SPEED CONTROL OF SERVOMOTOR USING CONVENTIONAL

CONTROLLER AND FUZZY LOGIC CONTROLLER

A Project report submitted in partial fulfillment of the requirement
For the Award of Degree of
BACHELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
Submitted by
G.MULI NAIDU

311126514121

P.NARENDRA

311126514143

S V SUBRAHMANYESWARI

311126514089

T.SEKHAR

311126514109

Under the esteemed guidance of

Mrs.B.VANAJAKSHI, M.E
Assistant Professor
Department of Electrical and Electronics Engineering

ANIL NEERUKONDA INSTITUTE OF TECHNOLOGY AND SCIENCES

(Approved by AICTE, Affiliated to Andhra University, Accredited by NBA)
BHEEMUNIPATNAM, VISAKHAPATNAM
2011 2015

SPEED CONTROL OF D.C SERVOMOTOR USING CONVENTIONAL

CONTROLLERS AND FUZZY LOGIC CONTROLLER
A Project report submitted in partial fulfillment of the requirement
For the Award of Degree of
BACHAELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
Submitted by
G.MULI NAIDU

311126514121

P.NARENDRA

311126514143

S V SUBRAHMANYESWARI
T.SEKHAR

311126514089
311126514010

Under the esteemed guidance of

Mrs. B.VANAJAKSHI, M.E
Assistant Professor
Department of Electrical and Electronics Engineering

ANIL NEERUKONDA INSTITUTE OF TECHNOLOGY AND SCIENCES

(Approved by AICTE, Affiliated to Andhra University, Accredited by NBA)
BHEEMUNIPATNAM, VISAKHAPATNAM
2011 2015

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

ANIL NEERUKONDA INSTITUTE OF TECHNOLOGY & SCIENCES
(Affiliated to Andhra University, Visakhapatnam)

CERTIFICATE
This is to certify that the project work entitled SPEED VONTROL OF D.C SERVOMOTOR BY USING
CONVENTIONAL CONTROLLERS AND FUZZY LOGIC CONTROLLER is a bonafide record of
the work done by G.MULINAIDU,P.NARENDRA, S.V.SUBRAHMANYESWARI, SEKHAR in partial
fulfillment of the requirements for the award of degree of BACHAELOR OF ENGINEERING in Electrical
and Electronics Engineering. It is a record of bonafide work carried out under the guidance and supervision
of Assistant Prof. Mrs.VANAJAKSHIFaculty of the Department of EEE during the academic year of 2010
2014

Signature of the project Guide

Mrs. B.Vanajakshi, (M.E)
Department of EEE
ANITS

Signature of the Head of the Department

Dr. G.RAJA RAO, M.E, PhD, MIEEE,
Department of EEE
ANITS

ACKNOWLEDGEMENT
We would like to articulate our deep gratitude to our project guide Assistant Prof.
Ms.B.VANAJAKSHI,

M.E.

who has been source of motivation and firm support to carry out the project. We

express our gratitude to Dr. G.RAJA RAO,

M.E, PhD, MIEEE, MSITEProfessor

and Head of the Department,

Electrical and Electronics Engineering for his valuable suggestion and constant encouragement all through
the thesis work.
We would also like to convey our sincere gratitude and indebtedness to all other faculty and staff of
the Department of Electrical and Electronics Engineering, ANITS, who bestowed their great effort and
guidance at appropriate times without which it would have been very difficult on our project work.
An assemblage of this nature could never have been attempted with our reference and inspiration
from the works of others whose details are mentioned in references section. We acknowledge our
indebtedness to all of them. Further, we would like to express our feelings towards our parents who directly
or indirectly encouraged and motivated us during this dissertation.

Chapter 1

Chapter 1
introduction :
1.1introduction
1.2 dc servo motor systems
1.3 Conventional controllers
Chapter 2
2.1 introduction
2.2 working principle
2.3 dc servo motor types
2.3.1 field controlled dc servo motor
2.3.2 armature controlled dc servo motor
2.4 advantages of dc servo motor
2.5 difference between ac and dc servo motor
2.6 applications of dc servo motor
2.7 mathematical modelling of dc servo motor
Chapter 3
Conventional controllers
3.1 proportional controllers
3.1.1 proportional action
3.2 integral controller
3.3 proportional plus integral control
3.3.1 time response
3.4 derivative action
3.5 proportional plus derivative (pd)control
3.5.1 time response
3.5.2 summary of effect of pd control

3.6 PID controller

3.6.1 proportional response
3.6.2 integral response
3.6.3 derivative response
3.6.4 time response
3.7 summary tables
Chapter 4
Fuzzy logic controller
4.1 introduction
4.2 unique features of fuzzy logic
4.3 applications for fuzzy logic
4.4 terminologies used in fuzzy logic controller
4.5 fuzzy controller model
4.5.1 fuzzification
4.5.2 knowledge base(KB)
4.5.3 inference mechanism
4.5.4 defuzzification and denormalization
4.6 defuzzification methods
4.6.1 centroid method
4.6.2 height method
4.6.3 mean of maxima method
4.6.4 sugeno method

LIST OF FIGURES
Fig.1.1

D.C servomotor circuit diagram

Fig 2.1 Servomechanism circuit

Fig.2.2 Field controlled of field controlled servomotor
Fig.2.3 Armature Controlled Servomotor
Fig. 3.1 Block Diagram of Integral controller
Fig.3.2 Diagram of Proportional-Integral control
Fig.3.3 Block diagram of servomotor drive using PI controller
Fig.3.4 Simulink model of PI controller
Fig. 3.5Block Diagram of Derivative Controller
Fig.3.6 Block Diagram of PD Controller
Fig.3.7 Simulink diagram Of servomotor drive using PD controller
Fig.3.8 Speed Response of PD Controller
Fig.3.9 Block Diagram of Controller and Plant
Fig.3.10 Block diagram of a basic PID controller
Fig.3.11 Simulink diagram of servomotor drive using PID controller
Fig.3.12 Speed Response of PID Controller
Fig.4.1 Membership functions (a) Triangular (b) Trapezoidal (c) Bell shaped
(d) Polynomial - Z (e) polynomial S
Fig.4.2 Structure of Fuzzy Logic controller
Fig.4.3 Triangular membership functions
Fig. 4.4 Centre of area, method of Defuzzification

Fig.4.5 Height method of Defuzzification

Fig.5.1 Block diagram of servomotor

Fig.5.1 Block diagram of servomotor

Fig.5.2 Simulink model comparing conventional controllers
Fig 5.3

Graphs comparingg performance of conventional controllers

Fig 5.4 Simulink model of fuzzy controller

Fig 5.5

Fuzzy Internal block controller

Fig5.6 FIS file of fuzzy block

Fig5.7 Membership functions of fuzzy controller
Fig.5.8 View ruler scale of fuzzy output
Fig 5.9 Performance output of servomotor using fuzzy controller

ABSTRACT

This paper is to design a controller for servo motor. The experiment is used to obtain the
transfer function to design the PID controller. The effectiveness of the design is validated
using MATLAB/Simulink. This new design method gives us a simple and powerful way to
design a speed controller for a servo motor. In this study DC servo motors mathematical
model and equation were extracted and there were three different motion controller designed
for control the velocity It was created simulation model at the MATLAB program and
proportional integral derivative
In order to obtain more compact speed control the design and application of a
fuzzy logic controller to DC-servomotor is investigated. The proposed strategy
is intended to improve the performance of the original control system by use
of a fuzzy logic controller (FLC) as the motor load changes. Computer
simulation demonstrates that FLC is effective in position control of a DCservomotor comparing with conventional one
The FLC structure consists of anintegrator and variable structure system. The integral control
is introduced into it in order to eliminated steady state error due different command inputs
and improves control precision, while thefuzzy control would maintain the insensitivity to
parametervariation and disturbances. The FLC strategy is implementedand applied to a
position control of a DC servomotor drives.
Experimental results indicated that FLC system performancewith respect to the sensitivity to
parameter variations is greatlyreduced. Also, excellent control effects and avoids the
chattering phenomenon.

CHAPTER-1

INTRODUCTION
1.1 Introduction
Automatic systems plays a common role in our daily life, they can be found in almost any
electronic devices and appliances we use daily, starting from air conditioning systems,
automatic doors, and automotive cruise control systems to more advanced technologies such
as robotic arms, production lines and thousands of industrial and scientific applications.
DC servomotors are one of the main components of automatic systems;
any automatic system should have an actuator module that makes the system to actually
perform function. The most common actuator used to perform this task is the DC servomotor.
Historically, DC servomotors also played a vital role in the development of the computers
disk drive system; which make them one of the most important components in our life that
we cannot live without it. Due to their importance, the design of controllers for these systems
has been an interesting area for researchers from all over the world.
Servomotor is a motor used for position or speed control in closed loop control systems. The
requirement from a servomotor is to turn over a wide range of speeds and also to perform
position and speed instructions given. DC and AC servomotors are seen in applications by
considering their machine structure in general. DC servo motors have been used generally at
the computers, numeric control machines, industrial equipments, weapon industry, and speed
control of alternators, control mechanism of full automatic regulators as the first starter,
starting systems quickly and correctly. In the field of control of mechanical linkages and
robots, research works are mostly found on DC motors. While some properties of DC
servomotors are the same, like inertia, physical structure, shaft resonance and shaft
characteristics, their electrical and physical Constants are variable and the more advantages
of DC servo motor over the AC servo motors .The velocity and position tolerance of servo
motors which are used at the control systems are nearly the same.
However, even with all of their useful applications and usage, servomotor systems still suffer
from several non-linear behaviors and parameters affecting their performance, which may
lead for the motor to require more complex controlling schemes, or having higher energy
consumption and faulty functions in some cases. For these purposes the controlling speed of
DC servomotor system is an interesting area that still offers multiple topics for research,
especially after the discovery of conventional controllers and fuzzy logic at the variable
working situations to the simulation model has prepared in Mat lab program for improvement
the servo motor performance
. From this point of view and the importance of having high efficient servomotor systems,
played a vital role in designing smart controllers that can eliminate or cope with the nonlinear effects found in servomotor systems and improve the functions they are used for.
1.2 DC Servomotor Systems:
A Servomotor system consists of different mechanical and electrical components, the
different components are integrated together to perform the function of the servomotor,
Figure 1.1 below shows a typical model of a servomotor system

Fig.1.1.d.c servomotor circuit diagram

DC Servomotors have good torque and speed characteristics; also they have the ability to be
controlled by changing the voltage signal connected to the input. These characteristics made
them powerful actuators used everywhere. The main concern about DC servomotors is how
to eliminate the non-linear characteristics that affect both the output speed and position.
Another important non-linear behavior in servomotors is the saturation effect, in which the
output of the motor cannot reach the desired value.
For example, if we want to reach a 100 rpm angular speed when we supply a 12 volt input
voltage, but the motor can only reach 90 rpm at this voltage. The saturation effect is very
common in almost all servomotor systems. Other non-linear effect is the dead zone; in which
the motor will not start to rotate until the input voltage reaches a specific minimum value,
which makes the response of the system slower and requires more controllability. A
mathematical type of non-linear effect found in the servomotors is the backlash in the motor
gears. Some of the servomotors use internal gears connections in order to improve their
torque and speed characteristics, but this improvement comes over the effect in the output
speed and position characteristics.
The goal here is to find a smart controller that is capable of eliminating as much as possible
from the disturbance.
1.3 Conventional and Fuzzy controllers
Conventional proportionalintegralderivative (PID) controllers have been well developed
and applied for about half a century, and are extensively used for industrial automation and
process control today. The main reason is due to their simplicity of operation, ease of design,
inexpensive maintenance, low cost, and effectiveness for most linear systems. Recently,
motivated by the rapidly developed advanced microelectronics and digital processors,
conventional PID controllers have gone through a technological evolution, from pneumatic
controllers via analog electronics to microprocessors via digital circuits. However, it has been

known that conventional PID controllers generally do not work well for nonlinear systems,
higher order and time-delayed linear systems, and particularly complex and vague systems
that have no precise mathematical models . To overcome these difficulties, various types of
modified conventional PID controllers such as auto tuning and adaptive PID controllers were
developed lately. Also, a class of nonconventional type of PID controller employing fuzzy
logic has been designed and simulated for this purpose. The fuzzy PID controller has the
following special features.
It has the same linear structure as the conventional PID controller, but has constant
coefficient, self - tuned control gains: the proportional, integral, and derivative gains are
nonlinear functions of the input signals. The controller is designed based on the classical
discrete PID controller, from which the fuzzy control law is derived. Membership functions
are simple triangular ones with only twenty five rules. The fuzzification, control-rule
execution, and defuzzification steps are all embedded in the final formulation of the fuzzy
control law. The resulting control law is an explicit conventional formula, so the controller
works just like a conventional PID controller, while the fuzzificationrulesDefuzzification
routine is not needed throughout the entire control process.
Fuzzy PID controller has superior performance than PID controller. However, despite the
significant improvements made in the fuzzy PID controllers over its classical counterparts.
The fuzzy PID controller is not able to meet certain optimality criteria . The constant control
gains of the controller are termed manually, hence effective performance due to the lack of
optimization. A lot of research and the huge number of different solutions proposed, most
industrial control systems are still based on conventional PID regulators. Different sources
estimate the share taken by PID controllers at between 90% and 99%. Some of the reasons
for this situation are PID controllers are robust and simple to design. There exists a clear
relationship between PID and system response parameters. As a PID controller has only three
parameters, plant operators have a deep knowledge about the influence of these parameters
and the specified response characteristics on each other. Many PID tuning techniques have
been elaborated during recent decades, which facilitate the operators task. Because of its
flexibility, PID control could benefit from the advances in technology. Most of the classical
industrial controllers have been provided with special procedures to automate the adjustment
of their parameters (tuning and self-tuning). However, PID controllers cannot provide a
general solution to all control problems. The processes involved are in general, complex and

time-variant, with delays and non-linearity, and often with poorly defined dynamics. When
the process becomes too complex to be described by analytical models, it is unlikely to be
efficiently controlled by conventional approaches. Servomotor speed Control is done with
Proportional Derivative (PD), Proportional Integral (PI), Proportional Integral derivative
(PID), Fuzzy Logic PID (FLPID) controllers are used and performances of controllers are
improved.

CHAPTER-2

2. SERVOMOTOR
2.1 Introduction
Servomotor:
An electrical motor, controlled with the help of servomechanism. If the motor as controlled
device, associated with servomechanism is DC motor, then it is commonly known DC Servo
Motor. If the controlled motor is operated by AC, it is called AC Servo Motor.
Servomechanism:
A servo system mainly consists of three basic components a controlled device, a output
sensor, a feedback system.
This is an automatic closed loop control system. Here instead of controlling a device by
applying variable input signal, the device is controlled by a feedback signal generated by
comparing output signal and reference input signal.
When reference input signal or command signal is applied to the system, it is compared with
output reference signal of the system produced by output sensor, and a third signal produced
by feedback system. This third signal acts as input signal of controlled device. This input
signal to the device presents as long as there is a logical difference between reference input
signal and output signal of the system. After the device achieves its desired output, there will
be no longer logical difference between reference input signal and reference output signal of
the system. Then, third signal produced by comparing theses above said signals will not
remain enough to operate the device further and to produce further output of the system until
the next reference input signal or command signal is applied to the system. Hence the primary
task of a servomechanism is to maintain the output of a system at the desired value in the
presence of disturbances.

Fig 2.1 Servomechanism circuit

2.2 Working principle:
A servo motor is basically a d.c motor (in some special cases it is AC motor) along with some
other special purpose components that make a DC motor a servo. In a servo unit, you will
find a small d.c motor, potentiometer, gear arrangement and an intelligent circuitry. The
intelligent circuitry along with the potentiometer makes the servo to rotate according to our
wishes.
As we know, a small d.c .motor will rotate with high speed but the torque generated by its
rotation will not be enough to move even a light load. This is where the gear system inside a
servomechanism comes into picture. The gear mechanism will take high input speed of the
motor (fast) and at the output; we will get a output speed which is slower than original input
speed but more practical and widely applicable.
Say at initial position of servo motor shaft, the position of the potentiometer knob is such that
there is no electrical signal generated at the output port of the potentiometer . This output port
of the potentiometer is connected with one of the input terminals of the error detector
amplifier. Now an electrical signal is given to another input terminal of the error detector
amplifier. Now difference between these two signals, one comes from potentiometer and
another comes from external source, will be amplified in the error detector amplifier and
feeds the motor. This amplified error signal acts as the input power of the d.c motor and the
motor starts rotating in desired direction. As the motor shaft progresses the potentiometer
knob also rotates as it is coupled with motor shaft with help of gear arrangement. As the
position of the potentiometer knob changes there will be an electrical signal produced at the
potentiometer port. As the angular position of the potentiometer knob progresses the output or
feedback signal increases. After desired angular position of motor shaft the potentiometer
knob is reaches at such position the electrical signal generated in the potentiometer becomes
same as of external electrical signal given to amplifier. At this condition, there will be no
output signal from the amplifier to the motor input as there is no difference between external
applied signal and the signal generated at potentiometer. As the input signal to the motor is nil
at that position, the motor stops rotating. This is how a simple conceptual servo motor works.
2.3 DC Servo Motor types:
The motors which are utilized as DC servo motors, generally have separate DC source for
field winding and armature winding. The control can be archieved either by controlling the
field current or armature current. Field control has some specific advantages over armature
control and on the other hand armature control has also some specific advantages over field
control. Depending on specific applications they are used.

2.3.1. Field Controlled DC Servo Motor :

The figure below illustrates the schematic diagram for a field controlled
DC servo motor. In this arrangement the field of d.c motor is excited be

the amplified error signal and armature winding is energized by a constant

current.

Fig.2.2 Field controlled of field controlled servomotor

The field is controlled below the knee point of magnetizing saturation curve. At that portion
of the curve the mmf linearly varies with excitation current. That means torque developed in
the motor is directly proportional to the field current below the knee point of magnetizing
saturation curve. From general torque equation it is found that, torque T Ia. Where, is
field flux and Ia is armature current. But in field controlled DC servo motor, the armature is
excited by constant current, hence Ia is constant here. Hence, T
As field of this DC servo motor is excited by amplified error signal, the torque of the motor
i.e. rotation of the motor can be controlled by amplified error signal. If the constant armature
current is large enough then, every little change in field current causes corresponding change
in torque on the motor shaft.
The direction of rotation can be changed by changing polarity of the field. The direction of
rotation can also be altered by using split field motor where the field winding is divided into
two parts, one half of the winding is wound in clockwise direction and other half in wound in
anticlockwise direction. The amplified error signal is fed to the junction point of these two
halves of the field as shown below. The magnetic field of both halves of the field winding
opposes each other. During operation of the motor, magnetic field strength of one half
dominates other depending upon the value of amplified error signal fed between these halves.
Due to this, the DC servo motor rotates in a particular direction according to the amplified
error signal voltage.
The main disadvantage of field control DC servo motors, is that the dynamic response to the
error is slower because of longer time constant of inductive field circuit. The field is an
electromagnet so it is basically a highly inductive circuit hence due to sudden change in error
signal voltage, the current through the field will reach to its steady state value after certain
period depending upon the time constant of the field circuit. That is why field control DC
servo motor arrangement is mainly used in small solar tracking system

The main advantage of using field control scheme is that, as the motor is controlled by field
the controlling power requirement is much lower than rated power of the motor.
2.3.2 Armature Controlled DC Servo Motor :
The figure below shows the schematic diagram for an armature controlled DC servo motor.
Here the armature is energized by amplified error signal and field is excited by a constant
current source

fig.2.3
Armature
Controlled

Servomotor
The field is operated at well beyond the knee point of magnetizing saturation curve. In this
portion of the curve, for huge change in magnetizing current, there is very small change in
mmf in the motor field. This makes the servo motor is less sensitive to change in field
current. Actually for armature controlled DC servo motor, we do not want that, the motor
should response to any change of field current.
Again, at saturation the field flux is maximum. Now if is large enough, for every little
change in armature current Ia there will be a prominent changer in motor torque. That means
mechanism becomes much sensitive to the armature current.
As the armature of d.c motor is less inductive and more resistive, time constant of armature
winding is small enough. This causes quick change of armature current due to sudden change
in armature voltage. That is why dynamic response of armature controlled DC servo motor is
much faster than that of field controlled DC servo motor.
The direction of rotation of the motor can easily be changed by reversing the polarity of the
error signal.

2.4 Mathematical modelling of dc servo motor

e a ( t )= Input armature voltage
i a ( t )= Armature current
Ra= Armature resistance
La= Armature inductance
e b ( t )= Back EMF
T m ( t )= Developed motor torque
m ( t )= Rotor angular velocity
J = Motor moment of inertia
B= Friction coefficient

K b= BackEMF constant
K t = Torque constant
T l = Load torque
Figure 2.3 depicts a generic model of a DC motor that includes two windings; a stationary
field winding on the stator and a second winding for the rotating armature. This type of motor
can be controlled by varying either the field current or the armature current. Most modern
Servo motor are somewhat different in construction. The field winding is replaced with two
or more powerful rareearth magnets on the stator. Since the field strength of these motors is
i
constant, they can only be controlled by varying the armature current a .
The armature current,

ia

, can be expressed in terms of the applied motor voltage ,

ea

, by

Applying Kirchhoff's Voltage Law (KVL) to the armature circuit in Figure 2.3. As with most
R
windings, the impedance of the armature can be represented by a resistive component, a ,
in series with an inductive component,

la

Here the differential equation for armature control (for armature control the field is constant)

Apply KVL, from first loop equation:

e a ( t )=R a i a ( t ) +l a

di ( a )
+e b ( t )
dt

(2.1)

The torque generated by the motor accelerates the armature of the motor as well as
any additional load inertia on the motor shaft. Some of the torque also goes towards
overcoming friction. In order to maintain a linear system model, only the viscous motor
friction will be considered for the time being. For a mechanical system undergoing pure
rotational motion, Newtons second law states that the sum of the applied torques is equal to
the product of the mass moment of inertia, J, and the angular acceleration of
d m ( t )
the body,
dx

The torque developed in motor

T m ( t )=J

d m ( t )
+ B m ( t )
dx

(2.2)

And the torque developed by the motor is proportional to the product of armature current and
the field flux for armature control field is constant
T m ( t ) i a ( t )
For armature control field is constant
T m ( t ) ia ( t )
T m ( t )=K t i a ( t )
Where

Kt

(2.3)
is torque constant

The back EMF is proportional to the speed

e b ( t ) m ( t )
e b ( t )=K b m ( t ) ( 2. 4 )
Where

Kb

is back EMF constant.

Takinkg laplace transform on both sides of all equations

Ea ( s )=R a I a ( s )+ s La I a ( s ) + E b ( s )

(2.5)

T m ( s ) =Js m ( s ) +B m ( s )

(2.6)

T m ( s ) =K t I a ( s )

(2.7)

Eb ( s )=K b m ( s )

(2.8)

From the equation (2.5)

Ra + s L
E Eb ( s)
I a( s ) = a ( s )

(2.9)

From the equation(2.6)

m ( s) =

T m( s )
Js+ B

(2.10)

Model for dc servo motor

For the particular load, the speed change with respect to the input signal

Final transfer function:

a+ s La
R

(
Ea s ) K t
=
m ( s )

CHAPTER-3

3.CONVENTIONAL CONTROLLERS

3.1 Proportional Controller

The proportional term makes a change to the output that is proportional to the current
error value. The proportional response can be adjusted by multiplying the error by a constant
Kp

, called the proportional gain. The transfer function of a proportional controller is

simply a gain say

u ( t ) =K p e ( t )

Kp

. If the input of the controller is

e (t )

or in a Laplace transform domain U ( s )=K P E ( s ) .

then the output is

As

KP

increases

the unit-step response may becomes faster and eventually the feedback system may becomes
unstable. For the same unit-step reference input the steady-state plant outputs are different for
different

KP

A high proportional gain results in a large change in the output for a given change in the
error. If the proportional gain is too high, the system can become unstable. In contrast, a small
gain results in a small output response to a large input error, and a less responsive or less
sensitive controller. If the proportional gain is too low, the control action may be too small
when responding to system disturbances. Tuning theory and industrial practice indicate that
the proportional term should contribute the bulk of the output change
3.1.1 Proportional Action
Proportional action provides an instantaneous response to the control error. This is
useful for improving the response of a stable system but cannot control an unstable system
with a nonzero steady-state error. By using this controller rise time increases and also steady
state error decreases. And peak overshoots increases. This will be done only by proper
selection of K value.

3.2 Integral Controller

In this controller the output u(t) is altered at a rate proportional to the error signal e(t). The
output u(t) depends upon the integral of the error signal e(t).
Mathematically

du(t)
=K . e (t)u ( t )=K e ( t ) dt
dt
0

Basic block diagram for integral controller is shown in Fig.4.1

Fig. 3.1 Block Diagram of Integral controller

3.3Proportional plus Integral Control:

Integral control action itself is not sufficient, as it introduces hunting in the system. Therefore
a combination of Proportional and integral control action is introduced to improve the system
performance. In this type of system, the actuating signal consists of proportional error signal
added with the integral of the error signal.

Fig.3.2 Block Diagram of Proportional-Integral control

Mathematically,
t

u (t)

Where e (t) = error signal;

= e (t) =K

e ( t ) dt ( 4.4 )
0

e ( t ) dt

And

( 4.5 )

= integral of error signal

K

Or

U(S) = E(s) [1+ S ] ( 4.6 )

Proportional plus Integral control increases the order and type of the system by one,
respectively. Therefore, it improves steady state performance. The effect of proportional and
integral control improves system steady state response with in less time and rise time also
increases.
3.3.1 Time response

Fig.3.3 Block diagram Of servomotor drive using PI controller

Transfer function of servomotor drive when conventional PI speed controller technique is used
as shown in Fig.4.3 is given by

0.052 s+ 0.0416
0.0029 s +0.010119 s 2+ 0.0052 s+2.8692
3

The response for above transfer function is shown in Fig. 4.4

Fig.3.4 Simulink model of PI controller

3.4.1 Derivative action

Derivative action acts on the derivative or rate of change of control error. This
provides a fast response, as opposed to the integral action, but cannot accommodate constant
errors (i.e., the derivative of a constant, nonzero error is zero).

Fig. 3.5 Block Diagram of Derivative Controller

Derivatives have a phase of +90 degrees leading to an anticipatory or predictive
response. However, derivative control will produce large control signals in response to high
frequency control errors such as set point changes (set command) and measurement noise. In
order to use derivative control the transfer function must be proper. This often requires a pole
to be added to the controller (this pole is not present in the equations below). Block diagram
of derivative controller is shown in Fig.4.5

3.5 Proportional Plus derivative (PD) control

Proportional derivative or PD control combines proportional control and derivative
control in parallel.
C pd ( s ) =K p ( 1+T d s ) ( 4.7 )
The proportional plus derivative controller produces an output signal consisting of two terms:
One proportional to error signal and the other proportional to the derivative signal.
In PD controller,
u ( t ) e ( t ) +

d
e ( t ) ; ( 4.8 )
dt

U ( t ) =K p e ( t )+ K p T d

Where

Kp

proportional gain;

d
e ( t )( 4.9 )
dt

T d derivative time.
On taking Laplace transform of equations with zero initial conditions.
We get,
U ( s )=K P E ( s ) + K P T D sE ( s )( 4.10 )
U ( s )=E ( s ) [ ( 1+T D s ) ] ( 4.11 )
U ( s ) / E ( s )=K P ( 1+T D s ) ( 4.12 )

Fig.3.6 Block Diagram of PD Controller

Where

T D =K D /K P

is called the derivative time, during which interval the

proportional control action takes effect. The anticipatory characteristic of derivative control
action is found in PD control action. This means, in transient mode, PD can anticipate the
direction of the error in making adjustments before excessive overshoot occurs. During the
stead-state mode, PD has an effect on the stead-state error only when the error changes with
respect to time. In the design of a PD controller, we want to place the controllers corner
frequency

=1/T P

so that the phase margin improved with the new gain crossover

frequency. Block diagram of PD controller is shown in Fig.4.6

3.5.1 Time Response

Fig.3.7Simulink diagram of servomotor drive using PD controller

Transfer function of servomotor drive when conventional PD speed controller technique is
used as shown in Fig.4.3 is given by
0.0052 s+ 2.86
0.0029 s +0.01531916 s+2.8692
2

The response of above transfer function is shown

Fig.3.8 Speed Response of PD Controller

3.5.2 Summary of effects of PD control
(1)
(2)
(3)
(4)

Improves damping and reduce maximum overshoot.

Reduces rise time and settling time.
Improving the transient response.
Increases Band width and an accentuation of high-frequency noiseas PD
controlleracts like a high-pass filter.

M
(5) Improves Gain Margin (GM), Phase Margin (PM), Resonant Peak ( r ) .

(6) May accentuate noise at higher frequencies.

(7) Not effective for lightly damped or initially unstable systems.
(8) May require a relatively large capacitor in circuit implementation.

3.6 PID controller

Fig.3.9 Block Diagram of Controller and Plant

The output of a PID controller, equal to the control input to the plant, in the timedomain is as follows:
u ( t ) =K p e ( t )+ K i e ( t ) dt+ K p

de
( 4.13 )
dt

The working of PID controller in a closed-loop system, schematic arrangement is

shown in Fig.4.9. The variable

( e ) represents the tracking error, the difference between the

desired input value ( r ) and the actual output ( y ) .

This error signal

( e ) will be sent to the PID controller, and the controller computes

both the derivative and the integral of this error signal. The control signal
is equal to the proportional gain

( u ) to the plant

( K p ) times the magnitude of the error plus the integral

gain

( Ki)

times the integral of the error plus the derivative gain

( K d ) times the

derivative of the error. This control signal ( u ) is sent to the plant, and the new output

( y)

is obtained. The new output ( y ) is then fed back and compared to the reference to find the
new error signal ( e ) . The controller takes this new error signal and computes its derivative
and its integral again, ad infinitum.
The transfer function of a PID controller is found by taking the Laplace transform of Eq.
(4.13)
K p+

K p=

Proportional gain

K i=

Integral gain

Ki
K d s 2+ K p s+ K i
+ K d s=
( 4.14 )
s
s

= Derivative gain

3.6.1 Proportional Response

In general, increasing the proportional gain will increase the speed of the control
system response. However, if the proportional gain is too large, the process variable will
begin to oscillate. If

Kp

is increased further, the oscillations will become larger and the

system will become unstable and may even oscillate out of control. Block diagram of basic
PID controller is shown in Fig.4.10

Fig.3.10 Block diagram of a basic PID controller

3.6.2 Integral Response
The integral component sums the error term over time. The result is that even a small
error term will cause the integral component to increase slowly. The integral response will
continually increase over time unless the error is zero, so the effect is to drive the SteadyState error to zero. A phenomenon called integral windup results when integral action
saturates a controller without the controller driving the error signal toward zero.
3.6.3 Derivative Response
The derivative component causes the output to decrease if the process variable is
increasing rapidly. The derivative response is proportional to the rate of change of the process
variable.
Increasing the derivative time (Td) parameter will cause the control system to react
more strongly to changes in the error term and will increase the speed of the overall control
system response. Most practical control systems use very small derivative time (T d), because
the Derivative Response is highly sensitive to noise in the process variable signal. If the
sensor feedback signal is noisy or if the control loop rate is too slow, the derivative response
can make the control system unstable.
3.6.4 Time Response

Fig.3.11Simulink diagram Of servomotor drive using PID controller

Transfer function of servomotor drive when conventional PI speed controller technique is used
as shown in Fig.4.3 is given by
0.156 s2 +2.6 s+0.1664
0.0029 s3 +0.166119 s 2+2.6092 s+0.1664
The response of above transfer function

Fig.3.12 Speed Response of PID Controller

3.7 Summary Tables

A summary of the advantages and disadvantages of the three controllers is shown in Table 1.

Proportional (P)

Advantages

Disadvantages

Integral (I)

Derivative (D)

Fast response time.

Contains small
offset.

Minimizes
fluctuation.

Returns system to
steady state.

Contains large
offset.
Does not bring
system to desired
set point.

Slow response
time.

Keeps system at
consistent setting.

Controls processes
with rapidly
changing outputs.
Slow response
time.
Requires combined
use with another
controller.

Table.1 Advantages and disadvantages of conventional controllers

4. FUZZY LOGIC CONTROLLER

4.1 Introduction
The most popular controller in industry is the PID controller because of its simple
structure and effective control. But due to its simple structure and effective control. But due
to its linear structure, conventional PID controllers are usually not effective if the processes
involved are higher order and time delay systems, Non-linear systems, complex systems
without precise mathematical models, and systems with uncertainties.
Fuzzy control is based on fuzzy logic, a logical system which is much closer in spirit
to human thinking and natural language than traditional logical systems. The fuzzy logic
controller (FLC) based on fuzzy logic provides a means of converting a linguistic control
strategy based on expert knowledge into an automatic control strategy. During the past
several years fuzzy controller has emerged as one of the most active and fruitful area for
research in the application of fuzzy set theory. The pioneering research of Mamdani and his
colleagues on fuzzy control was motivated by Zadehs seminal papers on the linguistic
approach and system analysis based on the theory of fuzzy sets. The idea of fuzzy logic was
invented by Professor L. A. Zadeh of the University of California at Berkeley in 1965. He
was a mathematician, electrical engineer, computer scientist, artificial intelligence researcher
and professor emeritus. FL is a problem-solving control system methodology that lends itself
to implementation in systems ranging from simple, small, embedded micro-controllers to
large, networked, multi-channel PC or workstation-based data acquisition and control
systems. It can be implemented in hardware, software, or a combination of both. FL provides
a simple way to arrive at a definite conclusion based upon vague, ambiguous, imprecise,
noisy, or missing input information.
The logic of an approximate reasoning continues to grow in importance, as it provides
an in expensive solution for controlling know complex systems. Fuzzy logic controllers are
already used in appliances washing machine, refrigerator, vacuum cleaner etc. Computer
subsystems (disk drive controller, Power management) consumer electronics (video, camera,
battery charger) C.D. Player etc.And so on in last decade, fuzzy controllers have converted
adequate attention in motion control systems. As the later possess non-linear characteristics
and a precise model is most often unknown.

Remote controllers are increasingly being used to control a system from a distant place due to
inaccessibility of the system or for comfort reasons.

4.2 Unique features of fuzzy logic

The unique features of fuzzy logic that made it a particularly good choice for many
control problems are as follows, It is inherently robust since it does not require precise, noise
free inputs and can be programmed to fail safely is a feedback sensor quits or is destroyed. The
output control is a smooth control function despite a wide range of input variations. Since the
fuzzy logic controller processes user-defined rules governing the target control system. It can be
modified and tweaked easily to improve or drastically alter system performance. New sensors
can easily be incorporated into the system simply by generating appropriate governing rules.

4.3 Applications for Fuzzy Logic

Automatic control of dam gates for hydro electric-power plants.

Simplified control of robots.

Camera aiming for the telecast of sporting events.

Substitution of an expert for the assessment of stock exchange actives.

Preventing unwanted temperature fluctuations in air-conditioning systems. Efficient

and stable control of car-engines.

Cruise control for automobiles.

Improved efficiency and optimized function of industrial control applications.

Positioning of water-steppers in production of semiconductors.

Optimized planning of bus timetables.

Archiving system for documents.

Prediction system for early recognition of earth quakes Medicine technology cancer
diagnosis.

Combination of fuzzy logic and neural nets.

Recognition of handwritten symbols with pocket computers.

Recognition of motives in pictures with video cameras.

Automatic motor-control for vacuum cleaners with recognition of surface condition and
degree of soiling back light control for camcorders.

Compensation against vibrations in camcorders.

Single button control for washing machines.

Recognition of handwriting, objects, voice.

Flight aid for helicopters.

Simulation for legal proceedings.

Software-design for industrial processes.

Controlling of machinery speed and temperature for steel works.

Controlling of subway systems in order to improve driving comfort, precision of halting

and power economy.

Improved fuel-consumption for automobiles.

Improved sensitiveness and efficiency foe elevator control.

Improved safety for nuclear reactors.

4.4 Terminologies used in Fuzzy logic controller

Some of the basic concepts and basic definitions of fuzzy set theory and fuzzy logic
are summarized as below;
Universe of Discourse:
Universe of discourse U is the space where the fuzzy variables are defined, which
could be discrete are continuous.

It is a collection of objects all having the same

characteristics. The individual elements in the universe U will be defined as u.

Fuzzy set:
A fuzzy set F in a universe of discourse U is characterized by a membership
function

F :U [ 0, 1 ] .

Thus a fuzzy set F in U may be represented as a set of ordered

pairs of a element u and its grade of membership function:

F={( u , F ( u ) ) u U } .

(4.1)

Continuous Fuzzy sets:

A fuzzy set F is said to be continuous if its membership function is continuous.
Height of Fuzzy set:
The largest membership value of fuzzy set F is called the Height of Fuzzy set.
Domain:
The domain of a fuzzy set is the range of allowable values of the variable.
Support:
The support of a fuzzy set F is the crisp set of all points in the Universe of Discourse
U such that

F ( u ) 0.

Cross Over Point:

The element u in the universe of Discourse U at which

F=0 5 , is called the

cross over point.

Cross over ( F ) ={ u Fu ( u ) =0.5 }

(4.2)

Core:
The core of a fuzzy set F is the set of all points u in such that
Core ( F ) ={ u Fu ( u ) =1 }

F ( u )=1
(4.3)

 cut:
The cut or level set of a fuzzy set F is a crisp set defined by
Fa ={ u Fu ( u ) }

(4.4)

Strong cut:
Strong cut is defined by
Fa ={ u Fu ( u )> }

(4.5)

Fuzzy Singleton:
A fuzzy set whose support a single point in universe of discourse U is with
F ( u )=1.0 is referred to as fuzzy singleton.
Union:
Let A and B be two fuzzy sets in U with membership functions

A and

respectively.
A B

The membership function of

of

A B

is a point wise defined for all

uU

by
A B ( u )=max { A ( u ) , B ( u ) }

(4.6)

Intersection:
The membership function of
uU

AB

of

A B

is a point wise defined for all u

by
A B ( u )=min { A ( u ) , B ( u ) }

(4.7)

Complement:
The membership function
defined

of the complement of a fuzzy set A is point wise

for all u U by
( u )=1A ( u )
A

(4.8)

Connectives:
The connectives are used in rule formations when number of inputs is greater than

one. The connectives and and or are always defined in pairs, for example,
ab= min (a , b)

minimum

ab= max (a , b)
ab=a .b

maximum

algebraic product

ab=a+ba . b algebraic or probabilistic sum

Membership Functions:
Every element in the universe of discourse is a member of fuzzy set to some grade,
may be even zero. The grade of membership for all its members describes a fuzzy set. In
fuzzy sets elements are assigned a grade of membership, such that the transition from
membership to non membership is rather than abrupt. It forms a crucial part in a fuzzy rule
base model because they only actually define the fuzziness of a control variable or process
variable. The most popular choices for the shape of membership functions are triangular,
trapezoidal and bell shaped functions [15, 35].
(i)Triangular Membership function: it is one of the most popular among the scientists in this
field. It can be generally defined using a left point, center point and right point. Overlap and
sensitivity are the two parameters that can be used to adjust the shape of the triangles for
better performance. The triangular membership function is shown in Fig.4.1 (a).

The triangular curve is a function of a vector, x, and depends on three scalar parameters a, b,
c and is given by
f ( x : a , b , c )=

xa
, a x b}
{ba

,b x c }
{cx
c b
{0, x ac x }

(4.9)

(ii)Trapezoidal membership function: as the name suggests of this class of membership

function is that of a trapezoidal as shown in Fig.5.1 (b). The maximum membership value

1.0 occurs over a small range about the central point of the function. The trapezoidal curve is
a function of a vector,

x , and depends on four scalar parameters a, b, c and d is given by

f ( x :a , b , c , d)= { 0, x a }
{( xa)/(ba), a x b}

{ 1, b x c }
x
,c xd}
{d
dc

{ 0, d x }

(4.10)

(iii) Bell shaped membership function: as the name suggests of this class of membership
function is that of bell shaped one as shown in Fig.5.1(c). The maximum membership value
for bell shaped is 1 at

x=c , and the membership

decreases as its derivative from

this central value of 0. In the case of bell shape functions the oscillations are the minimum
and rise time is also reduced.
f ( x :a , b , c , d)=

1
,ax b
1+( xc)2

{ 1 x=c }

(4.11)

(iv) PolynomialZ: Polynomial-based curves can have several functions, including

asymmetrical polynomial curve open to the left (polynomial-Z) and its mirror image, as
shown in Fig.5.1 (d), (e) open to the right (polynomial-S) [35].

(a)

(b)

(c)

(d)

(e)
Fig.5.1 Membership functions. (a)Triangular (b) Trapezoidal (c) Bell shaped
(d) polynomial - Z (e) polynomial S

4.5 Fuzzy Controller Model

Fuzzy modeling is the method of describing the characteristics of a system using
fuzzy inference rules.

The method has a distinguishing feature in that it can express

linguistically complex non-linear system. It is however, very hand to identify the rules and
tune the membership functions of the reasoning. Fuzzy Controllers are normally built with
fuzzy rules. These fuzzy rules are obtained either from domain experts or by observing the
people who are currently doing the control. The membership functions for the fuzzy sets will
be derive from the information available from the domain experts and/or observed control
actions. The building of such rules and membership functions require tuning. That is,
performance of the controller must be measured and the membership functions and rules
adjusted based upon the performance. This process will be time consuming [38].
The basic configuration of Fuzzy logic control based as shown in Fig.5.2consists of
four main parts (i) Fuzzification
(ii) Knowledge Base
(iii) Inference Engine and
(iv)Defuzzification.

Fig.5.2 Structure of Fuzzy Logic controller

4.4.1 Fuzzification
Fuzzificationmaps from the crisp input space to fuzzy sets in certain, input universe of
discourse. So for a specific input value x, it is mapped to the degree of membership A(x).
The fuzzification involves the following functions. Measures the value of input variables.
1.

Performs a scale mapping that transfers the range of values of input variables into
corresponding universe of discourse.

2.

Performs the function of fuzzification that converts input data into suitable linguistic
variables, which may be viewed as labels of fuzzy sets.
The input variables to fuzzifier are the crisp controlled variables. Selection of the

control variables relies on the nature of the system and its desired output. It is more common
in the literature to use the output error and the derivative of output. Each of the fuzzy logic
control (FLC) input and output signal is interpreted into a number of linguistic variables. The
number of linguistic variables specifies the quality of control which can be achieved using the
fuzzy controller. As the number of linguistic variables increases, the computational time and
required memory increases. Therefore a compromise between the quality of control and
computational time is needed to choose the number is seven.

Each linguistic variables NB, NM, NS, ZE, PS, PM, PB which stands for negative
big, negative medium, negative small, zero positive small, positive medium, positive big
respectively. For simplicity it is assumed that the membership functions are symmetrical and
each one overlaps the adjacent functions by 50% i.e., triangle shaped function, the other type
of functions used are trapezoidal-shaped and Bell-shaped. Fig.5.3 shows the seven linguistic
variable and the triangular membership function with 50% overlap and the universe of
discourse from a to a [19].

Fig.4.3 Triangular membership functions

4.4.2Knowledge Base (KB)
Knowledge base comprises of the definitions of fuzzy MFs for the input and output
variables and the necessary control rules, which specify the control action by using linguistic
terms.
It consists of a database and linguistic control rule base.
1. The database provides necessary definitions, which are used to define linguistic
control rules and fuzzy data, manipulation in a FLC.
2. The rule base characterizes the control goals and control policy of the domain
experts by means of a set of a set of linguistic control rules.

4.4.3 Inference Mechanism

A Fuzzy interface process consists of following steps:

Step 1:Fuzzification of input variables.
Step 2: Application of Fuzzy operator.
(AND, OR, NOT) In t he If (antecedent) part of the rule.
Step 3: Implication from the antecedent to the consequent (Then part of the rule).
Step 4: Aggregation of the consequents across the rules.
4.4.4Defuzzification and Denormalization
The function of a Defuzzification module (DM) is as follows:

Performs the so-called Defuzzification. which converts the set of modified control
Output values into single point wise values.

Performs an output denormalization. This maps the point-wise value of the control
output onto its physical domain. This step in not needed if non normalized fuzzy sets is
used.

A Defuzzification strategy is aimed at producing a non-fuzzy control action that best

represents the possibility of an inferred fuzzy control action. Seven strategies in the
literature. among the many that have been proposed by investigators, are popular for
defuzziffying fuzzy output functions:

4.6 Defuzzification methods

Centroid method

Height method

Mean-max method

Sugeno method

The best well-known Defuzzification method is Centroid method.

4.6.1Centroid Method

The Centroid method also referred to as centre-of-area or centre of gravity is the

most popular Defuzzification method.
In the discrete case Z ={u1, .u}) this results in
l

z (
i

i 1

Zo

( zi )

( zi )

i 1

(4.12)

In the continuous case we obtain

u u o ( )du
u o ( )du

u* =

(4.13)

Where is the classical integral so this method determines the centre off area below the
combined membership function.

Fig. 5.4 Centre of area, method of Defuzzification

Fig.5.4 shows the above operation in a graphical way, it can be seen that this
Defuzzification method takes into account the area of U as whole. Thus if the area of two
clipped fuzzy sets constituting U overlap, then the over lapping is not reflected in the above
formula. This operation is computationally rather complex and therefore results in quite slow
inference cycles.

5.6.2 Height Method

The COA method is simplified to consider only the height of each contributing
membership function at the midpoint of the base. Graph for height method is shown in Fig.5.5

Fig.5.5 Height method ofDefuzzification.

5.6.3. Mean of Maxima Method
The height method is further simplified in the MOM method, where only the highest
membership function component in the output is considered. If M such maxima are present,
then the formula is
M

Z 0 =

Zm

m 1

(4.14)

Z m =m

th

element in the universe of discourse, where the output MF is at the maximum value.

And M= number of such elements.

5.6.4. Sugeno method
In this method Defuzzification is very simple. The Defuzzification formula
DOF 1+ DOF
K 1 DOF 1+ K 2

Z 0=

DOF 2

(5.15)

CHAPTER-5

CONTROLLER DESIGN:
5.1 D.C. Servo Motor Parameter:
The motor used in this experiment is a 25V D.C. motor with no load speed of 4050 rpm.
Parameter Value
R-resistance 1
L-inductance 29.79 mH
J-moment of inertia 0.01 kg.m2
Kt -torque constant 0.052 Nm/A
Kb-electromotive force constant 0.1 V/rad/s
B-viscous friction coefficient 0.004 N.m/rad/s

5.2 Block diagram:

Fig.5.1 Block diagram of servomotor

Explanation:

Fig.5.2 Simulink model comparing conventional controllers

Fig 5.3 Graphs comparing performance of conventional controllers

Fig 5.4 Simulink model of fuzzy controller

Fig5.6 FIS file of fuzzy block

Fig5.7 Membership functions of fuzzy controller

Fig.5.8 View ruler scale of fuzzy output

Fig 5.9 Performance output of servomotor using fuzzy controller

Controller

Without
controller
PD
PI
PID
Fuzzy
controller

Peak time
t
( p

Rise time
t
( r

0.74

0.315

0.101
0.802
0.0776
0.0723

Delay time
t
( d )

Settling
time
t
( s )

Steady
state error
e
( ss )

Peak over
shoot
(%
Mp

0.6456

2.35

0.85

28.1

0.0355

0.4573

1.44

0.997

77.1

0.33

0.8869

3.19

30.1

0.0302
0.028

0.612
0.036

0.22
0.169

22
1

11.4