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Because PID controllers are often not properly tuned ,there is a significant need
to develop methods for the automatic tuning of PID controllers.
While there exist many conventional methods for PID auto-tuning, here we will
strictly focus on providing the basic ideas on how you would construct a fuzzy
PID auto-tuner.
The figure in next slide showing how a fuzzy PID auto-tuner may work.
There, the “behavior recognizer” seeks to characterize the current behavior of
the plant in a way that will be useful to the PID designer.
The whole (upper-level) supervisor may be implemented in a similar fashion to an
indirect adaptive controller .
Alternatively, simple tuning rules may be used where the premises of the rules
form part of the behavior recognizer and the consequents form the PID designer.
In this way, a single fuzzy system is used to implement the entire supervisory
control level.
Some candidate rules for such a fuzzy system may include the following:
Some candidate rules for such a fuzzy system may include the following:
1. If steady-state error is large Then increase the proportional gain.
2. If the response is oscillatory Then increase the derivative gain.
3. If the response is sluggish Then increase the proportional gain.
4. If the steady-state error is too big Then adjust the integral gain.
5. If the overshoot is too big Then decrease the proportional gain.
The Zeigler-Nichols PID tuning rules can used but represent them with a fuzzy
system.
For some applications, it is best to have a tuning phase and an on-line operation
phase where tuning does not occur.
In the tuning phase, the system takes over and generates a set of reference
inputs (e.g., a step) and observes and analyzes the step response to determine
the values of the parameters of the premises of the above rules.
Then the rule-base is applied to these, the new PID gains are found, and the
closed-loop control system is put into operation with these new gains.
Clearly, however, it may be unacceptable to expect the system to be taken off-
line for such tests and retuning.
On the other hand, for some applications (e.g., in process control) it is possible to
follow such a retuning scenario .
At this point, however, the reader who understands how a fuzzy system operates
and has a specific application in mind, can probably quickly write down a set of
rules that quantifies how to keep the PID controller properly tuned.
This is often the primary advantage of the fuzzy systems approach to PID auto-
tuning over conventional methods.
Conventional gain scheduling involves using extra information from the plant,
environment, or users to tune (via “schedules”) the gains of a controller.
whole range of operating points (e.g., for certain machs and altitudes).
These control designs provide a set of gains for the controller at each operating
condition over the entire flight envelope.
A gain schedule is simply an interpolator that takes as inputs the operating
condition and provides values of the gains as its outputs.
One way to construct this interpolator is to view the data associations between
operating conditions and controller gains as forming a large table.
Then, when we encounter an operating condition that is not in the table, we
simply interpolate between the ones in the table to find an interpolated set of
gains.
In this way, as the aircraft moves about its flight envelope, the gain scheduler will
keep updating the gains of the controller with the ones that we would have
picked based on a linear design about an operating point.
This general gain scheduling approach is widely used in the aircraft industry (e.g.,
also for engine control).
The fuzzy system methodology also offers three different methodologies for gain
schedule construction to conventional gain scheduling approaches.
In this case the design of a set of linear controllers for various operating
conditions may not be necessary as it may be possible to simply specify, in a
heuristic fashion, how the gains should change.
The use of rules may be particularly useful here. For example, the tank level
control application.