speed control of dc motor by fuzzy controller
TRANSCRIPT
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SPEED CONTROL OF DC MOTOR BY FUZZY CONTROLLER
PREM KUMAR
REG NO – 1611110018
M TECH (PED)
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INTRODUCTION
The fuzzy logic, unlike conventional logic
system, is able to model inaccurate or
imprecise models. The fuzzy logic approach
offers a simpler, quicker and more reliable
solution that is clear advantages over
conventional techniques. This paper deals with
speed control of Separately Excited DC Motor
through fuzzy logic Controller.
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WHAT IS FUZZY LOGIC CONTROLLERS ?
It’s totally different from other controllers,
fuzzy logic's principle is to think like an
organic creature; human.
A form of knowledge representation suitable
for notions that cannot be defined precisely,
but which depend upon their contexts.
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HOW DOES IT WORKS?
In fuzzy logic we define human readable
rules to form the target system. For instance
assume we want to control the room
temperature, first of all we define simple rules:
If the room is hot then cool it down
If the room is normal then don't change temperature
If the room is cold then heat it up
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HOW DOES IT WORKS? CONT….
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BOOLEAN LOGIC REPRESENTATION
Slow Fast
Speed = 0 Speed = 1
bool speed; get the speed if ( speed == 0) {
// speed is slow} else {
// speed is fast}
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FUZZY LOGIC REPRESENTATION
For every problem must represent in terms of fuzzy sets.
Slowest
Fastest
Slow
Fast
[ 0.0 – 0.25 ]
[ 0.25 – 0.50 ]
[ 0.50 – 0.75 ]
[ 0.75 – 1.00 ]
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FUZZY SETS
Extension of Classical Sets
Fuzzy set is sets with smooth boundary
Membership function
A fuzzy set defined by the function that
maps objects in a domain of concern to
their membership value in the set. Such a
function is called membership function
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FUZZY SET OPERATORS
Union
max (fA(x) , fB(x) ) Intersection
min (fA(x) , fB(x) )
ComplementComplement( fA(x) )
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LINGUISTIC VARIABLE
Linguistic variables are the input (or) output
variable of the system. Whose values are in
natural language.
Example:
The room is hot – linguistic value
How much it is hot – linguistic variable
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TEMPERATURE CONTROLLER
The problem Change the speed of a heater fan, based upon
the room temperature and humidity. A temperature control system has four
settings Cold, Cool, Warm, and Hot
Humidity can be defined by: Low, Medium, and High
Using this we can define the fuzzy set.
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STRUCTURE OF FUZZY LOGIC CONTROLLER
ADC
FUZZIFIER
INFERENCE ENGINE
DEFUZZIFIER
DAC
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FUZZIFICATION Conversion of real input to fuzzy set values
PROCEDURE
1. Description of the problem in an acceptable
mathematical form.
2. Definition of the threshold for the variables,
specifically the two extremes of the greatest and least
degree of satisfaction.
Based on the above threshold values a proper
membership function is selected among those available
e.g. linear, piece-wise linear, trapezoidal, parabolic... etc.
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INFERENCE ENGINE
Which makes the rules works in response to system inputs.
INFERENCE ENGINE
KNOWLEDGE BASE
USER INTERFACE
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INFERENCE ENGINE CONT….
These rules are human readable rules
It is basically uses IF-THEN rules to
manipulate input variables.
Example
IF( some function ) THEN( some
function ).
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DEFUZZIFICATION
Changing fuzzy output back into
numerical values for system action
There are two major defuzzification techniques
1.Mean Of Maximum method (MOM)
2.Gravity center defuzzifier (GCD)
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DEFUZZIFICATION CONT….
Example
let y = {0.1/2 + 0.8/3 + 1.0/4 + 0.8/5 +0.1/6} using GCD method we have
Y = ( 0.1*2 + 0.8*3 + 1.0*4 + 0.8*5 +0.1*6 )
(0.1+ 0.8+ 1.0+ 0.8 +0.1)Y=4
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BLOCK DIAGRAM
DC VOLTAGE SOURCE
DC TO DC CONVERTER
DC MOTOR
FUZZY CONTROLLER
PWM GENERATOR
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SYSTEM DESCRIPTION
Motor model :
In this model the armature reaction is
neglected.
The Vf and If are maintained constant. That
is field excited separately
The armature voltage is controlled to get
different speed
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SYSTEM DESCRIPTION CONT….
A linear model of a simple DC motor
consists of a mechanical equation and
electrical equation as determined in the
following equations
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SYSTEM DESCRIPTION CONT….
The dynamic model of the system is
formed using these differential equations
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SYSTEM DESCRIPTION CONT….
DRIVER CIRCUIT :
Here the DC to DC converter is used to
control the armature voltage of the motor.
The switches in the DC to DC converter
are controlled by PWM inverter.
The PWM which compares the corrected
error(ce) signal generated by the fuzzy
controller and reference signal.
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SYSTEM DESCRIPTION CONT….
ThyristorDC motor(armature
)
Speed measurement
s
Fuzzy controller
PWM controller
Dc source
Ref signal
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FUZZY LOGIC CONTROLLER
In this controller the input is speed and
the output is voltage.The membership function
is figured between error and change in error.
After that using pre defined rule the controller
produces signal this signal is called control
variable.it is given to PWM current controller
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THE RULE DATABASE TABLE
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ADVANTAGES OVER CONVENTIONAL CONTROL TECHNIQUES
Developing a fuzzy logic controller is cheaper
than developing model based or other
controller with comparable performance.
Fuzzy logic controller are more robust than
PID controllers because they can cover a
much wider range of operating conditions.
Fuzzy logic controller are customizable.
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DISADVANTAGES OF FUZZY SYSTEM
It is not useful for programs much larger or
smaller than the historical data.
It requires a lot of data
The estimators must be familiar with the
historically developed programs
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CONCLUSION
Thus the fuzzy logic controller is
sensitive to variation of the reference speed
attention. It is also overcome the disadvantage
of the use conventional control sensitiveness
to inertia variation and sensitiveness to
variation of the speed with drive system of dc
motor.
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THANK YOU