2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference(IAEAC 2018)

Designation and Simulation of Environment

Laboratory Temperature Control System Based on
Adaptive Fuzzy PID
Xiangfu Wu1 ,JingTao Wu1 ,Dongmei Li1
1. AVIC Aircraft Strength Research Institute
Xi’an, China
wuxiangfu1203@126.com, 303489706@qq.com, 1730513065@qq.com

Abstract—As environment laboratory has huge space and area. The schematic diagram of the laboratory is shown in
wide temperature control range, the controlled object is a large Fig.1.
time-delay and nonlinear system, so normal PID control method
cannot make temperature control process have satisfied dynamic
process and steady state. In order to solve the problem, adaptive
fuzzy PID control method is presented based on the modeling of
the environment laboratory, the method can modify the PID
parameters on line and meet the requirement of parameters
turning in temperature control process. The simulation result
shows that the model and adaptive fuzzy PID control method has
the advantage of fast response, less overshoot and great control
effect.

Keywords—environment laboratory; adaptive fuzzy PID;

temperature control; modeling

Fig. 1. The structure of environment laboratory

I. INTRODUCTION
The temperature test is an essential environmental test in
the development and production of military equipment. It is
used to analyze the performance and adaptability of the
products under specific temperature environment, and to obtain
the relevant data to evaluate the effect of temperature factors
on the performance of the products. With the extensive
development of environmental simulation technology in
aerospace, weapons, automobile and other industries, various
types and different scale environmental simulation facilities
have been set up in China, including some large space
environmental laboratories. This kind of temperature
environment laboratory has large space volume. The controlled
object has the characteristics of large time-delay, nonlinearity
and large control range. The conventional PID control method
uses a single PID parameter in the control process, and it is
difficult to have satisfied dynamic process and steady state
performance of all the temperature working points. Therefore,
it is difficult to achieve the desired control effect with the
conventional PID control method [1~2]. In order to solve this
problem, this paper adopts the adaptive fuzzy PID control
method, which combines the advantages of fuzzy control and
PID control. It realizes the self- tuning of the PID parameters
so as to meet the different requirements of PID parameters
during the temperature control process.
II. MODELING OF ENVIRONMENT LABORATORY
The whole environment laboratory is composed of
recirculating air processing section, air supply section and test
Recirculating Air processing section contains centrifugal
fan, wind valve, heat exchanger, humidifier and other
equipment, and they can be opened or closed under different
conditions. The centrifugal fan drives the air to circulate from
the air outlet in test area to air processing section, and the air
will be heated or cooled to the required temperature with the
refrigerant in the heat exchanger. If humidity is also required in
the process, the humidifiers can inject dry steam into the air
duct (this paper only discusses the temperature control process).
The handled air is sent into the test area through the air supply
section, and it will mix with the air in the test area for a period
of time. When the air temperature reaches the desired value,
the corresponding temperature environment test of the test
article will be carried out.
The temperature changes in the environment laboratory are
closely related to the heat source, outdoor temperature, the
characteristic of the enclosure structure, the indoor equipment
and the lighting, etc. According to the law of conservation of
energy, the change rate of energy storage in the environmental
chamber is equal to the entering energy minus the outflow
energy within unit time [3]. The entering energy includes the
heat from air inlet(Q0), the heat emitted from lighting and
other equipment in the laboratory(Q2) and the heat transmitted
from the outside of the enclosure structure(Q3). The outflow
energy is the returning air taken from the air outlet(Q1). It is
assumed that the heat capacity of the environment laboratory is
C1 and the laboratory’s temperature is t1, so the change rate of
energy storage can be expressed as follow:

978-1-5386-4509-3/18/$31.00 ©2018 IEEE 583

 dt1 III. DESIGNATION OF ADAPTIVE FUZZY PID CONTROL
C1 = Q 0 + Q 2 + Q 3 − Q1
tτ SYSTEM
= Lρ1c 0t 0 − Lρ1c 0t1 + Q 2 + Q 3 (1) The temperature control process of environmental
1
laboratory has the characteristics of large time-delay,
= Lρ1c0(t 0 − t1 ) + Q 2 +
β(tz − t1 ) nonlinearity and time-varying. For the controlled object with
R high coupling and multiple interference, the simple
In this formula, the parameters’ meaning is as follow: conventional PID cannot have a good performance in the
L: the volume of supply air, whole temperature control range. The adaptive fuzzy PID
controller combines the PID control with the fuzzy control to
ρ1 : the density of supply air, realize the on-line PID parameters tuning. It not only takes the
advantages of the PID control, but also realizes the fuzzy
c 0 : air specific heat, control using the professional personnel adjusting experiences
to complete the on-line adjustment of the PID parameters. It
t 0 : the temperature of supply air, can improve the adaptability and robustness of the temperature
R: thermal resistance of the heat transmitting from outside control process [4].
to the laboratory,
A. The Principle of Adaptive Fuzzy PID Controller
β : heat transfer attenuation coefficient of the enclosure The classical PID controller consists of three control units:
structure, proportional, integral and differential. The transfer function of
tz : outside temperature. classical PID controller is
U (s ) 1 (8)
Transposing the formula (1), G(s ) = = K p(1 + + TD s )
E(s ) TI s
1 (2)
Q2 + βt z KP is the ratio coefficient. The advantage of it is quick
C1 dt 1 Lρ 1c 0 R
+ t1 = t0 +
1 dτ 1 1 reaction, and when there is a deviation signal, the output is
Lρ 1c 0 + β Lρ 1c 0 + β Lρ 1c 0 + β
R R R immediately proportional to the change. The proportional
Assuming that: control effect is stronger when the value of KP is larger.
TI is the integral time constant. The main advantage is that
C1 Lρ1c0 (3) it can eliminate the residual error. The integral control effect is
T = ,K =
1 1 stronger when the value of TI is smaller.
Lρ1c0 + β Lρ1c0 + β
R R
TD is the differential time constant. The main advantage is
Q2 1 β tz (4) that it will give a control output when there is variation
tf = tf 1 + tf 1 = + ⋅
Lρ1c0 Lρ1c0 R tendency. The differential effect is stronger when the value of
TD is larger.
so the formula (2) can be expressed as
The structure of adaptive fuzzy PID controller is shown in
T 1 + t1 = K (t0 + tf )
dt (5) Fig. 2.
dτ
In formula (5), t0 plays the controlling role while tf plays
the interference role. t1 is the output signal of the laboratory, de ΔK P ΔK I ΔK D

that is, the controlled variable. dt

If the input signal is a function of time and the delay-time

of laboratory is τ 1 , formula (5) can be expressed as

dt1(τ ) (6)
T + t1(τ ) = K [t 0(τ − τ 1 ) + tf (τ − τ 1 )]
dτ
Fig. 2. The structure of adaptive fuzzy PID
Assuming the initial condition as zero, Laplace
transformation of formula (6) is The temperature deviation E and the temperature deviation
change rate EC are used as the input of the control system.
T1(s ) K After the fuzzification and fuzzy reasoning, the incremental
G(s ) = = e −τ s 1 (7)
T0(s ) + Tf (s ) Ts + 1 value of the PID parameters is calculated by the fuzzy control
rules, so the PID parameters can be calculated as follows:
Therefore, the model of environmental laboratory is a first-
order inertial control system with delay component. K P = K P 0 + ΔK P (9)

K I = K P / TI = K I 0 + ΔK I (10)

584
 K I = K P ⋅ TD = K I 0 + ΔK I (11)

ΔKP, ΔKI, ΔKD are the incremental value of the PID

parameters calculated by fuzzy controller, and KP0、KI0、KD0
are the initial value of PID parameters. In this way, the on-line
modification of PID parameters can be realized to meet the
requirements of PID parameter tuning during the temperature
control processes.

B. The Designation of Adaptive Fuzzy PID Controller

(1) The Fuzzification of Adaptive Fuzzy PID Control Fig. 3. Membership functions of input and output
Parameter
(2) The Fuzzy Control Rules
1) Determination of the Input and Output Variables
In the fuzzy PID controller, the on-line adjustment of 3 PID
The adaptive fuzzy PID controller of the environmental parameters can realized according to the expert’s adjustment
laboratory uses a structure of two inputs and three outputs. The experience of the PID parameter during control process. The
input language variable of the adaptive fuzzy controller is the adjustment of the PID parameters under the different error and
temperature deviation E and the temperature deviation rate EC. error rate should meet the following rules:
The increment of PID parameter ΔKP, ΔKI, ΔKD are used as
1) When the absolute value of the error E is large, in order
the output language variables of the adaptive fuzzy controller.
to make the response of the controlled object have a fast
The basic range of E for environmental laboratory is [- tracking ability (i.e. shorter transition time), a larger KP should
10,10], and fuzzy domain chooses E={-3, -2, -1, 0, 1, 2, 3}. be selected. In order to avoid the phenomenon of over
The sampling time T_s is set to 10s. The calculation method of saturation of the differential which is caused by instantaneous
EC is ∆E/Ts, so the basic range of the temperature deviation large deviation at the beginning, smaller KD should be selected
rate EC is [-1, 1], and the fuzzy domain chooses EC={-3, -2, -1, so as to avoid that the control effect exceeds the permitted
0, 1, 2, 3}. control range. In order to avoid larger overshoot during the
system response, the integral effect needs to be restricted. KI
Linear quantization method is used to determine the input usually takes zero [6~7].
quantization factor of the controller:
2) When the absolute value of the error E is medium, the
Quantization factor of deviation E: kE=3/10=0.3, smaller KP should be taken to make the system have a smaller
Quantization factor of deviation rate EC: kEC=3/1=3. overshoot, and the medium value of KI and KD should be taken
to ensure the response speed of the system [8].
The fuzzy domain of output chooses U={-3，-2，-1，0，
1，2，3}. The basic domain of ΔKP is [-0.6, 0.6]. The basic 3) When the error E absolute value is small, a larger value
of KP and KI should be taken to make the system get a better
domain of ΔKI is [-0.006，0.006]. The basic domain of ΔKD
steady-state performance. In order to avoid concussion near the
is [-0.3，0.3]. The output quantization factors of the controller set point and take the system’s anti-interference into account,
are shown as follows: the medium value of KD should be taken. When the absolute
Quantization factor of ΔK P : lKP=0.6/3=0.2, value of error rate EC is small, the medium value of KD should
be taken. When the absolute value of error rate EC is large, the
Quantization factor of ΔK I : lKI=0.006/3=0.002, smaller value of KD should be taken [9].
Based on the above laws, the fuzzy control rules of KP are
Quantization factor of ΔK D : lKD=0.3/3=0.1. shown in Table I, and the fuzzy control rules of KI are shown
2) The Fuzzification of Input Variable in Table II, and the fuzzy control rules of KD are shown in
Table III.
In the adaptive fuzzy controller, the fuzzy subset of the
input and output language variables is {negative big, negative
middle, negative small, zero, positive small, positive middle, TABLE I. THE FUZZY CONTROL RULES OF ΔK P
positive big}, which is simply recorded as {NB, NM, NS, ZO,
EC
PS, PM, PB}. The deviation E and the deviation rate EC are E
NB NM NS ZO PS PM PB
converted into the fuzzy domain by multiplying quantization
NB NB NB NB NM NS ZO ZO
factors. If the result is not an integer, it can be classified into NM NB NB NM NS NS ZO ZO
the nearest one. The language variable of NM, NS, ZO, PS and NS NM NM NS NS ZO PS PS
PM adopts the triangle membership function. The language ZO NM NS NS ZO PS PM PM
variable of NB adopts Z type membership function. The PS NS NS ZO PS PS PM PM
language variable of PB adopts S type membership function [5]. PM ZO ZO PS PS PM PB PB
The membership function of input E, EC and output U is PB ZO ZO PM PM PM PB PB
shown in Fig. 3.

585
 TABLE II. THE FUZZY CONTROL RULES OF ΔK I output quantization factor. In practice, firstly, the fuzzy control
rules can be entered through the MATLAB Simulink toolbox,
EC and the output language variables are calculated to form the
E
NB NM NS ZO PS PM PB fuzzy control table. Secondly, the host computer fuzzed E and
NB NB NB NB NM NM NS ZO
NM NB NB NM NM NS ZO ZO
EC according to the sampling value at a certain time, and then
NS NB NM NS NS ZO PS PS obtained the output quantized value by querying the fuzzy
ZO NB NM NS ZO PS PM PB control table. Thirdly, the increment of the PID parameters are
PS NS NS ZO PS PS PM PB obtained by multiplying its corresponding quantization factor,
PM ZO ZO PS PM PM PB PB and the PID parameter value is calculated by formulas (9), (10)
PB ZO PS PM PM PB PB PB and (11).

TABLE III. THE FUZZY CONTROL RULES OF ΔK D IV. SIMULATION AND ANALYSIS OF TEMPERATURE
EC
CONTROL SYSTEM IN ENVIRONMENT LABORATORY
E
NB NM NS ZO PS PM PB For an environmental laboratory, its mathematical model
NB PB PB PB PM PM ZO ZO can be described as shown in formula (7). The parameters can
NM PB PB PM PM PS ZO NS be calculated according to the air changing times and the size
NS PB PM PM PS ZO NS NS of the environmental laboratory. Therefore, the transfer
ZO PM PS PS ZO NS NS NM function of the environmental laboratory is
PS PS PS ZO NS NS NM NM
PM ZO ZO NS NM NM NM NB 0.72
PB ZO ZO NM NM NB NB NB G(s ) = e − 37.24s (12)
(3)The De-fuzzy of Adaptive Fuzzy PID control 372s + 1
parameter With the help of MATLAB/Simulink, the simulation model
In the adaptive fuzzy PID temperature control system of is built as shown in fig. 4. The adaptive fuzzy PID controller
environmental laboratory, the output is fuzzy value after fuzzy and the conventional PID controller are adopted in the
logic reasoning. The paper uses the mini-max reasoning simulation model respectively, and the comparison of the
method to transform the fuzzy value into the exact value, and control effects is made in the simulation [10].
then get the PID parameter increment value by multiplying the

Fig. 4. Simulation model

With the help of critical proportional method, PID fuzzy control rules for the adaptive fuzzy PID controller. The
parameters are adjusted. The proportional coefficient is 0.8. simulation time is set to 4000s, and the expected temperature is
The integral coefficient is 0.005. The differential coefficient is set to 50℃. The simulation result is shown in fig. 5.
32.89. Enter the input scale factors, output scale factors and

586
 controlled objects. This method combines the advantages of
fuzzy control and PID control. It can realize on-line self-tuning
of PID controller parameters. It solves the problem of large
overshoot, slow response speed and poor steady state precision
during the process of temperature control. This modeling and
control method provides a reference for studying the control
method of temperature environment laboratory.

REFERENCES
[1] D.Q. Deng, J.H. Zhang, F. Gao, “Fuzzy-PID Control Theory for
High/Low Temperature Environment Simulation System,” Computer
Measurement & Control, vol. 23, issue 1, pp. 277-283, 2015.
[2] P. Li, Y. Yan, Z.Y. Xiao, “Application of Smith Predicted Adaptive
Fig. 5. The response curve of the system Fuzzy PID Control for the Temperature Control System,” Electric
Switch, vol. 3, pp. 39-42, 2010.
In fig. 5, the solid line is the response curve of the adaptive [3] X. F. Wu, D.M. Li, “Modeling of Climatical Environment Test Facility
fuzzy PID controller. The dashed line is the response curve of and Simulation of Temperature Control System,” Technology of
the conventional PID controller. The performance comparison Measurement & Control, vol. 34, issue 10, pp. 63-66, 2015.
of the two controllers is shown in Table IV. [4] Y. Lei, Z.T. Li, “Adaptive Fuzzy PID Control of Temperature System of
Greenhouse,” Control Engineering of China, vol. 21, pp. 23-27, 2014.
[5] F. Y. Jia, D. W. Wang, Y. Qu, “The Design of the System of Vegetable
TABLE IV. THE COMPARISON OF CONTROL PERFORMANCE Greenhouse Based on Fuzzy PID Control,” Hubei Agriculture Sciences,
vol. 50, issue 13, pp. 2746-2749, 2011.
Type of the controller Overshoot δ/% Setting time t/s [6] Y. Z. Xu, “Resistance furnace Temperature Control System Based on
Conventional PID 10.2% 1980 Adaptive Fuzzy PID Control,” Journal of North China Institute of Water
Conservancy and Hydroelectric Power, vol. 32, issue 2, pp. 83-86, 2011.
Adaptive fuzzy PID 4.4% 1560 [7] L. Mi, F. Wang, J. J. Yang, “The Temperature Simulation Control
Compared with the conventional PID controller, it can be Technology Research of a Box Heat Treatment Furnace Based on Fuzzy
seen from Table IV and fig.5 that the adaptive fuzzy PID Adaptive PID,” Journal of Chongqing University of Technology, vol. 26,
issue 11, pp. 33-39, 2012.
controller has the feature of smaller overshoot, faster response
[8] Q. Wang, “Fuzzy PID Controller Based on Expert System,” Control
time and shorter setting time. Engineering of China, vol. 17, pp. 79-88, 2010.
[9] Y. Q. Ran, J. Li, J. Yang, “Research and Implementation of Temperature
V. CONCLUSIONS Control Algorithm for Environment Simulation System Based on PLC,”
Computer Measurement & Control, vol. 23, issue 10, pp. 3377-3384,
Based on the MATLAB/Simulink simulation platform, this 2015.
paper makes a dynamic modeling of the temperature [10] D.F. Zhang, Modeling and simulation intensive teaching. Beijing, China
environment laboratory, and the adaptive fuzzy PID control Machine Press, 2011.
method is proposed for the large time-delay and nonlinear

587