Proceeding of the IEEE

International Conference on Information and Automation

Hailar, China, July 2014

An Improved Fuzzy PID Control Algorithm Applied

in Liquid Mixing System*
Fengying Ma Fengying Ma
School of Electrical Engineering and Automation College of Electrical Engineering and Automation
Qilu University of Technology Shandong University of Science and Technology
Jinan, Shandong Province, China Qingdao, Shandong Province, China
mafengy@163.com xjzb2czzx@sina.com

Abstract – In view of the characteristics of the industrial

production control system with multi-parameters, nonlinear, long
time delay, an improved Fuzzy-PID controller was put forward
with real time parameters. This paper introduces the basic idea
of PID and Fuzzy-PID control, the application of the fuzzy-PID
controller. The industrial process of liquid mixing is
characterized by high nonlinearity, long time delay and multi-
parameters. Therefore, an on-line controller based on improved
fuzzy logical fuzzy-PID was designed. Then, the three simulation
curves of conventional PID algorithm, fuzzy-PID algorithm and
improved PID algorithm were compared between the three. The
results showed that the improved fuzzy-PID control algorithm
has a performance of shorter response time, smaller overshoot, 1. stock bin, 2. level ground auger, 3. charging device, 4.electric machine. 5.
better robustness and better stability. It is concluded that the liquid mixing agitator, 6. liquid mixing device，7. non-contact online mixing
improved fuzzy PID algorithm is reasonable to improve the degree detector
control effect, implemented the real time self-adaptive Fig 1. The structure diagram of liquid mixing device.
adjustment of the liquid mixing parameters.
III. THE FUZZY-PID CONTROLLER
Index Terms -Fuzzy PID control; time delay; Matlab
Simulation; robustness. A. PID Control Algorithms Theory
PID control algorithms is a classical algorithm of the
I. INTRODUCTION earliest development and application, the PID controller has
With the rapid development of industrial production, the the advantage of simple structure, control easily, good
control accuracy and control system respond speed, system robustness and high accuracy. PID control is proportional,
stability and adaptability of the demand becomes increasingly integral, differential control and its control principle diagram
markedly. However, it has multi-parameters, nonlinear, long is shown in Fig.2.
time delay characteristics to the controlled object in the actual
production process, it is hard to reach the ideal of control
effect about the traditional method. So, the study of nonlinear,
long time delay controlled object, improve the control level of
the system, is very meaningful.
II. THE STRUCTURE OF LIQUID MIXING SYSTEM AND
WORKING PRINCIPLE
The system mainly composed by liquid mixing device and
control system. The liquid mixing device includes charging Fig.2 The principle diagram
device, liquid mixing device etc. The control system include
non-contact online mixing degree detector, PLC, frequency PID control rule：
changer, electric machine. The structure diagram is shown in
Fig.1. ⎡ 1
t
d ⎤
The system by the PLC regard as the control core, u (t ) = k p ⎢ e ( t ) +
⎣ Tt ∫ e (t ) dt + T
0
D
dt
e (t ) ⎥
⎦
(1)
electrical machine as the actuator, with the non-contact online
mixing degree detector as the feedback device. Where：
Working principle: materials through the level ground
auger and charging device into the liquid mixing device, k p --proportionality coefficient;
mixed, by the liquid mixing fully mixing and being into the
liquid mixing device, then goes into next process. t t --integral time constant;
*This work is supported by the National Natural Science Foundation of China (Grant No.
61305130) and Postdoctoral Science Foundation of China(Grant No. 2013M541937)

587
978-1-4799-4100-1/14/$31.00 ©2014 IEEE
 t d --differentiating time constant;
B. Composed of Fuzzy Control System
Fuzzy control is the computer intelligent control based on
fuzzy set theory, fuzzy linguistic variables and fuzzy logical
reasoning. Fuzzy control system is used in fuzzy controller to
replace the traditional controller, fuzzy control system block
diagram as shown in Fig.3.
Fig 3. Fuzzy control system block diagram
Fig 4. Fuzzy control system block diagram
Fuzzy control system includes 4 parts:
(1) Fuzzy controller: It is a micro-computer actually,
according to the demand of control system, can choose system
machine, also can choose single machine or single chip
[1-2]
microcomputer .
(2) Input/output interface device: Fuzzy controller through
the input/output interface get the digital signal from the
controlled object, and the output digital signal of fuzzy
controller by D/A conversion, and convert to analog signals,
and sent to actuators to control the controlled object.
(3) Generalized object: It includes controlled object and
actuator, controlled object can be linear, nonlinear, constant or
variable, also can be single variable or multivariate, time delay
or without time delay and strong interference condition.
(4) Sensor: It is a type device that makes the controlled
object or kind of process controlled object to convert to
electrical signal. Controlled object is always non electrical
variable, such as temperature, pressure, flow etc. Sensor is
important in the fuzzy control system. Its accuracy often
influences the accuracy of the whole control system. So, we
should choose the increasingly accuracy and good stability
sensor.
C. The basic principle of fuzzy control
The main work of fuzzy control method is to determine the
fuzzy domain, membership function, quantification factor,
fuzzy control rule and fuzzy decision method, to control the
liquid mixing device as the following:
1) Fuzzy controller linguistic variable
Fuzzy controller using three fuzzy variables: liquid level
difference (E), liquid level rate (EC), the output frequency
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control motor inverter (U). Where, E and EC are input fuzzy
variable, and U is the output fuzzy variable[3-4].
2) Fuzzy domain and membership function
According to the change of liquid level of liquid mixing
device operation, the domain quantitative relationship of three
control variables as following:
(1) Liquid level difference is divided into 4 files and 7
levels, namely{-3,-2-,1,0,1,2,3}, where is, the fuzzy subset
selection follows the language value:
{NB,NS,NM,NS,PS,PB}.
(2)liquid level rate(EC) is divided into 4 files and 7
levels, namely{-3,-2-,1,0,1,2,3}, where is ,the fuzzy subset
selection follows the language value: {NB,NS,Z,PS,PB}.
(3) Control variable U is divided into 4 files and 7 levels,
namely{-3,-2-,1,0,1,2,3}, where is, the fuzzy subset selection
follows the language value: {NB,NM,NS,Z,PS,PM,PB}.
Combined with the requirements of production control,
selecting liquid level rate membership function shape is wide
and made the liquid level control function abate, caused by
smooth control features, meet the requirements to eliminate
frequent adjustment for the control device. Selecting liquid
level rate of change of shape of membership function is more
pointed, making the response to changes water inflow is more
sensitive caused by the control function, to adapt to the
requirements of production control as far as possible into the
water to enhance the requirements of the liquid mixing[5-6].
D. Parameters setting
The adaptive fuzzy PID controller error e and error change
rate ec inputs can satisfy different time e and ec to the PID
parameters self-adjusting requirements. PID parameters fuzzy
self-adjusting is to find the fuzzy relationship between the
[7-8]
three parameters and e and ec, testing e and ec continuously .
In operation, three of the parameters are modified according to
the fuzzy control principle on-line, to meet the different
requirements by e and ec of the control parameters in the
different phases, thus the optimization control could be
realized to the controlled object. The structure is shown in Fig.
4.
Proportion part kp ——According to the deviation
proportional to control adjustment system, producing a control
action, reducing bias.
Integral part ki ——Eliminate static error rate, improve
no gradient of the system. The strength of Integral action
depends on the size of the integration time TI. The TI is
smaller, the integral action is stronger. It is noted that Integral
action is too strong, it may cause system instability.
Differential part k d ——According to the trend of the
deviation to regulate system control volume, before deviation
signal changes larger, pulling a early correction signal, to
accelerate the system operating speed and reduce the time of
regulation. Note that the differential effect is too strongly, it
may cause the system to oscillate.
The internal module of Fuzzy PID about MATLAB was
as shown as Fig.5.
 change rate ec of the current system, fuzzy reasoning through
fuzzy rules, searching Fuzzy Matrix. The diagram of self-
adaptive fuzzy PID control system was as shown as Fig.8.

KP
KI
ec
Fig.5. The internal module of Fuzzy PID KD
In order to simplify the analysis, the process of
establishing the internal module of Fuzzy PID was
Fig.8 The diagram of self-adaptive fuzzy PID control system
decomposed into two parts of Fig.6 and Fig.7.
The core of the design of fuzzy control is to the
knowledge of technology of the engineering design personnel
summarize and practical operation experience, establish
proper fuzzy rule table, according to k p , ki , fuzzy control
table kd three parameters tuning.

TABLE I
FUZZY CONTROL RULE TABLE OF VARYING OF ki

TABLE II
FUZZY CONTROL RULE TABLE OF VARYING OF KP
Fig.6. The internal module of Fuzzy structure

TABLE III
FUZZY CONTROL RULE TABLE OF VARYING OF kd

Fig.7. The internal module of PID

The Fuzzy self-tuning PID is based on the PID algorithm
to adjust the parameters by calculating error e and error

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 After build a good k p , ki and kd fuzzy control rule

table ， according to the following method to correct kp ,

ki and kd adaptively.

The system error e and error change rate ec variation

range is defined as the domain of fuzzy sets. The domain of e
and ec is {-3,-2,-1,0,1,2,3,}. Its fuzzy subset e and ec is
{NB,NM,NS,O,PS,PM,PB}, in which subset elements
represent negative large, negative middle, negative small, zero,
positive small, positive middle, positive large. If e , ec

and k p , ki , kd are subject to normal distribution. Therefore, Fig.9. Simulation model of self-adaptive fuzzy-PID control system

we can obtain the membership of the fuzzy subset. According

to the fuzzy subset membership assignment sheets and each
parameter fuzzy control model, we can apply fuzzy synthetic
and fuzzy inference to design PID parameter matrix, isolating
modified parameters into the following formula:

k p = k p + {ei , eci } p (2)

ki = ki + {ei , eci }I Fig.10. Self-adaptive fuzzy PID control system diagram
(3)

kd = kd + {ei , eci }d
(4)

During online operation, control system completes the on-

line self-tuning PID parameters through processing the fuzzy
logic rules result and computing look-up the table I, table II
and table III,respectively.
IV. SYSTEM SIMULATION
The input signal of the fuzzy control simulation program is
a step signal, simulation curve is displayed through the
oscilloscope, using the Simulate toolbox in the MATLAB
software to comply fuzzy control simulation. Simulation
model shown in Fig.9:
Fig.11. Conventional PID control system diagram
The results can be seen from the simulation, Self-adaptive
fuzzy PID control, rise time, adjust the time are reduced, the
overshoot is small.
ACKNOWLEDGMENT
The research work was supported by the National Natural
Science Foundation of China (Grant No. 61305130) and by
Postdoctoral Science Foundation of China(Grant No.
2013M541937). This work is also supported by the Young
scientists Research Award Fund(BS2011DX032) and the
Educational Commission of Shandong Province(J10LG13).
The author gratefully acknowledges the support of these
institutions.
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