Proceedings of international conference on modeling, optimizing and computing
GAIN SCHEDULING CONTROLLER DESIGN FOR
AN ELECTRIC DRIVE
Prof.G.Glan Devadhas
Head of department
Dept. of Electronics and Instrumentation
Noorul Islam Centre for Higher Education
Thuckalay, Tamilnadu
Email:glandeva@gmail.com
Abstact: Conventional PID controllers were used to
control various industrial processes from many years
due to their simplicity in operation. mathematical
models are used to control the plant for different
process control applications. In this paper a dynamic
model of dc motor is developed A comparative study
between the performance of PI controller and fuzzy
logic controller is done. A gain scheduling PI FUZZY
controller is designed and implemented and various
performance parameters are compared with fuzzy
logic controllers. The paper shows superior
performance of gain scheduling controllers over
conventional controllers.
keywords-DCmotor.PIcontroller,Fuzzylogic
controller, I-Fuzzy gain scheduling controller
I INTRODUCTION
Permanent magnet direct current motor (PMDC) have
been commonly used in high-performance electrical
drives and servo system. There are many difference
DC motor types in the market some of which have
good attribute and some have bad attribute.. Example
of such bad attribute is the lag of efficiency. In order
to overcome this lag of efficiency a controller is
introduced to the system. There are also many types
of controller used in the industry, such controller is
PID controller. PID controller or proportional–
integral–derivative controller is a generic control loop
feedback mechanism widely used in industrial control
systems. A PID controller tries to correct the error
(ICMOC 2012)
LAKSHMI M NAIR
Dept. of Electronics and Instrumentation
Noorul Islam centre for higher education
Thuckalay, Tamilnadu
Email:lakshmiimnair@yahoo.com
between a measured process variable and a desired set
point by calculating and then outputting a corrective
action that can adjust the process as per our needs.. So
by integrating the PID controller to the DC motor
were able to correct the error made by the DC motor
and control the speed or the position of the motor to
the desired point or speed. The objective is to control
the speed of DC series wound motor.these type of
motors which are used usually in electric trains, self
starting of engines, elevators and complex industrial
mixing process. The series wound motor is selected
for this work because it provide excellent torque load
properties to the system which other motor of this
class cannot provide. if p o r t ab l e devices are yo be
used and transported then the only option is to use
DC motor as most portable devices. DC power source
is available and it make less expensive to the device if
DC to AC convertor not used.
II PROPORTIONAL INTEGRAL CONTROLLER
The PID controller is a feedback mechanism widely
used in a variety of applications. The controller
calculates an error that is the difference between a
measured process variable and the desired set-point
value needed by the application.PID controllers will
attempt to minimize the process error by continually
adjusting the inputs.
• Proportional (often called the “gain”):
determines the reaction to the current error
1308
Proceedings of international conference on modeling, optimizing and computing
• Integral: calculates the system reaction based on the
sum of recent errors
• Derivative:It calculates the rate at which the system
error has been changing
The weighted sum of these three values is used to adjust
a process by adjusting a control element, which could
literally be nearly anything within the process. Choosing
the proper values for P, I, and D is known as PID
Tuning. The three outputs are given by their respective
loops
Pout=
IOUT=
Dout=
The P controller shows a relatively high
maximum overshoot a long settling time as well as a
steady-state error. The I controller has a higher
maximum overshoot than the P controller due to the
slowly starting I behavior, but no steady-state error. The
PI controller fuses the properties of the P and I
controllers. It shows a maximum overshoot and settling
time similar to the P controller but no steady-state error.
The PID controller fuses the properties of a PI and PD
controller. It shows a smaller maximum overshoot than
the PD controller and has no steady state error due to the
I action.
III FUZZY LOGIC CONTROLLER
Fuzzy control utilizes a methodology for
representing, manipulating, and implementing a
human’s heuristic knowledge about how to control a
system.
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. Due to these formal property,
fuzzy logic can be used to control a process that a
human can control manually with expertise and
experience gained through practical and theoretical
knowledge. 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
IV POLE PLACEMENT CONTROLLER
(ICMOC 2012)
Pole placement is the most straightforward means of
controller design. The design starts with an assumption
of what form the controller must take in order to control
the given plant. From that assumption a symbolic
characteristic equation is formed. At this point the
desired closed-loop poles must be determined.
Typically, specifications designate overshoot, rise time,
etc. This leads to the formation of a second order
equation Most of the time the final characteristic
equation will have more than two poles. So additional
desired poles must be determined. Once the closed loop
poles are decided a desired characteristic equation is
formed. The coefficients for each power of s are equated
from the symbolic characteristic equation to the desired.
Algebra is used to determine the controller coefficients
necessary to achieve the desired closed-loop poles with
the assumed controller form. Since this system is not
state controllable arbitrary pole placement in not
possible.
V GAIN SCHEDULING CONTROLLER
Fuzzy gain scheduling is in three steps: a fuzzylogic
system is built that incorporates the features while
preserving conventional PID control gain scheduling is
then implemented by modifying this system, and two
parameters are independently tuned to improve PID
control performance. In some applications, it is known
how the dynamics of a controlled system change with
the operating conditions of the system. The controller
can thus be designed to change the parameters
accommodating the variations of system dynamics
based on the measurements of system operating
conditions. This type of feedback control scheme is
called gain scheduling. The proposed gain scheduling
fuzzy PI( GS_FPI) controller can also be applied to
solving the gain scheduling problems. In order to design
suitable scheduling parameters based on system
operating conditions, traditional controller with gain
scheduling requires system dynamics. However,
GS_FPID requires no information of system dynamics.
The operating conditions for the GS_FPID controller
simply come from the measurements of error e(t) and
error rate Δe(t). On the basis of e(t) and Δe(t). GS_FPID
controller adjusts controller parameters by fuzzy
inference.
VI.PROBLEM FORMULATION
A permanent magnetic dc motor with given
specifications is taken for study. Control of the given
1309
Proceedings of international conference on modeling, optimizing and computing
controller is achieved through conventional PI
controller, pole placement controller, fuzzy logic based
controller and gain scheduling controller .A comparison
of different controllers is analyzed.
VII MATHEMATICAL MODELING &
CONTROLLER DESIGN
The goal in the development of the mathematical model
is to relate the voltage applied to the armature to the
velocity of the motor. Two balance equations can be
developed by considering the electrical and mechanical
characteristics of the system.
fig1. Electrical representation of a dc motor
DC motor is mathematically modeled using data
available and the transfer function of the system is
achieved as
θ(S)/V(S)=
The stability analysis of the system is done and open
loop response is obtained as shown in the figure2.The
specifications of the motor used for the study.
voltage=10V, , partial membership, or a degree of membership, which
, linguistic term can be defined quantitatively by a type of
(ICMOC 2012)
VIII. PI CONTROLLER DESIGN AND TUNING
T he PI controller is designed using frequency response
method taking damping ratio as 0.7 .the overall transfer
function of dc motor is given as below as.
PI controller is designed for the above transfer function
and obtained the values of ki and kp.kp=0.057 and
ki=0.013.The controller transfer function is
The simulation experiments are done in MAT Lab and
the closed loop response results are shown in figure
IX.POLE PLACEMENT CONTROLLER DESIGN
Adding a pole at S= -2 to get a gain margin >20db and
phase margin >50db The pole placement controller
transfer function
The new transfer function become:
Bode plot and root locus are compared with and without
compensation. The phase margin and gain margin gets
improved after compensation.
X.DESIGN OF FUZZZY LOGIC CONTROLLER
Fuzzy logic is a method of rule-based decision making
by 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
might be any value along the continuum of 0 to 1. A
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
13010
Proceedings of international conference on modeling, optimizing and computing (ICMOC 2012)

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
modeled 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 fig2: Response of DC motor for current
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.

XI.CONCLUSION
Various controllers PI controller ,pole placement
controller, fuzzy logic controller, gain scheduling
controller is implemented and a comparative study is
being made. Fuzzy logic controllers give better
performance than conventional controllers. For highly
nonlinear systems gain scheduling controller gives
better performance.

Tables and figures

Table1.: Rules for Fuzzy Logic Controller

e(t)/
PB PM PS Z NS NM NB
Δe(t)
PB PB PB PM PS NS NS Z
fig3:Response of DC motor for speed
PM PS PB PM PS NS NS NS
PS PB PB PM PS NS NM NM
Z PM PM PS Z NS NM NB
N
NS PS PM PS NM NB NB
S
N
NM PS PS PS NM NB NB
S
N
NB Z PS PS NM NB NB
S

fig1:BLOCKDIAGRAM OF FUZZY LOGIC

CONTROLLER fig4:Response of DC motor with pi controller

13011
Proceedings of international conference on modeling, optimizing and computing (ICMOC 2012)

fig7:: Bode plot with compensation

fig5:Response of pole placement controller

fig8: Response of DC Motor Speed Control with

Fuzzy Controller

fig6:Bode plot without compensation

fig9:Membership Function for Fuzzy Logic

Controller

13012
Proceedings of international conference on modeling, optimizing and computing (ICMOC 2012)

fig10.Output response of gain scheduling controller 5. Wang Fei-Yue, Huang Yue, “A Non-Trial-and-
Error Method for Phase-Lead and Phase Lag
Compensator Design”, IEEE Transactions, pp
1654-1660, 2001
6. Godhwani Arjun, “Feedback Control Systems”,
IEEE Transactions, pp 17581761, 2003
7. C Marcelo, Teixeira M, Assuncao Edvaldo,
Machado Erica R. M. D., “A method for plotting
the complementary root locus using the root-locus
rules”, IEEE Transactions, Vol. 47, No 3, pp 405-
409, 2004
8. Cavicchi J Thomas, “Phase Margin Revisited:
Phase-Root Locus, Bode Plots and Phase
Shifters”, IEEE Transactions, Vol. 46, No 1, pp
168-176, 2003
9. Dobra P, Dumitrache D, Tomesc L, Duma R,
fig11.Performance of various controllers –
Trusca Mirela, “Low-cost embedded solution for
Comparative Study
PID controllers of DC motors”, IEEE
Transactions, , 2009
10. Yeung Kai Shing, Lee Kuo Hsun, “A universal
design chart for linear time invariant continuous
time and discrete-time compensators”, IEEE
Transactions, Vol.43, No 3, pp 309-315, 2000
11. Bianchi N, Bolognani S, Luise F, “Analysis and
design of a brushless motor for high speed
operation”, IEEE Transactions , pp 44-51, 2003
12. Hurl R Hwa, Lee Jang M, Lee Suk, Lee H Man,
“Compensation of Time Delay Using a Predictive
Controller”, IEEE Transactions, pp1087-1092,
REFERENCES 1999
13. Shen J X, Tseng K J, “Analyses and compensation
1. Arnulfo Rodriguez-Martinez, Raul Garduno- of rotor position detection error in a sensorless
Ramire (2011)”PI Fuzzy Gain-Scheduling Speed permanent magnet brushless dc motor”, IEEE
Control at Startup of a Gas-Turbine Power Plant’’ Transactions, pp 81-83, 1999
IEEE transactions on energy conversion, vol. 26, 14. Bahram Kimiaghalam, Abdollah Homaifar,
no. 1, March 2011. Marwan Bikdash. “Genetic Algorithm Based
2. Matteo Corno, Mara Tanelli “ Design and GainScheduling ’’. NASA-Autonomous Control
Validation of a Gain-Scheduled Controllerfor the Engineering Center-2009
Electronic Throttle Body in Ride-by- 15. http://www.ecircuitcenter .com/circuits
WireRacingMotorcycles 16. http:en.wikipedia.org/wiki/dc_motor
3. Zhen-Yu Zhao, “Fuzzy Gain Scheduling of PID 17. N.S.Nise,control systemsengineeering,3rd
Control’’, systems, man, and cybernetics. vol. 23, edition,JohnWiley and sons Inc,newyork
no. . septemberioctober 1993 18. Control system design guide by George Ellis .3rd
4. Xu J X, Hui K E, Yang R H, “ Maximum phase edition .Elesevier publications.
added lead, minimum phase reduced lag non-trial- 19. Modelling and control of dynamic systems by
and-error compensator design”, Proceedings of Macia&Thaler .India Edition publications
4th Asia Control Conference Singapore, pp 93-98,
2002

13013