Speed Control of DC Motor Using Fuzzy Logic Based On Labview
Speed Control of DC Motor Using Fuzzy Logic Based On Labview
Speed Control of DC Motor Using Fuzzy Logic Based On Labview
ISSN 2250-3153
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International Journal of Scientific and Research Publications, Volume 3, Issue 6, June 2013 2
ISSN 2250-3153
Taking Laplace transform, the above equations can be The relationship between the input e(t) and output u(t) can be
formulated as follows: formulated in the following,
(4)
(9)
(5)
The transfer function is expressed as follows,
(6)
(10)
The DC motor armature control system functional block diagram
from equations (4) to (6) is shown in Figure 2: The PID DC motor speed control system block diagram is shown
in Figure 4:
The transfer function of DC motor speed with respect to the input Figure 4: PID DC motor speed control system block diagram
voltage can be written as follows [11],
The closed loop transfer function of DC motor speed control
(7) system expresses as follows,
(8)
(11)
Controller
P 0.5 0
PI 0.45 0
PID 0.6
Figure 3: PID controller system block diagram.
Table I: for Ziegler Nichols parameters
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Then according to Z-N tuning rule, by using ultimate gain and linguistic. A preprocessor block in Figure: 5 shows the
ultimate period P, PI, PID gains and obtained using conditions of measurements before enter the controller.
relation and [14] for DC motor is
Fuzzification: The first block inside the controller is
shown in Table II:
fuzzification which converts each piece of input data to degrees
of membership by a lookup in one or several membership
Controller functions.
P 0.5542 0 0 Rule Base: The collection of rules is called a rule base. The
PI 0.4987 85.5540 0 rules are in “If Then “format and formally the If side is called the
conditions and the Then side is called the conclusion. The
PID 0.6650 190.011 0.0005819
computer is able to execute the rules and compute a control
Table II: Simulated results for Ziegler Nichols. signal depending on the measured inputs error (e) and change in
error (Ce).
PID controller transfer function for DC motor using Ziegler
Nichols tuning method is shown in Equation 13. Defuzzification: Defuzzification is when all the actions that
have been activated are combined and converted in to a single
non-fuzzy output signal which is the control signal of the system.
U(s) / E(s) (13) The output levels are depending on the rules that the systems
have and the positions depending on the non-linearity’s existing
IV. FUZZY CONTROLLER DESCRIPTION & DESIGN to the systems. To achieve the results, develop a control curve of
the system representing the I/O relation of the system, and based
The fuzzy logic foundation is based on the simulation of people's on the information define the output degree of membership
opinions and perceptions to control any system. One of the function with the aim to minimize the effect of non-linearity.
methods to simplify complex systems is to tolerate to
imprecision, vagueness and uncertainty up to some extent [15]. Post processing: The post processing block often contains an
Fuzzy provides a remarkably simple way to draw definite output gain that can be tuned and also become as an integrator.
conclusions from vague ambiguous or imprecise information. It
is suitable for applications such as the speed control of dc motor An expert operator develops flexible control mechanism using
which has non-linearities. words like "suitable, not very suitable, high, little high and much.
A fuzzy control system is a control system in which a Figure 5: Shows process blocks for a fuzzy controller.
mathematical system that analyzes analog input values in terms
of logical variables that take on continuous values between 0 and
1, in contrast to classical or digital logic, which operates on
discrete values of either 1 or 0 (true or false, respectively). Fuzzy
Logic provides a simple way to arrive at a definite conclusion
based upon vague, ambiguous, imprecise, noisy, or missing input
information. Fuzzy Logic’s approach to control problems mimics
how a person makes decisions, only much faster. Fuzziness is
connected with the degree to which events occur rather than
likelihood of their occurrence.
FLC have some advantages compared to other classical
controller such as simplicity of control, low cost and the Figure 5: Process Blocks for a Fuzzy Controller.
possibility to design without knowing the exact mathematical
model of the process. Fuzzy logic incorporates an alternative way Although the classic controllers depend on the accuracy of the
of thinking which allows modeling complex systems using system model and parameters, FLC uses different strategies for
higher level of abstraction originating from the knowledge and motor speed control. Basically, FLC process is based on
experience. experiences and linguistic definitions instead of system model. It
is not required to know exact system model to design FLC. In
Components Characteristic of a Fuzzy Controller: addition to this, if there is not enough knowledge about control
Preprocessing process, FLC may not give satisfactory results [18].
Fuzzification
Rule Base Defining Input and Output:
Defuzzification The goal of designed FLC in this study is to minimize speed
Post processing error. In addition, the change of error plays an important role to
define controller input. Consequently FLC uses error (e) and
Preprocessing: The inputs are most often hard or crisp change of error (Ce) for linguistic variables which are generated
measurement from some measuring equipment rather than from the control rules. Equation (14) and Equation (15),
determines required system equations.
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V. EXPERIMENTAL RESULTS
The operation of a FLC is based on heuristic knowledge and
linguistic description to perform a task. The performance of the
FLC is then improved by adjusting the rules and membership
function. The designed FLC consists of three components.
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REFERENCES
[1] Lab VIEW PID Control Toolset User Manual, National Instruments, 2001.
Liau, J. C., A Study of Lab-VIEW Aided in DC Motor Speed Monitoring
System. National Taiwan Ocean University Department of Mechanical &
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[2] Lab VIEW Basics I Course Manual, National Instruments, 1999.
[3] Brian R Copeland, The Design of PID Controllers using Ziegler Nichols
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Control’(Control System Design, Prentice Hall PTR)
[7] PID Control of Continuous Processes by John W. Webb Ronald A. Reis.
[8] PC-based PID Speed Control in DC Motor, Guoshing Huang, Shuocheng
Lee, Department of Electronic Engineering, National Chin-Yi University of
Technology, 35, Lane 215, Chung-Shan Rd., Sec. 1, Taiping, Taichung,
Taiwan, 41111, ROC E-mail:hgs@ncut.edu.tw
[9] "Getting in tune with Ziegler-Nichols," Thomas R. Kurfess, PhD, in the
Academic Viewpoint column, Control Engineering magazine, Feb 2007
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[10] A more recent survey that covers the Ziegler-Nichols and Kappa-Tau tuning
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Hägglund, Chapter 52, The Control Handbook, IEEE/CRC Press, 1995,
William S. Levine ed.
Comparison of PID controller and Fuzzy controller step response
[11] PID Example: DC Motor Speed Control
specifications are tabulated in Table III.
[12] "ACTZiegler-NicholsTuning,"
http://ourworld.compuserve.com/homepages/ACTGMBH/zn.htm
Tuning rule [13] Tuning of PID Controller using Ziegler-Nichols Method for Speed Control
Response PID Fuzzy logic of DC Motor.ISBN:978-81-909042-2-3, 2012 IEEE.
specification [14] J. Yan, M. Ryan and J. Power, Using fuzzy logic toward intelligent system,
Prentice Hall, New York,1994.
Damping ratio 0.46 0.70
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Peak time (s) 0.0061 0.00275 Applications"
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Gain margin ∞ ∞ [17] L. A. Zadeh, "Outline of a new approach to the analysis complex systems
Rise time (s) 0.00325 0.002 and decision processes" IEEE Trans. Syst. Man Cybem, vol.SMC-3, PP. 28-
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Settling time (s) 0.0115 0.007 [18] Y. Tipsuwan, Y. Chow, "Fuzzy Logic Microcontroller Implementation for
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Table III: Comparison of PID controller and Fuzzy controller.
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