Handbook of Asynchronous Machine With Variable Speed - 2013 - Razik - Exercise No 1 Fuzzy Logic

Exercise No.
Fuzzy Logic
Consider a fuzzy logic application with the coefficients of a proportional integral

regulator adapted to it. The processes can be controlled classically; however we wish
to continually adapt the coefficients here. To do this, we recall the diagram of the
principle of an adaption loop that will lead to the exercise.
First let us consider an adaptation system uniquely related to the value of the error,
which is generated thanks to the difference between the set point and the measurement.
We will use membership functions formed by function segments. We distinguish

three membership functions for the error.
Hence for a “negative” error:

– μN () = 12 (1 − cos π) for ∈ [−1.0, 0.0];
– μN () = 0.0 for ∈ [0.0, +1.0]
and hence for a “zero” error:

– μZ () = 12 (1 + cos π) for ∈ [−1.0, +1.0]
and hence for a “positive” error:

– μP () = 0.0 for ∈ [−1.0, 0.0];
– μP () = 12 (1 − cos π) for ∈ [0.0, +1.0].
1.1. Adaptive k and ki coefficients in function of the error
(A) Represent these three membership functions.
Handbook of Asynchronous Machine with Variable Speed Hubert Razik

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338 Asynchronous Machine with Variable Speed
The values of the coefficients for the proportional action (k) and the integral action
(ki ) will be limited. We define the membership function in Dirac form (singletons)
whose limits will be:
– kmin < k < kmax ;
– ki min < ki < ki max .
(B) Represent these membership functions by taking the number 0.1 for the
minimum value and 0.9 for the maximum value.
Figure 1.1. Principle diagram of an adaptation loop
(C) Consider the following rules that will govern the adaptation system of the
regulator coefficients. They will be in the number of 2. Hence:
(1) if the error is large then k is large and ki is small;
(2) if the error small then k is small and ki is large.
By using the sum-product method, give the expression of μkP (), μkG (), μki P ()
and μki G ().
(D) Give the expression of the function governing coefficients k and ki as a

function of the error .
(E) Represent the two coefficients as a function of the error.
1.2. Adaptive k and ki coefficients in function of the error and its derivative
(A) Now we foresee the case of coefficient adaptation taking into account the error
() and its derivative (Δ).
The rules that will govern the adaptation of the coefficient of proportionality are:
– if the error is zero and the derivative is zero then k is small;
– if the error is not zero and the derivative is not zero then k is large.
Exercise No. 1 339

N Z P N Z P
N N P P P
Δ Z Δ E G P G
P P P P P
(a) adaptive version k (b) adaptive version ki
Table 1.1. Table of rules: (a) kmin = P and kmax = G; (b) ki min = P and ki max = G
Complete the table of rules (Table 1.1) representing these two angles, knowing that
we propose a table of rules for the adaptation of the integration coefficient. For that
purpose, give the rules governing the variation of ki .
(B) Give the expression of the membership functions of k, knowing that we will
adopt the sum-product method.
(C) Give the expression of k(, Δ).
(D) By using the above approach, give the expression of ki (, Δ).
(E) Represent the surface of k(, Δ) and ki (, Δ).
1.3. Answers
Part 1.1. Adaptive k and ki coefficients in function of the error
(A) and (B)

1.0
0.8
0.6
0.4
0.2
0.0
-1.0 -0.8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 0.8 1.0
Figure 1.2. Fuzzy membership functions for “Negative” error
1.0
0.8
0.6
0.4
0.2
0.0
-1.0 -0.8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 0.8 1.0
Figure 1.3. Fuzzy membership functions for “Zero” error

1.0
0.8
0.6
0.4
0.2
0.0
-1.0 -0.8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 0.8 1.0
Figure 1.4. Fuzzy membership functions for “Positive” error
1.0
0.8
0.6
0.4
0.2
0.0
0.0 0.1 0.2 0.4 0.6 0.8 0.9 1.0
Figure 1.5. Fuzzy membership functions for k and ki
(C)
(1) μkG () = μZ () = 12 (1 + cos π);

(2) μkP () = 1 − μZ () = 12 (1 − cos π);
(3) μki G () = 1 − μZ () = 12 (1 − cos π);
(4) μki P () = μZ () = 12 (1 + cos π).
(D)
(1)
kmin · μkP () + kmax · μkG ()

k= ;
μkP () + μkG ()
(2)
ki min · μki P () + ki max · μki G ()

ki = .
μki P () + μki G ()
Exercise No. 1 341
Hence after some calculations:

(3)
k = kmin · μkP () + kmax · μkG ()

kmax + kmin kmax − kmin
= − cos π;
2 2
(4)
ki = ki min · μki P () + ki max · μki G ()

ki max + ki min ki max − ki min
= + cos π.
2 2
(E)
1.0
0.8
0.6
0.4
0.2
0.0
-1.0 -0.8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 0.8 1.0
Figure 1.6. Value of proportionality coefficient as a function of the error:

ki min = 0.1 and ki max = 0.9
1.0
0.8
0.6
0.4
0.2
0.0
-1.0 -0.8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 0.8 1.0
Figure 1.7. Value of the integration coefficient as a function of the error:

Part 1.2. Adaptive k and ki coefficients in function of the error and its derivative
(A)

N Z P N Z P
N P P P N P P P
Δ Z P G P Δ E G P G
P P P P P P P P
(a) adaptive version k (b) adaptive version ki
Table 1.2. Table of rules: (a) kmin = P and kmax = G; (b) ki min = P and ki max = G
(B)
(1)
1 1
μkG (, Δ) = μZ () · μZ (Δ) = (1 + cos π) · (1 + cos πΔ);
2 2
(2)
μkP (, Δ) = μZ () + μZ (Δ) − μZ () · μZ (Δ)

1 1
= (1 − cos π) + (1 − cos πΔ)
2 2
1 1
− (1 − cos π) · (1 − cos πΔ).
2 2
(C)
From
kmax · μkG (, Δ) + kmin · μkP (, Δ)

k(, Δ) = ,
μkP μkG (, Δ) + μkP , Δ
we obtain:
kmax − kmin
k(, Δ) = (1 + cos π)(1 + cos πΔ) + kmin .
4
Exercise No. 1 343
(D)
We obtain all calculations:

ki max − ki min
ki (, Δ) = (1 − cos π)(1 + cos πΔ) + ki min .
4
(E)
0.90
0.80
0.70
0.60
0.50
k
0.40
0.30
0.20
0.10 0.60
0.00 -0.20
tive
va
ri
-1.00
de
-0.50 0.00 -1.00

0.50
1.00
error
Figure 1.8. Value of the proportionality coefficient as a function of the error:

kmin = 0.1 and kmax = 0.9
0.90
0.80
0.70
0.60
0.50
ki
0.40
0.30
0.20
0.10 0.40
e v
0.00
ati
-0.30
riv
-1.00
de
-0.50 -1.00
0.00
0.50
1.00
error
Figure 1.9. Value of the integration coefficient as a function of the error:


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Exercise No.

Consider a fuzzy logic application with the coefficients of a proportional integral

We will use membership functions formed by function segments. We distinguish

Hence for a “negative” error:

and hence for a “zero” error:

and hence for a “positive” error:

1.1. Adaptive k and ki coefficients in function of the error

(A) Represent these three membership functions.

Handbook of Asynchronous Machine with Variable Speed Hubert Razik

Figure 1.1. Principle diagram of an adaptation loop

(D) Give the expression of the function governing coefficients k and ki as a

(E) Represent the two coefficients as a function of the error.

(A) and (B)

Figure 1.2. Fuzzy membership functions for “Negative” error

Figure 1.3. Fuzzy membership functions for “Zero” error

Figure 1.4. Fuzzy membership functions for “Positive” error

Figure 1.5. Fuzzy membership functions for k and ki

(1) μkG () = μZ () = 12 (1 + cos π);

kmin · μkP () + kmax · μkG ()

ki min · μki P () + ki max · μki G ()

Hence after some calculations:

k = kmin · μkP () + kmax · μkG ()

ki = ki min · μki P () + ki max · μki G ()

Figure 1.6. Value of proportionality coefficient as a function of the error:

Figure 1.7. Value of the integration coefficient as a function of the error:

(a) adaptive version k (b) adaptive version ki

μkP (, Δ) = μZ () + μZ (Δ) − μZ () · μZ (Δ)

kmax · μkG (, Δ) + kmin · μkP (, Δ)

We obtain all calculations:

-0.50 0.00 -1.00

Figure 1.8. Value of the proportionality coefficient as a function of the error:

Figure 1.9. Value of the integration coefficient as a function of the error:

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(1) μkG () = μZ () = 12 (1 + cos π);

kmin · μkP () + kmax · μkG ()

ki min · μki P () + ki max · μki G ()

k = kmin · μkP () + kmax · μkG ()

ki = ki min · μki P () + ki max · μki G ()

μkP (, Δ) = μZ () + μZ (Δ) − μZ () · μZ (Δ)

kmax · μkG (, Δ) + kmin · μkP (, Δ)