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PID PID Fuzzy Example Supervisory PID Fuzzy Control
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PID
PID: Proportional Integral Derivative More than 90% of controllers used in
industries are PID or PID type controllers (the rest are PLC) PID controllers are simple, reliable, effective For lower order linear system PID controllers have remarkable set-point tracking performance and guaranteed stability.
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Frequency Domain
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PID Controller
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PID Controller
Time Domain
Frequency Domain
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Types of Fuzzy Controllers: - Direct Controller The Outputs of the Fuzzy Logic System Are the Command Variables of the Plant:
Command Variables
Plant
Defuzzification
Fuzzification
Inference
Measured Variables
Types of Fuzzy Controllers: - PID Adaptation Fuzzy Logic Controller Adapts the P, I, and D Parameter of a Conventional PID Controller:
Set Point Variable
P I D
Command Variable
PID
Plant
Fuzzification
Measured Variable
The Fuzzy Logic System Analyzes the Performance of the PID Controller and Optimizes It !
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Types of Fuzzy Controllers: - Fuzzy Intervention Fuzzy Logic Controller and PID Controller in Parallel:
Set Point Variable
Command Variable
Fuzzification
PID
Plant
Measured Variable
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The control signal u is a linear combination of the error e, its integral and its derivative. The parameter Kp is the proportional gain, Ti is the integral time, and Td the derivative time.
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Discretization of PID controller: To digitize the analog controller, the following can be used:
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Index n refers to the time instant. By tuning we shall mean the activity of adjusting the parameters Kp, Ti , and Td in order to achieve a good closed-loop performance.
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Example
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Example
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Example
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Example
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Example
Simulation result are shown , where red is system output, and green is error signal
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information of this type, the supervisor can seek to tune the controller to achieve higher performance operation or a performance that is more to the liking of the driver.
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create conflicts.
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Homework
13.2, 13.4, 13.5
Due 20/11/2011
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