This document describes a thesis submitted by Harshdeep Singh to the National Institute of Technology Rourkela for the degree of Bachelor of Technology in Mechanical Engineering. The thesis proposes the design of a water level controller using a fuzzy logic system. It involves developing an electronic water level indicator and a fuzzy logic controller in MATLAB Simulink to control water level in a tank. The fuzzy controller performance will be compared to a PID controller for controlling water level.
Abstract - This paper addresses some of the potential benefits of
using fuzzy logic controllers to control an inverted pendulum
system. The stages of the development of a fuzzy logic controller
using a four input Takagi-Sugeno fuzzy model were presented.
The main idea of this paper is to implement and optimize fuzzy
logic control algorithms in order to balance the inverted
pendulum and at the same time reducing the computational time
of the controller. In this work, the inverted pendulum system was
modeled and constructed using Simulink and the performance of
the proposed fuzzy logic controller is compared to the more
commonly used PID controller through simulations using Matlab.
Simulation results show that the Fuzzy Logic Controllers are far
more superior compared to PID controllers in terms of overshoot,
settling time and response to parameter changes.
Part of Lecture series on EE646, Fuzzy Theory & Applications delivered by me during First Semester of M.Tech. Instrumentation & Control, 2012
Z H College of Engg. & Technology, Aligarh Muslim University, Aligarh
Reference Books:
1. T. J. Ross, "Fuzzy Logic with Engineering Applications", 2/e, John Wiley & Sons,England, 2004.
2. Lee, K. H., "First Course on Fuzzy Theory & Applications", Springer-Verlag,Berlin, Heidelberg, 2005.
3. D. Driankov, H. Hellendoorn, M. Reinfrank, "An Introduction to Fuzzy Control", Narosa, 2012.
Please comment and feel free to ask anything related. Thanks!
IMPLEMENTATION OF FRACTIONAL ORDER TRANSFER FUNCTION USING LOW COST DSPIAEME Publication
In this paper, different fractional order transfer functions are taken first and discretized them using available methods and filters (i.e. Oustaloup or modified Oustaloup). Coefficients of discretized transfer function are calculated and scaled using Q15 number system to get the coefficients in the range between -1 to 1, and converted into equivalent hexadecimal number. These coefficients are entered into the Micro C code that is generated using filter design tool of Micro C for dsPIC microcontroller. Also the simulation results are validated using EasydsPIC4 development board.
Abstract - This paper addresses some of the potential benefits of
using fuzzy logic controllers to control an inverted pendulum
system. The stages of the development of a fuzzy logic controller
using a four input Takagi-Sugeno fuzzy model were presented.
The main idea of this paper is to implement and optimize fuzzy
logic control algorithms in order to balance the inverted
pendulum and at the same time reducing the computational time
of the controller. In this work, the inverted pendulum system was
modeled and constructed using Simulink and the performance of
the proposed fuzzy logic controller is compared to the more
commonly used PID controller through simulations using Matlab.
Simulation results show that the Fuzzy Logic Controllers are far
more superior compared to PID controllers in terms of overshoot,
settling time and response to parameter changes.
Part of Lecture series on EE646, Fuzzy Theory & Applications delivered by me during First Semester of M.Tech. Instrumentation & Control, 2012
Z H College of Engg. & Technology, Aligarh Muslim University, Aligarh
Reference Books:
1. T. J. Ross, "Fuzzy Logic with Engineering Applications", 2/e, John Wiley & Sons,England, 2004.
2. Lee, K. H., "First Course on Fuzzy Theory & Applications", Springer-Verlag,Berlin, Heidelberg, 2005.
3. D. Driankov, H. Hellendoorn, M. Reinfrank, "An Introduction to Fuzzy Control", Narosa, 2012.
Please comment and feel free to ask anything related. Thanks!
IMPLEMENTATION OF FRACTIONAL ORDER TRANSFER FUNCTION USING LOW COST DSPIAEME Publication
In this paper, different fractional order transfer functions are taken first and discretized them using available methods and filters (i.e. Oustaloup or modified Oustaloup). Coefficients of discretized transfer function are calculated and scaled using Q15 number system to get the coefficients in the range between -1 to 1, and converted into equivalent hexadecimal number. These coefficients are entered into the Micro C code that is generated using filter design tool of Micro C for dsPIC microcontroller. Also the simulation results are validated using EasydsPIC4 development board.
FUZZY CONTROL OF A SERVOMECHANISM: PRACTICAL APPROACH USING MAMDANI AND TAKAG...ijfls
The main objective of this work is to propose two fuzzy controllers: one based on the Mamdani inference
method and another controller based on the Takagi- Sugeno inference method, both will be designed for
application in a position control system of a servomechanism. Some comparations between the methods
mentioned above will be made with regard to the performance of the system in order to identify the
advantages of the Takagi- Sugeno method in relation to the Mamdani method in the presence of
disturbances and nonlinearities of the system. Some results of simulation and practical application are
presented and results obtained showed that controllers based on Takagi- Sugeno method is more efficient
than controllers based on Mamdani method for this specific application.
COMPARATIVE ANALYSIS OF CONVENTIONAL PID CONTROLLER AND FUZZY CONTROLLER WIT...IJITCA Journal
All the real systems exhibits non-linear nature,conventional controllers are not always able to provide good and accurate results. Fuzzy Logic Control is used to obtain better response. A model for simulation is designed and all the assumptions are made before the development of the model. An attempt has been made to analyze the efficiency of a fuzzy controller over a conventional PID controller for a three tank level control system using fuzzification & defuzzification methods and their responses are compared. Analysis is done through computer simulation using Matlab/Simulink toolbox. This study shows that the application of Fuzzy Logic Controller (FLC) gives the best response with triangular membership function and centroid defuzzification method.
Performance Analysis of the Sigmoid and Fibonacci Activation Functions in NGA...IOSRJVSP
Activation functions are used to transform the mixed inputs into their corresponding output counterparts. Commonly, activation functions are used as transfer functions in engineering and research. Artificial neural networks (ANN) are the preferred choice for most studies and comparisons of activation functions. The Sigmoid Activation Function is the most common and its popularity arise from the fact that it is easy to derive, its boundedness within the unit interval, and it has mathematical properties that work well with the approximation theory. On the other hand, not so common is the Fibonacci Activation Function with similar and perhaps better features than the Sigmoid. Algorithms have a broad range of applications making it plausible to suspect that different problems call for unique activation functions. The aim of this paper is to have a detailed of the role of the activation functions and then analyse the performance of two of them – the Sigmoid and the Fibonacci – in a non-ANN setup using the most basic artificially generated signals. Results show that the Fibonacci activation function performs better with the set of signals applied in the natural gradient algorithm.
Event triggered control design of linear networked systems with quantizationsISA Interchange
This paper is concerned with the control design problem of event-triggered networked systems with both state and control input quantizations. Firstly, an innovative delay system model is proposed that describes the network conditions, state and control input quantizations, and event-triggering mechanism in a unified framework. Secondly, based on this model, the criteria for the asymptotical stability analysis and control synthesis of event-triggered networked control systems are established in terms of linear matrix inequalities (LMIs). Simulation results are given to illustrate the effectiveness of the proposed method.
ARTIFICIAL NEURAL NETWORK APPROACH TO MODELING OF POLYPROPYLENE REACTORijac123
This paper shows modeling of highly nonlinear polymerization process using the artificial neural network approach for the model predictive purposes. Polymerization occurs in a fluidized bed polypropylene reactor using Ziegler - Natta catalyst and the main objective was modeling of the reactor production rate.
The data set used for an identification of the model is a real process data received from an existing polypropylene plant and the identified model is a nonlinear autoregressive neural network with the exogenous input. Performance of a trained network has been verified using the real process data and the
ability of the production rate prediction is shown in the conclusion.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Lab view based self tuning fuzzy logic controller for sterilizing equipments ...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Autotuning of pid controller for robot arm and magnet levitation planteSAT Journals
Abstract
One of the most essential work of the control engineer is tuning of controller. Majority of the controller used in industry are of the
PID type. An auto tuning is one of the method of controller tuning in which tuning of the parameters of controller is done
automatically and possibly, without any user interaction expect from initiating the operation. Present study emphasis on the relay
based auto tuning of PID controller. An auto-tuning method is implemented based on a relay experiment to determine the ultimate
gain and the ultimate period, with which the PID parameters are obtained using the Ziegler-Nichols tuning rules. An auto tuning
of robot arm model and magnet levitation model are carried out. Performance of relay based auto tuning on the basis of integral
square error is better than artificial neural network.
Keywords: Relay auto tuning, PID, FOPDT, SOPDT, Integral square error.
Fuzzy Control of a Servomechanism: Practical Approach using Mamdani and Takag...ijfls
The main objective of this work is to propose two fuzzy controllers: one based on the Mamdani inference method and another controller based on the Takagi- Sugeno inference method, both will be designed for application in a position control system of a servomechanism. Some comparations between the methods mentioned above will be made with regard to the performance of the system in order to identify the advantages of the Takagi- Sugeno method in relation to the Mamdani method in the presence of disturbances and nonlinearities of the system. Some results of simulation and practical application are presented and results obtained showed that controllers based on Takagi- Sugeno method is more efficient than controllers based on Mamdani method for this specific application.
—Continuous Stirred Tank Reactor (CSTR) here is
considered as a nonlinear process. The CSTR is widely used in
many chemical plants. Due to changes in process parameters the
accuracy of final product can be reduced. In order to get accurate
final product the faults developed in CSTR during the chemical
reaction need to be diagnosed. If not, the faults may lead to
degrade the performance of the system. For this purpose there
are various fault diagnosis methods are to be considered. Among
the methods, the neural network predictive controller can be used
to detect faults in CSTR. Servo response is performed to
understand the behavior of CSTR. By detecting various faults
and with suitable control techniques, the accuracy of the
desirable products in CSTR can be improved
The aim of this paper is to prove that fuzzy logic algorithm is a suitable control technique for fast processes such as electrical machines. This theory has been experimented on different kinds of electrical machines such as stepping motors, dc motors and induction machines (with 6 phases) and the experimental results show that the proposed fuzzy logic algorithm is the most suitable control technique for electrical machines since this algorithm is not time consuming and it is also robust between plant parameters variations.
FUZZY CONTROL OF A SERVOMECHANISM: PRACTICAL APPROACH USING MAMDANI AND TAKAG...ijfls
The main objective of this work is to propose two fuzzy controllers: one based on the Mamdani inference
method and another controller based on the Takagi- Sugeno inference method, both will be designed for
application in a position control system of a servomechanism. Some comparations between the methods
mentioned above will be made with regard to the performance of the system in order to identify the
advantages of the Takagi- Sugeno method in relation to the Mamdani method in the presence of
disturbances and nonlinearities of the system. Some results of simulation and practical application are
presented and results obtained showed that controllers based on Takagi- Sugeno method is more efficient
than controllers based on Mamdani method for this specific application.
COMPARATIVE ANALYSIS OF CONVENTIONAL PID CONTROLLER AND FUZZY CONTROLLER WIT...IJITCA Journal
All the real systems exhibits non-linear nature,conventional controllers are not always able to provide good and accurate results. Fuzzy Logic Control is used to obtain better response. A model for simulation is designed and all the assumptions are made before the development of the model. An attempt has been made to analyze the efficiency of a fuzzy controller over a conventional PID controller for a three tank level control system using fuzzification & defuzzification methods and their responses are compared. Analysis is done through computer simulation using Matlab/Simulink toolbox. This study shows that the application of Fuzzy Logic Controller (FLC) gives the best response with triangular membership function and centroid defuzzification method.
Performance Analysis of the Sigmoid and Fibonacci Activation Functions in NGA...IOSRJVSP
Activation functions are used to transform the mixed inputs into their corresponding output counterparts. Commonly, activation functions are used as transfer functions in engineering and research. Artificial neural networks (ANN) are the preferred choice for most studies and comparisons of activation functions. The Sigmoid Activation Function is the most common and its popularity arise from the fact that it is easy to derive, its boundedness within the unit interval, and it has mathematical properties that work well with the approximation theory. On the other hand, not so common is the Fibonacci Activation Function with similar and perhaps better features than the Sigmoid. Algorithms have a broad range of applications making it plausible to suspect that different problems call for unique activation functions. The aim of this paper is to have a detailed of the role of the activation functions and then analyse the performance of two of them – the Sigmoid and the Fibonacci – in a non-ANN setup using the most basic artificially generated signals. Results show that the Fibonacci activation function performs better with the set of signals applied in the natural gradient algorithm.
Event triggered control design of linear networked systems with quantizationsISA Interchange
This paper is concerned with the control design problem of event-triggered networked systems with both state and control input quantizations. Firstly, an innovative delay system model is proposed that describes the network conditions, state and control input quantizations, and event-triggering mechanism in a unified framework. Secondly, based on this model, the criteria for the asymptotical stability analysis and control synthesis of event-triggered networked control systems are established in terms of linear matrix inequalities (LMIs). Simulation results are given to illustrate the effectiveness of the proposed method.
ARTIFICIAL NEURAL NETWORK APPROACH TO MODELING OF POLYPROPYLENE REACTORijac123
This paper shows modeling of highly nonlinear polymerization process using the artificial neural network approach for the model predictive purposes. Polymerization occurs in a fluidized bed polypropylene reactor using Ziegler - Natta catalyst and the main objective was modeling of the reactor production rate.
The data set used for an identification of the model is a real process data received from an existing polypropylene plant and the identified model is a nonlinear autoregressive neural network with the exogenous input. Performance of a trained network has been verified using the real process data and the
ability of the production rate prediction is shown in the conclusion.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Lab view based self tuning fuzzy logic controller for sterilizing equipments ...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Autotuning of pid controller for robot arm and magnet levitation planteSAT Journals
Abstract
One of the most essential work of the control engineer is tuning of controller. Majority of the controller used in industry are of the
PID type. An auto tuning is one of the method of controller tuning in which tuning of the parameters of controller is done
automatically and possibly, without any user interaction expect from initiating the operation. Present study emphasis on the relay
based auto tuning of PID controller. An auto-tuning method is implemented based on a relay experiment to determine the ultimate
gain and the ultimate period, with which the PID parameters are obtained using the Ziegler-Nichols tuning rules. An auto tuning
of robot arm model and magnet levitation model are carried out. Performance of relay based auto tuning on the basis of integral
square error is better than artificial neural network.
Keywords: Relay auto tuning, PID, FOPDT, SOPDT, Integral square error.
Fuzzy Control of a Servomechanism: Practical Approach using Mamdani and Takag...ijfls
The main objective of this work is to propose two fuzzy controllers: one based on the Mamdani inference method and another controller based on the Takagi- Sugeno inference method, both will be designed for application in a position control system of a servomechanism. Some comparations between the methods mentioned above will be made with regard to the performance of the system in order to identify the advantages of the Takagi- Sugeno method in relation to the Mamdani method in the presence of disturbances and nonlinearities of the system. Some results of simulation and practical application are presented and results obtained showed that controllers based on Takagi- Sugeno method is more efficient than controllers based on Mamdani method for this specific application.
—Continuous Stirred Tank Reactor (CSTR) here is
considered as a nonlinear process. The CSTR is widely used in
many chemical plants. Due to changes in process parameters the
accuracy of final product can be reduced. In order to get accurate
final product the faults developed in CSTR during the chemical
reaction need to be diagnosed. If not, the faults may lead to
degrade the performance of the system. For this purpose there
are various fault diagnosis methods are to be considered. Among
the methods, the neural network predictive controller can be used
to detect faults in CSTR. Servo response is performed to
understand the behavior of CSTR. By detecting various faults
and with suitable control techniques, the accuracy of the
desirable products in CSTR can be improved
The aim of this paper is to prove that fuzzy logic algorithm is a suitable control technique for fast processes such as electrical machines. This theory has been experimented on different kinds of electrical machines such as stepping motors, dc motors and induction machines (with 6 phases) and the experimental results show that the proposed fuzzy logic algorithm is the most suitable control technique for electrical machines since this algorithm is not time consuming and it is also robust between plant parameters variations.
Non integer order controller based robust performance analysis of a conical t...Editor Jacotech
The design of robust controller for any non linear process is a
challenging task because of the presence of various types of
uncertainties. In this paper, various design methods of robust
PID controller for the level control of conical tank are
discussed. Uncertainties are of different types, among that
structured uncertainty of 30% is introduced to the nominal
plant for analysing the robustness. As a first step, the control
of level is done by using conventional integer order controller
for both nominal and uncertain system. Then, the control is
done by means of Fractional Order Proportional Integral
Derivative (FOPID) controller for achieving robustness. With
the help of time series parameters, a comparison is made
between conventional PID and FOPID with respect to the
simulated output using MATLAB and also analyzed the
robustness.
Feedback linearization and Backstepping controllers for Coupled Tanksieijjournal
This paper investigates the usage of some sophisticated and advanced nonlinear control algorithms inorder
to control a nonlinear Coupled Tanks System. The first control procedure is called the
Feedbacklinearisation control (FLC), this type of control has been found a successful in achieving a global
exponentialasymptotic stability, with very short time response, no significant overshooting is recordedand with a negligible norm of the error. The second control procedure is the approaches of Backsteppingcontrol (BC) which is a recursive procedure that interlaces the choice of a Lyapunov functionwith the design of feedback control, from simulation results it shown that this method preserves tracking, robust control and it can often solve stabilization problems with less restrictive conditions may beencountered in other methods. Finally both of the proposed control schemes guarantee theasymptoticstability of the closed loop system meeting trajectory tracking objectives
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About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
1. DESIGN OF WATER LEVEL CONTROLLER
USING
FUZZY LOGIC SYSTEM
Thesis submitted in partial fulfilment of the requirements for the degree
of
Bachelor of Technology (B. Tech) In
Mechanical Engineering
By
Harshdeep Singh (109ME0422)
Under the guidance of
Prof. J. Srinivas
NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA
2. National Institute of Technology
Rourkela
Certificate of approval
This is to certify that the project entitled, “Design of Water Level Controller
using Fuzzy Logic System” being submitted by Mr. Harshdeep Singh has been
carried out under my supervision in partial fulfilment of the requirements for the
Degree of Bachelors of Technology (B. Tech) in Mechanical Engineering at
National Institute of Technology Rourkela, and this work has not been submitted
elsewhere before for any other academic degree/diploma.
Date:
Prof. J. Srinivas
Department of Mechanical Engineering
National Institute of Technology
Rourkela- 769008
3. ACKNOWLEDGEMENT
I would like to express my sincere gratitude to my guide Prof. J. Srinivas for his
invaluable guidance and steadfast support during the course of this project
work. Fruitful and rewarding discussions with him on numerous occasions have
made this work possible. It has been a great pleasure for me to work under his
guidance.
I would also like to express my sincere thanks to all the faculty members of
Mechanical Engineering Department for their kind co-operation. I would like to
acknowledge the assistance of all my friends in the process of completing this
work.
Finally, I express my sincere gratitude to my parents for their constant
encouragement and support.
HARSHDEEP SINGH (109ME0422)
Department of Mechanical Engineering
National Institute of Technology
Rourkela – 769008
4. CONTENTS
Certificate I
Acknowledgment II
Abstract III
1 Introduction 1
1.1 Water Tank System 2
1.2 Intelligent Control Methods 3
1.3 Objectives of the present work 7
2 Literature Survey 9
2.1 Liquid level monitoring & control 10
2.2 Intelligent control systems 11
3 Level Indicator and Fuzzy Logic Controller 13
3.1 Proposed water level indicator 14
3.2 Simulation with fuzzy logic controller 16
4 Results and Discussion 20
4.1 Development of fuzzy logic controller 21
4.2 PID control scheme 23
5 Conclusion 26
5. ABSTRACT
Water level control is highly important in industrial applications such as boilers in nuclear power
plants. In this work a simple water level indicator and a water level controller based on fuzzy logic is
proposed. The fabricated electronic level indicator defines 2 levels minimum and maximum through
LEDs. The fuzzy logic controller is based on Mamdani type Fuzzy Inference System. The fuzzy
controller has two inputs, error in level and rate of change of error and one output, valve position.
The fuzzy controller is implemented in MATLAB and then simulated in Simulink to test the behavior
of the system when inputs change. The response of the fuzzy controller is then compared with a
conventional PID controller. The results are shown sequentially and the effectiveness of the controller
is illustrated.
7. 2
1.INTRODUCTION
In many industrial processes, control of liquid level is required. It was reported that about 25% of
emergency shutdowns in the nuclear power plant are caused by poor control of the steam generator
water level. Such shutdowns greatly decrease the plant availability and must be minimized. Water
level control system is a very complex system, because of the nonlinearities and uncertainties of a
system. Currently, constant gain PI controllers are used in nuclear organizations for boiler water
level control at high power operations. However, at low power operations, PI controllers can not
maintain water level properly. A need for performance improvement in existing water level
regulators is therefore needed.
1.1 WATER TANK SYSTEM
In general, the flowing of water is supplied via a pump from a storage tank and water flow rate is
adjusted with an actuator. Fig.1 shows the schematic of such a surge tank system.
Fig.1 Surge tank system
The level of liquid is measured through a pressure transmitter. The transmitted pressure data is
transferred to control circuit. The system model can be represented as a first order differential
equation:
)
(
1
)
(
2
)
(
t
u
A
A
t
gh
c
dt
t
dh
(1.1)
h(t)
Input u(t)
8. 3
Here, u(t) is the input flow (control input), which can be positive or negative that is it can both pull
out the liquid from tank or put it in, h(t) is the liquid level (the output of the plant), A= b
t
ah
)
(
2
is the cross-sectional area of the tank, g=9.8 m/s2
is acceleration due to gravity and c is known
cross-sectional area of the output pipe.
There are various approaches to the design of the level controllers. The tank dynamics model
based proportional integral derivative (PID) controllers have become famous for boiler level
control. Advanced control methods such as linear quadratic Gaussian (LQG) based controller
designs were also used earlier.
1.2 INTELLIGENT CONTROL METHODS
Conventional control approaches are not convenient to solve the complex issues in this highly
nonlinear system. Neural networks and fuzzy logic control have emerged over the years and become
one of the most active areas of research. There are many works in literature addressed the water
level control issues using neural networks and fuzzy logic. Due to its simplicity, fuzzy logic control
method became most famous in this application. Fuzzy logic is a form of probabilistic logic or
many-valued logic; it deals with approximate reasoning rather than fixed and exact. Unlike
traditional binary sets, where variables take either true or false values, fuzzy logic variables have a
truth value that ranges in degree between 1 and 0. The truth value may range between completely
true and completely false. Thus Fuzzy logic has been extended to handle the concept of partial truth.
Fuzzy logic is a part of artificial intelligence or machine learning which interprets a human’s
actions. Computers can interpret only true or false values but a human being can reason the degree
of truth or degree of falseness. Fuzzy models interpret the human actions and are also called
intelligent systems.
9. 4
A fuzzy set is an extension of a crisp set. Crisp sets allow only full membership or no
membership at all, whereas fuzzy sets allow partial membership. In a crisp set, membership or non-
membership of element x in set A is described by a characteristic function, where and. Fuzzy set
theory extends this concept by defining partial membership. A fuzzy set ‘A’ on a universe of
discourse U is characterized by a membership function that takes values in the interval. Fuzzy sets
represent commonsense linguistic labels like slow, fast, small, large, heavy, low, medium, high,
tall, etc. A given element can be a member of more than one fuzzy set at a time. A membership
function is essentially a curve that defines how each point in the input space is mapped to a
membership value (or degree of membership) between 0 and 1. It provides a measure of the degree
of similarity of elements in the universe of discourse ‘U’ to fuzzy set. Various types of membership
functions are used, including triangular, trapezoidal, generalized bell shaped, Gaussian curves,
polynomial curves, and sigmoid functions.
A fuzzy inference system (FIS) essentially defines a nonlinear mapping of the input data vector
into a scalar output, using fuzzy rules. The mapping process involves input/output membership
functions, FL operators, fuzzy if–then rules, aggregation of output sets, and defuzzification. An FIS
with multiple outputs can be considered as a collection of independent multi-input, single-output
systems. A general model of a fuzzy inference system (FIS) is shown in Figure 1. The FIS maps
crisp inputs into crisp outputs. It can be seen from the figure that the FIS contains four components:
the fuzzifier, inference engine, rule base, and defuzzifier. The rule base contains linguistic rules that
are provided by experts. It is also possible to extract rules from numeric data. Once the rules have
been established, the FIS can be viewed as a system that maps an input vector to an output vector.
The fuzzifier maps input numbers into corresponding fuzzy memberships. This is required in order
10. 5
to activate rules that are in terms of linguistic variables. The fuzzifier takes input values and
determines the degree to which they belong to each of the fuzzy sets via membership functions.
Fig.1.1 Fuzzy logic system
The inference engine defines mapping from input fuzzy sets into output fuzzy sets. It determines
the degree to which the antecedent is satisfied for each rule. If the antecedent of a given rule has
more than one clause, fuzzy operators are applied to obtain one number that represents the result of
the antecedent for that rule. It is possible that one or more rules may fire at the same time. Outputs
for all rules are then aggregated. During aggregation, fuzzy sets that represent the output of each
rule are combined into a single fuzzy set. Fuzzy rules are fired in parallel, which is one of the
important aspects of an FIS. In an FIS, the order in which rules are fired does not affect the output.
The defuzzifier maps output fuzzy sets into a crisp number. Given a fuzzy set that encompasses a
range of output values, the defuzzifier returns one number, thereby moving from a fuzzy set to a
crisp number. Several methods for defuzzification are used in practice, including the centroid,
maximum, mean of maxima, height, and modified height defuzzifier. The most popular
defuzzification method is the centroid, which calculates and returns the center of gravity of the
aggregated fuzzy set. Any system that uses Fuzzy mathematics may be viewed as Fuzzy system.
Fuzzy systems can simultaneously handle the numerical data and linguistic knowledge.
11. 6
1.2.1 TYPES OF FUZZY LOGIC SYSTEMS
There are two major types of control rules in fuzzy control:
1) Mamdani System – This method is widely accepted for capturing expert knowledge. It
allows us to describe the expertise in more intuitive, more human-like manner. However,
Mamdani-type FIS entails a substantial computational burden.
2) Takagi- Sugeno - This method is computationally efficient and works well with
optimization and adaptive techniques, which makes it very attractive in control problems,
particularly for dynamic non-linear systems. These adaptive techniques can be used to
customize the membership functions so that fuzzy system best models the data.
The most fundamental difference between Mamdani-type FIS and Sugeno-type FIS is the way the
crisp output is generated from the fuzzy inputs. While Mamdani-type FIS uses the technique of
defuzzification of a fuzzy output, Sugeno-type FIS uses weighted average to compute the crisp
output. The expressive power and interpretability of Mamdani output is lost in the Sugeno FIS since
the consequents of the rules are not fuzzy [2]. But Sugeno has better processing time since the
weighted average replace the time consuming defuzzification process. Due to the interpretable and
intuitive nature of the rule base, Mamdani-type FIS is widely used in particular for decision support
application. Other differences are that Mamdani FIS has output membership functions whereas
Sugeno FIS has no output membership functions. Mamdani FIS is less flexible in system design in
comparison to Sugeno FIS as latter can be integrated with ANFIS tool to optimize the outputs.
Major benefits of fuzzy logic approach over the other methods are:
i) Fuzzy logic posses the ability to mimic the human mind to effectively employ modes of
reasoning that is approximate rather than exact.
12. 7
ii) Fuzzy Logic can model nonlinear functions of arbitrary complexity to a desired degree of
accuracy.
iii) Perform better than the conventional PID controllers.
iv) Fuzzy Logic is a convenient way to map an input space to an output space. Fuzzy Logic is
one of the tools used to model a multi-input, multi-output system.
v) It is simple to design and implement.
The fuzzy logic controller (FLC) acts as a part of the control system just like in conventional control
systems. Fig.1.2 shows the FLC system with system described in state-space form.
Fig.1.2 FLC control system
1.3 OBJECTIVES OF THE PRESENT WORK
Based on available literature, it is planned to develop a mechatronic model that can monitor the
water levels and controls the inflow rate by properly positioning the valve at correct angles. Even
though several such strategies are available, the simulations and practical implementation makes
the project somewhat user friendly. For simulations, it is planned to use fuzzy logic control which
makes use of Mamdani inference rule base (linguistic) consisting of 5 basic rules and the process
has to meet the desired water level. The simulation results of conventional PID controller which
makes use of the water level system model are used to show the effectiveness of the fuzzy logic
controller. The organization of the thesis is as follows: chapter-2 explains the literature review of
Monitoring system
hd
X
e
FLC
System
u
13. 8
this work; chapter-3 deals with the methodology adopted which includes, basic electronic circuit
for monitoring water levels and simulation procedure for implementation of fuzzy logic controller.
Chapter-4 shows the output results of simulations and discussions. Finally important conclusions
and scope for future work have been cited in chapter-5.
15. 10
2. LITERATURE SURVEY
This chapter presents a brief review of earlier works done in liquid level control strategies and
various intelligent control techniques.
2.1 LIQUID LEVEL MONITORING AND CONTROL
Many earlier works dealt with various techniques of monitoring and controlling of liquid levels in
industrial and domestic applications. Broadly this automatic control problem can be achieved under
two means: mechanical methods and electrical methods. Float ball type liquid level control is a
popular method of control still used in practice for normal applications such as overhead tank
overflow restrictors etc. The electrical methods of control include a microcontroller-based circuits
which automatically predict the liquid levels and accordingly active the circuit to operate motors.
In spite of several such available methods, still there are new techniques in this application so as
avoid dangerous operating conditions in industrial boilers.
Tan [1] proposed a water level control system for nuclear steam generator. The control system
consisted of a feedback controller and a feedforward controller. The robustness and performance
of both the controllers are analysed and tuning of the 2 parameter of the controllers. It is shown that
the proposed gain scheduled controller can achieve good performance at high and low power levels.
Safarzadeh et al. [2] presented a water level control system for horizontal steam generators
using the quantitative feedback theory.
Moradi et al. [3] proposed a control strategy to achieve desired tracking of drum water level.
Sliding mode & H-∞ control schemes are employed. Transfer function between drum water level
(output) and feedwater vs. steam mass rate were considered.
16. 11
Maffezoni [4] highlighted the principal dynamic phenomena which determine the structuring
of boiler-turbine control systems, clarifying the essential connections of such phenomena with the
physical nature of the process. Zhang and Hu [5] proposed the water level control system using PI
controllers. Zhang et al. [6] analysed the water level control of pressurized water reactor nuclear
power station using PID and fuzzy controllers. Ansarifar et al.[7] proposed an adaptive estimator
based dynamic sliding mode control method for water level control. Liu et al. [8] presented a
proportional controller with partial feed forward compensation and decoupling control for the steam
generator water level.
2.2 INTELLIGENT CONTROL TECHNIQUES
In 1965, the concept of Fuzzy Logic was conceived by Prof. Lotfi Zadeh at the University of
California at Berkley. He presented fuzzy set theory not as a control methodology, but as a way of
processing data by allowing partial set membership rather than crisp set membership or non-
membership. This approach to set theory was not applied to control systems until the 70's due to
insufficient small-computer capability prior to that time. Professor Zadeh reasoned that people do
not require precise, numerical information input, and yet they are capable of highly adaptive control.
If feedback controllers could be programmed to accept noisy, imprecise input, they would be much
more effective and perhaps easier to implement [9]. Likewise, neural networks are also capable of
representing the precise information from existing data sets. These intelligent control techniques
like neural networks, fuzzy logic and genetic algorithms have been used in liquid level control for
the last two decades.
In 1997, Park and Seong [10] investigated self-organizing fuzzy logic controller for water level
control of steam generators. Wu et al. [11] built a prototype of water level control system
implementing both fuzzy logic and neural network control algorithm and embedded the control
17. 12
algorithms into a standalone DSP-based micro controller and compared their performances. Sugeno
model was used for fuzzy logic control system and Model Reference Adaptive neural Network
Control based on back propagation algorithm was applied in neural network. Galzina et al. [12]
presented applied fuzzy logic for water level control in boiler drum and combustion quality control.
Fuzzy control rules were extracted from operator knowledge based on relative ruling criteria for
existing boiler room. Taoyan et al. [13] proposed a novel interval type-2 fuzzy control system by
extending the membership functions to interval type-2 membership function without increasing the
design complexity. The control system can efficiently reduce the uncertain disturbances from real
environment. Recently, Shome and Ashok [14] described an intelligent controller using fuzzy logic
to meet the nonlinearity of the system for accurate control of the boiler steam temperature and water
level.
19. 14
3. LEVEL INDICATOR AND FUZZY LOGIC
CONTROLLER
This chapter deals with the proposed methodology of water level indication and the design of a
fuzzy logic based controller.
3.1 PROPOSED WATER LEVEL INDICATOR
There are several types of water level indicators available. However, the electrical sensing devices
are more reliable and easy to fabricate and install. For example, Reza et al. [15] proposed a water
level monitoring and management within the context of electrical conductivity of water. They used
a microcontroller based water level sensing and controlling a wired and wireless environment.
Motivated from the past electronic circuits and with some available elements, a water level indicator
which indicates low and high levels in a tank has been started as a beginning of this work. Fig.3.1
shows the electronic circuit diagram implemented.
Fig.3.1 Electronic circuit based water Level Indicator
The level of any conductive non corrosive liquids can be measured using this circuit. The circuit is
based on 5 transistor switches. Each transistor is switched on to drive the corresponding LED ,
when its base is supplied with current through the water through the electrode probes.
20. 15
One electrode probe is (F) with 6V AC is placed at the bottom of tank. Next probes are placed step
by step above the bottom probe. When water is rising, the base of each transistor gets electrical
connection to 6V AC through water and the corresponding probe, which in turn makes the
transistors conduct to glow LED and indicate the level of water. The ends of probes are connected
to corresponding points in the circuit as shown in circuit diagram. The probes are arranged in order
on a PVC pipe according to the depth in the tank. AC voltage is use to prevent electrolysis at the
probes. The following electronic components are used:
(i) BC 548 Transistors (T1-T5)
(ii) 2.2K 1/4 W Resistors (R1-R5)
(iii) 22K 1/4 W Resistors (R6-R10)
(iv) LED’s (D1-D5)
(v) transformer with 6V 500 mA
Fig.3.2 shows the photograph of the model implemented.
(a) Transistor based AC circuit (b) Plastic tube with metallic plates at various levels
Fig.3.2
21. 16
3.2 SIMULATION WITH FUZZY LOGIC CONTROLLER
The controller in present work is a Mamdani based one. It uses a rule base in linguistic terms. There
are two inputs : error in liquid level e(t)=h(t)-hd and rate of change of liquid level )
(
)
( t
h
t
e
and
one output parameter: the inlet valve control angle u(t). Triangular membership functions are
selected to fuzzify the inputs and output variables. There are set fuzzy sets taken (N, O and P) for
each of the two inputs and five fuzzy sets for the output variable u. The ranges of the error and its
time derivative (inputs) are set as follows:
e [-1, +1] and )
(t
e
[-0.1, +0.1] , u(t) [-1, +1]
Figure 3.3 (a) – (c) shows the fuzzification process with y-axis as membership values.
Fig. 3.3 (a) Fuzzification of error e(t)
22. 17
Fig. 3.3 (b) Fuzzification of rate of error
Fig 3.3 (c) Fuzzification of Input flow u(t)
After fuzzification, as a next step a rule base will be created. Following five rules are used to make
up the rule base:
Rule 1: If error is okay then valve is no_change
Rule 2: If error is positive then valve is open_fast
23. 18
Rule 3: If error is negative then valve is close_fast
Rule 4: If error is okay and rate is positive then valve is close_slow
Rule 5: If error is okay and rate is negative then valve is close_fast
Fig.3.4 shows the corresponding rule editor window in MATLAB fuzzy logic toolbox.
Fig 3.4 Rule Base considered
After the design of FLC, it is tested with a few examples. The defuzzification uses centroidal or
centre of gravity scheme. Fig 3.5 shows the Simulink block diagram of the fuzzy logic controller
and PID controller. The fuzzy inference system was implemented in this fuzzy logic controller
and simulated to get the response of the controller to the given parameters.
24. 19
Fig 3.5 Simulink block diagram
Fig 3.6 shows the Simulink block diagram for water tank sub system shown under Fig 3.5.
Fig 3.6 Water tank system
26. 21
4. RESULTS AND DISCUSSIONS
This chapter presents the simulation results of fuzzy logic controller for liquid levels.
4.1 DEVELOPMENT OF FUZZY LOGIC CONTROLLER
Two input and one output system is simulated with fuzzy logic toolbox in MATLAB. As explained
in chapter 3, three fuzzy levels are considered for each of the two inputs and five levels for the
output parameter. Rule base consisting of five rules will be activated to follow-up the desired liquid
level. The rule viewer is used to get the crisp defuzzified values for the corresponding crisp inputs
given. It shows the fuzzification and defuzzification process. The result is shown as the red line in
the output (Fig.4.1).
Fig 4.1 Rule Viewer
27. 22
Fig.4.2 shows the surface viewer indicating 3 D graphical realization of the fuzzy rule base.
Fig 4.2 Surface Viewer
Fig 4.3 shows the response of fuzzy controller on simulation. The controller stablizes at the desired
water level very quickly.
Fig 4.3 Fuzzy controller response
28. 23
But the controller takes time to respond for a few seconds so the water level plunges. Fig 4.4 shows
the input data considered for water tank system.
Fig 4.4 Input parameters for the system
4.2 PID CONTROL SCHEME
Fig 4.5 shows the response of the PID controller when simulated with the given parameters. The
graph shows that the controller has an overshoot and takes time to stabilize to the desired value of
1m.
Fig 4.5 PID response
29. 24
Fig 4.6 shows the comparison of fuzzy and PID controller transient response for 1m desired level
(pink line shows PID and yellow one indicates fuzzy). It is clear from the graph that the PID
controller has a large overshoot compared to the fuzzy controller and also takes a lot of time to
stabilize at the desired level. Fuzzy logic on the other hand, has little overshoot and steady state
error and stabilizes quickly providing accurate level control. We find that the advantages and
disadvantages of PID control and fizzy control just offset each other. We can use fuzzy controller
for rapid control (coarse adjustment) and then use PID controller for accurate control (fine tune).
Fig 4.6 Transient Response of Fuzzy and PID controllers
As seen from the figure, compared with PID control program, the overshoot δ is less in fuzzy curve.
Settling time reduces. The result of the simulation shows that as far as no balance and complex
mathematical models, such a fuzzy control is similar to the human way of thinking. And it is suitable
for coarse control at the beginning of the operation to rapidly control. And in order to get better
30. 25
control accuracy, PID control program used as a fine tune. On the other hand, the fuzzy and PID
control program presented has a wide practical value because of the fuzzy control program does not
rely on the mathematical model. It can be tried with a fuzzy controller which generates the rule base
based on the PID scheme. An optimized FLC by tuning the fuzzy parameters may be employed to
get the better accuracy.
31. 26
5. CONCLUSIONS
The water level indicator is built and is tested to be working properly. Based on the existing
MATLAB fuzzy logic toolbox demo, the controller is implemented and simulated successfully and
the results are promising and satisfactory. This unconventional control approach can be used in
boiler water level and also temperature control applications of nuclear/thermal power plants. As a
future scope of this work the FLC can be implemented in a microcontroller with additional set of
rules for more accurate control and can be used in various applications in industry and household.
The controller can also be tested with periodically varying liquid level tracking applications.
32. 27
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