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Cải tiến bộ điều khiển mờ cấp cao cho bài toán điều khiển độ ấm nhà kính

Cải tiến bộ điều khiển mờ cấp cao cho bài toán điều khiển độ ấm nhà kính

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Published by pvdai
Hội nghị toàn quốc về Điều khiển và Tự động hoá - VCCA-2011

Cải tiến bộ điều khiển mờ cấp cao cho bài toán điều khiển độ ấm nhà kính A Development on Advanced Fuzzy Based Controller Design for Humidity Control of Greenhouse
Minh Duc Nguyen1, Viet Boi Chau Luong2, Tuong Quan Vo3 Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam (Email: ng.minhduc258@gmail.com) 2 Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam (Email: boichau.luong@gmail.c
Hội nghị toàn quốc về Điều khiển và Tự động hoá - VCCA-2011

Cải tiến bộ điều khiển mờ cấp cao cho bài toán điều khiển độ ấm nhà kính A Development on Advanced Fuzzy Based Controller Design for Humidity Control of Greenhouse
Minh Duc Nguyen1, Viet Boi Chau Luong2, Tuong Quan Vo3 Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam (Email: ng.minhduc258@gmail.com) 2 Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam (Email: boichau.luong@gmail.c

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 Hội nghị toàn quốc về Điều khiển và Tự động h
- VCCA-2011VCCA-2011
Cải
t
iến
b
ộ điều
k
hiển
m
ờ 
c
ấp
caocho bài toán
điều
k
hiển độ ấ
m nhà kính
 A Development on Advanced Fuzzy Based Controller Design for Humidity Control of Greenhouse
Minh Duc Nguyen
1
, Viet Boi Chau Luong
 2
, Tuong Quan Vo
 3
 
1
Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam(Email: ng.minhduc258@gmail.com)
 2
Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam(Email: boichau.luong@gmail.com)
 3
Department of Mechatronics, Faculty of Mechanical Engineering, HCMUT, Vietnam(Email: vtquan@hcmut.edu.vn)
Tóm tắt
 
Ngày nay, nhà kính không
còn là một
khái
niệm
 
lạ
trong nông
nghiệp
. Tuy nhiên,
điều hòa khí hậu
trong
nhà kính còn gặp
 
nhiều khó khăn.
N
hiều th
ông
số
 
cầnđược điều khiển
 
chẳng
 
hạn
 
như
 
nhiệt
 
độ, độ ẩm tươngđối
,
độ chứa hơi
,
lượng khí
carbon dioxide trongkhông khí ... Trong
đó
,
khó khăn nhất là điều khiển độẩm tương đối
. Trong bài báo này
đề cập đến bộ điềukhiển mờ thông thường
 bộ điều khiển mờ nâng cao
 
được sử dụng
cho
máy tăng ẩm
máy hút ẩm
.
Bộđiều khiển mờ nâng cao
tự điều chỉnh
các t
hông sốđầu ra
 
dựa
 
trên sai số
đạo hàm của sai số
 
của
các
 biến
 
điều khiển
.
Abstract
Nowadays, greenhouse is not longer a strangeconception in agriculture. The plants in a greenhouseimpose their own needs. However, climate control forprotected crops has many difficulties. There are manyparameters are controlled such as temperature,relative humidity, humidity ratio, carbon dioxide inthe air
… Among protecting all of them, relative
humidity is the hardest parameter to control. In thispaper, Conventional Fuzzy Controller (CFC) andSelf-tuning Fuzzy Logic Controller (STFLC) are usedfor the humidifier and dehumidifier. The Self-tuningFuzzy Logic Controller is adjusted the output scalingfactor on-line by fuzzy rules according to the currenttrend of the controlled process. The rule-base fortuning the output-scaling factor is defined on errorand change of error of the controlled variable.
Keywords
Greenhouse, Conventional Fuzzy Controller,Advanced Fuzzy Controller, Self-tuning FuzzyController, humidity.
Nomenclature
 
in
 %
indoor relative humidity
 
o1
 %
outside relative humidity type 1
 A
cc
m
2
 
surface area of cooling coils
 A
gap
= 0.02m
2
 
area of gaps of wall
 A
hc
m
2
 
surface area of heating coils
c
 p
kJ/kg.
o
specific heat capacity of moistair
ac
kg/kg
humidity ratio of air flowpassing over cooling coils
h
kg/kg
humidity ratio of supply air flowby humidifier
in
kg/kg
humidity ratio of indoor air
o
kg/kg
humidity ratio of outdoor air
o1
m/s
volume flow rate of air blowingfrom outside to inside
G kg
mass of dry indoor air
G
kg/s
mass flow rate of supply dry airflow by dehumidifier
G
h
kg/s
mass flow rate of supply dry airflow by humidifier
G
o
kg/s
mass flow rate of air blowingfrom outside to inside
G
w
kg/s
mass flow rate of added watervapor
h
cc
kW/m
2
.
o
average convective heat-transfercoefficient of cooling coils
h
hc
kW/m
2
.
o
average convective heat-transfercoefficient of heating coils
i
h
kJ/kg
enthalpy of supply air byhumidifier
i
in
kJ/kg
enthalpy of indoor air
i
w
kJ/kg
enthalpy of added water vapor
 p = 1 bar 
pressure of air
 p
hmax
bar 
saturation vapor partial pressureat indoor temperature
ac
 
o
temperature of air flow passingover cooling coils
ah
 
o
temperature of air flow passingover heating coils
cc
 
o
surface temperature of coolingcoils
h
 
o
temperature of supply air byhumidifier
hc
 
o
surface temperature of heating
775
 
 Hội nghị toàn quốc về Điều khiển và Tự động hoá
- VCCA-2011
VCCA-2011coils
in
 
o
temperature of indoor air
o
 
o
temperature of outdoor air
o1
 
o
outside temperature type 1
v
wind 
m/s
outside wind speed
1. Introduction
We find that the climate in the crop have a greatinfluence on the growth of plants, capacity growth,productivity, quality and of tree maintenanceprocedures. Environmental control is a central featureof modern production systems. There is so muchresearch on the theory and application the relatedissues of environmental control Greenhouse has beendone by many researchers (Jones, 1984 [
Error!Reference source not found.
]; Gates and Overhuts,1991[9]; Stanghellini and van Meurs, 1992[10]; Taylor, 2000[11]; Zolnier, 2000[12]). Most research has focused on the analysis and control of environmental conditions inside the glass based on theconcept of energy and material model reasons.Many kinetic models for greenhouse environmentaldeveloped and documented in the literature, the modelthe kinetics of these are non-linear model withvariables mainly air temperature and relative humidityfor (or absolute humidity), concentrations of carbondioxide also mentioned. Noise impact on the climateglass all tastes from solar radiation, outsidetemperature (the phenomenon of thermal conductivityand heat transfer), but the frequency the noise is verylow. Indeed, temperature and humidity are closelyassociated with each other through the law of non-linear thermodynamics. Therefore, we designed acontroller that is strong enough to control system forgreenhouse is difficult.
2. System Modeling
Humidifier has two systems: atomizing system and airhandling unit. Water passes through an atomizingsystem to become water vapor. This water vapor willbe added to the air.Following[1], the humidity ratio of supply air flowby humidifier is
wh inh
Gd G
(1)
Following[1, 2], the temperature of supply air flowby humidifier is
in in w h w hh in p
d i i d i it c
(2)
The air in a dehumidifier first passes over a series of cooling coils (the evaporator) and then immediatelyover a set of heating coils (the condenser) and thenback into the room as dryer air with its temperatureelevated.Following [1, 2], the humidity ratio of air flowpassing over cooling coils is
1.0062500.77 1.84
cc cc in ccin acacac
h A t i G
(3)
Following[1, 2], the temperature of air flow passingover heating coils is
1.006 1.84
hc hc hc acah acd ac
h A t t G
(4)
Therefore, the temperature
and the humidity ratio
 of supply air flow by dehumidifier are
d ah
t
(5)
d ac
d
(6)
According law of energy conservation, if we choosethe sampling time is one second, the indoortemperature and humidity ratio at the step
are
1
h h d d o oin h ino
t k G k t k G k t k G t k G k G k G t G k G k 
(7)
1
h h d d o oin h ino
d k G k d k G k d k G d k G k G k G d G k G
(8)
The indoor relative humidity is
max
0.622
ininh
d pd p
j
(9)
3. Controllers Design
In Controller, there are two inputs:
 
The system error is defined as the differencebetween the plant output
 y(k)
and the set point
r(k)
at the step
is :
e k y k r
(10)
 
The change rate of error at the step
is
1
de k e k e
(11)
And two outputs, as the inputs of the plant:
 
For humidifier: the mass flow rate of water vapor
G
w
(
kg/s
).
 
For dehumidifier: the volume flow rate of supplyair
(
m
3
 /s
)
3.1. Conventional Fuzzy Controller (CFC)
The structure of CFC is shown inFig
.
1.The inputrange for
e
and
de
are based on the load disturbance.The output ranges for
G
w
and
are base on the maxpower of humidifier and dehumidifier. The languagevariables description of inputs and outputs are showninTable
1.The fuzzy membership functions forinputs and outputs are shown inFig.2. Table
2lists 49language fuzzy rules for the CFC.
776
 
 Hội nghị toàn quốc về Điều khiển và Tự động hoá
- VCCA-2011
VCCA-2011
ConventionalFuzzyControllerPlantdu/dtG
w
F
d
derye
 
Fig.1
.
Structure of Conventional Fuzzy Controller 
Table 1
.
 Language variables description
Inputs OutputNB Negative Big ZE Zero 1NM Negative Medium VS Very Small 2NS Negative Small S Small 3ZE Zero SB Small Big 4PS Positive Small MB Medium Big 5PM Positive Medium B Big 6PB Positive Big VB Very Big 7
-20 -10 0 10 2000.51ErrorNB NM NS ZE PS PM PB-0.5 -0.25 0 0.25 0.500.51Change of ErrorNB NM NS ZE PS PM PB
 
0 0.02500.51G
w
ZE VS S SB MB B VB0 0.1200.51F
d
ZE VS S SB MB B VB
 
Fig.2
.
 Membership functions of input and output CFC 
Table 2.
 
 Rule of Conventional Fuzzy Controller 
 
G
w
ErrorNB NM NS ZE PS PM PB
   C   h  a  n  g  e  o   f   E  r  r  o  r
NB 7 1 6 1 5 1 2 1 1 2 1 4 1 5NM 7 1 6 1 4 1 2 1 1 2 1 4 1 5NS 6 1 5 1 3 1 2 1 1 3 1 5 1 6ZE 6 1 5 1 3 1 1 1 1 3 1 5 1 6PS 5 1 4 1 2 1 1 2 1 4 1 6 1 6PM 5 1 4 1 2 1 1 3 1 5 1 6 1 7PB 4 1 3 1 2 1 1 4 1 6 1 7 1 7
3.2. Advanced Fuzzy Controller (AFC)
Advanced Fuzzy Controller has two fuzzy controllers.They are Direct Fuzzy Logic Controller (DFLC) andSelf-tuning Fuzzy Logic Controller (STFLC). Thestructure of AFC is shown in 
. 
Direct FuzzyLogicControllerPlantdu/dtG
wN
F
dN
deryeGeGdee
N
de
N
Gu
Hum
Gu
Dehum
G
w
F
d
Self-tuningFuzzyLogicController
Fig.3
.
Structure of Advanced Fuzzy Controller 
DFLC is most similar to CFC but the ranges of inputsand outputs are different. In DFLC, the inputs (
e
 N 
,
de
 N 
) and outputs (
G
wN 
,
dN 
) are normalized based onEqs.(12-15).
max
20
 N 
e eee
(12)
max
0.5
 N 
de dedede
(13)
minmax min
00.025 0 0.025
w w w wwN w w
G G G GGG G
(14)
minmax min
00.12 0 0.12
d d d dN d
F F F F
(15)
The rule for DFLC is the same with CFC. The fuzzymembership functions for inputs and outputs areshown in 
. 
 
-1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 100.51ErrorNB NM NS ZE PS PM PB-1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 100.51Change of ErrorNB NM NS ZE PS PM PB
 
0 0.15 0.3 0.45 0.6 0.75 0.9 100.51G
w
ZE VS S SB MB B VB0 0.15 0.3 0.45 0.6 0.75 0.9 100.51F
d
ZE VS S SB MB B VB
 
Fig.4.
 Membership functions of input and output of DFLC 
The rule base STFLC is developed to tune the
DFLC’s
inputs and outputs gains. The inputs are
e
 and
de
and outputs are
Ge
,
Gde
,
Gu
 Hum
,
Gu
 Dehum
. Its
inputs are the same with CFC’s, both range and
membership functions. The ranges for outputs arebased on the ranges for inputs and outputs of CFC.The membership functions of inputs and outputs are
777

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