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The application of fuzzy PID controller in coupled-tank liquid-level control system

Li LIANG Department of automation, School o f Information Engineering, Inner Mongolia University of Science and Technology, Baotou, China

li.liang.1982@163.com

Abstract For the coupled-tank liquid-level control system with lumping lag and nonlinear characteristic, a fuzzy PID control approach is researched In this approach the characteristic of the control system is analyzed the fuzzy PID controller is designed a new implementation method of fuzzy control arithmetic is put forward. In kingview, the monitoring interface is designed, control program is carried out by new method, and the Liquid level control system is practiced. The result shows that this method is rationality and feasibility

Keywords- fuzzy PID control; Liquid-level; implementation method

I.

INTRODUCTION

In the process of industrial production, liquid-level is an important parameter, and wildly applied in various field, such as liquid storage tank, a feeding tank, a product tank, the intermediate buffer containers and water tanks and other equipment. The coupled-tank liquid-level control is a typical representative of the process control, is hot research in control field. For the coupled-tank liquid-level control system with lumping lag, nonlinear and complex characteristics, and in which the control accuracy is directly affected by system status, system parameters and the control algorithm, the classical PID control is difficult to achieve good effect. Fuzzy control is a classic method of intelligent control. Although fuzzy control with strong robustness is used to realize the fast and stability of the system, but the steady state error is in existence. However, classical PID controller is characteristic of high accuracy, in the steady-state phase PID

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control is introduced into remove the error therefore, combine fuzzy with PID controller is applied in coupled-tank liquid-level control system, fuzzy controller is used to remove greater error, and PID controller is used to remove smaller error, in this method the good dynamic and steady state performance are obtained.

II. DESIGN OF SYSTEM HARDWARE

In the design of the coupled-tank liquid-level control system, the core is that control algorithm and supervisory role is realized by computer, the difficulty is that the interface and data exchange between standard analog signals and computer. In this system, 8024 Nektons module is D/A module, 8017 Nektons module is A/D module, RS-232 to RS-485 communication module is used to realize data acquisition and transmission, the computer monitoring is realized by kingview software. In the coupled-tank liquid-level control system, the liquid level of lower tank is control object; pressure sensor is used for liquid level detection; 8017 Nektons module is used for data acquisition; the deviation between the measured values and the set values is used to operated according to the control operation in computer; the result is converted by 8024 Nektons module to control frequency converter, thereby to control the flow speed, in order to achieve the control of coupled-tank liquid-level.

set value

+ V controller D/A F pump coupled-tank D A/D pressure sensor
+
V
controller
D/A
F
pump
coupled-tank
D
A/D
pressure sensor

Figure 1.

Principle diagram of coupled-tank liquid-level control system

III. DESIGN OF FUZZY PID CONROLLER

Fuzzy controller has characters of good dynamic performance, strong robustness. Because error is exist in quantization process, so that control action is less delicate, and steady-state error is present; in steady state, PID controller has high control precision. Therefore, the advantages of the fuzzy and PID controller are made full use. That is to say,When the deviation |e| which is between the given value and the

measured value is equal to or greater than the limit, fuzzy control algorithm is used to improve the response speed of the system; when |e| is less than the limit, PID control algorithm is adopted to eliminate the steady state error of the system. The selection of limit value is very important. Generally, it is the steady-state value 20%. Certainly, it can also be adjusted based on the actual condition.

PID control algorithm |e| xz y + r coupled-tank _ |e| xz fuzzy inference d/dt
PID control algorithm
|e| xz
y
+
r
coupled-tank
_
|e| xz
fuzzy
inference
d/dt
Figure 2.
Fuzzy PID controller
Fuzzification
Defuzzification

IV. REALIZATION OF FUZZY CONTROL ALGORITHM

Composition rule of inference (CRI), is a fuzzy inference algorithm and widely used in the practical control system. In CRI method, fuzzy controller is form of control table. According to the fuzzy control rule, the table is relationship between given discrete points of fuzzy controller input and output, which is calculated by the fuzzy control algorithm. In this process, error is generated. Therefore a new implementation method of fuzzy control arithmetic is put forward. In following, the specific implementation process is presented.

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A. fuzzification

In coupled-tank liquid-level control system, fuzzy controller has structure of double input and single output. Input variables are deviation e and deviation change rate ec; output variable is u. The input and output universes of discourse of the fuzzy controller are normalized on the range [ 6, 6]. The gains are used to map the actual inputs of the fuzzy system to the normalized universe of discourse [ 6, 6]. Fuzzy linguistic values of input and output are NB NM NS ZO PS PM PB,Membership function curve is shown by figure 3.

Figure 3. Membership function curve of e implementation procedure is as follows e1=(e0+d);e2=(e0+2.0*d);e3=(e0+3.0*d);

Figure 3.

Membership function curve of e

implementation

procedure is as follows e1=(e0+d);e2=(e0+2.0*d);e3=(e0+3.0*d); in this paper d=2 if(e<-e3){ enb=1.0;enm=1.0;uenb=1.0;uenm=0.0; }

Input

deviation

e

is

example,

fuzzy

if(>=-e3&&e<-e2){enb=1.0;enm=1.0;uenb=-1.0/d*(e+e2);

uenm=1.0/d*(e+e3);}

if(e>=-e2&&e<-e1){enm=1.0;ens=1.0;uenm=-1.0/d*(e+e1

);uens=1.0/d*(e+e2);}

if(e>=-e1&&e<e0){ens=1.0;ezo=1.0;uens=-1.0/d*(e+e0);u

ezo=1.0/d*(e+e1);}

if(e>=e0&&e<e1){ezo=1.0;eps=1.0;uezo=-1.0/d*(e-e1);ue

ps=1.0/d*(e-e0);}

if(e>=e1&&e<e2){eps=1.0;epm=1.0;ueps=-1.0/d*(e-e2);u

epm=1.0/d*(e-e1);}

if(e>=e2&&e<e3){epm=1.0;epb=1.0;uepm=-1.0/d*(e-e3);

uepb=1.0/d*(e-e2);}

if(e>=e3){epm=1.0;epb=1.0;uepm=0.0;uepb=1.0;}

B.

fuzzy inference

if (enb==1.0 && denb==1.0)

sum1=Min(uenb,udenb)*NB; Corresponding rule: “if e is NB and ec is NB, then u is NB”

if (enb==1.0 && denm==1.0)

sum2=Min(uenb,udenm)*NB; Corresponding rule: “if e is NB and ec is NM, then u is NB”

if (epb==1.0 && depb==1.0)

sum49=Min(uepb,udepb)*PB;

A total of 49 sentences is corresponding to the 49 rules.

Table 1 Table of control rules

E Ec
E
Ec

NB

NM

NS

ZO

PS

PM

PB

NB

NB

NB

NB

NM

NS

NS

ZO

NM

NB

NB

NM

NS

NS

ZO

PS

NS

NB

NM

NS

NS

ZO

PS

PS

ZO

NM

NS

NS

ZO

PS

PS

PM

PS

NS

NS

ZO

PS

PS

PM

PB

PM

NS

ZO

PS

PS

PM

PB

PB

PB

ZO

PS

PS

PM

PB

PB

PB

C.

defuzzification

Center of gravity (COG):A crisp output

u

is chosen as

the center of area for the membership function of the overall implied fuzzy set. For a continuous output universe of

discourse

u

i

,

the

center

u

P

(

u

i

μ

i

)

i = 1

=

P

i

μ

i = 1

where

of

μ

i

area

output

is

is

fuzzy

set

denoted

by

membership

function ,

u i is output variable , P is the number of rules

u

is

crisp output

In kingview, the following statement is used to realize defuzzification U=(sum1+sum2+ +sum49) /[ Min(uenb,udenb)+ Min(uenb,udenm)+ + Min(uepb,udepb)]

V. DESIGN RESULTS

Liquid-level control system is developed and designed in kingview. Figure 4 is monitoring interface.

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Figure 4. Monitoring interface In the kinview command window, the fuzzy PID control program is

Figure 4.

Monitoring interface

In the kinview command window, the fuzzy PID control program is written, the control system of the coupled-tank liquid-level is realized, the real-time curve is shown in Figure 5,and the control effect is obvious better than PID control and fuzzy control.

effect is obvious better than PID control and fuzzy control. Figure 5. The real-time control curve

Figure 5.

The real-time control curve of fuzzy PID

VI.

CONCLUSIONS

For the coupled-tank is object, the fuzzy PID control strategy is researched and applied, and the results show that the control effect is improved obviously. In addition, this paper proposed a new implementation method of fuzzy control arithmetic, in this method, programming is more easy and convenient to modify than the original control inquiry table method, so this new method is worth popularizing.

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method, so this new method is worth popularizing. 2897 Figure 6. The real-time control curve of

Figure 6.

The real-time control curve of PID

REFERENCES

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hydraulic turbine regulation system based on single neuron adaptive PID control. Journal of Hefei University of technology. Vol.33 pp.1497-1500,Oct 2010 (In Chinese) Zengxi Sun,Zaixing Zhang, Zhidong Deng. Intelligent control theory and technology. Beijing:Tsinghua University press 1997(In Chinese) Jiangming Kan, Wenbin Li, Jinhao Liu. Fuzzy ImmuneSelf-tuning PID Controller and Its Simulation. 2008 3rd IEEE Conference on Industrial Electronics and Applications.2008,pp.625 628 Jikai Yi, Binyuan Hou. Intelligent control technology.Beijing:Beijing University of Technology press 1999(In Chinese)

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