Advanced Metaheuristics-Based Approach for Fuzzy Control Systems Tuning - Complex System Modelling and Control Through Intelligent Soft Computations - page 636

Tracking error

Control signal

Trajectory planning
block

Ke

ek

Analog
Output

t

Kd

traj1_c yc

Clock

Δ ek

Fuzzy Controller

Analog Output
Advantech
PCI-1710 [auto]

S-Function Builder

1

z

1

Delay operator

z

Delay operator

Analog
Input

Controlled system
output

Analog Input
Advantech
PCI-1710 [auto]

Fig. 13 PCI-1710 board based implementation of the proposed FLC structure

principle of the implementation based on the Real-Time Windows Target tool of
MATLAB/Simulink.
The real-time fuzzy controller is developed through the compilation and linking
stage, in a form of a Dynamic Link Library (DLL), which is then loaded in memory
and started-up. The used environment of real-time controller has some capabilities
such as automatic code generation in C language, automatic compilation, start-up of
a real-time program and external mode start-up of the simulation phase model
allowing for real-time set monitoring and on-line adjustment of its parameters.
The real-time implementation of the proposed metaheuristics-tuned PID-type
FLC leads to the experimental results of Figs. 14 , 15 , 16 and 17 .

Fig. 14 Experimental results
of the PID-type FLC
implementation: controlled
speed variation

3

2.5

2

1.5

1

0.5

0

0.5

0

10 20 30 40 50 60 70

Acquisition time (sec)