Académique Documents
Professionnel Documents
Culture Documents
, 2005
Ayman A. Aly
Assistant Professor, Mech. Eng. Dept. Faculty of Engineering
Assiut University, Assiut, 71516, Egypt
ayman_aly@yahoo.com
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
. ⎡4K K K k k ⎧ x ⎫ x ⎤
x 4 = − x1 ⎢ h x a θ s
sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3 ⎥
⎢⎣ τ V c n ⎩ u2 ⎭ u2 ⎥
⎦
⎡ 4 K ⎛ τV B ⎧ x ⎫ x ⎞⎤
h ⎜ ⎟⎥
+ x2 ⎢ m
− V m − K x K a k t k ω sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3
⎢ τ V c ⎜⎝ J ⎩ u2 ⎭ u2 ⎟⎥
⎠⎦
⎣
⎡ 4 K h V m2 4 K h Le ⎤ ⎡ 1 4 K h L e ⎤ 4 K hV m
− x3 ⎢ + ⎥ − x4 ⎢ + ⎥+ T c sgn x 2
⎣ J Vc τ Vc ⎦ ⎣τ Vc ⎦ JV c
⎛ 4K h ⎞ ⎧ x ⎫ x
+ ⎜⎜ ⎟⎟ K x K a u 1 sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3
⎝ τ Vc ⎠ ⎩ u2 ⎭ u2
(8)
The state variables model represented by Eqs. the first such proposed techniques is that due to
(6-8) is of the nonlinear form Mamdani [4], which describes the inference
. engine in terms of a fuzzy relation matrix and
x(t ) = f [x(t ), u (t )] (9) uses the compositional rule of inference to
The initial conditions of the state variables are arrive at the output fuzzy set for a given input
given by: fuzzy set. The output fuzzy set is subsequently
[x1 (0) x2 (0) x3 (0) x4 (0)] = [0 0 0 0] (10) defuzzified to arrive at a crisp control action.
The parameters of the system appearing in the Other techniques include sum-product and
state-variables model are given in Appendix A. threshold infringing.
Fuzzy systems stem from a logic, which treats
3. Fuzzy Logic Control vaguely known plants by membership functions
Fuzzy control was first applied by Mamdani to with values between (0 and 1). In fuzzy sets,
control a steam engine and this served as the based on fuzzy logic, an object has a
starting point for practical application. The membership degree to a given set with values
fuzzy inference method used by Mamdani was between (0 and 1). A fuzzy variable has
the "direct inference method" [11], which is linguistic values. The membership functions
currently the most frequently used method. A are, in general, symmetric or nonsymmetrical,
general fuzzy inference system consists of three triangular or trapezoidal. Fig.3, illustrate the
parts (see Fig.2). A crisp input is fuzzified by self tuning fuzzy relation matrix with the error,
input membership functions and processed by a change in error and output membership
fuzzy logic interpretation of a set of fuzzy rules. functions. While conventional control systems
This is followed by the defuzzification stage are based on the mathematical model of the
resulting in a crisp output. The rule base is plant, the proposed fuzzy control is based on the
typically crafted by an expert; though self intuition and experience of the human operator.
organizing procedures have been suggested [3, The command law in fuzzy systems is of the
4, 11]. form:
The error value from a given performance
measure is fed back and used to adapt all or one If e is E i and ce is CE j Then u is U m (11)
of the following: (a) Membership function
shapes and cardinality (b) & (d) And/Or The composition operation refers to the calculus
aggregation operators, (c) The rule base, and (e) of the command law. Among the composition
The defuzzification technique. methods, the most common used one is the
MAX-MIN method, [3, 4, 11]. Consequently
There are a number of different ways to firing only 4 rule nodes, the membership
implement the fuzzy inference engine. Among function for each rule is given by the minimum
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
value and the combined output is given by the error of a complex hydraulic servo control
supreme maximum of all rules. system. It is assumed that the ideal transfer
[
hij = min µ i ( E ), µ j (CE ) , ] function of a PID controller is given by
⎛ K I ⎞
(i=1,2 for E, j=1,2 for CE), (12) K (s) = K P ⎜1 + + K D s⎟
⎝ s ⎠ (15)
⎧2 2 ⎫
U m = max ⎨∑∑ hij Cij ⎬ , (13) The results were performed with a constant
⎩ i =1 j =1 ⎭ supply pressure of 70 bar connected to a
where hij represents the contribution factor of hydraulic rotary motor in two different tests.
ijth rule and Cij is a linguistic fuzzy set of the The gains of the PID, [KP; KI; KD] controller
consequent part of the fuzzy control rule. were setting as is [0.08; 0.0125; 0.199] to get
The general structure of a single input fuzzy faster response with nearly zero overshoot.
motion controller is given in Fig.4. The Fig.6, was obtained by comparing the input step
command variable is determined based on the signal with the hydraulic motor shaft encoder, it
two variables (e and ce) in relative values is found that the rise time is about 0.3 sec. with
calculated from the absolute values ( E and CE) no overshoot and steady state error is zero.
by division through the corresponding However, if we improve the response rise time
amplifications. by modified the tuning of the PID parameters,
Fuzzification may be done by taking definite an overshoot appeared. Its corresponding
values of the variables to calculate the control action is shown in Fig.7.
membership function. Defuzzification may be The other test is performed with fuzzy control
done in quite a few ways, one of, which is the system, while the rise time is improved to be
centroid method by which the command 0.17 sec., the system response overshoot is kept
variable (uo) is obtained through the gravity to be zero as shown in Figure 8, and the
center of the fuzzy function: corresponding control signals is cleared at
Figure 9. It is interesting to notice that the
uo =
∫ µ (U (u )) du
m m
(14)
amplitude of the fuzzy logic control signal is
about half of that based on PID control system
∫ U (u ) du
m
which has significant importance in design and
where µm is the grade of fuzzy membership choosing servovalves.
output and u is the location of output label for Another good result that the amplitude of the
the value contributed by the membership servo valve flow rate is decreased by using the
function. The output commands surfaces of the proposed controller policy as presented in
rules bases and its membership function is Fig.10, compared with the PID controller
shown in Fig. 5. response in Fig.11, which is another proving
An important future of the proposed STFLC is index in the hydraulic energy saving ability of
that does not need higher supervision level or implementing the STFLC policy in controlling
additional learning routine to modify itself. It is the electro hydraulic servo motor.
capable by its decision making mechanism to For testing the disturbance rejection ability, it is
deal with the system nonlinearities and found that with decreasing of the servo valve
disturbances challenges. flow rate by 1% as a result of the system
leakage, the proposed controller has robust
4. Results response compared with the PID controller
A PID and self tuning fuzzy logic control which gave steady state error as illustrated in
systems are implemented via MATLAB 6.3 and Fig.12. To overcome this steady state error we
applied to control the position of an electro need to redesign the PID controller parameters
mechanical servo system. The desired response for the new condition or add a nonlinear
is designed with no transient overshoot, stability compensator to the original PID controller.
in the steady-state, and with zero steady-state A tabulated comparison of the PID and the
proposed STFLC is illustrated in Table 1.
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
[10] Richard D. A., Timothy W. M. and Randal hij represents factor contribution of ijth rule
W. B., "Application of an Optimal Control Ka amplifier gain
Synthesis Strategy to an Electrohydraulic Kc flow-pressure coefficient, m5/sN
Positioning System", Journal of dynamic KD derivative controller gain, s
Systems Measurements and Control, 123, KI integral controller gain, s-1
PP 377-384, 2001. Kq flow gain which varies at different
[11] Wang and Felow, “ Generating Fuzzy operating points, m3/s/V
Rules By Learning From Examples”, IEEE, Kp proportional controller gain
Vol. 22, No. 6, Nov.(1992). Ks position transducer constant, V/rad/s
[12] P. Lindskog, "A system I dentification Kt tachogenerator constant, V/rad/s
Software Tool for General MISO ARX- Jt total inertial of motor and load,
Type of Model Structures", Technical report Nms2/rad
of Electrical Engineering Department, QL load flow, m3/s
Linkoping University, Sweden, December, n reduction gear ratio
1996. PL load pressure, bar
[13] G. P. Liu! and S. Daley, "Optimal-Tuning Ps supply pressure, bar
Nonlinear PID Control of Hydraulic S Laplace operator
Systems", Journal of Control Engineering t time, s
Practice 8 pp. 1045-1053, 2000. Td disturbance of the system, N.m
u denotes the linguistic variable associated
Nomenclature with the controller output uo, V
Bm viscous damping coefficient of the load, Um denote the consequent linguistic value
Nms/rad associated with u(t).
CE denote the linguistic variables associated Vt, total compressed volume, m3
with controller input ce, w area gradient, m2
C1 total leakage coefficient of the motor Xv displacement of the spool in the servo
m5/sN valve, m
Cd discharge coefficient Greek Symbols
Cij linguistic fuzzy set of the consequent θ shaft position, rad
part of the fuzzy control rule. .
θ angular velocity of the motor shaft, rad/s
Dm volumetric displacement, m3/rad
βe effective bulk modulus of the system.
e denote the linguistic variables associated
ρ fluid mass density, kg/m3
with controller input e,
Ej, CEl denote the jth(lth) linguistic value τ valve time constant, s
associated with e, ce respectively µ membership function grade
Appendix - A
Table A-1 System physical Parameter
Valve τ valve time constant s 2.3x10-3
Ka operational amplifier gain -1
Kx valve flow gain at Pl = 0 m3/s/v -1.36x10-4
Motor Vt volume of oil in motor and hoses m3 20.5x10-6
Vm motor displacement m3/rad 0.716x10-6
Le equivalent leakage coefficient m5/Ns 2.8x10-11
Kh hydraulic bulk modulus N/m2 1.4x109
Load Be equivalent viscous coefficient Nms/rad 2.95x10-3
J motor inertia Nms2/rad 3.4x10-3
Tf magnitude of coulomb-friction N.M 0.225
Transducer Kt tachogenerator constant v/rad/S 0.026
Ks position transducer constant v/rad 3.44
n gear ratio 7.5
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
Digital
Controller
Servo Valve
Tachogenerator
Kt
Position Transducer Gear box
Ks 1/n
ge in errorChan
Error
Change
Error
in error
Fig.3. Self tuning fuzzy relation matrix with the error, change in error
and output membership functions
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
Td
Referenc
uo Electrohydraulic System
θ
.
θ
Error
Change in error
Fig.5 The output surfaces of the rules bases and its membership function.
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
Position (rad).
Time (s)
Fig.6. System step response based on PID controller action
Controller Signal (V)
Time (s)
Fig.7. PID controller action signal
Position (rad).
Time (s)
Fig.8. System step response based on STFLC action
Controller Signal (V)
Time (s)
Fig.9. STFLC action signal
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ACSE Journal, Volume (5), Issue (4), Dec., 2005
Time (s)
Fig.10. Servo valve flow rate based on PID controller action
Servo Valve Flow Rat
(m3/s)
Time (s)
Fig.11. Servo valve flow rate based on STFLC action
Position (rad).
STFLC
PID
Time (s)
Fig.12. System step response based on PID and STFLC action Due to step 1%
decrease in the servo valve flow rate (6*10-7m3/s)
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