Design and Implementation of Real TimeDC Motor Speed Control using Fuzzy Logic

Waleed Abd El- Megeed El- BadryMechatronics Department

Faculty of EngineeringMisr University for Science & Technology

wbadry@must.edu.egMicrosoft®

C E R T I F I E DProfessional Developer

Agenda

Motivation

Project Outlines

Briefed Introduction

Work Carried Out

Results and Conclusion

Project Motivation

Mechatronics

Engineering

Electronics

Control

Computer Science

Mechanical

Signal Conditioning

Friction, Coupling and Torque

Fuzzy Logic Controller

InterfacingProgramming

Project Outlines

Traditional MethodBased on Linear model of DC Motor

Source: Mo-Yuen Chow, ”Fuzzy Logic Microcontroller Implementation for DC Motor Speed Control”

Source: http://www.Fuzzy-Logic.com

Conceptual

Design

Coupling

Fuzzification

Knowledge Base

DefuzzificationFuzzy Rules

D/A A/DM T

Closer Look….

DC Motor-Tachometer Specification:24V DC180 RPM1.5 A

NI USB 600812 Bits, 200Ks/S A/D Converter (0-10V)12 Bits, D/A Converter (0-5V)

Closer Look….

Closer Look….

BJT Amplifier• Sourcing Current Up to 10 A•Withstand Collector Voltage up to 100V

Major Drawback:Nonlinearity

Q1TIP4143%

From USB 6008

+12V

Closer Look….

Software Programming

Fuzzy Logic in .NET

• Designing a fuzzy logic class library was key objective• Visual Studio proved to be a better performing language for real time applications.• Object Orientation facilitates software design.•.NET framework has rich library that developers can utilize from any language in VS family (C#, VB and VC++)

Microsoft®

Visual Studio 2008

Library ArchitectureFuzzy System

•Mamdani•Sugeno

Fuzzy Variable•Input•Output

Fuzzy Term

TriangularTrapezoidal

Range

Name

Name

Range

Name

Range

Fuzzy Variables & Terms 'Declaration of Fuzzy System Dim fsSpeedControl As New MamdaniFuzzySystem Dim fvSpeed As New FuzzyVariable("Speed", 0.0, 1.0) Dim fvOutputVoltage As New FuzzyVariable("OutputVoltage", 0.0, 1.0)

'Fuzzification of Speed 'Input Speed Fuzzy Terms fvSpeed.Terms.Add(New FuzzyTerm("VerySlow", New TrapezoidMembershipFunction(0.0, 0.0, 0.3, 0.4))) fvSpeed.Terms.Add(New FuzzyTerm("Slow", New TriangularMembershipFunction(0.3, 0.4, 0.5))) fvSpeed.Terms.Add(New FuzzyTerm("AboutRight", New TriangularMembershipFunction(0.4, 0.5, 0.6))) fvSpeed.Terms.Add(New FuzzyTerm("Fast", New TriangularMembershipFunction(0.5, 0.6, 0.7))) fvSpeed.Terms.Add(New FuzzyTerm("VeryFast", New TrapezoidMembershipFunction(0.6, 0.7, 1.0, 1.0))) fsSpeedControl.Input.Add(fvSpeed)

'Fuzzification of Output Voltage 'Output Voltage Fuzzy Terms fvOutputVoltage.Terms.Add(New FuzzyTerm("SpeedUp", New TrapezoidMembershipFunction(0.6, 0.7, 1.0, 1.0))) fvOutputVoltage.Terms.Add(New FuzzyTerm("SlightlySpeedUp", New TriangularMembershipFunction(0.5, 0.6, 0.7))) fvOutputVoltage.Terms.Add(New FuzzyTerm("NoChange", New TriangularMembershipFunction(0.4, 0.5, 0.6))) fvOutputVoltage.Terms.Add(New FuzzyTerm("SlightlySlowDown", New TriangularMembershipFunction(0.3, 0.4, 0.5))) fvOutputVoltage.Terms.Add(New FuzzyTerm("SlowDown", New TrapezoidMembershipFunction(0.0, 0.0, 0.3, 0.4))) fsSpeedControl.Output.Add(fvOutputVoltage)

Fuzzy Variables & Terms

Fuzzy Rules

Dim Rule1 = fsSpeedControl.ParseRule("if (Speed is VerySlow) then (OutputVoltage is SpeedUp)")Dim Rule2 = fsSpeedControl.ParseRule("if (Speed is Slow) then (OutputVoltage is SlightlySpeedUp)")Dim Rule3 = fsSpeedControl.ParseRule("if (Speed is AboutRight) then (OutputVoltage is NoChange)")Dim Rule4 = fsSpeedControl.ParseRule("if (Speed is Fast) then (OutputVoltage is SlightlySlowDown)")Dim Rule5 = fsSpeedControl.ParseRule("if (Speed is VeryFast) then (OutputVoltage is SlowDown)")

DemoTerm Paper Evaluation

Results

Screenshot from project

QUESTIONS ?