Direct Conversion of PID Controller to Fuzzy Controller Method for Robustness

Lv Hongli Duan Peiyong

Information and Electric Engineering College Shandong Jianzhu University Jian, Shandong,250101, China hllv@sdjzu.edu.cn

Cai Wenjian
School of Electrical and Electronic Engineering Nanyang Technological University Singapore, 619798 ewjcai@ntu.edu.sg

Jia Lei
School of Control Science and Engineering Shandong University Jian, Shandong,250061, China jialei@sdu.edu.cn

Abstract - A new fuzzy control strategy, converted directly from the PID controller, was applied to control the Heating, Ventilating, and Air-Conditioning (HVAC) systems in this paper. It took full advantages of mature technologies of PID parameters tuning to improve the design of fuzzy controllers. The mathematical analytical expression of parameters between fuzzy controllers and linear gains coefficients of conventional PID controllers was got based on the structure analysis of fuzzy controllers. And the fuzzy controller was designed through gains tuning of PID controller based the analytical relations. Because HVAC systems are typical nonlinear time-variable multivariate systems with disturbances and uncertainties, then this new fuzzy controller was applied into temperature control in HVAC systems. The simulation test results compared with the conventional PID control showed that the proposed fuzzy controller is effective and this algorithm has less overshoot, shorter setting time and better robustness etc. I. INTRODUCTION Fuzzy logic control technique based-on the concept of the fuzzy algorithm by Zadeh in 1973 has been successfully applied in many engineering areas since the pioneer work of Mamdani in 1974[1, 2]. Fuzzy controllers possess advantages of strong robustness, better global control effects etc. and no need mathematical model. The fuzzy controller is essentially time-variable nonlinear system with variable gains in nature and only at the certain time it behaves the linear PID type controller with constant gains. But up to date fuzzy controller design is still more a matter of art than technology and can not play the main role in industrial processes because it is difficult to grasp the fuzzy control technologies for common technicians and skilled workers. In the process industries modern process control problems are dominated by nonlinear, time-varying behaviour, dead time, disturbance and uncertainties with the development of technologies in practical engineering[3] and most lpants in industrial automation and process are controlled by the wellestablished PID controllers until today[4]. But the linear PID algorithm might be difficult for process with complex

and time-variant, poorly defined dynamics. Conventional PID controllers have gone through a technological evolution because many sophisticated algorithms have been used to improve its work under difficult conditions. Especially fuzzy logic inferences and neuron network based on selftuning schemes of PID controllers have also been proposed to enhance the control performance. Qiang Bi et al gave an advanced auto-tuning PID controller then applied it into HVAC systems successfully[5]. Hanxiong Li proposed an improved robust fuzzy-PID controller with optimal fuzzy reasoning, which was introduced to overcome inconsistent inference and losing robustness. But they can not change the linear essence of PID controllers. A novel idea to design PID controller-based fuzzy controller is attempted to be proposed in order to absorb the advantages of existing two combination of fuzzy and PID controllers in this paper. At first the mathematical analytical expressions of parameters between the fuzzy control and PID controller are given based on the structure analysis of fuzzy controller. So we get the mathematical relation of parameters of fuzzy controller and linear gains of PID controllers. Then the fuzzy controller makes good use of gains tuning of PID controller to be designed based the analytical relations. Then we get the newest satisfactory design of fuzzy controller based on the PID control parameters tuning. Furthermore, the simulation results show the effective performance of this fuzzy controller and experiment tests results indicate that the proposed fuzzy control approach is effective for the temperature control of air handling unit in HVAC systems. II. DESIGN OF NOMINAL FUZZY CONTROLLER

e
PID controller

Fuzzy controller

u
Process

KP , KI , KD
Parameters

Fig. 1 fuzzy controller based on PID tuning

978-1-4244-1718-6/08/$25.00 2008 IEEE

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It is assumed that the process under control can be modelled as the following first order plus dead time (FOPDT) dynamics, and all the three plant parameters can

be obtained a priori:

G ( s) =

Where K is the open-loop process gain, is the effective dead time and T is the overall time constant. For this kind of plant, a conventional PID control strategies was the most often used, and then it is easy to get the gain coefficients K P , K I , K D of its PID controller respectively. In order to design the PID parameters based-on fuzzy controller, at first the simplest structure of two-input singleoutput nominal fuzzy controller is given. At any given time instance n with a sampling time Ts, the two input variables of fuzzy controller, error state variable and error change are defined as e(n) = y ( n ) r ( n) and e( n) = e( n) e( n 1) . And its output variable u (t ) is the control signal of process. (1) The membership functions of two input variables e, e used triangular shapes and the membership functions of output variables u used singleton fuzzy sets. The membership functions of input variables e, e are defined as the following triangular shape membership functions fuzzy sets Pe, Ne, P e, N e , that is:
1 1 P (e) = (e + 1) 2 0 e 1 1 e < 1 e < 1

Ke s Ts + 1

(1) above FOPDT process[7]. The nominal fuzzy controller is used in each fuzzy controller. But the input variables of fuzzy controller e( n), e( n) are normalized by the normalized factors Gei and G ei before fuzzification, where i = 1, 2 . The output variables u (n), u (n) are normalized by the normalized factors Gu and G u after defuzzification. That is,
e* = Gei e( n), e* = G ei e(n), u ( n) = Gu u*, u ( n) = G u u *

0 1 N (e) = (1 e) 2 1
1 1 P (e) = (e + 1) 2 0

e 1 1 e < 1 e < 1
e 1 1 e < 1 e < 1

(2) where i = 1, 2 and e*, e*, u*, u* [ 1,1] . (4) The membership functions of both input variables e*, e * and output variables u*, u * are each defined the same as before. Both of two fuzzy inference rule-bases use the nominal fuzzy rules. In fuzzy controller 2, the output variable u * is instead of u * in fuzzy rules. In fuzzy inference logic algorithms, if AND operation uses product, OR operation uses max, IMPLICATION operation use min. The defuzzification uses centre of gravity method. When arbitrary input variables e ( n ), e ( n ) act on the fuzzy control system, passing through normalizing, fuzzification, fuzzy reasoning and defuzzification, the outputs of fuzzy controllers are as follows: FC1: Gu 1 (3) u1 = Gu u* = Gu (e * +e*) = (Ge1 e(n) + Ge1 e(n))
2 2

FC2:

1 u 2 = G u u* = G u ( e * + e*) 2 G u = (Ge 2 e ( n ) + G e 2 e ( n )) 2

(4)

1 1 N (e) = (1 e) 2 0

e 1 1 e < 1 e < 1

In order to simplify calculation, we choose Ge1 = Ge 2 = Ge and G e1 = G e2 = G e . Then the whole output of fuzzy controller is
u(n) = u1+ u2 Gu Gu (Ge e(n) + Ge e(n)) + (Ge e(n) + Ge e(n)) 2 2 1 = [(Gu Ge + Gu Ge)e(n) + Gu Ge e(n)) + Gu Ge e(n)dn] 2 =

(5) (6)

(2) The fuzzy inference rule-bases in nominal fuzzy controller use the following four rules:

R1 : R2 : R3 : R4 :

If If If If

e e e e

is is is is

P P N N

and and and and

e e e e

is is is is

P, N, P, N,

then then then then

u u u u

is is is is

P Z Z N

According to the conventional PID controllers, choose

1 K P = (Gu Ge + Gu Ge) 2 1 K I = Gu Ge 2 1 K D = Gu Ge 2

(7)

(3) The fuzzy controller in figure 2 is used to control the

e(n)

r ( n)
e(

Ge1 Ge Ge2 Ge

u(n)

y(n)

FC 1

Gu G

P(s)

FC 2

Fig.2 Fuzzy control system

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Then the fuzzy controller can be transformed into u ( n) = K P e(n ) + K I e( n) dn + K D e(n)

(8)

It is a PID controller in style, but it is a fuzzy controller at a certain sampling time in nature. Then we can take good use of these equations to design the fuzzy controller on base of parameters tuning of PID controllers. First of all, since the gains tuning of PID controller is used to service for fuzzy controller, we regard the error normalized factor Ge as a free variable for a while, and (7) can be changed into following equal styles:

G e = Gu =

K P K P 2 4K I K D Ge 2K I 4KD KI
(9)
2

( K P K P 4 K I K D )Ge KI Ge

G u =

III. DESIGN AND TUNING OF NORMALIZED FACTORS BASED ON PID PARAMETERS The parameters of one typical fuzzy controller are generally composed of two kinds, one is design parameters, including membership functions, rules, inference algorithms and defuzzification operation, and the other kind of parameters is tuning parameters, including all the normalized factors because they change with the different controlled processes. In fact, the identification of fuzzy controller is the determining process of these parameters through PID gain parameters in this paper. At first we design nominal fuzzy controller according to the general structure of fuzzy controller. The fuzzy data base and rules, the fuzzification and defuzzification algorithm are chosen and the fuzzy inference operators are decided accordingly. Secondly we tune the design parameters of fuzzy controller, Gei, Gei , Gu and G u , based on the relationship between the normalized factors of fuzzy controllers and gains of PID controller shown in (9). We suppose the initial error normalized factor, which is marked by Ge0 , is fixed. Then they can directly be used to tune normalized factors in fuzzy controller off-line firstly. In order to make fuzzy controller better fit for the dynamical process, furthermore convenient to be applied into industrial plant, according to the designing formulate (9), the concrete design is given as follows: When K P is increasing in PID controller, the output response will speed and the steady state error will reduce. Accordingly in (9), the system response arises from increase of K P turns into very comparatively relaxative and more recipient, in stead of simple change of proportional gain. G e will increase, Gu will increase and Gu do not change. Similarly, When K I is increasing in PID controller,
G e will decrease, Gu will increase, and G u will increase

in fuzzy controller; When K D is increasing, G e will decrease, Gu will increase, and Gu do not change. As a result, the above design and tuning based on the PID controller gain factors, the fuzzy controller achieved primary design and then it can work in process on line. In order to be applied into industrial process control conveniently, sum up the above design and tuning of proposed fuzzy controller, the concrete design guideline is given as follows: Step 1: Design conventional PID controller for process plant on base of mature design algorithems; Step 2: Design nominal fuzzy controller for process plant and confirm its design parameters, that is, choose fitting fuzzy algorithms, including fuzzification, defuzzification, inference operations etc. It is better to realize the compositive device electronics for general fuzzy controller; Step 3: On base of equations (9) and initial error normalized factor Ge 0 , design and tune fuzzy controller according to gains of PID controller, the tuning parameters of fuzzy controller, the normalized factors are got; Step 4: Apply the designed well fuzzy controller into process plant, only change the normalized factors of fuzzy controller on-line with the transformation of process parameters. IV. SIMULATION EXAMPLE The simulation study is conducted to verify the proposed fuzzy controller design algorithm based on the parameters tuning of the PID controller. Considering the following this kind of FOPDT process 0.3e0.8 s (10) G ( s) = 0.9s + 1 At first, we get the gain parameters of its PID controller, that is K K P = 1.875, K I = P = 2.08, K D = 0.09 TI Secondly, the fuzzy controller of process (10) is designed according to the algorithm given in Section 3 and its PID controller. Then on base of design for standard and

universe fuzzy controller, only the tuning parameters of conventional fuzzy controller need to be design and tuned. Thirdly, when the gain parameters of its PID controller in first step was brought into (9) and initial error normalized factor Ge 0 is temporarily chosen to 1 for convenience, according to the experiments and experience, The tuning parameters of fuzzy controller, the normalized factors were got according to the controlled process (10), that is G e = 0.45, Gu = 0.08, Gu = 2.08 . The simulation result in figure 3 showed that it is similarly available to apply the proposed fuzzy controller and PID controller. But the fuzzy controller has extraordinary stronger disturbance rejection capability than PID controller.

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1.4 1.2 1 0.8 y(t) 0.6 0.4 0.2 0 0 20 40 time(s) 60 80 100

y(t)

1.4

FC PID

FC t=1.4 FC t=0.4 PID t=1.4 PID t=0.4

1.2 1 0.8 0.6 0.4 0.2 0

10

20

30

40

50 time

60

70

80

90

100

Fig. 3 control response of process (10)

Fig. 4 in fuzzy control systems

1.4 1.2 1 0.8 y(t) 0.6 0.4 0.2 0 FC k=0.5 FC k=0.1 PID k=0.5 PID k=0.1

In order to further verify the dynamical performance of the designed fuzzy controller and check its robustness, we used the same fuzzy controller to control other FOPDT process. When model time constant T change, the dynamical performance was shown in figure 4; When model gain k change, the dynamical performance was shown in figure 5; When model time delay change, the dynamical performance was shown in figure 6. In order to illuminate controller effects, in every control process, the unit pulse disturbance was added into process at t=20 second. The simulation results of dynamical responses from figure 4 to 6 showed further validities of the proposed fuzzy controllers. At the same time, the designed PID controller (13) was used to control corresponding processes. Compared with the control effect of PID controller, the fuzzy controller based on the PID controller parameters behaved better dynamical performance and strong robustness. V. EXPERIMENTAL TEST IN THE HVAC SYSTEMS Considering the HVAC systems, we only choose temperature control as an example. Then an air-handling unit (AHU) is composed of cooling coil, air dampers, fans, chilled water pump and valves etc. The schematic diagram of AHU in HVAC system is shown as in Figure 7, which consists of cooling coil, air dampers, fans, chilled water pumps and valves. There are two physical loops in the cooling coil unit (CCU): chilled water loop and air loop. The dry-bulb temperature, web-bulb temperature and &a , airflow rate of the on-coil air are Tai , Taiwb and m respectively. Likewise, the off-coil dry-bulb and wet-bulb air temperatures descend to Tao and Taowb , through heat transfer with chilled water in the cooling coil pipes. The off& chw are coil temperature Tao and chilled water flow rate m the process output to be controlled and manipulated variables, respectively. The on-coil temperature of the chilled water is assumed as a constant, and the airflow rate & a varies in corresponding to cooling load demand of m conditioned space, these two variables are considered as disturbances to the process. Thus the output Tao can be described as:

10

20

time

30

40

50

60

Fig. 5 in fuzzy control systems

1.4 FC delay=1.3 FC delay=0.4 PID delay=1.3 PID delay=0.4

1.2 1 0.8 y(t) 0.6 0.4 0.2 0 0

10

20

30

40

50

time

60

70

80

90

100

Fig. 6 in fuzzy control systems

& chw , m & a , Tai , Tchwi ) (11) Tao = f (m Where f is a nonlinear time varying function between the system output and the state variables. In steady-state, as the transient response of the dynamics for air and chilled water loop are very difficult to model accurately, it can be approximated in a small region, respectively, by a FOPDT models [8] and given by

Tao ( s ) K e Lchw s = chw & chw ( s ) m 1 + Tchw s

(12)

where K chw , Tchw , Lchw , K a , Ta and La are the process gain, time constant and time delay for chilled water loop and air loop respectively. Before the real process testing, a simulation study is conducted to verify the proposed fuzzy

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controller design. Consider a heat exchange model described by (12). Its operating ranges of system parameters K p , Ts , L on low, middle, high level are -0.3, -0.8, -1.6; 0.9, 1.1, 1.2; 0.8, 0.8, 0.9 responsively. Then the PID controller based on low level model is designed, the parameters K P , K I , K D are determined as 1.1, 1.22 and 0.09 respectively and fuzzy controllers are designed on base of the designed PID controller. Simulation tests and comparisons is clear to show that a better performance is achieved through proposed fuzzy controller, whereas it is difficult to apply one set of PID controller parameters to obtain good performance for the whole operation range. A pilot centralized HVAC systems is showed as in figure 8. The system has three chillers, three zones with three AHUs, three cooling towers and flexible partitions up to twelve rooms. All motors (fans, pumps and compressors) are equipped with VSDs. The cooling coils for system are two rows with the dimension of 25 25 8 cm 3 . The experiment is conducted under the following conditions: The chilled water supply temperature is fixed; the cooling load variation is achieved through the air and water flow rates. The experiments result in Figure 7 showed that it is available to apply the proposed fuzzy control strategy to control off-coil dry-bulb temperature Tao of AHU systems. Compared with PID controller, the novel fuzzy controller design technology has better robustness.

Fig.9 Experiment result in HVAC labs

VI. CONCLUSION In this paper, a new approach to design fuzzy controller was firstly proposed. It take full advantages of mature technologies of PID controller to improve the performance of fuzzy controller and it will be regarded the new relationship and combination of fuzzy and PID controller. The gains tuning of PID controller were used to design normalized factors of fuzzy controller so that the fuzzy controller can be more easily understood and can be applied in practical industrial process on large scale. The simulation and experiment results in HVAC systems gave the comparison between both of them, and shown that this novel design of fuzzy controller appeared good performance. ACKNOWLEDGMENT The paper was supported by Shandong province science foundation grant Z2006G07. REFERENCES
[1] L. A. Zadeh, Outline of a new approach to the analysis of complex systems and decision processes, IEEE trans. SMC, vol. 3, no. 1, pp.2844, 1973. [2] E. H. Mamdani, Application of fuzzy algorithms for simple dynamic plant, Proc. Inst. Elect. Eng., vol. 121, no. 12, pp.1585-1588, 1974. [3] R. J. P Defiguerredo and G. Chen, Nonlinear feedback control systems: an operator theory approach, New York, Academic, 1993. [4] Astrom, K. J. and T. Hagglund, PID controllers: theory, design, and tuning (2nd ed.), Research Triangle Park, NC: Instrument Society of America, 1995. [5] Qiang Bi, Wen-Jian Cai, Qing-Guo Wang et al, Advanced controller auto-tuning and its application in HVAC systems, Control Eng. Practice, Vol.8, pp.633-644, 2000. [6] Hanxiong Li, An improved robust fuzzy-PID controller with optimal fuzzy reasoning, IEEE trans on SMC, vol. 35, no. 6, pp.1283-1294, 2005. [7] Xu J, Hang C, Liu C, Parallel structure and tuning of a fuzzy PID controller, Automatica, Vol. 36, pp.673-684, 2000. [8] He Ming, Wenjian Cai, Multiple Fuzzy Model-based Temperature predictive control for HVAC systems, Information science, vol.169, pp.155-174, 2005.

Exhaust Air
Control Damper Mixed Air Control Valve Return Fan Filter Cooling Coil

Return Air

Outside Air

Supply Air

Supply Fan (VSD)

Chilled Water

Fig.7 Air Handling Unit

Fig.8 Pilot plant of Centralized HVAC system

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