Professional Documents
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PID
PID
IV
CANDIDATE’S DECLARARTION
We hereby certify that the work which is being presented in the project report
entitled
“DESIGN OF FUZZY-SUPERVISED PID CONTROLLER FOR MAGLEV
SYSTEMS,” in partial fulfillment of the requirements for the award of degree of the
Bachelor of Technology and submitted in the Department of Electrical
Engineering,
National Institute of Technology, Hamirpur H.P. is an authentic record of
our own
work carried out during a period from January 2014 to May 2014 under
the
supervision of Dr. Bharat Bhushan Sharma, Assistant Professor, Department
of
Electrical Engineering, N.I.T. Hamirpur.
The matter presented in this project report has not been submitted by us for the
award
of any other degree of this or any other university/institute.
Sd/-
MIRZA ABDUL WARIS BEGH (10289)
AAKASH AGRAWAL (10288)
GOPAL BHARADWAJ (10265)
MOHAN LAL (09223)
This is to certify that above statement made by the candidate is correct to the
best of
my knowledge.
Date: Sd/-
Dr. Bharat Bhushan Sharma
Assistant Professor, EED
Dr. Bharat Bhushan Sharma
Project Supervisor
Electrical Engg. Dept.
----------------------------------
External Examiner
ACKNOWLEDGEMENT
First things first we find it hard to express our gratefulness to Almighty GOD in
words
for bestowing upon us His deepest blessings and providing us with the most
wonderful
opportunity in the form of life of a human being and for the warmth and kindness he
has showered upon us.
We feel great pleasure in acknowledging our deepest gratitude to our
revered guide
and mentor, Dr. Bharat Bhushan Sharma, Assistant Professor, Electrical
Engineering Department, National Institute of Technology Hamirpur, under
whose
firm guidance, motivation and vigilant supervision we succeeded in
completing our
work. He infused into us the enthusiasm to work on this topic. His
tolerant nature
accepted our shortcomings and he synergized his impeccable knowledge with
our
curiosity to learn into this fruitful result.
We would sincerely thank Prof. Y. R. Sood, HOD, Electrical Engineering Department
who suggested many related points and is always very helpful and constructive.
Words are inadequate to express our heartfelt gratitude to our
affectionate parents
who have shown so much confidence in us and by whose efforts and blessings we have
reached here.
We would also like to thank all the faculty members of Department of
Electrical
Engineering for their continuous moral support and encouragement.
Last but not the least we wish to express heartiest thanks to our friends and
colleagues
for their support, love and inspiration.
Date:
MIRZA ABDUL WARIS BEGH (10289)
AAKASH AGRAWAL (10288)
GOPAL BHARADWAJ (10265)
MOHAN LAL (09223)
VI
Abstract
The magnetic levitation system is a mechatronic system already
acknowledged and
accepted by the field experts. For such a system it is desired to
propose a suitable
controller for positioning a metal sphere in air space by the help of an
electromagnetic
force. In the ideal situation, the magnetic force produced by the
current from an
electromagnet counteracts the weight of the metal sphere. Nevertheless,
the
electromagnetic force is very sensitive, and presence of noise induces
accelerating
forces on the metal sphere, causing the sphere to move into the
unbalanced region.
Fuzzy logic controller (FLC) is an attractive alternative to existing classical or
modern
controllers for designing the challenging Non-linear control systems. Fuzzy
rules are
very easy to learn and use, even by non-experts. It typically takes only a few
rules to
describe systems that may require several lines of conventional software code,
which
reduces the design complexity. By considering these advantages, this project
presents
the design and analysis of a Fuzzy logic based supervision controller for the
magnetic
levitation system. Additionally, a classical PID controller is also designed to
compare
the performance of both types of controllers. Results reveal that Fuzzy
supervised
PID controller is found to give better transient and steady state results compared
to the
classical PID.
Keywords: Fuzzy Logic; PID controller; Fuzzy supervised PID controller;
PID
tuning; Maglev; Magnetic Levitation;
VII
Contents
Page No.
List of Figures………………………………………………………………... IX
List of Abbreviations…………………………………………………............ X
List of Tables……………………………………………………………..... X
List of symbols……………………………………………………………..... XI
1 Introduction……………………………………………………….... 1
1.1 Overview……………………………………….................................. 1
1.2 Magnetic Levitation………………………………………................. 2
1.3 Maglev………………………………………...................................... 3
1.4 Objective……………………………………….................................. 4
1.5 Motivation………………………………………................................ 5
1.6 Organisation of the report………………………………………........ 5
3 Fuzzy Logic………………………………………............................. 12
3.1 Fuzzy Sets………………………………………................................ 12
3.1.1 Linguistic variables……………………………………….................. 12
3.2 Fuzzy control………………………………………............................ 13
3.2.1 Fuzzy control system design……………………………………….... 13
3.3 Fuzzy reasoning………………………………………....................... 14
3.3.1 Fuzzy rules………………………………………............................... 14
3.3.2 Fuzzy inference system………………………………………............ 15
3.3.3 Fuzzification………………………………………............................. 15
3.3.4 Inference………………………………………................................... 16
3.3.5 Defuzzification………………………………………......................... 17
3.4 Different types of Fuzzy Logic controllers………………………….. 18
3.5 Discussion………………………………………................................ 19
4 Fuzzy Controller………………………………………..................... 20
4.1 Fuzzy supervisory control………………………………………........ 20
4.2 Supervision of conventional controllers……………………………... 21
4.3 Fuzzy tuning of PID controllers……………………………………... 21
4.4 Fuzzy gain scheduling……………………………………….............. 22
4.4.1 Construction of a heuristic schedule gain…………………………… 23
4.4.2 Construction of a schedule gain by fuzzy identification…………….. 23
VIII
7
Conclusion.........................................................................
.................. 38
References.........................................................................
............................... 39
IX
LIST OF FIGURES
Fig (1.1) Trans-rapid 09 at the Emsland test facility in Germany.
Fig (1.2) SC-Maglev in Yamanashi Prefecture, Japan.
Fig (5.1) Unit step response of the system G(s) tuned with trial and error method.
Fig (5.2) Response of a system tuned with Pole Placement Method.
Fig (5.3) Control Scheme for Ziegler Nichols Method.
Fig (5.4) Unit step response of the system G(s) tuned with ZL method
LIST OF ABBREVIATIONS
DC Direct Current
PID Proportional, Integral and Derivative
PI Proportional & Integral
PLC Programmable Logic Controller
MagLev Magnetic Levitation
MJ Mega Joules
mph Miles per hour
CO
2
Carbon Dioxide
FIS Fuzzy inference system
Max Maximum
Min Minimum
COA Center of Area
WA Weighted average
PDC Parallel Distributed Compensation
ZN Ziegler Nichols Method
FL Fuzzy Logic
NL Negative Large
NM Negative Medium
NS Negative Small
ZE Zero
PS Positive Small
PM Positive Medium
PL Positive Large
SSE Steady-State Error
FLC Fuzzy Logic Controller
LIST OF TABLES
Table 1 Parameters of the Magnetic Levitation system
Table 2 Rule base Parameters for K
P
.
Table 3 Rule base Parameters for K
I
.
Table 4 Rule base Parameters for K
D.
XI
LIST OF SYMBOLS
ω Frequency (rad/sec)
F
m
Magnetic force
I Electromagnetic current
X Air gap length
V
s
Sensor output
T
r
Rise time
M
p
Maximum overshoot
H
0
Equilibrium height of ball (m)
M Mass of ball bearing (kg)
R Resistance (Ω)
L
1
Inductor (H)
β Constant related to magnetic force (Nm
2
/A
2
)
I
0
Equilibrium current of the coil (A)
K
s
Sensor gain factor (V/m)
K
1
constant (N/A)
K
2
constant (N/m)
u The control signal provided by the PID controller to the plant
e Error
de Differential of error
K
p
Proportional gain
K
d
Derivative gain.
K
i
Integral gain
ζ Relative damping coefficient
*fuz Output fuzzy variable
Chapter-1
Introduction
1.1 Overview
In the control of plants with good performances, engineers are often
faced to design
controllers in order to improve static and dynamic behavior of plants.
Usually the
improvement of performances is observed on the system responses. For illustration,
an
example of a DC machine is chosen. Two cases of study are presented:
I. In open loop, the velocity response depends on the mechanical time
constant
of the DC machine (time response) and the value of the power supply. Indeed, for
each value of power supply, a velocity value is reached in steady state. Therefore
the DC machine can reach any value of velocity which depends only of the power
supply. In this case no possibility to improve performances.
II. For a specific need, the open loop control is not sufficient. Engineers are
faced
to a problem of control in order to reach a desired velocity response according to
defined specifications such as disturbance rejection, insensitivity to the
variation
of the plant parameters, stability for any operation point, fast rise-time, minimum
Settling time, minimum overshoot and a steady state error null. Also, the designed
control is related to other constraints such as the cost, computation
complexity,
manufacturability, reliability, adaptability, understand-ability and politics [1].
In general the design of the control needs to identify the dynamic
behavior of the
system. Therefore a dynamic model of the plant is developed in order to reproduce
the
real response in open loop. Developing a model for a plant is a
complex task which
needs time and an intuitive understanding of the plant‘s dynamics.
Usually, on the
basis of some assumptions to choose, a simplified model is developed and the
physical
parameters of the established model are identified using some experimental
responses.
If the model is nonlinear, we need to linearize the model around a steady state
point in
order to get a simplified linear model. Therefore a linear controller is
designed with
techniques from classical control such as pole placement or frequency
domain
methods. Using the mathematical model and the designed controller, a
simulation in
closed loop is carried out in order to study and to analyse its performances. This
step
of study consists to adjust controller parameters until performances are reached
for a
given set point. In the last step, the designed controller is
implemented via, for
example, a microprocessor, and evaluating the performance of the closed-loop system
(again, possibly leading to redesign).
In industry most of the time engineers are interested in linear
controllers such as
proportional- integral-derivative (PID) control or state controllers. Over
90% of the
controllers in operation today are PID controllers (or at least some
form of PID
controller like a P or PI controller). This approach is often viewed as simple,
reliable,
and easy to understand and to implement on PLCs. Also performances of the plant are
on-line improved by adjusting only gains. In spite of the advantages of
PID
controllers, the process performances are never reached. This is due
mainly to the
accuracy of the model used to design controller and not properly to the controller.
2
Introduction
3
1.3 Maglev
Maglev is a completely new mode of transport that will join the ship, the wheel,
and
the airplane as a mainstay in moving people and goods throughout the world. Maglev
has unique advantages over these earlier modes of transport and will
radically
transform society and the world economy in the 21st Century. Compared to ships and
wheeled vehicles—autos, trucks, and trains—it moves passengers and freight at much
higher speed and lower cost, using less energy. Compared to airplanes, which travel
at
similar speeds, Maglev moves passengers and freight at much lower cost, and in much
greater volume. In addition to its enormous impact on transport, Maglev
will allow
millions of human beings to travel into space, and can move vast
amounts of water
over long distances to eliminate droughts.
In Maglev—which is short for MAGnetic LEVitation—high speed vehicles are lifted
by magnetic repulsion, and propelled along an elevated guide-way by
powerful
magnets attached to the vehicle. The vehicles do not physically contact the guide-
way,
do not need engines, and do not burn fuel. Instead, they are magnetically propelled
by
electric power fed to coils located on the guide-way. There are four basic reasons
why
Maglev is important:
Maglev is a much better way to move people and freight than by
existing
modes. It is cheaper, faster, not congested, and has a much longer service life.
A Maglev guide-way can transport tens of thousands of passengers per day
along with thousands of piggyback trucks and automobiles. Maglev guide-
ways will last for 50 years or more with minimal maintenance, because there is
no mechanical contact and wear, and because the vehicle loads are uniformly
distributed, rather than concentrated at wheels. Similarly, Maglev vehicles will
have much longer lifetimes than autos, trucks, and airplanes.
Maglev is very energy efficient. Unlike autos, trucks, and airplanes,
Maglev
does not burn oil, but instead consumes electricity, which can be produced by
coal-fired, nuclear, hydro, fusion, wind, or solar power plants. At 300
miles
per hour in the open atmosphere, Maglev consumes only 0.4 MJ per passenger
mile, compared to 4 MJ per passenger mile of oil fuel for a 20-miles-
per-
gallon auto that carries 1.8 people (the national average) at 60 miles per hour
(mph). At 150 mph in the atmosphere, Maglev consumes only 0.1 of a MJ per
passenger mile, which is just 2 % of the energy consumption of a typical
60-
mph auto. In low-pressure tunnels or tubes, like those proposed for
Switzerland‘s Metro system, energy consumption per passenger mile will
shrink to the equivalent of 10,000 miles per gallon.
Maglev vehicles emit no pollution. When they consume electricity, no carbon
dioxide is emitted. Even if they use electricity from coal- or natural-
gas-fired
power plants, the resulting CO
2
emission is much less than that from autos,
trucks, and airplanes, because of Maglev‘s very high energy efficiency.
Maglev has further environmental benefits. Maglev vehicles are much quieter
than autos, trucks, and airplanes, which is particularly important for urban and
suburban areas. Moreover, because Maglev uses unobtrusive narrow-beam
elevated guide-ways, its footprint on the land is much smaller than that
of
highways, airports, and railroad tracks.
Maglev has major safety advantages over highway vehicles, trains, and
airplanes. The distance between Maglev vehicles on a guide-way, and the
Introduction
4
from the control system to characterize the systems current behavior and
generate
outputs that are not direct command inputs to the plant. Rather, they dictate
changes to
another controller that generates these command inputs [2]. Because PID
controllers
are often not properly tuned (e.g., due to plant parameter variations or
operating
condition changes), there is a significant need to develop methods for
the automatic
tuning of PID controllers. The supervisor is trying to recognize when the
controller is
not properly tuned and then seeks to adjust the PID gains to obtain
improved
performance. When there is heuristic knowledge available on how to tune
PID
controllers while in operation, there is the opportunity to utilize fuzzy control
methods
as the supervisor that tunes or coordinates the application of conventional
controllers,
this approach shouldn‘t be confused with Fuzzy-PID controllers, which are
PID
controllers realized by fuzzy control methods [3].
Overall, fuzzy PID auto-tuners tend to be very application dependent and it is
difficult
to present a general approach to on-line fuzzy PID auto-tuning that will
work for a
wide variety of applications [2]. There are different configurations that
incorporating
fuzzy controllers with PID controllers, examples are: replacing PID with
fuzzy
controller, using fuzzy controller to adjust PID parameters, and using fuzzy
controller
to add to PID output [4 - 9]. In the method presented here, we use a PID controller
to
create a stable equilibrium point of the position of a magnetically levitated
rotor, and a
fuzzy controller to adjust gains of the PID controller based on the operating
conditions
to improve the performance of the system. The controller is simulated
using
SIMULINK®, and the performance of the PID controller alone is compared
to the
performance of the hybrid controller.
1.5 Motivation
Design of controllers is an area of research that has been explored since the
advent of
human intellect. In the initial stage of development of control theory most of the
effort
was concentrated into algorithms and methods that constitute the classical
control. It
did not incorporate real time or real life problems. In the last century a large
effort was
put for designing controllers that can act like a human operator and imitate
decisions
like humans. Thus the neural algorithms and fuzzy based approaches were discovered.
The key motivation behind this project has been the interesting field of
Fuzzy based
controllers. Fuzzy controllers are designed to make decisions like a human but
unlike
neural networks; fuzzy systems tend to be more domain specific.
1.6 Organisation of the Report
This work is organised as follows. In Chapter 2 the Magnetic levitation System and
its
system model is presented. Chapter 3 discusses the Fuzzy Logic and a
brief
description of fuzzy control is given. In Chapter 4 extensive description
of how to
design a fuzzy controller is given. In Chapter 5 tuning of PID
controller using
conventional methods is analysed. Chapter 6 presents a detailed discussion on
Fuzzy
supervised PID controller and analysis of system using SIMULINK® model. Finally
conclusion and future scope is discussed in Chapter 7.
Introduction
6
Chapter-2
Magnetic Levitation System
2.1 Maglev Systems
Magnetic levitation systems are systems in which a rotor or a stationary
object is
suspended in magnetic field. Magnetic levitation systems have practical importance
in
many engineering systems such as in high-speed maglev passenger trains,
frictionless
bearings, levitation of wind tunnel models, vibration isolation of sensitive
machinery,
levitation of molten metal in induction furnaces, and levitation of metal
slabs during
manufacturing. The maglev systems can be classified as attractive systems
or
repulsive systems based on the source of levitation forces. Magnetic
levitation of a
rotating disk typically incorporates four or more electromagnets to
levitate a
ferromagnetic disk without contact with the surroundings, where levitation
is
accomplished through automatic control of the electromagnet coils currents.
Position
sensors are required to sense the position of the disk, and a
controller uses position
sensor outputs to apply stiffness and damping forces to the rotor to achieve a
desired
dynamic response.
Active magnetic levitation systems are being increasingly used in
industrial
applications where minimum friction is desired or in harsh environments
where
traditional bearings and their associated lubrication systems are
considered
unacceptable, as discussed in [10, 11]. Such systems are inherently open-
loop
unstable, and require means of control to stabilize their operation; this
is generally
done by creating a closed loop system using feedback control. The
requirement of
controllers introduces flexibility into the dynamic response of the systems, which
can
also be designed to compensate for noises and vibrations that would
affect the
operation. Also, these systems are highly nonlinear, and in order to
obtain a transfer
function to describe them, number of approximations have to be made;
hence, the
design of linear controllers can produce the desired dynamic response
only for the
region in which the linear model was created. Many non-linear control
algorithms
were introduced in earlier research [12, 13] and a comparison between
using linear
and non-linear methods of controlling magnetic levitation systems was
discussed in
[14].
Chapter-3
Fuzzy Logic
Fuzzy logic is a logical system providing a mathematical framework to
capture the
uncertainties associated with human cognitive systems such as thinking and
reasoning.
Simply, it simulates human thinking which operates more likely on symbols
than
exact values. In fact, our daily thoughts and communication are full of these
symbols
or fuzzy expressions. This chapter gives a brief introduction to the
main concepts of
fuzzy logic.
3.1 Fuzzy sets
In conventional set theory, an element either belongs to the set or not. Fuzzy
logic is a
generalization of the conventional logic. In fuzzy set theory, the element can
belong to
the set partially with a certain degree. The difference between conventional crisp
and
fuzzy sets is illustrated in Fig. 3.1. Let us consider tree example
sets the poors, the
averages and the richs in the universe of discourse ‗wealth‘. In
conventional logic,
persons are divided into these three groups crisply. The fuzzy sets have
no crisp
boundaries, but a person can simultaneously be a member of several
groups with
different degrees. For example, a person can be rich with degree of 0.1
and average
with 0.7.
Chapter-4
Fuzzy Controller
4.1 Fuzzy supervisory control
Fuzzy Supervisory controller is a multilayer (hierarchical) controller with
the
supervisor at the highest level, as shown in Figure 4.1. The fuzzy supervisor
can use
any available data from the control system to characterize the system‘s
current
behavior so that it knows how to change the controller and ultimately
achieve the
desired specifications. In addition, the supervisor can be used to
integrate other
information into the control decision-making process.
1. Information from a human control system operator who observes the behavior of
an existing control system (often a conventional control system) and knows how
this controller should be tuned under various operating conditions.
2. Information gathered by a control engineer who knows that under
different
operating conditions controller parameters should be tuned according to
certain
rules.
1. The outputs which are not control signals to provide to the control system but
they are parameters to provide to the controller in order to compute
the
appropriate control.
2. Fuzzy supervision associated to the controller can be considered as
an
adaptive controller
21
3. Fuzzy supervisor can integrate different types of information to
resolve
problems of control.
4.2 Supervision of conventional controllers
Most controllers in operation today have been developed using conventional
control
methods. There are, however, many situations where these controllers are not
properly
tuned and there is heuristic knowledge available on how to tune them while they are
in
operation. There is then the opportunity to utilize fuzzy control methods
as the
supervisor that tunes or coordinates the application of conventional controllers.
In this
part, supervision of conventional controllers concerns only PID controllers
and how
the supervisor can act as a gain scheduler.
4.3 Fuzzy tuning of PI D controllers
Over 90% of the controllers in operation today are PID controllers. This
is because
PID controllers are easy to understand, easy to explain to others, and
easy to
implement. Moreover, they are often available at little extra cost since they are
often
incorporated into the programmable logic controllers (PLCs) that are used
to control
many industrial processes. Unfortunately, many of the PID loops that are in
operation
today are in continual need of monitoring and adjustment since they can
easily
become improperly tuned.
Because PID controllers are often not properly tuned (e.g., due to plant
parameter
variations or operating condition changes), there is a significant need to
develop
methods for the automatic tuning of PID controllers for nonlinear systems
where the
model is not well known. In this method, the fuzzy supervisor knows, from a
response
time, when the controller is not well tuned and acts by adjusting the controller
gains in
order to improve system performances. The principle scheme of the fuzzy
PID auto
tuner [1] is given by Fig. 4.2.
Fig. 4.2: Fuzzy PID auto-tuner
Fuzzy Controller
22
The block ―Behavior Recognition‖ is used to characterize and analyze the
current
response of the system and provides information to the ―PID Designer‖ in
order to
determine the new parameters of the PID controllers and to improve
performances.
The basic form of a PID controller is given by:
Where u is the control signal provided by the PID controller to the plant.
e is the error deuced from the reference input r and the plant output y.
K
p
is the proportional gain, K
i
is the integral gain, and K
d
is the derivative
gain.
In this case, the adjustment of PID parameters is carried out by some candidate
rules
as follows
• If steady-state error is large Then increase the proportional gain.
• If the response is oscillatory Then increase the derivative gain.
• If the response is sluggish Then increase the proportional gain.
• If the steady-state error is too big Then adjust the integral gain.
• If the overshoot is too big Then decrease the proportional gain.
In these rules conditions are deal with the block ―Behavior Recognition"
and
consequences are evaluated by the block ―PID Designer‖ of the fuzzy
supervisor. In
some applications controller gains are quantified according to different
types of
responses a priori identified from experiments on the real process and implemented
on
the block ―Behavior Recognition‖ [1].
4.4 Fuzzy gain scheduling
Conventional gain scheduling involves using extra information from the
plant,
environment, or users to tune (via ―schedules‖) the gains of a
controller. The overall
scheme is shown in Figure 4.3. A gain schedule is simply an interpolator that takes
as
inputs the operating condition and provides values of the gains as its outputs. One
way
to construct this interpolator is to view the data associations between
operating
conditions and controller gains.
Fig. 4.3: Conventional fuzzy gain scheduler
Fuzzy Controller
t
D
0
d
u(t)=K e(t)+K e(τ) dτ+K
e(t)
dt
(27)
P I
23
The controller gains are established on the basis of information
collected from the
plant to control, the operator or the environment. Three approaches are
proposed for
the construction of the fuzzy gain scheduling [1]:
• Heuristic Gain Schedule Construction
• Construction of gain schedule by fuzzy identification
• Construction of gain schedule using the PDC
method (Parallel
Distributed Compensation method)
4.4.1 Construction of a heuristic schedule gain
This method is applied for plants with specific particularities not
involved in the
design of classical controllers. The PID parameters are deduced
intuitively and the
rules used for the adjustment of parameters are heuristic. This is for example the
case
of a tank with an oval shape (Fig. 4.4). In the heuristic rules, the
condition
corresponds to the water levels and the consequence corresponds to the values of
the
controller gain [1]. Each rule covers a set of water levels taking into account the
tank
section. For low levels, the gain is higher in order to get high flow rates and for
high
water levels, the gain is small in order to get small flow rates. This
approach is very
useful for systems without models.
Fig. 4.4: Tank
4.4.2 Construction of a schedule gain by fuzzy identification
This approach is useful for plants where we know a priori how to adjust the
controller
gains under different operation conditions [1]. For example if a control
engineer
knows how to adjust gain controller according to certain rules, he can
represent this
data by a fuzzy model of Mamdani or TSK type. Indeed it‘s the equivalent of a set
of
controllers which are active in terms of the operation points. Also, the gain
controllers
are deduced on-line by the inference mechanism between controllers for any
operation
point. Indeed it‘s a soft transition from controller to another one.
4.4.3 Construction of a gain schedule using the PDC method
This approach is applied particularly for processes that can be modelled. Most of
time,
the established models are nonlinear. In this case, the nonlinear model is replaced
by a
sum of linearized models around different operation points [1]&[26]. For
each
Fuzzy Controller
24
linearized model, a linear controller is designed (Fig. 4.5). These
linear controllers
could be PI, PD or PID state controllers. The set of the designed controllers is
finally a
nonlinear controller which is a fuzzy controller.
In this approach the n linearized models and the n corresponding controllers are
rules
which are active simultaneously two by two since the condition is
similar for both,
thus the name of the method "Parallel Distributed Compensation‖.
In all the approaches presented above, performances are not used directly
when
designing controllers. Also non linearity, disturbances and variation parameters of
the
plant are not taken into account in the systems with models.
In some cases stability is not ensured particularly when a change set
point occurs or
when a disturbance is present. In the case of the PDC approach, local
and global
stabilities are checked using Lyapunov theory [1]. For the other approaches,
stability
is checked when implementing fuzzy supervision for classical controllers.
Fig. 4.5: PDC concept
Usually specifications and performances in closed loop are a priori defined.
Therefore,
it‘s more interesting to use them and to design controllers ensuring stability and
same
performances in closed loop whatever the operation conditions maybe.
Fuzzy Controller
25
Chapter-5
Tuned PID Controller
5.1 Overview
Tuning of PID controllers has always been an area of active interest in
the process
control industry. Ziegler Nichols Method (ZN) is one of the best
conventional
methods of tuning. Though ZN tunes systems very optimally, a better performance is
needed for very fine response and this is obtained by using Fuzzy Logic
(FL)
methodology which is highly effective.
5.1.1 Tuning and its Purpose
A PID may have to be tuned when:
Careful consideration was not given to the units of gains and other parameters.
The process dynamics were not well-understood when the gains were first set,
or the dynamics have (for any reason) changed.
Some characteristics of the control system are direction-dependent (e.g.
actuator piston area, heat-up/cool-down of powerful heaters).
You (as designer or operator) think the controllers can perform better.
Always remember to check the hardware first because there are many
conditions
under which the PID may not have to be tuned. These conditions are when:
A control valve sticks. Valves must be able to respond to commands.
A control valve is stripped out from high-pressure flow where the
valve‘s
response to a command must have some effect on the system.
Measurement taps are plugged, or sensors are disconnected. Bad
measurements may have you correcting for errors that don‘t exist. Once
fix
these hardware problems then depending on the responses we obtain an
appropriate decision can be taken whether or not to tune a PID controller. [27]
5.2 Trial and error method
This process is a very time consuming process as a lot of permutations
and
combinations are involved. Though much iteration is performed the final result is
not
satisfactory. A balance is not obtained between the rise time and %
overshoot even
though a lot of possible combinations of the gains are incorporated.
Continuous
cycling may be objectionable because the process is pushed to the
stability limit.
Consequently, if external disturbances or a change in the process occurs
during
controller tuning, it results in unstable operation. The tuning process is not
applicable
to processes that are open loop unstable because such processes typically are
unstable
at high and low values of K
c
but are stable at an intermediate range of values. It can be
observed in Fig. 5.1 that large overshoot is obtained as the program is
written for
faster rise time hence compromising with overshoot. All the time response
specifications cannot be balanced using trial and error method.
26
Fig. 5.1: Unit step response of the system G(s) tuned with trial and error method.
5.3 Pole placement method
If the process is described by a low-order transfer function, a complete pole
placement
design can be performed. Consider for example the process described by the second-
order model.
This model has three parameters. By using a PID controller, which also
has three
parameters, it is possible to arbitrarily place the three poles of the closed loop
system.
The transfer function of the PID controller in parallel form can be written as
The characteristic equation of the closed loop system becomes
A suitable closed-loop characteristic equation of a third-order system is
which contains two dominant poles with relative damping (ζ) and frequency (ω), and
a
real pole at –αω. Identifying the coefficients in these two
characteristic equations
determines the PID parameters K, T
I
and T
D.
The solution is
Tuned PID Controller
) =
( )
2 1
1+ sT 1+ )( sT
G(s
K
P
(28)
)
I
I D I
C
sT
G (s) =
K s T T
2
(1+ sT +
(29)
1 1 1
1 2 1 2 1 2 1 2 2 1
2 3
= +
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
+ +
⎟
⎟
⎠
⎞
⎝
⎛
⎜
⎜ + +
TTT
KK
TT
KK
TT
s
TT
KKT
T T
s +s
I
P P P D
0
(30)
(s +αω )(s
2
+ 2ζωs +ω
2
) = 0
(31)
( )
P
K
1
K =
T T ω
2
1+ 2
2 1
− ζα
(32)
2
27
Fig. 5.2: Response of a system tuned with Pole Placement Method.
5.4 Ziegler Nichols method
Ziegler Nichols formula ensures good load disturbance attenuation, but it
generally
provides a poor phase margin and therefore it produces a large overshoot and
settling
time in the step-response. The overall control scheme for Ziegler Nichols
Method is
shown in Fig 5.3.
Fig. 5.3: Control Scheme for Ziegler Nichols Method.
Tuned PID Controller
( )
3
2 1
2 1
1 2 1
αω
ζα ω
T T
T =
T T
I
− +
(33)
( )
( ζα ) 1 2 1
2
2
2 1
2 1 2 1
− +
−T −
ω
ω α + ζ
T T
T
T =
T T
D
(34)
(35)
⎥
⎦
(t)
+
1
∫
e(τ)dτ
⎤
⎢
⎣
⎡
t
i
d p
dt T
u(t) =K e(t) +T
de
0
28
Fig. 5.4: Unit step response of the system G(s) tuned with ZL method.
Chapter-6
Fuzzy Supervised PID-Controller
The fuzzy logic controller for the given Maglev system is designed in
the following
sections. The various blocks related to this controller and rules
governing the
operation of the controller are also detailed in the subsequent sections.
6.1 Fuzzification
The success of this work, and the like, depends on how good this stage is
conducted.
In this stage, the crisp variables „e‟ and „de‟ are converted in to fuzzy variables
‗e’ and
‗de’ respectively. The membership functions associated to the control
variables have
been chosen with triangular shapes as shown in Fig. 6.1 - Fig. 6.5.
The universe of
discourse of all the input and output Variables are established as the
suitable scaling
factors are chosen to brought the input and output variables to this
universe of
discourse. Each universe of discourse is divided into seven overlapping fuzzy sets:
NL
(Negative Large), NM (Negative Medium), NS (Negative Small), ZE (Zero),
PS
(Positive Small), PM (positive Medium), and PL (Positive Large). Each fuzzy
variable
is a member of the subsets with a degree of membership μ varying
between 0 (non-
member) and 1 (full-member). All the membership functions have asymmetrical shape
with more crowding near the origin (steady state). This permits higher
precision at
Steady state [27].
de NL NS ZE PS PL
e
NL PVL PVL PVL PVL PVL
NS PML PML PML PL PVL
ZE PMS PS PVS PMS PMS
PS PML PML PML PL PVL
PL PVL PVL PVL PVL PVL
Fig. 6.3: Triangular Membership functions of output variable ‗K
P
‘.
de NL NS ZE PS PL
e
NL PM PM PM PM PM
NS PMS PMS PMS PMS PMS
ZE PS PS PVS PS PS
PS PMS PMS PMS PMS PMS
PL PM PM PM PM PM
Fuzzy Supervised PID-Controller
31
De NL NS ZE PS PL
e
NL PVS PMS PM PL PVL
NS PMS PML PL PVL PVL
ZE PS PMS PVS PL PVL
PS PML PVL PVL PVL PVL
PL PVL PVL PVL PVL PVL
i
µ
C
(x
i
).x
i
i
µ
G
(x
i
)
(36)
34
Trapezoidal MF
Triangular MF
Gaussian MF
Generalized bell MF
Fig. 6.10: Structure of fuzzy logic controller.
Implementation of an FLC requires the choice of four key factors:
I. Number of fuzzy sets that constitute linguistic variables.
II. Mapping of the measurements onto the support sets.
III. Control protocol that determines the controller behavior.
IV. Shape of membership functions.
PID parameters fuzzy self-tuning is to find the fuzzy relationship
between the three
parameters of PID and "e" and "de", and according to the principle of fuzzy
control, to
modify the three parameters in order to meet different requirements for
control
parameters when "e" and "de" are different, and to make the control
object a good
dynamic and static performance [29].
6.5 Adjusting fuzzy membership functions and rules
In order to improve the performance of FLC, the rules and membership functions are
adjusted. The membership functions are adjusted by making the area of
membership
functions near ZE region narrower to produce finer control resolution. On
the other
hand, making the area far from ZE region wider gives faster control response. Also
the
performance can be improved by changing the severity of rules. An
experiment to
study the effect of rise time (T
r
), maximum overshoot (M
p
) and steady-state error
(SSE) when varying KP, KI and KD was conducted. The results of the
experiment
were used to develop 25-rules for the FLC of KP, KI and KD are the output variables
and from error and change of error are the input variables. Triangular
membership
functions are selected.
Fuzzy Supervised PID-Controller
35
Fig. 6.13: Error rate (de) v/s time response of Fuzzy tuned PID controlled Maglev
System model.
Fig. 6.14: Output v/s time response of Fuzzy tuned PID controlled Maglev System
model.
Fuzzy Supervised PID-Controller
37
Fig. 6.15: Error (e) v/s time response of Fuzzy tuned PID controlled Maglev System
model.
Chapter-7
Conclusion
In the control of a nonlinear process, classical control is robust but not optimal
for the
complete range of operation conditions. Indeed, the design of one
controller is not
sufficient to ensure good performances and stability for all the
operation set points.
Also, the variation of physical parameters of a process over time
affects the
performances. Therefore a continuous adjustment of controller gains is
necessary to
improve and eventually to maintain performances. On the basis of the
proposed
approach, performances are used a priori in the design of the fuzzy PID
supervision
taking into account the variation of parameters and operation conditions.
Indeed in
terms of both, the designed fuzzy PID supervision provides on-line the
appropriate
gains to the PID controllers ensuring the same performances whatever the
operation
conditions maybe. From the simulation results, it has been shown that
the fuzzy
controller can stabilize the system efficiently. Also the performance
during the
transient period of the fuzzy system is better in the sense that less
overshoot was
obtained. Moreover, the fuzzy controller provides a zero steady state error.
Based on
the simulation results it is concluded that the Fuzzy Logic supervision based
controller
can stabilize the system efficiently and accurately compared to a
classical PID
controller.
Further work in this direction could be the analysis of the Maglev system and
design
of a controller using more advanced analysis techniques like GA, Ant
Colony
algorithm, Neuro-Fuzzy algorithm and ultimately practical implementation of
the
designed controller onto the magnetic levitation system.
39
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40