2011 Fourth International Symposium on Computational Intelligence and Design

Application of fuzzy neural PID controller based on

PSO for high precision servo system
Li Xinghua Chen Wenlei Zhang Yajuan
State Key Laborary of Precision Measuring Technology and Instruments
Tianjin University
Tianjin,China
e-mail:li.xinghua@126.com, sdkdcwl@163.com,yajuanzhang216@163.com

Abstract-Friction is a key factor that influences the low velocity
performance of high precision servo systems. It usually causes the
steady-state error of servo systems and results in the creeping
phenomenon in low velocity motions. Friction is complicated
nonlinear process with time-varying uncertainties. The traditional
PID controller of servo systems with fricition was not satisfactory in
control precision and response time.In this paper,the fuzzy neural
PID controller based on fuzzy neural network(FNN),which
combines the advantages of robustness and nonlinear characteristic
of fuzzy control and adaptive self-learning capability of neural
network,was used to eliminate nonlinear disturbance caused by
friction.To solve the problems of stagnation,poor convergence and
local optima in traditional NN Learning Algorithms,the modified
PSO algorithm is adopted to train FNN on line. The experiment
result demonstrates that FNN PID controller can remove friction
disturbance efficiently and reduce steady-state error to only one
fifth of the one using the PID algorithm.
Literature five to seven use adaptive control theory which
promises to solve the time-varying uncertainties problem of the
controlled object.
In this paper, a new technology of FNN-PID controller
based on modified PSO algorithm is proposed and the
experiments results demonstrate that it has particular effect to
eliminate the friction torque disturbance.
II. SYSTEM MODEL
The paper mainly focuses on the design of speed tracking
algorithm for servo system,the diagram of the system is shown
as figure 1.

Key words-friction;nonlinear;high precision;FNN;PSO

I. INTRODUCTION
High precision servo system is widely used in precision
instruments and equipments,such as laser tracking system,AUV
auto-navigation system. Engineering experiments show that
Figure 1. Servo system diagram
friction has always been a crucial element that limits the
performance of servo system including steady-state
v is the given speed,y is the output speed,C is the speed
error,response time,overshoot.When the servo system runs at a
controller,PWM is the PWM wave driver which power the
low speed especially the vicinity of speed zero-point,the
brushless DC motor M.f denotes the friction torque disturbance
friction torque of symtem will show nonlinear characteristics
to motor,and circular grating detects the joint angle signal of
with the friction model parameters changing at different place
motor.When the motor runs at low speed,with the friction
and some other uncertainties which results in oscillation,large
torque having strong nonlinear characteristic,there will be large
steady-state error,bad tracking performance of the servo
steady-state error and control result become poor.So the
system.The traditional PID control technology has taken an
elimination of friction disturbance effect is crucial in high
important role in linear system because of strong robustness
precision servo system.
and easy feasibility.However,with the presence of limitations
like low efficiency,bad robustness for nonlinear system ,PID
controller can not meet the demand of high precision,low III. DESIGN OF FUZZY NEURAL NETWORK PID CONTROLLER
tracking error,short response time, nonlinearity of high Fuzzy neural network(FNN) combines the advantages of
precision servo system with friction disturbance.So far many fuzzy control and neural network and has been used in control
researches have been done on friction disturbance control and system fields with great potential of progress[8-9].Fuzzy
typical literatures[1-7] intensify our study on this control has strong robustness and good capacity to eliminate
field.Literature one and two integrate neural network and fuzzy nonlinear disturbance,while neural network has self-learing
control theory with PID control theory so as to solve the ability and self-adapting capability for model parameter
nonlinear problems caused by dynamic friction. Literature changes of controlled object.The input state variables are
three and four estimate the friction torque with the device of an preprocessed by fuzzy classification which promises to get
observer and compensate the friction disturbance in real time. high control efficiency and can avoid input saturate.

978-0-7695-4500-4/11 $26.00 © 2011 IEEE 291

DOI 10.1109/ISCID.2011.175
Membership functions in fuzzy control become neural
functions in FNN so that the membership of fuzzy variables
can be adjusted dynamically.Fuzzy rules are expressed as
hidden nodes and weighted sums of these nodes and therefore
the fuzzy control rules can be regulated adaptively by changing
nodes weights of network.The output variable of FNN is the
value of parameters Kp,Ki,Kd of PID controller.When in
running state,the FNN-PID controller can optimize fuzzy
control rules by regulating parameters of neural functions and
nodes weights to obtain optimal PID parameters. The structure
of FNN-PID controller is shown as figure 2.
Figure 2. FNN-PID controller diagram
A. Description of fuzzy neural network(FNN)
FNN,which does the fuzzy reasoning in neural network
way,has the essence that it expresses fuzzy control rules by
neural network reflection mechanism.The input and output
variables in fuzzy control are expressed by input and output
nodes in FNN,while membership functions and fuzzy rules are
expressed by hidden nodes and neural functions.The structure
of FNN in this paper is shown as figure 3
Figure 3. 2-4-4-3 FNN model
The model in figure 3 is a 2-4-4-3 neural network which
consists of four layers:
1) Input layer,this layer has two nodes to express absolute
value of error e and change rate value ec
2) Fuzziness layer is also called membership functions layer
whose nodes are fuzzy subsets of fuzzy variable e and
ec .To simplify model structure and decrease the system
complexity,here only two fuzzy subsets,B and S,are
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choosed for every fuzzy variable,and the related
membership function for B ans S are Gaussian function
x−a 2
with a normal distribution μ = exp[ −( ) ] .The
b
membership of four nodes can be changed through the
parameters a and b which can change the shape and center
point of membership curve.
3) Rules layer,used for fuzzy reasoning.Every node
represents a fuzzy rule in this layer.
4) Certainty layer,or Output layer.The nodes value in output
layer are weighted sum of nodes values in Rules layer or
some additional process through neural function such as
avoiding saturation.Finally,the nodes value are Kp,Ki,Kd
for PID controller.
IV. FNN LEARNING ALGORITHM BASED ON MODIFIED PSO
The process of self-learning and self-regulating PID
parameters in FNN is essentially the process of regulating
network weight w and membership functions parameters a and
b. PSO,as a new optimal algorithm which imitates swarm
intelligence of birds flight and is characteristic of global
optimization and fast convergence speed,has been drawn more
and more attention in NN Learning field.PSO has been used in
NN training and is better than BP algorithm in learning time
and training precision.
A. Overview of PSO
Particle Swarm Optimization(PSO) was firstly proposed by
Kennedy and Eberhart in 1995, and it is an evolutionary
algorithm based on iterations.Recently it is used as learning
algorithm for neural network training in many fields with many
modified algorithm[10-13].Every potential solution of
optimization problems is called Particle whose position
represents potential solution value in search space.Every
particle has the properties of fitness value determined by
optimization problems and flight speed. All particles are
initialized with random values and find the Optimal Solution
iteratively. In each iteration process, particles are updated
through two EXTREME VALUE :one is Optimal Solution
value of particle itself,here called personal best value;the other
one is Optimal Solution value of whole particle swarm,also
called global best value.
B. PSO Algorithm Steps
Step1: Initiate a swarm of particles with random position and
random speed.The scale of swarm is denoted as m;
Step2: Calculate the fitness value of each particle;
Step3:Update the pbest value.For each particle,compare the
current fitness with the fitness at ever best position pbest.If the
current fitness is larger than the one at pbest position,take the
current position as the pbest position;
Step4:Update the gbest value.Similar to Step3, compare the
current fitness with the fitness at ever best position of the
whole swarm gbest.If the current fitness is larger than the one
at gbest position,take the current position as the gbest position;
Step5:Regulate the position and speed of flight particles
basing on formula (1) and (2);
v(i) = w × v (i ) + c(1) × rand () × ( pbest (i ) − x (i ))
(1)
+ c(2) × rand () × ( gbest (i ) − x(i ))
x(i) = x (i ) + v(i ) (2)
Step6:Turn to Step2 if termination condition is not satisfied.
C. FNN training based on PSO
The control effect of controller is generally evaluated by
parameters like steady state error, regulating time,rise time,
overshoot and so on,so the fitness function can be function of
weighted sum of the above parameters.In this paper we choose
1 as the fitness function where x is system input
f =
( x − y) 2 Figure 4. PID algorithm with given speed 0.1rpm
value and y is system output value.

D. Measures to improve NN training result

1) Regulating inertial weighting factor dynamicly
To increase search speed of PSO algorithm,it is necessary
to dynamicly regulate inertial weighting factor w which
determines the search speed and search presion.Make w be a
nonlinear function of fitness value f so that larger serch speed
is gained to avoid local optima and fastly reach optimum range
at the initial phase of search process while smaller serch speed
is gained to improve search precision at the vicinity of the
Optimal Solution.To design an efficient w function,function
curves are obtained through experiment offline at different
fitness range and the whole w function are expressed in
separable function way. Figure 5. FNN-PID algorithm with given speed 0.1rpm

2) Combine online training with offline training

First train FNN through a large number of training data
sampled by offline experiment to obtain a set of optimal NN
parameters;When in running state online,take the offline
optimal NN parameters as initial value of particles to get
optimal solution with higher precision.

V. EXPERIMENTS
In this experiment the DC motor is the controlled object
and the given speed signal is Square Wave whose period is
1.25s.Since the range of motor running speed is from -1rpm to Figure 6. PID algorithm with given speed 1rpm
1rpm,the situations of signal with the peak value of r0.1rpm
and r 1rpm are choosed as the given speed signal
repectively.The traditional PID algorithm and FNN-PID based
on modified PSO algorithm are adopted in the controller.The
given speed curve and response speed are shown as Fig 4 to
Fig 7.
The comparison results indicates that FNN-PID based on
modified PSO algorithm can efficiently decrease the steady
1
state error,caused by friction torque disturbance,to only of
5
the error using PID algorithm.

Figure 7. FNN-PID algorithm with given speed 1rpm

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 VI. CONCLUSION
Through the above contrast experiments,a conclusion is
drawn that the FNN-PID based on modified PSO algorithm is
anvanced than PID algorithm in friction disturbance restriction
and can meet the demand of high priction,short response
time,small overshot of servo system.FNN-PID controller,with
advantages of self-learning,self-adapting capability and fuzzy
reasoning,is an efficient way to solve nonlinear problems in
control engineering.
ACKNOWLEDGMENTS
This project was financially supported by State Key
Laborary of Precision Measuring Technology and Instruments
of Tianjin University.
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