INTERNATIONAL CONFERENCE ON “CONTROL, AUTOMATION, COMMUNICATION AND ENERGY CONSERVATION -2009, 4th-6th June 2009

Modeling and Simulation of Modified Fuzzy

Logic Controller for Various types of DC motor
Drives
M.Muruganandam and M.Madheswaran, Member, IEEE

Abstract—A fuzzy controller for various types of DC motor fed by DC/DC converter is designed and presented in this paper. The fuzzy
controller is designed in such a way that it can be implemented in a micro-controller or DSP processor based embedded system. The
system designed has two loops with an inner ON/OFF current controller and an outer fuzzy speed controller. The later is used to change
the duty cycle of the converter and thereby, the voltage fed to the DC motor regulates its speed. The performance in respect of load
variation and speed change has been reported. The performance of the proposed controller is compared with the reported results and
found that the fuzzy based DC-DC drive can have better control.

Index Terms— DC-DC power converter, DC separatrely excited motor, DC series motor, Fuzzy controller, Speed control, MATLAB/
Simulink

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1 INTRODUCTION

I n recent years, the fuzzy logic/set theory has been uti-

lized for various control applications including motor
control. The fuzzy logic has made the control of com-
plex non linear systems with unknown or un-modeled dy-
namics as simple as possible [1]. The application of DC
motor in industrial environment has increased as suitable
drive system. There have been several conventional control
techniques in DC motor drives are presented [2],[3] and [4].
In earlier conventional control strategies were used and it
comprises of fixed arrangement with fixed parameter de-
sign. Hence the tuning and optimization of these control-
lers is a challenging and difficult task, particularly, under
varying load conditions, parameter changes, abnormal
modes of operation.
design of fuzzy controller for a 3-phase full wave con-
trolled converter fed dc motor is done, implemented in
16-bit micro-controller and presented in [8].
The proposed system utilizes the fuzzy logic con-
troller and DC to DC converter. The drive system has the
characteristics of precise, fast, effective speed reference
tracking with minimum overshoot/undershoot and mi-
nimal steady state error. The fuzzy logic based speed
command profile is followed even under load torque dis-
turbances. In order to control the speed of such drive
while maintaining the current at a limiting value, a fuzzy
speed and ON/OFF current controllers have been de-
signed.

H.A.Yousef and H.M.Khalil [5] have reported the 2 PROPOSED SYSTEM

dc series motor drive fed by a single phase controlled rec-
tifier (AC to DC converter) and controlled by fuzzy logic. It
has been concluded that the fuzzy logic controller provides
better control over the classical PI controller which has im-
proved the performance. It is also reported that the settling
time and maximum overshoot can be reduced. Due to the
inherent limitations, AC to DC converter fed drive intro-
duces unwanted harmonic ripples in the output.
Figure 1 shows the common block diagram of the
proposed system for both DC separately excited and se-
ries motor. The system consists of DC-DC converter to
drive the DC motor. A tacho generator is used to sense
the speed and which is used for speed feedback. A micro-
controller or a digital signal processor is used to generate
the PWM signal to switch the DC-DC converter, during
the implementation of experimental setup.

H.L.Tan [6] has reported the dc series motor drive

fed by a single phase full-bridge converter (DC to DC con-
verter) controlled by fuzzy logic. It has been reported that
the motor performance was simulated for different control-
lers like simplify fuzzy logic model (SFL), PI type fuzzy
controller (FPI) and classical PI controller. The simulation
result shows that the SFI provides superior performance
over other controllers. It is found from the analysis that
only the speed error has been taken as fuzzy input.

Also Fuzzy logic has been implemented to regu-

late the output voltage of a dc-to-dc converter in [7]. The

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• The authors are with the Centre for Advanced Research, Muthayammal
Engineering College, Rasipuram, Tamilnadu, India. 637 408.
E-mail: murugan_m1@yahoo.com, madhi_eswaran@yahoo.co.in
Fig. 1. Block diagram of the proposed system
2

The system two loops consist of namely outer 4. MODELING OF DC- DC CONVERTER
fuzzy speed control loop and inner ON/OFF current
The DC-DC converter switch can be a Power Transistor,
control loop. In outer speed control loop, the actual
SCR, GTO, IGBT, and a Power MOSFET or similar switch-
speed (ω) is sensed by tacho generator and the error sig-
ing device. In order to get high switching frequency (upto 100
nal is obtained by comparing with reference speed (ωr).
KHz) the Power MOSFET may be taken as a switching de-
From the present error and pervious error the change in
vice. Normally on state drop in the switch is small and it is
error is calculated.
neglected [10].
In the proposed system two input fuzzy controller When the gate pulse is applied the device is turned on. Dur-
is used. The error and change in error are given as inputs ing the period the input supply connects with the load. When
to the fuzzy controller. The output of the fuzzy controller the gate pulse is removed the device is turned off and the load
is denoted as duty cycle. The change in duty cycle for the disconnected from the input supply. The circuit and wave-
converter can be calculated from the new duty cycle and form of DC-DC converter is shown in Figure2.
previous duty cycle. The input and output gain of the
fuzzy controller can be estimated by simulation. The
fuzzy controller can reduce the error to zero by changing
the duty cycle of the switching signal [9].

3. MATHEMATICAL MODELS OF DC
MOTORS
The simulation of the entire set up can be done us-
ing following dc motor modeling equations.

3.1 DC Separately Excited Motor Fig. 2. DC-DC converter circuit and waveform

di 0 1 ⎡ dθ ⎤
= ⎢⎣V − R i − K (1) The model equation for DC-DC converter is given by
dt ⎥⎦
o a 0 b
dt La
d 2θ 1 ⎡ dθ ⎤ V o = δV s (5)
2
= ⎢⎣ K T io − B dt − T L ⎥⎦ (2 ) TON
dt J δ= (6)
T
3.2 DC Series Motor
T = TON + TOFF (7 )
di a 1 ⎡ dθ dθ ⎤
= Vo − R a i a − K af i a − K res (3)
dt La ⎢⎣ dt dt ⎥⎦ where V0 – Output Voltage
VS – Input Voltage
d θ 1
2
⎡ 2 dθ ⎤
= ⎢ K af i a − B dt − TL ⎥ ( 4) TON – ON Time
dt 2 J ⎣ ⎦ TOFF – OFF Time
T – Total Time
where δ – Duty Cycle
i0 - Separately excited motor armature current The simulation operation of DC-DC converter is given in
ia=ise – Series motor current Table 1.
V0 - Motor terminal voltage
TABLE 1
Ra - Armature resistance DC-DC CONVERTER SWITCHING OPERATION
Converter
La - Armature inductance switch Position output voltage Load
Operating V0
J - Moment of inertia current
mode
Motoring Freewheeling Mode Mode io
B - Friction coefficient (Mode 1) (Mode 2) 1 2

TL - Load torque Forward MOSFET Diode

Vs 0 + ve
motoring (Q) ON (DF) ON
dθ
ω= - Angular speed
dt 5. IMPLEMENTATION OF FUZZY
θ-Angular displacement CONTROLLER IN MATLAB/SIMULINK
Kaf - Armature voltage constant
Kres - Residual magnetism voltage constant 5.1 Fuzzy Logic Control (FLC)
Kt – Torque constant and The effective and efficient control using fuzzy log-
ic has emerged as a tool to deal with uncertain, im-
Kb – Back emf constant precise or qualitative decision making problems [11-
17].
 3

The FLC involves four stages namely Fuzzifica-

tion, Rule-Base, Inference engine and Defuzzification.
The Sugeno type controller is performed for present
control because it has singleton membership in the out-
put variable. Moreover it can be easily implemented and
number of calculations can be reduced [9]. The Structure
of the fuzzy controller is shown in Figure 3.

Fig. 3. Structure of the fuzzy controller

5.2 Fuzzification
In Fuzzy logic system the linguistic variables are used
instead of numerical variables. The process of converting a
numerical variable (real number or crisp variables) in to a
linguistic variable (fuzzy number or fuzzy variable) is
called fuzzification.
In this work, the motor variables are speed and current Fig. 4. Fuzzy memberships used for simulation
(ia). The speed is controlled by FLC. The error e(k) and
change in error Δe(k) is given as input to the FLC. The error
is found by comparing the actual speed ω(k) with reference 5.4 Rule table and Inference Engine
speed ωr(k). From the e(k) and previous error eprevious(k) the
The control rules that relate the fuzzy output to the
change in error is calculated and then it is normalized, in
fuzzy inputs are derived from general knowledge of the
order to use the same FLC for different reference speed.
system behavior, also the perception and experience.
Then the error and change in error are fuzzified [16]. The
However, some of the control rules are developed using
equation for error and change in error are given in equa-
“trial and error” method [7].
tion 8 and 9.
e ( k ) = ωr ( k ) − ω ( k ) (8)
The general rule can be written as
Δe(k ) = e(k ) − ePr evious (k ) (9)
Five linguistic variables are used for the input variable If e(k) is X and Δe (k) is Y, then Δdc(k) is Z
e(k) and Δe(k). That are negative big (NB), negative small
(NS), zero (Z), positive small (PS) and positive big (PB). where X, Y and Z are the fuzzy variable for e(k),
There are many types of membership functions, such as Δe(k) and Δdc(k) respectively [6].
triangular-shaped, Gaussian, sigmoidal, pi-shaped trape-
zoidal-shaped, bell-shaped etc. the triangular membership The rule table for the designed fuzzy controller is
function is used for simplicity and also to reduce the calcu- given in the Table 2. [9]. The element in the first row and
lations [5] and [9]. Normally seven membership functions first column means that
are preferred for accurate result. In this work only five If error is NB, and change in error is NB then output
membership functions are used for the input, error and is NB.
TABLE 2
change in error. In order to reduce the number of member- FUZZY RULES
ship function the width of the membership functions are
kept different. The membership function width for the cen-
ter membership functions is considered narrow and wide Error
towards outer. The input and output fuzzy membership
functions are shown in Figure 4. NB NS Z PS PB
5.3 Defuzzification
NB NB NB NB NS Z
The reverse process of fuzzification is called defuzzifica-
Change in Error

tion. The linguistic variables are converted in to a numeri- NS NB NB NS Z PS

cal variable [5]. As the weighted sum method is considered
to be the best well-known defuzzification method, it is uti-
Z NB NS Z PS PB
lized in the present model.
The defuzzified output is the duty cycle dc(k). The
change in duty cycle Δdc (k) can be obtained by adding the PS NS Z PS PB PB
pervious duty cycle pdc(k) with the duty cycle dc(k) which
is given in equation 10. PB Z PS PB PB PB

Δdc(k ) = dc(k ) + pdc(k ) (10)

4

6. SIMULATION OF THE PROPOSED The speed variation with respect to time and Cur-
SYSTEM rent Variation with respect to time is shown in Figure
6 and Figure 7 respectively.
The simulation of DC-DC converter fed dc series
motor is done based on equation modeling technique,
using MATLAB/simulink toolbox. The complete simu-
link model developed is given in Figure 5.

Fig. 5. Simulink Model of the proposed system

Fig. 6. Speed Variation with respect to Time Response for
ωr=1800 rpm
The fuzzy controller block from fuzzy logic toolbox
is used to test and evaluate the proposed fuzzy control-
ler.

7. RESULTS AND DISCUSSION

The proposed model has been simulated using Mat-
lab simulink toolbox. The fuzzy controller has been de-
signed and DC-DC converter was tested.

The proposed model including fuzzy controller and

DC-DC converter has been simulated using MATLAB
simulation. The specification of DC motors used for si-
mulation is given in Table 3 and 4.

TABLE 3
DC SEP. EXCITED MOTOR SPECIFICATIONS
Fig. 7. Motor Current Variation with respect to Time Re-
DC motor Parameters Value sponse for ωr=1800 rpm
Motor rating 3HP
Dc supply voltage 220V The simulated result of speed regulation for a
Motor rated Current 4.3A step change in the load torque of 25%, 50% and 75%
Armature resistance Ra 0.6Ω applied at t=3 sec is shown in Figure 8, Figure 9, and
Armature inductance La 0.008 H Figure 10 respectively. From these figures, it is clear
Inertia constant J 0.011 Nm2 seen that the load influences the performance of the
Damping constant B 0.004Nm/rad/s controller and hence the motor.
Torque constant parameter Kt 0.55
Back emf constant Kb 0.55
Speed 1800rpm

TABLE 4
DC SERIES MOTOR SPECIFICATIONS
DC motor Parameters Value
Motor Rating 5HP
Dc supply voltage 220 V
Motor rated Current 18 A
Armature resistance Ra 1Ω
Armature inductance La 0.032 H
Inertia constant J 0.0465 N-m2
Damping constant B 0.004 Nm/rad/s
Armature voltage constant Kaf 0.027
Residual magnetism voltage Fig. 8. Speed variation for the step change in load torque
const. Kres 0.027 (ΔTL=25%) applied at t=3secs when the speed is 1800rpm.
Motor Speed 1800 rpm
 5

Fig. 11. The variation of speed for the step change in set speed from
1000 to 1800rpm with rated load.

Fig. 9. Speed variation for the step change in load torque

(ΔTL=50%) applied at t=3secs when the speed is 1800rpm.

8. CONCLUSION
The performance of the two inputs with five member-
ship function fuzzy logic controlled DC-DC converter fed
DC series motor and separately excited motor is presented
in this paper. The dynamic speed response of DC motors
with fuzzy controller was estimated and found that the
speed can be controlled effectively. The fuzzy controller
performance is superior for the series motor, compare to
separately excited motor. The analysis provides various
useful parameters and the information for effective use of
proposed system.

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Fig. 10. Speed variation for the step change in load torque
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M.Muruganandam received the B.E degree from the
Periyar University Salem, India, in 2003, and the M.E
degree from the Anna University of Chennai, India, in
2005. He is currently working towards his doctoral
degree at the Anna University of coimbatore, India.
He has been a member of the faculty at Centre for
Advanced Research, Muthayammal Engineering Col-
lege, Rasipuram, Tamilnadu, India since 2005. His research interests
include fuzzy logic and neural network applications to power electron-
ics and drives and machine modeling.
M.Madheswaran received the BE Degree from
Madurai Kamaraj University in 1990, ME Degree
from Birla Institute of Technology, Mesra, Ranchi,
India in 1992, both in Electronics and Communica-
tion Engineering. He obtained his PhD degree in
Electronics Engineering from the Institute of Tech-
nology,Banaras Hindu University, Varanasi, India, in
1999. At present he is a Principal of Muthayammal Engineering Col-
lege, Rasipuram, India. He has authored over forty five research
publications in international and national journals and conferences.
His areas of interest are theoretical modeling and simulation of
high-speed semiconductor devices for integrated optoelectronics
application, Bio-optics and Bio-signal Processing. He was awarded
the Young Scientist Fellowship (YSF) by the State Council for
Science and Technology, TamilNadu, in 1994 and Senior Research
Fellowship (SRF) by the Council of Scientific and Industrial Re-
search (CSIR), Government of India in 1996. Also he has received
YSF from SERC, Department of Science and Technology, Govt. of
India. He is named in Marquis Who’s Who in Science and engineer-
ing in the year 2006. He is a life member of IETE, ISTE and IE (In-
dia) and also a senior member of IEEE.