248 s。第6部分中给出的这些结果证明了控制器的性能，因为根据现有技术，上升时间和稳定时间得到了改善。此外，将这些参数与文献中报道的不同控制架构进行了比较。比较是在将步进输入信号施加到直流电动机之后进行的。因为上升时间和稳定时间根据现有技术得到了改善。此外，将这些参数与文献中报道的不同控制架构进行了比较。比较是在将步进输入信号施加到直流电动机之后进行的。因为上升时间和稳定时间根据现有技术得到了改善。此外，将这些参数与文献中报道的不同控制架构进行了比较。比较是在将步进输入信号施加到直流电动机之后进行的。