INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATION ENGINEERING & TECHNOLOGY (IJECET)

International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

ISSN 0976 6464(Print) ISSN 0976 6472(Online) Volume 4, Issue 2, March April, 2013, pp. 373-382 IAEME: www.iaeme.com/ijecet.asp Journal Impact Factor (2013): 5.8896 (Calculated by GISI) www.jifactor.com

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DESIGN AND DEVELOPMENT OF MATLAB-GUI BASED FUZZY LOGIC CONTROLLERS FOR AC MOTOR SPEED CONTROL
Immanuel J.*, Parvathi C. S., L. ShrimanthSudheer, and P. Bhaskar Department of Instrumentation Technology, Gulbarga University P.G. Centre, Yeragera-584133, Raichur, KARNATAKA, INDIA. * Email: immanuel.j009@gmail.com

ABSTRACT In the present paper an attempt is made to design a graphical user interface (GUI) for speed control of AC Motor. The AC motor speed is controlled by phase angle firing technique. MATLAB based GUI is created and controllers such as PID, fuzzy logic controller (FLC) and integrated fuzzy logic controller (IFLC) are designed and implemented. An ADDA board designed for the present application is interfaced to PC to acquire speed and send control action to the actuator. MATLAB-GUI displays all the required parameters of AC motor speed control system. Also, this paper discusses the performance comparison of PIDC, FLC, and IFLC for step input of 7500RPM. It is found that IFLC performs better in terms of less rise time, less settling time, and less steady state error. Key words: AC Motor, FLC, IFLC, MATLAB-GUI, Speed,

1.

INTRODUCTION

AC motors are used worldwide in many residential, commercial, industrial and utility applications. AC motor speed is one of the important parameters monitored and controlled. AC induction motor is most widely used type of electric motor in the modern world. The conventional approaches are not convenient to solve the complexities in controlling the AC motor speed. In the most of research work the fuzzy logic controller has been employed to increase the efficiency of the motor/drive. Fuzzy logic control technology has been widely and successfully utilized in numerous industrial applications and consumer products. Since fuzzy logic with human like but systematic property can convert the linguistic control rules based on expert knowledge into automatic control strategy. The main advantage of using
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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

fuzzy logic control structure is that one does not have to redesign the existing control system but also acquire the satisfactory response when disturbances and noise enter [1]. MATLAB is software where one can design fuzzy logic controllers very easily as it contains fuzzy logic toolbox. MATLAB is an interactive program for numerical computations and data visualizations. It integrates mathematical computing, visualization and powerful language to provide flexibility environment for technical computing [2]. John G. Cleland, et al reported a fuzzy logic energy optimizing controller developed to improve the efficiency of motor/drive combinations running at various loads and speed conditions. The 2-20% efficiency is obtained from laboratory demonstration. Also, they investigated to reduce energy consumption when motors are operated at less than rated speed and load. In their research, simulation results of a microprocessor based fuzzy logic motor controller are described. Efficiency improvements by an FLMC controllers ASD over a constant V/Hz ASD range from approximately 0.2% to 14% for the motors examined [3-4]. C. von Altrock, et al represented fuzzy logic enhanced control of an AC induction motor with DSP. They implemented the Texas Instruments DSP to control AC induction motor and control performance has been improved while design effort has been significantly reduced. They reported the fuzzy approach which delivered similar performance and higher robustness than the traditional approach [5]. Z. Q. Zhu, et al described fuzzy logic control to a vector controlled permanent magnet brushless AC motor drive and shows that fuzzy logic controller performance better than the PI controller. Also, they proposed simple adaptive fuzzy logic controller algorithm with self tuned threshold speed error. The results obtained are, the DSP based FLC with linear distribution of fuzzy sets of the output variable presents excellent speed tracking and disturbance performances [6]. Some of the searchers also implemented the field programmable gate array (FPGA) to speed control of AC motor. Ying-Yu Tzou, et al presents the design and implementation of a motor control IC for permanent magnet servo motors using the FPGA. The proposed control structure has also been realized using FPGAs. The designed PMAC IC can be incorporated with a general purpose microcontroller to provide simple, compact, low-cost and effective solutions for high performance AC drives [7-8]. Some of the researchers proposed the design and implementation of CPLD for AC motor drive. From the literature it is very rare to find the work which has reported the design and development of a complete hardware and software for the speed control of AC motor. Also, very less work has been reported to implement MATLAB-GUI for speed control of AC motor. So this has motivated the authors to design and develop MATLAB-GUI based fuzzy logic controllers for speed control of AC motor. 2. HARDWARE DETAILS

The Fig.1 shows the block diagram of MATLAB-GUI based AC motor speed control system using fuzzy logic controller. It includes the following elements: AC Motor Tacho-Generator Frequency to Voltage Convertor AD-DA Board Ramp Generator Comparator, and Opto-isolator and Triac
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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

2.1

AC MOTOR A FHP AC single phase motor is used for the present study. The specifications of the AC motor used in the present study are given in the Table 1. Table 1. Specifications of AC Motor Description Kilo Watts Horse Power Weight Max Speed Current Voltage Value 0.05KW 1/15 HP 1.60Kg 13000 rpm, at no load 4000 rpm, at full load 0.75A 230VAC, 50Hz

TACHO-GENERATOR GENERATOR It consists of slotted aluminum disc and optical encoder. The slotted disc is made with six slots, which produces six pulses for each rotation of disc. The disc is connected to the shaft of the AC Motor. The disc is made to rotate between photophoto transistor and LED (optoisolator), , a high pulse is produced at the output of optical encoder and whe when n light falls on photo transistor a low pulse is produced. The frequency of these pulses depends on the speed of the AC motor. This frequency is directly proportional to the speed of AC motor. Further, this frequency is converted in to voltage by using F/V converter.

2.2

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

2.3

FREQUENCY TO VOLTAGE CONVERTER The frequency of train of pulses from tacho-generator is converted in to voltage by using LM2907 frequency to voltage converter. The output voltage obtained is V0= Vcc*fin*C1*R1*K, where K is gain constant. Further the A/D converter is used to acquire analog voltage. 2.4 AD-DA BOARD In the present work, a AD-DA board is designed indigenously by the authors for the data acquisition. This board contains Analog Devices make 12-bit analog to digital converter and Burr-Brown make 12-bit digital to analog converter. 2.4.1 A/D Converter Specifications[9]

2.4.2

Analog Devices AD1674 Industry standard pin out 8 & 16-bit microprocessor interface Commercial, industrial and military temperature rang grades

D/A Converter Specifications[10]

2.5

Burr-Brown make DAC 7541 Low cost,12-bit four quadrant multiplying D/A converter Relative accuracy of 1LSB = 0.024% of FSR

RAMP GENERATOR In the present study the AC motor is driven by AC power. The AC power should be applied to the motor in both positive and negative half cycle of AC signal. From the transformer the AC signal is drawn and converted in to ramp signal. This ramp signal acts as one of the inputs to the comparator to generate PWM signal for the actuator. Here, the circuit is constructed by using transistor and op-amp. Phase angle firing allows us to apply some power every line-cycle, so the jerkiness associated with time proportioning is overcome. We can adjust the amount of power applied to the load every half cycle. 2.6 COMPARATOR A dedicated comparator, LM311, is used for the present applications. One input for this comparator comes from ramp generator and other input from D/A converter output voltage to generate PWM signal. 2.7

OPTO-ISOLATOR AND TRAIC A triac is used as a final control element (actuator). Triac is most commonly used device for power control in AC circuits. A triac can conduct in both directions and is normally used in AC phase control. The AC voltage is applied to the motor through traic. Here BTA06 is used as an actuator. As the high power devices are need to be isolated from the rest of the circuit. The opto-diac is used to drive traic and to provide isolation from the high power.

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

3.

GRAPHICAL USER INTERFACE (GUI)

MATLAB provides GUIDE toolbox to design user defined graphical user interface. The AC motor speed control GUI is selected by clicking on Control button. This GUI is a main GUI which displays set point, current speed, and controller currently working with. The Tune Controller GUI is selected by clicking on the respective button. This GUI allows user to select a controller and tune the corresponding controller parameters. Initially, the GUI initializes the DIOT card and prompts the user for entering set point. After accepting set-point, clicking on Control button will initiate control process. Fig. 2 shows screen-shot of main AC motor speed control main GUI. In this GUI, provision is made for the user to set the desired speed (in RPM) with current speed being displayed. It also displays the current controller selected by the user in the tune controller GUI. In this GUI, provision is made for the user to set the desired speed with present speed being displayed. It also displays the present controller selected by the user in the tune controller GUI. Fig. 3 shows the GUI for tuning the PIDC and FLC controller parameters. The main GUI has various components on it such as Control, Tune Controllers, Plot and edit boxes such as Set-Point and text boxes such as Present Speed and controllers selected by the user. The second GUI consists of PIDC and FLC parameters such as Scaling Factor, OK and Save buttons. These GUIs are user friendly, when run, prompt user to enter set point and other required parameter and prompt to run the process. The tuning and selection of different controllers such as PID, FLC, and IFLC is done by or made possible by using check boxes. The performance of the controller can be visualized on the axes components on the GUI. By clicking on control button the control process starts and the values are stored on to a memory after completion of predefined time. The response can be observed on the axes.

Fig. 2 Screen-shot of Main GUI for speed control of AC Motor

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

Fig. 3 Screen-shot of PIDC and FLC tuning GUI

4. SOFTWARE DETAILS

The software for the preset AC motor speed control application is written in MATLAB. The graphical user interface is designed by using GUIDE toolbox in MATLAB for various controllers such as PIDC, FLC, and IFLC. 4.1 FUZZY LOGIC CONTROLLER Fuzzy logic controllers are easier to understand and develop because they involve human operations strategy [11]. Generally, this controller accepts two inputs i.e., error and change-in error. The error is obtained by subtracting the plant output from the desired value. The change-in error is obtained by subtracting the previous error from current error. By forming rule base and choosing membership functions the control action is produced. This control action is applied to the plant. The fuzzy logic controller consists of three design stages; fuzzification, decision-making logic, and defuzzification. The fuzzification stage converts real numbers into fuzzy values/linguistic terms. The decision-making logic stage processes the input data and computes the control output. These outputs which are fuzzy values are converted into real numbers by the defuzzification stage. This fuzzy logic controller can be designed by using MATLAB software. The MATLAB provides the fuzzy tool kit to design a FLC. Typing fuzzy on command window the following GUI will be opened to create fuzzy logic controller. Sugeno [12] type FLC is selected and 7-member triangular function is chosen to form a controller. The membership functions for error, change-in-error, and control action, are shown in Fig. 4, 5, and 6 respectively. The designed fuzzy inference system (fis) in MATLAB is saved as fis file and is called by GUI. To evaluate the designed fis the following command is used. fis= readfis (ACspeedfis_1); control_action=evalfis([en-en_1], fis).

Fig. 4. 7-member triangular function for error

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

Fig. 5. 7-member triangular function for change in error

Fig.6. 7-member triangular function for control action 5. METHODOLOGY

The speed of the AC motor is sensed by tacho-generator. The tacho-generator produces pulses. The frequency of these pulses is directly proportional to the speed of AC motor. This frequency is converted in to voltage by using F/V converter and is acquired by ADC on AD-DA board. This measured voltage is converted into actual speed of AC motor by curve fitting method. The error is calculated by subtracting measured speed from set point and is applied to the PID/FL/IFL controllers. The controller output is sent to the comparator to decide power to be applied to the motor through DAC on AD-DA board. The comparator compares DAC voltage with the ramp voltage generated by ramp generator. The phase angle firing technique is used to apply power to the AC motor by comparing DAC voltage with the ramp voltage in the present work. Depending on DAC voltage the power to be applied is decided. The opto-diac is used to provide isolation between low power devices and AC line and to drive TRAIC. The speed of AC motor is controlled at desired level. In the present application the AC motor speed is controlled at step point of 7500RPM. The flowchart for the complete algorithm is shown in Fig. 7.

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

6.

EXPERIMENTAL RESULTS

Fig. 8 shows the comparative study of PIDC, FLC and IFLC responses for step input of 7500RPM. From the graph it is found that there is no much difference in the rise time of FLC and IFLC. But there is a remarkable performance of IFLC during settling time. Table 2 shows the comparative values of performance of PIDC, FLC and IFLC for a step input of 7500RPM. Table 2. Performance Comparison of PIDC, FLC and IFLC Controller Parameters Rise time (sec) Settling time(sec) Steady state error (RPM) PIDC 3.47 7.20 10.0 FLC 3.32 6.92 10.0 IFLC 3.27 5.24 0.0

Start Solve selected controller algorithm (PID/FLC/IFLC) Apply control action to motor through TRIAC Invoke speed control GUI and prompt the user to enter desired set point and select the controller (Initially Turn-OFF the motor) A Acquire voltage corresponding to present speed of motor through AD-DA broad Compute actual speed in RPM to obtain (error = set point measured speed) (change-in-error = present error previous error) Display present AC motor speed on MATLAB GUI
Is stipulated time over ? YES

Initialization of PCI DIOT card (Create an object for DIOT card)

Update controller variables

NO

Store speed data to the file (Turn-OFF Motor) Plot the response on axes component on the GUI Stop

Fig. 7 Flowchart of AC motor speed control system

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

7500 6500 5500 Speed(RPM) FLC 4500 3500 PIDC 2500 1500 IFLC

7 9 Time(sec)

11

13

15

Fig. 8. Responses of PIDC, FLC and IFLC for step input of 7500RPM

7.

CONCLUSIONS

The MATLAB-GUI designed for the study of AC motor speed control system provides various facilities to run the control system and to tune controllers. The controller such as PID, FLC and IFLC are implemented in MATLAB-GUI and speed of the AC motor is controlled at 7500 RPM. It is found from the experimental results that integrated fuzzy logic controller performs the best. The GUI designed for the present application provides advantages over the conventional control approaches. This GUI is user friendly in nature and need not require high technical knowledge about the particular task to work. AC motor GUI allows user to tune controllers in much easier way than the conventional laborious tuning methods. Also, GUI allows the user to analyze the response through plotting. ACKNOWLEDGEMENT The authors are thankful to University Grants Commission (UGC), New Delhi, India for providing the financial assistance to carry out this project work successfully.

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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 6464(Print), ISSN 0976 6472(Online) Volume 4, Issue 2, March April (2013), IAEME

[3] John Cleland, Wayne Turner, Paul Wang, Todd Espy. P. Jeffry Chappell, Ronald J. Spiegel and BimalBse, Fuzzy logic control of AC induction motors, IEEE, Inter. Conf. on Fuzzy Systems, vol. 1, pp. 843-850, 8-12 March 1992. [4] John G. Cleland, Vance E. McCormick and M. Wayne Turner, A Fuzzy logic based energy optimizer for AC motors, Proc. IEEE, Inter. Conf on Fuzzy systems, vol. 4, pp. 17771784, 20-24 March 1995. [5] C. von Altrock and S. Beierke, Fuzzy logic enhancement control of an AC induction motor with a DSP, proc. of 5th IEEE Inter. Conf. on Fuzzy Systems, 1996, vol. 2, pp. 806810, 8-11 Sep. 1996. [6] Z. Q. Zhu, J. KShn and D. Howe, Comparative study of alternative fuzzy logic control strategies of permanent magnet brushless AC drive, Proc. of IEEE Inter. Conf. on Control Applications, 18-20, Sep 2002. [7] Ying-Yu Tzou and Jin-Yi Jyang, A programmable current vector control IC for AC motor drives, Proc. of 25th Annual Conf. IEEE, Industrial Electronics, Control & Instrumentation (IECON,1999), vol.1, pp. 216-221, 29 Nov, 3 Dec. 1999. [8] Ying-Yu Tzouand Tien Sung Kuo, Design and implementation of an FPGA based motor control IC for permanent magnet AC servo motors, 23rd Inter. Conf. on Industrial Electronics, Control & Instrumentation (IECON97), vol. 2, pp.943-947, 9-14 Nov 1997. [9] www.analog.com/static/imported-files/data-sheet/AD1674.pdf [10] www.burr-brown.com [11] D. Driankov, H. Hellendroon & M. Reinfrank, An Introduction to Fuzzy Control, Narosa Publishing House, New Delhi, 2001. [12] http://www.mathworks.in/products/fuzzy-logic/ index.html. [13] M. A. Majed and Prof. C.S. Khandelwal, Efficient Dynamic System Implementation of FPGA Based PID Control Algorithm for Temperature Control System, International Journal of Electrical Engineering & Technology (IJEET), Volume 3, Issue 2, 2012, pp. 306 - 312, ISSN Print : 0976-6545, ISSN Online: 0976-6553. [14] Vishal Rathore and Dr. Manisha Dubey, Speed Control of Asynchronous Motor using Space Vector Pwm Technique, International Journal of Electrical Engineering & Technology (IJEET), Volume 3, Issue 3, 2012, pp. 222 - 233, ISSN Print : 0976-6545, ISSN Online: 0976-6553. [15] M.Gowrisankar and Dr. A. Nirmalkumar, Implementation & Simulation of Fuzzy Logic Controllers for the Speed Control of Induction Motor and Performance Evaluation of Certain Membership Functions, International Journal of Electrical Engineering & Technology (IJEET), Volume 2, Issue 1, 2011, pp. 25 - 35, ISSN Print : 0976-6545, ISSN Online: 0976-6553.

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