Woldia university

Faculty of technology
department of electrical and computer
engineering

FUZZY LOGIC AND NEURAL NETWORK PROJCET

PROJICT TITLE: Design and Simulation of PD, PID and Fuzzy

Logic
Controller for Industrial Application

Name of group id no/

1. berhe dargo 083/05
2. Mekdes mebratu 221 /05
3. samson gezahign ___ /05

Submitted to inst:
Hailekiross Abadi
 Abstract
Measuring the flow of liquid is a
critical need in many industrial plants. The aim of this paper is to do the
comparative study of conventional PID, fuzzy logic controller and PID-Fuzzy
controller in the area of liquid flow control. In this paper, performance analysis of
conventional PID, fuzzy logic and PID-Fuzzy has been done by the use of MATLAB
and Simulink and in the end comparison of various time domain parameter is done
to prove that the PID-Fuzzy logic controller has small overshoot and fast response as
compared to PID controller. PID controller is the most widely used control strategy
in industry. The popularity of PID controller can be attributed partly to their robust
performance and partly to their functional simplicity. In this paper, the response of
the PID and PD controller is oscillatory which damage the system. But the response
of the fuzzy logic controller AND PID-Fuzzy is free from this dangerous oscillation
in transient period. Hence the Fuzzy logic and PID-Fuzzy logic controller is better
than the conventionally used PID controller.
Keywords - Fuzzy Logic Controller, PID Controller, Matlab/ Simulink.

I.INTRODUCTION
Flow control is critical need in many industrial processes.The control action of
chemical industries maintaining the controlled variables. In this paper, we control
the flow via three methods:
PID, Fuzzy Logic Controller and PID-Fuzzy. PID control is one of the earlier control
strategies [1]. PID controller has a simple control structure which is easy to
understand but the response of PID controller is not fast. To overcome these
problems we use fuzzy logic and PID-Fuzzy Controller. Performance analysis of PID
and Fuzzy Logic Controller has been done by the use of MATLAB and Simulink.
Comparison of various time domain parameters is done to prove that the Fuzzy
Logic Controller has small overshoot and fast response as compared PID controller.
Traditionally, accurate mathematical model-based strategies have been applied to
deal with control problems. However, flow control system is very complex system,
because of the non linear and uncertainties of a system. Fuzzy logic , PID and PD
control have emerged over the years and become one of the most active and fruitful
areas of the research in the intelligent control applications. There are two major
different types of the control rules in fuzzy control: the Mamdani type and the
Sugeno type[1].The Mamdani control rules are significantly more linguistically
intuitive while Sugeno rules appear to have more interpolation power even for a
relative small number of control rules. PID controller is used when dealing with
higher order capacity processes (processes with more than one energy storage) when
their dynamic is not similar to the dynamics of an integrator (like in many thermal
processes) [2]. PID controller is often used in industry, but also in the control of
mobile objects (course and trajectory following included) when stability and precise
reference following are required. Conventional autopilot is for the most part PID
type controllers [3].

II.CONTROL SYSTEM OF FLOW PROCESS STATION

The flow process station consist of a reservoir from which the liquid is
transferred to the overhead tank by means of a motor [9]. Flow is the process
variable of this process. The desired flow is set by the user. An orifice meter measure
the flow rate of the liquid. Differential pressure transmitter senses the pressure
difference and it is calibrated to provide the correct flow rate [9].DPT now sends the
measured value to the process computer where controller is employed. After
execution of the fuzzy simulation in MATLAB, the control variable is given to the
final control element. The objective of this paper is to maintain the desired flow rate.

III. DESIGN CONSIDERATION

 GENERALISED FORM OF CONVENTIONAL CONTROLLER
A PID controller is designated by:
G(s) = P+I+D
= KP + KI/s + KDs -------------- (1)
= KP (1+ 1/ TI/s + TDs) ---------- (2)
Where KP = proportional gain, KI = integration coefficient, KD = derivative coefficient.
TI = integral action, TD = derivative action.
For the best performance of the system, there is need of adjusting these three
parameters which is more difficult & time consuming.

PID CONTROLLER
PID tuning is a difficult problem, even though there are only three parameters and in
principle is simple to describe, because it must satisfy complex criteria within the
limitations of PID control [4]. There are accordingly various methods for loop tuning,
some of them:
  Manual tuning method
  Ziegler–Nichols tuning method
  PID tuning software methods
Ziegler–Nichols tuning method: This method was introduced by John G. Ziegler and
Nathaniel B. Nichols in the 1940s. The Ziegler-Nichols closed loop method is based on
experiments executed on an established control loop (a real system or a simulated system)
[5].
The tuning procedure is as follows:
I. Bring the process to (or as close to as possible) the specified operating point of the
control system to ensure that the controller during the tuning is “feeling” representative
process dynamic and to minimize the chance that variables during the tuning reach
limits.Process is brought to the operating point by manually adjusting the control
variable, with the controller in manual mode, until the process variable is approximately
equal to the set-point.
II. Turn the PID controller into a P controller by setting set Ti = ∞ and Td = 0. Initially,
gain Kp is set to “0”. Close the control loop by setting the controller in automatic mode
[6].
III. Increase Kp until there are sustained oscillations in the signals in the control system,
e.g. in the process measurement, after an excitation of the system. (The sustained
oscillations correspond to the system being on the stability limit.) This Kp value is
denoted the ultimate (or critical) gain, Kpu. The excitation can be a step in the set-point.
This step must be small, for example 5% of the
maximum set-point range, so that the process is not driven too far away from the
operating point where the dynamic properties of the process may be different [7]. On the
other hand, the step must not be too small, or it may be difficult to observe the
oscillations due to the inevitable measurement noise. It is important that Kpu is found
without the control signal being driven to any saturation limit (maximum or minimum
value) during the oscillations [8]. If such limits are reached, there will be sustained
oscillations for any (large) value of Kp, e.g. 1000000, and the resulting Kp-value is
useless (the control system will probably be unstable). One way to say this is that Kpu
must be the smallest Kp value that drives the control loop into sustained oscillations.
IV. Measure the ultimate (or critical) period Pu of the
sustained oscillations [9].
V. Calculate the controller parameter values according to
Table 1, and these parameter values are used in the controller. If the stability of the
control loop is poor, stability is improved by decreasing Kp, for example a 20% decrease.
Design of PD Controller
Figure.1 shows the Simulink model of the PD Controller with unity feedback. Derivative
controller (Kd) reduces both the overshoot and the settling time
Fig. 1: Simulink diagram of PD Controller.
Design of PID Controller
A simple strategy widely used in industrial control is PID controller [4]. A PID
Controller is being designed for a higher order system. Fig.2 shows the simulink
diagram of the PID Controller with unity feedback.

Fig. 2: Simulink diagram of PID Controller.

The response of this technique is not fast and reliable. To overcome these problem we
proposed the Fuzzy Controller so that the closed loop system exhibit small overshoot and
settling time with zero steady state error.
U(t) = KP e(t) + KP/ TI 𝑒(𝑡)𝑡0dt + Kp TD de(t)/dt Where,
U(t) = Control signal applied to plant
KP = Proportional gain
KI = Integral gain
KD = Derivative gain
The selection of these KP, KI and KD values selects according to the desired response.in
general the dependency shows in the following table.
Table I. Effect of increasing parameter values independently on the response

NUMBER Parameter Rise Time Overshoot Settling Error (Ess)

Time
(T ) (Mp)
(Ts)
r

1 KP Decrease Increase Small Decrease

Change
2 KI Decrease Increase Increase Decrease
Significantly
3 KD Minor Decrease Decrease No effect
Decrease

Design of Fuzzy Logic Controller

Figure.3 shows the simulink model of the Fuzzy Controller with unity feedback. Figure.5
shows the fuzzy membership function editor where the number of membership function
and type of membership function is choose, such as trapezoidal, triangular and Gaussian
according to the process parameter. In this paper it is suitable to choose triangular and
trapezoidal.
[1]. Fuzzy Membership Function
There are two fuzzification methods namely, Mamdani and Sugeno. Generally used
Defuzzification methods are center of area, center of gravity, fuzzy clustering, first of
maxima, last of maxima, mean of maxima, semi-linear Defuzzification, quality method,
middle of maxima [4]. Centroid defuzzification method is used in this paper .
Figure.3. selection of I/O for designing FIS
In this paper two fuzzy membership functions are used for two inputs error and change in
error and one output i.e. control as shown in Figure.3.
Figure.4 shows the fuzzy membership function editor where the number of membership
function and type of membership function is choose, such as trapezoidal, triangular and
Gaussian according to the process parameter. In this paper it is suitable to choose
triangular and trapezoidal.

Fig. 3: Simulink diagram of Fuzzy Controller

Fig. 5: Membership function for output.
The fuzzy membership-function for the output parameters are shown in figure.6.
Here
NB = Negative Big
NM = Negative Medium
NS = Negative Small
Z = Zero
PB = Positive Big
PM = Positive Medium
PS = Positive Small
[2]. Fuzzy rules for Developing FIS

Table 2: IF-THEN rule base for fuzzy logic control

Fuzzy rules operate using a series of if- then statement. Figure.6 shows the fuzzy rules for
 developing FIS. The fuzzy control rule is based on fuzzy decision making, which satisfies
some input conditions and has an output results [11].

Design of PID-Fuzzy controller

Figure.7 shows the simulink model of the PID-Fuzzy Controller with unity feedback

Figure.7. simulink model of the PID-Fuzzy Controller

In PID-Fuzzy controller, the derivation and integration is made at the input of the fuzzy
block.

iv.Simulation Results
The Fig. 8, 9 and 10 shows the response of PD, conventional PID controller and the
response of the fuzzy logic controller to the step input.
Fig. 5: The step response of the PD controller

Fig. 5: The step response of the PD controller modified

Fig. 6:The step response of the PID controller.
Fig: pid modified
Fig. 7: The step response of the fuzzy controller.
From Fig. 8, 9 and 10 it is clear that fuzzy logic controller has small overshoot and is
having the fast response as compared to PD and PID Controllers.
v. Conclusion & Discussion
In this paper, we design three kinds of controllers which is PD, PID , fuzzy logic
Controller and PID -FLC. From the figure, results shows that the response of PD and PID
Controller is oscillatory which can damage the system. But the response of FLC is free
from these dangerous oscillations in the transient period and also PID-FLC is better than
all the above s based on settling time ,rise time ,delay time and all the specifications of
transient and steady states. Hence the proposed PID-FLC is better than The FLC, PD
and PID controller.

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