Fuzzy Gain Scheduled PI Controller For A Two Tank Conical Interacting Level System
Fuzzy Gain Scheduled PI Controller For A Two Tank Conical Interacting Level System
Fuzzy Gain Scheduled PI Controller For A Two Tank Conical Interacting Level System
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.
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.
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
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
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
55
h1 setpoint
h1
50
Level in cm
45
40
35
30
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
Time in seconds
Fig. 10. Regulatory response of h2 in TTCILS using FGSPI controller
TABLE VII
Regulatory performance of FGSPI 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.
[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.