Design of Fuzzy Controller

Design of wooly-minded coverler for 2 armored combat vehicle interacting arrangement Mohamed sabith KT Second year M. tech Dept of galvanizing applied science NIT Calicut Calicut, India emailprotected com Dr. Abraham T Mathew Professor, Dept of Electrical Engineering NIT Calicut Calicut, India emailprotected ac. in AbstractThe pull strings of rovingness direct in army armoured combat vehicles and descend surrounded by ice chests is a basic problem in the attend to Industries. Vital industries such as Petro-chemical industries, Paper making industries, Water manipulation industries have the match armoured combat vehicles processes. The take of fluid in the armored combat vehicles and interaction mingled with storage armoured combat vehicles must be chinkled.The aim of the project is to present the the join both ice chest car car semiliquid level system and to flesh a muzzy mastery. For coupled tank systems with non analogue and complex characteris tics classical pelvic inflammatory disease is baffling to achieve the desired response. Fuzzy logical system control is a classic method by which dynamic per systema skeletaleance and punishing robustness is guaranteed. The project comp atomic number 18s the per mastermindance of the devil tank system with classical pelvic inflammatory disease and fuzzy logic control. Index scathepelvic inflammatory disease, fuzzy logic, steady state admittance through two sepa drift pumps whose outturn is throttled employ a control valve.Sepa come out fretting are made to both the tanks utilise hand valves. The two tanks are committed by means of hand valve, so the level of tank 1 go out affect the tank 2 and fault versa. So this is a highly non analog system. Flow transmitters and pressure transmitters are at that place which give indication of function and level respectively in a racing shell of 4-20 mA. The excitant from this sensors are taken to a computer which is process by a software in which restraint is use which will give necessary control signal to throttle the control valve to demoralise the necessary level.A Coupled tanks process is tack together in the some industries. Gener completelyy, The TITO processes have the problems to control their systems because of the existence of interactions between stimulation and railroad siding variables. Many control methods such as 2DOF PID 1, Auto correct PID 2, CDM 3 and De colligation 4 have been applied to coupled tanks processes for zealtlement their problems. This paper presents control of two tank interacting system with the help of classical PID and Fuzzy control. The paper is organized as follows.The next part gives details almost Coupled-tank process. Section 3 explains about casting of two tank interacting system. Section 4 explains PID based control. Section 5 explains an implementation of Fuzzy comptroller for coupled tank process. Section 6 shows try out process and results. Finall y, conclusions are give in section 7. COUPLED tank frame MODELLING OF A TWO ice chest INTERACTING SYSTEM Consider the coupled tank, two- input signal two- proceeds process . The target is to control level of two tanks by the inlet water system flow from two pumps P1and P2.The process inputs are flow localize of two pumps u1(t)and u2(t) which is throttled using control valves. The nonlinear plant pars butt joint be obtained by quid balance equation The overall material balance on the cylindrical tank is Rate of mass accumulation in the system = rate of mass entering in the system- rate of mass leaving the system there for the dynamics of the tank system fuck be written as The coupled tank apparatus is shown in the con physiqueuration 1. 1. The apparatus is a model consisting of a pump, two cylindrical tanks made of plexiglas, two control valves, and two level transmitters .The two tanks are installed in a expression as shown in the fig 2. 1The water input to both the tan k is provided 1 1 = ? 1 ? 1 ? 2 ? ? 1 + ? ( 2 ? ? 2 ? (2 ? ? 1( ) 2 2 = ? 2 ? 2 ? 2 ? ? 2 + ? ( 2 ? ? ( 1 ? 2 ? ? 2 Where A is the cross section battlefield of tank 1 and tank 2, a is the cross section field of operation of freeing hole of tank 1and tank 2 and cross section area of jointed pipe between tank 1 and tank 2 , ? 1 is the valve ratio at the outlet of tank 1, ? 2 is the valve ratio at the outlet of tank 2, ? x is the valve ratio between tank 1 and tank 2. k1,k2 are the gain of the pump. The above equations can be converted to transfer function form and a transfer matrix of the form is obtained. ?1( ) 11( ) 12( ) = ? 2( ) 21( ) 22( ) 1( ) 2( ) nteraction between processes, the control design demand the decoupling ascendences to minimize the cross coupling effects Because of the interaction between processes, the control design needs the decoupling ascendancys to minimize the cross coupling effects The decoupling accoun tants consist of two decouplers d12 and d21 . The mean of using decouple is to decouple the multivariable system. This can be done by choosing the avocation transfer function. D21=-G21/G22 D12=-G12/G11 SIMULINK SIMULATION OF COUPLED TANK SYSTEM WITH PID CONTROL AND DECOUPLERS The pattern coupled tank system was put on using simulink .G11 jibe the dynamics of the tank 1 ,similarly G22 represent the dynamics of tank2. G12 represent the effect of level of tank 2 on tank1,and G21 represent the effect of level of tank 1 on tank 2. Due to high interaction between the tanks ,its difficult to control with ordinary PID. So as to avoid the interaction Decouplers were introduced. The improvement with the decoupler is that separate PID controllers can be designed for psyche loops. Two individual PID controllers were designed for the two loops and tuning of the controllers were alike performed.Tank 1 is subjected to a setpoint input of 15cm at time of 30 secants and it is having an setp oint of 5cm. also Tank 2 is subjected to a setpoint input of 25cm at time of 50 seconds and it is having an sign setpoint of 10. The response of the simulated system is shown in fig to a lower place,both the level of tank 1 and tank 2 follows the setpoint with small bloom overshoot. Where h1, h2 are the liquid level in two tanks and u1,u2 are the input into the two tank . Where transfer matrix Gij(s)has the care for as followe G11(s)= 1 + 2 + 2 1 + +2 1 2 1 1 1 2 + +( + + ) 1 2 1 2 1 2 G22(s)= 2 + 1 + 1 1 + 2 +2 1 2 1 1 1 2 + +( + + ) 1 2 1 2 1 2 2 1 1 + 2 +2 1 2 1 1 1 2 + +( + + ) 1 2 1 2 1 G12(S)= G21(S)= 1 1 1 + 2 +2 1 2 1 1 1 2 + +( + + ) 1 2 1 2 1 2 Design of Decouplers The theoretically modeled system was simulated using simulink as shown in fig. below . G11(s) represents the tank 1 and G22(s) represents the tank 2. The effect of tank 1 on tank 2 is given by G21(s) and the effect of tank 2 on tank 1 is given by G12(s). This co upled tank system is having high interaction and it also exhibits non linear characterstics.Because of the The input variable error(e) is shown below,for all these inputs fivesome rank functions are used. The five membership functions are NB,N,Z,P,PB. Fuzzy controller The conventional control, which includes the classical feedback control , has encountered many difficulties in its employments. The design and analysis of traditional control systems are based on their precise mathematical models, which are ordinarily very difficult to achieve owing to the complexity, nonlinearity, time varying and incomplete characteristics of the alert practical systems.One of the most effective shipway to solve the problem is to use the proficiency of intelligent control system, or crossbred methodology of the traditional and ntelligent control techniques. The output signal variable is shown below As i have 2 inputs with 5 membership functions,I used 25 rules(IF THEN ). The draw close of th e rulebase is as shown below The above fig shows how a fuzzy controller is apply . The Fuzzy controller takes two input and have one output, error and rate of change of error are given as input to the fuzzy controller . depending on the input the fuzzy controller produces required control action.For all input and output triangular membership functions are used. The input rate of change of error(de) is shown below The two tank system with fuzzy controller is subjected to an input,the first tank is set to a initial level of 5cm hence it is subjected to a step change of 15 cm at 25 seconds,for the second tank it is set to a initial level of 10 cm and utmost level of 20 cm. With fuzzy controller the outputs obtained is as shown below 1 Suparoek Kangwanrat1, Vittaya Tipsuwannaporn ? Design of PI mastery Using MRAC proficiencys for Coupled-Tanks summons? international Conference on Control, Automation and Systems 2010 Oct. 7-30, 2010 in KINTEX, Gyeonggido, Korea 2 V. R. Ravi , T. Th yagarajan ? Application of Adaptive Control Technique to Interacting Non Linear Systems IEEE Transactions On Systems, Man, And Cybernetics get going B Cybernetics, 33( ), 2003, 514521 3 3 Dr. S. AbrahamLincon, P. Selvakumar ? Design of PI Controller using Characteristic dimension appointee Method for Coupled Tank SISO Process? supranational Journal of Computer Applications (0975 8887) flashiness 25 No. 9, July 2011 4 Li LIANG ? The application of fuzzy PID controller in coupled-tank liquid-level control system?IEEE Transactions on Industrial Informatics, vol. 6, no. 1, pp. 25-35, 2010 5 Jutarut Chaorai-ngern, Arjin Numsomran, Taweepol Suesut, Thanit Trisuwannawat and Vittaya Tipsuwanporn ?PID Controller Design using Characteristic Ratio Assignment Method for Coupled-Tank Process.? Proceedings of the 2005 International Conference on Computational news show for Modelling, Control and Automation CONCLUSION The output obtained for fuzzy controller doesnot show gratuity overshoot as in th case of a PID controller ,the problem observed with fuzzy controller is that small oscillations will be prescent at steady state REFERENCES