Induction Motor Speed Control using Fuzzy Logic Controller

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1 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 and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 btact Bcau of th low mantnanc and obutn nducton moto hav many applcaton n th ndut. Th pd contol of nducton moto mo mpotant to achv mum toqu and ffcncy. Vaou pd contol tchnqu lk, Dct Toqu Contol, Snol Vcto Contol and Fld Ontd Contol a dcud n th pap. Soft computng tchnqu Fuzzy logc appld n th pap fo th pd contol of nducton moto to achv mum toqu wth mnmum lo. Th fuzzy logc contoll mplmntd ung th Fld Ontd Contol tchnqu a t povd btt contol of moto toqu wth hgh dynamc pfomanc. Th moto modl dgnd and mmbhp functon a chon accodng to th paamt of th moto modl. Th mulatd dgn ttd ung vaou tool box n MTLB. Th ult conclud that th ffcncy and lablty of th popod pd contoll good. Kywod Inducton moto, Fld Ontd Contol, Fuzzy logc contoll, Maxmum toqu, Mmbhp functon. I. INTRODUCTION C Inducton moto a bng appld today to a wd ang of applcaton qung vaabl pd. Gnally, vaabl pd dv fo Inducton Moto (IM) qu both wd opatng ang of pd and fat toqu pon, gadl of load vaaton. Th lad to mo advancd contol mthod to mt th al dmand. Th convntonal contol mthod hav th followng dffcult. It dpnd on th accuacy of th mathmatcal modl of th ytm. Th xpctd pfomanc not mt du to th load dtubanc, moto atuaton and thmal vaaton 3. Clacal lna contol how good pfomanc only at on opatng pd 4. Th coffcnt mut b chon poply fo accptabl ult, wha choong th pop coffcnt wth vayng paamt lk t pont vy dffcult To mplmnt convntonal contol, th modl of th contolld ytm mut b known. Th uual mthod of computaton of mathmatcal modl of a ytm dffcult. Whn th a ytm paamt vaaton o nvonmntal dtubanc, th bhavo of th ytm not atfactoy. Uually clacal contol ud n lctcal moto dv. Th clacal contoll dgnd fo hgh pfomanc nca th complxty of th dgn and hnc th cot. V. Chta wth Dpatmnt of Elctcal Tchnology, Mnchn fü Mnchn, Ethopa. R. S. Pabhaka wth Dpatmnt of Comput Scnc & IT, Haamaya Unvty, Ethopa. dvancd contol bad on atfcal ntllgnc tchnqu calld ntllgnt contol. Evy ytm wth atfcal ntllgnc calld lf-oganzng ytm. On th 80 th dcad th poducton of lctonc ccut and mcopoco wth hgh computaton ablty and opatng pd ha gown vy fat. Th hgh pow, hgh pd and low cot modn poco lk DSP, FPG and SIC IC along wth pow tchnqu wtch lk IGBT mad th ntllgnt contol to b ud wdly n lctcal dv. Intllgnt contol, act btt than convntonal adaptv contol. tfcal ntllgnt tchnqu dvd two goup: had computaton and oft computaton [4]. Expt ytm blong to had computaton whch ha bn th ft atfcal ntllgnt tchnqu. In cnt two dcad, oft computaton ud wdly n lctcal dv. Thy a,. tfcal Nual Ntwok (NN). Fuzzy Logc St (FLS) 3. Fuzzy-Nual Ntwok (FNN) 4. Gntc lgothm Bad ytm (GB) 5. Gntc lgothm td ytm (G) Nual ntwok and fuzzy logc tchnqu a qut dffnt, and yt wth unqu capablt uful n nfomaton pocng by pcfyng mathmatcal latonhp among numou vaabl n a complx ytm, pfomng mappng wth dg of mpcon, contol of nonlna ytm to a dg not pobl wth convntonal lna ytm. Fuzzy logc a tchnqu to mbody human-lk thnkng nto a contol ytm. fuzzy contoll can b dgnd to mulat human dductv thnkng, that, th poc popl u to nf concluon fom what thy know. Fuzzy contol ha bn pmaly appld to th contol of poc though fuzzy lngutc dcpton. Fuzzy contol ytm cont of fou block a hown n Fg.. Th pap dal about th andwch of atfcal ntllgnc tchnqu patculaly fuzzy logc n th pd contol of Inducton moto. Vaou contol tchnqu a dcud n Scton II. Th Scton III dcb th block dagam of 3Φ IM dv along wth fuzzy contoll. Scton IV dcb th mplmntaton of mum toqu gnaton und fld ontd contol ung fuzzy logc contoll. Smulaton ult a gvn to dmontat th advantag of popod chm dcbd n Scton V. Concluon and fnc tud a mntond n th lat cton. Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

2 Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Input Fuzzfcaton Dcon Makng Logc Knowldg ba Fg. Fuzzy Contol Sytm Dfuzzfcaton Output aound zo pd, th lp angula vlocty tmaton bcom mpobl nc dvon by zo tak plac. noth tatgy, a hot amplng tm aumd, w could olv th lnazd dffntal quaton, thn gt an algbac quaton fo th tmaton of oto paamt. Th poblm of achvng hgh dynamc pfomanc n C moto dv wthout th nd fo a haft poton/pd no ha bn und tudy wdly. Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 II. VRIOUS CONTROL TECHNIQUES Du to advanc n pow lctonc wtch and mcopoco, vaabl pd dv ytm ung vaou contol tchnqu hav bn wdly ud n many applcaton, namly Fld ontd contol o vcto contol, Dct toqu contol, Snol vcto contol.. Dct Toqu Contol Th Dct Toqu Contol (DTC) chm vy mpl. In t bac confguaton t cont of DTC contoll, toqu and flux calculato and 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 3 P Lm T m λ λ nα L Th how th toqu poducd dpndnt on th tato flux magntud, oto flux magntud and th pha angl btwn th tato and oto flux vcto. Th nducton moto tato quaton gvn by d V λ I dt Can b appoxmatd a hown blow ov a hot tm pod f th tato tanc gnod, thn Δ λ V. Δt Th man that th appld voltag vcto a hown n th Fg. dtmn th chang n th tato flux vcto a hown n Fg. 3. If a voltag vcto appld that chang th tato flux to nca th pha angl btwn th tato flux and oto flux vcto, thn th toqu poducd wll nca. Two poblm a uually aocatd wth DTC dv whch a bad on hyt compaato a:. Vaabl wtchng fquncy du to hyt compaato ud fo th toqu and flux tmato. Inaccuat tato flux tmaton whch can dgad th dv pfomanc Som chm hav managd to mantan an avag contant wtchng fquncy by utlzng apac vcto modulaton, pdctv contol, and dad bat contol. ll of th tchnqu nca th complxty of th dv ytm. B. Snol Vcto Contol Th nol contol mthod vald fo both hgh and low pd ang. Ung th tadtonal mthod, th tato tmnal voltag and cunt tmat th oto angula pd, lp angula pd and th oto flux. In th ca, Fg. ppld Voltag Vcto Fg. 3 Stato Flux Vcto Th advantag of pd nol opaton of th dv a low cot, ducd z of th dv machn, lmnaton of th no cabl and ncad capablty. Th zo oto pd poblm ptng n th nol pd contol chm wa olvd acfcng th dynamc and tady tat pfomanc. C. Fld Ontd Contol Fld ontd contol (FOC) tchnqu ntndd to contol th moto flux, and thby b abl to dcompo th C moto cunt nto flux poducng and toqu poducng componnt. Th cunt componnt can b tatd paatly, and thn combnd to cat th actual moto pha cunt. Th gv a oluton to th boot adjutmnt poblm, and alo povd much btt contol of th moto toqu, whch allow hgh dynamc pfomanc. Som appoach whch yld th mum toqu hav bn publhd. Xu and Novotny [3] ntd that a mthod whch t th tato flux fnc nvly popotonal to th oto pd hould poduc mo output toqu than a convntonal mthod, whch t th oto flux fnc nvly popotonal to th oto pd. Howv, n th Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

3 Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 mthod, th xt om pd ang wh th mum toqu cannot b obtand. Km and Sul [] uggtd a voltag contol tatgy fo th mum toqu opaton of nducton moto n th fldwaknng gon, condng th voltag and cunt contant. Howv th appoach nglct th tato to fo th analy. Wallac and Novotny [4] uggtd an ntantanou mum-toqu gnaton mthod fo nducton moto. In th appoach, th nt cunt nput ud fo gnatng th oto flux bfo th toqu dvlopd. Thn, at th momnt that th oto flux ach th tady tat valu, th nt nput cunt wtchd to poduc toqu cunt componnt. III. BLOCK DIGRM OF INDUCTION MOTOR In od to accomplh fld ontd contol, th contoll nd to hav an accuat modl of th moto. Ov th lat val ya a lag numb of dffnt chm hav bn popod to accomplh th flux and toqu contol dd. Many of th today tchnqu nvolv om ot of lftunng at tatup n od to obtan nfomaton whch hlp to dgn accuat modl of th moto to poduc mo optmal contol. In addton, th a alo tchnqu by whch th modl can adaptvly adjut to changng condton uch a th moto tmpatu gong fom cold to wam whch wll hav an mpact of lp. Th tat quaton of th nducton moto can b xpd n th ynchonouly otatng d-q fnc fam a follow [9]. dx dt wh, X d B X + U 0 [ φ φ ] T U [ V ] T d V d ( σ ) q R R ω σl σ R ( σ ) R ω σl σ LmR Lm ω σl σl Lm LmR ω σl σl LmR 0 L LmR 0 L R ω ω L R ω ω L 0 σl B 0 σl and V, V d,q- and d- ax tato voltag;, d, q- and d- ax tato cunt; R, R tato and oto tanc; φ q, φ d, q- and d- ax oto flux; ω oto pd; ω ynchonou pd. Th gnatng toqu of th nducton moto ( φ φ ) 3 P Lm T d d q wh, P pol numb; L m mutual nductanc; L oto nductanc; Fom th abov th contnuou- tm modl of th nducton moto, a dct-tm modl can b dvd wth th followng aumpton ) Th amplng tm uffcntly mall nough to achv a good appoxmaton of a contnuou-tm modl. ) Snc th mchancal tm contant much lag than th lctcal on, oto pd of an nducton moto aumd to b contant dung th amplng pod. 3) Stato cunt, oto flux, and nput voltag a alo condd contant dung th amplng pod. Ung th abov aumpton, a dct-tm modl of nducton moto can b xpd a X wh, ( k + ) X ( k) B U ( k) d T d + T B α d d B α 0 T amplng tm Th dct modl ud n th mulaton. Maxmum toqu gnaton Maxmz T K Und contant + d I d V d + V d V wh, 3 P Lm K th tady tat voltag quaton of an nducton moto n th ynchonouly otatng fnc fam a gvn a [] Vd Rd ωσl V R ω L d Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

4 Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 wh, L m σ th lakag nductanc. So anoth cunt L lmt condton can b dvd a follow Lm ( R + ω L ) + ( R + ω σ L ) + ω R V d L d If ω 0, thn th abov quaton a ccl wth adu V /R. ω nca, th ccl tund nto an clp. Th followng α0 and α a th lmtng valu of th angl α a ω go to zo o nfnty: α0 lm ω 0 R actan ωl ( + σ ) 45 R o α actan 0 lm ω ( + σ ) ω L Th dagam of fld ontd contol block hown n Fg. 4. popotonal ntgal contoll gulat th tato voltag to achv th calculatd tato cunt. Th popotonal-ntgal contoll hown n Fg. 5. IV. IMPLEMENTTION OF FUZZY LOGIC CONTROLLER To obtan fuzzy bad modl of th moto, th tanng ytm dv nfomaton fom two man ouc, a. Th tatc flux lnkag cuv of th moto, whch povd mpotant nfomaton about th lctomagntc chaacttc of th moto b. Th dynamc al tm opatng wavfom of th moto, whch can nclud al-tm opatng ffct, uch a mutual couplng btwn pha, tmpatu vaaton, ddy cunt and kn ffct. Dung th tanng pha, ach nput-output data pa, whch cont of a cp numcal valu of maud flux lnkag, cunt, angl and voltag ud to gnat th fuzzy ul. Fg. 4 Block dagam of Fld Ontd Contol Sytm o Fg. 5 Fuzzy PI contoll To dtmn a fuzzy ul fom ach nput-output data pa, th ft tp to fnd th dg of ach data valu n vy mmbhp gon of t copondng fuzzy doman. Th vaabl thn agnd to th gon wth th mum dg. Whn ach nw ul gnatd fom th nput-output data pa, a ul dg o tuth agnd to that ul, wh th ul dg dfnd a th dg of confdnc that th ul do n fact colat to th functon latng voltag and cunt to angl. In th dvlopd mthod a dg agnd whch th poduct of th mmbhp functon dg of ach vaabl n t pctv gon. Evy tanng data t poduc a copondng fuzzy ul that tod n th fuzzy ul ba. Thfo, a ach nputoutput data pa pocd, ul a gnatd. fuzzy ul o knowldg ba n th fom of two dmnonal tabl, whch can b lookd up by th fuzzy aonng mchanm. Spd o calculatd wth compaon btwn fnc pd and pd gnal fdback. Spd o and pd o changng a fuzzy contoll nput. Input vaabl a nomalzd wth a ang of mmbhp functon pcfd and th nomalzaton facto a namd a K and K. Sutabl nomalzaton ha dct nflunc n algothm optmalty and fat pon. Rf Fg. 5. Fg. 6 how nomalzd mmbhp functon fo nput and output vaabl. fuzzy logc contoll opaton bad on th ul fomd. (a) Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

5 Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 (b) (c) Fg 6 (a) Mmbhp functon fo nput vaabl K (b) Mmbhp functon fo nput vaabl K (c) Mmbhp functon fo output vaabl Fuzzy tp fo gnatng toqu Stp : Calculat X, Y, Z, X, Z and α. x, y X d R + ω L Lm R 3 R + ωσ L Y ω Z X + Z + X X + Z Z I d ( X Z) ( X Z) + Y + Y d coα nα x y nα coα Wh x V Z I X Z X I V y X Z Stp-: Calculat th fnc cunt d and to gnat th mum toqu d X Z V ( Y + 4XZ ) X V Z ( Y 4XZ ) + 3 P L T L m d n od Stp-3: Calculat th fnc toqu fom toqu and pd laton of an nducton moto J ωf ω Tf + Bω P T Wh J moto nta B bcou coffcnt P pol numb T amplng pod Stp-4: Whn T f T, mum toqu opaton qud. Whn T f < T, mum toqu opaton not qud. In od to obtan good dynamc pon, d hould b dtmnd accodng to th opatng pont and gvn a follow: T f 3P Lm d 4 L Stp-5: Input voltag moto modl. V d and V can b obtand fom th V. SIMULTION RESULTS Fuzzy Contoll ult: Input vaabl a qud to b nomalzd wth ang of mmbhp functon pcfd. Sutabl nomalzaton ha dct nflunc n algothm and ult n optmalty and fat pon. Fg. 7 how th mmbhp functon and th output of th fuzzy logc contoll. Th fuzzy logc contoll opaton bad on th contol opaton hown n Tabl I. Δ TBLE I FUZZY CONTROLLER OPERTIONS NB NS ZE PS PB o/p NB NB NB NS NS ZE NS NB NS NS ZE PS ZE NS NS ZE PS PS PS NS ZE PS PS PB PB ZE PS PS PB PB Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 (a) (b) Fg.

8 how th mulaton ult of th toqu, oto pd and flux and ngy lo obtand ung MTLB optmzaton toolbox.

CONCLUSION Th popod pd contoll gv mum toqu ov th nt pd ang. In th tady tat, th ffcncy of th nducton moto ncad. Th valdty of th popod contoll confmd though th mulaton ult.

6 Wold cadmy of Scnc, Engnng and Tchnology Intnatonal Jounal of Elctcal and Comput Engnng Vol:, No:, 008 Intnatonal Scnc Indx, Elctcal and Comput Engnng Vol:, No:, 008 wat.og/publcaton/5366 (a) (b) Fg. 7 (a) Rul vw of fuzzy contoll output (b) Sufac vw of fuzzy contoll output Moto tt ult: ny nducton moto can b ud to how th pfomanc of th popod pd contoll. Fg. 8 how th mulaton ult of th toqu, oto pd and flux and ngy lo obtand ung MTLB optmzaton toolbox. Snc th oto flux mantand at a hgh lvl n th tady tat, t can b n that total ngy lo mantan th contant lvl aft th fnc pd achvd. No load Full load Fg. 8 Stady tat pon VI. CONCLUSION Th popod pd contoll gv mum toqu ov th nt pd ang. In th tady tat, th ffcncy of th nducton moto ncad. Th valdty of th popod contoll confmd though th mulaton ult. To mplmnt t n th laboatoy vaou paamt lk oto flux, oto cunt and opatng pont, oto paamt tunng a to b tmatd. Th popod pd contol ytm can b uful fo th vaabl pd dv ytm. REFERENCES [] S. H. Km and S. K. Sul, Voltag contol tatgy fo mum toqu opaton of an nducton machn n th fld waknng gon, n Poc. IECON 94, 994, pp [] B. K. Bo, Pow Elctonc and C Dv. Englwood Clff, NJ:Pntc Hall, 986. [3] X. Xu and D. W. Novotny, Slctng th flux fnc fo nducton machn dv n th fld waknng gon, IEEE Tan. Ind. pplcat., vol. 8, pp , Nov. /Dc. 99. [4] D. W. Novotny and T.. Lpo. Vcto Contol and Dynamc of C Dv, Oxfod Unvty P, 997. [5] T. G. Habtl t al., Dct toqu contol of nducton machn ung pac vcto modulaton, IEEE Tan. Ind. pplcat., vol. 8,pp , Spt./Oct. 99. [6] I. Takahah and T. Noguch. nw quck pon and hgh ffcncy contol tatgy fo an nducton moto. IEEE Tan. Induty pplcaton. Vol. I-, No. 5, pp , Spt/Oct 986. [7] F.D.S.Cadoo, J.F.Matn, V.F.P, " Compaatv Study of a PI, Nual Ntwok and Fuzzy Gntc ppoach Contoll fo an C Dv" 5th Intnatonal Wokhop on dvancd Moton Contol, pp , 9 Jun 998. [8]. Munoz-Gaca, T..Lpo, D.W.Novotny, " Nw Inducton Moto V/f Contol Mthod Capabl of Hgh-Pfomanc Rgulaton at Low Spd, IEEE Tanacton On Induty pplcaton, Vol.34, pp.83-8, July-ug.998. [9] B.K.Bo, "Intllgnt Contol and Etmaton n Pow Elctonc and Dv" IEEE Intnatonal Elctc Machn and Dv Confnc Rcod, pp. T/. -T/.6, May 997. [0] C.Y.Won and B.K.Bo, "n Inducton Moto Svo Sytm wth Impovd Sldng Mod Contol, IEEE Conf.Rc.of IECON 9, pp.60-66, 99. [] J.C.Hung, "Patcal Indutal Contol Tchnqu, IEEE Conf.Rc.of IECON 94, pp.7-4, 994. [] B.K.Bo, "Fuzzy logc and nual ntwok n pow lctonc and dv" IEEE Induty pplcaton Magazn, pp.57 63, Vol.6, May/Jun 000. [3] S.M.Chhaya, B.K.Bo, "Expt Sytm dd utomatd Dgn, Smulaton and Contoll Tunng of C Dv Sytm " Pocdng of th 995 IEEE IECON t Intnatonal Confnc on Indutal Elctonc, Contol, and Intumntaton, 995, pp.7-78, Vol., 6-0 Nov 995. [4] Nd mohan, To M.Undland and Wlam P.Robbn, Pow Elctonc, Nw Yok, John Wly & Son, P, 998. [5] Nhal Kulaatna, Pow Elctonc Dgn Handbook, Boton, Nwn, 998. [6] G.D'nglo, M.Lo Pt, G.Rzzotto, "Fuzzy Contoll Dgn to Dv an Inducton Moto, Pocdng of th Thd IEEE Confnc on Fuzzy Sytm, Vol.3, pp , 994. [7] S.Bov, B.Dmaya,.Ttl, "Fuzzy Logc Contol Compad wth Oth utomatc Contol ppoach, Pocdng of th 30th IEEE Confnc On Dcon and Contol, vol., pp. -6, 99. [8].Gupta, "Smulaton of Vaabl Spd Squl Cag Inducton Moto Contant Volt/Htz Opaton, IEEE Intnatonal on Elctc Machn and Dv Confnc Rcod, pp. TB3/8. -TB3/8.3, 997. [9] N.S.Ghlot and P.J.lna, dct modl of nducton moto fo al tm contol applcaton, IEEE Tan. Ind. Elcton., vol. 40, pp , Jun 993. Intnatonal Scholaly and Scntfc Rach & Innovaton () chola.wat.og/ /5366

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