Performance of a Sensorless Speed Control for Induction Motor Using DTFC strategy and Intelligent Techniques

Transcription

1 A. ABBOU H. MAHMOUDI J. Electical Sytem 3-5.6(29): 64-8 Regula pape Pefomance of a Senole Speed Contol fo Induction Moto Uing DFC tategy and Intelligent echnique In hi pape, the autho popoe a Senole Diect oque and Flux Contol (DFC) of Induction Moto (IM) uing two appoach intelligent technique: Mamdani Fuzzy Logic (FL) contolle i ued fo contolling the oto peed and Atificial Neual Netwok (ANN) applied in witching elect tato voltage. We etimated the oto peed by uing the Model Refeence Adaptive Sytem (MRAS). he contol method popoed in thi pape can educe the toque, tato flux and cuent ipple and epecially impove ytem good dynamic pefomance and obutne in high and low peed.. Keywod : Induction Moto, Senole DFC, Fuzzy Logic Contolle, Atificial Neual Netwok, MRAS. Intoduction he induction moto i one of the mot widely ued machine in indutial application due to it high eliability, elatively low cot, and modet maintenance equiement. High pefomance electic dive equie decoupled toque and flux contol. hi contol i commonly povided though Field Oiented Contol (FOC), which i baed on decoupling of the toque-poducing cuent component and the flux- poducing component. FOC dive cheme equie cuent contolle and coodinate tanfomation. Cuent-egulated pule-width-modulation invete and inne cuent loop degade the dynamic pefomance in the opeating egime wheein the voltage magin i inufficient fo the cuent contol, paticulaly in the field weakening egion []. he poblem of decoupling the tato cuent in a dynamic fahion i avoided by DFC. Diect oque and Flux Contol (DFC) i nowaday widely ued fo induction moto dive, he povide a vey quick and pecie toque epone without the complex field oientation block and the inne cuent egulation loop [2, 3]. he diadvantage of conventional DC ae high toque ipple and low tanient epone to the tep change in toque duing tat-up [4, 5]. Fo that eaon the application of Fuzzy logic and atificial neual netwok attact the attention of many cientit fom all ove the wod [6]. he eaon fo thi tend i the many advantage which the achitectue of ANN have ove taditional algoithmic method [7]. Among the advantage of ANN ae the eae of taining Electic Engineeing Depatment, Mohammadia School of Enginee, Av. Ibn Sina B.P. 767 Agdal Rabat, MOROCCO Abbou_a@yahoo.f, mahmoudi@emi.ac.ma

2 and genealization, imple achitectue, poibility of appoximating non linea function, inenitivity to the ditotion of the netwok, and inexact input data [6, 8]. On the othe hand, ongoing eeach ha concentated on the elimination of the peed eno at the machine haft without deteioating the dynamic pefomance of the dive contol ytem [9]. he advantage of peed enole induction moto dive ae educed hadwae complexity and lowe cot, educed ize of the dive machine, elimination of the eno cable, bette noie immunity, inceaed eliability and le maintenance equiement. In thi pape we peent the pefomance of the enole peed contol of induction moto uing a peed popotional integal (PI) Fuzzy contolle. he atificial neual netwok then eplace the witching table of the conventional DFC while the otation peed i etimated by the MRAS method. hi pape oganized a follow: he induction model i peented in the econd ection, the DFC baed Atificial Neual Netwok i developed in the thid ection, the peed PI Fuzzy contolle deign i pefomed in the fouth ection, ection five peent a peed MRAS etimato and ection ix i devoted to illutating by imulation the pefomance of thi contol tategy, a concluion and efeence lit end the pape. 2 Induction Moto Model he tate equation of induction moto witten in tato efeence fame, (α, β) coodinate, can be expeed a follow: + C X Y BU X A X.. (ω). & Whee A, B and C ae the evolution, the contol and the obevation matice epectively. [ β ] α β α i i X Φ Φ ; β α V V U ; β α i i Y + + M M M M M M A ) ( ) ( ω ω ω ω ω ()

3 L B L C With,ω Roto peed and the machine paamete: R, R ae epectively the tato and the oto eitance, M, L, L ae epectively the mutual, the tato and the oto cyclic inductance; p denote the numbe of pole pai, with: L, R he mechanical equation i the following: L, R L M 2 L d J. Ω Ce C f. Ω dt (2) In which J i the inetia coefficient and C i the load toque.uing the Laplace tanfom, the equation (3) how that the elation between the tato flux and the oto flux epeent a low pa with time contant. Φ M L Φ + (3) he electomagnetic toque can be expeed a C e 3 2 p ( Φ 2. i α β Φ. i β α ) (4) 3 DFC Scheme fo Induction Moto 3. DFC Stategy he block diagam of the popoed enole contol cheme i hown in figue.he DFC method wa intoduced in 985 by akahahi []. hi tategy of contol i elatively new and competitive compae to the oto flux oiented method. hi type of contol i baed on the diectly detemination of the equence of contol applied to the witche of a tenion invete. hi choice i geneally baed on the ue of hyteei egulato, whoe function i to contol the tate of the ytem, and to modify the amplitude of the tato flux and the electomagnetic toque.

4 he tato flux, a given in equation (5), can be appoximated a equation (6) ove a hot time peiod if the tato eitance i ignoed. t Φ Φo + ( V R I ) dt t (5) Φ Φo + Vdt (6) Fig..Block diagam of enole contol popoed Duing one peiod of ampling e, vecto tenion applied to the machine emain contant, and thu one can wite Φ ( k + ) Φ ( k) + V. (7) O Δ Φ V. e (8) e heefoe to inceae the tato flux, we can apply a vecto of tenion that i co-linea in it diection and vice-vea.

5 Fig. 2. Definition of tato flux incement and patial poition of the voltage vecto keeping the flux inide the tip of hyteei. Fig. 3. Component of the eo of flux at the time of the application of the vecto V 2 voltage If the eo of flux i pojected on the diection of tato flux and on a pependicula diection (Fig.3), one put in evidence the component acting on the toque and on the flux. In the Figue 3, the component ΔΦ give the electomagnetic oque of the Induction moto while the component ΔΦf c modifie the magnitude of tato flux. he toque i poduced by the induction moto can be expeed a equation: 3 M Ce p in γ 2 L Φ Φ (9) L

6 he toque depend upon the amplitude of the two vecto tato flux Φ and oto flux Φ, and thei elative poitionγ. If one ucceed in pefectly contolling the flux Φ (tating with V) in module and in poition, one can ubequently contol the amplitude and the elative poition of Φ and theefoe ultimately, the toque. When flux i in ecto S i, the vecto V i+o V i- ae elected to inceae the amplitude of flux, and V i+2 o V i-2 to deceae it. What how that the choice of the vecto tenion depend on the ign of the eo of flux, independently of it amplitude. hi explain why the exit of the coecto of flux can be a Boolean vaiable. One add a bond of hyteei aound zeo to avoid uele commutation when the eo of flux i mall. Indeed, with thi type of coecto in pite of hi implicity, one can eaily contol and maintain the end of the vecto flux, in a cicula ing. he witching table popoed by akahahi [], a given by able. 3.2 Atificial Neual Netwok DFC able. Switching table he Atificial neual netwok eplace the witching table electo bock. He ue a dene inteconnection of computing node to appoximate nonlinea function [8]. he neual netwok electo input popoed ae the poition of flux tato vecto epeented by the numbe of the coeponding ecto, the eo between it etimated value and the efeence value and the diffeence between the etimated electomagnetic toque and the toque efeence that i to ay thee neuon of the input laye (Figue 4). he output laye i compoed of thee neuon, each epeenting the tate E i of one of the thee pai of witche i of the invete connected to the poitive DC bu.

7 Fig.4. ANN witching able Afte eveal tet we take an achitectue with a ingle hidden laye. he function f (n) activation of the hidden laye i anig: (4) While the activation function of the output laye i Puelin. he leaning of the neual netwok i done by uing the algoithm LVM (levenbeg Maquadt) with a numbe of epoch 5 and an eo of -3. (5) 4 PI Fuzzy Contolle he block diagam of the PI Fuzzy contolle i hown in fig. 5, whee the vaiable K p, K i and B ae ued to tune the contolle. Fig.5. PI Fuzzy contolle One poible initial ule bae, that can be ued in dive ytem fo a fuzzy logic contolle, conit of 49 linguitic ule, a hown in able 2, and give the change of the output of fuzzy logic contolle in tem of two input: the eo (e) and change of eo (de). he membehip function of thee vaiable ae given in Fig.6:

8 Fig. 6. Membehip function In able 2, the following fuzzy et ae ued: NL negative lage, NM negative medium, NS negative mall, ZR zeo, PS poitive mall, PM poitive medium and PL poitive lage. Fo example, it follow fom able 2 that the fit ule i: IF e i NL and de i NL then du i NL (6) able 2.Fuzzy ule bae he linguitic ule ae in the fom of IF-HEN ule and take fom: IF (e i X and de i Y) then (du i Z), whee X, Y, Z ae fuzzy ubet fo the univee of dicoue of the eo, change of eo and change of the output. Fo example, X can denote the ubet NEGAIVE LARGE of the eo etc. On evey of thee univee i placed even tiangula membehip function (fig.6). It wa choen to et thee univee to nomalized type fo all of input and output. he ange of univee i et to - to. 5 Speed Etimation with MRAS A linea tate obeve fo the oto flux can then be deived a follow by conideing the mechanical peed a a contant paamete ince it vaiation i vey low in compaion with the electical vaiable. he ymbol ˆ denote an etimated quantity.

9 Fig.7. Adaptive obeve tuctue Since the efeence model doen't depend on the otation peed, it allow to calculate the component of oto flux fom the equation of the tato voltage: dφ dt dφ dt α β ( V a ( V a α β R R I I α β di δ dt di δ dt α β ) ) (7) With δ, L a M L k R L he obeve model ue the peed of otation in it equation and pemit to etimate the component of oto flux: dφˆ dt dφˆ dt α β k. Φ k. Φ α β pωˆ. Φ + pωˆ. Φ β α + k. M. I + k. M. I α β (8) he adaptation mechanim compae the two model and etimate the peed of otation by an integal popotional egulato. Uing Lyapounov tability theoy, we can contuct a

10 mechanim to adapt the mechanical peed fom the aymptotic convegence condition of the tate vaiable etimation eo. Ωˆ Kp.(ˆ Φ Φ Φ Φˆ ) + Ki (ˆ Φ Φ Φ Φˆ α β α β α β α β ) dt (9) K p And K i ae poitive gain. 6 Simulation Reult o tudy the pefomance of the enole peed contol, PI fuzzy contolle of peed and neual netwok witching table with diect toque contol tategy, the imulation of the ytem wa conducted uing Matlab/Simulink, Fuzzy logic oolbox and neual netwok oolbox. he toque and flux hyteei band of.5nm and.wb epectively wee ued to give a witching fequency cloe to khz at the choen moto peed and load. 6. Contol Speed he tato flux efeence i fixed to Wb and we impoe a peed of efeence vaying between -46 pm and +46 pm: (a) (b) Flux beta (Wb) Stato Flux (Wb) Flux alpha (Wb) ime ()

11 (c) (d) Fig.8. (a) ajectoy of tato flux vecto (b) Stato flux magnitude (c) Roto peed (d) Stato cuent 6.2 Low Speed functioning We et the oto flux to Wb and veify the opeation at low peed between ad/ and -ad/;.5 (a).4 (b).2.5 Flux beta (Wb) -.5 Stato flux (Wb) Flux alpha (Wb) ime () 3 2 (c) Speed efeence Etimated peed 25 2 (d) Speed (ad/) - Stato cuent (A) ime () ime () Fig.9. (a) ajectoy of tato flux vecto (b) Stato flux magnitude (c) Roto peed (d) Stato cuent

12 6.3 High peed functioning In the high-peed, we ue the law of change of tato flux depending on the oto peed hown in the following figue [4]. Fig.: Refeence oto flux law With Ωn: nominal peed of otation, Φ n : face value of the tato flux. We keep the ame condition of the peed contol and impoe a oto peed of 72 pm:.5 (a).4 (b).2.5 Flux beta (W b) -.5 Stato Flux (Wb) Flux alpha (Wb) ime ()

13 2 5 Speed efeence Etimated peed (c) 4 3 (d) 2 Speed (ad/) 5 Stato cuent (A) ime () ime() Fig.. (a) ajectoy of tato flux vecto (b) Stato flux magnitude (c) Roto peed (d) Stato cuent Figue 8 how the etimated peed, tato flux and tato cuent with DFC cheme and MRAS technique. Etimated peed follow the efeence peed cloely. he tato phae cuent in the induction moto emain inuoidal and take appopiate value. Figue 9 how imulation eult of the popoed appoach at low peed (±ad/). We can ee good dynamic behavio and teady tate epone of flux and peed. Some etimated peed ocillation can be obeved. Figue illutate the pefomance of thi tategy in high peed functioning. he etimated peed follow pefectly the peed efeence. It i impotant to note that the contol ytem emain table. With the obtained eult we can etimate the oto peed in the diffeent woking epecially in low and high peed. he dynamic of tato flux and the peed etimated ae bette. he tato phae cuent in the induction moto emain inuoidal and take appopiate value. hi tategy of contol educe emakably the flux, cuent and toque ipple. he tato flux vecto decibe a tajectoy almot cicula. 7 Concluion he contol tategy that we have intoduced in thi pape peent the following advantage: - Opeating without peed eno. - good dynamic behavio and teady tate epone of peed and flux even at low and high peed - he tability of ytem. - Limitation of the cuent amplitude and low ditotion fo cuent and toque. - No flux dopping caued by ecto change cicula tajectoy. - Flux and toque ipple educed.

14 In compaion with ome tategie of contol peented in liteatue (Field oiented contol, baic DC, DC without fuzzy logic contolle), thi tategy make the induction moto baed DFC moe obut, moe table and good dynamic pefomance even in high peed. Ou futue eeach wok would take into account the vaiation of the tato eitance and the implementation of thi tategy on the DS4 boad fom dspace. 8 Refeence [] D.Caadei, F. Pofumo, G. Sea and A.ani, FOC and DC:ox viable cheme fo induction moto oque contol, IEEE an. On Powe electonic, Vol.7, No.5, Septembe 22. [2] A.Abbou, H.Mahmoudi and A.Elbacha, he effect of tato eitance vaiation on DFC of induction moto and it compenation, 4 th IEEE int. confeence on Electonic, cicuit and ytem, pp , Maakech, Decembe 27. [3] N.R.N.Idi, A.M.Yatim, Diect oque contol of induction machine with contant witching fequency and educed toque ipple, IEEE tan. on Indutial Electonic,vol.5, N 4, Augut 24. [4] J.Belhadj, I.Slama-Belkhodja, M. Pietzak-David and B. De Fonel, Diect oque contol of induction machine with a hot-time computing obeve, Electomotion, Vol., Maakeh, Moocco, 23, pp [5] G.S.Buja and M.P.Kazmiekowki, Diect toque contol of PWM invete-fed Ac moto-auvey, IEEE tan. Indutial Electonic, vol.5,n 4, pp ,aug24. [6] Xianmin Ma and Zhi Na, Neual netwok peed identification cheme fo peed enole DC induction moto dive ytem, Powe Electonic and Motion contol confeence IPEMC, Vol.3,pp ,2. [7] Ciincione, M.Chuan Lu and M.Pucci, Diect oque Contol of induction moto by ue of the GMR neual Netwok, Intenational Joint Confeence on Neual Netwok, Vol.3, pp.26-2, 23. [8] Micolaw Wla, Zbigniew and Hamid A.oliyat, Atificial-Neual Netwok Baed Senole Nonlinea Contol of Induction Moto,IEEE anaction on Enegy Conveion, Vol.2, No.3,25. [9] J. Holtz, Senole Contol of induction moto dive, Poc. Of the IEEE, Vol. 9, No.8, 22. [] akahahi and. Noguchi, a new quick epone and high-efficiency contol tategy of induction moto, IEEE an. On IA, Vol.22, No.5, pp , 987. [] Ji-Su Ryu, In-Sic Yoon, Kee-Sang Lee and Soon-chan Hong, Diect oque Contol of Induction Moto Uing Fuzzy Vaiable witching Secto, IEEE Intenational Sympoium on Indutial Electonic, ISIE, Vol.2,pp.9-96, 2. [2] F.Zidani and R.N.Said, Diect toque contol of induction moto with fuzzy minimization toque ipple, Jounal Electical Engineeing, vol.56, pp.83-88, 25. [3] R.oufouti, S.Meziane and H.Benalla, Diect oque contol fo Induction Moto uing Fuzzy Logic, ICGS an. On ACSE, Vol.6, Iue 2,pp [4] A. Abbou and H. Mahmoudi, Senole Diect oque and Flux Contol of Induction Moto aociated to the thee level NPC Convete Ued in Electic Vehicle, Intenational Confeence on Sytem and Contol, CSC 27, 6-8 May, Maakech, 27. [5] N.eke, G.M.Ahe, M.Sumne and K.J. Bad ley, Suppeion of Effect fo the enole atuation aliency poition contol of induction moto dive unde loaded condition, IEEE an. On Indu. Electonic, Vol. 47, No.5, pp , 2.

15 [6] L. ang, L.Zhong, M.F. Rahman and Y.Hu, A Novel Diect oque Contol Scheme fo Inteio Pemanent Magnet Synchonou Machine Dive ytem with low ipple in oque and flux and fixed witching fequency, Conf. Rec. IEEE PESC 2 33 d Powe Electonic Specialit Confeence, Cain, Autalia, pp , Appendix Rated peed N Rated voltage V Stato eitance R Roto eitance R Stato inductance L Roto inductance L Mutual inductance M 44 pm 22 V.85 Ω.6 Ω.6 H.23 H.58 H Moto-load inetia J.5 kg.m 2 Numbe of pole pai p 2 able 3. Induction moto data