Design and Simulation of Fuzzy Control System for Water Temperature of Heat Exchanger

Ding Zhenjun Fang Lide Song Zhanbiao

College of Quality and Technical Supervision HeBei University Baoding , China 071002 dzjdzj1973@163.com

Zhang Yameng
Shanxi Energy Vocational-technical College line 2: name of organization, acronyms acceptable Shanxi Xianyang, China

AbstractGenerally, It is difficult to build an exact mathematical model for extremely complexity of the heat transfer process of Heat exchanger and it is hard to perform control with traditional techniques. So this paper proposed a kind of fuzzy controller with intelligence integral , and uses MATLAB as a visual modeling tool to combine the theoretical study with the realization in engineering, simulation research based on SIMULIK, The simulation result show that the controller has good control quality for the system of the heat transfer. Keywords- Heat exchanger Fuzzy control MATLAB system simulation

Therefore, the literature [3] presents a fuzzy controller with a correction function and the literature [2] suggests increasing the role of intelligent integration algorithm to eliminate the steady-state error. This study proposed a new fuzzy controller with intelligent integration on the basis of literature [2] and literature [3] and, make simulation experiments through MATLAB. Simulation results show that the intelligent control system has good quality and strong adaptive ability, and control method is simple, reliable and easy to implement, achieving a satisfactory control effect in the temperature control of heat exchanger. II. THE STRUCTURE AND CONTROL RULES OF INTELLIGENT INTEGRAL FUZZY CONTROLLER The structure of intelligent fuzzy controller that the author design through a large number of simulation tests shown in Figure 1:

I.

INTRODUCTION

Heat exchanger is a kind of process equipment for heat exchanging .It has a wide application in industrial production and plays a very important role .For example, in the production process of refrigeration, airconditions, chemicals, food, medicals and so on, the accurate control of the water temperature of heat exchanger outfall is not only the key to the guarantee of the production process and the quality and the output of the product, but also has an effect on energy saving. At present, the control of the water temperature of heat exchanger outfall mainly use the general PID control which has advantages of simple structure, easiness to achieve and so on .But it is only suitable for linear system and require that the mathematical model of controlled object is exact enough, while heat exchange system in itself has traits of big delay, time varying, nolinear and much destabilization which makes it difficult to build mathematical models. For this, the traditional PID control often cant satisfy the needs of its static and dynamic characters and is difficult to obtain the ideal control effects .But practice prove that because fuzzy control neednt build mathematical model of controlled objects, it has benign robustness and non linear control characteristics and can take more effective control of time-varying, nonlinear and complex controlled objects. However, the conventional twodimensional fuzzy controller is lack of integral action and cannot eliminate the system's steady-state error alone, control accuracy being not high, which limits its use in those which require a higher steady-state accuracy process control.
978-1-4244-5586-7/10/$26.00 2010 IEEE

Figure 1. The Structure of Intelligent Integral Fuzzy Controller

The system parameters charged with is exporting water temperature of the heat exchanger. System mainly includes three parts: normalized fuzzy quantization module, intelligent integration module, and the control algorithm module. A. NormalizedFuzzy Quantization Using normalized fuzzy quantization does not need to adjust the quantization factor, avoiding the choice of quantitative factors, but also being able to easily exchange

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the error and error change (exact amount) input into a value on the fuzzy field. In this system: either Error set E(e) or Error rate of change set is {-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6} By calculating the | e / r |, | ec / r |, the system deviation and its rate of change are normalized, and in a closed interval [0, 1] their application is divided into several levels, the completion of fuzzy quantization is as follows.
6 sign 5sign 4sign E = 3sign 2sign 1sign 0

Ki for the integral coefficient (integral weight) b for the domain values of the introduction integral (the set value of rate of error change)

[0,1] is called the rule factor or correction factor or weighting factors, that is, the weight coefficient of the error.
= k er
p

(2)

(e ) (e ) (e ) (e ) (e ) (e )

6sign (ec ) 5sign (ec ) 0.4 r e 4sign (ec ) 0 .2 r e 0 . 1 EC = 3sign (ec ) r e 0 . 05 2sign (e ) r e 0 . 02 1sign (e ) r e < 0 . 02 0 r

0.7

ec ec ec ec ec ec ec

r r r r r r r

0 .3 0 .2 0 . 12 0 . 08 0 . 05 0 . 02 < 0 . 02

Where k, p for the control parameters to be determined. By setting reasonable k, p values, correction function can adjust the fuzzy control rules flexibly to the change of error e, so that fuzzy controller is more adaptive, the control parameter adjustment is more convenient, the control system to maintain is correspondingly simple. The relationship between k p has a detailed description the in literature [2], in engineering, usually take k> = 1, p [0.5,3]. FUZZY CONTROLLER DESIGN AND SIMULATION BASED ON MATLAB \ SIMILINK Before you begin to format your paper, first write and save the content as a separate text file. Keep your text and graphic files separate until after the text has been formatted and styled. Do not use hard tabs, and limit use of hard returns to only one return at the end of a paragraph. Do not add any kind of pagination anywhere in the paper. Do not number text heads-the template will do that for you. Finally, complete content and organizational editing before formatting. Please take note of the following items when proofreading spelling and grammar: A. Mathematical Model of Heat Exchanger The system control parameter is exporting water temperature of heat exchanger; water temperature control is through the valve on the heat exchanger inlet steam pipe regulating the heat-carrying agent (ie, steam) flow to achieve. Controller is based on the bias and bias rate of change of actual exports water temperature and water temperature settings of heat exchanger as the system input, the output of after fuzzy controller to adjust the steam valve opening, allowing the control of export water temperature of heat exchanger. Steam - water heat exchanger is more representative of the multi-capacity object [5], with a large delay, large timevarying, nonlinear characteristics, it is difficult to establish mathematical model. Therefore, use of low dimensional approximate approach to this complex high-end model, to approximate first-order inertia link .The model Established has the characteristics of lower order, high similarity to accuracy [6]. The establishment of model structure and solving of parameters are obtained by response curve. Now, for example, the shell and tube steam heat exchanger used in a chemical plant, to establish the mathematical model by passing a test method, its transfer function is III.

B. Intelligent Integration Literature [2] analyzed the principle of the introduction of intelligent integration, described the conditions for the introduction of intelligent integration: When e.ec> 0, or ec = 0 and e! = 0, integral to the errors; When e.ec 0, or e = 0,not integral to the errors. The conditions are ideal for ec = 0 limit was too strict. In other words, only when the ec absolute zero integral action will be implemented. In fact, when the ec do not equal zero, the integral action will not be implemented as the change is extremely small, and which resulted in the timely elimination of errors. In addition, this condition for the introduction of the integrator is too complex and will certainly affect the system response speed. Therefore, this system simplifies the conditions for the introduction of integration: 1) When | ec |> = b, integral of the errors b no integral of the errors. 2) When | ec |

By the rate of error change to control the introduction of the integrator, the system structure diagram shown in Figure 1. Conditions switching to open or close depends ec, the control of rate of error change. Namely when

ec b

, the

, the integrator open. Here b is integrator off; when the error change setting. By selecting a reasonable b value, the integral part plays its role. C. Fuzzy Control Rule In this system, analytic fuzzy control rules with selfadjusting correction factor are described below:

ec < b

E + (1 )EC , U = E + (1 )EC + K i e ,

ec b ec < b

Here: <> indicating to take the closest number of in the discourse of the controlling amount U

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G( S ) =

1 e 15 s 38 s + 1

It is generally believed that when the delay time and the process time constant T ratio greater than 0.3, that is, with a large delay process. The object transfer function of this paper, the ratio of and T is about 0.4, showing that the object has a significant lag feature, is a more difficult target empty. B. Simulation Model and the Preparatory Work before the Simulation In the command window of the MATLAB [7] enter the SIMULINK and enter, or in the MATLAB window, click icon simulink on the toolbar, It will pop up SIMULINK module library and an unnamed new window and then from the SIMULINK block library to find out the module of need, copy to the new file, upon request, and connect these modules together to constitute a system architecture diagram in Figure 2. Double-click each module, input of the corresponding parameters, namely, the completion of the system simulink model.

Figure 3. normalized quantization module

Having set a good system model, select the[Parameters] under [Simulation] command. It will Pop-up simulation parameters dialog box. In this dialog you can set simulation parameters and select solver in the simulation process. The system set sampling period 20s, simulation time 400s, simulation step size being selection of variable step-size (Variable-Step), simulation algorithm using ode45 (Dormand-Prince) solver and the remaining parameters using default values. After completion of parameter setting, it can be designed to simulate the fuzzy control system. Select [Start] under the [Simulation] command, that is, the simulation starts. At this point you can see the simulation output waveform by the oscilloscope, but also can be used To Workspace module which will output Y and time t into the workplace, and through the drawing command plot to draw the waveform. The equations are an exception to the prescribed specifications of this template. You will need to determine whether or not your equation should be typed using either the Times New Roman or the Symbol font (please no other font). To create multileveled equations, it may be necessary to treat the equation as a graphic and insert it into the text after your paper is styled. C. Simulation of Control Performance In order to validate control performance of the fuzzy controller designed in this paper, compare it to the conventional PID controller. Simulation Comparison of Performance of step response

Figure 2. Fuzzy Control System Simulation Model

In Figure 2, sub module is owned by a fuzzy quantization module, its structure shown in Figure 3. In Figure 3 the E fcn and the EC fcn module are MATLAB Fcn blocks to achieve normalized fuzzy quantization,with EC and E function deposited in the respective functions. In the MATLAB environment, preparation of the E function is as follows, EC function is similar, in this will not go into. function f=E(u) if abs(u)>=0.7; f=6*sign(u); elseif abs(u)>=0.4; f=5*sign(u); elseif abs(u)>=0.20; f=4*sign(u(1)); elseif abs(u)>=0.10; f=3*sign(u); elseif abs(u)>=0.05; f=2*sign(u); elseif abs(u)>=0.02; f=1*sign(u); else abs(u)<0.02; f=0; end

When given a value r = 1, after a large number of repeated simulation test, the control system parameters are as follows: fuzzy controller| e | <0.06, Ki = 0.17, correction factor k = 1.21, p = 0.81, the system, step response curve is 1 curve shown in Figure 4. PID controller parameters by Z-N method [8] the entire set at: KP = 3.04, Ki = 0.092, Kd = 22.8, response curve to be the 2 curve shown in Figure 4.

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Figure 4. Comparison of step response Performance

IV.

CONCLUSION

We can see through the step-response simulation: fuzzy control overshoot % = 0, the adjusting time ts = 46, however, the PID control overshoot % = 40%, the adjusting time ts = 152. As can be seen from Figure 4, using fuzzy control, no overshoot, response time short, non-steadystate error, the entire transition process appears smooth, we can see, the control quality of fuzzy controller with intelligent integration designed in this paper is much better than the conventional PID controllers. Robust Simulation Comparison

Robust of control system is one of the performance indicators most concerned about when designs controller. Because it directly reflects the controllers affecting severity by the input disturbance, the control system parameters and structural changes and other factors. In this article, to further validate the robustness of the fuzzy controller designed, without changing the parameters of the controller case, the parameters of the accused object changed to observe the control performance of two kinds of controller. The trend changes of Parameters are many, among which the bad trend changes most commonly encountered in the actual industrial process: Object time constant T and delay time both increase, while the static gain K decreases, at this time control system will have changed is that projects must consider. Therefore, assuming that in this system, the parameters of controlled object become: K = 0.5, T = 50, = 30, response curve shown in Figure 5.

Simulation curve shows that in the case of the same response time, the performances of the fuzzy controller with intelligent integration in a stable time, overshoot, robustness and several areas are better than conventional PID controller. As a result of the self-adjusting correction factor and intelligent integrator, the control precision and steady-state performance of fuzzy control system are significantly improved. This fuzzy control system presented in this paper can be applied to the water temperature control system of heat interchanger. When using simulation software MATLAB and SimuIink for fuzzy system modeling, simulation, without the preparation of a large number of complex and cumbersome procedures, high precision simulation, visualization strong, flexible, the whole process is modular, which for design, modeling and simulation of a variety of intelligent controller provides a great convenience. ACKNOWLEDGMENT This paper is supported by the Research projection in Education Department of Hebei Province (Z2009308), Natural Science Foundation of hebei university (2009-169), the Natural Science Foundation of China (60677021), and Tianjin University (TJU) Multiphase Flow Loop. REFERENCES
[1] Wang Ming. The control way and implement of one kind of heat exchangers PID paramater. Mechatronics Engineering, 2001,18(3):47-49. Li Shi-Yong. Fuzzy control- neural network and Intelligent Control Introduction[M]. Harbin: Harbin Institute of Technology Press,1998. Li You-Shan. Fuzzy control theory and the application in the process control[M].Beijing: Defense Industry Press,1933. Zhang Shi-Xi and so on . the improved study of apery intelligentized integral control algorithmof[J] . Shanghai University Of Electric Powers learned journal ,2003, Vol.19 No.1 4749. Xu Zhi-Ying, Zhu Lin-Zhang, edit < process control system> [M].Beijing: Mechanical Industry Press,1983. Jiang Wei-Sun,Yu Jin-Shou. The dynamical mathematical model of chemical process[M] .Beijing: Chemical Industry Press,1986. Shi Yang,Li Jun. MATLAB Toolbox practice guidelines [M]. Xian: Northwestern Polytechnical University Press,1988. Ziegler J.G, Nichols N.B, Optimum settings for automatic controllers.Transaction of ASME,1942,64 759-768.

[2] [3] [4]

[5] [6] [7] [8]

Figure 5. Robust Simulation Comparisons

As can be seen from Figure 5, after a major change with the parameters of the charged object, conventional PID control, the overshoot and the transition time is longer, a significant decline in quality control, but the control quality result of the fuzzy control with intelligent points is much better than conventional PID control, showing a strong adaptive ability and anti-jamming.

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