A DESIGN PROJECT

ON
DC Drive Using Fuzzy
Logic Control









NATIONAL INSTITUTE OF TECHNOLOGY
KURUKSHETRA-136119


Submitted to: By:
Mr. Rahul Sharma VIPUL NARULA (Roll No.110657)
SAHIL BHATI (Roll No. 110690)
SHREYAS RAJ (Roll No. 110757)








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National Institute Of Technology
Kurukshetra

CERTIFICATE

This is to certify that the report entitled, DC Drive Using Fuzzy Logic Control
submitted by Mr. Vipul Narula, Sahil bhati and Shreyas raj in partial fulfilment
of the requirements for the award of Bachelor of Technology Degree in Electrical
Engineering at the National Institute of Technology, Kurukshetra is an
authentic work carried out by them under my supervision and guidance.

To the best of my knowledge, the matter embodied in the report has not been
submitted to any other University / Institute for the award of any Degree or
Diploma.



Date: Mr.
Assistant Professor
Department of Electrical Engineering
National Institute of Technology
Kurukshetra


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ACKNOWLEDGEMENT


WE would like to extend our gratitude and our sincere thanks to our honourable
supervisor Asst. Prof. , Department of Electrical
Engineering. We sincerely thank for his exemplary guidance and encouragement
in every aspects for my career growth. His trust and support inspired us in the
most important moments of making right decisions and we are glad to work
under his supervision.

















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CONTENTS

Page No.
List of Figures
List of Tables
Chapter 1. Project Overview 07
1. Introduction
2. Motivation
3. Organisation

Chapter 2. System Description 09
1. Motor Detailed Description
2. Motor Model
3. Problem Formulation

Chapter 3. Fuzzy Controller 14
1. Introduction
2. Membership function and rules

Chapter 4. Model Components 17
1. Scope
2. Multiplexer
3. Derivative Control
4. Fuzzy Logic Toolbox
5. Bus Creator

Chapter 5. Simulation 23
1. Simulink Model
2. Results

Chapter 6. Conclusion 28
Chapter 7. Bibliography 29

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LIST OF FIGURES
Page No.
Figure 1. Separately Excited DC Motor 09
Figure 2. Plot of speed and torque vs. armature current
of a separately excited DC motor
11
Figure 3. Separately Excited DC Motor Model

12
Figure 4. Model of Separately Excited DC Motor

13
Figure 5. Structure of fuzzy logic controller

15
Figure 6. Scope Block on Workspace

17
Figure 7. Function Block Parameters Editor of a Mux

18
Figure 8. Saturation Block on Workspace

19
Figure 9. The Membership Function Editor (top left),
FIS Editor (centre), Rule Editor (top right),
Rule Viewer (bottom left), and Surface Viewer
(bottom right)

20
Figure 10. Block Parameters Editor of a Bus Creator 21
Figure 11. SIMULINK model of fuzzy control D.C.
machine

23
Figure 12. FIS Editor

23
Figure 13. Membership function for input variable e

24
Figure 14. Membership function for output variable
Controls

24
Figure 15. Membership function for input variable de

25
Figure 16. Rule Editor

25
Figure 17. Rule Viewer

26
Figure 18. Surface View for Fuzzy Controller

26
Figure 19. Output of the system

27
Figure 20. Output of Fuzzy Controller

27

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LIST OF TABLES

Page No.
Table 1. Speed Error Variable

15
Table 2. Change in Speed Error Variable

16
Table 3. Output Variables

16
Table 4. Rules

16
Table 5. Output of Saturation Block

19










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CHAPTER 1
PROJECT OVERVIEW

1.1 Introduction
This project aims at speed control of a separately excited DC motor using
fuzzy logic control (FLC) based on MATLAB Simulation program. This
method of speed control of a dc motor represents an ideal application for
introducing the concepts of fuzzy logic. The report shows how a commercially
available fuzzy logic development kit can be applied to the theoretical
development of a fuzzy controller for motor speed, which represents a very
practical class of engineering problems. From this it is seen that the
simulation results are similar to the theoretical results which achieve the
optimum control.

1.2 Motivation For The Project
Classic Control has proven for a long time to be good enough to handle control
tasks on system control; however his implementation relies on an exact
mathematical model of the plan to be controller and not simple mathematical
operations. The fuzzy logic, unlike conventional logic system, is able to model
inaccurate or imprecise models. The fuzzy logic approach offers a simpler,
quicker and more reliable solution that is clear advantages over conventional
techniques. Fuzzy logic may be viewed as form of set theory.
At the present time, MATLAB Simulation simplifies the scientific
computation, process control, research, industrial application and
measurement applications. Because MATLAB has the flexibility of a
programming language combined with built-in tools designed specifically for
test, measurement and control. By using the integrated MATLAB
environment to interface with real-world signals, analyze data for meaningful
information and share results. Therefore take MATLAB for develop of the
control system that append with fuzzy logic is incoming for modem control
and the advantages in fuzzy control are more robust control method than
usual conventional control to variation of system parameter. This report
presents the experimental results of the fuzzy logic controller using MATLAB
for speed control of Separately Excited DC Motor through fuzzy logic
controller for speed control is used to facilitate and efficiency the
implementation of controllers.






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1.3 Organization of the Report

Chapter 1: This chapter deals with the basic introduction of the work
and need for study on DC Drive using Fuzzy Logic Control. It
also includes the organization of the project work.

Chapter 2: This chapter deals with the system description and problem
formulation for DC Drive using Fuzzy Logic Control. It also
explains the various inputs needed for Fuzzy controller.

Chapter 3: It provides a brief insight into the Fuzzy controller and
defines the rule set.

Chapter 4: This chapter deals with the blocks used in Simulink
workspace for this model.

Chapter 5: This chapter shows the simulation model and also explains
the results obtained.

Chapter 6: This chapter includes the conclusion of the project work.

Chapter 7: Bibliography.























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CHAPTER 2
SYSTEM DESCRIPTION

2.1 Motor Detailed Description
Direct Current motors convert electrical energy into mechanical energy and
they works on dc supply. These type of motors are classified as -
Permanent magnet type dc motor
Separately excited dc motor
DC series wound motor
Shunt wound DC motor
Compound DC motor
Like other DC motors, DC separately excited motors also have both stator and
rotor. Stator refers to the static part of motor, which consists of the field
windings and the rotor is the moving armature which contains armature
windings or coils. Separately excited dc motors have field coils similar to that
of shunt wound dc motor. The name suggests the construction of this type of
motor. Usually, in other DC motors, the field coil and the armature coil both
are energised from a single source. The field of these do not need any separate
excitation. But, in separately excited DC motor, separate supply sources are
provided for excitation of both field coil and armature coil. Look carefully at
the diagram. Here, the field coil is energised from a separate DC voltage
source and the armature coil is also energised from another source. Armature
voltage source may be variable but, independent constant DC voltage is used
for energising the field coil. So, these coils are electrically isolated from each
other and this connection is the speciality of this type of DC motor.

Figure 1: Separately Excited DC Motor

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Working principle of Separately excited DC Motor
It is similar to other types of DC motors. That is, when a current carrying
conductor is placed, it experiences a mechanical force. By Flemings left hand
rule, the direction of the rotation is occurred. Here the armature winding is the
current carrying coil and the field winding develops the necessary magnetic
field.

Voltage, current and power Equations
In a separately excited motor, armature and field windings are excited form
two different dc supply voltages. In this motor ,
Armature current Ia = Line current = IL = I
Back emf developed , Eb = V I Ra where V is the supply voltage and Ra is
the armature resistance.
Power drawn from main supply , P = VI
Mechanical power developed , Pm = Power input to armature power loss
in armature = VI I
2
Ra = I ( V IRa) = Eb I

Operating characteristics of separately excited dc motor
Both in shunt wound dc motor and separately excited dc motor field is
supplied from constant voltage so that the field current is constant. Therefore
these two motors have similar speed armature current and torque armature
current characteristics. In this type of motor flux is assumed to be constant.
Speed armature current (N Ia) characteristics:

We know that speed of dc motor is proportional to back emf / flux i.e Eb / .
When load is increased back emf Eb and flux decrease due to armature
resistance drop and armature reaction respectively .However back emf
decreases more than so that the speed of the motor slightly decreases with
load.
Torque armature current ( Ia) characteristics

Here torque is proportional to the flux and armature current. Neglecting
armature reaction, flux is constant and torque is proportional to the
armature current Ia . Ia characteristics is a straight line passing through
the origin. From the curve we can see that huge current is needed to start
heavy loads. So this type of motor do not starts on heavy loads.





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Figure 2: Plot of speed and torque vs. armature current of a
separately excited DC motor

Speed control of separately excited dc motor
Speed of this type of dc motor is controlled by the following methods :
Field control methods
Weakening of field causes increase in speed of the motor while
strengthening the field causes decreases the speed. Speed adjustment of this
type of motor is achieved from the following methods:
i. Field rheostat control :- Here a variable resistance is connected in series
with the field coil. Thus the speed is controlled by means of flux variation.
ii. Reluctance control involving variation of reluctance of magnetic circuit of
motor.
iii. Field voltage control by varying the voltage at field circuit while keeping
armature terminal voltage constant.
Armature control methods
Speed adjustment of separately excited DC motor by armature control may
be obtained by any one of the following methods :
i. Armature resistance control:- Here, the speed is controlled by varying the
source voltage to armature. Generally, a variable resistance is provided with
the armature to vary the armature resistance.
ii. Armature terminal voltage control involving variation of variation of
voltage in armature circuit.






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2.2 Motor Model
The resistance of the field winding and its inductance of the motor used in
this study are represented by Rf and La respectively in dynamic model.
Armature reactions effects are ignored in the description of the motor. This
negligence is justifiable to minimize the effects of armature reaction since
the motor used has either interpoles or compensating winding. The fixed
voltage Vf is applied to the field and the field current settles down to a
constant value.
A linear model of a simple DC motor consists of a mechanical equation and
electrical equation as follows:


m m m L
d
T J B T
dt

a
a b a a a
dI
V E I R L
dt



Where
Va is the armature voltage (In volt)
Eb is back emf the motor (In volt)
Ia is the armature current (In ampere)
Ra is the armature resistance (In ohm)
La is the armature inductance (In henry)
Tm is the mechanical torque developed (In Nm)
Jm is moment of inertia (In kg/m)
Bm is friction coefficient of the motor (In Nm/ (rad/sec))
is angular velocity (In rad/sec) The dynamic model of the system is
formed using these differential equations.


Figure 3: Separately Excited DC Motor Model

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Figure 4: Block Model of Separately Excited DC Motor


2.3 Problem Formulation
A Separately Excited DC motor is taken as a case study and the control is
achieved using intelligent fuzzy logic based controller. The efficiency is
improved by controlling the speed with fuzzy logic controller and results
are shown graphically. The inputs to the Self-tuning Fuzzy Controller are
speed error "e (t)" and Change-in-speed error "de (t)". The input to the
controller is described by:

( ) ( ) ( )
r a
e t t t
( ) ( ) ( 1) de t e t e t



















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CHAPTER 3
FUZZY CONTROLLER

3.1 Introduction
Fuzzy logic is a method of rule-based decision making used for expert
systems and process control that emulates the rule-of-thumb thought
process used by human beings. The basis of fuzzy logic is fuzzy set theory
which was developed by Lotfi Zadeh in the 1960s. Fuzzy set theory differs
from traditional Boolean (or two-valued) set theory in that partial
membership in a set is allowed. Traditional Boolean set theory is two
valued in the sense that a member belongs to a set or does not and is
represented by 1 or 0, respectively.
Fuzzy set theory allows for partial membership or a degree of
membership, which might be any value along the continuum of 0 to 1. A
linguistic term can be defined quantitatively by a type of fuzzy set known
as a membership function. The membership function specifically defines
degrees of membership based on a property such as temperature or
pressure. With membership functions defined for controller or expert
system inputs and outputs, the formulation of a rule base of IF-THEN
type conditional rules is done. Such a rule base and the corresponding
membership functions are employed to analyze controller inputs and
determine controller outputs by the process of fuzzy logic inference.
By defining such a fuzzy controller, process control can be implemented
quickly and easily. Many such systems are difficult or impossible to model
mathematically, which is required for the design of most traditional
control algorithms. In addition, many processes that might or might not be
modelled mathematically are too complex or nonlinear to be controlled
with traditional strategies. However, if a control strategy can be described
qualitatively by an expert, fuzzy logic can be used to define a controller
that emulates the heuristic rule-of-thumb strategies of the expert.
Therefore, fuzzy logic can be used to control a process that a human can
control manually with expertise gained from experience. The linguistic
control rules that a human expert can describe in an intuitive and general
manner can be directly translated to a rule base for a fuzzy logic
controller.

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Figure 5: Structure of fuzzy logic controller


3.2 Membership Functions and Rules
In order to improve the performance of FLC, the rules and membership
functions are adjusted. The membership functions are adjusted by making
the area of membership functions near ZE region narrower to produce
finer control resolution. On the other hand, making the area far from ZE
region wider gives faster control response. Also the performance can be
improved by changing the severity of rules.

i) Input Variables
a) Speed Error (E) Variable

Table 1:
Fuzzy Set Error Numerical Range Shape of membership
function
Very Low 0.2 to 0.5
1.0 to 1.0
Trapezoidal
Instant -0.01 to 0.00
0.00 to 0.01
Triangular
Very High -1 to -1
-0.5 to -0.2
Trapezoidal
Very Medium Low 0 to 0.2
0.2 to 0.4
Triangular
Very Medium
High
-0.4 to -0.2
-0.2 to 0
Triangular





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b) Change in Speed Error (De) Variable

Table 2:
Fuzzy Set derivative
of Error
Numerical Range Shape of membership
function
High Negative -1 to -1
-1 to 0
Triangular
Error High Positive 0 to 1
1 to 1
Triangular

ii) Output Variables

Table 3:
Output Numerical Range Shape of membership
function
Decrease a Lot -30 to -25
-25 to -20
Triangular
Increase a Lot 20 to 25
25 to 30
Triangular
Decrease Few -15 to -10
-10 to -5
Triangular
Hold -0.1 to 0
0.0 to 0.1
Triangular
Increase Few 5 to 10
10 to 15
Triangular

iii) Rules

Table 4:
e/de Very High Medium
High
Instant Medium
Low
Very Low
High
Negative
Decrease a
Lot
Decrease
Few
Decrease
Few
Increase
Few
Increase a
Lot
High
Positive
Decrease a
Lot
Decrease
Few
Increase
Few
Increase
Few
Increase a
Lot
Hold







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CHAPTER 4
MODEL COMPONENTS

4.1 Scope
The Scope block displays inputs signals with respect to simulation time.


Figure 6: Scope Block on Workspace
The main features of the block are:
Scope window
If a Scope window is closed at the start of a simulation, scope data is still
written to the connected Scope. As a result, if Scope window is opened
after a simulation, the Scope window displays the input signal or signals.
Plotting signals
If the input signal is continuous, the Scope draws a point-to-point plot. If
the signal is discrete, the Scope draws a stair-step plot.
Time step values
The Scope block only displays major time step values. The scope displays
additional interpolated points between major time steps if specified by the
refine parameter.
Multiple y-axes (graphs)
A Scope window can display multiple y-axes (graphs) with one graph per
input port. All of the y-axes have a common time range on the x-axis. The
Scope block allows to adjust the amount of time and the range of input
values displayed. The Scope parameter values can be changed during a
simulation.


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Data type support
The Scope block accepts real (not complex) signals of any data type that
Simulink supports, including fixed-point and enumerated data types. The
Scope block also accepts homogeneous vectors.

4.2 Multiplexer
The Mux block combines its inputs into a single vector output. An input
can be a scalar or vector signal. All inputs must be of the same data type
and numeric type. The elements of the vector output signal take their
order from the top to bottom, or left to right, input port signals. The Mux
block accepts real or complex signals of any data type that Simulink
supports, including fixed-point and enumerated data types.

Figure 7: Function Block Parameters Editor of a Mux
4.3 Derivative Control
Derivative control is an embedded subsystem designed specifically for this
model. This system consists of following blocks:
Derivative Term
The derivative of the process error is calculated by determining the
slope of the error over time. Derivative action predicts system
behaviour and thus improves settling time and stability of the
system.


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Saturation Block
The Saturation block imposes upper and lower limits on an input
signal.


Figure 8: Saturation Block on Workspace


Its output varies as follows:
Table 5:
When the input is... Where... The block
output is
the...
Within the range specified by
the Lower limit and Upper
limit parameters
Lower limit Input value
Upper limit
Input value
Less than the Lower limit
parameter
Input value < Lower limit Lower limit
Greater than the Upper limit
parameter
Input value > Upper limit Upper limit

4.4 Fuzzy Logic Toolbox
Fuzzy inference is a method that interprets the values in the input vector
and, based on user-defined rules, assigns values to the output vector.
Using the editors and viewers in the Fuzzy Logic Toolbox, you can build
the rules set, define the membership functions, and analyze the behaviour
of a fuzzy inference system (FIS). The following editors and viewers are
provided: Fuzzy Logic Toolbox provides functions, apps, and a
Simulink block for analyzing, designing, and simulating systems based on
fuzzy logic.
The main components of Fuzzy Logic Toolbox are:
FIS Editor
Displays general information about a fuzzy inference system

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Membership Function Editor
Lets you display and edit the membership functions associated
with the input and output variables of the FIS
Rule Editor
Lets you view and edit fuzzy rules using one of three formats: full
English-like syntax, concise symbolic notation, or an indexed
notation
Rule Viewer
Lets you view detailed behaviour of a FIS to help diagnose the
behaviour of specific rules or study the effect of changing input
variables
Surface Viewer
Generates a 3-D surface from two input variables and the output of
an FIS

Figure 9: The Membership Function Editor (top left), FIS Editor (centre), Rule
Editor (top right), Rule Viewer (bottom left), and Surface Viewer (bottom right).
4.5 Bus Creator
The Bus Creator block combines a set of signals into a bus. To bundle a
group of signals with a Bus Creator block, we set the block parameter
number of inputs to the number of signals in the group. The block displays
the number of ports that one specify. We connect to the resulting input
ports those signals that we want to group. The signals in the bus are
ordered from the top input port to the bottom input port. One can connect
any type of signal to the inputs, including other bus signals. To ungroup
the signals, we connect the output port of the block to a Bus Selector block

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port. One can use an array of buses as an input signal to a Bus Creator
block.

Figure 10: Block Parameters Editor of a Bus Creator
Naming Signals
The Bus Creator block assigns a name to each signal on the bus that it
creates. This allows you to refer to signals by name when you searching
for their sources or selecting signals for connection to other blocks.
The block offers two bus signal naming options. We can specify that:
Each signal on the bus inherits the name of the signal connected to
the bus. Inputs to a Bus Creator block must have unique names. If
there are duplicate names, the Bus Creator block appends (signal#)
to all input signal names, where # is the input port index.

Each input signal must have a specific name.


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To specify that bus signals inherit their names from input ports, we select
Inherit bus signal names from input ports from the list box on the Block
Parameters dialog box. The names of the inherited bus signals appear in
the Signals in the bus list box.
The Bus Creator block generates names for bus signals whose
corresponding inputs do not have names. The names are of the form signal
n, where n is the number of the port to which the input signal is
connected.
















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CHAPTER 5
SIMULATION

5.1 Simulink Model and Fuzzy Surface

Figure 11: SIMULINK model of fuzzy control D.C. machine

Figure 12: FIS Editor

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Figure 13: Membership function for input variable e

Figure 14: Membership function for output variable Controls

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Figure 15: Membership function for input variable de

Figure 16: Rule Editor

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Figure 17: Rule Viewer

Figure 18: Surface View for Fuzzy Controller






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5.2 Simulation Results

Figure 19: Output of the system

Figure 20: Output of Fuzzy Controller

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CHAPTER 6
CONCLUSION


6.1 Conclusion
This report presents and studies a straight-forward method of creating a
mathematical model which has been successfully applied to a variety of
membership functions. This new approach offers a key of advantage over
the traditional methods, which makes it suitable for several dc motor drive
applications. The project focused the attention to apply the smooth control
of speed in D.C. Machines up to the 95% and with minimization of speed
error. The simulation and experimental studies clearly indicate the
superiority of fuzzy control. It is well seen in the case of sudden change
due to load torque disturbances because it is inherently adaptive in
nature. The final experimental results clarify the success, the simplicity
and the generality of the design software controller. The extension of this
research is to apply the neural network techniques for the dc motor
applications.

























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CHAPTER 7
BIBLIOGRAPHY

[1] Malhotra Rahul; Kaur Tejbeer; DC Motor control using fuzzy logic
controller (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED
ENGINEERING SCIENCES AND TECHNOLOGIES vol. No. 8, Issue No. 2,
291 296.

[2] Ahmed, F.I.; Mahfouz, A.A.; Ibrahim, M.M.; "A novel fuzzy controller for DC
motor drives," Electrical Machines and Drives, 1999. Ninth International
Conference on (Conf. Publ. No. 468), vol., no., pp.325-328, 1999.


[3] Aydemir, S.; Sezen, S.; Ertunc, H.M.; "Fuzzy logic speed control of a DC
motor," Power Electronics and Motion Control Conference, 2004. IPEMC
2004. The 4th International, vol.2, no., pp.766-771 Vol.2, 14-16 Aug. 2004.

[4] Addasi Emad Said; Modelling and Simulation of DC-Motor Electric Drive
Control System with Variable Moment of Inertia ACEEE Int. J. on
Electrical and Power Engineering, Vol. 4, No. 1, Feb 2013.

[5] Chakravorty Jaydeep , Sharma Ruchika; Fuzzy Logic Based Method of
Speed Control of DC Motor International Journal of Emerging Technology
and Advanced Engineering, Volume 3, Issue 4, April 2013.

[6] Kumar Ravinder, Vineet Girdha; High Performance Fuzzy Adaptive Control
for D.C. Motor Global Journal of Researches in Engineering Electrical and
Electronics Engineering, Volume 13, Issue 10, Version 1.0, Year 2013.