Research on the Adaptive PID Speed Control Method for Hub Motors

Table 1

Error fuzzy subset membership function table.

Membership	−3	−2	−1	0	1	2	3
PB	0	0	0	0	0.3	0.7	1
PM	0	0	0	0.3	0.7	1	0.7
PS	0	0	0.3	0.7	1	0.7	0.3
ZE	0	0.3	0.7	1	0.7	0.3	0
NS	0.3	0.7	1	0.7	0.3	0	0
NM	0.7	1	0.7	0.3	0	0	0
NB	1	0.7	0.3	0	0	0	0