Expert Systems with Applications 37 (2010) 20722080

Contents lists available at ScienceDirect

Expert Systems with Applications

journal homepage: www.elsevier.com/locate/eswa

Fuzzy adaptive control for the actuators position control and modeling
of an expert system
Servet Soyguder *, Hasan Alli
Firat University, Department of Mechanical Engineering, 23279 Elazig, Turkey

a r t i c l e

i n f o

Keywords:
Fuzzy adaptive control (FAC)
Modeling
Actuator position control
Air ow control
PID control
Humidity control
Software architecture
An expert system

a b s t r a c t
In this paper, a heating, ventilating and air-conditioning (HVAC) system was designed and two different
damper gap rates (actuators position) of the HVAC system were controlled by a conventional PID (proportionalintegralderivative) controller. One of the dampers was controlled by using the required temperature for the interested indoor volume while the other damper was controlled by using the required
humidity for the same indoor volume. The realized system has a zone with variable ow-rate by considering the ambient temperature and humidity. The required air ow was supplied by controlled of the
dampers placed on the entrance ducts of indoor. Programmable Logic Controller (PLC) used PID control
algorithm was utilized to control the system. This system has been controlled by a PLC based closed-loop
controller. In this work, the realized system has been controlled by PLC used PID control algorithm. The
optimal values of PID parameters were obtained by using Fuzzy sets. Fuzzy adaptive control has been performed to maximize the performance of the system. Efciency of fuzzy adaptive control (FAC) developed
method was successfully obtained.
2009 Published by Elsevier Ltd.

1. Introduction
HVAC are widely used in living and industrial buildings. Most
currently used HVAC systems control room temperature solely,
leaving relative humidity to nd its own level. Accurate temperature and relative humidity control, however, is required in some
industrial and scientic processes (ASHRAE, 1999; Xi, Poo, &
Chou, 2007). The comfort of the people in their living indoor
environment is partially dependent on the quality, humidity
and temperature of air inside the building. Three interrelated
systems are used to provide the desired air temperature, humidity and quality. These systems are ventilating, heating sand air
conditioning systems. The purpose of the HVAC system of a
building is to provide complete thermal comfort for its occupants. Hence, it is necessary to understand the thermal and
humidity aspects of the human body in order to design an effective HVAC system.
In recent years the developments in intelligent methods make
them possible to use in complex systems modeling. One of these
intelligent methods is articial fuzzy method. There are many
advantages of fuzziness, one of which is the ability to handle blur
data. Fuzzy methods provide linguistic labels for complex system
modeling (Soyguder & Alli, 2009).

* Corresponding author. Tel.: +90 424 2370000x5330; fax: +90 424 2415526.
E-mail address: ssoyguder@yahoo.com (S. Soyguder).
0957-4174/$ - see front matter 2009 Published by Elsevier Ltd.
doi:10.1016/j.eswa.2009.06.071

In this study based on considering the above literatures, the required damper gap rates for obtaining the desired humidity and
temperatures of indoor for each time step were found by using
PID control algorithm. One of the dampers was controlled by using
the required value for indoor temperature while the other damper
was controlled by using the required value for indoor humidity.
The damper gap rate is also proportional with the air ow rate. This
system made with advanced control is designed to completely replace the existing SCADA with many new functions. Besides, this
system has been controlled by a PLC based closed-loop controller.
The realized system has been controlled by PLC used PID control
algorithm. PID parameters kp  ki  kd were obtained by using
fuzzy set theory. Fuzzy based optimization has been performed
to maximize the performance of the system. Efciency of fuzzy
adaptive control (FAC) developed method was successfully
obtained.
The outline of the paper is as follows: in Section 2, the state of
the art of the work is presented. In Section 3, the heating, ventilating and air-conditioning system is presented. The design of the
considered real-time HVAC system is given Section 4. Section 5
describes the software architecture of an expert HVAC system.
Then, Section 6 includes to design the optimization with fuzzy
adaptive control of PID Parameters has been performed to maximize the performance of the considered system. Experimental results are presented in Section 7. In the experiment, the damper
gap rates being proportional with air ow rate have been controlled using PID controllers. Finally, conclusion remarks are given
in Section 8.

S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

2073

Nomenclature
area m2
the mass ow-rate in fan channell (kg/h)
the mass ow-rate entered to indoor (kg/h)
the mass ow-rate exist from safety valve (kg/h)
the mass ow-rate exist from exhaust (kg/h)
sensible Cooling
convection and transmission heat (J)
work (J)
_ inda the mass ow-rate entered to indoor (kg/h)
m
specic enthalpy (J/kg)
specic enthalpy (J/kg)
the internal energy (J)
constant Heat (kJ/kg K)
constant pressure (kJ/kg K)
inner temperature (C)
instant temperature (C)
vicious circle temperature (C)
cool air temperature (C)

A
_ ca
m
_ ind;in
m
_ sva;out
m
_ exha;out
m

x
Q
W
_ ind;in
m
hin
hout
U
Cv
Cp
T
Tn
T n1
T ca;in

2. The state of the art of the work

HVAC systems require control of environmental variables such
as pressure, temperature, humidity, etc. Since most people usually
have a high tolerance for humidity variations and local energy
authorities do not allow the use of additional energy input to maintain an indoor relative humidity of below 75 (%), humidity control
is seldom employed in most local commercial buildings. It is,
therefore, important to examine an effective temperature control
strategy that can at the same time provide an acceptable level of
indoor humidity during part-load conditions. According to ASHRAE
Standard 55, at 24 8 C, the upper limit of relative humidity in the
comfort zone is 60% (ASHRAE, 2004; Chua, Ho, & Chou, 2007). On
the other hand, researchers are carrying out studies to test if permeable coatings moderate indoor humidity after long periods of
time (long term effects). Orosa and Baalina will study and quantify
the longterm effect in existing Spanish bank ofce buildings for the
duration of a year to conclude if the moisture balance can be simplied. They have analysed data for 5 h during the unoccupied period when the ventilation rates were low (Orosa & Baalina, in press).
Besides, an experimental investigation by Krakow et al. indicated
that to maintain indoor air temperature by varying compressor
speed, and indoor RH by varying supply fan speed, separately,
using Proportionalintegraldifferential (PID) control method,
space temperature and RH may be controlled simultaneously.
Moreover, Li and Deng studied on the further development to improve the control sensitivity of the DDC-based capacity controller
(Li & Deng, 2007; Xu, Deng, & Chan, 2008).
Furthermore, HVAC system is necessary to implement a realistic
thermal environment in terms of temperature and air ow rate in
the space of virtual reality (Kaynakli, Pulat, & Kilic, 2005; Shin,
Chang, & Kim, 2002). As in other industrial applications, most of
the controllers commissioned in HVAC systems are of the proportionalintegralderivative (PID) type (Bi et al., 2000; Seem, 1998).
This is mainly because PID is simple yet sufcient for most HVAC
application specications. Tuning a PID controller requires an accurate model of a process and an effective controller design rule.
However, the tuning procedure can be a time-consuming, expensive and difcult task (Bi et al., 2000; Krakow, Lin, & Zeng, 1995;
Pinnella, Wechselberger, Hittle, & Pederson, 1986; Riverol & Pilipovik, 2005).
The developments in intelligent methods make them possible
to use in nonlinear analysis and control. Intelligent methods were

T out
hout
hin
k
L
Mn
Kp
Ki
Kd
e
e_
cf
Dq
Min
en
en1
ex

outside temperature (C)

convection coefcient for outside-surface J=m2 K)
convection coefcient for inner-surface J=m2 K)
transmission coefcient (J/m K)
thickness for indoor (m)
calculated value of the loop output at sample time n
the loop gain
proportional constant of the integral term
proportional constant of the differential term
error
error change
ow discharge coefcient
relatively constant
initial value of the loop output
value of the loop error at sample time n
previous value of the loop error
value of the loop error at sample time x

rst used to increase the robustness of existing models however

they have been used to obtain new models in recent years (Alcala,
Alcala-Fdez, Gacto, & Herrera, 2008; Sierra et al., 2008; Soyguder,
Karakose, & Alli, 2009; Wong, Li, & Lai, 2008). In addition to PID
control of HVAC systems, the various studies using intelligent
methods were presented. Fuzzy Logic Control (FLC) of HVAC systems was studied by many authors (Alcala, Casillas, Cordon,
Gonzalez, & Herrera, 2005; Calvino, Gennusa, Rizzo, & Scaccianoce,
2004; Chiou & Huang, 2005; Gundogdu & Erenturk, 2005; Farzaneh
& Tootoonchi, 2008; He, Cai, & Li, 2005; Huang & Nelson, 1994;
Kwan-Ahn & Bao-Kha, 2008; Lahrech, Gruber, Riederer, Tessier, &
Visier, 2002; Lin & Yang, 2003; Lo, Chan, Wong, Rad, & Cheung,
2007; Lu, Cai, Xie, Li, & Soh, 2005; Marano & Quaranta, 2008;
Soyguder et al., 2009; Su, Yang, Sun, & Duan, 2004). The obtained
results were compared with those of PID control and these studies
indicated that FLC had better results. FLC is extensively used in
processes where systems dynamics is either very complex or exhibit a highly nonlinear characters. Besides, FLC is one of useful control schemes for plants having difculties in deriving mathematical
models or having performance limitations with conventional linear
control methods. FLC is designed on the basis of human experience.
It means that a mathematical model is not required for controlling
a system. Because of this advantage, fuzzy logic-based control
schemes were implemented for many industrial applications
(Ahmed, Majid, Novia, & Rahman, 2007; Hung, Lin, & Chung,
2007). FLCs were successfully applied to many complex industrial
processes and domestic appliances in recent years (Tsang, 2001).
The rst FLC algorithm implemented by Mamdani was designed
to synthesize the linguistic control protocol of an experienced
operator (Mamdani, 1974). Although this type of FLC application
has been successful being compared to the classical controllers,
the design procedure depends on the experience and knowledge
of the operator. Therefore, it is limited by the elucidation of the
heuristic rules of control. To avoid this major disadvantage of
depending on the control experience of the operator, MacVicar
Whelan rst proposed some general rules for the structure of fuzzy
controllers (Macvicar-Whelan, 1976). These fuzzy rules devised by
MacVicarWhelan approach to a deterministic (PI) or (PD) controller in the limit as quantization levels of control and measurement
variables become innitely ne. It was shown that the better results for the same system were obtained by using FLC with respect
to PID control (Tang & Mulholland, 1987). However, control rule
sets for FLC are quite difcult to redesign. The equivalence of

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S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

PD-type FLCs and classical PD controllers has been established under

the special conditions (Qiao & Mizumoto, 1996). In the other study,
a new approach has been proposed for tuning the coefcients of
PID-type fuzzy logic controllers (FLCs) in (Gzelkaya, Eksin, & Yesil,
2003). Consequently, different control tuning methodologies have
been proposed in the literature such as auto-tuning, self-tuning,
articial intelligence, and optimization methods.
3. The model of the heating-ventilating and air-conditioning
system
Fig. 1 shows the schematic diagram of the modeled system in
this study. The main elements of the system: The cooling zoneareas, evaporator, cooling unit, fan, damper actuators, channels,
thermocouples. Obtaining of the mathematical model of the cooled
indoor zone by considering all parameters is quite difcult. Fort
this reason, we consider the following assumptions:
(1) The effect of the instantaneous variations of air speed in the
indoor on the pressure is neglected.
(2) There is no air leakage except the exhaust valves of the
indoor.
(3) The air ow in the zone is homogeneous.
_ ca absorbed from the cooling unit does
The mass ow-rate m
not change because the supply fan has constant the number of revolution. However, the mass ow-rate of the air entering to the zone
changes depending on the temperature of the zone. The continu_ inda;in zone is realously variations of the input mass ow-rate m
ized by regulating the gap rates of dampers into the entrances of
indoor-channels, depending on the control output signals.
The continuity equation of the controlled system can be formed
for dry-air and water-mass as:

X
X

_ ca
m

_ inda;in
m

_ ca;in :xin m
_ w;in
m

_ sva;out ;
m
X
_ ca; out :xout m
_ w;out :
m

1
2

_ sva;out in Eq. (1) belongs to the safety valve disThe mass ow-rate m
charging the excessive air coming from the indoor.
There is no change in the ow-rates of the indoor since the input ow-rate equals to the output ow-rate. Thats why we can
write the continuity equation as:

_ exha;out m
_ inda :
_ inda;in m
m

According to thermodynamic rst law, the internal energy equation

can be stated as follows:

Q W

_ inda;in :hin 
m

_ exha;out :hout
m

du
;
dt

where u represents time-dependent variation of heat. Furthermore,

Eq. (4) can be re-written as the following form, assuming that there
is no work in the system:

du minda  C v  T n1  T n

;
dt
dt
Cp  Tca;in  T n :

_ inda  hin  hout

Q m

hin  hout

If Eq. (5) is rearranged, we get:

minda  C v  T n1  T n
;
dt
dT
_ inda  Cp  T ca;in  T n minda  C v 
;
Q m
dt

_ inda  Cp  T ca;in  T n
Q m

T out  T n
R

or

T out  T n
:
L
kA
hin1A
hout :A

10

If Eq. (10) is substituted in Eq. (9), we get Eq. (11):

_ inda  C p T ca;in  T n
dT Q m
:

dt
minda  C v

11

4. The design of the considered real-time HVAC system

In this experimental study, the cooling process was performed
for the indoor as shown in Fig. 2a and b. The volume of the indoor
zone has 1 m3 . The cooled air transfer has been realized from the
main channel having the supply fan to the region of indoor as seen
in Fig. 2a and b. The channel ow cross-section area is 0:02 m2 .
The 0 position of the damper (opening angle h) is the full open

Actuator Damper-2
Humid-Air flow sensor
Air-duct

Humidifier

Cold-air
Actuator Damper-1
Cold-Air flow sensor
Evaporator
Humidity Sensor
Thermocouple
sensor

Ambient

Fan

where T represents the instantaneous temperature variation. The

heat transfer from the outside to the system can be stated as:

Cooling Unit

pump

Cold-air

Cold-humid air
Strafor

ndoor(zone)

Resistance
Exhaust

Fig. 1. The schematic view of the HVAC system having only one zone (indoor).

Manual damper

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S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

developed by WinCC-Flexible software. The analog outputs of the

PLC have used to control position of actuators via dc servo motors.
The PLC have extended module (EM-231) to measure temperature
with thermocouples. The damper-actuators positions have controlled with a MM440 series variable frequency drive. USS (Universal Serial Interface Protocol) protocol subroutines and interrupt
routines have included in PLC program for communicating with
the drive. In this study, PID controller has achieved via PLC subroutines in discrete time which equation has been given in Eq. (13)
(Siemens Simatic S7-200, 2005; Siemens Simatic WinCC, 2004).


Mn kp en ki

n
X

ex Min kd en  en1 :

13

The owchart of the program summary is given by Fig. 3. The initialization program is used to prepare PID controller, USS protocol,

START

Initialization
SCADA
PLC
PID_Controller
USS-Protocol
Damper
Actuators

Fig. 2. (a) and (b) A prototype of the real-time HVAC system experimental setup.

position and the system has the maximum air mass ow-rate.
Maximum air mass ow rate is 50 kg/h for the 0 position of the
damper (opening angle h). Air mass ow rate is to change as direct proportional with opening angles h between the 0 position
of the damper and the 90 position of the damper. The 90 position
of the damper is the closed position of the damper and the cooled
air can not pass through the indoor. Air mass ow rate is controlled
by a stepper-driven throttle damper-valve. The relationship between the damper-valve opening h and the air mass ow rate
_ inda is expressed as
through the damper-valve m

_ inda cf
m

p
qDp Ah;

Set
Zone Humidity
Zone Temperature.
PID Parameters.

err

12

where cf and A are ow discharge coefcient and ow cross-section

area, respectively. In the expression, the pressure drop across the
damper Dq is relatively constant because the static pressure in
the loop is self-regulated due to the characteristics of the fan that
would maintain the static pressure at which fan power balances
with the circulation ow rate in the loop (McQuiston & Parker,
_ za is mainly proportional
1997). In that case, the mass ow rate m
to the ow area Ah according to the experimental data shown in
Figs. 911.
The evaporator and the air compressor were used for cooling
the system and the required air ow was supplied by controlled
of the dampers placed on the entrance ducts of indoor. The humidier was used for humidifying the system. There are the damper
actuators in the entrances of the indoor zone, controlled by PID
control algorithm, as seen from the block diagram in Fig. 6. The
air supply fan rst absorbs 5 C air from the evaporator, then sends
to the indoor zone. In this study, one of the dampers was controlled
by using the required value for indoor temperature while the other
damper was controlled by using the required value for indoor
humidity.

Indoor Zone
PID

Control of
actuators position
with analog signal

Control of
actuators position
with analog signal

Temperature of
Indoor Zone

Humidity of
Indoor Zone

Trend view of
Zone
Temperature
& Position

Trend view of
Zone
Humidity
& Position

5. Software architecture
A standard PLC CPU (S7-200) and extended analog input/output
(I/O) modules have used to control damper-actuators. The I/O variables are controlled and monitored by a SCADA screen which is

STOP
Fig. 3. The owchart of the PLC program.

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S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

actuators and fan motor subroutines. The reference values can be

set by the SCADA screen. The error is calculated with the difference
of set value and process value to apply PID controller which is
generated a number range of 032,000 in PLC. This generated number is converted an analog signal and used to perform the control
procedures via the actuators which are controlled by an analog
output.

Start

Tref
and
RHref

6. Fuzzy adaptive control (FAC)

Calculate e and de

Tref

e1=Tref-T
de1=de1/dt
e2=RHref-RH
de2=de2/dt

Fuzzification
e and de
Fuzzy
rule
base

Inference
Mechanism

Defuzzification with
center of gravity

Calculate U
PID=e(Kp+Kd.s+Ki/s)

Damper
Actuators Position

Fig. 5. The ow-chart of the calculated kp  kd  ki with fuzzy based optimization

algorithm.

Fuzzy
Adaptive
Control
Algorithm

e
d/dt
Kp

Kd

Ki

U1
PID Controller

Damper1
Actoator Position
Humid-air Flow

T oC
Indoor
Zone

U2
PID Controller

Kp

d/dt
RHref
-

Kd

Evaluate e,de and calculate

Kp,Kd,Ki with Fuzzy Adaptive
Control Algorithm

All models of the variable ow-rate HVAC system were generated by using MATLAB/SIMULINK and PID parameters were obtained by using fuzzy sets. Fig. 4 shows the block diagram of
the considered expert HVAC system controlled by the fuzzy
adaptive controller. Fig. 5 shows the ow-chart of the calculated
kp  kd  ki with fuzzy adaptive controller algorithm. Previous
our study shows the optimal kp  ki  kd values of the actuator
(damper) used for controlling humidity and temperature (Soyguder et al., 2009). The obtained parameters have been used in real
time HVAC system. Fuzzy adaptive controller has been performed to maximize the performance of the system. The selftuning PID-type fuzzy controller is an auto-adaptive controller
that is designed by using an incremental fuzzy logic controller
to tune the parameters of PID controller on line by fuzzy control
rules.
Fuzzy adaptive controller algorithm is to nd out the fuzzy rela_ It examines incestion between three parameters of PID and e; e.
santly e and e_ in work then tunes three parameters by fuzzy
control rules on line so that controlled objects achieve better dynamic steady performance. We combined the classical PID and
FLC theories in previous study (Soyguder et al., 2009). The optimal
kp ; ki ; kd values of PID parameters have adaptively been determined
by using the dynamic FLC for each time-step. In this case, FLC has
_ and three outputs kp ; ki ; kd .
two inputs (e, e
The Gauss membership functions are used for all variables
_
shown in Figs. 6 and 7. The physical domain of the inputs (e, e)
is {1, 0.8, 0.6, 0.4, 0.2, 0, 0.2, 0.4, 0.6, 0.8, 1} and that of the
outputs kp ; ki ; kd is {0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1}, selected again based on trial and error. The fuzzy variables are dened for the rule base as,

Damper2
Actuator Position
Cold-air Flow

Ki

Fuzzy
Adaptive
Control
Algorithm

Fig. 4. The block diagram of the considered system and the fuzzy adaptive control.

RH(%)

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S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

_ {the error, the variation of error, {NB (Negative Big), NS

e, e=
(Negative Small), Z (Zero), PS (Positive Small), PB (Positive
Big)}, [1, 1], l};
kp ; kd ; ki = {the control parameters, {Z (Zero), PS (Positive Small),
PM (Positive Medium), PB (Positive Big), PVB (Positive Very Big),
[0, 1], l}.
Table 1, indicate the rule bases for kp ; kd and ki , respectively.
7. Experimental results

_
Fig. 6. The membership functions for the inputs e and e.

In the experiment, air mass ow rate has been controlled by

dampers using PID control algorithm. The experimental results
were taken for the same PID parameters (kp 48:93 proportional, ki 0:021 integral, kd 0:023 derivative for one of the
dampers used for controlling temperature and kp 49:18 proportional, ki 0:021 integral, kd 0:023 derivative for the other
of the dampers used for controlling humidity). These parameters
were obtained by using fuzzy sets. Then, the obtained parameters
with fuzzy adaptive control have been used in real time HVAC system. Optimization with fuzzy adaptive control of PID Parameters
has been performed to maximize the performance of the system.
The ambience temperature was approximately 31.4 C for each
application. The set temperature value of indoor has been adjusted

Fig. 7. The membership functions for the outputs kp  kd  ki .

Table 1
The rule base for kp ; kd and ki .

Indoor (zone)
33
32

30

Temperature ( C)

31

29
28
27
26
25
24
23
1

10

Time (min.)
Fig. 8. The set temperature values (C).

11

12

13

14

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S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

100
90

Damper Gap Rate ( )

80
70
60
50
40
30
20
10
0
-10
0

10

11

12

13

14

15

Time (min.)
Fig. 9. Actual (actuator) damper gap-rate for the controlled temperature.

Indoor (zone)

Relative Humidity (%)

45

40

35

30

25

20
0

10

11

12

13

14

Time (min.)
Fig. 10. The set humidity values (%).

100
90

Damper Gap Rate ( )

80
70
60
50
40
30
20
10
0
-10
0

10

12

Time (min.)
Fig. 11. Actual (actuator) damper-gap rate for the controlled humidity.

14

S. Soyguder, H. Alli / Expert Systems with Applications 37 (2010) 20722080

as 25.5 C. The ambience relative humidity was approximately 24

(%) for each application. The set relative humidity value of indoor
has been adjusted as 41 (%). The most important duration in HVAC
systems is steady-state time which approximately contains three
quarters of all day. The obtained results are presented in graphical
form as seen in Figs. 811.
8. Conclusions
In this study, the cooling process of the system was realized by
being cooled the indoor from the ambient temperature 31.4 C to
the desired temperatures. The required (actuator) damper gap
rates for obtaining the desired temperatures and relative humidity
of indoor for each time step were found by using PID control algorithm. The most important duration in HVAC systems is steadystate time which approximately contains three quarters of all
day. As seen in Figs. 811 the experimental results have been presented in graphical form by using MATLAB Graphical Toolbox. Besides, the realized system has been controlled by PLC used PID
control algorithm in this study. The optimal values of PID parameters kp  kd  ki were obtained by using fuzzy sets. Optimization
with fuzzy adaptive control (FAC) of PID parameters has been performed to maximize the performance of the system. Efciency of
fuzzy adaptive control developed method was successfully obtained. Moreover, this system made with advanced control is designed to completely replace the existing SCADA with many new
functions.

Appendix. Actuator (damper) specications

Torque
Damper area
Running time
Supply voltage
Power (running)
Power (end position)
Angle of rotation

8 Nm
1:5 m2
30 s
24 VDC
2.5 W
0.5 W
90 (93 mech.)

Devices

Quantity

PLC CPU 226

HMI TP270 6
RTD Analog two inputs
Actuator (Damper)
Thermocouple (RTD)
Humidity Sensor
24 VDC PS

1
1
1
2
1
1
1

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