pid and fuzzy logic controllers
TRANSCRIPT
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Performance EvaluatioDigital Control Algorithm
A DC Motor System
Heng-Ming Tai
Department of Electrical Enginee
University of Tulsa
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DC Motor Control Objecti
Achieve fast and smooth speed response
Robustness to load variations
However, due to saturation nonlinearity in the speed c
windup effect degrades the performance of the PID con Input command to the motor is saturated because of the
saturation and motor overheating protection.
Both anti-windup PID and fuzzy logic control
achieve similar control performance.
Improved performance includes small oversho
settling time, and robustness.
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Experimental Setup
IBM 486
TMS320C30
EVM
ADC
DAC
Amplifier
CircuitryDC motor
TachometerAttenuator
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Fuzzy Logic Control Sch
Crisp
inputse(k), e(k)
Fuzzification Inferencing Defizzificat
FuzzyIF-THENRules
&
Membership Functions
NeNe
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Membership Function
1
-0.8 -0.4 -0.15 0.15 0.40 0.8-1
e(k), e(k)
NB NM NS ZE PS PM PB
NB NM NS ZE PS PM P
uc(k)
1
-1 -0.66 -0.33 0 0.33 0.66 1
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Fuzzy Logic Rules
e(k)
e(k) NB NM NS ZE PS PM
NB NB NB
NM NB NB NB
NS NB NM NM NM
ZE NB NM NS ZE PS PM
PS NM PS PS PM
PM PM PB PB
PB PM PM PB
FuzzyIF-THENrules are derived from heuristics and kn
of the system response.
IF e(k) is L1 AND e(k) is L2 , THEN u is U1
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PID Control
++= dttde
KdeKteKtu dip)(
)()()(
)()/5.0()1()( keTKTKKkuku dip +++= ()1()/25.0( ++ KkeTKKTK ddpi
05.0,2.0,50 === dip KandKK
Continuous-time:
Discrete-time:
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Discrete-Time PID Cont
e u ucumax
umax
r +Kp
)1( 1 z
T
Kd
)1(2
)1(1
1
+
z
zTKi
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Discrete-Time Anti-Windup C
e1
ue
-
+
umaxKp
+
+
+
)1(1 z
T
Kd
)1(2
)1(1
1
+
z
zTKi
)1(
21
1
+ zTK
z
i
Ka was chosen large enough so that the anti-windup c
is capable of following e to keep the output from satur
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PID Control
PID Anti-
Windup Control
Fuzzy Logic
Control
rpm
Step response
with load
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PID Control
PID Anti-
Windup Control
Fuzzy Logic
Control
rpm
Speed response
without load
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PID Control
PID Anti-
Windup Control
Fuzzy Logic
Control
rpm
Speed response
with load
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