IEEE TRANSACTIONS ON EDUCATION, VOL. 41, NO.

2, MAY 1998 159

Fuzzy-Logic-Based Speed Control

of a Shunt DC Motor
Seyedrasoul Saneifard, Member, IEEE, Nadipuram R. Prasad, Member, IEEE,
Howard A. Smolleck, Senior Member, IEEE, and Jiryes J. Wakileh

Abstract—The fundamental equations governing the operation

of a dc motor are straightforward and are well presented in most
undergraduate curricula, usually in a required energy-conversion
or electrical-machinery class at the junior level. The physical
implications of the equations regarding device behavior, and
the need for speed control, are easily understood. Furthermore,
students can readily develop a mental picture of the physical
motor and its response.
Speed control of a dc motor represents an ideal application for
introducing the concepts of fuzzy logic. Once the fundamentals of
fuzzy logic have been presented to the students, their application
to the speed-control problem can be easily demonstrated. The Fig. 1. Schematic diagram of a shunt dc motor.
paper shows how a commercially available fuzzy logic develop-
ment kit can be applied to the theoretical development of a fuzzy
controller for motor speed, which represents a very practical class II. MOTOR MODEL
of engineering problems. The schematic diagram of a dc shunt motor is illustrated in
Index Terms—DC motor control, fuzzy-logic controller. Fig. 1. The fundamental equations governing the operation of
the shunt dc motor are as follows:

(1)
I. INTRODUCTION AND BACKGROUND (2)

T HE application of fuzzy logic is an effective alternative

for any problem where logical inferences can be de-
rived on the basis of causal relationships. As a mathematical where
(3)

method which encompasses the ideas of vagueness, fuzzy terminal voltage, V;

logic attempts to quantify linguistic terms so the variables thus field voltage, V;
described can be treated as continuous, allowing the system’s armature voltage, V;
characteristics and response to be described without the need counter emf, V;
for exact mathematical formulations [1]. design constant;
Such concepts can often be introduced best in the classroom mutual air-gap flux per pole, Wb;
by example. In this paper, the application of fuzzy-logic rotational speed, r/min;
concepts to the speed control of a simple dc motor is illus- armature resistance, ;
trated. The device model is straightforward and the physical line current, A;
implications of speed control are readily perceived. Thus field current, A;
student attention is concentrated upon the fuzzy logic aspects armature current, A.
of the problem rather than upon the complexities of the model.
It can be shown that load change is reflected by a change
Specifically, the paper describes the development of a
in the line current and, accordingly, in the armature current
fuzzy-logic controller to maintain constant speed in a shunt-
A knowledge of the line voltage, armature current, and
connected dc motor operating under various shaft-loading
field flux (and, of course, the design constant) enables us to
conditions. Using a commercially available fuzzy logic devel-
calculate the motor speed
opment kit, fuzzy sets and fuzzy “If-Then” rules are developed
for this application, and minimization is performed on a speed
error signal. (4)

Using (2), (4) can be written in terms of field current as

Manuscript received November 30, 1995; revised December 29, 1997.
The authors are with Klipsch School of Electrical and Computer Engineer-
ing, New Mexico State University, Las Cruces, NM 88003 USA. (5)
Publisher Item Identifier S 0018-9359(98)03411-6.

0018–9359/98$10.00  1998 IEEE

160 IEEE TRANSACTIONS ON EDUCATION, VOL. 41, NO. 2, MAY 1998

Also, from (4) the ratio of speeds at two different operating

points (“new” and “old”) can be expressed as

(6)

When load is applied to the shaft of the unregulated motor,

the line current, and correspondingly the armature current,
increase. Accordingly, the counter electromotive force (emf)
decreases and the motor slows [3], [4]. The purpose of speed
control is to automatically return the speed of the motor to a
specified value following a load change.
In the following sections, the principles of fuzzy logic and
their application to the development of a fuzzy controller for Fig. 2. Illustration of center of gravity method.
this motor are discussed.
defining the fuzzy sets. First, the number of fuzzy sets assigned
III. FUZZY LOGIC FUNDAMENTALS to each variable is usually an odd number. This ensures the
Fuzzy logic is a mathematical theory which encompasses availability of a center point, which tends to inhibit numerical
the idea of vagueness when defining a concept or a meaning. oscillation between adjoining values. Second, the number of
For example, there is uncertainty or “fuzziness” in expressions such fuzzy sets is usually between three and nine. Since
like “large” or “small,” since these expressions are imprecise linguistic variables are used to describe causal relationships,
and are relative to one another. Variables considered thus are we must (in a human-logic sense) be able to distinguish
termed “fuzzy,” as opposed to “crisp.” Fuzziness is simply one one subset from another. This becomes more difficult as the
means of describing uncertainty [2]. The following definitions number of subsets becomes large (i.e., it is relatively easy to
and principles [11] are relevant here: distinguish between “small,” “medium,” and “large” values of
Definition 1. Fuzzy Set: a variable, but much more difficult if many gradations exist).
Let signify a classical set whose elements are We must be able to make sense of the linguistic definitions
signified by of the subsets.
Then a fuzzy set in represents a set of ordered pairs Also, each fuzzy set should overlap its adjoining set(s).
This overlap provides a contiguous control surface for the
fuzzy controller. A 10–50% overlap between adjoining sets
is generally recommended [8].
where is designated as the degree of membership of in
After defining the fuzzy sets and assigning their membership
and is limited to values between and , with signifying
functions, rules must be written to describe the action to be
the lowest degree and the highest degree of membership.
taken for each combination of control variables. These rules
(This is in contrast to classical, discrete set theory, where
will relate the input variables to the output variable using If-
or , where signifies that does not belong
Then statements which allow decisions to be made. The If
to and denotes that belongs to .)
(condition) is an antecedent to the Then (conclusion) of each
Definition 2. The Union of Two Fuzzy Sets:
rule. Each rule in general can be represented in the following
The union of two fuzzy sets and is the
manner:
smallest fuzzy set which includes all articles in or or
both and From this it can be stated that the union is a (antecedent) (consequence).
logical OR operator. The membership function of is
shown as follows: Finally, a process called defuzzification is necessary to
convert fuzzy values into crisp numerical results [9]. One
of the most common (and easily understood) methods of
defuzzification is the centroid (or moments of inertia) method.
where if and if In this method, the centroid of the area confined by the
Definition 3. The Pntersection of Two Fuzzy Sets: membership function curve is assumed to be the most typical
The intersection of and is the largest fuzzy crisp value of the fuzzy measure. With reference to Fig. 2, the
set within both and , which indicates that the intersection centroid or “center of gravity” CG can be found as
is a logical AND operator. The following is the membership
function of :
CG

where if and if
[5]–[7].
Once the fuzzy variables are defined, membership functions IV. APPROACH
are assigned to them. This process is called fuzzification. There In the example described here, the knowledge base is formed
are some rules of thumb which are customarily applied in by considering a 120-V motor (line voltage 120 V)
SANEIFARD et al.: FUZZY-LOGIC-BASED SPEED CONTROL OF A SHUNT DC MOTOR 161

TABLE I
MOTOR ARMATURE CURRENT, COUNTER EMF, AND SPEED CALCULATIONS

TABLE II
FUZZY VARIABLE ASSOCIATIONS AND NUMERICAL RANGES

Fig. 3. Fuzzy sets for field current and motor speed.

Fig. 4. Simulation model.

having an armature resistance of 0.25 , a field resistance TABLE III

of 60 , and a rated (full-load) speed of 1800 r/min. Since FAM TABLE FOR DC MOTOR CONTROLLER
increasing load results in increased line current, load variations (SEE TABLE II FOR NOTATION)
on the motor are simulated by varying the line current. As a
result, armature current, counter emf, and motor speed also
change. This is illustrated in Table I for a given (in this case,
rated) terminal voltage.
The purpose of the fuzzy controller is to maintain a fairly
constant speed of the motor as load is changed. This speed
control is accomplished by adjusting the field current. The
input variables to the fuzzy controller are therefore motor
speed and field current, while the field current is also an output
variable. Fuzzy rules for this problem thus appear in the form
speed is minimized, as shown in the block diagram of Fig. 4
and discussed in the next section. The fuzzy system is rep-
resented by a fuzzy associative memory (FAM) mapping that
associates the input variables to the output variable, as shown
in Table III. The output variable is the field current required to
restore the motor speed to the normal range. Whenever more
A spreadsheet or a simple student-generated algorithm can
than one range of field current can correct a situation, the lower
be used to calculate motor speed for various loading levels,
range is chosen since a higher field current results in higher
line voltages, and field resistances. Based on the results of the
copper and core losses and thus lower efficiency.
set of such calculations shown in Table I, and a knowledge of
the machine and its ratings, fuzzy associations for both speed
and field current are defined in Table II, each accompanied by V. SIMULATION
the numerical range assigned to it. Fig. 4 illustrates a simulation model for the dc motor speed
Using the notation of Table II, the fuzzy sets required for control problem. Recall that the objective in this problem is to
the controller are depicted in Fig. 3. They are shown for field maintain the rated speed of the motor during load variations.
current and motor speed. Actually, an error signal representing Hence a speed error signal is generated by comparing the
the difference between actual speed and a reference (constant) actual motor speed with a reference setting. This error signal
162 IEEE TRANSACTIONS ON EDUCATION, VOL. 41, NO. 2, MAY 1998

Fig. 5. Fuzzy rule surface.

and the measured field current are then used by the fuzzy development software to produce the corresponding Fortran
controller to determine the appropriate field current adjustment (or other high-level language) code.
to bring the motor speed back to the reference setting. The normalized fuzzy rule surface for this problem, as
The fuzzy controller was created using the commercially generated by FULDEK, is shown in Fig. 5. This rule surface,
available fuzzy logic development Kit FULDEK [10], which which is possible to visualize spatially here since there are
composes a set of rules based upon defined input and out- only two input variables and one output variable, provides a
put variables and manually generated membership functions. graphical indication of the assigned fuzzy variables and their
Membership functions are of the trapezoidal type and Correla- ranges.
tion Minimum Encoding (CME) is used as the defuzzification For this example, FULDEK generated a Fortran code of
method [10]. Based on the relationship between input and approximately 400 lines from the specified fuzzy rule base.
output variables, a total of 24 rules (corresponding to the 24 This code, which contains a number of check statements, is
meaningful states in the FAM table) is composed from the called in the form of a subroutine by the main program (Fig. 6)
FAM table (Table III). There is a reason for the “missing” written by the user, where NPR and NPW are logical device
rule, and this should be pointed out to the students. Note that names. The main program and FULDEK-generated subroutine
if speed is low (LS) and field current is small (S), no reduction are compiled and linked by the student and can then be used
in field current can be made to correct the speed. Such as a simulation and testing tool for the controller.
modification or deletion of rules from the FAM table allows Crisp output is obtained from the user’s program. The crisp
the designer to eliminate conflicting or noncausal relationships. output corresponding to different sets of input data, showing
In classical expert-systems theory, this is often referred to as the reaction of the controller to restore the speed to normal
“conflict resolution.” under varying load conditions, is in accordance with the FAM
As an example of the use of the FAM table, consider the table and is shown as follows at the top of the following page.
following. If the machine is in the overspeed (OS) mode and It is evident from an examination of these results that the
the field current is small (S), then the field current should be fuzzy controller will restore the speed of the machine to normal
reset to above normal (ANO) in order to bring the machine (1800 r/min) under varying load conditions.
speed down. The complement of this is also evident: if the
motor is operating at underspeed (US) and the field current
is large (L), then the field current should be reset to below
normal (BNO) to bring the speed up. In the usual notation, VI. CONCLUDING REMARKS
these two rules would be stated respectively as follows: This paper has demonstrated how the fundamentals of
fuzzy logic can be illustrated through application to a simple
Field Current is Small engineering problem: the speed control of a shunt-connected
Speed is Overspeed dc motor. This problem was chosen because it is physically
Field Current is (to be set to) Above normal and mathematically straightforward, and because the results
are easily understood and easily compared with those of other
Field Current is Large methods. Furthermore, the need for addressing the problem
Speed is Underspeed of motor speed control is readily demonstrated to, and per-
Field Current is (to be set to) Below normal. ceived by, the students. It is a problem which can be readily
implemented, on a class-project level, using fuzzy logic once
In practice, students should develop a FAM table corre- the fundamentals of the latter are understood (e.g., from a
sponding to the stated problem and would then use fuzzy logic treatment such as [1]).
SANEIFARD et al.: FUZZY-LOGIC-BASED SPEED CONTROL OF A SHUNT DC MOTOR 163

IF If is 1.50 A and speed is 1600 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 1.50 A and speed is 1735 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 1.50 A and speed is 1800 r/min THEN set If to 1.51 A to restore speed to normal.
IF If is 1.50 A and speed is 1865 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 1.50 A and speed is 2000 r/min THEN set If to 2.48 A to restore speed to normal.
IF If is 1.80 A and speed is 1600 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 1.80 A and speed is 1735 r/min THEN set If to 1.76 A to restore speed to normal.
IF If is 1.80 A and speed is 1800 r/min THEN set If to 1.76 A to restore speed to normal.
IF If is 1.80 A and speed is 1865 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.00 A and speed is 1600 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.00 A and speed is 1735 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.00 A and speed is 1800 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 2.00 A and speed is 1865 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.00 A and speed is 2000 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.20 A and speed is 1600 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 2.20 A and speed is 1735 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 2.20 A and speed is 1800 r/min THEN set If to 2.24 A to restore speed to normal.
IF If is 2.20 A and speed is 1865 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 2.20 A and speed is 2000 r/min THEN set If to 2.00 A to restore speed to normal.
IF If is 2.50 A and speed is 1600 r/min THEN set If to 1.76 A to restore speed to normal.
IF If is 2.50 A and speed is 1735 r/min THEN set If to 1.76 A to restore speed to normal.
IF If is 2.50 A and speed is 1800 r/min THEN set If to 2.49 A to restore speed to normal.
IF If is 2.50 A and speed is 1865 r/min THEN set If to 1.76 A to restore speed to normal.
IF If is 2.50 A and speed is 2000 r/min THEN set If to 1.76 A to restore speed to normal.

applications at New Mexico State University. The project

serves as a very effective introduction to the practical use of
fuzzy logic. From this point, students can then be shown how
such concepts can be extended to more complex engineering
problems. Although it is beyond the scope of the project, if
the hardware and interfaces are available, a physical analog
implementation of such a controller can be made and tested
in the laboratory. Thus it could be demonstrated how fuzzy
theory can be used as a true design tool.
As a relatively new concept in the lower division engi-
neering curriculum, fuzzy logic is perhaps best learned by
the students through application to a straightforward problem
which they already understand. We have found that this motor-
control application provides an ideal introductory illustration
of how fuzzy logic concepts can be successfully applied to a
practical engineering problem, while allowing the students to
gain experience in both formulating the problem and solving it.

REFERENCES
Fig. 6. Main code (developed by students).
[1] J. M. Mendel, “Fuzzy logic systems for engineering: A tutorial,” Proc.
IEEE, vol. 83, pp. 345–377, Mar. 1995.
The development of a fuzzy-logic controller which main- [2] T. Terano, K. Asai, and M. Sugeno, Fuzzy Systems Theory and Its
tains a fairly constant speed for this motor has been discussed. Applications. San Diego, CA: Academic, 1991.
[3] S. J. Chapman, Electric Machinery Fundamentals, 2nd ed. New York:
A commercially available fuzzy logic development kit [10] McGraw-Hill, 1991.
was used to simulate and demonstrate the controller. The [4] A. E. Fitzgerald, C. Kingsley, Jr., and S. D. Umans, Electric Machinery,
5th ed. New York: McGraw-Hill, 1990.
numerical results are seen to be reasonable and illustrate that [5] B. Kosko, Neural Networks and Fuzzy Systems—A Dynamical Systems
the controller actually accomplishes its design objectives. Approach to Machine Intelligence. Englewood Cliffs, NJ: Prentice-
The demonstration presented in this paper represents a Hall, 1992.
[6] R. R. Yeager, S. Ovhinnikov, R. M. Tong, and H. T. Nguyen, Fuzzy Sets
student effort on the level of an assigned class project, and in and Applications: Selected Papers by L. A. Zadeh. New York: Wiley,
fact began that way in a class in fuzzy-logic theory and power 1987.
164 IEEE TRANSACTIONS ON EDUCATION, VOL. 41, NO. 2, MAY 1998

[7] H. J. Zimmerman, Fuzzy Set Theory—and Its Applications. Boston, Howard A. Smolleck (S’74–M’74–SM’84) received the B.S., M.S., and Ph.D.
MA: Kluwer-Nijhoff, 1985. degrees from the University of Texas, Arlington, in 1969, 1970, and 1975,
[8] E. Cox, “Fuzzy fundamentals,” IEEE Spectrum, pp. 58–61, Oct. 1992. respectively.
[9] M. Jamshidi, N. Vadiee, and T. J. Ross, Fuzzy Logic and Control. From 1974 to 1979 he was on the faculty of Old Dominion University,
Englewood Cliffs, NJ: Prentice-Hall, 1993. Norfolk, VA, and since August 1979 has been with the Department (now the
[10] Fuzzy Logic Development Kit (FULDEK) Version 2.0, Bell Helicopter Klipsch School) of Electrical and Computer Engineering, New Mexico State
Textron Inc., 1992. University, Las Cruces, where he currently holds the rank of Professor. He
[11] S. Saneifard, “Fuzzy logic approach to unit commitment,” Ph.D. disser- has developed and taught numerous short courses on power systems analysis,
tation, New Mexico State University, Las Cruces, NM, Dec. 1994. machine control, and process control. His research interests include electric
power system analysis, electric machinery, and the development of educational
software.
Dr. Smolleck is a member of Tau Beta Pi, Eta Kappa Nu, Alpha Chi, and
is a Registered Professional Engineer.
Seyedrasoul Saneifard (M’98) received the B.S.E.E. and M.S.E. degrees
from Prairie View A & M University, Prairie View, TX, in 1988 and 1990,
respectively, and the Ph.D. degree in electrical engineering from New Mexico
State University, Las Cruces, in 1994.
He is currently (Fall 1997) an Assistant Professor in the Department of Jiryes J. Wakileh received the B.S. degree in electrical engineering from
Engineering Technologies of Texas Southern University, Houston, TX. His the University of Jordan, Amman, Jordan, in June 1986, the M.S. degree
research interests include fuzzy logic, electric power system analysis, electric in electrical engineering from New Mexico State University, Las Cruces,
machinery, and power distribution. in December 1993, and recently graduated with the Ph.D. degree from the
Department of Electrical and Computer Engineering, Kansas State University,
Manhattan.
He worked for the Jordanian Royal Scientific Society until December 1992.
He is now (Fall 1997) employed by Unitech Engineering A/S, Stavanger,
Nadipuram R. Prasad (M’79) received the Ph.D. degree in 1989 from New Norway. His primary research area of interest is the analysis and design of
Mexico State University, Las Cruces. power distribution systems.
He has over 15 years’ experience in the power engineering field. From
1975 to 1985 he worked at American Electric Power where he was involved
in various capacities in the Bulk Transmission Planning Division, and was
manager of the System Dynamics Analysis Section. Presently, he is an Asso-
ciate Professor in the Klipsch School of Electrical and Computer Engineering,
New Mexico State University. His primary research interests are in the areas of
control systems and the application of advanced artificial intelligence concepts
to the operation and control of power systems.