The PWM signal is provided to control the steering angle
by controlling the dc servomotor. In digital circuit design, we
utilize an up-counter whose output value is compared with a
reference value. If the counted value is less than the reference
value, then the output of the comparator exports “0;” otherwise,
“1” is exported. We just need to set the reference value to choose
a proper PWM signal.
Owing to that, the range of steering angle is 30 to 30 ,
we take 5 as one unit to divide the range into 13 types of PWM
signals. When the PWM fitness circuit gets the crisp output from
the FLC module, we use the multiplexer as the PWM selector
to match the corresponding crisp output, and then the steering
angle of the CLMR can be controlled. Fig. 10(c) illustrates the
configuration of the PWM fitness module