Modeling and Robust Adaptive Fuzzy Control for Servo Layer Control of a Motor/Gear Subsystem

This paper presents an advanced nonlinear control design for the servo layer in typical EP printers, which complements our previous work focusing on control of supervisory layer. A control centric modeling and reduction approach for the main motor in the servo layer (i.e., a PWM three-phase permanent magnet brushless dc motor) is conducted. The set of differential equations and the corresponding state variable model are established for each operation interval. The subsystem model from each interval is combined to form a comprehensive model. Model reduction is performed to reduce the complexity but preserve crucial dynamics of the model. Finally, a robust adaptive fuzzy controller is designed and its feasibility and effectiveness is verified on the comprehensive model.