495 FUZZY TUNED PI CONTROLLERS FOR SERIES CONNECTED DC MOTOR DRIVES D.P. Iracleous A.T. Alexandridis Department of Electrical Engineering University of Patras 26500 Rion, Patras, Greece Abstract. A new approach for tuning a PI controller for the speed adjustment of a series-connected de motor drive system is presented. Using the classical Ziogler- Nichols technique the nominal feedback gains of a Pl speed controller are obtained. However, the model ofthe system is non-linear and, in order to achieve an improved performance, it is proven that the PI. gains must be corrected in accordance to the changes from the nominal ‘operation, Taking into account this last ascertainment a suitable fuzzy logie controller is constructed involving time variant feedback gains. Extensive simulation stadies are conducted to compare the response of the system with the fuzzy tuned controller to the response given with the classical static Ziegler-Nichols controller. In all ease, a significantly improved performance of the transient ‘behaviour of the closed-loop system is verified Keywords: Series connected de-motor, de-drives, furzy control, PI controler. 1 INTRODUCTION ‘The series-connected de motor drive system is a widely used industrial device due to its special performance characteristics, ic. high starting torque and relatively ssmall changes of the current in the face of load disturbances [1] ‘Unfortunately, the non-linear dynamical model of the series-connected de machine poses certain limits on the design of the closed-loop feedback controllers. In these ‘cases as well as in the cases wherein the model of the system is not mathematically available, the use of a ‘conventional PI (or PID) controller gives a simple and effective solution. Then, the gains of the controller are calculated by an empirical method, usually the Ziegler- [Nichols technique {2}. However, the capabilities of these controllers are limited and, therefore, the performance of the system is not the best possible. IEEE Catalog Number: @5TH8081 a.talexandridis@ee.upatras.gr Recently, most sophisticated control strategies have ‘been proposed [3]. In accordance to these methods, the ‘non-linear system is modified into a linear one using non: linear tvansformations and feedback _ linearization techniques. Then, the well-Imown linear feedback control methods are applied which provide a closed-loop system with standard decay. However, a problem associated with these techniques arises at certain operating areas wherein the controller is undefined, ic. when the current approaches to zer0. : ‘The purpose of this paper is to improve the performance of the system by changing suitably the gains of @ PI controller where the nominal gains are determined by the classical Ziegles-Nichols technique. To this end, experimental rules based on fuzzy logic are used. Fuzzy control methods, introduced by Zadch (4]-(5], have been applied in several industrial control problems during the last decade [6]-{7]. This type of control ‘method is composed by a fuzzy algorithm which converts empirical and qualitative rules into control actions. It is clear that the effectiveness of the controller is mainly depended from the successful definition of the fuzzy rules. In the present approach the fuzzy rules result from a combination of the basic principles which relate the Re Fig. 1. The de motor drive system,496 values of the PI feedback gains with the system response and the influence of the operating point on the decay of the closed-loop system. The guidelines of this influence are obtained by exploiting the results of the feedback linearization technique. presented in [3]. Incorporating these rules into the fuzzy process a fuzzy tuned PI controller is designed. The simulation results which are ‘included illustrate the improvements achieved. Il, THE SYSTEM AND THE PI CONTROLLER, ‘The model of the series-connected de motor drive system is described by the following set of non-linear equations [1] (1a) 1b) rey (by where o i the rotor speed, Lis the motor current, isthe viscous fiction coefficient, ¢ is the motor torque constant, J the moment of inertia, R= Rg+Re is the ‘otal armature and excitation resistance, L ~ lgtLf is the total armature and excitation inductance, T i the external load torque and U is the de voltage controlled input. Tn order to achieve the tacking of the steady state speed w to be exactly atthe value of a desired reference speed ty in the face of any load disturbance, the following PI controller is proposed [8] ve) =k,010 +k, fle, -o(t))at @ To determine the parameters ky and ky of the PI controller we use the classical Zfeglor-Nichols tuning technique. In industrial applications, it is well known that the Ziegler-Nichols closed-loop tuning is a widely used Iheurstc method. This method is based on the empirical knowledge of the response of the open-loop system. Certain parameters, ie. dead time and maximum slope, are calculated from the characteristics of the step response of the system [4]. Then, the tuning formulae for the gains ofthe PI controller are given in Table 1 Using this formula we obtsin an output feedback controller with static constant gains. Constant gains ensure a good performance of the closed-loop system ‘when the system is operating near to the nominal point. However, it has been shown that in the case wherein large changes occurs, refinement of the tuning formula ‘improves the system performance [9)-(10), Particularly, in the case of a linear system, constant gains provide a standard decay; while suitable variations on the Pl controler gains lead to a varied decay of the response of ‘Table 1: Ziegler-Nichols tuning formulae for Pl controllers ‘where: D is the measured dead time and fis the maximum slope of thes the system, Therefore, depending ffom the operating point, «diferent decay can be achieved by increasing or ‘decreasing the values of the gains. This ean be suitably exploited for shaping the system response, i. to reduce ‘overshoots or to increase the rise-timef 10}. Furthermore, in the case of a non-linear system, such as the series” conmected de motor drive system, these concepts must be suitably adapted to provide improved performance. In all cases, itis clear that stability must be ensured, Therefore, to avoid instabilities, the distance from the operation with standard decay must be quite small ‘The above analysis Ieads to a qualitative sense rather than to a quantitative relation for the correction of the feedback gains. Therefore, a fuzzy logic based tuning method could be most effective. Ill. THE FUZZY LOGIC CONTROLLER ‘The fuzzy logic, introduced by Zadch [4]-{5], uses “linguistic” variables in the place of numeric variables. ‘Therefore, the inputs and the outputs used in the fuzzy logic of the controller are mapped to linguistic input and ‘output variables. This consists the fuzzification process, ‘The values of linguistic variables are composed from tic terms, such as Positive Large (PL), Positive Small (PS), Zero (Z), Negative Small (NS), Negative Large (NL), which are all fuzzy sets. These sets form fuzzy partition ofthe input and the output spaces. The knowledge base of the fuzzy logic controller is -composed by a data base and a rule base. The data base defines membership functions for the above linguistic terms, and the rule base represents the fuzzy contol rules, These rules are obtained using empirical methods. The relationships between the variables are characterized by fuzzy propositions of the type IF X THEN Y, where X and Y are "labels" of fuzzy sets. Tis is called fuzzy relation, In the general ease a fuzzy relation Ris assigned by the function pp as follows PRE@L Qe AN) = AGHA 1(@1), HA2L@D)-ANCON)) (3) ‘where A means minimum, a's are the input variables and ‘Aj are the respective linguistic variables. "The inference process. uses a mapping from fuzzy ‘actions into non fuzzy (crisp) actions. Among manyNL ONS © Z PS. PL ‘ape variable Fig. 2. Membership functions of the fuzzy sets where “support sizes are assumed to be equal ‘methods which have been proposed, the most popular is the Center of Gravity (COG) {11}. The COG method is defined by the following equation Tinh Den» where Lp; is the value of each linguistic variable. (crisp value) “ ay) Construction of the fuzzy algorithm ‘The parameters of the simulated de motor drive system are given in Table 2. Also, the viscous friction coefficient Bis 0.001 Nm/rad/sec and the moment of inertia Jis 0.1 Kgrm maramotors of the DC Motor Ty=8A Re=1 0 L, = 01H ¢= 0.183 Velrad/A For the nominal operation the Ziegler-Nichols technique provides the following values for the PI controller gains © To define the rule base of the fuzzy logic controller we follow the next guidelines [10]: 4) The integral term ky of the PI controller is responsible for the overshoot, and therefore we can considerably reduce it by ‘slightly decreasing ky Oppositely, a small increase of the integral term leads 40 fan improvement in the rise time. In our case, this rue is satisfied by increasing the value of ky for values of the current I smaller than the nominal value Ty and decreasing the ky for values greater than iy. y= 0.045837, ky = 1.375099 “or ii) Increasing the proportional term kp leads to reduced rise time and increased oscillations. ‘Thus, when I is smaller than I we have to decrease oscillatory behaviour since the rise time improvement has been achieved by the integral term action. Oppositely, when I is greater than Iy we improve the rise time by increasing kp. "rhe implementation of the above rules arises the following question: How much we must vary the gains ky ‘and kj from the nominal value? An answer to this question can be given by using the experience of the application of the feedback linearization technique. ‘According to this method [3], a standard decay is obtained when we use the following form of the output term of the feedback gain-matrix kL+ol? =a "oe 2 KL U + Je. ot 6 where ky and kp are feedback parameters. Therefore, comparing (2) and (6) the following functions for the ‘ans kp and ky are obtained kL +l? 2 and a where ky and ky are calculated for the nominal value of the current I and the nominal values of the gains kp and given in (5). "These functions define the standard decay performance of the system over the range of the ‘operating point. The solid lines of the Figures 3 and 4 represent these functions. Since rules (i) and (i) iead to a varied decay ofthe closed-loop system, it is clear thatthe tuning ofthe feedback gains can be successfully occurred if their changes are on the dusted aree of the Figures 3 and 4 ‘Therefore, for the fuzzy logic tuning algorithm the values of the linguistic variables re determined from the Figures 3 and 4 where the current I is used asthe input 2 Pa 1 Fig. 3. The function kf).498 Fig. 4. The function ky(). variable. Then, the fuzzy logic process gives the suitable changes of the feedback gains ky and ky. Figure 5 shows the implententation of the proposed ‘method. It is noted that exploiting the results of the feedback linearization method we use as input variables the current I instead of the @ and Aw Whichar usually used [7] current. Figure 6D shows respectively the de voltage change. The system reaches again the steady state after a transient period. The solid line shows respectively the response of the system with the static Ziegler-Nichols PI controller. The illustrated figures verify that a significant ‘improvement has been achieved. na =H Fuzzy logic process Fig. 5. The system with the fuzzy tuned PI controller. IV. SIMULATION STUDIES In the following we perform several simulation tests. ‘These tests demonstrate the improved performance of the system with the PI fuzzy tuned controller. The responses are compared to the ones obtained when the static Ziegler-Nichols gains are used Case 1: The de drive system with the fuzzy tuned PL controller is operating atthe steady state, At the time t = 10.3 sec, the external load torque is decreased by a step of 40% (Fig. 6A). The response of the system is shown in Fig. 6B for the rotor speed and in Fig. 6C for the motor a 20 — a aw . = ee Fig. 6. The response of the system after @ load torque decrease. A) The load disturbance. B) The motor speed. ©) The motor current. D) The voltage change. The solid lines correspond to Ziegler-Nichols control method and the segmented lines to fuzzy tuning method.499 Case 2: The de drive system with the fuzzy tuned PI controller is operating at the steady state where the ‘command input is initially selected at the point @, = 1500 pm. At the time t= 0.3 sec a decrease step of 40% of the le T T oo ge Fig. 7. The response of the system after a command ‘input decrease change. A) The command input. B) The ‘motor speed. C) The motor current. D) The voltage change. The solid lines correspond to Zieglr-Nichols onto! method and the segmented lines to fuzzy tuning mrethod. inital set point occurs, as shown in Fig. 7A. The rotor speed tracks the new set point after a transient period Fig. 7B), while the motor current (Fig. 7C) end the de voltage (Fig. 7D) reach the new steady state Obviously, the external load torque is assumed 10 be constant. Comparisons with the static Ziegler-Nichols ‘method (solid lies) indicate the improvements achieved. CONCLUSIONS ‘A fuzzy tuned PI controller scheme suitable for controlling a series-connected de motor drive system is presented. The fuzzy algorithm is based on the fundamental rules that explain the action of @ PI controller and the experience obtained from the use of the feedback linearization technique. The main advantage of the present technique is that it improves the system performance and can be implemented quite easly. REFERENCES [1] Krause P., "Analysis of electric machinery", ‘McGraw-Hill, Inc., 1987. (2) Ziegler, JG., and Nichols, N.B.: "Optimum settings for automatic controllers", Trans. ASME, 68, pp. 433-444, 1942. 1B] Alexandridis A.T., Iracleous D.P., "Nonlinear controllers for series-connected de motor drives", Proc. Power Electronics and Motion Control Conf, Vol. 1, pp. [4] Zadeh L.A., "Fuzzy sets’, Inform.Cont., Vol. 8, pp. 338-353, 1965. 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