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The robotics are an area where Fuzzy Logic Controllers(FLC) are widely used, as can be seen on papers of
Huser et al. (1995) and Lilly (2007). The first one uses a
FLC to control the navigation of a robot. The second uses
a controller of the same type to control the navegation of
a vehicle to avoid obstacles.
But, FLC is not restrict to robotics, the use of this kind
of logic can be seen in da Silva (2007). On his article, he
uses a fuzzy to identify torque load in induction engines.
FLC can also be used to control the triggering of a three
phase induction engine, as seen in Bordon (2004).
Another important application to the industry is the
control of level of tanks and reservoirs. In majority of
cases, precision and efficiency are critical to the success
of production. That can be seen in papers that uses FLCs
to control levels, which is characterized as a non-linear
process, see the articles of Chang and Chang (2006) and
Wu and Tan (2004).
So, as the usage of fuzzy grows, this paper was developed
with the propose to analyze and compare three types
of classical controllers and FLC. The selected controllers
were: PI, PD, and PID to perform this comparison.
2. THEORICAL FUNDAMENTATION
2.1 Fuzzy Logic Controllers
The basic idea in fuzzy control is to model the actions
from specialist knowledge, rather than, necessarily, modeling the process itself, according to Gomide and Gudwin
(1994). This knowledge is passed to the fuzzy controller
through its knowledge base, with rules like:
IF <condition> THEN <action>
CLCA 2014
Octubre 14-17, 2014. Cancn, Quintana Roo, Mxico
For this paper the IAE, ITAE and IG were chosen, as will
be described below, see Dorf and Bishop (2001) Where
the IEA and ITEA equations are obtained from then
discretization of the analytical equation:
(1)
There are also indices more complete that take into considerations more parameters such as is the case of Goodharts
indices(IG).
(2)
N
1 X
|e(k)|
N
IAE =
(4)
k=1
Which is giving
N
1 X
t|e(k)|.
N
(5)
k=1
N
1 X
u(k)
N
(7)
N
1 X
(u(k) 1 )2
N
(8)
N
1 X
(r(k) y(k))2
N
(9)
1 =
k=1
2 =
2.4 Proportional-Integrative-Derivative (PID) FLC
k=1
3 =
du(t)
de(t)
d e(t)
= kp
+ ki e(t) + kd
dt
dt
dt2
u(t) = kp e(t) + kd
k=1
(3)
CLCA 2014
Octubre 14-17, 2014. Cancn, Quintana Roo, Mxico
1
Degree of membership
ENP
EZ EPP
EPG
0.8
0.6
0.4
0.2
0
The software was developed in C++ using Nokias interface of programming, Qt Creator, for more information on
the application developed see Martins et al. (2014).
30
25
20
15
10
0
Error
10
15
20
25
30
Degree of membership
VEZ
VEP
0.8
0.6
0.4
0.2
0
1
0.8
0.6
0.4
0.2
0
de(t)/dt
0.2
0.4
0.6
0.8
Degree of membership
NG NP
PP PG
0.8
0.6
0.4
0.2
0
40 35 30 25 20 15 10 5
0
5
Error
10
15
20
ENG
ENP
EZ EPP
333
30
35
40
EPG
0.8
0.6
0.4
0.2
0
30
25
20
15
10
0
Error
10
15
20
25
30
25
Degree of membership
Kp
Ki
Kd
PI
4
0.025
PD
3
0.0025
PID
3
0.0028
0.005
CLCA 2014
Octubre 14-17, 2014. Cancn, Quintana Roo, Mxico
VEN
Degree of membership
VEZ
VEP
Derror/Error
Negative
Zero
Positive
0.8
0.6
0.4
0.2
0.8
0.6
0.4
0.2
0
de(t)/dt
0.2
0.4
0.6
0.8
V2EN
1
Degree of membership
Z
H
H
H
PL
M
M
M
PH
L
L
L
Derror/Error
Negative
Zero
Positive
V2EP
NH
H
MH
0.6
Derror/Error
Negative
Zero
Positive
0.4
0.2
0
0.8
0.6
0.4
0.2
0.2
0.4
NL
MLM-
Z
L+
Z
L-
PL
M+
L+
M+
PH
H
M+
H
0.8
NL
M
M
M
0
1
NH
L
L
L
0.6
0.8
NH
H
MH
NL
MLM-
Z
L+
Z
L-
PL
M+
L+
M+
PH
H
M+
H
d2e(t)/dt2
Derror/Error
Negative
Zero
Positive
NH
H
MH
NL
MLM-
Z
L+
Z
L-
PL
M+
L+
M+
PH
H
M+
H
PD
[-3000 -15 -10]
[-15 -10 0]
[-1.5 2 4.5]
[2 10 15]
[10 15 3000]
PID
[-3000 -12 -8]
[-10 -6 0]
[-3 2 3]
[2 6 10]
[8 15 30000]
DN
DZ
DP
[-300 -0.5 0]
[-0.3 0 0.3]
[0 0.5 300]
DDN
DDZ
DDP
25
Water Level(Cm)
d2 u(t) du(t)
dt
dt2
Error
4.1 Controllers PI
M.Fs.
NH
NL
Z
PL
PH
Response
Reference
20
15
10
5
0
90
180
270
360
450 540
Time(s)
630
720
810
900
PI
[0.015 0.4 0]
[0.018 0.2 0]
[0.012 0.15 0]
[0.001 0.3 0]
[0.04 0.2 0]
[0.01 0.2 0]
PD
[1.25 0.0005 0.75]
[0.25 0.0001 0]
[0.75 0.0002 0]
PID
[0.015 0.4 0.000005 0]
[0.018 0.2 0.00002 0]
[0.012 0.15 0.00001 0]
[0.001 0.2 0.00001 0]
[0.038 0.2 0.00001 0]
[0.01 0.2 0.00002 0]
Voltage(V)
M.Fs
B
S+
M+
Z
MS-
1
0
1
2
3
Controller Signal
0
90
180
270
360
450 540
Time(s)
630
720
810
900
NH
H
MH
NL
MLM-
Z
L+
Z
L-
PL
M+
L+
M+
PH
H
M+
H
Fuzzy
10069.4332
2753418.496
2.5706
Classic
6716.9334
2102077.6082
4.6518
CLCA 2014
Octubre 14-17, 2014. Cancn, Quintana Roo, Mxico
25
Response
Reference
20
Water Level(Cm)
Water Level(Cm)
25
15
10
5
0
90
180
270
360
450 540
Time(s)
630
720
810
90
180
270
360
450 540
Time(s)
630
720
810
900
2
Voltage(V)
Voltage(V)
2
0
2
Controller Signal
0
90
180
270
360
450 540
Time(s)
630
720
810
4.2 Controllers PD
30
Tanks Level
Reference
20
180
270
360
450 540
Time(s)
90
180
270
360
450 540
Time(s)
630
720
810
900
630
720
810
Fuzzy
7745.6878
2505851.1635
3.0803
Classic
8050.7655
2695707.2424
4.2097
10
90
Controller Signal
0
1
900
Water Level(Cm)
10
15
900
Response
Reference
20
900
Voltage(V)
4
2
0
2
Response
Reference
20
15
10
5
Controller Signal
4
0
0
90
180
270
360
450 540
Time(s)
630
720
810
900
90
180
270
360
450 540
Time(s)
630
720
810
900
CLCA 2014
Octubre 14-17, 2014. Cancn, Quintana Roo, Mxico
5. CONCLUSION
Voltage(V)
1
0
1
2
3
Controller Signal
0
90
180
270
360
450 540
Time(s)
630
720
810
900
Water Level(Cm)
25
Response
Reference
20
15
10
5
0
90
180
270
360
450 540
Time(s)
630
720
810
900
ACKNOWLEDGEMENTS
Voltage(V)
4
2
REFERENCES
2
Controller Signal
4
90
180
270
360
450 540
Time(s)
630
720
810
900
Fuzzy
10066.6561
2668034.6865
2.5662
Classic
6967.5883
2194671.8211
4.1393