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

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Intnatonal Jounal of Intllgnt Sytm and Applcaton n Engnng Advancd Tchnology and Scnc ISSN:7-7997-799 www.atcnc.

1 Intnatonal Jounal of Intllgnt Sytm and Applcaton n Engnng Advancd Tchnology and Scnc ISSN: Ognal Rach Pap Spd Contol of Dct Toqu Contolld Inducton Moto By ung, Ant-Wndup and Fuzzy Logc Contoll Hakan Açıkgöz *, Ö.Fath Kçcoğlu, Ahmt Gan, Mutafa Şkkl Rcvd 9 th Mach, Accptd 9 th Sptmb DOI:.39/bx Abtact: In th tudy, compaon btwn contoll, fuzzy logc contoll (FLC) and an ant-wndup (+AW) contoll ud fo pd contol wth dct toqu contolld nducton moto pntd. Dct toqu contolld nducton moto dv ytm mplmntd n MATLAB/Smulnk nvonmnt and th FLC dvlopd ung MATLAB/Fuzzy-Logc toolbox. Th popod contol tatgy pfomd dffnt opatng condton. Smulaton ult, obtand fom contoll, FLC and +AW contoll howng th pfomanc of th clod loop contol ytm, a llutatd n th pap. Smulaton ult how that FLC mo obut than and +AW contoll agant paamt vaaton and FLC gv btt pfomanc n tm of tm, maxmum pak ovhoot and ttlng tm. Kywod: Ant-wndup contoll, Dct toqu contol, Fuzzy logc contoll, Inducton moto, contoll.. Intoducton DC moto hav hgh pfomanc n tm of dynamc bhavou and th contol mpl. Bcau t flux and toqu can b contolld ndpndntly. Howv, DC moto hav ctan dadvantag du to th xtnc of th commutato and buh. Nowaday, nducton moto a xtnvly ud n ndutal applcaton. Inducton moto hav complx mathmatcal modl wth hgh dg of nonlna dffntal quaton ncludng pd and tm dpndnt paamt. Howv, thy a mpl, uggd, nxpnv and avalabl at all pow atng and thy nd lttl mantnanc. Thfo, th pd contol of nducton moto mo mpotant to achv maxmum toqu and ffcncy [-5]. By th apd dvlopmnt of mcopoco, pow mconducto tchnolog and vaou ntllgnt contol algothm, contollng mthod of nducton moto hav bn mpovd. In th cnt ya, ach about nducton moto whch a common n ndutal ytm du to om mpotant advantag a focud on vcto bad hgh pfoman contol mthod uch a fld ontaton contol (FOC) and Dct toqu contol (DTC) [-7]. FOC pncpl w ftly pntd by Blachk [] and Ha [5]. FOC of nducton moto a bad on contol pncpl of DC moto. Amatu and xctd wndng cunt of lf-xctd DC moto can b ndpndntly contolld bcau thy a vtcal to ach oth. Th n t uch ca n nducton moto. Mad tud on nducton moto howd that th moto could b contolld uch a DC moto f th-pha vaabl a convtd to dq-ax and dq-ax cunt a contolld. Vcto contol mthod whch a don tanfom of ax hav bn dvlopd. Flux and toqu of nducton moto can b ndpndntly contolld. Thu nducton moto can b ud fo Kl 7 Aalk Unvty, Dpt. of Elctcal Scnc, Kl/TURKEY K.Maa Sutcu Imam Unvty, Dpt. of Elctcal and Elctonc Engnng, K.Maa/TURKEY * Copondng Autho: Emal: hakanackgoz@kl.du.t vaabl pd dv applcaton [-]. DTC w ftly pntd by Dpnbock [] and Takahah [7]. DTC mthod ha mpl tuctu and th man advantag of DTC a abnc of complx coodnat tanfomaton and cunt gulato ytm. In th DTC mthod, th flux and toqu of th moto a contolld dctly ung th flux and toqu o whch a pocd n two dffnt hyt contoll (toqu and flux). Optmum wtchng tabl dpndng on flux and toqu hyt contoll output ud to contol of nvt wtch n od to povd apd flux and toqu pon. Howv, bcau of th hyt contoll, th DTC ha dadvantag lk hgh toqu ppl. In th cnt ya, FLC ha found many applcaton. Fuzzy logc a tchnqu, mpovd by Zadh [] and t povd human-lk bhavo fo contol ytm. İt wdly ud bcau FLC mak pobl to contol nonlna, unctan ytm vn n th ca wh no mathmatcal modl avalabl fo th contolld ytm [-]. Th pap dal wth compaon of, FLC and +AW contoll on pd contol of dct toqu contolld nducton moto. Th pfomanc of FLC ha bn achd and compad wth +AW and contoll. Th t of th pap oganzd a follow. In Scton II, dct toqu contol chm gvn. Scton III dcb popod contoll dgn. Th mulaton ult a gvn n Scton IV. Concluon a pntd n Scton V.. DIRECT TORQUE CONTROL Th nducton moto modl can b dvlopd fom t fundamntal lctcal and mchancal quaton. Th d-q quaton of 3-pha nducton moto xpd n th tatonay fnc fam: V V d q R d R q p p d q () () Th jounal Advancd Tchnology & Scnc 3 IJISAE,, (3), 5-3 5

2 R d R q p p d q w w Th flux lnkag quaton: q d q d L L q L L d L L q L L d m q m d m q m d q d Elctomagntc toqu n th tatonay fnc fam gvn a: T 3 P d q q d Wh; p= (d/dt), R, R a tato and oto tanc; L, L, L m a tato, oto and mutual nductanc; d, q a tato flux n d-q fam; d, q a oto flux n d-q fam; d, q, q, q a tato and oto cunt n d-q fam and w oto pd. DTC dgn vy mpl and pactcabl. It cont of th pat uch a DTC contoll, toqu-flux calculato and voltag ouc nvt (VSI). In pncpl, th DTC mthod lct on of th nvt x voltag vcto and two zo vcto n od to kp th tato flux and toqu wthn a hyt band aound th dmand flux and toqu magntud [-]. Th toqu poducd by th nducton moto can b xpd a hown blow: T 3 P L Lm n L (3) () (5) () (7) () (9) () Wh, α angl btwn th oto flux and th tato flux vcto. th oto flux magntud and th tato flux magntud. P th pa of pol, L m mutual nductanc and L oto nductanc. Th quaton () how th toqu dpndnt on th tato flux magntud, oto flux magntud and th pha angl btwn th tato and oto flux vcto. Th quaton of nducton moto tato gvn by []: V d R dt () If th tato tanc gnod, t can b appoxmatd a quaton () ov a hot tm pod [-7]: V t () Th man that th appld voltag vcto dtmn th chang n th tato flux vcto. If a voltag vcto appld to ytm, th tato flux chang to nca th pha angl btwn th tato flux and oto flux vcto. Thu, th toqu poducd wll nca [-7]. Fg. how clod loop dct toqu contolld nducton moto ytm. Th clod loop DTC nducton moto ytm mplmntd n MATLAB/Smulnk nvonmnt. DTC nducton moto modl cont of fou pat uch a pd contol, wtchng tabl, nvt and nducton moto. d-q modl ud fo th nducton moto dgn. DTC block ha flux and toqu wthn a hyt modl. Two-lvl and th-lvl flux and toqu wthn hyt band compaato a gvn n Fg. and 3, pctvly. Flux contol pfomd by two-lvl hyt band and th-lvl hyt band povd toqu contol. Output of th hyt band a nwd n ach amplng pod and changng of th flux and toqu a dtmnd by th output. Voltag vcto a hown n Fg.. Flux contol output d, toqu contol output dt and voltag vcto of th tato flux a dtmnd a wtchng look-up tabl a hown n Tabl. In DTC mthod, tato flux and toqu a tmatd to compa wth fnc of th flux and toqu valu by ad of tato cunt, voltag and tato tanc. Th obtand flux and toqu o a appld to th hyt lay. In th hyt lay, flux and toqu bandwdth a dfnd. Aftwad, th amount of dflcton dtmnd and th mot appopat voltag vcto a lctd to apply to th nvt ung wtchng look-up tabl. If a toqu ncmnt qud thn dt qual to +, f a toqu ducton qud thn dt qual to - and f no chang n th toqu qud thn dt qual to. If a tato flux ncmnt qud thn d qual to +, f a tato flux ducton qud thn d qual to. In th way, th flux and toqu contol alzd. W* W* T* wm T* ψ* ψ* Vabc Iabc DTC S, S, Ua Ub Uc INVERTER /z 3/ V TL TL T wm Iabc AC MACHINE Fg. : DTC nducton moto ytm n MATLAB/Smulnk nvonmnt ψ* T f + - ψ ψ + dψ : Two-lvl flux hyt compaato + - T + - T dt 3: Th-lvl toqu hyt compaato Fg. Fg. Th jounal Advancd Tchnology & Scnc 3 IJISAE,, (3),

3 V 3 () V () Q V () V () V () V () 7 D Fg. : Smulnk modl of contoll wth ant-wndup FLC an appopat mthod fo dgnng nonlna contoll va th u of hutc nfomaton [9, 5]. A FLC ytm allow changng th contol law n od to dal wth paamt vaaton and dtubanc. Epcally, th nput of FLC a pd o and chang n th pd o. Th nput a nomalzd to obtan o (k) and t chang (k) n th ang of - to +. Th fuzzy mmbhp functon cont of vn fuzzy t: NB, NM, NS, Z, PS, PM, PB a hown n Fg. 7. V () V () 5 Tabl : Swtchng Look-up Tabl Fg. : Voltag vcto... NM Z PM NB NS PS PB Flux Toqu Scto. (ψ) (T ) SS SS SS3 S S5 S ψ= T= V V3 V V5 V V T=- V V V V3 V V5 ψ=- T= V3 V V5 V V V T=- V5 V V V V3 V 3. DESIGN OF FLC, AND ANTI -WINDUP CONTROLLER In th cton, convntonal contoll, +AW contoll and FLC a dgnd and appld to th DTC modl. In th ft dgn, th convntonal contoll and AW+ contoll a gvn to apply an nducton moto dv n od to contol t pd. In th cond dgn, th FLC dgnd fo tablty and obutn contol. A a ul, th contol algothm fo dct contoll can b dcbd a: u ( k) K P ( k) K k I ( k) (3) Wh, K p th popotonal facto; K I th ntgal facto and (k) th o functon. A hown n Fg. 5, th tuctu of contoll ally mpl and can b mplmntd aly. An ant-wndup ntgato addd to top ov-ntgaton fo th potcton of th ytm n Fg. [-]. Kp K K T (z+) (z-) Fg 5: Smulnk modl of clac contoll T* Fg. 7: Mmbhp functon of nput and output In th FLC, th ul ha th fom of: IF F k AND d F k d THEN du w k : k,..., M () F k and F k d a th ntval fuzzy t and w k nglton output mmbhp functon. (k) z (k)-(k-) G G Fuzzy- Contoll G3 u + + u(k) z - Fg. : Block dagam of Fuzzy- contoll Th ul ba of th FLC ytm gvn n Tabl. Th block dagam of FLC ytm fo DTC gvn n Fg.. Tabl : Rul Ba d NB NM NS Z PS PM PB NB NB NB NB NB NM NS Z NM NB NB NM NM NS Z PS NS NB NM NS NS Z PS PM Z NB NM NS Z PS PM PB PS NM NS Z PS PS PM PB PM NS Z PS PM PM PB PB PB Z PS PM PB PB PB PB. SIMULATION RESULTS > Kp K > K T z- ~= T* Sval mulaton ult fo pd contol of Dct Toqu Contolld nducton moto dv ung, +AW and FLC alzd n MATLAB/Smulnk nvonmnt. Th mulaton a pfomd fo dffnt fnc pd wth load of 3N-m and no-load dung c. Th paamt of th nducton moto ud n th mulaton a gvn n Tabl 3. AND IJISAE,, (3), 5-3 Th jounal Advancd Tchnology & Scnc 3

4 Tabl 3: Inducton Moto Paamt Paamt Valu Pow upply 3Ф Stato tanc (R).3Ω Roto tanc (R).9Ω Numb of Pol (P) Stato lf-nductanc (L).599H Roto lf-nductanc (L).599H Momnt of nta (J).9kg-m Mutual nductanc (Lm).577H Fg. 9 how th pfomanc of, +AW and FLC. Convntonal and +AW how ovhoot dung tatng (%. and %., pctvly). Th contoll pon ach to fnc pd aft m wth ovhoot and +AW pon ach to fnc pd aft m wth ovhoot. Whl th FLC pon ach to tady tat aft naly 5 m wthout ovhoot. Th mulaton ult how th FLC povd good pd pon ov th and +AW contoll. Th FLC pfomanc btt than both of contoll n tm of ttlng tm and maxmum pak ovhoot. Th output toqu contolld by +AW, and FLC contoll llutatd n Fg., and, pctvly Fg. : Th output toqu pon ung FLC Fg. 3 how th pd tackng pfomanc whl uddn changng th pd fom 5 pm to pm at. c. Ftly, DTC nducton moto tat to opat n a tady tat at 5 pm fnc pd. Thn, a uddn tp pd command dcang, fom 5 pm to pm pfomd. Th mulaton ult a gvn n th Fg. 3. Th FLC follow th fnc pd wthout any ovhoot and tady tat o. Th pfomanc of th FLC much btt than th and +AW contoll fo all pd chang ca. Th copondng valu a pntd n Tabl. Th toqu pon of +AW, and FLC a gvn n Fg., 5 and, pctvly. Spd (pm) Spd (pm) Fuzzy logc Rfnc Fg. 3: Spd pon compaon at no-load 7 Fuzzy Logc Rfnc Fg. 9: Spd pon compaon at no-load Fg. : Th output toqu pon ung +AW contoll Fg. : Th output toqu pon ung +AW contoll - Th jounal Advancd Tchnology & Scnc 3 IJISAE,, (3), 5-3 Spd (pm) Spd (pm) Fg. 5: Th output toqu pon ung contoll Fg. : Th output toqu pon ung contoll Fg. : Th output toqu pon ung FLC

5 Tabl : Pfomanc of Contoll at No-Load Tabl 5: Pfomanc of Contoll at Load Contoll Typ Contoll FLC Sttlng Tm t(m) m 5m (pon to uddn tp ducton) m 5m (pon to uddn tp ducton) 5m m(pon to uddn tp ducton) Ovhoot Mp (%) %.( t pak) %.( nd pak) %.( t pak) %.( nd pak) %( t pak) %( nd pak) Contant pd pon wth load of 3N-m at.c a gvn n Fg. 7. Th pd pon wth FLC ha no ovhoot and ttl fat n compaon wth and +AW contoll and th no tady-tat o n th pd pon. Whn th load appld, th uddn dp n pd. Th pd fall fom fnc pd of 5 pm to 9 pm and t tak 3m to ach th fnc pd. Th ult of mulaton how that th FLC gv btt pon wth pct to ttlng tm and maxmum pak ovhoot. Moov, th copondng valu a pntd n Tabl 5. Th toqu pon of +AW, and FLC a gvn n fgu, 9 and, pctvly. Spd (pm) Fuzzy Logc Rfnc Fg. 7: Contant pd pon wth load of 3N-m at. c Fg. : Th output toqu pon ung +AW contoll Fg. 9: Th output toqu pon ung contoll Fg. : Th output toqu pon ung FLC Contoll Typ Contoll Ant-Wndup Sttlng Tm t(m) m.m(pon to load toqu) m.m(pon to load toqu) 5m 3m(pon to load toqu) Ovhoot Mp (%) %.( t pak) %.33( nd pak) %.( t pak) %.33( nd pak) IJISAE,, (3), 5-3 Th jounal Advancd Tchnology & Scnc 3 FLC 5. CONCLUSIONS %( t pak) %.( nd pak) In th tudy, Dct Toqu Contolld nducton moto dv ytm pntd and pd contol of th nducton moto mplmntd. Th moto dv ytm cad out n MATLAB/Smulnk nvonmnt ung mathmatcal modl of d- q of th nducton moto. +AW contoll, and FLC contol ytm a compad and ffctvn of th FLC agant and +AW contol pfomanc llutatd. Condng th ovhoot and th pon tm, th FLC gv obvouly btt pfomanc than and +AW contoll. Moov, t can b n that th ppl n toqu wth FLC l than and +AW contoll fo all pd chang ca. Rfnc [] K. Bo Bmal, An Adaptv Hyt-Band Cunt Contol Tchnqu of a Voltag-Fd PWM Invt fo Machn Dv Sytm, IEEE Tan. Indutal Elctonc, Vol 37, Oct. 99, pp. -. [] I. Takahah and T. Noguch, A nw quck-pon and hgh ffcncy contol tatgy of an nducton moto, n IEEE Tanacton on Induty Applcaton. Volum. IA, No. 5, 9, pp. -7. [3] T. G. Habtl, F. Pofumo, M. Patoll, and L. M. Tolbt, Dct toqu contol of nducton machn ung pac vcto modulaton, n IEEE Tanacton on Induty Applcaton. Volum:, Iu: 5, 99, pp [] M. Dpnhock. "Dct lf-contol of nvt-fd machn" IEEE Tan. Pow Elcton, X9,3:-9 [5] D. Caad and G.Sa, Implmntaton of dct Toqu contol Algothm fo Inducton Moto Bad On Dct Spac Vcto Modulaton, IEEE Tan. Pow Elctonc. Vol.5, No., July. [] T. G. Habtl, F. Pofumo, M. Patoll, and L. M. Tolbt, Dct toqu contol of nducton machn ung pac vcto modulaton, n IEEE Tanacton on Induty Applcaton. Volum:, Iu: 5, 99, pp [7] R. Toufout and H. Bnalla, Dct toqu contol fo nducton moto ung fuzzy logc, n ACSE Jounal. Volum:, Iu:,. pp.9-. [] R. Toufout, and H. Bnalla, Dct toqu contol fo nducton moto ung ntllgnt tchnqu, n Jounal of Thotcal and Appld Infomaton Tchnology. 7. pp [9] F. Shda, M. Sdghzadh, S.H. Mohn-Zonooz, Y. Alnjad- Bom, A fuzzy logc dct toqu contol fo nducton moto nol dv, n Unvt Pow Engnng Confnc. 7. pp [] Y. Tang and G. Ln, Dct Toqu contol of Inducton Moto Bad on Slf-Adaptv Contoll, Th 5th

6 Intnatonal confnc on comput Scnc & Educaton, Hf, Chna. Augut -7,. [] M. Bahan, L. Hahua, Z. Jnpng, Study of Fuzzy contol n Dct Toqu Contol ytm, Intnatonal Confnc on Atfcal Intllgnc and Computatonal Intllgnc, 9. [] N.H. Ab Azz, A. Ab Rahman, Smulaton on Smulnk AC modl (HP DTC Inducton Moto Dv) Ung Fuzzy Logc Contoll, Intnatonal Confnc Comput Applcaton and Indutal Elctonc (ICCAIE) Dcmb 5-7, Kuala Lumpu, Malaya,. [3] I.Ludth, "Th Dct Contol of Inducton Moto," Th, Dpatmnt of Elctonc and Infomaton Tchnology, Unvty of Glamogan, May 99. [] L. A. Zadh, fuzzy t, Infom, Contol, Vol., 95, pp [5] Y.V.Sva Rddy, T.Bahmananda Rddy, M.Vjaya Kumaa, Dct Toqu Contol of Inducton Moto ung Robut Fuzzy Vaabl Stuctu Contoll, Intnatonal J. of Rcnt Tnd n Engnng and Tchnology, Vol.3, No.3, May. [] Vnod Kuma, and R.R. Joh, Hybd contoll bad ntllgnt pd contol of nducton moto, Jounal of Thotcal and Appld Infomaton Tchnology (JATIT), 5,pp-7-75, [7] V Chta, and R. S Pabhaka,. Inducton Moto Spd Contol ung Fuzzy Logc Contoll, Poc. of Wold Acadmy of Scnc, Engnng and Tchnology, Vol. 7, Dcmb, pp [] M. Gaddam, Impovmnt n Dynamc Rpon of Elctcal Machn wth D and Fuzzy Logc Bad Contoll, Pocdng of th Wold Cong on Engnng and Comput Scnc, WCECS 7, San Fancco, USA, Octob -, 7. [9] M. Skkl, C. Yıldız, H. R. Ozcalk, Fuzzy Logc Bad Intllgnt Spd Contol of Inducton Moto Ung Expmntal Appoach Intnatonal Sympoum on Nnovaton n ntllgnt SyTm and Applcaton, Tabzon/Tuky, Jun 9, July, 9 INISTA [] K.,Klnlao, C.,Nontawat, Impovd Spd Contol Ung Ant-wndup contoll Fo Dct Toqu Contol Bad on Pmannt Magnt Synchonou Moto,th Intnatonal Confnc on Contol, Automaton and Sytm, Jju Iland/Koa, 7- Oct.,. [] D. Kokmaz, O. G. Koca, Z. H. Akpolat, Robut Fowad Spd Contol of a Robotc Fh, Sxth Intnatonal Advancd Tchnolog Sympoum, Elazg/Tuky, May -,, pp Th jounal Advancd Tchnology & Scnc 3 IJISAE,, (3), 5-3 3

Induction Motor Speed Control using Fuzzy Logic Controller

Induction Motor Speed Control using Fuzzy Logic Controller Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Inducton Moto Spd Contol ung Fuzzy Logc Contoll V. Chta, and R. S. Pabhaka Intnatonal Scnc Indx, Elctcal