Fuzzy Logic Speed Control of Three Phase Induction Motor Drive

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1 Wold Acadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:5, No:2, 2 Fuzzy Logc Spd Contol of Th Phas Inducton Moto Dv P.Tpua and Y.Snvasa Ksho Babu Dgtal Opn Scnc Indx, Elctcal and Comput Engnng Vol:5, No:2, 2 wast.og/publcaton/485 Abstact Ths pap psnts an ntllgnt spd contol systm basd on fuzzy logc fo a voltag souc PWM nvt-fd ndct vcto contolld nducton moto dv. Tadtonal ndct vcto contol systm of nducton moto ntoducs convntonal PI gulato n out spd loop; t s povd that th low pcson of th spd gulato dbass th pfomanc of th whol systm. To ovcom ths poblm, placmnt of PI contoll by an ntllgnt contoll basd on fuzzy st thoy s poposd. Th pfomanc of th ntllgnt contoll has bn nvstgatd though dgtal smulaton usng MATLAB-SIMULINK packag fo dffnt opatng condtons such as suddn chang n fnc spd and load toqu. Th smulaton sults dmonstat that th pfomanc of th poposd contoll s btt than that of th convntonal PI contoll. Kywods Fuzzy Logc, Intllgnt contolls, Convntonal PI contoll, Inducton moto dvs, ndct vcto contol, Spd contol F I. INTRODUCTION OR lctcal dvs good dynamc pfomanc s mandatoy so as to spond to th changs n command spd and toqus. Ths qumnts of AC dvs can b fulflld by th vcto contol systm. Wth th advnt of th vcto contol mthod, an nducton moto has bn contolld lk a spaatly xctd DC moto fo hgh pfomanc applcatons. Ths mthod nabls th contol of fld and toqu of nducton moto ndpndntly (dcouplng by manpulatng cospondng fld ontd quantts [], [2]. Th tadtonal ndct vcto contol systm uss convntonal PI contoll n th out spd loop bcaus of th smplcty and stablty. Howv, unxpctd chang n load condtons o nvonmntal factos would poduc ovshoot, oscllaton of moto spd, oscllaton of th toqu, long sttlng tm and thus causs dtoaton of dv pfomanc. To ovcom ths, an ntllgnt contoll basd on Fuzzy Logc can b usd n th plac of PI gulato [4]. Th fuzzy logc has ctan advantags compad to classcal contolls such as smplcty of contol, low cost, and th possblty to dsgn wthout knowng th xact mathmatcal modl of plant [3]. In ths pap applcaton of fuzzy logc to th ntllgnt spd contol of ndct vcto contolld nducton moto dv s nvstgatd. Th analyss, dsgn and smulaton of contoll hav bn cad out basd on th fuzzy st thoy. Whn a nw contol statgy of a convt o a dv systm s fomulatd, t s oftn convnnt to study th systm pfomanc by smulaton bfo buldng th badboad o pototyp. Th smulaton not only valdats th systms opaton, but also pmts optmzaton of th systms pfomanc by taton of ts paamts. Bsds th contol and ccut paamts, th plant paamt vaaton ffct can b studd. Valuabl tm s thus savd n th dvlopmnt and dsgn of th poduct, and th falu of componnts of pooly dsgnd systms can b avodd. Th smulaton pogam also hlps to gnat al tm contoll softwa cods fo downloadng to a mcopocsso o dgtal sgnal pocsso. Many ccut smulatos lk PSPICE, EMTP, MATLAB/ SIMULINK ncopoatd ths fatus. Th advantags of SIMULINK ov th oth ccut smulato a th as n modlng th tansnts of lctcal machns and dvs and to nclud contols n th smulaton. To solv th objctv of ths pap MATLAB/ SIMULINK softwa s usd. Th supo contol pfomanc of th poposd contoll s dmonstatd at SIMULINK platfom usng th fuzzy logc tool box [5] fo dffnt opatng condtons. Th complt pap s oganzd as follows: Scton II dscbs th ndct vcto contol systm. Th dsgn and dscpton of ntllgnt contoll s povdd n scton III. Th smulaton sults, compason and dscusson a psntd n Scton IV. Scton V concluds th wok. II. INDIRECT VECTOR CONTROL SYSTEM Fo th hgh pfomanc dvs, th ndct mthod of vcto contol s pfd choc [], [2]. Th ndct vcto contol mthod s ssntally sam as th dct vcto contol, xcpt that th oto angl θ s gnatd n an ndct mann (stmaton usng th masud spd ω and th slp spd ω sl. To mplmnt th ndct vcto contol statgy, t s ncssay to tak th followng dynamc quatons nto consdaton. ( dt ( θ = ω dt = ω + ω = θ + θ sl sl Fo dcouplng contol, th stato flux componnt of cunt ds should b algnd on th of cunt should b on ψ d = ψ thn: d axs, and th toqu componnt q axs, that lads to ψ = and L dψ + ψ = Lmds ( 2 R dt As wll, th slp fquncy can b calculatd as: Lm R R ωsl = ( 3 ψ L = L ds It s found that th dal dcouplng can b achvd f th abov slp angula spd command s usd fo makng fldontaton. Th constant oto flux ψ and = can b dψ dt substtutd n quaton (2, so that th oto flux sts as q P.Tpua s wth th Vgnan s Nula Insttut of Scnc & Tchnology fo Womn, Guntu, A.P., INDIA ( -mal: tpua.pdkt@gmal.com. Y.Snvasa Ksho Babu s wth Vgnan Unvsty, Vadlamud, Guntu, A.P., Inda (-mal: yskbabu@gmal.com. ψ = Lmds ( 4 Intnatonal Scholaly and Scntfc Rsach & Innovaton 5(

2 Wold Acadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:5, No:2, 2 Dgtal Opn Scnc Indx, Elctcal and Comput Engnng Vol:5, No:2, 2 wast.og/publcaton/485 Th Smulnk modl fo such an ndct vcto contol systm s shown n th Fg. 3. Ths contol tchnqu opats th nducton moto as spaatly xctd DC moto so as to achv hgh dynamc pfomanc [], [2]. III. DESIGN AND DESCRIPTION OF INTELLIGENT CONTROLLER Snc th mplmntaton of off-ln tunng of PI contoll s dffcult n dalng wth contnuous paamtc vaaton n th nducton moto as wll as th non-lnaty psnt n th nt systm, t bcoms of ntst to go fo ntllgnt contoll. It s known that th stato and oto sstancs of nducton moto may chang wth th tmpatu up to 5% and moto nductanc vas wth th magntc opatng pont. Futhmo, th load toqu may chang du to mchancal dstubancs. Th poblm can b solvd by sval adaptv contol tchnqus such as modl fnc adaptv contol, sldngmod contol, vaabl stuctu contol, and slf-tunng PI contolls, tc. Th thoy and suvy on modl fnc adaptv systm has bn potd by H. Sugmoto t.al [6]. Sconday sstanc dntfcaton of an IM appld wth MRAS and ts chaactstcs has bn psntd n th study. Th mpovd vson of sldng mod contol fo an IM has bn poposd by C. Y. Won t.al [7]. Th dsgn of ntgal vaabl stuctu contol systm fo svo systms has bn poposd by T. L. Chn t.al [8]. Th slf tunng contolls a dscbd by J. C. Hung [9]. Howv, n all ths woks, xact mathmatcal modl of th systm s mandatoy to dsgn th adaptv contol algothm. Thus thy ncas th complxty of dsgn and mplmntaton. Whn fuzzy logc bass ntllgnt contoll s usd nstad of th PI contoll, xcllnt contol pfomanc can b achvd vn n th psnc of paamt vaaton and dv non-lnaty [], [3]. In addton, th fuzzy logc posss th followng advantags: ( Th lngustc, not numcal, vaabls mak th pocss smla to th human thnk pocss. (2 It lats output to nput, wthout undstandng all th vaabls, pmttng th dsgn of systm mo accuat and stabl than th convntonal contol systm. (3 Smplcty allows th soluton of pvously unsolvd poblms. (4 Rapd pototypng s possbl bcaus, a systm dsgn dosn t hav to know vythng about th systm bfo statng wok. (5 It has ncasd obustnss. (6 A fw uls ncompass gat complxty. Th vcto contol of IM wth fuzzy PI contoll has bn poposd by I. Mk t.al [] and W. P. Hw t.al []. As thy potd, th FLC automatcally updats th popotonal and ntgal gans on-ln and thus hlp n achvng fast dynamc spons. Howv, ths tchnqu dos not fully utlz th capablts of th fuzzy logc. Moov, th nhnt dsadvantags assocatd wth th PI contoll cannot b avodd. Th fuzzy PI contolls a lss usful n ndustal applcatons. Th pfomancs of th fuzzy logc basd ndct vcto contol fo nducton moto dv has bn poposd by M. N. Uddn t.al [2], E. Cuto t.al [3], B. Hb t.al [4], and G. C. D. Sousa t.al [5]. Th novl spd contol fo cunt gulatd VSI-fd IM has bn dscussd by thm. Th fuzzy logc basd contoll fo IM dvs has bn poposd by Mnh Ta-Cao t.al [6]. Th pfomanc of th poposd systm s compad wth th convntonal vcto contol on th bass of Intgal of tm by Absolut Tm Eo (IATE. Th Smulnk mplmntaton of cunt gulatd VSI-fd IM s poposd by Noman Maun t.al [7] and Vnod Kuma t.al [8]. Thy poposd a fuzzy logc contoll n plac of PI contoll n th vcto contol systm. Howv, th pow systm block st usd by thm maks us of S- functons and t s not as asy to wok wth as th st of th Smulnk blocks. Th wok psntd n [2]-[8] uss a fuzzy logc contoll to st th toqu componnt of fnc cunt basd on spd o and chang of spd o. Th nvt s thn swtchd to follow th fnc cunt wthn hystss band. Howv, th constant hystss band of th cunt gulatd PWM nvt of th fuzzy logc basd ndct vcto contol systm posssss poblm n achvng supo dynamc pfomanc, vn th dv contol systm ncluds th ffcnt fuzzy logc contoll. Ths pap dscusss th fuzzy logc spd contol fo VSI fd ndct vcto contolld nducton moto dvs. Fg. shows th block dagam of fuzzy logc basd spd contol systm. Such a fuzzy logc contoll conssts of fou basc blocks vz., Fuzzfcaton, Fuzzy Infnc Engn, Knowldg bas and dfuzzfcaton. ω ω Fg. Block dagam of Fuzzy logc spd contol systm fo ndct vcto contolld nducton moto dv A. Input/ Output vaabls Th dsgn of th fuzzy logc contoll stats wth assgnng th nput and output vaabls. Th most sgnfcant vaabls ntng th fuzzy logc spd contoll has bn slctd as th spd o and ts tm vaaton. Two nput k cω k, a calculatd at vy vaabls ω ( and ( samplng nstant as: ( = ( ( ( 5 ( = ( ( ( 6 ω k ω k ω k cω k ω k ω k wh ω s th fnc spd, ω spd and ( k s th actual oto ω s th valu of o at pvous samplng tm. Th output vaabl of th fuzzy logc spd contoll s th vaaton of command cunt, c ( gt th fnc command cunt, ( followng quaton. ω IVC + Fuzzy PWM Contoll Invt + IM d/dt cω c k whch s ntgatd to k as shown n th Intnatonal Scholaly and Scntfc Rsach & Innovaton 5(

3 Wold Acadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:5, No:2, 2 Dgtal Opn Scnc Indx, Elctcal and Comput Engnng Vol:5, No:2, 2 wast.og/publcaton/485 ( = ( + ( ( 7 k k c k B. Fuzzfcaton Th succss of ths wok, and th lk, dpnds on how good ths stag s conductd. In ths stag, th csp vaabls k cω k a convtd n to fuzzy vaabls ω ω ( and ( and cω spctvly. Th mmbshp functons assocatd to th contol vaabls hav bn chosn wth tangula shaps as shown n Fg. 2. Th unvs of dscous of all th nput and output vaabls a stablshd as (-.8,.8. Th sutabl scalng factos a chosn to bought th nput and output vaabls to ths unvs of dscous. Each unvs of dscous s dvdd nto svn ovlappng fuzzy sts: NL (Ngatv Lag, NM (Ngatv Mdum, NS (Ngatv Small, ZE (Zo, PS (Postv Small, PM (postv Mdum, and PL (Postv Lag. Each fuzzy vaabl s a mmb of th substs wth a dg of mmbshp µ vayng btwn (non-mmb and (full-mmb. All th mmbshp functons hav asymmtcal shap wth mo cowdng na th ogn (stady stat. Ths pmts hgh pcson at stady stat [3] µ ( ω µ ( cω (a (b..5 (c Fg. 2 Mmbshp functons fo (a spd o (b chang of spd o (c Chang of command cunt C. Knowldg bas and Infnc Stag Knowldg bas nvolvs dfnng th uls psntd as IF-THEN statmnts govnng th latonshp btwn nput and output vaabls n tms of mmbshp functons. In ths stag, th vaabls ω and cω a pocssd by an nfnc ngn that xcuts 49 uls (7x7 as shown n Tabl I. Ths uls a stablshd usng th knowldg of th systm bhavo and th xpnc of th contol ngns. Each ul s xpssd n th fom as n th followng xampl: IF ( ω s Ngatv Lag AND ( cω s Postv Lag THEN ( c s Zo. Dffnt nfnc ngns can b usd to poduc th fuzzy st valus fo th output fuzzy vaabl c [3] s usd. µ ( c In ths pap, th Max-poduct nfnc mthod TABLE I FUZZY CONTROL RULES c NL NL NL NL NL NM NS ZE NM NL NL NL NM NS ZE PS NS NL NL NM NS ZE PS PM ZE PS NM NS ZE PS PM PL PL PM NS ZE PS PM PL PL PL PL ZE PS PM PL PL PL PL D. Dfuzzfcaton In ths stag a csp valu of th output vaabl c ( k s obtand by usng hght dfuzzufcaton mthod, n whch th cntod of ach output mmbshp functon fo ach ul s fst valuatd. Th fnal output s thn calculatd as th avag of th ndvdual cntod, wghtd by th hghts (dg of mmbshp as follows: Intnatonal Scholaly and Scntfc Rsach & Innovaton 5(

4 Wold Acadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:5, No:2, 2 Dgtal Opn Scnc Indx, Elctcal and Comput Engnng Vol:5, No:2, 2 wast.og/publcaton/485 n = = n c w w w -K- -K- du/dt Dvatv µ = -K- /s [] Intgato ( c ( c µ ( c Fuzzy Logc Contoll Th fnc valu of command cunt ( -Cabsolut pak oto flux ( 8 k that s appld to vcto contol systm s computd by th quaton (7. Th ovall modl fo fuzzy logc basd spd contol systm fo ndct vcto contolld nducton moto dv s shown n Fg. 3. Th paamts of th moto a gvn n appndx. IV. SIMULATION RESULTS AND DISCUSSION A ss of smulaton tsts w cad out on ndct vcto contolld nducton moto dv usng both th PI contoll and fuzzy logc basd ntllgnt contoll fo vaous opatng condtons. Th tm spons and stady stat os w analyzd and compad. Fgus 4 and 5 shows spd spons wth both th PI and FL basd contoll. Th FL contoll pfomd btt pfomanc wth spct to s tm and stady stat o. Fgu 6 shows th load dstubanc jcton capablts of ach contoll whn usng a stp load fom to 2 N-m at.8 sconds. Th FL contoll at that momnt tuns quckly to command spd, wh as th PI contoll mantans a stady stat o. Fgu 7 shows th spd tackng pfomanc tst, whn suddn chang n spd fnc s appld n th fom of /lm lm/(t [ds] u ds u PI PI Fg. 3 Indct vcto contolld nducton moto block dagam wth th Fuzzy Logc Contoll wsl look-up tabl. Th ntllgnt contoll xhbtd btt spd tackng compad to PI contoll. Spd, ad/sc Spd, ad/sc Rfnc Spd Rspons wth FL Contoll Rspons wth PI Contoll v vds w Vf vao vbo vco Command Voltag Gnato Vf vao vbo vco vao vbo vco PWM nvt Tl Load Toqu vao vbo vco tl w Fg. 4 Spd spons compason at no-load Rfnc Spd Rspons wth FL Contoll Rspons wth PI Contoll Fg. 5 Enlagd spd spons compason at no-load a b c t w nducton moto modl Dmo Intnatonal Scholaly and Scntfc Rsach & Innovaton 5(

5 Wold Acadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:5, No:2, 2 Dgtal Opn Scnc Indx, Elctcal and Comput Engnng Vol:5, No:2, 2 wast.og/publcaton/485 Spd, ad/sc Fg. 6 Spd spons compason dung suddn load chang Spd, ad/sc Rfnc Spd Rspons wth FL Contoll Rspons wth PI Contoll Fg. 7 Spd tackng spons compason V. CONCLUSION Th pfomanc of fuzzy logc basd ntllgnt contoll fo th spd contol of ndct vcto contolld, PWM voltag souc nvt fd nducton moto dv has bn vfd and compad wth that of convntonal PI contoll pfomanc. Th smulaton sults obtand hav confmd th vy good dynamc pfomanc and obustnss of th fuzzy logc contoll dung th tansnt pod and dung th suddn loads. It s concludd that th poposd ntllgnt contoll has shown supo pfomanc than that of th paamt fxd PI contoll and al poposd systm [4]. APPENDIX 3-Phas Inducton Moto Paamts Roto typ: Squl cag, Rfnc fam: Synchonous hp, 34 ad/sc, 4 Pols, R s =.9 Ω, R =.39 Ω, L ls =.2-3 H, L l =.6-3 H, L m = 4-3 H, J =.226 Kg-m 2. REFERENCES Rfnc Spd Rspons wth FL Contoll Rspons wth PI Contoll [] Bmal K. Bos, Modn Pow Elctoncs and AC Dvs, Thd mpsson, INDIA: Pason Educaton, Inc., 27. [2] Blaschk F, "Th Pncpl of Fld-Ontaton as appld to th Nw Tansvcto Closd-Loop Contol Systm fo Rotatng-Fld Machns," Smns Rvw, Vol. 34, pp , May 972. [3] C. C. L, Fuzzy Logc n Contol Systms: Fuzzy Logc Contol Pat, IEEE Tansactons on Systms, Man and Cybntcs, Vol. 2, No. 2, pp , Mach/Apl, 99. [4] M. N. Uddn, T. S. Radwan and M. A. Rahman Pfomancs of Fuzzy-Logc-Basd Indct Vcto Contol fo Inducton Moto Dv, IEEE Tansactons on Industy Applcatons, Vol. 38, No. 5, pp , Sptmb/Octob, 22. [5] (Th offcal st fo MATLAB&SIMULINK as wll as Fuzzy Logc Toolbox. [6] H. Sugmoto and S. Tama, Sconday sstanc dntfcaton of an Inducton Moto Appld Modl fnc Adaptv Systms and ts Chaactstcs, IEEE Tans. on Ind. Appl., Vol IA-23, No., pp , Ma/Ap, 987. [7] C. Y. Won and B. K. Bos, An nducton Moto svo Systms wth Impovd Sldng Mod Contol, n Poc. IEEE IECON 92, pp [8] T. L Chn and Y. C. Wu, Dsgn of Intgal Vaabl Stuctu Contoll and Applcatons to Elcto Hydaulc Vlocty Svo Systms, Poc. In Elc. Eng., Vol. 38, no. 5, pp , Spt. 99. [9] J. C. Hung, Pactcal Industal Contol tchnqus, n Poc. IEEE IECON 94, pp [] Mk, N. Naga, S. Nshgama, and T. Yamada, Vcto contol of nducton moto wth fuzzy PI contoll, IEEE IAS Annu. Mt. Conf. Rc., pp , 99. [] W. P. Hw, M. R. Tamjs, and S. M. Saddqu, Applcaton of Fuzzy Logc n Spd Contol of Inducton Moto Vcto Contol, Poc. Of th ntnatonal confnc on Robotcs, vson and Paalll Pocssng fo Industal Automaton, pp , Ipoh, Malasya, Nov. 28-3,996 [2] M. N. Uddn, T. S. Radwan and M. A. Rahman Pfomancs of Fuzzy- Logc-Basd Indct Vcto Contol fo Inducton Moto Dv, IEEE Tansactons on Industy Applcatons, Vol. 38, No. 5, pp , Sptmb/Octob, 22. [3] E. Cuto, A. Consol, A. Ract and A. Tsta, Fuzzy Adaptv Vcto Contol of Inducton Moto Dvs, IEEE Tans, on Pow Elctoncs, Vol.2, No. 6, pp , Nov [4] B. Hbtl, L. Xu, and Y.Tang, Fuzzy Logc Enhancd Spd Contol of Indct Fld Ontd Inducton Machn Dv, IEEE Tans. On Pow Elctoncs, Vol.2, No.5. pp , Spt.997. [5] G. C.D. Sousa, B.K. Bos and J.G. Clland, Fuzzy Logc basd On- Ln Effcncy Optmzaton Contol of an Indct Vcto Contolld Inducton Moto Dv, IEEE Tans. On Industal Elctoncs, Vol. 42, No. 2, pp.92-98, Apl 995. [6] Mnh Ta-Cao, J. L. Slva Nto and H. L-Huy, Fuzzy Logc basd Contoll fo Inducton Moto Dvs, Canadan Confnc on Elctcal and Comput Engnng, Volum 2, Issu, May 996 Pag(s: vol.2. [7] Noman Maun, Samsul baha Mohd Noo, J. Jasn and O. S. Bnnans, A Fuzzy Logc basd Contoll fo an Indct Vcto Contolld Th-Phas Inducton Moto, IEEE Rgon Confnc, TENCON 24, Volum D, Issu Nov. 24 Pag(s: -4 Vol. 4 [8] Vnod Kuma, R. R. Josh, Hybd Contoll basd Intllgnt Spd Contol of Inducton Moto, Jounal of Thotcal and Appld Infomaton Tchnology, Dcmb 26, Vol. 3 No., pp Intnatonal Scholaly and Scntfc Rsach & Innovaton 5(

Simulation of Indirect Vector Controlled Induction Motor Drive

Simulation of Indirect Vector Controlled Induction Motor Drive Kulaj Kau, SSSR Saathbabu Duvvu and Shakt Sngh 1 Elctcal and Elctoncs Engnng Dptt., LPU, Jallandha, Punjab, Inda 2 Elctcal and Inst. Engnng Dptt., Thapa Unvsty, Patala, Punjab, Inda 3 Elctcal and Inst.