International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)

Comparative Speed Control Study Using PID

and fuzzy Logic Controller
Mustafa RasemAbuzeid, and Nasr E Shtawa

of the referees, and to make it easy for you to distribute

preprints.

AbstractThis paper presents the most commonly used

controller in the industry field is the (PID) controller. Fuzzy logic
controller (FLC) provides an alternative to PID controller. The
purpose of this paper is to design a Fuzzy Logic controller to improve
the performance (speed) of the DC motor in order to control the
angular speed of the motor. The purpose of Fuzzy Logic controller is
to improve the performance of DC motor by controlling the speed of
the motor using different system and to show that the Fuzzy Logic
controller can be used on the DC motor control.

III. TRIAL AND ERROR METHOD

Let's first try using a proportional controller with a gain of
100. Add the following value to a Simulink model containing a
PID controller block. Now let's see how the step response
looks, as shown in Fig. 1.

KeywordsAbout four key words or phrases in alphabetical

order, separated by commas.
I. INTRODUCTION

HE speed of DC motor can be adjusted to a great extent so

as to provide easy control and high performance. There
are several conventional and numeric controller types intended
for controlling the DC motor speed at its executing various
tasks, PID Controller, Fuzzy Logic Controller [1]. The terms
fuzzy logic is used with a number of deferent meanings. Fuzzy
logic has been successfully applied to many control problems,
more than any other areas of applications. Various fuzzy
programming tools have been developed to facilitate fuzzy
rule of control. Fuzzy logic developed by Zadech is applied for
controller design in many applications. A fuzzy logic
controller (FLC) was proved analytically to be equivalent to a
nonlinear PI controller when a nonlinear defuzzification
method is used. The result from the comparisons of
conventional and fuzzy logic controller techniques in the form
of FLC and fuzzy compensator also showed fuzzy logic can
reduce the effects of nonlinearity in a DC motor and improve
the performance of a controller [2].

Fig. 1 Step response with proportion control

Fig. 2 shows that the response need to increasing

proportional controller value when increase Kp to 150, can be
get the following behavior as shown in

II. OPTIMIZING OF PID CONTROLLER

There are different tuning methods for the parameters of
PID controller will be used. In this paper, Trims and Error
method will be used in this paper [3].
A. Figures
All tables and figures you insert in your document are only
to help you gauge the size of your paper, for the convenience

Fig. 2 Response at Kp = 150

When using a proportional controller with a gain 250, the

response will be as shown in Fig. 3.

Mustafa RasemAbuzeid,
Aljabal Algharbi University, Faculty of
Engineering - Gharian, Dept. Of Electrical Eng. Email Id:
[email protected].
Nasr E Shtawa, University of Tripoli, Faculty of Engineering, Dept. of
Electrical Eng. Email Id: [email protected]
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International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)

By changing the Kp, Ki and Kd until the best values

achieved for PID controller as shown in Fig. 6

Fig. 3 Response at Kp = 250

From the Fig. 3, both the steady-state error and the

overshoot are large. Let's try a PID controller with small Kp
and Ki. Put Ki =100, Kp = 250.can be get the following
behavior as shown in Fig. 4

Fig. 6 Response at Kp =150, ki= 200, Kd = 10

So now know that if use a PID controller with Kp=150,
Ki=200, Kd=10, all of design requirements will be satisfied
The response on Fig. 6, shows that the PID controller can
control the armature voltage output of the plant. The analysis
of the response gives overshoot with 1.2s. The analysis of the
rise time (Tr) is shown in the Fig. 6, and 4.3s to reach the
steady state. The setting for the P,I, and D value for this
experiment can be adjust manually depends on the output
response and tuning method.
IV. INPUT FUZZY SETS
The first step, the inputs and output variables for the Fuzzy
controller has tobe set. The inputs are chosen as the speed
error, and change of speed error, while the output is the
controlled armature voltage. The universe of discourse for
both the Input variables the speed error and change of speed
error was divided in to seven sections. The universe of
discourse for the output variable armature voltage of the DC
motor was divided in to seven sections also with the same
linguistic variables as for the inputs. These inputs are resolved
into a number of different fuzzy linguistic sets. For error, there
are seven fuzzy sets. The scale for this inputs -35 to 35. Error
e(t)= r(t)-y(t).Change of error Ce = e(t) - e(t-1) [5].

Fig. 4 Response at kp= 250, Ki= 100

From the Fig. above, both the steady-state error and the
overshoot are too large. For a PID controller with small Ki and
Kd. put Ki = 200, Kd = 10. Can be as shown in Fig. 5

V. OUTPUT FUZZY SETS

The output level of the fuzzy system is armature voltage. It
has seven fuzzy linguistic sets. Armature voltage is on a scale
of -39.98 to +39.98 degrees.
VI. MEMBERSHIP FUNCTIONS
Membership functions (MFs) for controller inputs, error (e)
and change of error (Ce) are defined on the common interval [35 35] and change in controllers output (armature voltage) is
defined on the interval [39.98 39.98]. All MF's are symmetric
triangles. These input membership functions are used to
transfer crisp inputs into fuzzy sets [2] are shown in figures 7

Fig. 5 Response at Ki=200, Kd=10

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International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)

A comparison between Fuzzy Logic and PID controller was

done by using the same step input and the same DC motor
plant. The dynamic performance between two controllers are
shown in Fig. 10

and 8. Fig. 7 shows the input membership functions for speed

error (e)While change of error (Ce) also has seven sets: scale
for this input is -35 to 35 [6].

Fig. 7 Input 1 speed error.

Fig. 8, shows the input2 membership functions for change of

error (Ce) while the output (armature voltage) also has seven
sets: range for this output
[-39.98 39.98] as shown in Fig. 8 [7].

Fig. 10 PID and FLC controller dynamic response

VIII. COMPARISON OF RESULTS

Comparison between both controllers gives the different
output response. The Fig. 10 shows that both controllers have
own performance to analyze. For the red color of the response
is a Fuzzy Logic controller and for the blue is a PID controller,
the FLC controller has not percentage overshoot but the PID
controller has percentage overshoot. The settling time is the
time that taken to reach from steady state, for this output
response the FLC is faster than PID controller. It gives the
time 2.2s better than 4.3s.
IX. CONCLUSION
In this paper a Fuzzy Logic controller had been designed to
controlling DC motor plant. It also involved with the design of
the optimal controller which is adjusting the rule base and
change the membership function to obtain the initial output of
fuzzy logic controller before it is tuned to give better
performance. In this paper was founded that the Fuzzy Logic
controller can be implemented into the DC motor plant. The
parameter identification and behavior of DC motor was
studied, the Fuzzy Logic controller (rule-base) was developed
using the control strategy based on behavior of DC motor.The
real plant of DC motor was designed in Matlab/Simulink
software by arranging the system as closed loop system using
the Fuzzy Logic controller. Then, the simulation shows that the
Fuzzy Logic controller also can be implemented into DC
motor in order to control the angular speed.The comparison
was done by comparing the Fuzzy Logic controller with PID
controller; the simulation results shows that fuzzy logic
controller has clearly better performance for providing Tr (rise
time), ess (steady state error), % Mp (percent overshoot)
criteria in comparison with PID controller. This widespreading of FLC's appears because these kinds of controllers
becomes a very effective techniques for complicated and

Fig.8 Input2 change of error

Fig. 9 shows the output membership functions for armature

voltage.

Fig. 9 Output fuzzy (armature voltage)

VII. COMPARISON BETWEEN FUZZY LOGIC

Controller and PID Controller

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International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)

imprecise processes for which either no mathematical model

exists or the mathematical model is severely nonlinear as
induction motor.
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