Unit V

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UNIT-5
APPLICATIONS OF FLC
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Fuzzy Logic Controller

FLCs allow for a simpler human like approach to control system design. They do not need the mathematical model of the process. For non-linear systems, controlling with conventional controllers is difficult. FLCs provide reasonable and effective alternatives to classical controllers.
Conventional Control System
Fuzzy Logic Control System
An Example
The following, illustrates a basic fuzzy automatic transmission system. The transmission uses four fuzzy sensor inference inputs to control the best gear selection for the given conditions. The inputs are throttle, vehicle speed, engine speed and engine load.
An Example (cont.)
Labels and Membership Functions of Throttle.
An Example (cont.)
Labels and Membership Functions of vehicle speed.
An Example (cont.)
Labels and Membership Functions of engine speed.
An Example (cont.)
Labels and Membership Functions of engine load.
An Example (cont.)
Labels and Membership Functions of shift.
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An Example (cont.)
Using the labels as defined in the previous slides, rules can be written for the fuzzy interface unit. The rules provide a tangible knowledge base required for the decision process and are represented as English like if-then statements.
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An Example (cont.)
To create the fuzzy interface unit, rules such as the following would be developed to facilitate the automatic shifting of the vehicle. If vehicle speed is low, variation of vehicle speed is small, slope resistance is positive large and accelerator is medium then mode is steep uphill mode. If vehicle speed is medium, variation of vehicle speed is small, slope resistance is negative large and accelerator is small then mode is gentle downhill mode.
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An Example (cont.)
If Mode is Steep uphill mode, the Shift is No. 2 If Mode is Gentle downhill mode, then Shift is No. 3 The previous slides illustrate how fuzzy logic can provide a powerful tool when addressing complex situations that are not feasible using conventional approaches. By employing fuzzy logic, we have the ability to include additional variables and rules to take into account factors that might improve the behavior of the control system.
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Fuzzy Anti-Lock Braking System

ABS ensures optimal vehicle control and minimal stopping distances during hard or emergency braking irrespective of road and weather conditions. Experts predict that 35% to 50% of all cars built worldwide in five years will have ABS as standard equipment. Electronic control units (ECUs), wheel speed sensors, and brake modulators are major components of an ABS module. Wheel speed sensors transmit pulses to the ECU with a frequency proportional to wheel speed.
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Fuzzy ABS
The ECU then processes this information and regulates the brake accordingly. Since ABS systems are nonlinear and dynamic in nature they are a prime candidate for fuzzy logic control. Intel & Inform Software Corporation Fuzzy ABS utilizes a high performance, low cost, 16-bit 8XC196Kx architecture to take advantage of improved math execution timing. Uses Fuzzy Rules like "If the rear wheels are turning slowly and a short time ago the vehicle speed was high, then reduce rear brake pressure".
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ABS Block Diagram
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Inputs: 1. The Brake: This block represents the brake pedal deflection/ assertion. This information is acquired in a digital or analog format. 2. The 4 W.D: This indicates if the vehicle is in the 4-wheel-drive mode. 3. The Ignition: This input registers if the ignition key is in place, and if the engine is running or not. 4. Feed-back: This block represents the set of inputs concerning the state of the ABS system. 5. Wheel speed: In a typical application this will represent a set of 4 input signals that convey the information concerning the speed of each wheel. This information is used to derive all necessary information for the control algorithm Outputs: The proposed system shown above has two types of outputs. The PWM signals to control ABS braking, and an Error lamp signal to indicate a malfunction if one exists.
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Fuzzy Washing Machine

The length of wash time is based on the amount of clothes you wish to wash and the type and degree of dirt you have. To automate this process, we use sensors to detect these parameters and the wash time is then determined from this data. There is no easy way to formulate a precise mathematical relationship between volume of clothes and dirt and the length of wash time required. There are two inputs: (1) one for the degree of dirt on the clothes and (2) one for the type of dirt on the clothes. These two inputs can be obtained from a single optical sensor.
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The degree of dirt is determined by the transparency of the wash water. The dirtier the clothes, the lower the transparency for a fixed amount of water. The type of dirt is determined from the saturation time, the time it takes to reach saturation. The fuzzy controller output is the length of the wash time.
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Fuzzy Controller
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Labels and Membership Functions of Input Variable dirtiness
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Labels and Membership Functions of Input Variable type_of_dirt
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Labels and Membership Functions of Output Variable wash_time
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Inverted Pendulum Fuzzy Control
Linearized inverted pendulum on a cart
fuzzyControlFor2To1 provides the control to keep the stick stable 24
Modeling the Inverted Pendulum

Source: http://www.engin.umich.edu/group/ctm/examples/pend/invpen.html
Moment of Inertia: http://hyperphysics.phy-astr.gsu.edu/hbase/mi2.html#rlin
M m b l I F x theta mass of the cart mass of the pendulum friction of the cart length to pendulum center of mass inertia of the pendulum force applied to the cart cart position coordinate pendulum angle from vertical
0.5 kg 0.5 kg 0.1 N/m/sec 0.3 m 0.006 kg*m^2
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Inverted Pendulum Swing Up Non-linear Model

source: http://www.control.lth.se/publications/fulldocs/ast_fur96.pdf
Original Model d = dt d J = mgl sin + mlu cos dt J =inertia of rod m=mass of rod g=gravity of rod l =half length of rod u=horizontal force
detect when angle reaches turn-off level turnoff detect when pendulum stops rising
Dimensionless model d = dt detect when pendulum stops d = sin + gain( , ) cos rising dt gain( , ) = k if turnoff > 0 = 0, otherwise
reset theta to 0 when reach 2*pi
starting from hanging configuration, rod can be made to reach inverted configuration with sufficient force acting until horizontal line is reached
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Fuzzy Logic Control of Blood Pressure During Anesthesia
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INTRODUCTION
-The techniques of fuzzy logic and expert system have been used in the medical area since middle 1970. The anesthetists control important control variables such as blood pressure, heart rate, temperature, blood oxygenation and exhaled CO2 within the acceptable bounds. Anesthesia must be maintained during the entire surgical procedure . The goal is to develop automated control systems to regulate the depth of anesthesia.
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ANESTHESIA CONTROL
1- A PID CONTROLLER 2- A FUZZY CONTROLLER
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1- PID CONTROLLER
1 K(s + ) 10.6 P(s) = 1 1 1 (s + )(s + )(s + ) 34 3.08 4.8
Where the patient's transfer functions P(s) was cited in the following reference
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1- Proportional:If the difference between the current plant output and its desired value (the current error) is large, the software should probably change the drive signal a lot. If the error is small, it should change it only a little .
Error = P * (desired - current) P = constant Proportional gain
2- Differentiation:The biggest problem with proportional control alone is that you want to reach new desired outputs quickly and avoid overshoot and minimize ripple once you get there. Responding quickly suggests a high proportional gain; minimizing overshoot and oscillation suggests a small proportional gain. Achieving both at the same time may not be possible in all systems. D * (current -- previous) where D is a constant derivative gain
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3- Integration
A remaining problem is that PD control alone will not always settle exactly to the desired output. In fact, depending on the proportional gain, it's altogether possible that a PD controller will ultimately settle to an output value that is far from that desired. I = ( desired current )
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PID with disturbances
In this section a disturbance is added to the system. Figure shows the effect of the disturbances.
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2- A FUZZY CONTROLLER
-The modeling of real world systems, however, often presents problems. As processes increase in complexity, they become less amenable to direct mathematical modeling based on physical laws since they may be distributed, stochastic, non-linear and timevarying, uncertain, etc.
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THE FUZZY LOGIC CONCEPT
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FUZZY SETS
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FUZZY OPERATIONS
x 0 0 1 1 0.2 0.7 0.6 y 0 1 0 1 0.5 0.2 0.6 min(x,y) 0 0 0 1 0.2 0.2 0.6 max(x,y) 0 1 1 1 0.5 0.7 0.6 1-x 1 1 0 0 0.8 0.3 0.4
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FUZZY CONTROL
There is more to fuzzy logic than some interesting math, it has some impressive applications in engineering. The main application of fuzzy logic in engineering is in the area of control systems. The definition of a control system, given by Richard Dorf in Modern Control Systems is: "An interconnection of components forming a system configuration that will provide a desired response." This means that a control system needs to know the desired response (input) and it needs to process this input and attempt to achieve it. The general control system can then be summarized with the following diagram .
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ANFIS: Matlab Fuzzy Logic toolbox
-You can create and edit fuzzy inference systems with Fuzzy Logic Toolbox software. You can create these systems using graphical tools or command-line functions, or you can generate them automatically using either clustering or adaptive neuro-fuzzy techniques.
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CONCLUSION
-In this project we applied a new algorithm using fuzzy logic controller for the control of unconsciousness via blood pressure measurements. -A simulation platform was built around a non-linear recirculatory physiological model which was modified to include a more efficient way of delivering the anesthetic. -The simulation results showed that the fuzzy-based algorithm was effective in terms of set-point tracking and drug consumption. -A comparison with the PID controlled is carried out and the performances of the FLC over the PID are shown.
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Introduction
Neuro-fuzzy systems
Soft computing methods that combine in various ways neural networks and fuzzy concepts
ANN nervous system low level perceptive and signal integration Fuzzy part represents the emergent higher level reasoning aspects
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Introduction
Fuzzification of neural networks Endowing of fuzzy system with neural learning features
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Introduction Co-operative-neural algorithm adapt fuzzy systems

Off-line adaptation On-line algorithms are used to adapt as the system operates
Concurrent where the two techniques are applied after one

another as pre- or post-processing
Hybrid fuzzy system being represented as a network structure,

making it possible to take advantage of learning algorithm inherited from ANNs
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NEFPROX
The input units are labelled x1..xn, hidden rule units are called R1Rk and the output units are denoted as y1 ym Each connection is weighted with a fuzzy set and is labelled with a linguistic term Connection coming from the same input unit and having same label are weighted by the same common weight (shared weight). The same holds for the connections that lead to the same output unit There is no pair of rules with identical antecedents
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NEFPROX learning
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NEFPROX learning
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Unit V

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www.Vidyarthiplus.

Fuzzy Logic Controller

Conventional Control System

Fuzzy Logic Control System

Fuzzy Anti-Lock Braking System

ABS Block Diagram

Fuzzy Washing Machine

Labels and Membership Functions of Input Variable dirtiness

Labels and Membership Functions of Input Variable type_of_dirt

Labels and Membership Functions of Output Variable wash_time

Inverted Pendulum Fuzzy Control

Linearized inverted pendulum on a cart

fuzzyControlFor2To1 provides the control to keep the stick stable 24

Modeling the Inverted Pendulum

Inverted Pendulum Swing Up Non-linear Model

reset theta to 0 when reach 2*pi

Fuzzy Logic Control of Blood Pressure During Anesthesia

1- A PID CONTROLLER 2- A FUZZY CONTROLLER

1 K(s + ) 10.6 P(s) = 1 1 1 (s + )(s + )(s + ) 34 3.08 4.8

Error = P * (desired - current) P = constant Proportional gain

PID with disturbances

THE FUZZY LOGIC CONCEPT

ANFIS: Matlab Fuzzy Logic toolbox

Introduction Co-operative-neural algorithm adapt fuzzy systems

Concurrent where the two techniques are applied after one

Hybrid fuzzy system being represented as a network structure,

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