Professional Documents
Culture Documents
COLLEGE OF TECHNOLOGY
DEPARTEMENT OF ELECTRICAL AND
COMPUTER ENGINEERING
CONTROL STREAM
FUZZY LOGIC AND NEURAL NETWORK
PROJECT
TITLE: SPEED CONTROL OF DC MOTOR
USING FUZZY LOGIC CONTROLLER
Group four
No. Name Id no.
1. Bamelaku Yihunie......................TER/3720/05
2. Biks Mekonnen............................TER/4170/05
3. Birhie Shebabaw.........................TER/3851/05
4. Dagnew Weldu.............................TER/3597/05
5. Tamiru Demelash.......................TER/4015/05
Abstract
This project uses FUZZY LOGIC TECHNIQUE in estimating speed
and controlling it for DC motor.
The speed control of DC motor using a fuzzy logic controller to
meet the desired speed.
Fuzzy logic is one of the most successful applications of fuzzy set
in which the variables are linguistic rather than numeric.
A fuzzy logic controller (FLC) is based on a set of control
rules (fuzzy rules) among linguistic variables. The personal
computer provides the necessary flexibility in setting any
speed profile with the use of fuzzy packages. The proposed
fuzzy controller results in a better response compared to the basic
fuzzy controller and normal response of DC motor.
The fuzzy logic controller employs if-else form programming of the
various conditions to control the motor speed.
DC motor model
In armature control of separately excited DC motors, the voltage
applied to the armature of the motor is adjusted without
changing the voltage applied to the field. Figure shows a
separately excited DC motor equivalent model.
The term speed control stand for intentional speed variation
carried out manually or automatically DC motors are most
suitable for wide range speed control and are there for many
adjustable speed drives.
Ra La
Where
Va is the armature voltage. (In volt)
Eb is back emf the motor (In volt)
Ia is the armature current (In ampere) Ra is the armature
resistance (In ohm)
La is the armature inductance (In Henry)
Tm is the mechanical torque developed (In Nm)
Jm is moment of inertia (In kg/m)
Bm is friction coefficient of the motor (In Nm/ (rad/sec))
is angular velocity (In rad/sec)
We know that
(Va-IaRa)/
=> = (Va-IaRa)/Ka............................. (1)
Where
= Field flux per pole
Ka= Armature constant = PZ/2a
Where P = No. of pole
Z = Total no. of armature conductor
a = No. of parallel path
From the equation (1) it is clear that for DC motor there are
basically 3 method of speed control.
They are:-
1-Variation of resistance in armature circuit
2-Variation of field flux
3- Variation of armature terminal voltage.
2.2: Modeling of separately excited dc
Motor
From figure 1: The armature voltage equation is given by:
Va=Eb+ IaRa+ La (dIa/dt)
Now the torque balance equation will be given by:
Tm= Jmd/dt +Bm+TL
Where:
TL is load torque in Nm.
Friction in rotor of motor is very small (can be neglected), so
Bm =0
Therefore, new torque balance equation will be given by:
Tm= Jmd/dt + TL--------- (i)
Taking field flux as and Back EMF Constant as K. Equation for
back emf of motor will be:
Eb= K --------- (ii)
Also, Tm= K Ia--------- (iii)
Taking Laplace transform of the motors armature voltage
equation we get
Ia(S) = (VaEb)/ (Ra+ LaS)
Now, taking equation (ii) into consideration, we have:
Ia(s) = (VaK) /Ra (1+ LaS/Ra)
And
w(s) = (Tm-TL) /JS = (KIa-TL) /JmS
(Armature Time Constant)
Ta= La/Ra
Block Model of Separately Excited DC Motor
After simplifying the above motor model, the overall transfer
function will be
(s) /Va(s) = [K /Ra] /JmS (1+TaS) / [1+ (K/Ra)/JmS(1+TaS)]
Fuzzification
The process of converting a numerical variable (real number or
crisp variables) into a linguistic variable (fuzzy number) is called
Fuzzification. In others words, means the assigning of linguistic
value, defined by relative small number of membership functions
to variable.
Fuzzy inference
Under inference, the truth value for the premise of each rule is
computed, and applied to the conclusion part of each rule. This
results in one fuzzy subset to be assigned to each output variable
for each rule. Mostly MIN or PRODUCT is used as inference rules.
In MIN inference, the output membership function is clipped off at
a height corresponding to the rule premise's computed degree of
truth (fuzzy logic AND). In PRODUCT inference, the output
membership function is scaled by the rule premise's computed
degree of truth.
Rule base
For the rule bases a classic interpretation of Mandani was used.
Under rule base, rules are constructed for outputs. The rules are
in If.Then format and formally the If Side is called the
conditions and the Then side is called the conclusion. A rule
base controller is easy to understand and easy to maintain
for a non- specialist end user and an equivalent controller
could be implemented using conventional techniques.
For speed control of DC motor we construct rules as follows:
1. If (input1 is EZ) and (input2 is dEZ) then (output is VaZ)
2. If (input1 is EZ) and (input2 is dEPS) then (output is VaPS)
3. If (input1 is EZ) and (input2 is dEZ) then (output is VaPS)
4. If (input1 is EPS) and (input2 is dEPS) then (output is VaPL)
5. If (input1 is ENS) and (input2 is dEPS) then (output is VaZ)
6. If (input1 is EZ) and (input2 is dEPL) then (output is VaPL)
+
Wr weFuzzy Dc motor Va
Wo - controller
d(We)
Speed
Questions:
a. Determine input and output variables( linguistic variables)
The linguistic variables for speed control of dc motor are;
Input variables;
Error of speed
Change in error of speed
Output variables;
The control voltage Va
b. Determine the linguistic values for each linguistic variables :
For error of speed , the linguistic values are;
.Negative large error
.Negative small error
.Zero error
.Positive small error
.Positive large error
For change in error of speed, the linguistic values are;
. Negative large change in error
.Negative small change in error
.Zero change in error
.Positive small change in error
.Positive large change in error
For output variable (control speed, Va)
.Negative large control voltage
.Negative small control voltage
.Zero control voltage
.Positive small control voltage
.Positive large control voltage
c. Give membership functions for each linguistic variables with
appropriate fuzzy sets
Defuzzification
Defuzzification is a process in which crisp output is obtained by
the fuzzy
Output. In other words, process of converting fuzzy output to crisp
number. There is more Defuzzification methods in which two of
the more common techniques are the center average is used for
our project.
Ucrisp= bi prmise (i)/ prmise (i)
i i
Ucrisp= (0*0.55+0.15*.35)/
(0.55+0.35)=0.058