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Jos Antnio Barros Vieira1 , Fernando Morgado Dias 2 , Alexandre Manuel Mota3
1
Heating
Element
Power
Module
Fig. 1.
Thermocouple
Data
Logger
PC
Fig. 2.
+
error(k)
y(k-h)
y(k-2h)
u(k-h)
u(k-2h)
Direct
Model
ypred(k)
I1
u(k)
+
w12
w21
error(k)
upred(k)
I2
y(k+h)
y(k)
y(k-h)
u(k-h)
Inverse
Model
I3
I1
I3
w1
w4
1
Fig. 5.
Neuron structure.
Ii.wi )
y = F(
(5)
i =1
y = F1(
j =1
nI
w' j1f j (
w32
w'21
F1(.)
f2(.)
w'31
1
w3
w' 11
y
w41 w
42
w2
f1(.)
w22
w31
I2
w11
w ljIl ))
l =1
(6)
Fig. 6
B1
w1 f1=p1x+q1y+r1
f=
w1f1+ w2f2
w1 + w2
___
A2
B2
___
= w1 f1 + w2 f2
B2
w2 f2=p2x+q2y+r2
Y
a)
y
Layer 1
A1
Layer 4
x y
Layer 2
Layer 3
w1
w1
TT
w1f1 Layer 5
A2
SUM
B1
TT
B2
w2f2
w2
w2
b)
x y
If x is A1
f1=p1x+q1y+r1;
Rule2: If x is A2
f2=p2x+q2y+r2.
and
is
B1,
then
and
is
B2,
then
w1
w2
f=
f1 +
f2
w1+ w2
w1+ w2
= w1(p1x + q1+ r1) + w2(p2x+ q2+ r2)
= (w1x)p1+ (w1y)q1+ (w1)r1 + (w2x)p2+ (w2y)q2+ (w2)r2
(7)
This way an adaptive network that is functionally
equivalent to a first order Sugeno fuzzy model is
constructed. From the ANFIS architecture shown in
figure 7 b), it can be seen that when the values of the
premise parameters (layer 1) are fixed, the overall
output can be expressed as a linear combination of
the consequent parameters (layer 4).
3.2.2. Learning Algorithms of ANFIS
The learning algorithms are composed of two
phases:
- In the forward pass of the hybrid learning
algorithm, node outputs values go forward until
layer 4 and the consequent parameters are
identified by the least squares method.
- In the backward pass, the output errors are
propagated backward and the premise parameters
are updated by gradient descent method.
600
500
400
300
0
500
1000
1500 2000
4500
5000 5500
500
1000
1500 2000
4500
5000 5500
1.5
Control Signal(V)
A1
1
0.5
0
-0.5
Train
Test
Train
Test
4. CONTROL STRUCTURE
To test the obtained models with both architectures
in real time control, the Internal Model Control
(IMC) structure was implemented.
Internal Model Control consists of connecting in
series with the plant the inverse model and in
parallel with the plant the direct model. The
difference between the output of the model and the
output of the plant will generate an error that will be
feedback (Pradeep, 1988), (Dias, 2001). This
solution can be seen in figure 9.
r(k+h)
+
Delay
-
Inverse
Delay Model
y(k+h)
Plant
u(k)
+ e(k)
Delay
Delay
Direct
Model
ypred(k+h)
y (C)
u(1st)(V)
50
100
150
200
250
300
1
0.5
0
50
50
100
150
200
250
300
50
100
150
200
250
300
50
100
150
200
250
300
50
100
150
200
Time(samples)
250
300
e(2st)(C)
u(2nd)(V) e(1st)(C)
800
600
400
200
1.50
0
-5
1.50
1
0.5
0
50
0
-5
e(2st)(C)
u(2nd)(V)
e(1st)(C)
u(1st)(V)
y (C)
50
100
150
200
250
300
50
100
150
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300
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300
50
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150
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50
100
150
200
Time(samples)
250
300
0
-5
1.50
1
0.5
0
50
0
-5