325

A NOVEL FUZZY CONTROLLER FOR DC MOTOR DRIVES

F I W e d , A A Mabfonz, and M M lbrahim
Faculty of Engineering, University of Cairo, Egypt

Abstract-The fuzzy control theory is somewhat new to

the power electronics community. The paper describes
a method of fuzzy logic in a speed control system that
uses a phase-controlled bridge converter and a
separately excited dc machine. The method is unique in
that: a straight-forward method of creating a
mathematical model that has been successfully applied
to a variety of membership functions. Moreover,the
current loop is replaced by a prediction method based
on the dc motor eqnations. Performance of the control
algorithm is evaluated through a laboratory
implementation
as well as a simulation
implementation. A faster and more eflicient
softwarehardware arrangement are merged for
implementations. Load disturbances are generated by
variable resistances connected to the dc generator. The
smoothness of response, response time and disturbance
due to load torque are discussed. To demonstrate the
effectiveness of the fuzzy logic, the conventional
controllers PI and JP are replacedandareappliedon
the same model. The versatility of the motor/controller
arrangement is displayed through real-time plots of the
controlled states.

embeds the intuition and experience of an operator,

designer and researcher. The control doesnt need
accurate mathematical model of a plant, and therefore,
it suits well to a process where the model is unknown
or ill-defined. Fuzzy control algorithm can be refined
by adaptation based on learning and fuzzy model of the
plant. The fuzzy control also works well for complex
nonlinear multidimensional system, system with
parameter variation problem, or where sensor signals
are not precise. The application of fuzzy theory in
power electronics is almost entirely new. A power
electronics system, in general, has complex nonlinear
model with parameter variation problem, and the
control needs to be very fast. This paper describes the
actual hardware/software implementations of the fuzzy
controller in the application of a phase-controlled
converter dc drive system. The first objective of this
paper is to replace the four principal components of the
fuzzy control by a mathematical model which proves
the interplay between neural networks and fuzzy
systems (2). The second objective is to implement the
proposed method theoretically and experimentally.

Kevwords: DC drives, fuzzy controllers, neural

networks, digital controllers,
computer and
microprocessor based control.

PRELIMINARY CONTROLLER DESIGN

INTRODUCTION
Multilayer perceptrons have been applied successfully
to solve some difficult and diverse problems by training
them in a supervised manner with a highlypopular
algorithm known as the error back-propagation
algorithm. This algorithm is based on the errorcorrection learning rule. One of this algorithm is: fuzzy
control of back-propagation learning. Fuzzy set theory
was originated by Zedah(1) (1965,1973) to provide a
mathematical tool for dealing with linguistic variables.
A fuzzy set is defined as a set whose boundary is not
sharp, and every set is defined as a set whose boundary
is not sharp, and every fuzzy set is characterized by a
membership function, which varies from 0 to 1. A
fuzzy control algorithm for a process control system

The fuzzy logic controller consists of four principal

components, Figure 1 shows the block diagram of fuzzy
system. The first step is the fuzzilication interface,
which is a scale of mapping that changes the range of
values of input variables into corresponding universe of
discourse, and fuzzification that converts nonfuzzy
input data into suitable linguistic values, which may be
viewed as labels of fuzzy sets. The second step is the
fuzzy rule base, which consists of a setoflinguistic
control rules written in the form:

IF a set of conditions are satisfied, THEN

a set of consequences are inferred.

The third step is the fuzzy inference machine in which

the employment rules from the fuzzy d e base to infer
fuzzy control actions in response to fuzzifed inputs.
The final step is the defuzzilication interface: which

Ninth international Conference on Electrical Machines and Drives, Conference Publication No. 468, 0 IEE, 1999

326
converts the scale mapping to corresponding universe
of discourse, that yields a nonfuzzy (crisp) control
action from an inferred fuzzy control action (3), (4).
The proposed fuzzy controller is based on integralproportional controller (IP) (j), (6), where the
experimental setup will be discussed in section 4. The
system is trained and the stored data-file is then
prepared for the simulation of fuzzy controller using
Matlab program. This learning technique is called:
Learning by Examples and it may be considered
simply as a nonlinear input-output mapping. The
training data may be viewed as a Curve Fitting
problem. The concept is illustrated in Figure 2.

membership functions are tested. Table 1 summarizes

the characteristics for the 3 types in the point of view:
the settling, the delay and the rise time, and the
overshoot is disappeared for the 3-types.

Figure 3: Simulation circuit of fuzzy controller applied

dc motor drive.
TABLE 1- Simulation results for fuzw controllers.
Deifuificaflon

Time in
seconds
T, (s)
Td @)
T. ( 8 )

7-Vimgular
membership
0.188
0.047
0.125

3-Viangular
membership
0.125
0.047
0.094

3-gauss
membership
0.125
0.034
0.0625

EXPERIMENTAL SYSTEM DESCRIPTION

Figure 1: Block diagram of a fuzzy system.

Figure 2: Controller curve fitting.

SIMULATION STUDY
In order to validate the coutrol strategies, digital
simulation studies were made using Matlab program.
The parameters of the drive system are illustrated in
section 4 It is often said that the design of neural
network and fuzzy control using the back-propagation
algorithm is more of an art then a science in the sense
that many of the numerous factors involved in the
design are indeed the results of ones ownpersonal
experience. The general input variables considered in
the fuzzy rules are the loop error and the change in
loop error and the output is the firing angle Alpha.
Figure 3 shows the simulation of the fuzzy controlled
system 3-Triangular, 7-Triangular and 3-Gauss

Performance of the proposed controller is evaluated

through a laboratory implementation. A 0.5 Kw dc
motor-generator separately excited is applied. The
parameters of the actual motor are estimated via a
standard system identification technique based on a
linear dc motor model. The parameters are listed in
Table 2.The controllers algorithm is implemented on a
286 PC using C language. The rotation of the motor
shaft generates a tacbo-generator voltage which is then
scaled by interfacing electronics circuitry. Load
disturbances are generated by variable resistance
connected to the dc generator. A fully-controlled
thyristors bridge is also built where the firing angle is
controlled by lengthening or shortening the interval
between two successive thyristors triggering (7). The
armature current is limited using prediction method,
replacing the current loop control.
TABLE 2

- Motors uarameters.

Armature resistance
Armature inductance
Back e.m.f constant

7.72 Ohm
0.16273 H
1.25 Vladk

Mechanical inertia
Friction coeficient
Rated armamre current
Rated load
Speed

0.0236 K&m2
0.003 N.miradis
2.7 A
1.2 to 2.4 Nw.mt
1500 rlmin

327

DISCUSSION ON REAL TIME IMPLEMENTATION

Ourrent

(anpa)
2.5
2 --

To venfy the methodology, fuzzy controller is tested due to

step input reference and due to sudden change inload
torque. Moreover, IP (5), (6) controller replaces fuzzy
controller for the sake of comparison. IP controller is the
new proposed controller, where the proportional term is
moved to the feedback path and it acts likeafeedback
compensation. Figures 4 and 5 show the speed response
using 7-t1ian@ar and gauss membership functions. The
speed response using gauss functions is very smooth and
no overshoot appears. Figure 6 shows the instantaneous
prediction current, where the starting current is 33.3%
from the steady-state value, this value depends on initial
conditions. Figure 7 shows the performance due to sudden
change in load torque, where the fuzzy controller indicates
that it is adaptive in nature. Table 3 summarizes the
dBerence between fuzzy controller and IP controller
experimentally.

0.5 --0
0

5
10
15Thn:(s)
Figure 6:Insianimeous current step response,
ini~ial&ha -46.

Speed
(1.p-m)

?..,
0 1020304050

200
100
0 0

10

Figure I F u q contmkrstep%
n
sp
ose%
r&
sudden change in load torque.

lSThn:(s)

gure 4 Fuay step response (tiangular),

itial alpha =33.

TABLE 3

- Exuerimental comDarison between

IP and Fuzzv controller.

Characterislies

Fuay

Fuay

IP

73-Gauss
Triangular
1. Duetostep
n
iJJ
l

referwce
Percentage
overshwt

between:
5.2
to

Sellling time

between:
4.6 io 3.6
1.4

21.79

1.74

3.3

0.4

5.36

1.4

4.63

1.8%
~~

(4
W m g

arrent (A)
(average)
2.
Due to
sudden C l l a n ~
in load torque
Recoverytime
7

6)

SeUlinE time

4.7

328
5.

CONCLUSIONS
A new model of fuzzy controller has beendeveloped,
built and successfully applied for a dc motor drive in real
time. In spite of the advantages in fuzzy control,the
main limitation is the lack of a systematic procedure for
design and analysis of the control system. Generally, a
trial-and-emor iterative approach is taken which may be
time-consuming. Moreover, due to the lack of
completeness of the d e base, the controller must be able
to give a meaningful action for every condition of the
process. This paper proposes a straight-forward method
of creating a mathematical model which has been
successfully applied to a variety of membership functions.
This new approach offers a key of advantage over the
traditional fuzzy controller, which makes it suitable for
several dc motor drive applications. The project focused
the attention to apply the prediction of calculated current
as one method of current control which can replace the
current loop. The simulation and experimental studies
clearly indicate the superior of fuzzy control. It is well
seen in the case of sudden change due to load torque
disturbances because it is inherently adaptive in nature.
The final experimental results clarify the success, the
simplicity and the generality of the design software
controller. The extension of this research is to apply the
neural network techniques for the dc motor applications.

ACKNOWLEDGMENT
The third author gratefully acknowledges the support of
Prof. Faronk Ismall, Cairo University. The authors wish
to express their gratitude to the staff of Power Electronics
Laboratory, Faculty of Engineering, Cairo University,
Egypt, for their assistance in the laboratoly work.

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