FUZZY

PRECOMPENSATED PID CONTROLLER

Introduction Advantages and disadvantages of FPC(Fuzzy pre-compensator) controller Fuzzy precompensated PID controller I. Control structure II. Fuzzy precompensator Fuzzification Comparison Conclusion
- Decision making - Defuzzification

CONTENTS

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

INTRODUCTION

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.

Basic control structure

1. Control structure

FUZZY PRECOMPENSATOR 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 described by the following equations e( k ) = e( k ) - e( k-1) (1) ( k ) = F[ e( k ), e( k ) ] (2) y1m ( k ) = ym (k) + ( k ) ..(3) where, e( k )=tracking error between ym(k) and yp(k) e( k )=change in the tracking error.
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 ( k ) = F[ e( k ), e( k ) ]= pre compensation or correction term. 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)....(4) e1( k ) = e1 ( k ) - e1 ( k-1)...(5) u (k) = u(k-1) +Kp e1( k ) +K1 e1( k )...(6) where, e1(k) =pre compensated tracking error, e1(k) =change in the pre compensated tracking error, u(k) = applied input to the plant.
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2. FUZZY PRECOMPENSATOR
Its Purpose is to compensate for overshoots and undershoots present in the output response when the plant has unknown nonlinearities. The pre compensator uses fuzzy logic rules that are based on the above motivation.
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CONTINUE

The implementation of the fuzzy logic based term is ( k ) = F[ e( k ), e( k ) ].

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, PS for positive small and so on.

set L is a collection of membership functions. = { NB, NM, NS, ZO, PS, PM, PB }
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Membership function of error e(k)

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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 DEFUZZIFICATION

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1. FUZZIFICATION
The realization of the function F[e(k), e(k)] deals into the setting of linguistic values. This consists of scaling the inputs e(k) and e(k) and then converting them into fuzzy sets. ne(l) = l (Ce e( k ) ) ne(l) = l (Ce e( k ) )

Where,

nos. ne(l) and ne(l), l L are used in the computation of F{ e(k) and e( k ) }, and Ce and Ce are scaling constants.

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Inputs

Rules

Output

Fuzzy inference systems editor

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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 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.

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Considering the triplet (ZO,NM,NM) .. 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

NB

NM

NS

ZO

PS

PM

PB

NB

NB

NB

NM

NS

NS

ZO

NM NS
ZO PS PM PB

NB NB
NM NM NS ZO

NB NM
NM NS ZO PS

NM NS
NS ZO PS PS

NS NS
ZO PS PS PM

NS ZO
PS PS PM PB

ZO PS
PM PM PB PB

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.

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 20 oscillations.

CONCLUSION

Structure of fuzzy PID controller

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