1. Improving A PID Controller Using Fuzzy Logic Andrew Thompson Ni Li Ara Tchobanian Professor: Riadh Habash TA: Hanliu Chen

2. Problem Although PID controllers are able to provide adequate control for simple systems, they are unable to compensate for disturbances. We will use Fuzzy Logic controllers to improve the PID controllers ability to handle disturbances.

3. Hypothesis We feel like all the designs for the fuzzy compensator will be an improvement upon the PID controller and will have greater ability to deal with disturbances.

4. IEEE Papers

5. Group Contribution Andrew Thompson: –Research and development of Fuzzy precompensator design and rules –Research and development of PID Controller Ni Li: –Research and development of various Fuzzy logic compensator (PD, PI) designs and rules Ara Tchobanian: –Research and modeling of DC motor –Research and development of PID Controller

6. Procedure We first needed to decide upon a system which we could control using a PID controller as well as be able to introduce a disturbance. We chose to model a basic DC motor.

7. DC Motor We used the following values for the model of the DC Motor moment of inertia of the rotor J = 0.01 kg.m 2 /s 2 damping ratio of the mechanical system b = 0.1 Nms electromotive force constant K = 0.01 Nm/Amp electric resistance R = 1 ohm electric inductance L = 0.5 H input V: Source Voltage output Θ’: Speed of motor

8. DC Motor Model

9. Step 2 We next had to design a PID controller to control the speed of the motor.

10. PID Controller We wanted the PID controller to satisfy the following criteria: –Settling time less than 2 seconds –Overshoot less than 5% –Steady-state error less than 1% By using trial and error, and examining the step response we obtained the following gains: Kp = 100, Ki = 200, Kd = 10

11. PID Model

12. Step 3 The final step in the development of our controllers was to design various forms Fuzzy logic compensators in order to improve the performance of the PID controller and to allow it to account for the disturbance. We designed three types of Fuzzy logic Compensators –Fuzzy PI –Fuzzy PD –Fuzzy Precompensated

13. Fuzzy logic Introduction Fuzzy logic 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. Inputs Rules Output

14. Fuzzy Precompensated PID Membership Functions, and Fuzzy Rule Sets

15. Surface and Rule Sets

16. Fuzzy Precompensated PID Model

17. Fuzzy logic Equation for the fuzzy PI Kp*X + Ki*Y = Z The output for the fuzzy Y example input for Ki The gain for Ki X example input for Kp The gain for Kp

18. Membership functions for the PI component. (a) Input membership functions. (b) Output membership functions. L A) B) Optical HighLow

19. Fuzzy Logic Rules for the PI The P is Low and I is Low then output is –R The P is Low and I is Optimal then output is –(R+S)/2 The P is Low and I is High then output is -S The P is Optimal and I is Low then output is (–R+S)/2 The P is Optimal and I is Optimal then output is 0 The P is Optimal and I is High then output is (R-S)/2 The P is High and I is Low then output is S The P is High and I is optimal then output is (R+S)/2 The P is High and I is High then output is R Where R=L 1 *K i +L 2 *K p S=L 2 *K p +L 1 *K i

20. Linear Fuzzy PI Control Table OutputLow ( D)Optimal ( D )High ( D ) Low ( P )-R-(R+S)/2-S Optimal ( P )-(R-S)/20(R-S)/2 High ( P )S(R+S)/2R Surface Viewer

21. Fuzzy PI Model

22. Fuzzy PD Membership Functions

23. Fuzzy PD Model

24. Simulation Results Step Response PID Fuzzy Precompensated Fuzzy PI Fuzzy PD

25. Simulation Results Step Response with sine disturbance PID Fuzzy Precompensated Fuzzy PI Fuzzy PD

26. Simulation Results Step Response with Gaussian Noise disturbance PID Fuzzy Precompensated Fuzzy PI Fuzzy PD

27. Simulation Results Sine Input PID Fuzzy Precompensated Fuzzy PI Fuzzy PD

28. Simulation Results Sine Input with sine disturbance PID Fuzzy Precompensated Fuzzy PI Fuzzy PD

29. Simulation Results Sine Response with Gaussian Noise disturbance PID Fuzzy Precompensated Fuzzy PI Fuzzy PD