Speed Control Based on Adaptive Fuzzy Logic Controller For AC-DC

Converter Fed DC Motor Drives

E. E. El-kholy, H. Yousef, and A. M. Dabroom

General Organization for Technical Education and Vocational Training,

College of Telecomm. & Electronics, R & D Center, Jeddah, Saudi Arabia.
e-mail: eelkholy@yahoo.com
e-mail: hossamyh@yahoo.co.uk
e-mail: amdabroom@yahoo.com

Abstract: to complexity, requiring of estimation stages,

This paper presents fuzzy logic control (FLC)
based speed control system for a DC Motor
drive through the use of Genetic optimization.
The control system design and implementation
procedures of DC motor drive using Digital
Signal Processor are described. Results of
simulation and experimental on the real
control system demonstrated that the proposed
FLC is able to overcome the disadvantage of
use PI controller. Also, the results obtained
have shown the feasibility and effectiveness of
the control system.
1. Introduction
High performance DC motor drives are used
extensively in industrial applications. The DC
motor drive is a highly controllable electrical
motor drive suitable for robotic manipulators,
guided vehicles, steel mills and electrical
traction [1-5]. Usually, precise, fast, effective
speed reference tracking with minimum
overshoot/undershoot and small steady state
error are essential control objectives of such a
drive system [6-7].
There has been several conventional control
techniques in DC motor drives are presented
[8-12]. The conventional control strategies are
a fixed structure, fixed parameter design.
Hence the tuning and optimization of these
controllers is a challenging and difficult task,
particularly, under varying load conditions,
parameter changes, abnormal modes of
operation, etc. Attempts to overcome such
limitations using adaptive and variable
structure control have had limited success due
model structure changes due to discontinuous
drive mode of operation, parameter variations,
load excursions and noisy feedback speed and
current signals [13-17]. In the drive field,
fuzzy logic has applied to various problems,
such as robust control of DC drive systems.
This paper presents.
In this paper, fuzzy logic controller is used
instead of the PI controller to overcome the
undesired undershoots coming from load
impact at some abnormal conditions. A
complete circuit for the system under
consideration has constructed. The proposed
controller is implemented using a high speed
DSP in order to verify the robustness of these
controllers.
2. FLC For Separately Excited DC Motor
Drive
In recent years many authors have reported
that fuzzy control is a more robust control
method than usual PID-control to variation of
system parameters [15]. It must be so, because
the fuzzy control is more flexible. As opposed
to the PID-control it allows to use nonlinear
relations between input and output values of
the controller. That is, before the fuzzy
controller design it is necessary to be clearly
aware of what type of nonlinearity has to be
introduced for the robust speed control of the
DC drive and what parameters of the fuzzy
controllers form its type of nonlinearity.
As mentioned above the fuzzy approach is a
convenient method to design a controller with
a desired nonlinear dependence between the ˜˜is
Rf Lf if im
input and the output of the controller. So, our AC V Vm Encoder
˜˜Vs
task is to properly choose the fuzzy controller Supply v Cf Load

parameters that form the desired controller.

The fuzzy system need to get such a fuzzy
controller for which in the range of input Rectifier Drive circuit

values close to zero the following conditions

are valid [12]: Value of the change-of-control
increment decreases when the error decreases.
Vc(k)
And, value of the change-of-control increment Z
˜˜ ref
ew
Fuzzy 
˜˜
Fuzzy Pulse
˜˜ Limiter
PI PI generator
increases when the change-of-error decreases.  speed current scheme

x
t l
Z
˜˜ m

System Configuration: d/dt

d/dt

DC is considered one of the best electrical DSP-ds1102 controller board (ds1102)

motor drives used in traction and a fan type
loads that have quadratic torque-speed Fig. 1 System configuration

x Modeling of The Power Circuit and

characteristics [12]. A high starting torque is
recommended in traction applications, which
can easily be met by a DC motor [13]. The Motor:
speed control drive system under consideration
is shown in Fig. 2. The speed control loop is to Mode (1):
provide fast transient response as well as to In this mode, the IGBT is ON. The differential
limit the armature current. The speed equations describing this mode are given as
controller is designed in such a way to produce follows:

§ di ·
a desired reference signal for the current

L ¨ f ¸ Vs  i R  Vm
controller. The output of the current controller
f ¨ dt ¸
© ¹
is fed to generate the firing angle, which (1)
f f
controls the motor terminal voltage. Figure (1)

§ di ·
shows a schematic diagram for the proposed
Lm ¨ m Vm  i m rm  K mZ
speed control system. It consists of a cascade
© dt ¹̧
(2)
combination of a diode bridge rectifier and a m
symmetrical angle control converter,
§ dZ ·
J¨ m K i m  BZ m  TL
connected to a single-phase AC supply. The

© dt ¹̧
motor voltage is regulated by the control (3)
m
voltage (Vc) from zero to the maximum value

§ dv ·
(A) of the timing voltage (Za) as shown in Fig.
C ¨ m i  im
(2). The inductance Lf and capacitance Cf are
f © dt ¹̧
(4)
used as an output DC filter. One IGBT is used, f
and controlled by an impulse generator. The
parameter values of this system are given in is i (5)
Appendix (1). f

The system under investigation has two modes Vs V sin (Z t) (6)

of operation. These modes are represented by
the equivalent circuits of Fig. (2). The
mathematical model can be obtained as
follows:
Mode (2):
In this mode, the IGBT is OFF as shown in
Fig. (2). The differential equations describing
this mode are given:
 § di ·
L ¨ f ¸ Vm  i R
The IGBT is turned ON when:
f ¨ dt ¸
© ¹
(7)
Vc < Za
f f
(13)

§ di ·
Lm ¨ m Vm  i m rm  K mZ
The IGBT is turned OFF when:
© dt ¹̧
(8)
Vc > Za
m

§ dZ ·
J¨ m K i m  BZ m  TL
(14)
© dt ¹̧
(9)
x
m
Modeling of FLC:

§ dv ·
C ¨ m i  im
f © dt ¹̧
(10) The motor variables to be controlled are the
f speed and the armature current. In the
proposed fuzzy logic control scheme, the
is 0 (11) motor speed error and the error change are
used as input variables to Fuzzy speed
controller. However, the armature current error
is
if and the error change are the input variables to
˜˜Rf Lf ˜˜im
fuzzy current controller. The error and error
change for both speed and current are scaled
Vm Motor and
using appropriate scaling factors. These scaled
Vs
Cf
Load input data are then converted into linguistic
variables, which may be viewed as labels of
fuzzy sets. The linguistic variables, which are
used for the input variables, are shown in Fig.
(3). Also, the choice of membership function
shape is mainly dependent on the designer
Mode (1) IGBT is ON preference. For simplicity, the triangular-
shaped functions are used in this application.
In the universe of discourse, the numbers for
Rf Lf ˜˜if im
the aforementioned linguistic variables are
selected. The membership functions for the
error and the error change are shown in Fig.3.
˜˜Vm Motor and
˜˜V=Vs
Load
Cf

NB NM NS ZE PS PM PB

Mode (2) IGBT is OFF

-3/4 -1 -2/3 -1/3 0 1/3 2/3 1 Universe of
discourse (e)
Fig. 2 Modes of operation for the system
a. Error
x Modeling of The Impulse Generator: NB NM NS ZE PS PM PB

From Fig. (2) the equation that represents the

timing voltage (Za) is given by:

Za A sin (Z t)
-3/4 -1 -2/3 -1/3 0 1/3 2/3 1 Universe of
(12) discourse ( e)
b. Change in error
 x Difficulties in developing fuzzy rules by

x
NVB NB NM NS ZE PS PM PB PVB hand for large systems.
Difficulties in selecting appropriate

x
membership function shapes.
Difficulties in fine tuning fuzzy solutions
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1.0 1.2 for specific levels of accuracy, and
Universe of
discourse guaranteeing the reliability/robustness of
c. Change in control ( u) solutions. The trial and error method is still
the basic method in improving the expert
Fig. 3. Membership functions for speed and knowledge towards developing tuned and
current controllers stable fuzzy controllers.

The fuzzy control rules are selected. Since The most important task in fuzzy control
both the speed and current loops must satisfy engineering is to build advanced tools for
the needs of fast transient response with automated knowledge-base generation and
minimum overshoot and they have essentially tuning fuzzy controllers. Moreover, an
first order characteristics, consequently the improved approximate reasoning mechanism
same fuzzy control rules should be valid for to speed up the on-line controller response is
both loops. These rules are given in Table 1. required. The tools for auto-generation of the
Where, PVB: positive very big, and NVB: knowledge-base will decrease the cost and
negative very big. time of fuzzy controller application
developments. The tools for tuning the
The final stage of FLC, which called controller knowledge will provide the stability
defuzzification, is a mapping from a space of requirements for the operation of the controller
fuzzy control actions defined over an output [14].
universe of discourse into a space of crisp
control actions. The widely used strategy for The conventional method to optimize the FLC
defuzzification is the center-of-gravity is the steepest cell descent. Nevertheless, this
method, which is adopted in this scheme. method required some prerequisites, such as
fixing the number of rules, which has been
NB NM NS ZE PS PM PB obtained through trials of success and failure,
NB NVB NVB NVB NB NM NS ZE been the method tedious and bored because it
NM NVB NVB NB NM NS ZE PS requires a lot of time. The Genetic Algorithm
NS NVB NB NM NS ZE PS PM
(GA) driven by fuzzy reasoning is the
ZE NB NM NS ZE PS PM PB
advanced method for learning the FLC
PS NM NS ZE PS PM PB PVB
systems.
PM NS ZE PS PM PB PVB PVB
PB ZE PS PM PB PVB PVB PVB
x FLC Learning Using GA
Table 1. Fuzzy control rules for speed and The GA is one of the most up-to-date artificial
current controllers intelligence techniques [8]. GA have been
applied successfully to many engineering
3. Adaptive Fuzzy Logic Controller applications and optimization problems. The
GA is an optimization method developed by
Certain inherent difficulties of the approach biological evolution, which was used to find
are restricting its success in control the shapes and places of membership
applications. The following are some of the functions, getting the inference rules and
difficulties, which face its application output memberships. They presume that the
development: potential solution of a problem is an individual
and can be represented by a set of parameters.
These parameters are regarded as the gens of
chromosome and can be structured by a string
of values in binary form or real form.
Generally, a positive value know as fitness
value, is used to reflect the degree of goodness
of the chromosome for solving the problem.
This section considers the problem of
automatically learning a set of optimized fuzzy
rules and membership functions [13]. The
method applies evolutionary programs in a two
steps fashion to a rule-based fuzzy controller.
The type of fuzzy controller considered here
consists of triangular membership functions
for the fuzzy variables in the premises, and
singleton membership functions for the fuzzy
variables in the conclusions. Figure 4
illustrates a block diagram of the overall
closed loop DC control system [13].
GA
Reference Armature
speed voltage
DC
Motor
speed
FLC
motor
+
- 1/s
Fig. 4. GA-optimized FLC architecture
This membership places an upper bound on the
number of fuzzy rules, which is the product of
the number of membership functions for the
fuzzy variables in the premises. For the case of
the DC motor, there are two input variables,
and a single output variable of voltage. The
Defuzzification is performed by the discrete
center-of-gravity method [14].
The first step in the method produces the
singleton conclusions for a reduced set of rules
using fixed symmetric triangular membership
functions. The second step is then adjusts the
membership functions. We considered two
ways of performing the first step of rule
learning and reduction. In the first case, an
evolutionary program was used to select the
singleton values of the rules. The basic idea
was to maintain a population of chromosomes,
each of which represented a proposed rule-
base. An individual chromosome consisted of
a string of integers, in the range {-6,6},
representing the singleton conclusions of the
rules. A zero in the string signified that the
corresponding rule was not used in the
calculation. The fitness function was chosen to
combine the error produced by the simulated
DC motor and the number of rules with
conclusions different from zero. The idea
being is to simultaneously reduce the number
of rules and the corresponding error.
After some experimentation with the genetic
parameters and operator, the following settings
were used throughout: Populations of 20
chromosomes run for 150 generations, the
roulette method for selection with normalized
fitness values, one point crossover was applied
to selected individuals, and mutation per gens
was always applied. As the coding of the
chromosomes in this program was realized
directly with integers, uniform mutation was
used. For the second step of membership
function adjustment, another evolutionary
program was applied. The chromosomes
represented the positions of the triangles and
were coded directly as real numbers. A weight
was added to the error produced by the
simulated DC motor in the fitness function to
achieve a smoother curve.
4. Experimental Results
An algorithm is developed to simulate the
drive model with fuzzy logic speed ,and
current controller. A series of experimental
investigation has been carried out to verify the
validity of the control scheme of the drive
system. The result were obtained at different
operating points, including transient, steady
state, and step changes in speed.
x Set-Up Hardware
The experimental of the proposed controller
was conducted using Digital Signal Processor
(DSP). The system is based on Texas
instrument TMS320C31 and TMS320P14. The
main processor implements the deadbeat
vector torque control algorithm, whereas the
second provides the vector modulation. The
configuration of the experimental system is
shown in Fig. (5). The experimental system
contains single phase rectifier circuit and one
insulated gate bipolar transistor (IGBT). A
personal computer is used for software Time (sec)

development and results visualization. The

Ps. The incremental encoder of 2048 pulses

sampling period of the control algorithm is 100
Time (sec)

per revolution is attached to the motor shaft.

Two-phase output signals of the encoder are
preprocessed by hardware circuit and Time (msec)

multiplied by four. The basic sampling period

of speed detection is 0.1 ms. Analog signals Fig. 6 Run-up behavior for 0.5 of rated load
such as phase currents are converted to digital torque and ref = 1500 r.p.m.

conversion time is about 3 Ps. All internal data

values using two 12-bit A/D converters whose

of the DSP can be displayed through a four-

channel 12-bit D/A converter. The software is
written in high level language C.
Drive and protection

Oscilloscope

AC/DC converter Motor voltage

and current
Gate Pulse Generator
A/D
D/A Converter Load
Converter
PC Incremental
Encoder
interface DC DC
RS-232C Generat motor
or

DSP board
Incremental encoder

Fig. 5 Experimental setup system

x Steady State Operation

Fig. 7 Steady state behavior for half rated load
Figure 6 shows samples of the steady state torque and ref = 1500 rpm.

x
experimental waveforms at a control voltage
equal to 2.5 volts, with duty ration of 0.5 with The motor Run up
uniform pulse width modulation. This figure
shows the carrier voltage and switch gate Figure 8 shows the experimental waveforms
pulses. of the motor speed, supply voltage, supply
current, the motor voltage and the motor

torque at Z ref =1500 rpm.

Figure 7 shows the waveforms of the supply current during run up with half rated load
voltage, supply current, motor voltage and

Zref= 1500 rpm.

current during steady state with half load and

Time (msec)
Time (msec)
Time (msec)
Time (sec)
Time (msec)
Fig. 8 Run-up behavior for half-rated load
torque and ref = 1500 r.p.m.
x Reference Speed Step Change
using the control strategy for step up in Z ref
Fig 9 shows the speed and the current response
from 1300 rpm to 1800 rpm. It is seen that the
fuzzy PI controller has shown accepted
performance as it eliminates the undesired
steady state error.
˜˜
Time (sec) Time (sec)
Time (sec) Time (sec)
Fig. 9 Variation of motor speed and current
due to a step up in reference speed
5. CONCLUSIONS
In this paper, we realized the controller for a
DC motor, which is demanded increasingly
using the fuzzy logic. We present fuzzy
reasoning algorithm to control DC motor in
order to improve the PI controller, which is
hard to get optimum control under the unstable
driving situation or different condition of load
and speed. The simulation and experimental
study clearly indicates the superior
performance of fuzzy control, because it is
inherently adaptive in nature.
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APPENDICE:
The parameters of the designed system are as
follows:
Cf=1200 Pf
Vs (max) =71 volt rf =2 ohm
Lf=0.222 Henry
A=5 volt Fs=50 Hz.
The test motor is a separately excited DC
motor, 55 volt, 50 watt, 1 Ampere, 3000 rpm.
having the following measured parameters:
rm =10.5 ohm km=0.127volt/(rad/sec)
B=0.0001 N.m./(rad/sec) Rf =550 ohm
Lm=0.06 henery J=0.00015 kg.m2