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Fuzzy Gain Scheduled PI Controller For A Two Tank Conical Interacting Level System

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S.Vadivazhagi et al.

/ International Journal of Engineering and Technology (IJET)

Fuzzy Gain Scheduled PI Controller for a


Two Tank Conical Interacting Level
System
S.Vadivazhagi 1, Dr.N.Jaya2
1
Research Scholar, Department of Electronics and Instrumentation Engineering,Annamalai University
Chidambaram,Tamilnadu,India-608002.
2
Associate Professor, Department of Electronics and Instrumentation Engineering,Annamalai University
Chidambaram,Tamilnadu,India-608002.
1
harsh131107@gmail.com; 2 jayanavaneethan@rediffmail.com
Abstract— This paper emphasis the need of a new fuzzy gain scheduled PI controller(FGSPI controller)
for a two tank conical interacting level system(TTCILS). A mathematical model is first obtained for the
conical interacting process. It is then followed by the development of a fuzzy gain scheduling scheme by
PI controller for the process. Fuzzy rules and reasoning are utilized to tune the PI controller parameters.
Simulation results demonstrate that the FGSPI controller achieves satisfactory performance in terms of
settling time and ISE.
Keyword- Mathematical model, fuzzy gain scheduled adaptive controller, two tank conical interacting level
system, ISE.
I. INTRODUCTION
Conical tanks are best suited for food process industries, concrete mixing industries, hydrometallurgical
industries and waste water treatment industries. Its shape contributes to better drainage of solid mixtures,
slurries and viscous liquids. To achieve a satisfactory performance using conical tanks, its controller design
becomes a challenging task because of its non - linearity. This non - linearity arises due to its shape. It is broad
at the end and becomes narrow in the lower end. The primary task of a controller is to maintain the process at
the desired set point and to achieve optimum performance when facing various types of disturbances [1].
Conventional controllers are widely used in industries since their design is simple and robust. These
controllers are best suited for applications where the process parameters do not change. But under situations
where the process parameters vary the conventional controllers does not provide satisfactory results. The
solution is the controller parameters have to be continuously adjusted [2].
In this paper, a two tank conical interacting system is considered and the controller parameters are adapted
based on parameter estimation, which requires certain knowledge of the process. Such controllers are called
dynamic or adaptive PID controllers. The applications of knowledge based system in process control is growing
especially in the field of fuzzy control. In fuzzy control [5] , linguistic descriptions of human exceptive in
controlling a process are represented in fuzzy rules. This knowledge base is used in conjunction with some
knowledge of the states of process by an inference mechanism to determine control actions.Theerawut et.al [6]
discussed about optimal fuzzy gain scheduling of PID controller of super conducting magnetic energy storage
for power system stabilization. Leehter et.al [7] designed a gain scheduled fuzzy PID controller based on
genetic algorithm for a second order process.Soft computing based controllers implementation for non linear
process is discussed by S.Nithya et.al [8].A rule based scheme for gain scheduling of PID controllers as
discussed by Zhen-Yu Zhao [4] is experienced for a two tank conical interacting system. Based on fuzzy rules,
human expertise is utilized with ease for PI controller gain scheduling.
The paper is organized as follows. In section II the two tank conical interacting system considered for
simulation study has been discussed. In section III, a fuzzy gain scheduled PI controller has been explained. In
section IV simulation results of fuzzy gain scheduled PI controller is discussed. Finally the paper ends with
Conclusion in section V.
II. PROCESS DESCRIPTION
The two tank conical interacting system consists of two identical conical tanks (Tank 1 and Tank 2), two
identical pumps that deliver the liquid flows Fin1 and Fin2 to Tank 1 and Tank 2 through the two control valves
CV1 and CV2 respectively as shown in Fig. 1. These two tanks are interconnected at the bottom through a
manually controlled valve, MV12 with a valve coefficient β12. Fout1 and Fout 2 are the two output flows from Tank
1 and Tank 2 through manual control values MV1 andMV2 with valve coefficients β1 and β2 respectively.

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Fig. 1. Schematic of TTCIS

The operating parameters of the interacting conicaltank process is shown in Table.I


Table I Operating parameters of TTCIS

In this work, TTCIS is considered as two inputs two output process in which level h1 in Tank 1 and level h2 in
Tank 2 are considered as output variables and Fin1 and Fin2 are considered as manipulated variables. The
mathematical model of two tank conical interacting system is given by [3]
 dA(h1 ) 
 Fin1 − h1 − β1 h1 − sign(h1 − h2 )β12 h1 − h2 
dh1 dt
=  (1)
dt  1 2 h12 
πR
 3 H2 
 A(h2 ) 
Fin 2 − β 2 h2 + sign(h1 − h2 )β12 h1 − h2 − h2 d
dh2  dt 
= 2
(2)
dt  1 2 h2 
πR
 3 H 2

where
A(h1) = Area of Tank 1 at h1(cm2)
A(h2) = Area of Tank 2 at h2(cm2)
h1= Liquid level in Tank 1 (cm)
h2= Liquid level in Tank 2 (cm)
The open loop responses of h1 and h2 are shown in Fig. 2.

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Fig. 2. Open loop response of h1 and h2

III.FUZZY BASED PI CONTROLLER


Fig. 3. shows the control system with a fuzzy gain scheduling PID controller. The approach taken here is to
make use of fuzzy rules and reasoning to generate controller parameters .

Fig. 3. Control system with rule based PID dynamic controller

It is assumed that Kp, Kd are in prescribed ranges, (Kpmin, Kpmax) and(Kdmin, Kdmax) respectively, for
convenience, Kp and Kd are normalized into the range below zero and one as
Kp‫( = ׀‬Kp – Kpmin)/(Kpmax – Kpmin) (3)
Kd ‫( = ׀‬Kd – Kdmin)/(Kdmax – Kdmin) (4)
In fuzzy gain scheduling scheme, PI parameters are determined based on the current error e(k) and its first
difference Δe(k) . The integral time constant is determined with reference to the derivative time constant (ie) Ti =
αTd, and the integral gain is thus obtained by
Ki = Kp/(αTd) = Kp2/(αKd) (5)
The fuzzy rules of gain scheduling are of the form
If e(k) is Ai and Δe(k) is Bi,
Then Kp‫ ׀‬is Ci, Kd ‫ ׀‬is Di and α = αi; i = 1,2,…m.
Here Ai, Bi, Ci and Di are fuzzy sets on the corresponding supporting sets and αi is a constant. The
membership functions for e(k) and Δe(k) is shown in Fig. 4. where N represents negative, P- positive, ZO- zero,
S- small, M - medium, B - big thus NM stands for negative medium, PB for positive big and so on.

Fig. 4. Membership functions of e(k) and Δe(k)

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Fig. 5. Membership functions for Kp and Kd

The fuzzy sets Ci and Di may be either big or small, that are characterized by the membership functions as
shown in Fig.5.
The fuzzy rules may be determined heuristically based on the step time response of the process. A Set of
rules may be used to adapt the proportional gain (Kp‫)׀‬, derivative gain (Kd‫ )׀‬and α as shown in Tables II,III and
IV.
TABLE II
Fuzzy tuning rules for KP‫׀‬

Δ e(k)
NB NM NS ZO PS PM PB
e(k)
NB B B B B B B B
NM S B B B B B S
NS S S B B B S S
ZO S S S B S S S
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B
TABLE III
Fuzzy tuning rules for Kd‫׀‬

Δ e(k)
NB NM NS ZO PS PM PB
e(k)
NB S S S S S S S
NM B B S S S B B
NS B B B S B B B
ZO B B B B B B B
PS B B B S B B B
PM B B S S S B B
PB S S S S S S S
TABLE IV
Fuzzy tuning rules for α

Δ e(k)
NB NM NS ZO PS PM PB
e(k)
NB 2 2 2 2 2 2 2
NM 3 3 2 2 2 3 3
NS 4 3 3 2 3 3 4
ZO 5 4 3 3 3 4 5
PS 4 3 3 2 3 3 4
PM 3 3 2 2 2 3 3
PB 2 2 2 2 2 2 2

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S.Vadivazhagi et al. / International Journal of Engineering and Technology (IJET)

The controller parameters are obtained as follows


Kp = (Kpmax – Kpmin) Kp‫ ׀‬+Kpmin (6)
Kd = (Kdmax – Kdmin) Kd‫ ׀‬+Kdmin (7)
Ki =Kp2/(αKd) (8)
Based on an extensive simulation study on various processes, a rule of thumb for determining the range of Kp
and the range of Kd is given as
Kpmin = 0.32Ku Kpmax = 0.6Ku (9)
Kdmin = 0.08KuTu Kdmax = 0.15KuTu (10)
Where Ku and Tu are respectively the ultimate gain and the period of oscillation.
Fig.6 shows the use of fuzzy gain scheduled PI controller for the process with decoupler block.

Fig. 6. Fuzzy gain scheduled PI Controller

IV. SIMULATION RESULTS


A fuzzy gain scheduled PI controller is designed for TTCILS and the performance is evaluated through
MATLAB/SIMULINK software. The simulation is carried out by considering the nominal values of h1 and
h2.( h1 = 28cm and h2 = 26cm).Servo and regulatory responses are taken for tank1 and tank2.
A. Servo Performance
The setpoint variations are introduced for understanding the tracking capability of fuzzy gain scheduled PI
controller as shown in Fig. 7 and Fig. 8.

35
h1 setpoint
h1
34

33
Level in cm

32

31

30

29

28
0 200 400 600 800 1000 1200 1400 1600 1800 2000 2200

Time in seconds
Fig. 7. Servo response of h1 in TTCILS using FGSPI controller

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33
h2 setpoint
h2
32

31
Level in cm

30

29

28

27

26
0 200 400 600 800 1000 1200 1400 1600 1800 2000 2200

Time in seconds
Fig. 8. Servo response of h2 in TTCILS using FGSPI controller

From the responses,it is inferred that FGSPI controller is able to maintain the tank levels h1 and h2 at the
respective setpoints with better settling time and integral square error.The performance indices for FGSPI
controller is summarized in Table V and VI.
TABLE V
Servo performance of FGSPI controller with respect to h1

Operating points FGSPI controller


of h1 in cm Settling time (secs) ISE
28-30 10 3.51x10-5
30-32 50 0.000647
32-34 100 0.002454
34-32 40 0.004707
32-30 100 0.006332
TABLE VI
Servo performance of FGSPI controller with respect to h2

Operating points FGSPI controller


of h2 in cm Settling time (secs) ISE
26-28 10 4.24x10-5
28-30 60 0.000777
30-32 100 0.002939
32-30 150 0.005813
30-28 100 0.007918
B. Regulatory Performance
The simulation results clearly indicates how FGSPI controller effectively rejects the disturbance.The step
change in input flow rates Fin1 and Fin2 which corresponds to 25% change in output level in tank1 and tank2
are introduced as disturbances.Disturbances are introduced at output levels of h1 = 40cm and h2 = 36cm. Fig.
9 and 10 shows regulatory response of TTCILS using FGSPI controller.

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55
h1 setpoint
h1

50

Level in cm
45

40

35

30

0 500 1000 1500 2000 2500 3000

Time in seconds
Fig. 9. Regulatory response of h1 in TTCILS using FGSPI controller

50
h2 setpoint
h2

45
Level in cm

40

35

30

0 500 1000 1500 2000 2500 3000 3500 4000

Time in seconds
Fig. 10. Regulatory response of h2 in TTCILS using FGSPI controller
TABLE VII
Regulatory performance of FGSPI controller

25% Disturbance in h1 25% Disturbance in


Controller h2
Settling ISE Settling ISE
time(secs) time(sec
s)
FGSPI
100 0.1824 80 0.1443
controller

V. CONCLUSION
The proposed gain scheduling scheme uses fuzzy rules and reasoning to determine the PI controller
parameters. The scheme has been tested on two tank conical interacting system and satisfactory results are
obtained in simulation. Set point tracking responses and regulatory responses are taken for different set points
as shown in section IV. It is clear from the simulation response that fuzzy based PI controller offer minimum
integral square error and also settles faster.
REFERENCES
[1] George Stephanapoulous,Chemical Process control,Prentice hall of India,New Delhi,1990.
[2] B.Wayne Bequette, Process control Modeling,Design and Simulation ,Prentice Hall,USA,2003.
[3] V.R.Ravi and T.Thiyagarajan, “A Decentralized PID Controller for Interacting Non Linear Systems” , in Proceeding of IEEE
2011,International conference on Emerging trends in Electrical and Computer Technolog., pp. 297–302, 2011.
[4] Zhen-Yu Zhao, Masayoshi Tomizuka, and Satoru Isaka “ Fuzzy gain Scheduling of PID controllers”, IEEE transactions on
Systems,Man and Cybernetics,1392-1398,1993.
[5] Madhubala, T.K., M. Boopathy, J. Sarat Chandra Babu and T.K. Radhakrishnan “ Development and tuning of fuzzy controller for a
conical level system”Proceedings of International Conference Intelligent Sensing and Information Processing, Tiruchirappalli, India,
pp. 450-455,2004.
[6] Theerawut Chaiyatham and Issarachai Ngamroo, “ Optimal fuzzy gain scheduling of pid controller of superconducting magnetic
energy storage for powere system stabilization” ,International journal of innovative computing,information and control,
Vol.9,No.2.pp.651-666,Febrauary 2013.

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[7] Leehter Yao and Chin-Chin Lin , “Design of Gain Scheduled Fuzzy PID Controller”, World Academy of Science, Engineering and
Technology,Vol. 1 ,pp.714-718,2007.
[8] S.Nithya, N.Sivakumaran , T.K.Radhakrishnan and N.Anantharaman, “ Soft Computing based controllers implementation for
nonlinear process in real time”,Proceedings of the World Congress on Engineering and Computer Science , October 20-22, San
Francisco, USA ,2010.

AUTHOR PROFILE
S.Vadivazhagi is currently persuing her Ph.D degree in the area of Process Control at Annamalai
University.She received her B.E degree in 2001 and M.E degree in 2006 in the Department of Instrumentation
Engineering from Annamalai University,Chidambaram,Currently
Dr.N.Jaya is presently working as an Associate Professor in the Department of Instrumentation Engineering at
Annamalai University, Chidambaram, India. She received her BE, ME and PhD degrees from Annamalai
University, India in 1996,1998 and 2010 respectively. Her main research includes process control, fuzzy logic
control, control systems and adaptive control.

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