AI BASED VECTOR CONTROL OF INDUCTION MOTOR

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1 AI BASED VECTOR CONTROL OF INDUCTION MOTOR K.Padukola Elctcal and lctonc ngnng S Vdya collg of Engnng and Tchnology, Inda padukola@gmal.com Abtact- In modn hgh pfomanc ac dv uually th dct vcto contol chm a ud to achv hgh dynamc opaton. Vcto contol mthod ha pmttd fat tannt pon by dcoupld toqu and flux contol. Now th chm ha bcom mplmntabl wth th advnt of fat computng dvc. Th cunt gulatv pul wdth modulaton nvt gulatng th output of th nvt cunt and alo ducd th hamonc lvl Th convntonal contoll hav toubl mtng a wd ang of tackng pfomanc vn whn pop vcto contol achvd. Th convntonal contoll pfomanc vly dgadd whn dtunng occu. Th convntonal contoll a placd by fuzzy contoll. Th ov all pfomanc of th dv can b mpovd by ung AI bad contoll. It ducd th tunng ffct aocatd wth convntonal contoll and that wll mt pd-tackng qumnt vn whn dtunng occu. Th fuzzy contoll pfomanc bcam upo to convntonal contoll Kywod vcto conytol; convntonal PI contol; Fuzzy logc contol;tablty analy;pd contol. I. INTRODUCTION Inducton moto dv wth cag typ, mot commonly ud n nduty fo contant pd applcaton. Th machn a vy conomcal, uggd n contucton and labl Inducton moto bcomng popula n vaabl pd applcaton. Th vaou contol tatg fo th contol of th nvt-fd nducton dv a cala contol and vcto contol. Scala contol povd good tady tat pon but poo dynamc pon. Th poo dynamc pon can b attbutd to vaaton n th a gap flux lnkag. Scala contol ay to mplmnt, but bcau of th nhnt couplng ffct gv luggh pon and th ytm aly pon to ntablty bcau of a hgh-od ytm ffct. Fo xampl, whn th toqu ncad by ncmntng th fquncy, th flux tnd to dca. Th dca n flux compnatd by fdng an addtonal voltag to th luggh flux loop. Th poblm [B.K.Bo, 1997] can b olvd by ung vcto o fld ontd contol In th fld ontd, contol nducton moto can b contolld a a paatly xctd dc moto. Th bought a aanc n th hgh-pfomanc contol of ac dv. In th ca of dc moto toqu and flux can b contolld paatly. Th pfomanc can b xtndd to Inducton moto by ung dct vcto contol [Pna t al 1998], Th pfomanc of a dc moto can b xtndd to an nducton moto f th machn contol condd n a ynchonouly otatng fnc fam ( - ), wh th nuodal vaabl appa a dc quantt n tady tat. To undtand th vcto contol, w hav to b awa of dynamc d-q modl of an nducton machn. Hgh pfomanc nducton machn dv qu fat toqu pon blow ba fquncy and contant pow abov ba fquncy. AC moto dv a ud n ndutal and poc applcaton qung hgh pfomanc. In hgh pfomanc dv, th moto pd hould cloly follow th pcfd fnc tajctoy gadl of any load dtubanc and paamt vaaton. In od to achv hgh pfomanc, Fld Ontd Contol [Yn Shn La 1998] (dct Vcto Contol) ud. Th alnt fatu of vcto contol a: Th fquncy of th dv not dctly contolld a n cala contol. In vcto contol fquncy a wll a th pha a contolld ndctly wth hlp of unt vcto. Vcto contol nomally wokng n tabl gon. Othw t automatcally com back to th tabl gon. Th toqu contol lk that of a DC machn. Lk a dc machn, pd contol pobl n fou quadant wthout any addtonal contol qupmnt. Th pap dcu th mulaton of vaabl pd nducton moto ung fuzzy logc bad vcto contol. Th moto contol u a tadtonally handld by fxd gan P and PI contoll.. Th poblm can b olvd by val adaptv contol tchnqu. Th dgn of adaptv contol tchnqu [M.A.Dntal. t al 1997] dpnd on xact ytm mathmatcal modl. But t o ftn dffcult to dvlop an accuat ytm mathmatcal modl du to unknown load vaaton and ytm dtubanc. Th abov poblm can b by placng tadtonal contoll ovcom by fuzzy logc contoll [Ban Hb1995]. II. VECTOR CONTROL OF INDUCTION MOTOR A. DC DRIVE ANALOGY Idally, a vcto contolld nducton moto dv opat lk a paatly xctd DC dv, n a DC machn, nglctng d q ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

2 th amatu acton ffct and fld atuaton, th dvlopd toqu T =K t I a I q (1) Wh I a = amatu cunt I f = fld cunt K t =toqu contant Th contucton of a dc machn uch that th fld flux Ψ f poducd by th cunt I f ppndcula to th amatu flux Ψ a, whch poducd by amatu cunt I a th pac vcto, whch a tatonay n pac, a othogonal o dcoupld n natu. Th man that whn toqu contolld by contollng a I a, th flux Ψ f not affctd. Whn th fld cunt If contolld, t affct th fld flux Ψ f only, but not th Ψ a flux. c d q a convtd to and by th pha to two-pha tanfomaton. Th a convtd to ynchonouly otatng fnc fam by th unt vcto componnt. Th contol cunt and copond to th Machn contol cunt and. And alo, th unt vcto au th coct algnmnt of cunt wth th flux vcto and ppndcula to t. co and n q d d q q d Fg. 3. vcto contol of nducton moto Fg. 1. paatly xctd dc moto C. DIRECT OR FEED BACK CONTROL Fg. 4 pnt th block dagam of a dct vcto contol mthod fo PWM voltag fd nvt dv. Th contol paamt and whch a dc valu n ynchonouly otatng fnc fam convtd to tatonay fam by Ung unt vcto gnatd fom flux vcto gnal and. d q d q Fg. 2. vcto contol of nducton moto In vcto contol, d analogou to fld cunt If and q analogou to amatu cunt Ia of a dc machn. Th toqu can b xpd a T =K t I d I q (2) Wh I q = toqu componnt I d = fld componnt Th man that whn q contolld, t affct th actual q cunt only, but do not affct th flux.mlaly, whn d cunt contolld, t contol th flux only and do not affct th q componnt of cunt. B. PRINCIPLES OF VECTOR CONTROL: Rpntng machn modl n a ynchonouly otatng fnc fam by condng that nvt havng unty cunt gan. And t gnat a, b and cunt dpndng upon th and c command cunt of th contoll. Th machn tmnal pha cunt a, b and, a b c Fg. 4. Dct vcto contol block dagam wth oto flux ontaton Th toqu componnt of cunt pd contol loop though dcton of flux ˆ q and th cunt q. Algnng of cunt q gnatd fom th d n th ppndcula to t xpland n Fg. 5. d q Wll otat at ynchonou pd wth pct to tatonay fam. Th angula poton of th d ax wth pct to th d q d ax By mantanng th ampltud of th oto flux (Ψ) th man whn q contolld, t affct th actual q cunt only, but do not affct th flux Ψ. Smlaly, whn d contolld, t contol th flux only and do not affct th q componnt of cunt.. ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

3 oth popotonal to th ntgal of o gnal. Th quaton dcbng a PI contoll U (t) = k c [ (t) +1/T 1 (t) dt] (8) U () = k c [1 +1/T 1()] E() Fg. 5. d q and d q phao & coct oto flux Wh T 1 ntgal (o) t tm d q ˆ ˆ co 2 d ˆ n 2 q D. AXIS TRANSFORMATION Th dct mthod of contol th lctcal angl maud fom th dct ax oto flux (Ψ d ), quadatu ax oto flux (Ψ q ) and oto flux (Ψˆ). (3) Ψˆ = qt ((Ψ d ^2) + (Ψ q^2)) Coθ = Ψ d / Ψˆ (4) Snθ = Ψ q / Ψˆ d =coθ d nθ q q =coθ d + nθ q (5) aftwad, th tatonay vaabl a convtd to pha vaabl ung (2) to gnat th th cunt command fo cunt gulatd pul wdth modulaton nvt. a = (2/3) d b = (2/3)(-0.5 d + (3/2) q ) (6) c = (2/3)(-0.5 d - (3/2) q ) II. FUZZY LOGIC CONTROLLER In cnt ya th fuzzy logc ha bcom popula n many applcaton of lctcal dv and contol, wh clacal PI contoll w pvouly ud. Sval dgn tchnqu xt to tun th clacal PI contoll paamt, but thy can b tm conumng and moov fxd contoll ttng cannot uually povd good dynamc pfomanc ov th whol opatng pd ang of th dv. [Longya xu t al A. FUZZY LOGIC Fuzzy logc (FL) on of th atfcal ntllgnt tchnqu. Fuzzy logc unlk Boolan logc, dal wth poblm that hav fuzzn o vagun. A fuzzy t thoy bad on fuzzy logc, wh n a patcula objct ha a dg of mmbhp n a gvn t that may b anywh n th ang of 0 (compltly not n th t) to 1 (compltly n th t). Fo th aon, FL oftn dfnd a mult-valud logc, compad to b-valud Boolan logc [B.K. Bo, 1986]. B. FUZZY SYSTEM A fuzzy nfnc ytm (o fuzzy ytm) bacally cont of a fomulaton of th mappng fom a gvn nput t to an output t. E. CONVENTIONAL CONTROLLERS 1) Popotonal contoll Th popotonal contoll poduc an output gnal whch popotonal to th nput gnal.. o. Th quaton dcbng th popotonal contoll U (t) = k c (t) U() = k c E() (7) K c = 100/PB Wh k c = contoll gan PB = popotonal band E = o U = ptubaton n contoll output gnal fom th ba valu copondng to th nomal opatng condton 2) Popotonal ntgal contoll To mov th tady tat o n contolld vaabl of a poc, an xta amount of ntllgnc mut b addd to th popotonal contoll. Th xta ntllgnc th ntgal (o) t acton. Th PI contoll poduc a output gnal contng of two tm- on popotonal to o gnal and Fg. 6. Stuctu of fuzzy contoll Th opaton of fuzzfcaton convt th actual nput valu nto lngutc valu o fuzzy t fuzzy nfnc dfn a mappng fom nput fuzzy t to output fuzzy t bad on th fuzzy IF-THEN ul and th compotonal ul of nfnc and knowldg ba contan nfomaton on fuzzy t and a ul ba wth a t of lngutc condtonal Statmnt bad on xpt knowldg. Wth th gvn nput, fuzzy nfnc comput th fuzzy t C ',havng mmbhp functon ' c (z) = mn[ C(z), ], nducd ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

4 by ach ul, and agggat all output fuzzy t to obtan th global fuzzy output out(z) = max {mn[ C(z), I ]}. Fnally th output fuzzy t out(z) convtd nto a cp output valu. Th opaton, calld dfuzzfcaton, may b pfomd by val mthod C. SINGLETON FUZZIFICATION Intpt an nput a 0 a a fuzzy t wth th mmbhp functon A(a) qual to zo xcpt at th pont a 0 wh A(a 0) qual to on. (n-1) btwn two concutv amplng tm ntant. Th output vaabl of th pd contoll th fnc of q ax tato cunt componnt. Th nput and output q lngutc vaabl of th th fuzzy contoll hav bn quantzd n th followng ubt [Cuto t al 1997]. NB- Ngatv bg ; NS Ngatv mall; ZE Zo ; PS Potv mall PB Potv bg ; NV Ngatv ; PV Potv ; NC No chang PM Potv mdum TABLE I. SPEED CONTROLLER FUZZY RULES D. FUZZY IMPLICATION It a fuzzy t S wth (x,y) = A B (x,y) = A (x) B (y) wh A,B a fuzzy t on x,y pctvly. Whn pnt a mnmum opato, t mpl that th concluon no mo ctan than th pm. E. Nomalzaton Kpng all th unv of dcou fxd, th fuzzy ytm can b tund at t nput and output wth nomalzng gan, makng dgn a and mo flxbl. Th mmbhp functon fo fuzzy pd contol followng Fg. 8. Input mmbhp functon (Spd o) Fg. 9. Input mmbhp functon (Chang n Spd o) Fg. 7. Sngl ul fuzzy ytm ung mamdan mthod Fuzzfcaton poc map thm to aocatd fuzzy t wth mmbhp valu: 1 mappd n to th fuzzy t pntng "ZE" wth th mmbhp valu of 0.75 and mappd n to th fuzzy t pntng "PS" wth th mmbhp valu of 0.25; If 1 ZE and 2 PS, thn u PS; If 1 PS and 2 PS, thn u PL; F. FLC DESIGN FOR AN IM: In th wok two typ of fuzzy contoll a ud. Fuzzy pd contoll. Fuzzy flux contoll. Fo th popod FLC [Na t al 2002], d ax cunt and th nn loop contoll of flux of th IM dv a alzd by ncmntal P fuzzy gulato. q ax cunt and th out loop contoll of pd of th IM dv a alzd by ncmntal PI fuzzy gulato. Fg. 10. Output mmbhp functon 2. Fuzzy flux contoll Th nput to th flux contoll a th flux o (n) = (n) - (n) btwn th fnc and th actual pd, and th chang of flux o (n) = (n) - (n-1) btwn two concutv amplng tm ntant. Th output vaabl of th flux contoll th fnc of d ax tato cunt componnt d. Th mmbhp functon ud fo th nput and output a hown n fg 8 and 9. Th tangula mmbhp functon a ud fo all th fuzzy t of th nput vcto and all th fuzzy t of th output vcto. TABLE II. FLUX CONTROLLER FUZZY RULES 1. Fuzzy pd contoll Th nput to th pd contoll a th pd o (n) = (n) - (n) btwn th fnc and th actual pd, and th chang of pd o (n) = (n) - Th mmbhp functon fo fuzzy flux contol followng. ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

5 Fg. 11. Input mmbhp functon (Flux o) Fg. 12. Input mmbhp functon (chang n flux o) Th tangula functon a ud to duc th computaton fo on ln mplmntaton. Th tangula mmbhp functon can b obtand fom th tapzodal functon by ttng b = c. Fg. 15. fuzzy logc bad vcto contol of nducton moto. Vcto contol of nducton moto wth convntonal contoll and fuzzy contoll wa mplmntd n Matlab- Smulnk. Th ult hav bn obtand fo tp chang n pd and load. Th pfomanc of fuzzy contoll ha bn compad wth that of th convntonal PI contoll. Th pha cag typ nducton moto th followng paamt wa ud fo mulaton. Fg. 13. Output mmbhp functon Th output functon gvn by Output = N k 1 N K 1 c( k ) cc( k ) ( ) ( ) Th ul ud fo th popod IM, FLC algothm a hown n tabl 1 and 2.Fo th tudy, Mamdan typ fuzzy nfnc and th cnt of gavty dfuzzcaton ud. III. RESULTS AND DISCUSSION Th block dagam mplmntaton of vcto contol wth convntonal PI contoll hown n fg 14 (9) Th Spd tackng ablty of th convntonal and fuzzy contoll fo gvn fnc pd a hown n fg16 and 17 pctvly. Th nonlna I/O capablt of th fuzzy contoll allow fo th cunt to b changd vy quckly ultng vy accuat pd tackng. Th convntonal contoll act low caung nfo pd tackng. Fg. 16. Spd pon ung PI Fg. 17. Spd pon ung FLC Fg. 14. PI Contoll bad vcto contol of nducton moto Fg. 18. Toqu pon ung PI ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

6 Fg. 19. Toqu pon ung FLC Th toqu pon of two contoll fo a tp chang n load toqu a hown n fg18 and Fg 19 how th pd pon of th dv wth a tp chang n th fnc pd FLC bad ytm not affctd by th uddn chang of command pd. Thu a good tackng ha bn achvd fo th FLC, wha th PI contoll affctd wth th uddn chang n command pd contoll yldd btt pfomanc n tm of fat pon tm and low tatng cunt Th popod FLC can follow th command pd wthout any ovhoot and 2% tady tat o. It to b notd that th pd pon affctd by th load condton. Th th dawback of PI contoll wth vayng opatng condton. Th toqu pon how lttl ppl fo FLS and lag ppl contnt fo PI contoll pctvly. REFERENCES 1. Bnot.R, Fdqu. B, Jan. H and Hv.B (Apl 2000), A Fuzzy Logc Bad Multmodl Fld Ontaton n an Indct Vcto Contol of Inducton Moto, IEEE Tanacton on Indutal Elctonc,pp B.K.Bo, An Adaptv Hyt Band Cunt Contoll Tchnqu of a voltag fd PWM nvt fo Machn dv ytm, IEEE Tan. Indutal Elctonc, Vol. 37, No.5, Octob 1990, PP Bo. B.K, Modn Pow Elctonc and AC Dv, Paon Educaton Aa, Fg. 20. pd pon fo tp chang n fnc ung PI Cuto. E, Conol.A and Rcatt (Nov 1997). Fuzzy Adaptv Vcto Contol Of Inducton Moto Dv. IEEE Tanacton of Pow Elctonc, pp Joao O.Pnto, Bmal K.Bo and Maan P.Kaznkowk(Novmb/Dcmb 2000), Anual ntwok Bad Spac Vcto PWM Contoll fo Voltag Fd nvt nducton moto., IEEE Tanacton 0n Indutal Applcaton, pp Fg. 21. pd pon fo tp chang n fnc ung FLC In fg 20 tp chang n fnc pd(150ad/c to 75ad/c) appld at 3.5 c In fg 21 tp chang n fnc pd(150ad/c to 75ad/c) appld at 1.62c TABLE III. COMPARE THE PERFORMANCE OF THE TWO CONTROLLERS 6. Na.M,Tawfk.S and Azzu.M (2002). Pfomanc Of Fuzzy Logc Bad Indct Vcto Contol Fo Inducton Moto Dv, IEEE Tanacton On Induty Applcaton, pp Mk.I,Naga.N and Yamada.T,(1992) Vcto Contol Of Inducton Moto Wth Fuzzy P Contoll, Ia Annu. Rc, pp Maan P.Kaznkowk and Lug Malan(Octob 1998). Cunt Contol Tchnqu Fo Th Pha Sou PWM Convt. IEEE Tanacton 0n Indutal Applcaton, pp Tang.Y and Xu.L,(Dc1999). Fuzzy Logc Applcaton Fo Intllgnt Contol Of A Vaabl Spd Dv,IEEE Tanacton On Engy Convon, pp IV. CONCLUSION In th pap, pncpl and ufuln of fuzzy logc and fuzzy contol ha bn llutatd though applcaton fo th ntllgnt contol of a complx vaabl pd dv ytm. Th pd pon ha bn a obvd und dffnt opatng condton uch a uddn chang n command pd and tp chang n load. Th PI contoll gv an optmum pon at atd condton, but th fuzzy 10. Va.P (1990), Vcto and Dct toqu Contol of Ac Dv, Oxfod, and U.K: Clandon. ISSN (ONLINE): Vol.4, Iu.4, Apl 2018

Speed Control of Direct Torque Controlled Induction Motor By using PI, Anti-Windup PI and Fuzzy Logic Controller

Speed Control of Direct Torque Controlled Induction Motor By using PI, Anti-Windup PI and Fuzzy Logic Controller Intnatonal Jounal of Intllgnt Sytm and Applcaton n Engnng Advancd Tchnology and Scnc ISSN:7-7997-799 www.atcnc.og/ijisae Ognal Rach Pap Spd Contol of Dct Toqu Contolld Inducton Moto By ung, Ant-Wndup and