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Abstract
In this paper a novel Optimal Fuzzy Proportional-Integral-Derivative Controller (OFPIDC) is designed for
controlling the air supply pressure of a Heating, Ventilation and Air-Conditioning (HVAC) system. The
parameters of input membership functions and first order Sugeno output polynomial functions, along with
PID controller coefficients are optimized simultaneously through random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results prove that the proposed controller performs better than a similar
non-optimal fuzzy controller.
Keywords: HVAC Systems, Sugeno-Type Fuzzy Inference, Fuzzy Proportional-Integral-Derivative
Controller (OFPIDC), random inertia weight Particle Swarm Optimization (RNW-PSO)
1. Introduction
Heating, Ventilating and Air-Conditioning
(HVAC) mechanisms are used to control environmental variables including: temperature, moisture
and pressure. As with other industrial uses, most of
the processes associated with HVAC are controlled
by PID controllers. The prevalent PID controllers
are extensively applied because of their easy calculations, easy application, appropriate robustness,
high dependability, stabilizing and zero persistent
state error. However, the HVAC mechanism is a
non-linear and time variant mechanism. It is hard to
access favorable tracking control efficiency because
Corresponding author
Email addresses: mhkhoban@gmail.com (Mohammad
Hassan Khooban, ), m_r_soltanpour@yahoo.com
(Mohammad Reza Soltanpour), d.nazari@ieee.org
(Davood Nazari Maryam Abadi),
sahar.isfahani@gmail.com (Zahra Esfahani)
193
(4)
194
= 0.5 +
Rand
2
(5)
Parameter
Size of the Swarm
Dimension of Problem
Maximum Number of iterations
Cognitive Parameter C1
Social Parameter C2
Constriction Factor C
Value
50
38
100
1
1
1
195
Input
variables
Membership
functions
Negative
Error (E)
Zero
Positive
Negative
Change of
Error (CE)
Zero
Positive
Output polynomial
functions
[Variance,
Mean]
U1 = p1 x + q1 y + r1
[0.6021,
-1.4923 ]
[0.6021,
0.0689]
[0.6021,
0.5149]
[0.2936,
-0.7016]
[0.2936,
0.2458]
[0.2936,
0.0550]
U2 = p2 x + q2 y + r2
U3 = p3 x + q3 y + r3
U4 = p4 x + q4 y + r4
U5 = p5 x + q5 y + r5
U6 = p6 x + q6 y + r6
U 7 = p7 x + q7 y + r7
U 8 = p8 x + q8 y + r8
U 9 = p9 x + q9 y + r9
[qi , pi , ri ]
[0.6173, 0.0588,
0.3469]
[-0.0056, 0.0102,
-0.8901]
[-0.8860, -0.1164,
0.4295]
[-0.4039, -0.7338,
-1.1432]
[0.5043, -0.2675,
-0.1391]
[0.2194, 0.4623,
-0.9929]
[-0.6865, 0.0261,
-0.4878]
[-0.1315, -0.4345,
-0.2374]
[0.3640, 0.2626,
-1.5937]
196
Parameter
Value
197
G (s) =
1.2e3s
(0.97s + 1) (0.1s + 1)
(8)
0.81e2s
(0.97s+1)(0.1s+1)
0.81e2s
(0.2s+1)(2s+1)
1.2e3s
(0.97s+1)(0.1s+1)
1.2e4s
(0.97s+1)(0.1s+1)
198
Table 5: Performance analysis of OFPIDC for different HVAC-Supply Air Pressure Loop
Rise Time
tr , sec.
Settling
Time t s , sec.
Peak
Overshoot
Mp, %
Steady State
Error E ss , %
2.58
4.44
2.16
2.26
4.74
8.17
5.88
6.75
0.00
0.00
0.00
0.00
0.12
0.01
0.08
0.06
0.81e2s
(0.97s+1)(0.1s+1)
0.81e2s
(0.2s+1)(2s+1)
1.2e3s
(0.97s+1)(0.1s+1)
1.2e4s
(0.97s+1)(0.1s+1)
Table 6: Comparison between performance of PID, ANF, STFPIC and OFPIDC under the normal condition and under existing
uncertainties in parameters of model
G (s) =
G (s) =
G (s) =
G (s) =
0.81e2s
(0.97s+1)(0.1s+1)
0.81e2s
(0.2s+1)(2s+1)
1.2e3s
(0.97s+1)(0.1s+1)
1.2e4s
(0.97s+1)(0.1s+1)
Controller
Type
Peak Overshoot
Mp, %
Settling Time t s ,
sec.
PID
ANF
STFPIC
OFPIDC
3.9
3.5
0.00
0.00
6.7
7.5
3.6
4.74
PID
ANF
STFPIC
OFPIDC
17.9
0.9
0.088
0.00
16.2
10.6
8.9
8.17
PID
ANF
STFPIC
OFPIDC
63
56
17.6
0.00
37
19
6
5.88
PID
ANF
STFPIC
OFPIDC
100
59
25
0.00
120
32
6.9
6.75
199
200