DESIGN COMPARISON OF MAMDAMI AND SUGENO TYPE OF FUZZY CONTROLLER FOR SPEED CONTROL OF D.

C SHUNT MOTOR

SUBMITTED BY-: MUNISHA KAUSHAL MTECH 2nd year 10912016

Outline
Introduction to driving system Methods of speed control Literature review Introduction to fuzzy control Fuzzy controller architecture Introduction to neural network Neuro fuzzy control technique Problem formulation Software development

Conti..
Simulation and testing Results and discussion Conclusion Future scope References

Introduction to driving system

Most important component of electromechanical system is driving unit. Driving unit here constitute D.C shunt type electric motor. Various motors are used in industries but due to load variation there is fluctuation in speed which directly affect the plant performance. To eliminate fluctuation controller is to be developed with better accuracy and speed regulation characteristics.

METHOD OF SPEED CONTROL

FIELD FLUX CONTROL ARMATURE RESISTANCE CONTROL(RHEOSTATIC CONTROL) WARD LEONARD (ARMATURE VOLTAGE CONTROL)

FLUX CONTROL METHOD

So by decreasing the flux, the speed can be increased and vice versa hence, the name flux or field control method. The flux of a DC motor can be changed by changing Ish (Shunt current) with the help of a shunt field rheostat as can be seen N 1/

FLUX CONTROL METHOD FOR SPEED CONTROL OF D.C SHUNT MOTOR

Literature review
Noghondhari et al (1994) proposed neuro-fuzzy approach for sensor less speed control of induction motor drive and evaluated its performance for wide range of operating condition. They have evaluated the performance of proposed method and compared the response with PID controller and found its performance better than PID controller. Kruse et al (1994) reported that fuzzy systems are currently being employed in wide field of industrial and scientific application. They have optimized some learning process in fuzzy system which construct and optimize such systems automatically. They have reported survey of various approaches with main emphasis on neuro-fuzzy approach.

Cont
Rahman et al(1994) designed a DC motor controller with Neurofuzzy which provides accurate motor control based on Neurofuzzy algorithm ,reduces time, requires minimum hardware ,low power consumption and solution valid under varying load condition. They have reported that neural network and fuzzy logic are highly suitable for modeling nonlinear, time-variant system behavior. They have found that Neuro-fuzzy allows the designer to concentrate on the system configuration and performance hiding all error prone, cumbersome mathematical manipulation. C. K. Lee et al (1994) proposed a rule-based fuzzy logic control for the control of a brushless dc motor. The result shows fewer ripples under variation in system parameters with fast response times. It is effective in controlling the speed of the motor.

Cont..
Hirota (1996) has introduced fuzzy logic and fuzzy logic circuits with several hardware implementations. Then he has provided the most important application in the field of processes i.e., fuzzy inference circuits that are characterized as one of the fuzzy extension of combinatorial circuits in two valued Boolean logic. Futher, in the case of human intelligence oriented fuzzy application such as fuzzy expert system, he suggested introduction of multi-stage fuzzy inference, for such purposes the concept of fuzzy flip flop is given.

Cont
Leslie smith (2000) has slated various applications of neural networks. He has made comparison with other techniques and reported that neural network cannot do anything that cannot be done using traditional computing techniques, but they can do something which would otherwise be very difficult. Wander G. da Silva et al (2000) proposed GAs show potential for obtaining optimized tuning of electric drive speed controllers in the presence of major nonlinearities. They have been applied here to optimizing PI speed controller parameters in a brushless dc drive subject to nonlinearities. However, GAs can be applied online to the optimization of performance for other operating conditions. The technique will be particularly useful when tuning controllers, such as fuzzy controllers, where formal design methods have not been established.

FUZZY CONTROL

Basic concept underlying Fuzzy logic is that of a linguistic variable, that is, a variable whose values are words rather than numbers.

Fuzzy controller architecture

FUZZY CONTROLLER ARCHITECTURE

Introduction to neural network

Neural networks are composed of simple elements operating in parallel. These elements are inspired by biological nervous systems. As in nature, the network function is determined largely by the connections between elements. You can train a neural network to perform a particular function by adjusting the values of the connections (weights) between elements.

Problem formulation
Identifying the need Control problems in the industry are dominated by nonlinear, time varying behaviour, different characteristics of various sensors, multiple control Loops and interaction among the control loops. Conventional controllers can control the process to some extent. As these are fixed gain feedback controllers, they can neither compensate the parameter variations in the plant nor adapt changes in the environment. Mathematical modeling of the plants and parameter tuning of the controller have to be done before implementing the controller. While the intelligent controllers like Fuzzy have many advantages.

Cont
Intelligent controllers like Fuzzy have many advantages Can deal with uncertainty or unknown variations in plant parameter and structures more effectively, improving robustness of the control system. Both techniques dont need the mathematical model of plants. Highly suitable for modeling non-linear, time-variant system behavior. Offers a high level of automation in the design process, significantly reducing design time. In many applications they are found to have better accuracy and control then the conventional techniques.

Objective
Design and development of fuzzy controller for speed control of D.C shunt motor with the help of data acquired by the experimental setup to get data of speed variation when load is changed and cross check simulation results for this problem by development of Mamdami and Sugeno type of fuzzy controller. Then comparison of simulation results to find the best controller among them by calculating the average error and view of control surface.

RESULTS
Practical Readings Practical readings Mamdami type Fuzzy readings Reference speed Current Current Practical values- Fuzzy readings Error Figure no.

692
638 568 542 510 470 438 394 348 270 168

0.55
0.48 0.42 0.40 0.37 0.35 0.33 0.31 0.29 0.26 0.23

0.534
0.47 0.39 0.39 0.39 0.31 0.327 0.31 0.244 0.247 0.242

0.55-0.534=0.016
0.48-0.47=0.01 0.42-0.39=0.03 0.40-0.39=0.01 0.37-0.39=-0.02 0.35-0.31=0.04 0.33-0.327=0.003 0.31-0.31=0 0.29-0.244=0.046 0.26-0.247=0.013 0.23-0.242=-0.012

4.2.3.1
4.2.4.1 4.2.5.1 4.2.6.1 4.2.7.1 4.2.8.1 4.2.9.1 4.2.10.1 4.2.11.1 4.2.12.1 4.2.13.1

Cont..
Practical Readings Practical readings Sugeno type Fuzzy readings Reference speed Current Current Practical values- Fuzzy readings 692 638 568 542 510 470 438 394 348 270 0.55 0.48 0.42 0.40 0.37 0.35 0.33 0.31 0.29 0.26 0.55 0.48 0.427 0.42 0.42 0.35 0.35 0.35 0.30 0.30 0.55-0.55=0 0.48-0.48=0 0.42-0.427=-0.007 0.40-0.42=-0.02 0.37-0.42=-0.05 0.35-0.35=0 0.35-0.33=-0.02 0.35-0.31=-0.04 0.29-0.30=-0.01 0.26-0.30=-0.04 4.2.3.2 4.2.4.2 4.2.5.2 4.2.6.2 4.2.7.2 4.2.8.2 4.2.9.2 4.2.10.2 4.2.11.2 4.2.12.2 Error Figure no.

168

0.23

0.23

0.23-0.23=0

4.2.13.2

Cont..
Average error of Mamdami type fuzzy controller is found to be: = 0.016+0.01+0.03+0.01-0.02+0.04+0.003+0+0.046+0.0130.012/11=0.01936 average error of Sugeno type fuzzy controller is found to be: Average error= 0.007+0.02+0.05+0.02+0.04+0.01+0.04+0/11=0.181/11=0.017

COMPARISION OF CONTROL SURFACES

SURFACE VIEWER FOR SUGENO FUZZY CONTROLLER

SURFACE VIEWER FOR MAMDAMI FUZZY CONTROLLER

CONCLUSION
The main objective of soft computing methodologies like fuzzy logic and neural networks is to exploit tolerance of imprecision, uncertainty and partial truth associated with almost every aspect of real world problems. It is obvious that humans deal with uncertain and imprecise information everyday and is remarkably consistent in processing such information. Since many years, the question of comparison between Mamdani fuzzy inference system and Sugeno inference system has always baffled the minds of several researchers. A good number of researches have been done independently on their comparison with respect to a few specific applications. One of the major motivations behind this research is to ascertain which approach is better in general. In this thesis, a detailed survey of the comparison of the Mamdani and Sugeno methods of fuzzy inference for speed control of D.C shunt motor has been made. First,mamdami fuzzy controller was developed using 8 rules and 5 membership function and various values of error with respect to practical values were obtained corresponding to each input using both mamdami and sugeno FIS. It has lead to the conclusion that Sugeno fuzzy inference system is better when compared to Mamdani fuzzy inference system. After the development of of mamdami and sugeno fuzzy controller surface view of both controllers is evaluated .From the two figures we concluded that smoothness is obtained with sugeno fuzzy controller .Smoother the results move across the control surface the better is the controller

RESEARCH METHODLOGY
Experiment to be performed to get data of the speed variation when load is changed and to cross check simulation result for this problem. The experimental steps performed are given below: DC shunt motor-generator set was taken with motor ratings specified as: 9KW, 1450-2170 rpm, 230v with mechanical coupling of 10cm between motor generators. Ammeter taken was of 1A DC rating. The motor was run without load and speed was noted using tachometer. It was coming out to be 1982 rpm with current intake of 1A. This speed is referred to as reference speed. The heater loads were then increased in steps. As the load increased the motor speed decreased to 1814 rpm. As the flux control method was used here to control the speed so rheostat was varied to change the current intake and bring the motor speed back to 1982 rpm. Step 3 was repeated ten more times and each time the heater load is increased in steps. Following readings are obtained as shown in Table 1.

Experimental Readings
Reference speed-fluctuated speed(rpm) 1982-1814 1982-1712 1982-1634 1982-1588 1982-1544 1982-1512 1982-1472 1982-1440 1982-1414 1982-1344 1982-1290 e speed(rpm) 168 270 348 394 438 470 510 542 568 638 692 Current(A) 0.23 0.26 0.29 0.31 0.33 0.35 0.37 0.40 0.42 0.48 0.55

Mamdami fis
In this type of system the crisp input information is first transformed by a fuzzifier into a set of linguistic variables in U; then the fuzzy inference engine using the input variables and the rules in the fuzzy rule base, derives a set of conclusions in V; the combined areas in V are, by means of a defuzzifier, converted into a crisp number which corresponds to the output of the system

DEPICTING MAMDANIS FUZZY INFERENCE METHOD

SUGENO FIS
Takagi-sukeno-kang method of fuzzy inference was first introduced in 1985. It is similar to the Mamdani method in many respects. In fact the first two arts of the fuzzy inference process, fuzzifying the inputs and applying the fuzzy operator, are exactly the same. The main difference between these two is that the output membership functions are only linear or constant for sugeno-type fuzzy inference.

DEPICTING SUGENO TYPE FUZZY INFERENCE SYSTEM

COMPARISON OF MAMDAMI AND SUGENO

Mamdani FIS is more widely used, particularly for decision support applications, mostly because of the intuitive and interpretable nature of the rule base. Since the consequents of the rules in a Sugeno FIS do not have a direct semantic mean (i.e. they are not linguistic terms) this interpretability is partially lost. However, since Sugeno FIS rules consequents can have as many parameters per rule as input values, this translates into more degrees of freedom in its design than a Mamdani FIS,thus providing more flexibility. Although many parameters can be used in the consequents of the rules of a Sugeno FIS, even a zero order Sugeno FIS can reasonably approximate a Mamdani FIS. In computational terms, a Sugeno FIS is more efficient than a Mamdani FIS because it does not involve the computationally expensive defuzzification process. In addition, a Sugeno FIS always generates continuous surfaces. The continuity of the output surface is important since the existence of discontinuities could result in similar inputs originating substantially different outputs; a situation which is undesirable from the control/ monitoring perspective. Thanks to its continuous structure of output functions, a Sugeno FIS is also more adequate for functional analysis than a Mamdani FIS.

Fuzzy rules
1.3.2.6 Linguistic rule Fuzzy logic expresses the human knowledge in the form of linguistic if then rules. Each rule consists of two parts: antecedent part called premise part(if part) consequent part called conclusion part(then part) Rule is always of the general form:If (a set of condition is satisfied) then (the set of consequent can be inferred) e.g. IF x is A ,then y is B

Rule base in matrix form

current Espeed Very low(VL) Low(L) Medium(M) High(H) Very high(VH) Very low(VL) VL VL M H VH de/dt Low(L) VL L L H VH Medium(M) VL L M H VH High(H) VL L H VL L Very high(VH) VL VH L H L

Design and development of Fuzzy controller

For the development of mamdami and sugeno type fuzzy controller following practical approach steps were taken: Define the control objectives and criteria Determine the input and output relationships and choose a minimum number of variables for input to Fuzzy Logic engine for both the control schemes. Create Fuzzy Logic membership functions that define the meaning of input/output terms used in the rules. Using rule based structure of Fuzzy Logic, break the control problem into a series of IF X AND Y THEN Z rules that defines the desired system output response for given system input conditions. Test the system and evaluate results, Tune the rule and membership functions and retest until satisfactory results are obtained. Even though there are various inference methods for the implementation of fuzzy logic but for the present control problem Mamdani and Sugeno inference systems are discussed which are employed for design of the fuzzy controller.

Parameters and range to be selected

PARAMETERS INPUT:2 E(t) rpm:165 695 De/dt:-0.6 to 0.6 Output:1 Current:0 to 1 amp No of membership function :5 Verylow ,low,medium,high,veryhigh No. of rules:25

MAMDAMI FIS EDITOR

INPUT 1 eSPEED MEMBERSHIP FUNCTION FOR MAMDAMI

INPUT 2 de/dt MEMBERSHIP FUNCTION

OUTPUT CURRENT MEMBERSIP FUNCTION FOR SUGENO TYPE FIS

FIG 4.2.13.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED168

FIG 4.2.13.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 168

FIG 4.2.12.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 270

FIG 4.2.12.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 270

FIG 4.2.11.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 348

FIG 4.2.11.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 348

FIG 4.2.10.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 394

FIG 4.2.10.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 394

FIG 4.2.9.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 438

FIG 4.2.9.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 438

FIG 4.2.8.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 470

FIG 4.2.8.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 470

FIG 4.2.7.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 510

FIG 4.2.7.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 510

FIG 4.2.6.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 542

FIG 4.2.6.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 542

FIG 4.2.5.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 568

FIG 4.2.6.1 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 568

FIG 4.2.4.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 638

FIG 4.2.4.2 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 638

FIG 4.2.4.1 MAMDAMI FUZZY OUTPUT CORRESPONDING ESPEED 692

FIG 4.2.3.1 SUGENO FUZZY OUTPUT CORRESPONDING ESPEED 692

REFERENCES
1. Ajith Abraham, Cerebral quotient of neuro fuzzy techniques SCIT Monash university , Australia,2001 Ahmad M. Ibrahim , Introduction to Applied Fuzzy Electronics , Prentice Hall India ,1997 Bart kosko, Neural networks and Fuzzy systems, Prentice Hall India,1992. B.R Gupta , Vandana Singhal, Fundamentals of electric Machines, New age International Pvt Ltd, 1996 Cihan Karakuzu and Sitki Ozturk, A Comparison of Fuzzy ,Neuro and classical control Techniques based on an Experimental Application", Journal of Qafqaz University, Fall 2000 I.J Nagrath and M Gopal, Automatic Control System, New Age International Publishers , 2000

2.
3.

4.
5.

6.

SCOPE FOR FUTURE WORK

The controller developed above is based on the FIS and software simulation. In our thesis we have developed the Mamdami and Sugeno fuzzy controller using five membership function based on above design strategies and can be applied for the speed control of various motors, the various controller fuzzy and conventional controller are compared so as to find out the best among them. In our thesis work we have designed the above controller with the help of MATLAB SIMULATION TOOLBOX. The same controllers can be designed by other commercial software packages such as Brain Maker ,SAS Enterprise Miner Software ,Neural Works ,MATLAB Neural Network Toolbox ,Propagator ,NeuroForecaster, Products of NESTOR, Inc. Ward Systems Group (NeuroShell, etc.) ,Neuralyst ,Cortex-Pro ,Partek ,NeuroSolutions ,Qnet For Windows Version 2.0 ,NeuroLab, A Neural Network Library ,IBM Neural Network Utility ,NeuroGenetic Optimizer (NGO) Version 2.0 ,WAND, The Dendronic Learning Engine, TDL v. 1.1 (Trans-Dimensional Learning), NeurOn-Line ,Neuframe. Error reduction of the FIS can further be done with the help of ANFIS, OPTIMIZATION. For optimization we can use the Genetic Optimization Toolbox, Optimization USING Ant Colony of the MATLAB 7.5.

Cont..
7.

8. 9. 10. 11. 12.

Kevin M. Passino and Yurkovich.S.(1998), Fuzzy Control , Addison Wesley Longman Inclusive , Simon Haykin, Neural Network , Pearson Education Asia , 2001 Ross, Fuzzy logic Engineering applications, Mc graw Hill,1995. Denai A.M and Attia S.A, Fuzzy and Neuro Control of an Induction motor . Int J.Appl. Math Comput. sci., 2002, vol.12.,No.2,221-233 Parvathi .C.S and Bhaskar.P (2004)Effect of Sampling Rate on the performance of Fuzzy Logic Controller For the Speed Control of DC Motor , IETE Technical review,Vol 21,No. 4,pp 291298 Pedrycz.W, Heterogeous(2004) Fuzzy logic networks fundamentals and development studies. IEEE transactions, VOL 15 , Issue 6, Nov. ,pp 1466-1481.

CONT..
13. Rudolf Kruse and Andreas Numberger ,bearning Methods for Fuzzy Systems 1994. 14. Rahman.S, Ullah .Zand W. Shields Neely,(1994) National Semiconductors Corporations Application Note 958: DC Controller Design With NeuFuz , 15. Kaehler .D. S. (1994), Fuzzy Logic an Introduction Part 1,2 and 3 16. Thamaraiselvi.S,selvathi.D, Salivahanan.S, Indumathi.G, Kumar.V.(2003) Fuzzy logic based intelligent control for Irrigation system, IETE Technical Preview, Vol 20, No. 3, June -2003, pp 199-203 17. Noghondari.M and Rashidi.M.(1994) General Regression Neural Network Based Fuzzy Approach for sensorless speed control of Induction Motor. 18. C. K. Lee and W. H. Pang(1994) A Brushless DC Motor Speed Control System Using Fuzzy Rules Power Electronics and variable Drives, Conference Publication No 399. IEEE

CONT..
19. Wander G. da Silva, Paul P. Acarnley, and John W.(2000) Find Application of Genetic Algorithms to the Online Tuning of Electric Drive Speed Controllers IEEE transactions on industrial electronics, vol. 47, no. 1, 20. Sankaran.R, Chandramohan .P.S.(2001) "Adaptive Neuro-fuzzy controller for improved performance of a permanent magnet brushless DC motor", The 10th IEEE International Conference on Fuzzy Systems, pp. 493-496. 21.Shujaec., Srilirakiish Sarathy , Roan Nicholson.(2002) Neuro -Fuzzy Controller and Convention Controller: A Comparison Proceedings of the 5th Biannual World Automation Congress, pp. 207-214. 22. Cheng.K.Y (2002) Fuzzy Optimization Techniques Applied to the Design of a Digital BLDC Servo Drive Power Electronics Specialists Conference, Vol. 7, pp. 23- 27. 23. Lin C.-L. and Jan H.-Y.(2002) Multiobjective PID control for a linear brushless DC motor: an evolutionary approach IEE Proc.-Electr. Power Appl.. Vol. 149, No 6.

CONT..
24.Halvaei Niasar. (2002) Speed Control of a Brushless DC Motor Drive via Adaptive Neuro-Fuzzy Controller Based on Emotional Learning Algorithm A Proceedings of the 5th Biannual World Automation Congress, pp. 207-214. 25.Changliang .X, Peijian Guo, Tingna Shi and Mingchao Wang (2004)Speed Control of Brushless DC Motor Using Genetic Algorithim Based Fuzzy Controller Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation Chengdu, China August . 26.Baojiang .Z and Shiyong .L(2006) Design of a Fuzzy Logic Controller by Ant Colony Algorithm with Application to an Inverted Pendulum System IEEE International Conference on Systems, Man, and Cybernetics Taipei, Taiwan

Cont..
27. ZHAO Baojiang (2010) Optimal Design of Neuro-Fuzzy Controller Based on Ant Colony Algorithm Proceedings of the 29th Chinese Control Conference , Beijing, China. 28.Yogesh Piolet (1996)Comparison of Mamdani and Sugeno Fuzzy Inference Systems Soft ComputingApplications. 29.Kaoru Hirota (1996) Theoretical advances and applications of fuzzy logic and soft computing. 30.Leslie smith(2000) Neural networks and their application to finance Applied Technologies Centre London, UK.

Cont.
Abraham (2001) has presented some basic theoretical aspects of ANN and FIS and some of the popular Neuro-fuzzy modeling techniques. Some application areas are discussed which are already implemented by the author and has advocated that neuro fuzzy systems are more efficient in terms of better performance time and lower error rates as compared to pure neural networks systems. Khalil Shujaec. et al (2002) proposed paper differentiating PID controller ,adaptive controller with neurofuzzy controller and found The NEFCON to be superior in comparison to the conventional control techniques such as PID ,adaptive controller. But some of the problems associated with NEFCON are introduced such as it can be slow to converge, and only one controller can be trained at a time.

Cont.
Kuang-Yao Cheng, et al (2002) presents a novel fuzzy optimization strategy for designing BLDC servo drives and analyzed how to find the optimal value for each servo control parameters. Besides, by using the fuzzy-logic linguistic description, the expert knowledge for optimizing these control parameters can be converted into a fuzzy stepwise tuner to speed up the overall optimization process. Changliang Xia, et al (2004) proposed the GA based fuzzy controller as the speed controller of the BLDCM servo system. By comparison with PID controller, it testifies that this method is not only robust, but also can improve dynamic performance of the system. The off-line adjust optimize the fuzzy rules, and the on-line tuning of the parameters of the fuzzy controller make the controller good dynamic control system

Cont.
Baojiang Zhao et al (2006) proposed adaptive ant colony algorithm having novel search mechanism that dynamically adjusts the strategy of selection of the paths and the strategy of the trail information updating. Results of function optimization show that AACA has nice performance and can be used to design a fuzzy Logic controller for real-time control of an inverted pendulum system. ZHAO Baojiang (2010) proposed adaptive ant colony algorithm based on dynamically adjusting the strategy of the trail information updating. The algorithm can keep good balance between accelerating convergence and averting precocity and stagnation. The results of function optimization show that the algorithm has good searching ability and high convergence speed. The algorithm is employed to design a neuro-fuzzy controller for real-time control of an inverted pendulum

Cont.
Meena Tushir et al (2010) proposed a novel interval type2 fuzzy controller for speed control of DC motors (series as well as shunt). Performance of the proposed IT2FLC was also compared with corresponding conventional FLCs with respect to several indices such as peak overshoot (%OS), settling time, rise time, Integral of absolute error (IAE) and integral-of-time-multiplied absolute error (ITAE) and from the simulation, it shows that the proposed controller can track the reference speed satisfactorily even under load torque disturbances.