الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Stepping motors are widely used in robotics and in the numerical control of machine tools to perform high precision positioning operations. The classical closed-loop where they have control of the stepper motor can not respond properly to the system variations unless adaptive technique is used. In this thesis, the feasibility of fuzzy gain scheduling control for stepping
motor driving flexible rotor has been investigated and illustrated by numerical simulation. The proposed control was concerned with the permanent magnet step motor (PMSM) with mechanical variations such as stiffness of rotor and load inertia. A mathematical model for the PMSM was derived and the gains of a conventional PID control were presented. The data base required in learning process of the fuzzy logic gain scheduling mechanism was obtained from the mathematical model. It was found that the stable value for the integral gain is half the value of the proportional gain. The fuzzy system for scheduling the derivative gain K3 has two antecedents which are the maximum errors in both load position and speed and one consequent K3.The inference system is based on the Takagi Sugeno Kang (TSK) model. The Gaussian membership function (MF) produced the best results. The fuzzy system for scheduling the proportional gain K, has two antecedents which are the instantaneous errors in both load position and speed and one consequent KI.The inference system is based on the Mamdani model. The triangular membership function (MF) produced the best results. The conducted simulation showed that the fuzzy system is able to adapt the controller gains to track the desired load and speed response. Fuzzy Proportional-Integral-Derivative (FPID) performance is much better than the conventional PID control scheme. Fuzzy self-tuning controller demonstrates a very quick response and little overshoot, because the fuzzy self-tuning control is based on the function relationship among the errors, parameters KI, K3, and operation experiences. The output control voltage and current produced by FPID are stable, smoother, faster and much less than that resulted from the PID control which is useful from industrial point of view.