IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 3, NO.
4, NOVEMBER 1995
Fuzzy Logic Control of a Solar Power Plant
Francisco R. Rubio. Manuel Berenguel, and Eduardo F. Camacho
Abstract- This paper presents an application of fuzzy logic
control to the distributed collector field of a solar power plant.
The major characteristic of a solar power plant is that the
primary energy source, solar radiation, cannot be manipulated.
Solar radiation varies throughout the day, causing changes in
plant dynamics and strong perturbations in the process. A special
subclass of fuzzy inference systems, the TP (triangular partition)
and TPE (triangular partition with evenly spaced midpoints)
systems, is used to obtain adequate control signals in the whole
range of possible operating conditions. The fuzzy logic controller
has been tested in the real plant and results obtained are shown.
A comparison with other control approaches widely used in the
plant is performed using a nonlinear computer model of the field.
I. INTRODUCTION
S INCE Mamdani [15] published his experiences using a
fuzzy logic controller (FLC)on a test-bed plant of a
laboratory, there have been many applications of this type of
controller to a diversity of processes such as warm water plants
[9], rotative clinker-cooker furnaces for cement production
[lo], [ll], automatic train operation [20], cargo ship steering
[12], robotics [17], [18], and others. An extensive introduction
to the historical development, state, and concepts involving
fuzzy control systems can be found in [13] and [14].
A great many advantages of FLCs have been mentioned
in literature. One relevant advantage is the possibility of
converting a linguistic control strategy based on experience
and expert knowledge into an automatic control strategy.
Another advantage is that FLCs can easily be implemented.
Moreover, it has been demonstrated [19] that by using fuzzy
inference systems with triangular-partition rule bases with
evenly spaced midpoints (TPE systems) like those presented in
this paper, the amount of computation required for processing
input is independent of the number of rules.
The methodology of fuzzy controllers seems to be the most
adequate in cases where the process is difficult to control
and there is wide experience in operating the plant, due
to the possibility of incorporating such knowledge in terms
of qualitative rules. This is the case of the control scheme
presented here, an application of fuzzy logic control to a
distributed collector field of the solar power plant at Almeria,
Spain.
The distributed collector field consists of a series of par-
abolic mirrors that reflect solar radiation onto a pipe where
oil gets heated while circulating. The objective of the control
system in a distributed collector field is to maintain the outlet
Manuscript received January 13, 1995; revised April 1, 1995. This work
was supported by CICYT under Grant TAP934408 and TAP95-0370,and
CIEMAT.
The authors are with the Departamento de Ingenieria de Sistemas y
AutomAtica-Universidad de Sevilla, Escuela Superior de Ingenieros, Avda.
Reina Mercedes s/n, 41012 Sevilla, Spain.
IEEE Log Number 9414354.
1063-6706/95$04.00 0 1995 IEEE
459
oil temperature at a desired level in spite of disturbances such
as changes in the solar irradiance level (caused by clouds),
mirror reflectivity or inlet oil temperature. Since solar radiation
cannot be adjusted, this can only be achieved by adjusting
the flow of oil, and the daily solar power cycle characteristic
is such that the oil flow has to change substantially during
operation. This leads to significant variations in the dynamic
characteristics of the field, such as the response rate and
the time delay, which cause difficulties in obtaining adequate
performance over the operating range with a fixed parameter
controller. A wide knowledge of the process behavior has been
gained, as the plant has been controlled with very different
control strategies [3]-[7], [16], during the last 10 years. Results
obtained with other control approaches seemed to suggest
that very good results could be obtained by using the FLC
methodology.
The paper is organized as follows. In Section 11, a descrip-
tion of the distributed solar collector field is given. Section I11
is dedicated to presenting the FLC used to control the plant.
Section IV presents results obtained when applying the FLC to
the distributed solar collector field and a comparison with other
control approaches widely used in the plant. Conclusions are
given in Section V.
11. DESCRIPTION
OF THE SOLARPOWERPLANT
This paper is concerned with the application of fuzzy
logic to the control of the distributed solar collector field
ACUREX of the Solar Power Plant at Tabemas, in Almeria,
Spain, which involves the collection of solar energy and its
transference to a fluid piped through the system. The energy
collected is transferred to a storage tank, which can be tapped
when conditions demand, then to either a steam generator
for electrical power generation or the heat exchanger of a
desalination plant.
The distributed collector field, as shown in Fig. 1, mainly
consists of a pipeline through which oil is flowing and onto
which the suns rays are concentrated by means of parabolic
mirrors, which follow the sun by rotating on one axis, to
heat the oil. It consists of 480 modules arranged in 20 lines
which form 10 parallel loops. A simplified diagram of the solar
collector field is shown in Fig. 2. The field is also provided
with a sun tracking mechanism which causes the mirrors
to revolve around an axis parallel to that of the pipeline.
Each of the loops mentioned above is formed by four 12-
module collectors, suitably connected in series. The loop is
172 meters long, the active part of the loop (exposed to
concentrated radiation) measuring 142 meters and the passive
part 30 meters. The system is provided with a three-way
valve which allows the oil to be recycled in the field until its
460
Fig. 1. Distributed collector field.
STORAGETANK
Fig. 2. Schematic diagram of collector field.
outlet temperature is adequate to enter into the storage tank.
A detailed description of the solar field is provided by [XI.
The collector uses a parabolic surface to concentrate a direct
normal beam onto the receiver tube, which is located at the
focal point of the parabola. The fluid is pumped through the
receiver tube and picks up the heat transferred through the
receiver tube walls.
The field is also provided with a sun tracking system which
causes the mirrors to revolve around an axis parallel to that
of the pipe.
A fundamental feature of a solar power plant is that the
primary energy source, while it is variable, cannot be manipu-
lated. The intensity of solar radiation from the sun, in addition
to its seasonal and daily cyclic variations, is also dependent
on atmospheric conditions such as cloud cover, humidity, and
air transparency.
Observations made from step responses of the plant show
that the behavior of the field can be modeled by a low-
order model as shown in [4], but results obtained performing
PRBS (pseudo random binary sequence) tests to obtain the
frequency response of the plant under different operating con-
ditions (Fig. 3 shows the frequency response of the nonlinear
distributed parameter model under four operating conditions)
show that the system possesses antiresonance characteristics
[l], [5], in the control bandwidth.
IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL 3, NO. 4, NOVEMBER 1995
AMPLITUDE PLOT
1OD
m
U
-
-
n
E 10"
10'
10" io2 10
''
frequency (rad/s)
PHASE PLOT
frequency (radk)
Fig. 3. Freqnency response. of the field for different operating conditions.
Fig. 4 shows the theoretical (without taking into account
thermal losses) and real Erequency response at one of these
operating points. As can be seen, the amplitude decreases
at certain frequencies but it does not reach zero because
the field thermal losses dampen the frequency'response. The
resonance modes produce downfalls in the outlet temperature
and kickback type of behavior when classical controllers based
on low order models of the field are used. The distributed solar
collector field can be modeled by low-order
frequencies are excited [4]. Acceptable behavior is obtained
with conservative classical PI controllers, but when hard de-
mands are made, oscillations in the outlet temperature appear
(a wrong tuning in the controller parameters produces great
variations in the control signal that excite the antiresonance
modes). In [4], the behavior of the controlled system using PI
controllers is improved by using an adaptive mechanism. Very
good results are obtained but some kind of
appear in the system response due to the
antiresonance modes.
EEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 4, NO. 4, NOVEMBER 1995
1on
1O'I
1 0"
10" 1o.2 10"
frequency (rads)
Fig. 4. Real and theoretical frequency responses.
The plant can be described by a set of nonlinear distributed
parameter equations describing energy and mass balance. A
nonlinear distributed parameter model was developed so that
the control scheme could be tested by simulation. Under some
conditions 121, 131, the temperature in the field can be given
by the following equations
= I n O D- HIG(Tm - T,) - LHt(Tm - T f )
where the subindex m refers to the metal and f to the fluid.
The rest of the parameters are as follows:
p Density.
C Field capacity.
A Transversal area.
T Outlet temperature.
I Solar radiation.
no Optical efficiency.
H1 Overall thermal loss coefficient.
D Mirror width.
Ht Coefficient of metal fluid transmission.
G Exterior diameter of the pipe line.
L Inner diameter of the pipe line.
4 Oil flow rate.
These equations are only applicable to the active zones of
the field, that is, those parts of the pipeline where solar radia-
tion is collected. Parts of the field, passive zones, exist where
it is not possible to collect solar energy due to geometrical
conditions as is the case of the joints between the modules.
These zones constitute a considerable part of the field and
they are characterized by having nil irradiance and different
loss constants.
The above equations were used to simulate the system in a
computer dividing one of the loops into 100 pieces and using
a model of concentrated parameters for each piece. The model
was contrasted to the real data obtained from the field [2],
131. The parameters of the model were adjusted so that they
reproduced the behavior of the system.
461
111. Fuzzy LOGICCONTROLLER
(FLC)
An FLC is commonly described by a set of fuzzy rules
that constitute the control protocol. With these rules, the
interconnected relationships between measurable variables and
control variables can be expressed.
In Fig. 5 three parts can be seen which constitute the design
parameters of the FLC: the block fuzzifier; the control block
(fuzzy rule base and inference procedure), and the block
defuzzifier.
The fuzzification interface converts the numerical values
of the input variables into linguistic variables (fuzzy sets).
The conversion requires scale mapping that transforms
the range of values of input variables into corresponding
universes of discourse.
The rule-based fuzzy control algorithm provides defini-
tions of linguistic control rules which characterize the
control policy. In this case, the block includes decision
making logic, which infers fuzzy control actions employ-
ing fuzzy implication and the inference rules mentioned.
The defuzzification block converts the inferred control
action, which interpolates between rules that are fired
simultaneously, to a continuous signal.
The expert knowledge usually takes the form
IF (a set of conditions are satisfied)
THEN (a set of consequences can be inferred).
The set of conditions (fuzzy sets) belongs to the input
domain and the set of consequences to the output domain.
The fact that various rules can be fired simultaneously is due
to the conversion of values obtained from sensors to linguistic
terms, assigning a membership function ,UA to each one. If
triangular-partition rule bases are used [19], the input and
output universes are subdivided using triangular membership
functions of the form
(z - a , ~ ~ ) / (-a a,-1)
, if a,-l 5 z 5 a,
PA,(x) =
L (-z f az+l)/(az+l - a,) if at 5 z 5 az+l
otherwise
being the membership values of A , # 0 only at the in-
terval (u,-l,a,+l). Point a, is the unique element that has
(1)
membership value 1 at A, (midpoint of A,). A triangular
decomposition of a universe consists of a sequence of tri-
angular fuzzy subsets A I ,. ,A , such that the leftmost and
rightmost fuzzy regions satisfy , U A ~= 1 and P A , = 1 at its
midpoints (we are assuming that the triangular decomposition
forms a fuzzy partition of the underlying universe, that is,
cr=l P A , ( U ) = 1 for every U belonging to the universe). A
decomposition of the input and output domains that satisfies
these requirements is called a TP (triangular partition) system.
The inference process can be made more efficient by requiring
the membership functions to be isosceles triangles with bases
of the same width. These fuzzy inference systems with evenly
spaced midpoints are called TPE systems.
The inference mechanism in a TP or TPE system is very
straightforward and efficient. As is demonstrated in [19],
considering SISO (single-input single-output) systems [the ex-
tension to MIMO (multi-input multi-output) system is straight-
462 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 3, NO. 4, NOVEMBER 1995

forward] if A, and A,+1 are two fuzzy sets (with midpoints C

a, and a,+l, respectively,) providing nonzero membership for 0
N I
z, the appropriate action for any input at an interval [a,, a,+l] T N
using weighted averaging defuzzification is given by R p
o u

z= PA,(Z)CT + I A , + 1 ( x ) c s -- ~ ( C S- CT) f az+lci- - %cs L T

L S
PAt + IA,+i ($1 %+I - a2 E
(2) R

with cs and c, being the midpoints of C, and Cr (fuzzy regions Fig. 5. Fuzzy logic inference scheme.
in the output space).
Equation (2) shows that only two completely determined
constants, (es - cT)/(a,+i - a,) and (az+lcr - aic,)/(a,+i -
a%),are required to obtain the control action, allowing a
fuzzy inference system in tabular form to be represented.
The amount of computation required for processing input is
independent of the number of rules with a P E system. The
tabular information can be stored in a manner that permits
direct addressing, avoiding searching procedures to find the
appropriate rules in the inference table.
A fuzzy associative memory (FAM) can be used instead I Tin
of the table. A FAM is a k-dimensional table where each Fig. 6. Fuzzy logic control scheme.
dimension corresponds to one of the input universes of the
rules. The zth dimension of the table is indexed by the temperature (xn)
produces a change in the outlet temperature
fuzzy sets that comprise the decomposition of the ith input after a variable delay time (depending on the flow).
domain. The FAM representation may be modified to produce One simple approach which reduces the copplexity of the
a numeric inference (NI) table. This way, the indexes will model is to make use of the known operating characteristics of
represent the correspondingmidpoints of the set. The entries in the field. Shudies have been made which incorporated approxi-
the table are the midpoints of the consequent of the associated mate transfer functions in the feedforward term but the benefits
rule. provided were no considered to justify the added complexity
or unceriainty involved. So, to account for the disturbances, a
Iv. APPLICATION OF THE FLc TO THE A C m X F&LD series feedforward controller was introduced [4], calculated
directly from steady-state relationships (steady-state energy
The FLC exposed in previous section has been used to
balance), which makes an adjustment in the flow input, aimed
control the distributed solar collector field ACUREX. The FLC
at eliminating the change in outlet temperature caused by
has been applied in an incremental form, that is, the signal
the variations in solar radiation and inlet temperature. The
obtained from the FLC is the increment needed in the control
calculation employed is
signal to provide a desired behavior (the output universe is
related to control increments). 0.78691 - 0.485(~ - 151.5) - 80.7
Uf =
To define input and output signals of the FLC, some aspects ( U - T1n)
have to be taken into account. where ufis the oil flow, U is the temperature set-point given by
The control signal used is the oil flow. The outlet tem- the FLC, Z, is the inlet oil temperature and I is the effective
perature of the plant, however, is also influenced by changes solar radiation. The feedforward is placed in series with the
in system variables such as solar radiation and fluid inlet K C .
temperature. Hence dynamically the outlet temperature To The control scheme is shown in Fig. 6. The error between
can be expressed as a nonlinear function f of oil flow af, the output of the plant and the set point signal (e) and its
solar radiation I and inlet temperature Tin. The linearized increment (Ae) are considered to be the inputs for the fuzzy
model is based on partial derivatives (of the change in outlet controller. The output variable of the fuzzy controller is the
temperature AT, in respect to changes A u f , AI, and AT,,) increment in the control signal (reference temperature for the
feedforward controller). The fuzzy controller could directly
give the control signal, but it has been chosen in incremental
form to introduce integral effect in the control action and to
reduce the fuzzy partition of the output domain.
The partial derivatives can be considered as transfer functions TP and TPE systems have been chosen for the inference
relating the variation in outlet temperature ATo to variations mechanism. Results obtained with other control strategies
in oil flow A u f , solar radiation A I , and oil inlet temperature indicated that good results and some degree of robustness
AT,,, respectively. could be achieved by using an FLC with TP-TPE systems.
The mathematicalmodel which accounts for these additional The triangular decomposition of the input universes of
influences dynamically, even when linearized, is complex, discourse can be seen in Fig. 7. As can be seen, the ex-
especially when considering that the variation of the inlet tremes of the input universes of discourse (corresponding
IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 4, NO. 4, NOVEMBER 1995 463

TABLE I

a s -L -M -S Z +S +M +L

-L
-21 -14 -7 0 7 14 21
-LARGE 4EDIUM SMALL ZERO +SMALL tMEDlUM +LARGE
-M
Fig. 7. Membership functions of the antecedents (e and ne).
-S

+S

+M
10-
+L

(Auz,j) with a membership function p ~ ~ =~ pet , ?. pae3,

s o where pet and pae3 are calculated by (1). The methodology
used in deciding what control action should be taken results
-5
in the firing of four rules. The combination of these rules pro-
-10
duces a nonfuzzy control action Au, which is calculated using
20 the weighted averaging defuzzification method as mentioned
before. Then, the resulting control action can be calculated by
E
dE

Fig. 8. Fuzzy control surface.

to e and Ae) are [-21,211. Those of the output has been and as in this case cf" E;+'
p ~ ~= ,1, ,we~ have
chose to be [-lo, 101 (corresponding to Au), with centers i L 1 i+1
[&lo, f 6 , f4,h 2 , f0.7,0]. The domains under consideration
are not normalized. The discretization of the universes of i j
discourse plays an important role in the final behavior of the
A two-dimensional FAM can also be used in this case (Table
controlled system. In this case, the discretization has been
I). The controller surface obtained from the resulting NI table
selected taking into account the operating range of possible can be seen in Fig. 8.
oil flows (between 2 and 12 Us), the outlet temperature (with
a maximum of 300 degrees), and previous knowledge of
A. FLC Design Procedure
the plant dynamics. As is commented below, there exists
a great experience in the control of the plant with other The first step in the design procedure was to produce
control approaches.This fact and the existence of the nonlinearthe FAM table shown in Table I and the centers of Au as
distributed parameter model for simulation purposes allows for [ f 2 0 , f 1 5 , f 1 0 , f 6 , f 3 , 0 ] . These values were chosen based
a good discretization of the universes of discourse and to teston previous experience in controlling the plant. The resulting
the controller behavior before its real implementation in the control was simulated with the nonlinear computer model and
plant. This way, few changes where done when implementing the results shown in Fig. 9 (dotted line) were obtained. The
the controller in the plant. simulations of the first FLC designed showed an undesired
high overshoot. Then, we decided to diminish the centers of
In this case (two input-single output system), the rules take
the form the FAM, taking the following new values in the intermediate
design: [f13,f 1 0 , f8,f 5 , f 3 , f 1 . 2 , 0 ] . With these values
and the help of the nonlinear computer model, results shown
IF error is positive large
in Fig. 9 (dashed line) were obtained. This result can be
AND the change in error is n e g a t i v e s m a l l considered as a good one, but due to the characteristics of
THEN make the control signal change positive l a r g e the solar plant, the main design objective is to achieve a
response with low overshoot. This way, the centers of the
where terms small, large, medium, etc., are used to describe FAM were diminished again, obtaining the definitive ones
the fuzzy variables and the control action. As mentioned mentioned above ([*lo, f 6 , f4,f 2 , f0.7,0]). The simula-
previously, because of the partial matching attribute of fuzzy tion which corresponds to these values can also be seen in
control rules and the fact that the preconditions of rules do Fig. 9 (solid line). This figure also includes the values of oil
overlap, four rules can fire at the same time. flow to show the control effort obtained with each one of the
Assuming that the algebraic product operator is used as the designs. These values have been used in the control of the
conjunction operator, each rule recommends a control action distributed collector field, as shown in the next paragraph.
464 JEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 3, NO 4, NOVEMBER 1995

200.01 , , , I . , , , , , , . , , , 240.01 , , , I , , , , , , I I

195.0 1 230.0

-Y 190.0
220.0

e
I
-
._
185.0
0
210.0

0
I 180.0
3
I

.ga 175.0 inlet oil temperature

outlet oil temperature
c
t
180.0
set point temperature i
170.0 -final desian
..... ...... first design I
1
165.0 - 1
1

11.7 12.2 12.7 13.2 13.7 14 2

local time (hours) lccal time (hours)

Set point and outlet oil temperatures (C)

I i I 960.0 -

7.0

r
I

5.0
____ intermediate design
-final design
first design

11.5 120 125 130 135 14.0 14.5 15.0 11.7 12.2 12 7 13.2 137 14.2
local time (hours) local time (hours)

Fig. 9. Simulation with different designs of the FLC. Fig 10. Test carried out with the FLC on Apnl 26, 1994.

tests performed in the real plant. As can be seen

E. Plant Results results were obtained with the initial design of the FLC. These
The proposed control scheme has been tested at the plant. curves show a small offset (less than 1.5 degrees) in the system
First of all, one aspect in the development of the FLC used response. The FLC has been developed using the error signal
here should be stressed, that is the easiness of implementation ( e ) and its increment (Ae), and the controller signal obtained
and the very good results obtained in the first tests pedormed is the control increment (which incorporates integral effect).
at the plant. This fact can be observed in Figs. 10 and 11. This way of implementationindicates that the system response
Fig. 10 corresponds to the step-response test carried out the should have null steady-state error.
April 26, 1994 (outlet oil temperature, inlet oil temperature, One possible explanation for the appearance of the offset in
set point temperature, and solar radiation plots are provided). the output signal is the use of a wrong value of the mirrors'
As can be seen, good set point tracking is obtained (even in reflectance (used in calculating the effective solar radiation)
cases of disturbances produced by small passing clouds at the in the feedforward controller. Mirror reflectance is measured
end of the operation) with a rise time of less than nine minutes every 10 days and so, if dust has accumulated on the mirror
in step change of 10 degrees, and a similar response shape in surfaces since the previous measure, the real value of mirror
all operating conditions. reflectance can differ from the one last measured, used by
Fig. 11 (outlet oil temperature, inlet oil temperature, set the feedforward controller. This fact leads to an error in the
point temperature, solar radiation, and oil flow, respectively) outlet signal of the feedforward controller (oil flow demanded
corresponds to another step-response test (27/04/94), covering on the pump) that depends on the effective solar rahation.
a wide range of oil-flow conditions (from 5 to 7.5 Us). As can Theoretically, as the feedforward controller is placed in the
be seen, very good results are obtained in all cases without control loop, this error should be corrected, but the integral
oscillations in the system response. These were the first two term action is not fast enough to do so.
IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 4, NO. 4, NOVEMBER 1995 465

255.0

245.0

235.0

inlet oil temperature

outlet oil temperature
set point temperature
175.0 -
.--------
165.0 . ...................................
155.0
- ;'
145.0 -,i'

140.01 " " " " " " "

I 135.0l " " " " " " "

11.5 12.0 12.5 13.0 13.5 14.0 14.5 15.0 15.5

local time (hours)

Set point outlet and inlet oil temperatures (C)

Set point, outlet and inlet oil temperatures (C) 950.0

960.0

950.0
900.0
i-----**T---il
1 -I
940.0

930.0 Q- 800.0 -
0
Q 920.0
g
P 750.0 -
k 910.0
a

890.0

880.0
11.5 12.0 12.5 13.0 13.5 14.0
local time (hours)
14.5 15.0 15.5
a
700.011.9
650.0 12.4 12.9 13.4 13.9 14.4

local time (hours)

14.9 15.4 15.9

7.0
7.0 h
-r 6.5

2-
6.0

5.5
4.0l " " " " " " " '
11.9 12.4 12.9 13.4 13.9 14.4 14.9 15.4 . 9

5.01
I ' ' " ' ' ' ' ' " ' " ' ' ' "
I
I
local time (hours)

11.5 12.1 12.6 13.2 13.7 14.3 14.8 15.4

local time (hours) Oil flow (l/s)

Fig. 11. Test carried out with the F

W on April 27, 1994. Fig. 12. Test carried out with the FLC on June 22, 1994.

a value near zero at the solar midday. Even though this small
The dependance on effective solar radiation can be observed offset is not important in terms of heat transference, some
in Fig. 11, in which the offset signal (outlet temperature- variations in the initial implementation were performed to
set point temperature) is positive when the solar radiation achieve faster responses without offset. The values used in
is increasing and negative when it is decreasing, achieving the inference table were slightly modified and two new rules
466 IEEE TRANSACITONS ON FUZZY SYSTEMS, VOL 3, NO t4, NOVEMBER 1995

3W 0

280 0

260 0
q .....

0
255.0

I m
m
-e
I
3 2400 s
Q

3 2200 -g
-
8 2 245.0
-
m
+
2 2000 0

-
I

180 0
/
-
a
0

0 fuzzy controller
/
160 0 I'

/
I
I 4 0 0' I . , , , . , . , , ,
10.5 11.5 12.5 13.5 14.5 15.5 235.0
local time (hours) 1

Set point outlet and inlet oil temperatures (C) Set point - outlet oil temperatures (C)

950.01 , , , , , , , , , , ,
CB0.0
1
900 0 900.0

870.0
850 0
2 840.0
$
N

- 8000
$- 810.0
7500
- 780.0
V
e s
3 7000 $ 750.0
m ul
7m.o
650 0
690.0

600.0
550.01
9.5
t "
10.5 11.5
, I

12.5
.
13.5
I , I
14.5
.
'1I
15.5
m.0

630.0
! 10.7 112 11.7 122 127 132 13.7 142
lxal time (hours) local time (hours)

Solar radiation (W/m2)

Solar radiation (W/m2)

L 9.0

- 8.0
r3
.-
0

'-
7.0

6.0

3'0
2 09 5 2 105 115 125

local time (hours)

13.5 14.5 15.5

Oil flow (l/s)

Fig. 13. Test carried out with the F'LC on December 21, 1994.

were added in the FLC implementationto increase the integral actual error signal, e k - 1 the previous one, and so on. Auk is
action. These rules take the form the actual control increment, abs indicates the absolute value,
IF abs ( e k ) > 2 AND e k > 0 AND e k - 1 > 0 AND . . . and 4 = 4 ek-%/100. The same rule changing the greater
AND ek--4 > 0 THEN auk = auk 4, where e k is the + than sign for less than sign was also implemented.
IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 4, NO. 4, NOVEMBER 1995 461

using the FLC with these atmospherical and environmental

255.0
conditions are shown in Fig. 14. The operation corresponds
-0 to a clear day with the perturbation produced by one passing
cloud. Fig. 15 shows a comparison to a fixed PI controller
VI
e and the mentioned gain-scheduling GPC controller. The fixed
E PI controller behaves well for the conditions corresponding to
E
2 those used for design purposes, but for other conditions, the
-
._
2 245.0 performance deteriorates. The behavior of the FLC and the
m
r
0 gain-scheduling GPC is very similar with similar rise times.
-
c
The small overshoot (less than one degree) of the FLC can
P
4-
be avoided simply by appropriately modifying the elements of
VI -fuzzy controller
_ - - _gain-scheduling GPC the table, but it has not been done because small overshoots
fixed PI controller
are permitted in the system operation.
235.0
? 10.7 11.2 11.7 12.2 12.7 13.2 13.7 14.2
local time (hours) V. CONCLUSION
Fig. 15. Comparison between control approaches. A fuzzy controller has been applied to a distributed collector
field of a solar power plant. The process is characterized
by high perturbations and changes in dynamics caused by
Results obtained by performing these modifications are
clouds and operating conditions. The fuzzy controller showed
shown in Figs. 12 and 13, which shows the outlet oil tem-
itself to possess a high degree of robustness producing very
perature, inlet oil temperature, set point temperature, solar
good results in spite of changes in solar radiation, inlet oil
radiation, and oil flow. The test of Fig. 12 provides the
temperature, and operating conditions. The commissioning
response during a whole days operation on June 22, 1994.
time of the controller was very small and acceptable modes of
At the start of the operation, the inlet oil temperature changes
behavior were obtained from the first tests.
because the oil is recirculated until it reaches the same
temperature as the tank, and a step-procedure is implemented
to reach the first operating set point. Once the field reached ACKNOWLEDGMENT
235C, step changes of 15C were given to the reference. The authors would like to acknowledge Prof. J. Aracil of the
As can be seen, fast responses were obtained (rise time of E.S.I. of Seville for his helpful comments and suggestions as
about seven-eight minutes) with small overshoots (less than well as many helpful suggestions by the reviewers which have
two degrees) and the offset was also eliminated. The control been incorporated into the manuscript. The authors would also
system was also able to reject the disturbances caused by like to thank P. Balsa from the PSA for his help in carrying
changes in the solar radiation in the inlet oil temperature that out the tests.
was changed during the experiment.
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