Fuzzy Logic Control For Power Electronics: Dr. Shailendra Kumar Jain Professor

FUZZY LOGIC CONTROL
for
Power Electronics
Dr. Shailendra Kumar Jain

Professor
Dept. of Elect. Engg.
Maulana Azad National Institute of Technology
Bhopal
26/10/2020 S Jain, NITB, Material for Educational Purpose 1
26/10/2020 S Jain, NITB, Material for Educational Purpose 2
As complexity rises, precise statement lose meaning
and meaningful statements lose precisions
L. A. Zadeh
S Jain, NITB, Material for Educational

26/10/2020 3
Purpose
What we have to learn to do,
We learn by doing……
Aristotle Ethics

26/10/2020 4
Purpose
FUZZY LOGIC
 Fuzzy logic is another form of artificial intelligence,
 It is argued that human thinking does not always follow crispy “yes” – “no”
logic, but is often vague, uncertain, indecisive, or fuzzy.
 Based on this, Lofty Zadeh, a computer scientist at the University of

California, Berkerly, originated the “fuzzy logic” or fuzzy set theory in 1965
that gradually emerged as a discipline in AI.

26/10/2020 5
Purpose
Introduction
 Modern control-theory based controllers are

 state-feedback controllers,
 self-tuning controllers, and
 model reference adaptive controllers etc.
These controllers also need mathematical models and are therefore

sensitive to parameter variation.

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Purpose
1. Fuzzy Logic Introduction
• Advantages
• Examples
• Areas and applications

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Purpose
• Advantages of FLC
Recently, fuzzy logic controllers (FLC’s) have generated a good deal of interest in certain
application. The advantages of FLC’s over the conventional controllers are :
(i) It does not need accurate mathematical model;

(ii) It can work with imprecise inputs;
(iii) It can handle non-linearity, and
(iv) It is more robust than conventional nonlinear controllers.
 The FLC seems to be a viable controller for non linear applications

26/10/2020 8
Purpose
Fuzzy Logic
• Form of AI – development of computer program based on human
intelligence
FUZZY LOGIC PRINCIPLE

• Fuzzy logic, unlike Boolean or crispy logic, deals with problems that have
Vagueness,
Uncertainty,
Imprecision, or
Qualitative-ness, as mentioned before.
• Boolean logic - logic 1 or logic 0.
• Fuzzy logic - degree of membership range of 0 to 1
Ex. –
• Temperature representation
• Marks Distribution
• Diagnostics
26/10/2020 • Robotics S Jain, NITB, Material
Purpose
for Educational
9
• A fuzzy variable has values that are expressed by natural English language.
For example, the stator temperature of a motor can be defined by
• Qualifying linguistic variables (also defined as fuzzy sets or fuzzy subsets)

COLD, MILD, or HOT (Fig. 1),
• The fuzzy sets can have more subdivision, such as ZERO, VERY COLD,
MEDIUM COLD, MEDIUM HOT, VERY HOT and so on, for precious
description of the variable.
• Although the triangular membership function is most commonly used, the shape
may be trapezoidal or Gaussian (bell shaped).

26/10/2020 10
Purpose
CRISPY/BOOLEAN LOGIC
COLD MILD HOT
Temp
0 20 30 50
FUZZY LOGIC
COLD HOT
MILD
1
Degree of Membership
Temp
0 20 30 50
Universe of Discourse

26/10/2020 11
Purpose
Areas & Applications
Fuzzy logic has recently been applied
o In process control,
o Modeling,
o Estimation,
o Identification,
Areas –
o Diagnostics,
• Fuzzy Control
o Stock market prediction, • Fuzzy Pattern Recognition
o Agriculture, • Fuzzy Arithmetic
o Military science etc. • Fuzzy Probability Theory
• Fuzzy Decision Analysis
• Fuzzy Neural Networks Theory

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Purpose
Steps Involved
• Describing human knowledge having vague concepts
• Develop a cost effective solution
Motivation
- Solving real world problem with vague input
(Control complex process)
- Use of AI
(Use of human knowledge - implement control
strategies of operator)
Ex – Bath water temp

- Speed control of bike
- Washing Machine
26/10/2020
- Robots S Jain, NITB, Material for Educational
13
Purpose
Automatic Washing Machine
Problem – Selection of
- Washing Cycle
- Washing Time
Automated
Selection
Use of Nature of Human decision making (daily life example)
Goal – Simple & auto operation

26/10/2020
of machine
S Jain, NITB, Material for Educational with high quality
14
Purpose
Applications
• Consumer Products
• Cam & camcorders (Image stabilisation), Washing Machine,
Refrigerators, Vacuum Cleaners etc
(Whirlpool, canon, sharp, siemens)
• Automotive & Power Generation
• Power train & transmission control in automobiles, Engine control
(Honda, Mazda, Nissan)
• Industrial Process Control
• Cement Kiln, Refining, Distillation
• Robotics and Manufacturing

26/10/2020 15
Purpose
2. Basics of Fuzzy Logic
2.1 Fuzzy Sets – sets with boundaries
• Difference of Fuzzy and Classical Sets
• Fuzzy Membership Function
– set represent smooth and gradual transition
- Symmetric & Asymmetric
• Design a MF
• Linguistic Variables – which can be described by qualitative &
quantitative fuzzy sets
2.2 Membership functions & their design

- Possibility distribution
2.3 Fuzzy If-Then Rules – Knowledge
2.4 Fuzzy Operators

26/10/2020 16
Purpose
• Design a MF
• By experience of concerned (big limitation – based on trail & error)
• From available data (used with ANN & Genetic)
• From feedback
• Guide Lines to Design a MF

• Use of parameterized functions [Tri MF – 3 parameters]
[ Trapz MF – 4 parameters]
• Simplicity
• To learn MF (with ANN) choose a differential (continuous) MF

26/10/2020 17
Purpose
Fuzzy Membership Function
Symmetrical Triangular MF
Asymmetrical Triangular MF
Degree of membership
Trapazoidal MF
1
1 1
0.5 0.5 0.5
0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Universe of Discourse Universe of Discourse Universe of Discourse
y = trimf(x, [2 4 6]); y = trimf(x, [2 4 8]); y = trapmf(x, [2 3 7 9]);
Gaussian MF Gaussian Bell MF Sigmoidal MF
1 1 1
0.5 0.5 0.5
0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Universe of Discourse Universe of Discourse Universe of Discourse
y = gaussmf(x, [1 5]); y = gbellmf(x, [2 4 6]); Sigmoidal-right MF

y = sigmf(x, [4 5]);

26/10/2020 18
Purpose
3. Internal Structure of Fuzzy System
The main components of fuzzy system are -

• (i) Fuzzification ; which is the classification of input data into suitable
linguistic values or sets;
• (ii) Decision making : which is inferring fuzzy control action from knowledge
of the control rules and the linguistic variable definition; and
• (iii) Defuzzification : which is the conversion of the inferred fuzzy control
action to a crisp or non-fuzzy control action.
e(n)
Imax(n)
Imax=Imax(n-1)
Fuzzification Defuzzification +Imax(n)
Vdc,ref
ce(n)
Vdc
Decision making
Fuzzy Logic Controller

26/10/2020 19
Purpose
The Non-Fuzzy Approach
tip = 0.15 tip=0.20/10*service+0.05
tip = 0.20/20*(service+food)+0.05;

26/10/2020 20
Purpose
The Fuzzy Approach
Rule descriptions.
1. If service is poor, then tip is cheap
2. If service is good, then tip is average
3. If service is excellent, then tip is generous
Including the food’s effect on the tip

4. If food is rancid, then tip is cheap
5. If food is delicious, then tip is generous
Combine the two different lists of rules

1. If service is poor or the food is rancid, then tip is cheap
2. If service is good, then tip is average
3. If service is excellent or food is delicious, then tip is generous

26/10/2020 21
Purpose
Fuzzy Inference System for restaurant tipping
2- input, 3-rule, 1-output fuzzy System
Rule 1
Input 1
Service (0 -10) Fuzzification
Output
Rule 2 Defuzzification
Input 2 Tip (0-25%)
Fuzzification
Food (0 -10)
Rule 3
Crispy Input Fuzzy Input Fuzzy Output Crispy Output
Variables of fuzzification
Fuzzy variables Linguistic Numerical range Membership functions

variables
Input Service 0–10 Poor, good, and excellent
Food 0–10 Bad and delicious
Output Tip 0–20% Cheap, average and generous

26/10/2020 22
Purpose
Second Input Variable ‘Food’
First Input Variable ‘Service’
Output Variable ‘Tip’ (in %)

26/10/2020 23
Purpose
Information processing in a fuzzy inference system for
restaurant tipping
Rule 1 : If service is poor or the food is bad, then tip is cheap
Input 1 Input 2 Output Implication
1
Poor Bad Cheap
µpoor = 0.5 0.5
µbad = 0
0 2 4 6 8 10 0 1 3 5 7 9 0% 5 10 15 20%
0% 5 10 15 20%
Rule 2 : If service is good, then tip is average
Good Average
No impact of
input Food
0.3
µgood = 0.3
0 2 4 6 8 10 0 1 3 5 7 9 0% 5 10 15 20%
0% 5 10 15 20%
Rule 3 : If service is excellent or food is delicious, then tip is generous
Excellent Delicious Generous
µdelicious = 0.4 0.2

µexce = 0
0 2 4 6 8 10 0 1 3 5 7 9 0% 5 10 15 20%
0% 5 10 15 20%
Aggregation
Service = 3 Food = 7.5
Tip = 8.5%
0% 5 10 15 20%

26/10/2020 24
Purpose
“Modeling and Simulation using MATLAB – SIMULINK”
S Jain, NITB, Material for Educational by Shailendra Jain, MANIT
26/10/2020 25Bhopal
Purpose Copyright  2011 Wiley India Pvt. Ltd. All rights reserved.
• Mamdani Type – commonly used
• Lusing Larson Type – scaled to peak value instead of truncating
• Sugno Type – o/p MFs are constant, or have linear relation

(used in Adaptive Neuro Fuzzy inference system, ANFIS)

26/10/2020 26
Purpose
PRINCIPLE OF FUZZY CONTROL
IF – THEN production rules.
Ex. - for a boiler control

IF TEMPERATURE IS LOW AND
PRESSURE IS HIGH
THEN SET THE FUEL VALVE TO MEDIUM
FUZZY VARIABLES corresponding to fuzzy sets
- LOW, MEDIUM, HIGH, and so on, are
- the temperature,
- pressure, and
- fuel valve setting
Rule may appear as
IF TEMPERATURE < 150oF AND PRESSURE > 50 PSI
THEN SET THE FUEL VALVE 50%
26/10/2020 27
Purpose
Design a Fuzzy Controller

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Purpose
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Purpose
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IMPLEMENTATION OF FUZZY CONTROL

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Purpose
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Purpose
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Fuzzy Logic Controlled SAPF
Vsa x 0.1(volts) Vsa x 0.1(volts)

Transient Response (Switch-in response)

35 35
iLa (amps)
iLa (amps)
&
0 0
&
-35 -35
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
35 35
isa (amps)
isa (amps)
&
0 0
&
-35 -35
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
20 20
(amps)
(amps)
ica
0 0
ica
-20 -20
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
760 760
(volts)
(volts)
Vdc
Vdc
680 680
600 600
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
time (sec) time (sec)
(a) (b)
Fig. 5.5 Switch-in response of 3-phase, 3-wire system (Diode rectifier with RL load)
(a) Fuzzy controller
(b) PI controller

26/10/2020 46
Purpose
Transient Response (Load Perturbation response)

35
iLa (amps)
35
iLa (amps)
&
0
&
-35
-35 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45 35
35
isa (amps)
isa (amps)
&
0
&
-35
-35 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45 20
20
(amps)
(amps)
ica
0
ica
-20
-20 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45 700
700
(volts)
(volts)
Vdc
Vdc
680
680
660
660 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45
time (sec)
time (sec)
(a) (b)
Fig. 5.6 Simulation results during sudden decrease in load current, phase A
(diode rectifier with RL load)
(b) PI controller

26/10/2020 47
Purpose
Transient response
Table 5.2
Parameters during transient conditions (diode rectifier with RL load)
Parameter Fuzzy PI Controller

Controller
Settling time Approx 2.5 Approx 5

cycles cycles
Vdc rise/dip (% of Vdc,ref)

During load change from 14.35 A to 6.2 A. 2.5% 2.79%
During change of load current from 6.2 to 2.46% 2.79%

14.35 A
Vdc peak to peak ripple at
14.35 A (rms) 0.9 Volt 0.9 Volt
6.2 A (rms) 0.55 Volt 0.6 Volt

26/10/2020 48
Purpose
Phase Plane Trajectory during Transients
20 20
10 10
change in error (ce)
change in error (ce)

0 0
-10 -10
PI PI
Fuzzy Fuzzy
-20 -20
-20 -10 0 10 20 -20 -10 0 10 20
error (e) error (e)
Fig. 5.7(a) Phase plane trajectory during sudden Fig.5.7) Phase plane trajectory during
decrease in load current from steady state for sudden increase in load current, from steady
similar time interval (0.3 to 0.35 sec) state for similar time interval (0.45 to 0.5 sec)

26/10/2020 49
Purpose
Transient Response (Diode Rectifier with RC load)
40 40
(amps)
(amps)
iLa
iLa
0 0
-40 -40
0.25 0.3 0.35 0.4 0.45 0.25 0.3 0.35 0.4 0.45
Vsa x 0.1(volts)
35 35
Vsa x 0.1(volts)
isa (amps)
isa (amps)
&
0
&
-35
-35 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45
700
700
(volts)
Vdc
(volts)
680
Vdc
680
660
660 0.25 0.3 0.35 0.4 0.45
0.25 0.3 0.35 0.4 0.45 time (sec)
time (sec)
(a) (b)
Fig. 5.8 Simulation results during sudden decrease in load current

(diode rectifier with RC load)
(b) PI controller

26/10/2020 50
Purpose
26/10/2020 51
Purpose

Fuzzy Logic Control For Power Electronics: Dr. Shailendra Kumar Jain Professor

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FUZZY LOGIC CONTROL

Dr. Shailendra Kumar Jain

S Jain, NITB, Material for Educational

S Jain, NITB, Material for Educational

 Fuzzy logic is another form of artificial intelligence,

 Based on this, Lofty Zadeh, a computer scientist at the University of

S Jain, NITB, Material for Educational

 Modern control-theory based controllers are

These controllers also need mathematical models and are therefore

S Jain, NITB, Material for Educational

S Jain, NITB, Material for Educational

(i) It does not need accurate mathematical model;

 The FLC seems to be a viable controller for non linear applications

S Jain, NITB, Material for Educational

FUZZY LOGIC PRINCIPLE

For example, the stator temperature of a motor can be defined by

• Qualifying linguistic variables (also defined as fuzzy sets or fuzzy subsets)

S Jain, NITB, Material for Educational

COLD MILD HOT

S Jain, NITB, Material for Educational

S Jain, NITB, Material for Educational

Ex – Bath water temp

Use of Nature of Human decision making (daily life example)

Goal – Simple & auto operation

• Robotics and Manufacturing

S Jain, NITB, Material for Educational

2.2 Membership functions & their design

2.3 Fuzzy If-Then Rules – Knowledge

2.4 Fuzzy Operators

• Guide Lines to Design a MF

S Jain, NITB, Material for Educational

0.5 0.5 0.5

y = trimf(x, [2 4 6]); y = trimf(x, [2 4 8]); y = trapmf(x, [2 3 7 9]);

Gaussian MF Gaussian Bell MF Sigmoidal MF

0.5 0.5 0.5

y = gaussmf(x, [1 5]); y = gbellmf(x, [2 4 6]); Sigmoidal-right MF

S Jain, NITB, Material for Educational

The main components of fuzzy system are -

Fuzzy Logic Controller

S Jain, NITB, Material for Educational

S Jain, NITB, Material for Educational

Including the food’s effect on the tip

Combine the two different lists of rules

S Jain, NITB, Material for Educational

Fuzzy variables Linguistic Numerical range Membership functions

S Jain, NITB, Material for Educational

Output Variable ‘Tip’ (in %)

S Jain, NITB, Material for Educational

µdelicious = 0.4 0.2

S Jain, NITB, Material for Educational

• Lusing Larson Type – scaled to peak value instead of truncating

• Sugno Type – o/p MFs are constant, or have linear relation

S Jain, NITB, Material for Educational

IF – THEN production rules.

Ex. - for a boiler control

S Jain, NITB, Material for Educational

S Jain, NITB, Material for Educational

Vsa x 0.1(volts) Vsa x 0.1(volts)

Vsa x 0.1(volts) Vsa x 0.1(volts)

S Jain, NITB, Material for Educational

Transient Response (Load Perturbation response)

Vsa x 0.1(volts) Vsa x 0.1(volts)

S Jain, NITB, Material for Educational