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x
t l
Z
˜˜ m
§ di ·
a desired reference signal for the current
L ¨ f ¸ Vs i R Vm
controller. The output of the current controller
f ¨ dt ¸
© ¹
is fed to generate the firing angle, which (1)
f f
controls the motor terminal voltage. Figure (1)
§ di ·
shows a schematic diagram for the proposed
Lm ¨ m Vm i m rm K mZ
speed control system. It consists of a cascade
© dt ¹̧
(2)
combination of a diode bridge rectifier and a m
symmetrical angle control converter,
§ dZ ·
J¨ m K i m BZ m TL
connected to a single-phase AC supply. The
© dt ¹̧
motor voltage is regulated by the control (3)
m
voltage (Vc) from zero to the maximum value
§ dv ·
(A) of the timing voltage (Za) as shown in Fig.
C ¨ m i im
(2). The inductance Lf and capacitance Cf are
f © dt ¹̧
(4)
used as an output DC filter. One IGBT is used, f
and controlled by an impulse generator. The
parameter values of this system are given in is i (5)
Appendix (1). f
§ di ·
Lm ¨ m Vm i m rm K mZ
The IGBT is turned OFF when:
© dt ¹̧
(8)
Vc > Za
m
§ dZ ·
J¨ m K i m BZ m TL
(14)
© dt ¹̧
(9)
x
m
Modeling of FLC:
§ dv ·
C ¨ m i im
f © dt ¹̧
(10) The motor variables to be controlled are the
f speed and the armature current. In the
proposed fuzzy logic control scheme, the
is 0 (11) motor speed error and the error change are
used as input variables to Fuzzy speed
controller. However, the armature current error
is
if and the error change are the input variables to
˜˜Rf Lf ˜˜im
fuzzy current controller. The error and error
change for both speed and current are scaled
Vm Motor and
using appropriate scaling factors. These scaled
Vs
Cf
Load input data are then converted into linguistic
variables, which may be viewed as labels of
fuzzy sets. The linguistic variables, which are
used for the input variables, are shown in Fig.
(3). Also, the choice of membership function
shape is mainly dependent on the designer
Mode (1) IGBT is ON preference. For simplicity, the triangular-
shaped functions are used in this application.
In the universe of discourse, the numbers for
Rf Lf ˜˜if im
the aforementioned linguistic variables are
selected. The membership functions for the
error and the error change are shown in Fig.3.
˜˜Vm Motor and
˜˜V=Vs
Load
Cf
NB NM NS ZE PS PM PB
Za A sin (Z t)
-3/4 -1 -2/3 -1/3 0 1/3 2/3 1 Universe of
(12) discourse ( e)
b. Change in error
x Difficulties in developing fuzzy rules by
x
NVB NB NM NS ZE PS PM PB PVB hand for large systems.
Difficulties in selecting appropriate
x
membership function shapes.
Difficulties in fine tuning fuzzy solutions
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1.0 1.2 for specific levels of accuracy, and
Universe of
discourse guaranteeing the reliability/robustness of
c. Change in control ( u) solutions. The trial and error method is still
the basic method in improving the expert
Fig. 3. Membership functions for speed and knowledge towards developing tuned and
current controllers stable fuzzy controllers.
The fuzzy control rules are selected. Since The most important task in fuzzy control
both the speed and current loops must satisfy engineering is to build advanced tools for
the needs of fast transient response with automated knowledge-base generation and
minimum overshoot and they have essentially tuning fuzzy controllers. Moreover, an
first order characteristics, consequently the improved approximate reasoning mechanism
same fuzzy control rules should be valid for to speed up the on-line controller response is
both loops. These rules are given in Table 1. required. The tools for auto-generation of the
Where, PVB: positive very big, and NVB: knowledge-base will decrease the cost and
negative very big. time of fuzzy controller application
developments. The tools for tuning the
The final stage of FLC, which called controller knowledge will provide the stability
defuzzification, is a mapping from a space of requirements for the operation of the controller
fuzzy control actions defined over an output [14].
universe of discourse into a space of crisp
control actions. The widely used strategy for The conventional method to optimize the FLC
defuzzification is the center-of-gravity is the steepest cell descent. Nevertheless, this
method, which is adopted in this scheme. method required some prerequisites, such as
fixing the number of rules, which has been
NB NM NS ZE PS PM PB obtained through trials of success and failure,
NB NVB NVB NVB NB NM NS ZE been the method tedious and bored because it
NM NVB NVB NB NM NS ZE PS requires a lot of time. The Genetic Algorithm
NS NVB NB NM NS ZE PS PM
(GA) driven by fuzzy reasoning is the
ZE NB NM NS ZE PS PM PB
advanced method for learning the FLC
PS NM NS ZE PS PM PB PVB
systems.
PM NS ZE PS PM PB PVB PVB
PB ZE PS PM PB PVB PVB PVB
x FLC Learning Using GA
Table 1. Fuzzy control rules for speed and The GA is one of the most up-to-date artificial
current controllers intelligence techniques [8]. GA have been
applied successfully to many engineering
3. Adaptive Fuzzy Logic Controller applications and optimization problems. The
GA is an optimization method developed by
Certain inherent difficulties of the approach biological evolution, which was used to find
are restricting its success in control the shapes and places of membership
applications. The following are some of the functions, getting the inference rules and
difficulties, which face its application output memberships. They presume that the
development: potential solution of a problem is an individual
and can be represented by a set of parameters.
These parameters are regarded as the gens of a string of integers, in the range {-6,6},
chromosome and can be structured by a string representing the singleton conclusions of the
of values in binary form or real form. rules. A zero in the string signified that the
Generally, a positive value know as fitness corresponding rule was not used in the
value, is used to reflect the degree of goodness calculation. The fitness function was chosen to
of the chromosome for solving the problem. combine the error produced by the simulated
DC motor and the number of rules with
This section considers the problem of conclusions different from zero. The idea
automatically learning a set of optimized fuzzy being is to simultaneously reduce the number
rules and membership functions [13]. The of rules and the corresponding error.
method applies evolutionary programs in a two After some experimentation with the genetic
steps fashion to a rule-based fuzzy controller. parameters and operator, the following settings
The type of fuzzy controller considered here were used throughout: Populations of 20
consists of triangular membership functions chromosomes run for 150 generations, the
for the fuzzy variables in the premises, and roulette method for selection with normalized
singleton membership functions for the fuzzy fitness values, one point crossover was applied
variables in the conclusions. Figure 4 to selected individuals, and mutation per gens
illustrates a block diagram of the overall was always applied. As the coding of the
closed loop DC control system [13]. chromosomes in this program was realized
directly with integers, uniform mutation was
GA
used. For the second step of membership
Reference Armature
speed voltage
DC
Motor
speed
function adjustment, another evolutionary
FLC
motor
program was applied. The chromosomes
+
represented the positions of the triangles and
- 1/s
were coded directly as real numbers. A weight
was added to the error produced by the
simulated DC motor in the fitness function to
Fig. 4. GA-optimized FLC architecture achieve a smoother curve.
x Set-Up Hardware
singleton conclusions for a reduced set of rules
using fixed symmetric triangular membership
functions. The second step is then adjusts the The experimental of the proposed controller
membership functions. We considered two was conducted using Digital Signal Processor
ways of performing the first step of rule (DSP). The system is based on Texas
learning and reduction. In the first case, an instrument TMS320C31 and TMS320P14. The
evolutionary program was used to select the main processor implements the deadbeat
singleton values of the rules. The basic idea vector torque control algorithm, whereas the
was to maintain a population of chromosomes, second provides the vector modulation. The
each of which represented a proposed rule- configuration of the experimental system is
base. An individual chromosome consisted of shown in Fig. (5). The experimental system
contains single phase rectifier circuit and one
insulated gate bipolar transistor (IGBT). A
personal computer is used for software Time (sec)
Oscilloscope
DSP board
Incremental encoder
x
experimental waveforms at a control voltage
equal to 2.5 volts, with duty ration of 0.5 with The motor Run up
uniform pulse width modulation. This figure
shows the carrier voltage and switch gate Figure 8 shows the experimental waveforms
pulses. of the motor speed, supply voltage, supply
current, the motor voltage and the motor
6. REFERENCES
Time (msec)
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System," IEEE Transactions on Industry Lf=0.222 Henry
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March-April 2001.
[12] H. L. Tan, N. A. Rahim, and W. P. Hew; The test motor is a separately excited DC
"A Simplified Fuzzy Logic Controller For motor, 55 volt, 50 watt, 1 Ampere, 3000 rpm.
DC Series Motor With Improve having the following measured parameters:
Performance," The 10th IEEE
International Conference on Fuzzy rm =10.5 ohm km=0.127volt/(rad/sec)
Systems, Vol. 3, pp. 1523-1526, 2-5 Dec. B=0.0001 N.m./(rad/sec) Rf =550 ohm
2001. Lm=0.06 henery J=0.00015 kg.m2
[13] N. B. Almutairi, and M. Chow; "A
Modified PI Control Action With A
Robust Adaptive Fuzzy Controller Applied
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Neural Networks (IJCNN '01), Vol. 1, pp.
503-508, 15-19 July 2001.
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Nair; "Adaptive Neuro-Fuzzy Controller
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Permanent Magnet Brushless DC Motor,"
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