FUZZY PRECOMPENSATED PID CONTROLLER

Introduction Advantages and disadvantages of FPC(Fuzzy pre-compensator) precontroller Fuzzy precompensated PID controller I. Control structure II. Fuzzy precompensator fuzzification
- decision making - defuzzification

CONTENTS

Comparison Conclusion

INTRODUCTION
Fuzzy logic control technology has been widely used in industrial applications. Humanlike but systematic properties Can convert linguistic control rule into automatic control strategies. Well applied to control the process with un modeled and nonlinear dynamics.

Fuzzy logic temperature

Inputs

Rules

Output

Fuzzy inference systems editor

No need for precise tuning. It reduces 90% of overshoot which occur in the PID controller. It acts as an adaptive controller. It has faster settling time.

Complexity in forming the fuzzy membership function.

1. Control structure

FUZZY PRECOMPENSATED PID CONTROLLER

Consists of a conventional PID control structure together with the proposed fuzzy pre compensator. The pre compensator uses the command input ym and the plant output yp to generate a pre compensated command output y1 m. e( k ) = e( k ) - e( k-1) (2) k( k ) = F[ e( k ), e( k ) ] (3) y1m ( k ) = ym (k) + ( k ) ..(4) where, e( k )=tracking error between ym(k) and yp(k) )= e( k )=change in the tracking error. )=
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Basic control structure

( k ) = F[ e( k ), e( k ) ]= pre compensation or correction term. The correction term is based on the error e( k ) and e( k ). The compensated command signal y1m( k ) is applied to conventional PID controller. The equations determining the PID controller are e1( k ) = y1m (k) - y(k)....(5) e1( k ) = e1 ( k ) - e1 ( k-1)...(6) ku (k) = u(k-1) +Kp e1( k ) +K1 e1( k )...(7) u(k)...(7) where, e1(k) =pre compensated tracking error of y1 m(k) , e1(k) =change in the pre compensated tracking error. u(k) = applied input to the plant.
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2. FUZZY PRECOMPENSATOR
The implementation of the fuzzy logic based term is ( k ) = F[ e( k ), e( k ) ]. Associated with the map F is a collection of linguistic values L= {NB, NM, NS, ZO, PS, PM, PB} NB stands for negative big, NM for negative medium, NS for negative small, ZO for zero. set L is a collection of membership functions. = { NB, NM, NS, ZO, PS, PM, PB }
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Membership function of error(e)

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Membership function of change in error e(k)

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Fuzzy method consists of three stages

1. 2. 3. FUZZIFICATION, DECISION-MAKING , and DECISIONDEFUZZIFICATION
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1. FUZZIFICATION
This process transforms the inputs e(k) and e(k) into the setting of linguistic values. Assign a pair of numbers ne(l) and n e(l) to the inputs e( k ) and e( k ) via the associated membership function. ne(l) = l (Ce e( k ) ) n e(l) = l (C e e( k ) ) Where, ne(l) and n e(l), l L are used in the computation of F{ e(k) and e( k ) }.
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2. Decision-making
There is a set of fuzzy rules R = {R1, R2Rr}, where r is the total number of rules. Each RI, I = 1,2,3,...r, is represented by a triplet ( li , li c, li ), where li , li c, li L. The first two linguistic values are associated with the input variables e( k ), and e( k ) while the third linguistic value with the output. An example of a rule is the triplet (ZO,NM,NM) in table . if e( k ) is le and e( k ) is l e then is l Let command signal is a constant ym, the error e(k) is zero and the change of error e( k ) is negative number. This means that the output yp (k) is increasing, i.e, heading in the direction of an overshoot.

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e e NB NM NS ZO PS PM PB

NB NB NB NB NM NM NS ZO

NM NB NB NM NM NS ZO PS

NS NB NM NS NS ZO PS PS

ZO NM NS NS ZO PS PS PM

PS NS NS ZO PS PS PM PB

PM NS ZO PS PM PM PB PB

PB ZO PS PM PM PB PB PB

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3. Defuzzification
Maps the result of the fuzzy logic rule stage to a real number output F[e(k), e(k)]. It is aimed at producing a non-fuzzy control action. non(K) (K) = ( ) d x C ................ (10) ( )d )d Where denotes algebraic integration.
Membership function of Controller output ( )
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COMPARISON
Better response. Even if the process parameter changes the FPC controller adapts itself and produces good response Hence it acts as an ADAPTIVE CONTROLLER. Follows the set point. Does not require precise tuning. Poor response

Not able to follow the set point. Gives damped 18 oscillations.

CONCLUSION

Structure of fractional order fuzzy PID controller

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