Implementation of Integrated Fuzzy Logic Controller for Servomotor System

Ming-Yuan Shieh and Tzuu-Hseng S. Li Control syst. Lab., Dept. of Electrical Engineering National Cheng Kung University Tainan. Taiwan 70 10 1, Republic of China

Abstract

- This paper' addresses the experimental implementation of an integrated fuzzy logic controller ( E C ) to a dc-servomotor system (Feedback MS150). We apply the proposed structure to improve the performance of the original existed control system. The experimental results demonstrate that the IFLC is effective in the angular position and speed control of the servomotor under light and heavy load, and balanced and unbalanced inertia disc load conditions.
1. Introduction
Fuzzy logic can provide some human-like decisions for controller to decrease the uncertain disturbances or m o d e l e d dynamics. Taking full advantage of this property of fuzzy logic, one can design the fuzzy logic controller (FLC) to overcome some nonlinear problems. The dc-servomotor is a simple 2nd-order system. Many control schemes have been applied to control it. Suppose the load is changed, the original controller can not keep the designed performance. In such case, we propose an integrated control structure to descend the heavy and/or unbalanced load effects. Integrated fuzzy logic control (IFLC) structure 111 is an attempt by using the fuzzy decision making logic to control and ungrade the existed control system. In this paper, we exploit a well-used dcservomotor system (Feedback MS150) 121 as the controlled plant to examine whether the proposed IFLC structure reaches the desired performance. T h s experimental system consists of many basic modules, in addition, it provides many experimental courses for students to realize the control methods. Since

FLC has demonstrated its superiority in many real applications 13-51 in last decade. This paper not only exhibits the experimental implementation of IFLC, but also offers engineers and/or students to realize how fuzzy logic in real control problems does.

2. Experimental DC-Servomotor System

DC-servomotor is one of the most widely used prime movers in industly today. Generally speakmg, the dcservomotor system is low order (no more 2nd or 3rd order) and presents no particular design nor implementation difficulties. However, the system does contain nonlinearities which have an obstructive influence on system response, such as the load effect. The blockdiagram of control system is shown in Figure 1 and the system hardware configuration is depicted in Figure 2. The motion control card was chosen as the interface for implementation of the digital controller. This card offers multi-channels of digitauanalog and input/output' to control different plants.

2.1 The Feedback MS150 Modular Servo System [2]

The MS150 system which was designed by Feedback Instrumentation Ltd. in U.K. has been widely used as a experimental control system. The system offers a series of experimental courses for students who are starting on studies of closed-loop systems to realize control schemes from these practical experiment examples. In the instruction

* This work was supported by the National Science Council of the Republic of China under Grart NSC830404-E006-056 and NSC84-0404-E006-007.
0-7803-2461-7/95/$4.00 0 1995 IEEE

'The motion control card provides 4 channels of 12-bit A/D and D/A, separately, 2 channels of photo encoder, 12-bit digital input, and 4-bit digital output. The CPU is a 16-bit microprocessor with 32K RAM. It receivers the input signals and transmits the output control signals through the
Dual Port RAM.

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book of MS150 system, all the system parameters and l i m i t s of DC servomotor are given for user to analyze and control the system.

and for the differentiator, 1 m,(k)=-[e(k)-e(k-l)]

2.2 System Model

The blockdiagram of the control system is shown (9) in Figure 3. By removing the digital controller, the m(k) = Kpe(k ) + K,m,(k) + K,m,,(k) transfer function be Obtained and the discrete PID controller transfer function is experimentally. For the armaturecontrolled dc @(z), as shown in Figure 3) servomotor, plant transfer function is assumed to be in the following form [ 6 ] ,

Hence the discrete controller implementationof Eq.(6) is

4
= s(s+2&03 (1)

The closed-loop transfer function is

T ( s )G = (4 L = l+G,,(s) s2 +26w,s+w:

(2)

To obtain the system model experimentally, the resulting transfer function is found to be

From the block diagram (as shown in Figure 3) and Eqs.(5) and (lo), the final values for the PID controller gains [6,7] are determined to be K p = 10, K, = 1, and KD = 1.21 for T = 0.01 sec. The step responses of the servomotor system and PID control system are given later in Figure 7 for comparing w i t h the step responses of FLC and IFLC.

T ( s )=

17.64

2 +4.364s+17.64

(3)

2.4 Practical Considerations and Influences on Motor Characteristics

In order to calculate GP@, a value for the sample The motor has a split field winding, with current Period, T, must be determirhd From experimental flow in each part of the coil being controlled by a way, the resulting choice for T is 10 ms. From Eq.(2) transistor. This implies that the direction of rotation and Eq.(3), we have can be reversed. Due to brush friction, a certain 19.004 minimum input signal is needed to rotate the motor (4) Gp(s)= s(s+4.6689) (this is called "dead-band"). Then ~ S the servo amplitier allow in The C O M ~ C ~ ~ O of 19.004(1-6*') - 0.0009356~+0.0009211 ( 5 ) GAz) = "armaturecontrol" or "filed control" mode. The ?(~+4.6689) - l.9S44~+0.9544 experimental examples shown in section 4 are in 2.3 PID controller Design [4] "armaturecontrol" mode. In this case the back emf will have much more effect on the motor current. T~ get the better system response, a pID

.[

1-

controller is chosen for implementation. PID controller is the most widely used in industry today, and it P O S the ~ ~ simple, robust, and stable properties. The aoalog version of the PID controller is
m(t) = K,e(t)+K,J

This

the motor more easy to

4 t ) e(t)dt + K , dt

(6)

~n unloading , "-turecontrol" gives a speed rougNy proportioOal to the applied voltage which is the d a h d value, m e n load is applied, the relation between the speed and load torque will become nonlinear, this characteristic is shown in Figure 4.

where 4 0 is the controller input and 4 0 is the controller output. The discrete controller implementation of the integrator was chosen to be
m , ( k ) =T -[e(&)+e(k-~)l+~,(k-l)

The gain ofpre-mplifer and the inertia of servomotor can also the motor characteristics. Generally speaking, the deadband error voltage reduces as gain is increased, howwer, this will enlarge the overshoots. The effect of the

(7)

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added inertia is to slow down the response and reduce the oscillations but come with the increment of overshoots.

The "min-max" operation is implemented in Dh4L stage. A tradeoff defuzzification strategy was used in this paper, which is the combination of mean of maximums (MOM) and center of area (COA) [9]. Since the input signals have been normalized to [1,+1], this stage w i l l produce a no more than unity nonfuzzy (crisp) value. By scaling factors Gci, we could get the most suitable control actions. It is noted that the choices of these factors on the basis of practical concerns. From Figure 5, it is Seen that the FLC is constructed to control the existed PID control system in IFLC structure. Since the output of FLC is sent to the PID control system as an external input, the scaling factor Gci should be chosen according to the magnitude of the original reference signal. The main difference between IFLC system and FLC system (FLC directly controls the plant) is just how to choose this scaling factor Gci. For FLC direct control case, we choose Gci=5; and in IFLC system, the value of Gci is chosen as fiRh of Ge.

3. Design IFLC
The IFLC system is organized by using the FLC to control the existed control system, such as PID control system. By reason of that FLC is cheaply realized and is easily adjusted by modifying the rules, one does not have to redesign the existed control system but also aquire the satisfactory response when disturbances and noises appear through the IFLC structure.

3 . 1 T h e basic structure of IFLC

The basic configuration of IFLC is shown in Figure 5. It is seen that FLC is just a supplementary role to support the existed control system when the control status changes. Suppose the PID controller is designed to reach a good performance in unloaded case. Then it will lose the control effect when magnetic break or inertia disc load is applied. In this case, FLC will provide a supply of control action to the existed PID control system. As a result, IFLC structure can always acquire a satisfactory system response.

4. Experimental Implementation

In this section, the experimental instrument, Feedback MS150, is used to examine how the 3.2 FLC Design proposed IFLC structure improves the existed PID The response of a well designed PID controller control system. The desired performance applied in with the gains K p = 10, K, = 1, and K , = 1.21 is the reference input is a combination of angular shown in Figure 4. Since the presented PID control position and constant speed control command. Five system nears our desired situation, we only need to experiments including unload, light load (one design FLC to provide a refined control action nor to magnetic brake), heavy load (two magnetic break), influence the original existed control system. balanced inertia disc load, and unbalanced inertia Following the basic design procedure of FLC [SI, disc load are examined. we design a two-input-one-output FLC in this paper. 4.1 T h e Basic DC-Servomotor Experiment At first, we discretize and n o d i the universes of First, we make a basic experiment on MS150 discourse to [-1,+1] by scaling factors Ge and Gde. under unloaded status. In this case, we first get the Then, we coarse fuzzy partition upon the input and characteristics of MS150 by experimental way then output spaces with seven terms and utilize the go ahead to design PID controller. FLC and IFLC triangle-shaped membership functions shown in through the design procedure describxi in former Figure. 6. SectionS. According the characteristics of the dcn i t y For no load case,the resulting responses of u servomotor, we construct the decision making logic feedback, PID, FLC, and IFLC are shown in Figure. 7 . @ML) rule table with 49 rules as shown in Table 1. Although the designed PID control system indeed

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reaches the desired response, the responses of IFLC and FLC possess a little better performance than the PID does. 4.2 Effect of Load on System Response In order to examine the effect of load on system response, we use a magnetic brake (Loading Unit LU15OL) as the load of dc-servomotor. A full scale brake offers the torque of the motor 160 Nt-mm at 1000 rpm. Figure 4 reveals that the speed will fluctuate as shaft load increases, i.e., the response of system will become slow. Figure 8 presents the effect of load on system response for every control scheme. It is clear that the lFLC provides the fastest and best response, the next is FLC,then is PID, and the u n i t y feedback control is the worst.

4.4 Discussion and Summary of Experimental Results From the results shown in Figures 7-9, one can find that the control structure of IFLC has obviously reduced the overshoot and the steady state error. The sum of square of error (SSE)for system responses after 25 second is list on Table 2. The SSE values in IFLC system is almost half to that in PID control system. The performance of JFLC system indeed maintains a satisfactory status. In words, IFLC is really able to improve the performance of the existed controlled system.

The PID controller is designed for operation at no load case, so that it works well under unloaded case as shown in figure 7. When the magnetic break or inertia disc loads are connected to the servomotor, the performance of the PID controller is not within the 4.3 Effect of additional Inertia on System desired range any more thus the PID controller must Response be readjusted. However, redesign a new PID To fix the inertia disc to the motor high-speed controller to replace the existent one is much shaft and remain the circuit in section 4.1, we complex and troublesome. The IFLC structure not examine the effect of additional inertia on system only provide us another design possibility but also response. The moment of inertia of this inertia disc is gives satisfactory results in this case. It is seen that to 412 x lod kg m2,it is almost seven times larger incorporate the FLC into the controlled system is better than redesigning the original system in detail. t h a n the unloaded motor. The digital FLC can be easily realized because no The added inertia will slow down the response difference and/or differential equations should be and reduce the frequency at which overshoots occur. solved to determine the control actions. It is noted It will also cause the overshoots to increase in that to use FLC directly to control servomotor also amplitude. This is because the extra energy stored in reaches a good performance. the motor torque reverses, so the output continues to move in the original direction for a longer period 5. Conclusion before reversing. To redesign the existed control system is a Figure 9 addresses the effect of additional inertia disc on system response for every control method. In Figure 9(a), it is Seen that all responses have larger overshoots in amplitude. It means that the balanced inertia disc influences system response uniformly. In Figure 9@), the influence of the unbalanced inertia unit on system response is reduced because the inertia decreases. complex and troublesome task. In this paper, we have developed an IFLC structure to prompt the existed PID control system. The experimental results indicate that the IFLC system provide better system responses than those of the PID control system. By using a well-known control experimental instrument, Feedback MS150, we have illustrated that the IFLC system is quite easy for implementation.

As a result, IFLC and FLC also remain a fast and satisfactory responses in comparison with the responses of PID and unity feedback control.

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Reference
[ l ] M.Y. Shieh and T.-H. S. Li, "Integrated Fuzzy Logic Controller Design," Proc. of IEEE IECON'93, pp.279-284, Maui, HW,1993. [2] User Guide to Feedback Modular Servo sysfem MS150, vol. 1-3, England: Feedback Instruments Ltd., Crowborough, 1st Edition, 1988. [3] M. Sugeno (Ed.) Indusfrial Applicafions of Fuzzy Control, Amsterdam; North-Holland, 1985. [4] C. M. Lim and T. Hzyama, "Experimental Implementation of a Fuuy Logic Control Scheme for a Servomotor," Mechafronics, vol. 3, No. 1, pp.39-47, 1993.
[5]

Road," Inc. J. o f Vehicle Design, vol. 15, pp.166-180, 1994. 161 S. M. Shinners, Modern Confrol system Theory and Application. Reading, MA: AddisonWesley Publishing company, Inc., 1978.
[7] C. L. Phillips and H. T. Nagle, Digifal control System Anolysis and Design, Reading, U.S.A.: Prentice-Hall International, Inc., 2nd Edition, 1990.

[8] C. C. Lee, "Fuzzy Logic in control systems: Fuzzy Logic Controller Part IJ," IEEE Trans. Sysf. Man cybern., v01.20, No.2, pp.404-435, MarJApr., 1990.

E. C. Yeh and Y. J. Tsao, "A Fuzzy Preview Control Scheme of Active Suspensionfor Rough

191 T.-H. S. Li et al., "Fuzzy Logic control of Gun Turret Systems," Proc. o f 1992 ACC, pp.1212L ,1992. 1261, Chicago, I

U
486 PC
Input

i
: *

A/D
+

Microprocessor

MS-150
'A

Servomotor System

e*

"'-Transducer

ScrvoSignak

controlsignals

Figure 2. S y s t e m hardware.

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Plant(Motor)

Gk)
i

:
i

I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

%z) .....................................

_I

Figure 3. Control system model.

Load Torque
Figure 4. The characteristicof the speed varies with load torque.

Reference

the original existed PID control system plant MS150

Allgluar Position

Figure 5. The block diagram of IFLC s y s t e m .

NB

NM NS ZR PS

PM

PB

NB

NM

NS

ZR

PS

PM

PB

Figure 6. The membershipfunction of (a) E and DE (b) C I in normalized scale.

&\e

NB

NM

NS

ZR

PS

PM

PB

NB N M NS ZR

PS PM PB

NB NB NB NM NS NS PS N B N B N M N S N S P S P S NB NM NS NS PS PS PM NM NM NS ZR PS PM PM NM NS NS PS PS PM PB NS NS PS PS PM PB PB NS PS PS PM PB PB PB

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-_Command, -.-Unity Feedback, -- PID ... FLC - IFLC

150 100 -

-50-50

-100 -150 - - -2m0 5

10
Time (sec)

15

20

Figure 7. The system responses under no load case.

-- Command, -.-Unity

Feedback,

-- PID ... FLC - IFLC

-2000

10

15

20

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Tim (sec)

(a) Balanced inertia disc. (I=412 x 104kg

mz)

Time (sec)

@) Unbalanced inertia unit. (I= 252 x 10" kg m ' ) Figure 9. The system responses with an additional inertia disc.

Unity Fadback

PID controller

FLC

IFLC

Uniform India Disk added UnbPl=Ina(iaDiatadded

805.26

413.59

208.65

180.07

Table 2. The sum of square of error (SSE)for system responses after 25 sec. (the sample period is 10 ms and error unit is radius).

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