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CHAPTER 3
3.1. INTRODUCTION
This chapter enumerates the design of fuzzy controller for closed loop
control of DC drives. The controller designed has two loops with an inner current
controller and an outer fuzzy speed controller. The designed fuzzy controller is
tested by computer simulations. The controller is used to change the duty cycle of
the converter switches and thereby, the voltage fed to the armature of the separately
excited motor to regulate the speed. The simulated closed loop performance
regarding load variation and set speed change for fuzzy logic controller has been
reported. The fuzzy controller is found to be more advantageous.
The following steps are applied to design and implement the fuzzy logic
controller.
4. Input and output variables for the fuzzy logic controller are
identified.
9. The system is simulated with the defined fuzzy controller and its
performance is observed under different conditions of operation.
10. The rule table and membership functions are iterated until the
performance of the system is satisfactory.
11. The controller is implemented in real time and further iterated for
optimum performance.
Figure 3.1 shows the block diagram of the complete proposed system
based on fuzzy logic controller. The system consists of an H-bridge converter for
driving the separately excited motor. A micro-controller is used to generate the
PWM waveform required to switch the H-bridge converter. The designed closed
loop control has two loops. One is outer speed control loop and another one is inner
current control. In the outer speed control loop, the speed is fed back and is
compared with set speed or reference speed. After comparison, error signal is
calculated. This error signal and the reference speed values are given as input to the
fuzzy logic controller. In this proposed work, the error is normalized to per unit
value with respect to the reference speed. This helps in using the fuzzy controller for
any desired reference speed. The fuzzy controller will attempt to reduce the error to
zero by changing the duty cycle of switching signal.
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The proposed system has an inner ON / OFF current control loop. This
inner current control loop has the advantage of making the system universal so that
it can be used for any motor with any specifications. Changing the motor reference
current, Ireference can change the controller to work for motor of any current rating.
The controller is designed to work with H- bridge converter and so the speed can be
controlled over a wide range from zero to the rated speed.
The actual motor speed is fed back and is compared with reference speed.
After comparison, error signal is calculated. This calculated error signal and the
reference speed values are given as input to fuzzy logic controller. In this proposed
work, the error is normalized to per unit value with respect to the reference speed.
This helps in using the fuzzy controller for any desired reference speed. The fuzzy
controller will attempt to reduce the error to zero by changing the duty cycle of
switching signal. The new duty cycle is calculated by adding the output of fuzzy
logic controller with 15% of previous duty cycle. The fuzzy logic controller
structure shown in Figure 3.2 is used for implementation.
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Figure 3.2 Block diagram of the proposed fuzzy logic controller structure
3.4.1. Fuzzification
3.4.2. Defuzzification
The rules are in the following format. If error is Ai and reference speed is
Bi then output is Ci. Here, if part of the rule is called the rule antecedent and is a
description of a process state in terms of a logical combination of atomic fuzzy
propositions, the then part of the rule is called the rule consequent and is a description
of the control output in terms of logical combinations of fuzzy propositions. The rule
table for the designed fuzzy logic controller is given in Table 3.1.
Reference
speed VVL VL L LL ML N H
Error
NB Z Z Z Z S N ML
NM Z Z Z S N ML LL
NS Z Z S N ML LL L
Z Z S N ML LL L VL
PS S N ML LL L VL VVL
PM N ML LL L VL VVL VVL
PB ML LL L VL VVL VVL VVL
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Then, the design of fuzzy logic controller is performed. The simulation model of the
DC motor is developed using LabVIEW. The closed loop operation is simulated with
the designed controllers and their performance is studied. The parameters selected for
the comparison are the steady- state error, rise time, peak overshoot and settling time.
The computer simulation is run for a step change in motor reference speed
and the corresponding change in actual speed is recorded. The step change in load
torque is applied and the corresponding change in the actual speed is also recorded.
The simulated graphs of speed variation of a 220V and 110V motors with
PID controller and Fuzzy logic controller for a reference speed change from 1000
rpm to 1500 rpm with no load are given in Figures 3.5, 3.6, 3.9 and 3.10. The graphs
of speed variation with step change in speed and step change in load torque are
shown in Figures 3.7, 3.8, 3.11 and 3.12. The reference speed is initially 1000 rpm
and changed to rated speed of 1500 rpm at 100 secs with no load. The load torque is
initially not applied and then changed to full load torque at 200 secs and removed at
300 secs.
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Figure 3.5 Graph of speed variation for the step change in the reference speed
with PID controller for a 220V motor
Figure 3.6 Graph of speed variation for the step change in the reference
speed with fuzzy logic controller for a 220V motor
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Figure 3.7 Graph of speed variation for the step change in the reference speed
and step change in load torque with PID controller for a 220V
motor
Figure 3.8 Graph of speed variation for the step change in the reference
speed and step change in load torque with fuzzy logic controller
for a 220V motor
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Figure 3.9 Graph of speed variation for the step change in the reference
speed with PID controller for an 110V motor
Figure 3.10 Graph of speed variation for the step change in the reference
speed with fuzzy logic controller for an 110V motor
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Figure 3.11 Graph of speed variation for the step change in the reference
speed and step change in load torque with PID controller for an
110V motor
Figure 3.12 Graph of speed variation for the step change in the reference
speed and step change in load torque with fuzzy logic controller
for an 110V motor
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