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Norman Mariun, Samsul Bahari Mohd Noor, Jasronita Jasni, Omar S. Bennanes
Department of Electrical and Electronic Engineering,
Faculty of Engineering
Universiti Putra Malaysia
43400 Serdang, Malaysia
Email : norman@eng.upm.edu.my
___________________________________________
0-7803-8560-8/04/$20.00©2004IEEE
2
3. FUZZY LOGIC SPEED CONTROLLER Small, NVS=Negative V. Small, NVB= Negative
PRINCIPLE AND DESIGN very Big, and PVB= Positive very Big.
The universe of discourse of all the variables,
Basically, the fuzzy logic controller consists of four covering the whole region, is expressed in per unit
blocks as shown in Figure 1, Fuzzification, fuzzy values. All the MFs have asymmetrical shape with
inferencing engine, Knowledge base and a more crowding near the origin (steady state). This
defuzzification block. permits higher precision at steady state [1-3].
Defuzzification
G1 Engine represented as IF-THEN rules statements governing
Fuzzification
d
e* FS
G3
in terms of membership functions. In this stage the
input variables e(ts) and ce(ts) are processed by the
e G2 inference engine that executes 7x7 rules represented
dt RB
in rule table. Inferencing stage includes also,
G2.e* application of fuzzy operator (AND, OR), implication
and aggregation. An example of rule statements
describing the expert system is:
Fig. 1: Complete Fuzzy Logic Controller Used IF e(pu) (speed error in per unit) = Z (zero) AND
for Vector Induction Motor Control ce(pu) = PS (positive small) THEN du(pu) = PS
(positive)
3.1 Input/output variables
3.4 Defuzzification stage
The design starts with assigning the mapped variables
inputs/output of the FLC in Figure 2. The I/O must be This stage introduces different inference methods that
clearly defined. In this case the first input variable is can be used to produce the fuzzy set value for the
the speed error “e” and the second is the change in output fuzzy variable ¨T. In this paper, the center of
speed error “ce”=e* at a sampling time “ts”. The two gravity (COA) or centroids method is used to
input variables e(ts) and ce(ts) are calculated at every calculate the final fuzzy value ¨T*(ts).
sampling time as : Defuzzification using COA method means that
the crisp output of ¨T*(ts) is obtained by using the
e(ts) = Ȧr* (ts) – Ȧr(ts) (6) center of gravity, in which the crisp du(pu)0 or ¨T(ts)
ce(ts) = e(ts) – e(ts – 1) (7) variable is taken to be the geometric center of the
output fuzzy variable value μout(¨T) area, where
Where “ce” denotes the change of e, Ȧr (ts) is the μout(¨T) is formed by taking the union of all the
actual rotor speed, Ȧr*(ts) is the reference speed and contributions of rules with the degree of fulfillment
e (ts – 1) is the value of error at a previous sampling greater than 0. Then the COA expression with a
time. discretized universe of discourse can be written as
The output variable of the FLC is the change in follows:
torque, ¨T (Figure 2), which is integrated (in discrete n
sense) to get the reference torque T*(ts) as shown in ¦ 'Ti P out 'Ti
the equation: 'T * i 1
n
(9)
¦ P out 'Ti
Te*(ts) = T*(ts – 1) + ¨T* (8) i 1
Then by integration Te* is obtained as shown by
equation (8). This Torque value is used to calculate
3.2 Fuzzification iqs*, which in turn used to command the induction
motor via 2ĭ-3ĭ block.
The success of this work, and the like, depends on *
2 2 L r Te
how good this stage is conducted. In this stage the i *qs . . . (10)
3 P L m <r
crisp variables of the inputs e(ts) and ce(ts) are
converted into fuzzy variables that can be identified
by the levels of membership in the fuzzy set. Each The overall system is shown in Figure 2 (the
fuzzy variable is a member of the subsets with a specification parameters of the motor are given in the
degree of membership μ varying between 0 (non- appendix) and the constructed Fuzzy Logic Controller
member) to 1 (full member). in MATLAB/SIMULINK environment [4] is shown
The fuzzy sets are defined as Z=Zero, in Figure 3. The block diagram of the drive
PS=Positive Small, PM=Positive Medium, representing the IVCIM with Fuzzy Logic Control is
PB=Positive Big, NS=Negative Small, NM=Negative shown in Figure 4.
Medium, NB=Negative Big PVS=Positive Very
3
Ids* Calculation
Fig. 2: Indirect Vector Control Based Induction Motor Block Diagram with Fuzzy Logic Control
+ _ de FLC Calculi
Ȧr
ce șe
5. CONCLUSION
6. REFERENCES