英文文献翻译-增益规划的模糊温度控制器的单向输入系统gain-scheduling fuzzy temperature controller or one-way input system

河南理工大学本科毕业设计（英文文献翻译）英文题目GAINSCHEDULINGFUZZYTEMPERATURECONTROLLERORONEWAYINPUTSYSTEM译文题目增益规划的模糊温度控制器的单向输入系统学院电气工程与自动化学院专业名称自动化年级班级086班学生姓名苗壮指导教师钱伟2012年6月6日GAINSCHEDULINGFUZZYTEMPERATURECONTROLLERFORONEWAYINPUTSYSTEMSHIUHJERHUANG1,2ANDCHENCHUANWANG21DEPARTMENTOFVEHICLEENGINEERING,NATIONALTAIPEIUNIVERSITYOFTECHNOLOGY,NO1,SEC3,CHUNGHSIAOEASTROAD,TAIPEI,TAIWAN1062DEPARTMENTOFMECHANICALENGINEERING,NATIONALTAIWANUNIVERSITYOFSCIENCEANDTECHNOLOGY,NO43,KEELUNGROAD,SEC4,TAIPEI,TAIWAN106INMANYCHEMICALANDSEMICONDUCTORMANUFACTURINGPROCESSES,TEMPERATUREISANIMPORTANTCONTROLPARAMETERFOROBTAININGTHEDESIREDPRODUCTQUALITYGENERALLY,THETEMPERATURECONTROLSYSTEMHASNONLINEARTIMEVARYING,SLOWRESPONSE,TIMEDELAYANDONEWAYCONTROLINPUTCHARACTERISTICSITISDIFFICULTTOESTIMATEACCURATELYTHEDYNAMICMODELANDDESIGNAGENERALPURPOSETEMPERATURECONTROLLERTOACHIEVEGOODCONTROLPERFORMANCEHEREAMODELFREEINTELLIGENTGAINSCHEDULINGFUZZYCONTROLSTRATEGYISPROPOSEDTODESIGNATEMPERATURECONTROLLERFORANIRONCLOSEDCHAMBERWITHHEATERINPUTONLYTHECONCEPTOFGAINSCHEDULINGISEMPLOYEDTOADJUSTTHEMAPPINGRANGESOFFUZZYMEMBERSHIPFUNCTIONSDURINGTHECONTROLPROCESSFORIMPROVINGTHECONTROLPERFORMANCETHEEXPERIMENTALRESULTSSHOWTHATTHESTEADYSTATEERRORSOFTHESTEPINPUTRESPONSESAREALWAYSLESSTHAN028CWITHOUTOVERSHOOTBYUSINGTHISCONTROLSCHEMEITISSUITABLEFORINDUSTRIALTEMPERATURECONTROLSYSTEMSKEYWORDSFUZZYCONTROLGAINSCHEDULINGTEMPERATURECONTROLANDONEWAYINPUT1INTRODUCTIONTEMPERATUREISANIMPORTANTCONTROLPARAMETERINCHEMICAL,MATERIALANDSEMICONDUCTORMANUFACTURINGPROCESSESFOREXAMPLE,MATERIALANNEALING,THINFILMDEPOSITIONANDTVGLASSMELTINGFURNACEALLNEEDAPPROPRIATETEMPERATURECONTROLSYSTEMSSOMEOFTHETEMPERATURECONTROLSYSTEMSHAVEHEATINGANDCOOLINGCONTROLPHASESANDOTHERSONLYHAVEAHEATINGINPUTCONTROLPHASETHEIRDYNAMICBEHAVIOURSHAVESIGNIFICANTDIFFERENCESTHETEMPERATURECONTROLSYSTEMWITCHINPUTONLYISADDRESSFORCORRESPONDENCESHIUHJERHUANG,DEPARTMENTOFVEHICLEENGINEERING,NATIONALTAIPEIUNIVERSITYOFTECHNOLOGY,NO1,SEC3,CHUNGHSIAOEASTROAD,TAIPEI,TAIWAN106EMAILHD3601NTUTEDUTWFIGURES1AND611APPEARSINCOLOURONLINEHTTP/TIMSAGEPUBCOMMOREDIFFICULTTOMONITORTHANTWOPHASECONTROLSYSTEMSTOOBTAINGOODCONTROLPERFORMANCEHOWTODESIGNAGENERALPURPOSETEMPERATURECONTROLLERWITHGOODRESPONSESPEED,SMALLERSTEADYSTATEERRORANDWITHOUTOVERSHOOTFORINDUSTRIALIMPLEMENTATIONISSTILLACHALLENGEINTHECONTROLRESEARCHFIELDCURRENTLY,ONOFFCONTROLANDPIDCONTROLSCHEMESAREEMPLOYEDINCOMMERCIALPRODUCTSAPIDCONTROLLERWASPROPOSEDIN1936ITHASBEENWIDELYUSEDININDUSTRIALAUTOMATICCONTROLSYSTEMSHOWEVER,HOWTOADJUSTTHECONTROLGAINSISTHEKEYFACTOROFIMPLEMENTINGAPIDCONTROLLERIFTHEACCURATEDYNAMICMODELOFACONTROLSYSTEMISAVAILABLE,THEZIEGLERANDNICHOLSRULEZIEGLERANDNICHOLS,1942ANDIMCCONTROLSTRATEGYCHIENANDFRUEHAUF,1990RIVERAETAL,1986CANBEUSEDTOCALCULATETHEAPPROPRIATEGAINSHOWEVER,THEHEATINGPLANTHASTIMEDELAYANDTEMPERATUREDEPENDENCENONLINEARBEHAVIOURSITISHARDTOESTABLISHANACCURATEDYNAMICMODELFORAPIDCONTROLLERDESIGNGENERALLY,ITNEEDSATRIALANDERRORPROCESSTOOBTAINAGOODCONTROLRESPONSEWHENTHESYSTEMHASEXTERNALDISTURBANCEORSETPOINTCHANGE,ITSTRANSIENTRESPONSEMAYDETERIORATEITNEEDSANONLINEOPERATORTOREADJUSTITORSWITCHITTOMANUALCONTROLTHISISNOTACONVENIENTAPPLICATIONANDTHEPRODUCTIONPARAMETERSMAYNOTMAINTAININAGOODLEVELINMANUFACTURINGPROCESSESHENCEMODELFREEINTELLIGENTCONTROLSCHEMESHAVEGAINEDTHEATTENTIONOFRESEARCHERSASELFTUNINGPIDCONTROLSTRATEGYWASPROPOSEDTOCONTROLWATERBATHTEMPERATUREYUSOFETAL,1994AFREQUENCYLOOPSHAPINGTECHNIQUEISEMPLOYEDTOTUNETHEPIDGAINSOFTHETEMPERATURECONTROLLEROFACHEMICALVAPOURDEPOSITIONCVDDIFFUSIONFURNACEGRASSIANDTSAKALIS,2000THEAPPROPRIATEGAINSOFTHISAPPROACHARESEARCHEDBASEDONTHESYSTEMOUTPUTRESPONSEOFANONOFFOPENLOOPRELAYCONTROLINADDITION,FUZZYCONTROLHASBEENSUCCESSFULEMPLOYEDINMANYINDUSTRIALPROCESSES,ASITHASMODELFREEINTELLIGENTCHARACTERISTICSRECENTLY,FUZZYCONTROLTHEORYHASBEENUSEDTOIMPROVETHEADAPTIVITYANDROBUSTNESSOFAPIDCONTROLLERAHYBRIDFUZZYANDPICONTROLFORTVGLASSMELTINGFURNACETEMPERATURECONTROLHASBEENPROPOSEDMOONANDLEE,2000,2003THEFUZZYLOGICSCHEMEALSOISAPPLIEDTOADJUSTPIDCONTROLLERGAINSCHENANDLI,2003HEETAL,1993VISIOLI,2001THEPIDGAINSOFTHESEAPPROACHESARENONLINEARFUNCTIONSOFTRACKINGCONTROLPERFORMANCETHEYCANBEADJUSTEDAUTOMATICALLYBASEDONTHEOUTPUTERRORITCANACHIEVEBETTERROBUSTNESS,QUICKRESPONSEANDSMALLEROVERSHOOTTHANTHATOFATRADITIONALPIDCONTROLLERHOWEVER,ITISDIFFICULTTODESIGNAGENERALPURPOSEFUZZYCONTROLRULESTABLEANDTHECORRESPONDINGFUZZYPARAMETERSHENCE,ASELFORGANIZINGFUZZYCONTROLLERLUANDCHEN,1994ANDADAPTIVEFUZZYCONTROLSCHEMEHAISSIG,1999WEREEMPLOYEDTODESIGNTHETEMPERATURECONTROLLERTOOBTAINTHESTABLEADAPTIVEBEHAVIOUR,BUTTHESECONTROLSTRATEGIESSTILLCANNOTACHIEVEBOTHAQUICKTRANSIENTRESPONSEANDANACCURATESTEADYSTATERESPONSEUSUALLY,TEMPERATURECONTROLSYSTEMSHAVENONLINEARTIMEVARYINGANDTIMEDELAYCHARACTERISTICSITISDIFFICULTTOESTIMATEANAPPROPRIATEDYNAMICMODELFORMODELBASEDCONTROLLERDESIGNESPECIALLY,THETEMPERATURECONTROLPROBLEMWITHONEWAYHEATERINPUTONLYHASTIMEDELAYANDASYMMETRICCONTROLBEHAVIOURITISDIFFICULTTOACHIEVEPRECISETEMPERATURECONTROLACCURACYWITHAGOODTRANSIENTRESPONSEBASEDONTRADITIONALCONTROLALGORITHMSHERETHEMODELFREEGAINSCHEDULINGFUZZYCONTROLSCHEMEISEMPLOYEDTODESIGNTHEHEATERINPUTSINGLEPHASETEMPERATURECONTROLLERWITHFUZZYGAINPARAMETERS,AUTOSWITCHINGTOACHIEVEAGOODTRANSIENTRESPONSEANDSMALLSTEADYSTATEERRORAGENERALPURPOSEINTELLIGENTTEMPERATURECONTROLLERISTHEDESIGNEDGOALOFTHISPAPERTHETEMPERATUREDYNAMICRESPONSEPERFORMANCEOFTHEFUZZYGAINSCHEDULINGCONTROLLERWILLBECOMPAREDWITHTHATOFANAUTOTUNINGPIDCONTROLLERTHEEXPERIMENTALTESTRIGISAHOLLOWMETALCHAMBERWITHHEATERCONTROLINPUTONLY2SYSTEMSTRUCTURETHEPCBASEDCONTROLSYSTEMSTRUCTUREOFATEMPERATUREMONITORINGSYSTEMISSHOWNINFIGURE1THEPCSENDSTHECONTROLVOLTAGEINTOANSCRDRIVERTHROUGHTHED/ACARDA12BITLOWCOSTASIO113AD/DA/8255INTERFACECARDISSELECTEDFORTHISCONTROLSYSTEMTHEMAXTHERMOSCRDRIVERHASA250QINNERRESISTANCETOTRANSFORMTHE15VCONTROLVOLTAGEINTO420MACONTROLINPUTCURRENTFORTHEHEATINGRODTHISSCRCANMONITORTHEPOWEROUTPUTOFASINGLEPHASE110VAND20AALTERNATIVECURRENTPOWERSOURCEITREGULATESTHECURRENTINPUTOFTHEHEATINGRODFORRAISINGTHETEMPERATUREOFTHEHOLLOWMETALCHAMBERTHEMEDIUMINSIDETHEHOLLOWCYLINDERCHAMBERISAIRTHETEMPERATUREOFTHEHOLLOWMETALCYLINDERISMEASUREDUSINGARESISTANCETEMPERATURESENSORRTDANDFEDBACKINTOTHEPCTHROUGHTHEA/DCARDTHETEMPERATURECONTROLALGORITHMISIMPLEMENTEDWITHCPROGRAMAHOLLOWMETALCHAMBEREXPERIMENTALTESTRIGISBUILTFOREVALUATINGTHECONTROLPERFORMANCETHEDIMENSIONOFTHEHOLLOWIRONCYLINDERIS250MMINHEIGHTAND51MMINDIAMETERWITHA10MMDIAMETERHOLLOWHOLEFORINSTALLINGTHEHEATINGRODANDTHERTDPT100TEMPERATURESENSORTHEACCURACYOFTHESELECTEDPT100RTSSENSORISABOUT028CWITHINTHE3008CTEMPERATUREMEASURINGRANGETHESENSITIVITYOFTHISRTDSENSORIS00015PER8CTHESAMPLINGFREQUENCYOFTHEFOLLOWINGEXPERIMENTSISSETAS40HZ3AUTOTUNINGPIDCONTROLTHEKEYFACTORSWHICHINFLUENCETHECONTROLSYSTEMPERFORMANCEOFAPIDCONTROLLERISHOWTOFINDTHEOPTIMALPROPORTIONALGAIN,INTEGRALTIMECONSTANTANDDERIVATIVETIMECONSTANTFORPRACTICALIMPLEMENTATION,THESEGAINSADJUSTMENTSAREACHIEVEDBYEXPERTISEORANEXPERIENCEDENGINEER,ANDATRIALANDERRORMODIFICATIONITISTIMECONSUMINGWORKANDTHEDYNAMICRESPONSEBEHAVIOURCANNOTBEGUARANTEEDHENCE,ARELAYFEEDBACKEVALUATIONMETHODWASPROPOSEDTOFINDTHEGAINPARAMETERSOFAPIDCONTROLLERASTROMANDHAGGLUND,1984FIRSTLY,ANONOFFSWITCHINGCONTROLISEMPLOYEDFORTHEFIRSTTWOCYCLESWHENTHESYSTEMTEMPERATUREISLESSTHANTHESETTINGCOMMAND,THECONTROLPOWERISFULLYOPENEDTODRIVETHETEMPERATUREUPCONTROLUNITPCA/DINTERFACECARDD/AINTERFACECARDDC15VRTDTEMPERATURETRANSMITTERSCRDRIVERAC110VRTDSENSORPLANTFIGURE1PCBASEDTEMPERATURECONTROLSYSTEMSTRUCTUREWHENTHETEMPERATUREREACHESTHESETTINGVALUE,THECONTROLINPUTISSWITCHEDOFFIMMEDIATELYTHENTHECRITICALGAIN,KU,ANDCRITICALPERIOD,PU,CANBEFOUNDFROMTHESEINPUTOUTPUTRESPONSECURVESASFIGURE2,WHERE4DKUA1HENCE,THEGAINPARAMETERSCANBECALCULATEDBYUSINGTHEEXPERIENCEDFORMULAOFZIEGLERNICHOLSKP06KU,TIPU2,ANDTDPU82PUITEMPERATURECYSETTINGPOINTTIMEDELAYPOWERONUPUATIMESDTIMESOFFFIGURE2THEESTIMATINGOFCRITICALPERIODANDCRITICALGAINFROMONOFFCONTROLTHATMEANSK06K,KKPTIANDKDKPTD3THESEPIDCONTROLGAINSCANBEEMPLOYEDTOMONITORTHESYSTEMTEMPERATURESTEPCHANGE4GAINSCHEDULINGFUZZYLOGICCONTROLLERSINCETHISTEMPERATURECONTROLSYSTEMHASOBVIOUSTIMEDELAYANDONEWAYINPUTNONLINEARBEHAVIOUR,ITISDIFFICULTTOESTABLISHANAPPROPRIATEDYNAMICMODELFORTHEPRECISEMODELBASEDCONTROLLERDESIGNINADDITION,THEOVERSHOOTTRANSIENTRESPONSEOFTHETEMPERATURECONTROLSYSTEM,WITHTIMEDELAYANDSINGLEPHASEHEATINGINPUTDYNAMICFEATURES,ISDIFFICULTTOAVOIDANDELIMINATEQUICKLYHENCE,HOWTODESIGNAGENERALPURPOSETEMPERATURECONTROLLERWITHSMALLOVERSHOOTANDQUICKRESPONSEWILLBEACHALLENGERESEARCHTOPICHERETHEMODELFREEGAINSCHEDULINGFUZZYCONTROLSTRATEGYISPROPOSEDTOSOLVETHISPROBLEMTHECONTROLBLOCKDIAGRAMISSHOWNINFIGURE3USUALLYTHEMOTIVATIONOFAFUZZYAPPROACHISTHATTHEKNOWLEDGEISINSUFFICIENTANDTHEDYNAMICMODELHASUNCERTAINTYFUZZYSETTHEORYWASEMPLOYEDTOSIMULATETHELOGICREASONINGOFHUMANBEINGSTHEMAJORCOMPONENTSOFAFUZZYCONTROLLERAREASETOFLINGUISTICFUZZYCONTROLRULESANDANINFERENCEUKGUENGINETOINTERPRETTHESERULESFUZZIFICATIONGEKNOWLEDGEBASEEDEFUZZIFICATIONYRDCEDDGCEDECISIONLOGICXRPLANTFIGURE3FUZZYCONTROLBLOCKDIAGRAMOFTHETEMPERATURECONTROLSYSTEMTHESEFUZZYRULESOFFERATRANSFORMATIONBETWEENTHELINGUISTICCONTROLKNOWLEDGEOFANEXPERTANDTHEAUTOMATICCONTROLSTRATEGIESOFANACTIVATOREVERYFUZZYCONTROLRULEISCOMPOSEDOFANANTECEDENTANDACONSEQUENTAGENERALFORMOFTHERULESCANBEEXPRESSEDASRIIFXISA1ANDYISA2,THENUISC14WHERERIISTHEITHRULE,XANDYARETHESTATESOFTHESYSTEMOUTPUTTOBECONTROLLEDANDUISTHECONTROLINPUTA1,A2ANDC1ARETHECORRESPONDINGFUZZYSUBSETSOFTHEINPUTANDOUTPUTUNIVERSEOFDISCOURSE,RESPECTIVELYTHEOUTPUTIMPORTANCEOFEACHFUZZYRULEDEPENDSONTHEMEMBERSHIPFUNCTIONSOFTHELINGUISTICINPUTANDOUTPUTVARIABLESINTHISCONTROLSYSTEM,TWOINPUTINDICESOFTHEFUZZYCONTROLLERARETEMPERATUREERROREANDERRORCHANGECE,ANDTHEOUTPUTINDEXISTHECONTROLVOLTAGEUINORDERTOSIMPLIFYTHECOMPUTATIONOFTHEFUZZYCONTROLLER,SEVENEQUALSPANTRIANGULARMEMBERSHIPFUNCTIONSAREEMPLOYEDFORFUZZYCONTROLLERINPUTVARIABLESEANDCETHEYARENB,NM,NS,ZO,PS,PMANDPBTHEMEMBERSHIPFUNCTIONSOFTHESEFUZZYVARIABLESARESHOWNINFIGURE4THEDIVISIONSOFTHISMEMBERSHIPFUNCTIONSCANBEEXPANDEDORSHRUNKBYCHANGINGTHESCALINGPARAMETERSOFMEMBERSHIPFUNCTIONSTHEGAINSCALINGPARAMETERISUSEDTOMAPTHECORRESPONDINGVARIABLEINTOTHISNOMINALRANGEINHUMANBEINGSINTUITION,WHENTHETEMPERATUREERRORISLARGE,THECONTROLVOLTAGESHOULDBEINCREASEDTOPROVIDEMOREENERGYTOHEATTHECONTROLCHAMBERANDREDUCETHETEMPERATUREERRORONTHEOTHERHAND,WHENTHEERRORISAPPROACHINGTOTHEZEROSUBSETOFMEMBERSHIPFUNCTIONS,THEENBNMNSZOPSPMPB12GE08GE04GE004GE08GE12GECENBNMNSZOPSPMPB12GCE08GCE04GCE004GCE08GCE12GCEUNBNMNSZOPSPMPB12GU08GU04GU004GU08GU12GUFIGURE4FUZZYINPUTANDOUTPUTVARIABLESMEMBERSHIPFUNCTIONSCONTROLLERSHOULDPROVIDEFINETUNINGTOCORRECTTHELITTLECHANGEOFTEMPERATUREERRORANDREDUCETHEOVERSHOOTTENDENCYTHESETWOCONDITIONSCANBETRADEDOFFBYSCALINGTHEDIVIDEDSPANSOFMEMBERSHIPFUNCTIONSWITHAGAINPARAMETERTHESEMAPPINGPARAMETERSARESPECIFIEDASGE,GCEANDGUFORTHEERROR,ERRORCHANGEANDCONTROLVOLTAGE,RESPECTIVELY,WHOSEVALUESARELISTEDINTABLE1THEPARAMETERSGEANDGCEARESCALINGFACTORSSELECTEDTOSPECIFYTHEUZZYINPUTVARIABLESOPERATINGRANGESOFTEMPERATUREERRORANDERRORCHANGE,RESPECTIVELYTHEPARAMETERGUISAGAINDESIGNEDTOADJUSTTHEFUZZYLOGICCONTROLVOLTAGEANDSIMPLIFYTHETRAILANDERROREFFORTFORDESIGNINGTHEFUZZYRULESTABLETHISAPPROACHISANEWGAINSCHEDULINGFUZZYCONTROLSTRUCTURETHESEPARAMETERVALUESARENOTCRITICALFORTHISGAINSCHEDULINGFUZZYLOGICCONTROLLERTHEYCANBEROUGHLYDETERMINEDBYTABLE1FUZZYGAINSSCALINGFACTORSFUZZYGAINPARAMETERSPARAMETERSGEGCEGU608CGU1008CGU2008CCOARSETUNING52262936FINETUNING21202432SIMPLEEXPERIMENTALTESTSTHENTHESAMEVALUESCANBEAPPLIEDTODIFFERENTTEMPERATURESETTINGPOINTSSTEPRESPONSECONTROLWITHAPPROPRIATESTEADYSTATEACCURACYFORTHISTEMPERATURECONTROLSYSTEM,GE5ANDGCE2FORTHECOARSETUNINGOPERATION,ANDGE2ANDGCE1FORTHEFINETUNINGOPERATIONCANBEUSEDINANYDIFFERENTTEMPERATURESETTINGPOINTSTHECORRESPONDINGFUZZYMEMBERSHIPFUNCTIONSCOVERINGRANGESOFTEMPERATURECONTROLERRORSARE68CFORTHECOARSETUNINGAND248CFORTHEFINETUNINGOPERATIONS,RESPECTIVELY,ASSHOWNINFIGURE5THECONTROLLERSOFTWAREPROGRAMCANAUTOMATICALLYSWITCHBETWEENTHECOARSETUNINGANDFINETUNINGCONTROLRANGESBASEDONTHETEMPERATUREERRORFEEDBACKSIGNALTHECONTROLGAINVALUEGUDEPENDSONTHETEMPERATURESETTINGPOINTSBECAUSEOFTHEENVIRONMENTALHEATEQUILIBRIUMPROBLEMITNEEDSALITTLETRIALANDERRORWORKTOFINDANAPPROPRIATEGAINVALUEFORACERTAINRANGEOFTEMPERATURESETTINGS,FOREXAMPLE50808C,801208C,1201508C,ANDSOONTHESEPARAMETERVALUESARENOTCRITICALEACHGAINPARAMETERWITHINACERTAINRANGECANACHIEVEREASONABLEDYNAMICRESPONSESOTHERWISE,WENEEDTODESIGNADIFFERENTFUZZYCONTROLRULESTABLEFOREACHTEMPERATURESETTINGRANGETHATWOULDBEAMORETIMECONSUMINGANDTEDIOUSWORKTHANTHEPROPOSEDAPPROACHINTHISSTUDY,THEWHOLEUNIVERSEOFDISCOURSEOFTHEMEMBERSHIPFUNCTIONSWEREDIVIDEDINTOTWODIVISIONS,THEFINETUNINGANDCOARSETUNINGAREASFIGURE5SHOWSTHEINDIVIDUALSPANSOFTWOSETSOFDIFFERENTMEMBERSHIPFUNCTIONSINTHEBEGINNINGOFATEMPERATURESTEPRESPONSE,THECONTROLLERWOULDAUTOMATICALLYCHOOSEALARGEDIVISIONOFMEMBERSHIPCOARSETUNINGAREAINRESPONSETOTHELARGEERRORWHENTHETEMPERATURECONVERGESANDAPPROACHESTHESTEADYSTATE,THECONTROLLERWOULDSWITCHTHEMEMBERSHIPFUNCTIONCOVERINGRANGEINTOTHEFINETUNINGAREATOCORRECTTHESTEADYSTATEERRORTHISCONTROLSTRATEGYCANSWITCHAUTOMATICALLYBETWEENDIFFERENTCONTROLRANGESANDDIVISIONSOFMEMBERSHIPFUNCTIONSBASEDONTHEFEEDBACKSIGNALSOFCONTROLVARIABLESERRORS,EANDCEBYCHANGINGTHEGAINSCALINGFACTORSOFMEMBERSHIPFUNCTIONSONLYINADDITION,THESYSTEMHEATEQUILIBRIUMCONTROLVOLTAGEISINCLUDEDINTHEFUZZYRULESTABLEFORSUBSTITUTINGTHEEXTRADESIGNEDOFFSETCONTROLVALUEOFOTHERCONTROLALGORITHMSTOSIMPLIFYTHECONTROLLERDESIGNPROBLEMANDCONTROLLAWCALCULATIONINTHISPAPER,49FUZZYRULESAREEMPLOYEDTOCONTROLTHECHAMBERTEMPERATUREBYREGULATINGTHESCRINPUTVOLTAGETHOSEFUZZYRULESARELISTEDINTABLE2THESERULESAREESTABLISHEDBASEDONTHETESTINGRESPONSESOFAPIDCONTROLANDCERTAINTRIALANDERRORPROCESSESTHEOFFSETCONTROLVOLTAGEFORDEALINGWITHTHESYSTEMHEATCOARSETUNINGNBNMNSZOPSPMPB6FINETUNINGNB244NM162NS08SCALINGZO2PS084PM166PB2466FINETUNINGCOARSETUNINGFIGURE5MEMBERSHIPFUNCTIONSDIVISIONEQUILIBRIUMISADDEDINTOTHESEFUZZYRULESDIRECTLYTHEFUZZYCONTROLLERWILLDERIVETHECONTROLVOLTAGEAUTOMATICALLY,WHICHINCLUDESTHEHEATEQUILIBRIUMOFFSETCONTROLVOLTAGEANDTHEERRORCORRECTIONCONTROLVOLTAGEHOWEVER,APIDCONTROLLERNEEDSCAREFULLYTODESIGNTHEKIGAINBYTEDIOUSTRIALANDERRORFOREACHTEMPERATURESTEPRESPONSETOACHIEVETHEAPPROPRIATETRANSIENTRESPONSEOTHERWISE,THETEMPERATURERESPONSESPEEDWILLHAVEBESLOWEDDOWNBEFOREITREACHESTHESPECIFIEDVALUEORHAVELONGPERIODOFOSCILLATIONTHEMEMBERSHIPFUNCTIONUSEDINTHISPAPERFORTHEFUZZIFICATIONISOFATRIANGULARTYPETHEFUNCTIONCANBEEXPRESSEDAS1XWJXAJW5WHEREWISTHEDISTRIBUTIONSPANOFTHEMEMBERSHIPFUNCTION,XISTHEFUZZYINPUTVARIABLEANDAISTHEPARAMETERCORRESPONDINGTOTHEVALUE1OFTHEMEMBERSHIPFUNCTIONTHEHEIGHTMETHODISEMPLOYEDTODEFUZZIFYTHEFUZZYOUTPUTVARIABLETOYTABLE2FUZZYRULESTABLEFORTHEHEATEREUNBNMNSZOPSPMPBCENB1211511100905085NM1151110090508509NS1110090508509095ZO1009050850909510PS0905085090951011PM05085090951011115PB08509095101111512OBTAINTHECONTROLVOLTAGEOFTHESCRHEATERDRIVEROFTHISTEMPERATURECONTROLSYSTEMTHERELEVANTEQUATIONISPIYIYPI,IAIJXJ6JWHEREAIJXJISTHELINGUISTICVALUEOFTHEFUZZYSETVARIABLEANDIISTHEWEIGHTOFTHECORRESPONDINGRULEWHICHHASBEENACTIVATEDYIISTHERESULTINGFUZZYCONTROLVALUEOFTHEITHFUZZYRULEANDYISTHENETFUZZYCONTROLACTIONTHEFUZZYCONTROLLEROUTPUTCALCULATEDFROMTHISEQUATIONDETERMINESTHECONTROLVOLTAGEOFTHESCRDRIVERINEACHCONTROLSTEP5EXPERIMENTALRESULTSINORDERTOEVALUATETHECONTROLPERFORMANCEOFTHEAUTOTUNINGPIDCONTROLANDTHEGAINSCHEDULINGFUZZYCONTROLSCHEMES,ASIMPLETEMPERATURECONTROLPLANTISBUILTFORTHISEXPERIMENTALPURPOSEITISAHOLLOWIRONCYLINDERWITHAHEATINGCOILTOINPUTENERGYANDARTDTEMPERATURESENSORTOMEASURETHEINSIDETEMPERATURETHEDIMENSIONSOFTHEHOLLOWIRONCYLINDERARE250MMINHEIGHTAND51MMINDIAMETERWITHA10MMDIAMETERHOLLOWHOLEFORINSTALLINGTHEHEATINGRODANDTHERTDPT100TEMPERATURESENSORTHETIMEDELAYOFTHECONTROLPLANTISABOUT20SFOUNDFROMTHETRANSIENTRESPONSEOFANAUTOTUNINGCONTROLPROCESSTHE40HZSLOWSAMPLINGFREQUENCYISCHOSENFORTHEFOLLOWINGEXPERIMENTSTHREEDIFFERENTTEMPERATURESTEPCHANGESAREPLANNEDFORTHISCONTROLPLANTIMPLEMENTATIONTOINVESTIGATETHECONTROLPERFORMANCEANDROBUSTNESSOFTHEPROPOSEDCONTROLLERSTHECONTROLGAINSOFTHEAUTOTUNINGPIDCONTROLSCHEMEARECALCULATEDFROMTHEZIEGLERNICHOLSFORMULABASEDONTHECRITICALGAIN,KU,ANDCRITICALPERIOD,PU,OBTAINEDFROMTHEAUTOTUNINGTESTINGPROCESSTHEAUTOTUNINGPIDCONTROLGAINSOFTHEFOLLOWINGTHREEEXPERIMENTALCASESARECHOSENASKP05,KI00002ANDKD00251HOLLOWIRONCYLINDERWITHAUTOTUNINGPIDCONTROLTHETEMPERATURERESPONSEANDTHEHEATINGCONTROLVOLTAGEFORA608CSETTINGPOINTARESHOWNINFIGURE6AANDB,RESPECTIVELYITCANBEOBSERVEDTHATTHETEMPERATURERESPONSEREACHES588CWITHIN3MINANDTHENWITHASLOWSPEEDCLIMBINGUP,ITREACHESTHESTEADYSTATEINAROUND7MINWITHTHESTEADYSTATEERROROF0218CWITHOUTOVERSHOOTFORTHESPECIFIEDTEMPERATURESETTING1008C,THETEMPERATURERESPONSEANDTHEHEATINGCONTROLVOLTAGEARESHOWNINFIGURE7AANDB,RESPECTIVELYITCANBEOBSERVEDTHATTHETEMPERATURERESPONSEREACHES988CWITHIN8MINANDTHENWITHASLOWSPEEDCLIMBINGUP,ANDITREACHESTHESTEADYSTATEAROUND12MINWITHTHESTEADYSTATEERROROF0178CWITHOUTOVERSHOOTFORTHESPECIFIEDTEMPERATURESETTING2008,THETEMPERATURERESPONSEANDTHEHEATINGCONTROLVOLTAGEARESHOWNINFIGURE8AANDB,RESPECTIVELYITCANBEOBSERVEDTHATTHETEMPERATURERESPONSEREACHES1988WITHIN25MINANDTHENWITHASLOWSPEEDCLIMBINGUP,ANDITREACHESTHESTEADYSTATEAROUND27MINWITHTHESTEADYSTATEERROROF0198CWITHOUTOVERSHOOTITCANBECONCLUDEDTHATONESETOFPIDGAINSCANBEUSEDTOMONITORDIFFERENTTEMPERATURESETTINGSTOACHIEVETHEPERFORMANCEOFSTEADYSTATEERRORUNDER0218CWITHOUTOVERSHOOTHOWEVER,THETRANSIENTRESPONSESLOWLYCLIMBSUPBEFOREITREACHESTHESPECIFIEDTEMPERATURETHEREASONSFORTHATARETHETRADEOFFBETWEENTHENOOVERSHOOTLIMITATIONANDTHERESPONSESPEED,ANDTHECONTROLPLANTHEATEQUILIBRIUMVARIATIONFOREACHSETTINGPOINTIFWEWANTTOOBTAINBETTERCONTROLPERFORMANCE,THEOPTIMALPIDCONTROLGAINSSHOULDBESEARCHEDBYTEDIOUSTRIALANDERRORFOREACHSETTINGPOINT52HOLLOWIRONCYLINDERWITHGAINSCHEDULINGFUZZYONTROLTHREEDIFFERENTTEMPERATURESETTINGSARESPECIFIEDTOEVALUATETHECONTROLPERFORMANCEOFTHISGENERALPURPOSEGAINSCHEDULINGFUZZYCONTROLALGORITHMDESCRIBEDINTHEPREVIOUSSECTIONWITHTHEGAINSCHEDULINGFUZZYPARAMETERSSHOWNINTABLE1ANDTHEFUZZYRULESLISTEDINTABLE2THETEMPERATURERESPONSEANDTHEHEATINGCONTROLVOLTAGEFORA608CSETTINGPOINTARESHOWNINFIGURE9AANDB,RESPECTIVELYITCANBEOBSERVEDTHATT