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Tuning of Pid Controller With Fuzzy Logic
Tuning of Pid Controller With Fuzzy Logic
FUZZY LOGIC
CONTENTS 2
Serial No. Topic Slide No.
1 Introduction 3
2 Fuzzy Logic 4
3 Example 5
4 PID Controller 6
5 Designing of PID Controller 7
6 Necessity of Tuning 8
7 ZEIGLER NICHOLS Method 9
8 Inferences from ZN 10
method of tuning
9 PID tuning using fuzzy set- 11
point weighting
10 Block diagram for PID 13
tuning
11 Conclusion 15
12 References 16
INTRODUCTION 3
->PID controllers constitute an important part at industrial control systems so any
improvement in PID design and implementation methodology has a serious potential
to be used at industrial engineering applications.
->The PID controllers which were invented in the 1900s are still used in more than 95%
of industrial control loops .
-> They have survived many changes in technology from mechanics and Pneumatics to
microprocessors via electronic tubes , transistors and integrated circuits .
-> Present day PID controllers are made by using microprocessors/microcontrollers and
using Programmable logic control technology.
Fuzzy Logic 4
-> Fuzzy logic is an approach to computing based on ‘degrees of truth’ rather than the
usual ‘true or false’(1 or 0) Boolean logic on which the modern computer is based.
-> the FL is based on the implementation of human understanding and human thinking in
control algorithms.
-> Fuzzy logic has been applied to many fields, from control theory to artificial intelligence.
-> As the complexity of a system increases, it becomes more difficult and eventually
impossible to make a precise statement about its behaviour, eventually arriving at a point
of complexity where the fuzzy logic method is the only way to get at the problem.
EXAMPLE 5
Given a number between 0 and 10 that represents the quality of service at a restaurant
(where 10 is excellent), what should the tip be?
ALGORITHM
Values of Kp, Ki, and Kd are adjusted until we obtain the optimum response .
NECESSITY OF TUNING 8
Tuning is the process of finding appropriate parameters for the PID controller . Tuning
determines the overall performance of control loop which affects quality of product , cost
etc .
Formula –
u(t)= Kp [e(t)+Td de(t)/dt+1/Ti ∫e(t)dt]
Procedure –
1- The pid controller is turned into p controller by setting Ti=infinity and Td=0.
2 – The gain Kp is set to zero.
3 – The control loop is closed by setting the controller in automatic mode.
4 - Kp was increased until there are sustained oscillations in the signals in the control system.
Inferences from ZN method of tuning 10
1 – Ensures good load disturbance attenuation.
2 – The algorithm and application is quite simple .
Gff = Kp [b+1/(sTi)+Td]
Gc = Kp[1+1/(sTi)+Td]
12
However, the use of set-point weighting
Ysp
generally leads to an increase in the rise Gff
time since the effectiveness of the
proportional action is somewhat reduced.
-1
the output f(t) of the fuzzy module is added
to a constant parameter w, resulting in a
coefficient b(t) that multiplies the set-point.
Two degrees of freedom implementation
13
The main benefits in the use of FL appear when process non-linearities such as
saturation are significant.
a balance is obtained between both rise time and overshoot in the response i.e lesser
overshoot and smaller rise time are obtained simultaneously by using FL which is
impossible using conventional methodologies .
The ease of tuning of fuzzy mechanism parameters plays a key role in the practical
applicability of the methodologies, since it determines the improvement in the cost per
benefit ratio with respect to standard methods.
References 16
1 - Gaddam Mallesham Akula Rajani ,“automatic tuning of pid controller using fuzzy logic”
8th international conference on development and application system ; Suceava,Romania,
May 25-27 , 2006.