Improving A PID Controller

Using Fuzzy Logic

Andrew Thompson
Ni Li
Ara Tchobanian
Professor: Riadh Habash
TA: Hanliu Chen
 Problem
• Although PID controllers are able to
provide adequate control for simple
systems, they are unable to compensate for
disturbances.

• We will use Fuzzy Logic controllers to

improve the PID controllers ability to
handle disturbances.
 Hypothesis
• We feel like all the designs for the fuzzy
compensator will be an improvement upon
the PID controller and will have greater
ability to deal with disturbances.
IEEE Papers
 Group Contribution
• Andrew Thompson:
– Research and development of Fuzzy precompensator
design and rules
– Research and development of PID Controller
• Ni Li:
– Research and development of various Fuzzy logic
compensator (PD, PI) designs and rules
• Ara Tchobanian:
– Research and modeling of DC motor
– Research and development of PID Controller
 Procedure
• We first needed to decide upon a system
which we could control using a PID
controller as well as be able to introduce a
disturbance.
• We chose to model a basic DC motor.
 DC Motor
We used the following values for
the model of the DC Motor
• moment of inertia of the rotor
J = 0.01 kg.m2/s2
• damping ratio of the
mechanical system b = 0.1 Nms
• electromotive force constant K
= 0.01 Nm/Amp
• electric resistance R = 1 ohm
• electric inductance L = 0.5 H
• input V: Source Voltage
• output Θ’: Speed of motor
DC Motor Model
 Step 2
• We next had to design a PID controller to control the
speed of the motor.
 PID Controller
• We wanted the PID controller to satisfy the
following criteria:
– Settling time less than 2 seconds
– Overshoot less than 5%
– Steady-state error less than 1%
• By using trial and error, and examining the step
response we obtained the following gains:
• Kp = 100, Ki = 200, Kd = 10
PID Model
 Step 3
• The final step in the development of our
controllers was to design various forms Fuzzy
logic compensators in order to improve the
performance of the PID controller and to allow it
to account for the disturbance.
• We designed three types of Fuzzy logic
Compensators
– Fuzzy PI
– Fuzzy PD
– Fuzzy Precompensated
 Fuzzy logic Introduction
Fuzzy logic is a problem-solving control system methodology that lends itself to
implementation in systems ranging from simple, small, embedded micro-
controllers to large, networked, multi-channel PC or workstation-based data
acquisition and control systems. It can be implemented in hardware, software, or
a combination of both.

Inputs

Rules

Output
Fuzzy Precompensated PID

Membership Functions, and Fuzzy Rule Sets

Surface and Rule Sets
Fuzzy Precompensated PID Model
Fuzzy logic Equation for the fuzzy PI

Kp*X + Ki*Y = Z

The output for the fuzzy

Y example input for Ki

The gain for Ki

X example input for Kp

The gain for Kp

Membership functions for the PI component.
Optical

A)
Low High

B)

• (a) Input membership functions.

• (b) Output membership functions.
 Fuzzy Logic Rules for the PI
• The P is Low and I is Low then output is –R
• The P is Low and I is Optimal then output is –(R+S)/2
• The P is Low and I is High then output is -S
• The P is Optimal and I is Low then output is (–R+S)/2
• The P is Optimal and I is Optimal then output is 0
• The P is Optimal and I is High then output is (R-S)/2
• The P is High and I is Low then output is S
• The P is High and I is optimal then output is (R+S)/2
• The P is High and I is High then output is R

Where R=L1*Ki+L2*Kp S=L2*Kp+L1*Ki

 Linear Fuzzy PI Control Table
Output Low ( D) Optimal ( D ) High ( D )
Low ( P ) -R -(R+S)/2 -S
Optimal ( P ) -(R-S)/2 0 (R-S)/2
High ( P ) S (R+S)/2 R

Surface Viewer
Fuzzy PI Model
 Fuzzy PD

Membership Functions
Fuzzy PD Model
 Simulation Results
Step Response

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD
 Simulation Results
Step Response with sine disturbance

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD
 Simulation Results
Step Response with Gaussian Noise disturbance

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD
 Simulation Results
Sine Input

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD
 Simulation Results
Sine Input with sine disturbance

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD
 Simulation Results
Sine Response with Gaussian Noise disturbance

Fuzzy
PID
Precompensated

Fuzzy Fuzzy
PI PD