2nd IEEE International Conference on Power and Energy (PECon 08), December 1-3, 2008, Johor Baharu, Malaysia

Sugeno-type Fuzzy Logic Controller (SFLC) for a Modular Structured Multilevel Inverter (MSMI)
S. N. F. Mohamed1, N. A. Azli2 , Z.Salam3, S.M.Ayob4
Department of Energy Conversion, Faculty of Electrical Engineering Universiti Teknologi Malaysia, Skudai, Johor,Malaysia. Email: 1sitizy@yahoo.com, 2naziha@ieee.org, 3zainals@fke.utm.my, 4shahrin@fke.utm.my

Abstract - This paper presents a study on the performance of a Sugeno-type fuzzy logic controller (SFLC) as applied to a Modular Structured Multilevel Inverter (MSMI) to regulate its output voltage at a specified frequency. Simulation and analysis have been done, which includes comparison on the performance of the SFLC to that of the Mamdani- type fuzzy logic controller (MFLC), which has been conducted in a previous work. The proposed SFLC has shown good performance for closed-loop control of an MSMI during simulation using MATLAB/Simulink with higher execution speed compared to the MFLC. KeywordsFuzzy; Multilevel Inverter.

The integration of an FLC and an MSMI are simulated using MATLAB/Simulink graphical tool software. To analyze the execution speed of the SFLC, the designed fuzzy system has been implemented on a DS1104 controller board using Real Time Workshop (RTW) autogeneration code. For the purpose of comparing the SFLC performance with the MFLC, the block diagram used for simulation and testing of the former is similar to that of the latter as shown in Fig. 1.

I. INTRODUCTION Various control schemes for multilevel inverter topology have been studied to yield good performances for high voltage high power system applications. Fuzzy control system is one type of control scheme that may provide a stronger control action for a large voltage error and a smoother control action for a small voltage error in regulating a multilevel inverter output. In a previous work, a fuzzy logic controller (FLC) has been proposed for MSMI applications to maintain high quality output voltage at a fixed operating frequency [6]. The results highlighted the capability of the control scheme in regulating the MSMI load voltage with THD less than 5% during steady-state conditions. However, the execution speed is low with the sampling interval reaching up to 400 s. This relates to a resolution of 7.2 for the MSMI gating signal [6]. With the incorporation of an FLC and an online optimal PWM switching angle generation, the sampling interval will be higher and may affect the performance of the MSMI in terms of missing pulses particularly for lower amplitude of the fundamental in per unit (ap1) values where by pulse widths at a higher frequency exist [4]. In this work, a different type of FLC will be employed to increase the execution speed of its hardware as compared to the type used in a previous work. An FLC is designed by using the Sugeno-type inference system. The advantage of using this type of fuzzy inference system is that it is more compact and has a computationally efficient representation than the Mamdani-type system such that it may reduce the length of the fuzzy system coding [7]. The FLC is then incorporated with the online optimal PWM switching angle generator that has been implemented in [2]-[6] and tested on an MSMI circuit.

Figure 1.

Simulation blocks used for fuzzy logic control of an MSMI

SUGENO-TYPE FUZZY LOGIC CONTROLLER (SFLC) Many experiences and knowledge on the fuzzy system operation are needed in designing a good fuzzy controller. In this work, the fuzzy system design, analysis and simulation have been done by using MATLAB's Fuzzy Logic Toolbox [7]. A fine-tuned SFLC is designed to provide suitable apl values to the online optimal PWM switching angles generator in fulfilling the requirement of the MSMI for AC power supply applications. The steps involved in the design of a fuzzy control system include the identification and fuzzification of the inputs and output, development of rule base and the defuzzification process. The distinction between the SFLC and the MFLC type is that the output membership functions of the former are singleton spikes and cannot be edited [7].

II.

1-4244-2405-4/08/$20.00 2008 IEEE

599

2nd IEEE International Conference on Power and Energy (PECon 08), December 1-3, 2008, Joh hor Baharu, Malaysia

A. Identification and fuzzification of the e inputs and output The inputs to the FLC are the volta age error, e (reference voltage subtracted from inverter load voltage) and the change of error, ce (previous error su ubtracted from the current error). The output of the controller is the ap1 value which is the value for calculating the t optimal PWM switching angle and generating the gat ting signals for respective power devices. Referring to [2], [ the multilevel characteristic of the MSMI only exists s if ap1 is greater than 0.5 and less than 1. e ce
Figure 2. Fuzzy logic system block diagram d

B. Development of rule base In this work, there are 25 if..then rules that connect the t as given in Table I. In the inputs and the singleton output previous work [6], 49 rules were employed for the MFLC. In Fig. 5, the three-di imensional control surface for the rule base is shown.
TABLE E I. RULE TABLE FOR SFLC e NB PB 0 -10 -20 -30 -30 PS ce Z NS NB NS 10 0 -10 -20 -30 Z 20 10 0 -10 -20 PS 30 20 10 0 -10 PB 30 30 20 10 0

Fuzzy logic system

Ap1

The membership function for the inp puts and output are shown in the Fig. 3 and Fig. 4 respectiv vely. The range of inputs (-1 until 1) is divided into five sets of triangular shapes which are NB (negative big), NS S (negative small), Z (zero), PS (positive small) and PB (positive ( big). The output memberships are represented by b seven Sugenotype singletons values that range betwee en +30 to -30.

Figure 5.

Contro ol surface for the SFLC

(a)

C. Defuzzification t the inferred fuzzy control Defuzzification is to convert action to a nonfuzzy control action. a In this method, the singleton output is defuzzified d into crisp value of ap1. The method used in the defu uzzification process is the centre of gravity method that gi ives crisp value as [9], Zo=
(b)
Figure 3. Membership functions fo or inputs, (a) error (b) change of error r

i = 1 ci * wi N i = 1 wi
N

(1)

where wi is the membership value of the output set i, ci is the corresponding singl leton value, and N is the number of output singletons.
ULTS AND ANALYSIS SIMULATION RESU As stated earlier, the sim mulation is carried out on a 5-level MSMI shown as a bloc ck in Fig.1 with circuit parameters given in Table II. Sim mulations are done both at rated and no load conditions to o analyze the performance of the SFLC on the MSMI operation during steady-state response, loading and unloadin ng conditions. The simulation is conducted only for apl = 0.7 because the 5-level characteristic in the MSMl on nly exists if apl is greater than 0.5 and less than 1.

III.

Figure 4.

Membership functions for f output, ap1 value

600

2nd IEEE International Conference on Power and Energy (PECon 08), December 1-3, 2008, Joh hor Baharu, Malaysia

TABLE II. HE 5-LEVEL MSMI CIRCUIT PARAMETERS OF TH Sampling interval VDC for each module Reference voltage Rated peak load current L C Rrated Rno-load Method of fuzzy inference system Number of rules 10s / 25s 100 Volts 140V Volts, 50Hz 35A A 3mH H 320 F 4 2k Sugeno 25 t, sec c Figure 7. PWM waveform m of the 5-level MSMI of output voltage during st teady-state operation TABLE III. TAL COMPONENT OF THE 5THE PEAK OF THE FUNDAMENT LEVEL MSMI LOAD VOLTAGE AND A ITS CORRESPONDING %THD AND AP P1 VALUE Simulation Rated Load L (4 ) 139. .98 1.84 48 0.79 931 No-load (2k) 139.99 1.427 0.6350

The steady state response load voltage v and current waveforms of the MSMI with 25 rules SFLC is shown in Figure 6. The simulations results indic cate not much difference from the previous work perform mances in regulating the load voltage although the numbe er of fuzzy control rules in both methods is different. Fig. 7 shows the 5 level MSMI output voltage PWM wavef form based on the online optimal PWM multilevel contro ol strategy during steady state condition. Table III shows s that the peak of the fundamental component of the MSM MI load voltage for rated load and no load conditions almo ost reaches the reference voltage value of 140 Volts. The T percentage of THD is less than 5% during steady stat te response condition, while the ap1 value is around 0.7 to t meet the characteristic of the MSMI as stated earlier. These T indicate that MSMl load voltage can still be controll led in regulating it to the specified value although the SFLC C is not developed based on a well known plant model.
vload, (V)

Vload(peak) (V) %THD ap1

During the loading and un nloading conditions in Fig. 8 and Fig. 9, although the load voltage of the MSMI with 25 rules SFLC exhibits a high h THD percentage but it is slightly better than in previous s work, which are 15.5 for the step-up resistive load chan nge and 13.21 for the stepdown resistive load change. In n the 49 rules MFLC, the THD percentage was 16.1 for r the step-up resistive load change and 23.93 for the step-d down resistive load change. The load voltage waveforms show that the effect of disturbances for the loading cond dition can only be removed after two cycles while durin ng unloading condition, it takes about one cycle to remove the disturbances.
vload,(V)

t, sec iload, (A) t, sec c iload, (A)

t, sec c t, sec Figure 6 . Load voltage (vload) and loa ad current (iload) waveforms of the 5-level MSMI I during steady-state operation Figure 8. Load voltage (vload) and loa ad current (iload) waveforms of the 5-level MSMI during loading l condition

601

2nd IEEE International Conference on Power and Energy (PECon 08), December 1-3, 2008, Joh hor Baharu, Malaysia

vload, (V)

t, sec c t, sec iload, (A) (c) Figure 10. Input fuzzy controller waveforms (a) normalized error (b) normalized change of error (c c) Output fuzzy controller waveform, Ap1

t, sec Figure 9 . Load voltage (vload) and load current (i iload) waveforms of the 5-level MSMI during unloading co ondition

For the coding implementatio on of the fuzzy system into the DS1104 controller board, the t minimum sampling interval for the SFLC is 25 s, while w the sampling interval for the MFLC is around 400 s. Therefore the execution speed for the SFLC is faster tha an the MFLC in generating suitable apl values to the onlin ne optimal PWM switching angles generator in fulfilling g the requirement of the MSMI.
SIONS CONCLUS From the simulation results s, it can be concluded that the SFLC-based control schem me has met the requirements of an inverter for power supply y application such as regulating the output voltage at a fixed frequency, low total harmonic distortion and fast t execution speed. When compared to the previous work k, the output performances do not indicate much differenc ce as. However, the execution speed for the SFLC is fa aster than the MFLC. The simulation results have thus est tablished the superiority of the SFLC over the conventiona al MFLC in controlling the MSMI output.

Fig. 10 show the waveforms of th he fuzzy controller inputs (normalized e and ce) and outp put (ap1) from the simulation studies. From the waveforms s, we can conclude that the results of steady state ap1 value e, error and change of error obtained from both methods of f fuzzy simulation are also similar. In generating the proper ap1 value, the SFLC operates with faster response tha an the MFLC. The ap1 values take about 0.08 seconds to reach steady-state for the case of the SFLC compared to 0.2 0 seconds for the case of the MFLC.

NCES REFEREN
[1] N. A. Azli and A. H. M. Yatim, "Modular Structured Multilevel Inverter (MSMI) for High Power r AC Power Supply Application", Proc of the IEEE International l Symposium on Industrial Electronics ISIE' 01, Vol. 2, pp. 728-7 733, 2001. N. Ahmad Azli and A. H. Mohd Yatim, "A DSP-based Online Optimal Pulse Width Modulatio on (PWVM) Switching Strategies for a Modular Structured Multile evel Inverter" , Proc. ofthe 6th International Symposium on Signal Processing and its Applications ISSPA '01, Vol. 2, pp. 623-626, 2001. 2 N. A. Azli. and A. H. M. Yatim m, "Optimal Pulsewidth Modulation (PWM) Online Control of a Modular Structured Multilevel Inverter (MSMI)" ,The 4th IEE EE International Conference on Power Electronics and Drive Sy ystems PEDS'01, Vol. 2, pp. 598604, 2001. N. A. Azli and W. S. Ning, "Ap pplication of Fuzzy Logic in an Optimal PWM Based Control Scheme for a Multilevel Inverter." 2003 International Conference on o Power Electronics and Drive Systems PED 2003, Singapore, 17 7-20 November 2003. N. A. Azli and W. S. Ning ," Ap pplication of Fuzzy Logic in Regulating a Multilevel Inverter Output", Proceedings of 2004 International Conference on Powe er System Technology, Singapore, 21-24 November 2004. N. A. Azli and S. N. Wong , Development D of a DSPbased Fuzzy PI Controller for an Onlin ne Optimal PWM Control Scheme for a Multilevel Inverter, IEEE PEDS P 2005. Fuzzy Logic Toolbox Users Guide de, The Math Works, Natick, MA, 1996, pp. Report, Texas Instrume ents. A. DellAquila G. Delvino, M. Li iserre, P Zanchetta, A new fuzzy logic strategy for active power fi ilter, Power Electronics and Variable Speed Drives IEE 2000, pp p 392-397, 18-19 Sept 2000.

[2] t, sec (a) [3]

[4]

[5] t, sec (b) [6] [7] [8]

602

2nd IEEE International Conference on Power and Energy (PECon 08), December 1-3, 2008, Johor Baharu, Malaysia

[9]

K.Vismanathan, D. Srinivasan, R. Uruganti, A universal fuzzy controller for a non linear power electronic converter, IEEE

2002. [10] Simulink Users Guide, Math Works

Inc., March 1992.

603