The application of fuzzy PID controller in coupled-tank liquid-level control system

Li LIANG Department of automation, School o f Information Engineering, Inner Mongolia University of Science and Technology, Baotou, China li.liang.1982@163.com
AbstractFor the coupled-tank liquid-level control system with lumping lag and nonlinear characteristic, a fuzzy PID control approach is researchedIn this approachthe characteristic of the control system is analyzed the fuzzy PID controller is designed a new implementation method of fuzzy control arithmetic is put forward. In kingview, the monitoring interface is designed, control program is carried out by new method, and the Liquid level control system is practiced. The result shows that this method is rationality and feasibility Keywords- fuzzy PID control; Liquid-level; implementation method
I.

control is introduced into remove the error therefore, combine fuzzy with PID controller is applied in coupled-tank liquid-level control system, fuzzy controller is used to remove greater error, and PID controller is used to remove smaller error, in this method the good dynamic and steady state performance are obtained.
II.

DESIGN OF SYSTEM HARDWARE

In the design of the coupled-tank liquid-level control system, the core is that control algorithm and supervisory role is realized by computer, the difficulty is that the interface and data exchange between standard analog signals and computer. In this system, 8024 Nektons module is D/A module, 8017 Nektons module is A/D module, RS-232 to RS-485 communication module is used to realize data acquisition and transmission, the computer monitoring is realized by kingview software. In the coupled-tank liquid-level control system, the liquid level of lower tank is control object; pressure sensor is used for liquid level detection; 8017 Nektons module is used for data acquisition; the deviation between the measured values and the set values is used to operated according to the control operation in computer; the result is converted by 8024 Nektons module to control frequency converter, thereby to control the flow speed, in order to achieve the control of coupled-tank liquid-level.

INTRODUCTION

In the process of industrial production, liquid-level is an important parameter, and wildly applied in various field, such as liquid storage tank, a feeding tank, a product tank, the intermediate buffer containers and water tanks and other equipment. The coupled-tank liquid-level control is a typical representative of the process control, is hot research in control field. For the coupled-tank liquid-level control system with lumping lag, nonlinear and complex characteristics, and in which the control accuracy is directly affected by system status, system parameters and the control algorithm, the classical PID control is difficult to achieve good effect. Fuzzy control is a classic method of intelligent control. Although fuzzy control with strong robustness is used to realize the fast and stability of the system, but the steady state error is in existence. However, classical PID controller is characteristic of high accuracy, in the steady-state phase PID

978-1-4577-0321-8/11/$26.00 2011 IEEE

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set value

+ controller D/A

V F D pump coupled-tank

A/D

pressure sensor

Figure 1.

Principle diagram of coupled-tank liquid-level control system

III.

DESIGN OF FUZZY PID CONROLLER

measured value is equal to or greater than the limit, fuzzy control algorithm is used to improve the response speed of the system; when |e| is less than the limit, PID control algorithm is adopted to eliminate the steady state error of the system. The selection of limit value is very important. Generally, it is the steady-state value 20%. Certainly, it can also be adjusted based on the actual condition.

Fuzzy controller has characters of good dynamic performance, strong robustness. Because error is exist in quantization process, so that control action is less delicate, and steady-state error is present; in steady state, PID controller has high control precision. Therefore, the advantages of the fuzzy and PID controller are made full use. That is to say,When the deviation |e| which is between the given value and the

PID control algorithm r + _ fuzzy inference Defuzzification Fuzzification |e|xz |e|xz coupled-tank y

d/dt

Figure 2. IV.

Fuzzy PID controller

REALIZATION OF FUZZY CONTROL ALGORITHM

A. fuzzification In coupled-tank liquid-level control system, fuzzy controller has structure of double input and single output. Input variables are deviation e and deviation change rate ec; output variable is u. The input and output universes of discourse of the fuzzy controller are normalized on the range [6, 6]. The gains are used to map the actual inputs of the fuzzy system to the normalized universe of discourse [6, 6]. Fuzzy linguistic values of input and output are NBNMNSZOPS PMPB,Membership function curve is shown by figure 3.

Composition rule of inference (CRI), is a fuzzy inference algorithm and widely used in the practical control system. In CRI method, fuzzy controller is form of control table. According to the fuzzy control rule, the table is relationship between given discrete points of fuzzy controller input and output, which is calculated by the fuzzy control algorithm. In this process, error is generated. Therefore a new implementation method of fuzzy control arithmetic is put forward. In following, the specific implementation process is presented.

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Table 1 Table of control rules E Ec NB NM NB NB NB NM NS NS ZO NB NB NM NS NS ZO PS NB NM NS NS ZO PS PS NM NS NS ZO PS PS PM NS NS ZO PS PS PM PB NS ZO PS PS PM PB PB ZO PS PS PM PB PB PB NB NM NS ZO PS PM PB


Figure 3. Membership function curve of e NS ZO

Input deviation e is example, fuzzy implementation procedure is as follows e1=(e0+d);e2=(e0+2.0*d);e3=(e0+3.0*d); in this paper d=2 if(e<-e3){ enb=1.0;enm=1.0;uenb=1.0;uenm=0.0; } if(>=-e3&&e<-e2){enb=1.0;enm=1.0;uenb=-1.0/d*(e+e2); uenm=1.0/d*(e+e3);} if(e>=-e2&&e<-e1){enm=1.0;ens=1.0;uenm=-1.0/d*(e+e1 );uens=1.0/d*(e+e2);} if(e>=-e1&&e<e0){ens=1.0;ezo=1.0;uens=-1.0/d*(e+e0);u ezo=1.0/d*(e+e1);} if(e>=e0&&e<e1){ezo=1.0;eps=1.0;uezo=-1.0/d*(e-e1);ue ps=1.0/d*(e-e0);} if(e>=e1&&e<e2){eps=1.0;epm=1.0;ueps=-1.0/d*(e-e2);u epm=1.0/d*(e-e1);} if(e>=e2&&e<e3){epm=1.0;epb=1.0;uepm=-1.0/d*(e-e3); uepb=1.0/d*(e-e2);} if(e>=e3){epm=1.0;epb=1.0;uepm=0.0;uepb=1.0;} B. fuzzy inference if (enb==1.0 && denb==1.0) sum1=Min(uenb,udenb)*NB; Corresponding rule: if e is NB and ec is NB, then u is NB if (enb==1.0 && denm==1.0) sum2=Min(uenb,udenm)*NB; Corresponding rule: if e is NB and ec is NM, then u is NB if (epb==1.0 && depb==1.0) sum49=Min(uepb,udepb)*PB; A total of 49 sentences is corresponding to the 49 rules. function ,
PS PM PB

C. defuzzification Center of gravity (COG):A crisp output

u is chosen as

the center of area for the membership function of the overall implied fuzzy set. For a continuous output universe of discourse
P

u i , the center of area output is denoted by

i i

u =

(u )
i =1

i =1

where

is fuzzy set membership

u i is output variable , P is the number of rules

u is crisp output
In kingview, the following statement is used to realize defuzzification U=(sum1+sum2++sum49) /[ Min(uenb,udenb)+ Min(uenb,udenm)+ + Min(uepb,udepb)]
V.

DESIGN RESULTS

Liquid-level control system is developed and designed in kingview. Figure 4 is monitoring interface.

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Figure 4. Monitoring interface Figure 6. The real-time control curve of PID

In the kinview command window, the fuzzy PID control program is written, the control system of the coupled-tank liquid-level is realized, the real-time curve is shown in Figure 5,and the control effect is obvious better than PID control and fuzzy control.
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REFERENCES
Seng Teo Lian, Khalid Marzuki, Yusof Rubiyah. Tuning of a neuro-fuzzy controller by genetic algorithms with an application to a coupled-tank liquid-level control system. Engineering Applications of Artificial Intelligence, Vol 11, pp517-529, August 1998 Tao Hou. Experimental Research on Neural Network PID Control Based on Hydraulic Pressure of 2-Container Water Tank. Journal of Lanzhou Jiao tong University. Vol 28, pp.41-43, June 2009(In Chinese) Lixue Cao, Zhaoxia Ling. Computer Cascade Control Sys tem Based on Configuration Software. Industrial control computer. vol 21, pp 16-17, June 2008(In Chinese) Yijian Liu. Research on the Fuzzy Control Algorithm of Hydraulic System. Journal of Nan jing Normal University. vol 5, pp.35-38, Mar 2005(In Chinese) Huaqiang Wang, Zhanghai Zhou, Chuguang Yang. Study of the hydraulic turbine regulation system based on single neuron adaptive PID control. Journal of Hefei University of technology. Vol.33 pp.1497-1500,Oct 2010 (In Chinese) Zengxi Sun,Zaixing Zhang, Zhidong Deng. Intelligent control theory and technology. Beijing:Tsinghua University press 1997(In Chinese) Jiangming Kan, Wenbin Li, Jinhao Liu. Fuzzy ImmuneSelf-tuning PID Controller and Its Simulation. 2008 3rd IEEE Conference on Industrial Electronics and Applications.2008,pp.625628 Jikai Yi, Binyuan Hou. Intelligent control technology.Beijing:Beijing University of Technology press1999(In Chinese) Wen Tan. Water level control for a nuclear steam generator. Nuclear Engineering and Design, Vol 241,pp.1873-1880 May 2011

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Figure 5. The real-time control curve of fuzzy PID

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[8] VI.

CONCLUSIONS

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For the coupled-tank is object, the fuzzy PID control strategy is researched and applied, and the results show that the control effect is improved obviously. In addition, this paper proposed a new implementation method of fuzzy control arithmetic, in this method, programming is more easy and convenient to modify than the original control inquiry table method, so this new method is worth popularizing.

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