421 M.Muruganandam and M.

madheswaran

Analysis of Fuzzy-ANN Controller for Closed Loop Control of Chopper fed DC

Series Motor with Parameter Variation
M.Muruganandam and M.Madheswaran
Centre for Advanced Research, Muthayammal Engineering College,
Rasipuram, Tamilnadu, India 637408. e-mail: [email protected]

Abstract—A Fuzzy-ANN controller for closed loop control of controllers [7]. A fuzzy controller for closed loop control of
DC series motor fed by DC-DC buck converter (Chopper) has DC series drive fed by DC-DC converter is designed. Here
been designed and presented in this article. This system has seven membership functions are used, if it is reduced, the
two loops of current and speed controller loop. The current program complication will reduce [9]. In [10] the modified
controller is ON/OFF type. The Fuzzy-ANN (Artificial Neural
fuzzy controller is used to control the speed of the motor.
Network) controller is used for changing the duty cycle of the
DC-DC buck converter. Hence the output voltage of the Here DC series and DC separately excited motor
converter controls the speed of the DC series motor. The performance analyzed.
performances in respect of various load torque and various In the proposed system a Fuzzy-ANN controller is
speed for two different series motor of 220V and 110Vwith used for speed control of Class A Chopper (DC-DC Buck
different motor parameters have been evaluated by MATLAB Converter) fed series motor. The drive system has the
simulation. This system can be implemented in a Micro- characteristics of precise, fast, effective speed reference
controller or DSP based embedded system. The proposed tracking with minimum overshoot/undershoot and minimal
Fuzzy-ANN controller performance is compared with the steady state error. The controller will work effectively even
reported results and found to have better control.
the motor parameter is changed. So the simulation is made
Keywords-DC-Series; Motor; Fuzzy-ANN controller; for two different series motor with different motor
DC Chopper; speed control; current control; MATLAB parameters. In order to control the speed of such drive while
Simulink. maintaining the current at a limiting value, a fuzzy speed
and ON/OFF current controllers has been designed [8 to10].
I. INTRODUCTION
High performance servo applications require the motor II. PROPOSED SYSTEM
drive with minimal steady state error, over shoot and under
shoot in its speed commands. The application of DC series
motor in industrial environment has increased due to the
high performance and high starting torque as suitable drive
system. Recently, the fuzzy and neuro controller has been
utilized for various control applications including motor
control. The Fuzzy-ANN controller made the control of
complex nonlinear systems as simple as possible [1]. Earlier
conventional control strategies were used and it comprises
of fixed arrangement with fixed parameter design. Hence
the tuning and optimization of these controllers is a
challenging and difficult task, particularly, under varying
load conditions, parameter changes, abnormal modes of
operation. Here the DC series motor is controlled by DC-
DC buck converter [2-4]. There have been several
conventional control techniques in DC motor drives are
presented in [5-10].
A separately excited dc motor fed by a chopper (DC to
DC converter) and controlled by a fuzzy logic controller Figure 1. Block diagram of the proposed system
limits its applications due to its low starting torque [5]. A dc The figure 1 shows the block diagram of proposed
series motor drive fed by a single phase controlled rectifier
system it consists of DC-DC converter to drive the DC
(AC to DC converter) and controlled by fuzzy logic
motor, tacho generator to sense the speed, micro-controller
introduces unwanted harmonic ripples in the output due to
the inherent limitations [6]. The series motor drive fed by a or a digital signal processor to generate the PWM signal to
single phase full-bridge converter (DC to DC converter) switch the DC-DC converter, during the implementation of
controlled by fuzzy logic shows that the simplify fuzzy logic experimental setup.
model (SFL), provides superior performance over other

International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012
 422 M.Muruganandam and M.madheswaran

The system has two loops, consist of namely outer

Fuzzy-ANN speed control loop and inner ON/OFF current
control loop. In outer speed control loop, the actual speed
(k) is sensed by tacho generator and the error signal e(k) is
obtained by comparing with reference speed r(k). From the
present error e(k) and pervious error epervious(k) the change in
error e(k) is calculated.
The error and change in error are given as inputs to
the Fuzzy-ANN controller. The output of the controller is
denoted as duty cycle. The input and output gain of the
controller can be estimated by simulation. The Fuzzy-ANN
controller can reduce the error to zero by changing the duty
cycle of the switching signal [9 &10].

III. MATHEMATICAL MODELING OF DC SERIES Fig 2. Simulink model of DC series motor

MOTOR AND DC-DC CONVERTER
B. DC-DC Converter
A. DC Series Motor
The DC-DC converter switch can be a Power
The proposed system can be simulated with proper Transistor, SCR, GTO, IGBT, Power MOSFET or similar
mathematic modeling. The DC motor can be written in switching device. In order to get high switching frequency
terms of equations as follows [6].
(upto 100 KHz) the Power MOSFET may be taken as a
di a 1  d d  switching device. [11].
 Vo  Ra i a  K af i a dt  K res dt  (1)
dt La
d 2 1 d When the gate pulse is applied the device is turned
 2 
  K af i a  B dt  TL  ( 2) on and the input supply connects with the load. When the
dt 2 J
gate pulse is removed the device is turned off and the load
where disconnected from the input supply. Figure 3 shows the DC-
DC converter.
ia=ise - Motor current
V0 - Motor terminal voltage
Ra - Armature resistance
La - Armature inductance
J - Moment of inertia
B - Friction coefficient
TL - Load torque
d
= - Angular speed Fig 3. DC-DC converter circuit and waveform
dt The model equation for DC-DC converter is given
-Angular displacement by
Kaf - Armature voltage constant and
Kres - Residual magnetism voltage constant
Vo  Vs 3
TON
The non linear equations can be simulated with
  4
T
simulink as given in Figure 2. The fuzzy logic controller is T  TON  TOFF 5
the one of the best suited non linear controller, to control the
where
DC motor [5].
V0 - Output Voltage
VS - Input Voltage
TON - ON Time
TOFF - OFF Time
T - Total Time
 - Duty Cycle

The simulation operation of DC-DC converter is

given in Table 1.

International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012
 423 M.Muruganandam and M.madheswaran

Table1. DC-DC converter switching operation Five linguistic variables negative big (NB),
Converter Output negative small (NS), zero (Z), positive small (PS) and
Switch Position voltage Load positive big (PB) are used for the input variable e(k) and
Operating V0 Current e(k). Out of many types of membership functions, such as
mode
Motoring Freewheeling io triangular, Gaussian, sigmoidal, pi-shaped trapezoidal-
Mode1 Mode2
(Mode 1) (Mode 2)
shaped, bell-shaped etc. the triangular membership function
Forward MOSFET Diode is used for simplicity and also to reduce the calculations [6
Vs 0 + ve
motoring (Q) ON (DF) ON
& 8]. In order to reduce the number of membership function
from 7 to 5 the width of the membership functions are kept
different, width for the center membership functions is
IV. IMPLEMENTATION CONTROLLER IN considered narrow and wide towards outer. Figure 5 shows
MATLAB / SIMULINK the fuzzy memberships used.

A. Fuzzy Logic Control (FLC)

The effective and efficient control using fuzzy logic has
emerged as a tool to deal with uncertain, imprecise or
qualitative decision making problems [12 to 21].
The FLC involves three stages namely
Fuzzification, Rule-Base and Defuzzification. The fuzzy
controller classified into two types that are Mamdani and
Sugeno type controllers. In this work the Sugeno fuzzy
controller is used. Figure 4 Shows the structure of the fuzzy
controller.

Fig 4. Structure of the fuzzy controller

Sugeno-type Fuzzy Controllers
The Sugeno type controller uses singleton membership
functions for the output variables and uses the weighted
average method of defuzzification technique. The controller
can be easily implemented in any embedded system because Fig 5. Fuzzy memberships used for simulation
of the reduction in the calculations resulting in the real-time
operation. The next change in the duty cycle can be Defuzzification
calculated before a switching cycle. [8] The reverse process of fuzzification is called
Fuzzification defuzzification. The linguistic variables are converted in to a
numerical variable [6]. As the weighted sum method is
The process of converting a numerical variable
considered to be the best well-known defuzzification
(real number or crisp variables) in to a linguistic variable
method, it is utilized in the present model.
(fuzzy number or fuzzy variable) is called fuzzification.
In this work, the motor variables are speed and
current (ia).The error e(k) found by comparing the actual The defuzzified output is the duty cycle dc(k). The
speed (k) with reference speed r(k) and the change in change in duty cycle dc (k) can be obtained by adding the
error e(k) calculated from the e(k) and pervious error pervious duty cycle pdc(k) with the duty cycle dc(k) which
epervious(k). e(k) and e(k) are the inputs to the fuzzy is given in equation 8.
controller. Thus the error and change in error are fuzzified
[19]. The equation for error and change in error are given in dc (k )  dc(k )  pdc(k ) (8)
equation 6 and 7.
Rule Table and Inference Engine
e(k )   r (k )   (k ) (6 ) The control rules that relate the fuzzy output to the
fuzzy inputs are derived from general knowledge of the
e(k )  e(k )  e Pervious (k ) (7 )
system behavior, also the perception and experience.

International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012
 424 M.Muruganandam and M.madheswaran

The general rule can be written as The simulation of DC-DC converter fed DC
If e(k) is X and e (k) is Y, then dc(k) is Z motors are done based on equation modeling technique,
where X, Y and Z are the fuzzy variable for e(k), using MATLAB/simulink toolbox. The complete simulink
e(k) and dc(k) respectively [7]. model developed with Fuzzy-ANN controller is given in
Table2. Fuzzy Rules Fig. 7.

NB NS Z PS PB

NB NB NB NB NS Z

NS NB NB NS Z PS

Z NB NS Z PS PB

PS NS Z PS PB PB
Fig 7. Simulink Model of the proposed system
PB Z PS PB PB PB with Fuzzy-ANN controller

V. RESULTS AND DISCUSSION

The rule table for the designed fuzzy controller is
given in the Table 2 [10]. The proposed model has been simulated using
MATLAB and tested. The specification of DC series motor
B. Fuzzy Based ANN Controller (Fuzzy-ANN) for 220V and 110V are given in Table 3 & 4.
Table3. 220 V DC Motor Specifications
The ANN controllers designed in most of the work
use a complex network structure. The aim of this work is to
DC motor Parameters Value
design a simple ANN controller with possible, less number Motor Rating 5HP
of neurons while improving the performance of the Dc supply voltage 220 V
controller. In the proposed work a two layer feed forward Motor rated Current 18 A
neural network is created with two neurons in the input Inertia constant J 0.0465 Kg-m2
Damping constant B 0.005 N.m.Sec./rad
layer and one neuron in the output layer. Armature resistance Ra 1
Armature inductance La 0.032 H
As the inputs to the neuron controller are the error Motor Speed 1800 rpm
and the change in error, two neurons are used for input Armature voltage constant Kaf 0.027 H
Residual magnetism voltage const. Kres 0.027 V.Sec./rad
layer. The activation functions used for the input neurons
are pure linear and the tangent sigmoid activation function is Table4. 110 V DC Motor Specifications
used for output neuron. The network is trained for the set of DC motor Parameters Value
inputs and desired outputs [6]. The training patterns are Motor Rating 2 HP
extracted from the Fuzzy Logic Controller, and a supervised Dc supply voltage 110 V
back propagation neural network-training algorithm is used Motor rated Current 12 A
Inertia constant J 0.016Kg-m2
with a fixed error goal. The network is trained with Damping constant B 0.003 N.m.Sec./rad
minimum error goal. The error (e) and change in error (ce) Armature resistance Ra 0.4
are the inputs to the controller. The output corresponds to Armature inductance La 0.0096 H
the change in the duty cycle for the motor control. The Motor Speed 1500 rpm
Armature voltage constant Kaf 0.027 H
detail of the trained network is shown in Fig. 6. [6,21-25]. Residual magnetism voltage const. Kres 0.027 V.Sec./rad

The speed variation with respect to time and

Current Variation with respect to time for 220V motor is
shown in Figure 8 and Figure 9 respectively. The
performance comparison of proposed system with the
reference [5] is given in Table 5.

Fig. 6. Structure of Trained Neural network.

International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012
 425 M.Muruganandam and M.madheswaran

Fig 8. Speed Variation with respect to Time Response for r=1800 rpm

Fig 11. Current variation for the step change in speed variation
The simulated result of speed regulation for a step
change in the load torque of 50% and 75% applied at
t=1.5sec and t=2.5 sec respectively is shown in figure 12 for
220V motor and in figure 13 for 110V motor. From these
figures, it is clear seen that the load influences the
performance of the controller and hence the motor.

Fig 9. Motor Current Variation with respect to Time

Response for r=1800 rpm
Table 5. Performance Comparison of proposed system with the reference
[5] for the rated speed
Fuzzy-ANN
Fuzzy Classical PI Proposed System
Controller
[5] [5] 220V 110V
Motor Motor
Settling time 1.7 Sec 2.67 Sec 0.95 Sec 0.72 Sec
Max. over
3.21% 6.72% 0.17% 0.15%
Shoot

The simulated result for the step change in set speed Fig 12. Speed variation for the step change in load torque TL=50%
from 1000 to rated speed with rated load for 220V motor applied at t=1.5secs and TL=75% applied at t=2.5 secs when the speed is
and 110V motor are shown in Figure 10. The corresponding 1800rpm.
changes in currents are shown in Figure 11. From these
figures, it is clear that the controller regulates the speed of
the motors.

Fig 10. The variation of speed for the step change in set speed from 1000 to
rated with rated load for 220V motor and 110V motor. Fig 13. Speed variation for the step change in load torque TL=50%
applied at t=1.5secs and TL=75% applied at t=2.5 secs when the speed is
1500rpm.

International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012
 426 M.Muruganandam and M.madheswaran

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International Conference on Advances in Communication & Technology, ICACT’12, 20th and 21st April 2012