Fuzzy Logic Controller

Dr. Ir. Ari Santoso, DEA Email:santoso@ee.its.ac.id

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Direct Control

End-user Controller Rule base Inference engine

Ref

Deviations

Actions Process

Outputs

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Feedforward control and Gain Scheduling

Disturbance

Fuzzy compensator

Deviation

Controller

u
Controller parameters Fuzzy gain schedule

Ref

Controller

Plant

Outputs

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Fuzzy + PID Configurations

Fuzzy

PID

Process

PID

Process

(a)

(b)

Fuzzy

Fuzzy

PID

Process

PID

Process

(c)

(d)

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Elements Of A Fuzzy Controller

Fuzzy controller
Rule base Inference engine

Preprocessing

Fuzzification

Defuzzification

Postprocessing

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Fuzzification
Membership Function
Gaussian (x)
1

1 x x 2 A ( x) = exp 2

Triangle

x
(x)
1

( x a) 2 A ( x) = 1 b
a b
Laboratory of Control Engineering-Department of Electrical Engineering-ITS
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Fuzzification
Membership Function
Trapezium

(x) =

0 (x-a) / (b-a) 1 1 ((x-c) / (d-c)) 0

x<a a<x<b b<x<c c<x<d x>d

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Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Fuzzification
Exp. Variable Linguistic
Speed of Motor AC
Low Speed

( x 500) 2 A ( x) = 1 b

Medium Speed

( x 1000 ) 2 A ( x) = 1 b
( x 1500) 2 b
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High Speed

A ( x) = 1

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Fuzzification
Exp. Variable Linguistic
u A (X)
Low Medium High

500

750

1000

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Rule Based
Design of Rule Based

c g b d e f k h i j l

consigne

a e
e + + + + + + + + + - - +

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Design of Rule Based
e \ e
GN MN PN Zro PP MP GP GN GN GN GN GN MN PN Zro MN GN MN MN MN PN Zro PP PN GN MN PN PN Zro PP PP Zro MN MN PN Zro PP MP MP PP PN PN Zro PP PP MP GP MP PN Zro PP MP MP MP GP GP Zro PP MP GP GP GP GP

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Defuzzification
Maximum Of Mean (MOM)
vo =

J v j

j =1

v j = max v ( v ) vV
Vo J Vj v(v) V = nilai keluaran = jumlah harga maximum = nilai keluaran maksimum ke-j = derajat keanggotaan elemen pada fuzzy set v = semesta pembicaraan

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Defuzzification
Centre Of Area (COA)
vo = k =1

vk v (vk )
k =1

v (vk )

vo m vk V

v(vk)

= nilai keluaran = tingkat kuantisasi = elemen ke-k = derajat keanggotaan elemen pada fuzzy set v = semesta pembicaraan
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Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Defuzzification
Exemple
Sangat Lambat Lambat Cukup Cepat

20 Sangat Dekat Agak Dekat

Cepat Sekali 40 60 Kecepatan (km/jam) Sedang

80

Agak Jauh

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

Jauh Sekali 2 3 Jarak (m)

4
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Rule Based
Exemple
Injak Penuh Injak Sedang Injak Sedikit

Injak Agak Penuh Injak Sedikit Sekali 0 10

20 30 Posisi pedal rem (0)

40

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Exemple
Aturan 1: Bila kecepatan mobil cepat sekali dan jaraknya sangat dekat maka pedal rem diinjak penuh Aturan 2: Bila kecepatan mobil cukup dan jaraknya agak dekat maka pedal rem diinjak sedang Aturan 3: Bila kecepatan mobil cukup dan jaraknya sangat dekat maka pedal rem diinjak agak penuh

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Exemple
Rule 1

Cepat Sekali

Sangat Dekat

20

40

60

80 0

40

10

Kecepatan (km/jam)

Jarak (m)

20 30 40 Posisi pedal rem (0 )

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Exemple
Rule 2
Cukup Agak Dekat

Injak Sedang

20

40 60 Kecepatan (km/jam)

80 0

3 40 Jarak (m)

10

20 30 40 Posisi pedal rem (0 )

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Exemple
Rule 3
Cukup Sangat Dekat Injak Agak Penuh

20 60

40 80 Kecepatan (km/jam)

1 3

2 4 Jarak (m)

10 30

20 40 Posisi pedal rem (0)

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Rule Based
Exemple
MOM : PPR = 200 CO A MOM COA : PPR = 0,2+0,4 = 16,670 10x0,2+20x0,4

10 40

20

30

Posisi pedal rem (0)

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

21

Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

22

Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

23

Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

24

Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

25

Fuzzy + PID Configurations

Laboratory of Control Engineering-Department of Electrical Engineering-ITS

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