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CHAPTER 1
INTRODUCTION
1.1
BACKGROUND
Processes, with only one output being controlled by a single
LITERATURE REVIEW
The background information available through the studies of
different researchers over the decades with regard to the PI/PID Controller,
Fuzzy PI/PID Controller and Self Tuning Fuzzy PI/PID Controller for various
applications are explained below.
1.2.1
PI/PID Control
Zeigler and Nichols (1942) developed the tuning methods for P,PI
and PID controllers. Cohen and Coon (1953) presented a method to determine
the adjustable parameters. Smith (1957) presented an effective control scheme
for processes with large time delay. Garcia and Morari (1985) have designed
an Internal Model Controller (IMC) for Multi Input-Multi Output (MIMO)
discrete time systems which provides a practical tool to influence dynamic
performance and robustness. Nesler (1986) has proposed self-tuning
controller for Heating, Ventilation, and Air Conditioning (HVAC) system in
which Proportional and Integral control parameters are calculated from tuning
rules designed to minimize the Integral Absolute Error (IAE) for set-point
changes. Hang et al (1991) proposed a refined Zeigler Nichols tuning rules.
Controllers for unstable systems with a zero. They applied the controller
design for non-ideal Continuous Stirred Tank Reactor (CSTR) and showed
that the developed PI Controller significantly reduced overshoot and
undershoot and was robust for uncertainity in the model parameters.
Hagglund and Astrom (2004) stated that Zeigler Nichols frequency response
method for tuning PI Controller had severe limitations and a new tuning rule
could be obtained by a major modification. Jones and Tham (2004) compared
the two simple PID design methods, Internal Model Control (IMC) and Gain
Phase Margin (GPM), that used robustness as their main design criterion, and
applied to a multi-loop PI control configuration which was being used to
control a multivariable process model against load disturbances.
Ali (2005) proposed an automatic tuning method for the online
adjustment of PI settings and tested the algorithm on a CSTR and proved that
better performance could be achieved for both set point change and load
disturbance. Xiong and Cai (2006) have explained controller design in terms
of relative gain and relative frequency. The proposed effective transfer
function provides both gain and phase information for decentralized controller
design in a simple and straight forward manner when compared with existing
equivalent transfer functions. The interaction effects for a particular loop from
all other closed loops are directly incorporated into the effective transfer
functions in four ways. The decentralized controllers can be independently
designed by employing the single loop tuning techniques. This design method
is simple, straightforward, easy to understand and implement by field
engineers. Bentayeb
tool (frequency and time ones) is used to reduce the controller structure using
a Non Linear Optimization.
Shamsuzzoha et al (2010) developed a new procedure for PI
controller tuning of an unidentified process using closed loop responses. The
tuning method was derived for the first order time delay processes and
algorithm was tested on a broad range of other stable and integrating
processes. The results showed that the closed-loop data were comparable with
the Skogested Internal Model Control (SIMC) tuning rule.
1.2.2
Fuzzy PI Controller using resetting factors. The first of the two fuzzy
controllers determines the resetting rate based on error and error rate, while
the second one uses error and control input. The computation of the resetting
factor is driven by a fuzzy rule base. The controller remarkably improves the
transient response of a second-order linear system with integrating element.
Chen and Ying (1993) analyzed the stability of nonlinear fuzzy PI control
systems. The investigation is done by employing small gain theorem to
nonlinear adaptive PI controller whose gains change continuously with the
output of the processes under control and it is proved that in a conventional PI
control system, if the linear PI controller is replaced by the nonlinear fuzzy PI
controller, then the stability of the resulting control system remains
unchanged, in the sense that the resulting control system will be (locally)
asymptotically stable if the original conventional PI control system is (locally)
asymptotically stable. Zhao et al (1993) developed fuzzy gain scheduled
scheme of (Proportional Integral Derivative) PID Controllers for process
control. Fuzzy rules and reasoning are used online to determine the controller
parameters based on error signal and its first difference. Simulation results
demonstrated that better control performance can be achieved in comparison
to Ziegler Nichols PID controllers. Moon (1995) has proved that when a
Proportional Integral (PI) Controller is designed, one can design a Fuzzy
Logic Controller whose output is identical to that of the PI Controller.
Similarly, if a Fuzzy Logic Controller using specified fuzzy logic operations
is designed, there could be a PI Controller whose output will be identical to
that of the designed Fuzzy Logic Controller for Single Input and Single
Output system. Li and Gatland (1996) proposed a fuzzy 3 term control
scheme to improve the performances of a fuzzy two term controller and
through simulation analysis showed that fuzzy three term control scheme is
advantageous and effective than fuzzy two term control.Cheng and Wang
(1998) designed a fuzzy tuned PI Controller for benchmark drum boiler and
compared its performances with the pure fuzzy controller. Fuzzy tuned PI
Controller showed better performance than pure PI Controller. Xu and Pok
(1998) established a new tuning formula based on the concepts of gain and
phase margins by adjusting the nonlinear characteristics of the simplified
fuzzy Pi controller. The new tuning formula largely eliminated the need for
manual fine tuning and human expertise.
Kaminskas and Liutkevicius (2002) synthesized adaptive fuzzy
controllers for water level and air pressure control in the nonlinear plant and
experimentally proved the efficiency of adaptive fuzzy controllers by
controlling the plant at different working conditions and stated that adaptive
fuzzy controllers were more powerful than conventional PI or PID controllers
when working under normal working conditions and when the plant dynamics
changes in time. Mokrani and Kouzi (2004) investigated the influence of
fuzzy adopted gains applied for speed regulation of an indirect field oriented
induction motor and stated that a simple fuzzy adaptation mechanism could
improve greatly the robustness of the drive speed regulation. They also stated
that robustness of the system was ameliorated in a wide range of changing
conditions especially in the case of the fuzzy tuning of the three scaling
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into
Multi-input
Single-output
(MISO)
subsystems.
Subsequently, the control of a MIMO system has been transformed into the
control of a set of coupled nonlinear MISO subsystems. Moreover, a good
performance has been obtained by means of Fuzzy Logic PI Controller. The
potency and robustness of the proposed approach has been tested on a
simulation example. Jacob and Binu (2009) designed a Fuzzy PI Controller
for wind tunnel pressure regulation and stated that fuzzy controller was added
to improve the performance robustness of classical PI Controllers. Ferdi et al
(2010) developed an adaptive fuzzy PI controller for Dynamic Voltage
Restorer (DVR) and compared the performances with conventional PI
controller. The simulation results proved that the adaptive fuzzy PI controller
gave more improvement in the performance than conventional PI controller.
Jones et al (2011) developed a fuzzy assisted PI control system for wind
tunnel. Performance analysis shows more improvement in settling time and
overshoot compared to conventional PI controller. Aly et al (2012) developed
a Fuzzy Logic PI Controller for a class of industrial hydraulic manipulator
and through simulation analysis demonstrated that the Fuzzy Logic PI
Controller was more robust and faster compared to traditional PI/PID
Controller.
1.2.3
PID Controller using fuzzy rules. The proportional sensitivity integral time
and derivative time were initially calculated using ZieglerNichols tuning
formula. Mudi and Pal (1999) described a robust self tuning scheme for PI
and Proportional Derivative (PD) type fuzzy controllers in which they
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adjusted output SF online by fuzzy rules and proved that Self Tuning Fuzzy
Logic Controller gave more remarkable performance than Fuzzy Controller.
Woo et al (2000) developed a method to tune the scaling factors of the PID
type fuzzy controller online. Simulation of the PID type fuzzy controller with
self tuning scaling factors showed better performance in the transient and
steady state response. Babuska et al (2002) developed and implemented a self
tuning fuzzy PI controller for pH control system. The self-tuning capability
made the controller robust with respect to the varying buffer capacity and the
working volume of the fermenter.
Zhao and Collins (2003) experimentally demonstrated the
performance of industrial weigh belt feeder using PI type FLC, gain
scheduled PI type FLC and self tuning PI type FLC and stated that Self tuning
PI type FLC gave effective performance compared to the other two types of
FLCs. Karasakal et al (2005) implemented a new self tuning fuzzy PID
controller on PLC and compared the performances with classical fuzzy PID
controllers without tuning mechanism and observed that the self tuning
mechanism decreased the oscillations and the settling time. Cheng et al (2007)
proposed a new self tuning fuzzy PI controller with conditional integral to
control the characteristics of a doubly salient permanent magnet motor drive
and showed that the propose new self tuning fuzzy PI controller offers better
adaptability, better steady state and dynamic performances than the normal PI
control scheme.
Vijayan et al (2007) have proposed a self tuning fuzzy control
method for a Switched Reluctance Motor (SRM) Drive. Here, the outputscaling factor has been tuned online by using the Gain Tuning (GT) FLC rules
and stated that Self Tuning Fuzzy PI Controller shows enhanced performance
than conventional PI type FLC. It has been proved that the proposed Self
Tuning Proportional Integral Fuzzy Logic Controller (STPIFLC) for SRM
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drive has a rapid tracking capability, low steady state error, effective against
load disturbance and very less torque ripple. Wahyungoro (2008) conducted
simulation on DC servomotor control system and analysed the performances
of a PID Controller, PI Controller, fuzzy scheduled PID Controller and a
fuzzy logic based Self Tuning PI Controller on the system.The performance
comparison reveals that Fuzzy logic based Self Tuning PI Controller has the
best performance compared to conventional PID and fuzzy scheduled PID
Controller for speed control of (Direct Current) DC Servomotor. Hameed et al
(2008) found that for damping oscillations, performance of STFPIC was
better than FPIC. Mudi and Pal (2008) proposed a STFPIC for HVAC system
in which they used different scaling factors for tuning the controller under
parameter variations and proved STFPIC gave better performance under large
variation in time constant and gain. Masilia et al(2008) implemented a self
tuning fuzzy controller in the field oriented control of induction machine
.They conducted simulation analysis and stated that the self tuning fuzzy
controller has the ability to adjust it parameters online according to the error
between the actual machine speed and model reference.
Zulfatman (2009) applied self tuning fuzzy control on electro
hydraulic actuator to tune the values of Kp,Ki,and Kd of the PID controller
and proved that Self Tuning Fuzzy Proportional Integral Derivative Controller
(STFPID) showed improved performance than conventional PID. Ozbay
(2010) conducted an experiment on load frequency control for small hydro
power plants to overcome the disadvantages of traditional PI Controller and
evaluated the performance.The simulation results showed that the system
adjustment time and overshoot decreased significantly and control
performance got much improved after the fuzzy self tuning algorithm was
applied in conventional PI Controller.Sujatha and Vaisakh (2011) applied the
Self Tuning Fuzzy PI Control scheme for direct torque controlled induction
motor by adjusting the output scaling factor online by fuzzy rules. They
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method for selecting the scaling factors in FPIC and STFPIC, and hence to
compare the performances of FPIC, Analytically tuned FPIC, STFPIC and
Analytically tuned STFPIC under all circumstances for different processes
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