A NEW APPROACH CONTROLLERS SYNTHESIS FOR THREE PHASE INDUCTION MOTOR DRIVES BASED ON THE ARTIFICIAL INTELLIGENCE TECHNIQUES

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1 ACTA TEHNICA CORINIENI Bullet of Egeeg Tome III [] Faccule [Octobe Decembe] IN: A. RADAN,. A. BETTA,. F. NACERI,.. RADANE A NEW APPROACH CONTROER YNTHEI FOR THREE PHAE INDUCTION OTOR DRIE BAED ON THE ARTIFICIA INTEIGENCE TECHNIQUE -. Electcal Egeeg Depatmet, Faculty of Techology, Uvety of Bata, AGERIA. Electoc Documet aagemet, Uvety of e Have, e Have 766, FRANCE Abtact: I th wok, we toduced a ew method towad the deg of hybd cotol wth ldg-mode (C plu fuzzy logc cotol (FC fo ducto moto. A the vaato of both cotol ytem paamete ad opeatg coo occu, the covetoal cotol method may ot be atfed futhe. ldg mode cotol obut wth epect to both ducto moto paamete vaato ad exteal ubace. By combato of a fuzzy logc cotol ad the ldg mode cotol, the chatteg (toque-pple poblem wth vayg paamete, whch ae the ma dadvatage ldg-mode cotol, ca be uppeed, mulato eult of the popoed cotol theme peet good dyamc ad teady-tate pefomace a compaed to the clacal C fom apect fo toque-pple mmzato, the quck dyamc toque epoe ad obute to ubace ad vaato of paamete. Keywod: Iducto oto (I, ldg ode Cotol (C, Fuzzy ogc Cotol (FC, Fuzzy ogc ldg ode Cotol (FC, Toque Rpple INTRODUCTION Iducto oto (I ae appled today to a wde age of applcato ug vaable peed. Geeally, vaable-peed dve fo ducto moto ue both wde opeatg age of peed ad fat toque epoe, egadle of load vaato. Howeve, ducto moto ha dadvatage, uch a complex, olea, ad multvaable of mathematcal model, ad the ducto moto ot heetly capable of povdg vaable peed opeato. Feld oeted cotol method ued fo advaced cotol of ducto moto dve. By povdg decouplg of toque ad flux cotol demad, the vecto cotol ca gove a ducto moto dve mla to a epaate excted dect cuet moto wthout acfcg the qualty of the dyamc pefomace. Howeve, the feld oeted cotol of ducto moto dve peet two ma poblem that have bee povdg qute a bt eeach teet the lat decade. The ft oe ele o the ucetate the mache model ad load toque, ad the ecod oe the pece computato of the moto peed wthout ug peed eo. The decouplg chaactetc of the vecto cotol ae etve to mache paamete vaato. oeove, the mache paamete ad load chaactetc ae ot exactly kow, ad may vay dug moto opeato. Thu the dyamc chaactetc of uch ytem ae vey complex ad olea. Theefoe, may tude have bee made o the moto dve ode to peeve the pefomace ude thee paamete vaato ad exteal load ubace, uch a olea cotol, optmal cotol, vaable tuctue ytem cotol, adaptve cotol ad eual cotol [], [6],[8], [] ad []. ldg mode cotol (C, baed o the theoy of vaable tuctue ytem (, ha bee appled to obut cotol of olea ytem [9]. ldg mode cotol pefom well tajectoy tackg of ome olea ytem. It employ a dcotuou cotol law to dve the tate tajectoy towad pecfed ldg uface ad mata t moto alog the ldg uface the tate pace. It a commo opo that the majo dawback of ldg mode cotol the o-called chatteg pheomeo. uch a pheomeo cot of the ocllato of the cotol gal, ted to the dcotuou atue of the cotol tategy, at a fuecy ad wth a ampltude capable of duptg, damagg o, at leat, weag the cotolled phycal ytem (e.g., mechacal ytem wth backlah. eveal method of chatteg educto have bee epoted. Oe appoach [], [] place a bouday laye aoud the wtchg uface uch that the elay cotol eplaced by a atuato fucto. Aothe method [], [] eplace a max m-type cotol by a ut vecto fucto. Thee appoache, howeve, povde o guaatee of covegece to the ldg mode ad volve a tadeoff betwee chatteg ad obute. Reduced chatteg may be acheved wthout acfcg obut pefomace by combg the attactve featue of fuzzy cotol wth C [], [7], [] ad []. Fuzzy logc, ft popoed by Zadeh [6], ha pove to be a potet tool fo cotollg ll-defed o paamete-vaat plat. By ecapulatg heutc egeeg ule a fuzzy logc cotolle ca cope well wth evee ucetate, although a heavy computatoal bude may ae wthome mplemetato. Fuzzy cheme wth explct expeo fo tug ca avod th poblem []. copyght Faculty of Egeeg - Huedoaa, Uvety POITEHNICA Tmoaa

2 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] I th pape, we peeted a ew hybd olea cotol method U ( whch baed o ldg mode cotol ad fuzzy logc method, U t, U ldg mode cotol appoach employed to deg the ducto σ moto peed ad flux cotolle. The dyamc decouple cotol ha a, ( σ b, ( σ c, d, σ τ σ τ σ τ σ σ bee accomplhed ude the coo that the paamete of tato etace vaat ad theload toque tme vaat. I ode to f a, b p, a p, b, c educe the udeed chatteg pheomeo of gum fucto, τ τ p J J J the fuzzy cotol method ued, whch ca be ued to deg a ew fuzzy wtchg fucto to eplace the taoal ldg mode wth: τ, τ ad σ. R R gum fucto, Fally, mulato ad a compao ae peeted to demotate the cotbuto of th appoach.. BAIC CONCEPT OF THE CONTRO ANIFOD. ODEING OF INDUCTION OTOR The deg pocedue fo a tate baed ldg mode cotolle ca be The ducto moto model ca be developed fom t fudametal dvded to two pat []: electcal ad mechacal uato. I tatoay efeece fame the tep : Fdg the wtchg fucto defed by: voltage uato ae gve by: ( X λ e( X (6 α dφ α R I dφ R I dφ R Iα dφ R I α ωφ ωφ The tato ad oto flux lkage ae defed ug epectve elfleakage ductace ad mutualductace a gve bellow: φ α I Iα φ I I ( φα Iα I φ I I The electomechacal toque gve by: T e p [ φ I ] p [ φα φ ] ( The mechacal uato gve by: dω J Te T f Ω ( The tate model of the ducto moto a olea ytem multvaable takg the followg fom: X ( t F( X,t B( X,t ( t ( Wth: X I d, F ( X,t X I X X φ B α X φ X ω a a a a b ( X, t α b φα c ω φ b ω φα c φ b φα ω φ ω φ b φ d α [ ] φ φ c T a ω α, ( t uch a the teal dyamc ldg mode ae table. ( X the ldg uface o wtchg uface. It a uface R that dvde the tate pace to two djot pat: ( X > ad ( X < tep : Degg a cotolle U, whch ue that the ldg mode eached ad ubuetly mataed []. U U f ( X > U (7 U U f ( X < Whe the ytem ldg mode, the tajectoy wll ema o the wtchg uface. Th ca be expeed by: ( X ad ( X (8 Th coo called vaace coo of the ldg uface. The total cotol gve by: U U U (9 whee: U : The uvalet cotol. U : The attactve cotol The devatve of the uface (X : X ( X ( t t By toducg ( ad (9 (, we obta: ( X [ F( X,t B( X,t ] [ B( X,t ] ( Dug the ldg mode ad the pemaet tate, the uface zeo ( ( X ad theefoe, t devatve ad the dcotuou pat ae alo zeo ( ( X ad U. Hece, we deduce the expeo of the uvalet cotol: [ F( X,t B( X,t ] ( U B( X, t F( X, t ( Fo the uvalet commad ca take a fte value, t mut: B( X,t (

3 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] By eplacg the uvalet cotol by expeo ( yeld the ew λ ( φ ef φ ( φ ef φ expeo fo the devatve of the uface: λ φ ef φ ef ( λ b φ ( ( X [ B( X,t ] ( a [ X X a ( X X b ] ( X a d a d ( X ( X [ B( X,t ] < (6 wth: The bac fom of the attactve cotol U a elay. I th cae the I I α I ( dcotuou cotol gve by []: The uface devatve ca be wtte the followg codeed fom: U k g ( ( X (7 T [ ] G( X Q( X (6 whee k a tctly potve cotat.. DEIGN OF FUZZY OGIC IDING ODE FC G ( X [ G ( ( ] T X G X (7 Thecovetoal ldg mode cotol baed o the dcotuou G( X λ ω ef ω ef ( λ a fucto of tate vaable the ytem that ued to ceate a ldg b[ a( X X c φ X X ] (8 uface. Whe th uface eached, the dcotuou fucto keep the tajectoy o the uface of uch o that the deed ytem dyamc c T obtaed. G ( X λ φ ef φ ef ( λ b φ I th pape, the cotolle of peed ad oto flux ae ubttuted by a a [ X X (9 a ( X X b ] fuzzy ldg mode cotol to obta a obut pefomace. By keepg b d b d oe pat of the uvalet cotol (C ad addg the fuzzy logc Q ( X ( cotol (FC we obta the ew method cotol (FC. a d a d Fuzzy The eceay coo fo the tate ytem follow the tajectoy U FC U U (8 defed by the ldg uface :,(,, the uvalet Fuzzy Whee: U : FC wtch eplacg the attactve cotol. pat U the cotol to povdg.. ythe of ldg mode cotolle C. Fo the omal ytem The ft tep of ldg mode cotol deg to elect a ldg uface gve: T that model the deed cloed-loop pefomace tate vaable pace. [ ] The deg the cotol uch that the ytem tate tajectoe ae foced G( X Q( X ( towad the ldg uface ad tay o t. Now, uppoe that a ldg U Q ( X G( X U [ ] T uface gve a: λ e e.. Deg of fuzzy logc cotolle FC fo ducto moto dve (9 The popoed fuzzy cotolle peeted Fg.. The FC wth: e ω ef ω toduced to eplace the g fucto C cotolle. λ e e (,(, wth: e φef φ K, Whee λ ad λ ae o-zeo potve ga.,(, U FUZZY du Ou objectve to cotol oto peedω ad oto magtude flux gve K du by: φ φα φ, (, Hee φef ad ω ef ae the deed flux ad the deed peed epectvely. Fgue. Dagam of the fuzzy logc ldg mode cotolle. λ ( ω ef ω ( ω ef ω ( FC th ytem ue amda fuzzy feece ytem to elate two λ ( φ ef φ ( φ ef φ ( put vaable to oe output vaable. The ft put vaable the ldg uface (,(,, whle the othe put the The developmet of calculated devatve of the uface gve: λ( ω ef ω ( ω ef ω chage of ldg uface ( d,(,. The output vaable the λ ω ef ω ef ( λ a chage of cotolle ( du,(,. ( The membehp fucto fo put ad output vaable ae how b[ a( X X c φ X X ] Fgue. c T b d b d Fuzzfcato aw of fuzzy cotol (Ifeece Defuzzfcato

4 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] NB N N Z P P PB Reolve µ (.8.6. PW vete I I ~. wtch ode ldg uface ( (a Iput vaable ( µ (d NB N N Z P P PB Fuzzy logc ldg mode cotol FC Roto fluxetmato chage of ldg uface (d (b Iput vaable (d Fgue. Pcpe cheme of the popoed FC of I. NB N N Z P P PB.8.6 µ(u.. (c Output vaable (du Fgue. embehp fucto (a embehp fucto fo put vaable(. (b embehp fucto fo put vaable (d. (c embehp fucto fo output vaable du. All put ad output vaable wee omalzed to be ft the age of ( to. The output vaable (du ued to calculate the eeded chage of cotolle whch wll be ued to cotol the peed ad oto flux of ducto moto. All fuzzy ule ued the popoed ytem ae ummazed Table. Table. Ifeece table (ule. du Chage of uface (d uface ( du (, NB N N Z P P PB NB NB NB NB N N N Z N NB N N N N Z P N NB N N N Z P P Z NB N N Z P P PB P N N Z P P P PB P N Z P P P P PB PB Z P P P PB PB PB Fo the defuzzfe of the cp value of output (du, we ue the cete of aea defuzzfe.. IUATION REUT AND DICUION The behavo of the oveall ytem teted by mulato fo thee phae ducto mache epeeted at Fgue. A ee of mulato tet wee caed out o ducto moto dve ug both the ldg mode cotolle C ad fuzzy logc ldg mode cotolle FC baed tellget cotolle fo vaou opeatg coo. Fgue how peed epoe wth both the C ad FC baed cotolle. The FC cotolle pefomed bette pefomace wth epect to e tme ad teady tate eo. The peed epoe well damped wth a e tme of.. Fgue. peed epoe compao at o load (T. Fgue.a. Compao eult betwee the C ad FC at o load (T N.m. a peed 6

5 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] Fgue.b-c. Compao eult betwee the C ad FC at o load (T N.m. b electomagetc toque; c oto flux magtude Fgue 6.a-b. Compao eult betwee the C ad FC whe load (T N.m. a peed; b electomagetc toque; 7

6 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] I Fgue, A compao tet ug C ad FC cotolle have bee pefomed tatg-up towad pm at o load (T N.m. I th tet, the mulato eult how that the FC gve good pefomace mmzato of the toque pple wth hghe tackg peco. The mulato tet epoted Fgue 6 how the load ubace ejecto capablte of each cotolle whe ug a tep load fom to N.m at. ecod. A tet of obute ha bee alo pefomed by tug the oto etace paamete wth the ove-etmato. Fgue 7 how the tet of obute ealzed wth the ldg mode cotolle C ad FC fo dffeet value of the oto etace. Fgue 8 how the tet of obute ealzed wth the ldg mode cotolle C ad FC fo dffeet value of the momet of eta. Fgue 6.c. Compao eult betwee the C ad FC whe load (T N.m. c oto flux magtude Fgue 7. mulato eult ude oto etace vaato Fgue 8. mulato eult ude vaato of the momet of eta. The vaato of the momet of eta ha o gfcat fluece o pefomace of the FC popoed cotol. 6. CONCUION A ew hybd techque cotol ytem to dect vecto cotolled ducto moto combg the featue of C ad fuzzy cotol ha bee peeted th pape. Fuzzy tug cheme ae employed to educe chatteg ad acceleate the eachg phae. The FC ha the advatage hadlg the toque pple pheomeo ad educg the umbe of the fuzzy ule ad the ule themelve wee mplfed. The dve ytem wa mulated wth fuzzy logc cotolle ad C cotolle ad the pefomace wa compaed. Hee mulato eult how 8

7 ACTA TEHNICA CORINIENI Faccule [Octobe Decembe] Bullet of Egeeg Tome III [] that the deged FC cotolle ealze a good dyamc behavo of [.] u Y. ad Che J. : A elf-ogazg fuzzy ldg-mode the moto wth a apd ettlg tme, o ovehoot ad ha bette cotolle deg fo a cla of olea evo ytem, IEEE pefomace tha C cotolle. FC cotol ha moe obut wth taacto o dutal electoc, vol., pp. 9, egad to paamete vaato ad exteal ubace. Octobe 99. Appedx: [.] ao R, Peeada ad Tome P: Adaptve output feedback,: tato ad oto dex. cotol of cuet-fed ducto moto wth uceta oto ef : Refeece value. etace ad load toque, Automatca, ol., pp. 67-6, α, : Roto efeece fame : oltage, []. [.] Otega R, Cauda C ad eleme I. : Nolea cotol of ducto I : Cuet, [A]. moto: toque tackg wth ukow load ubace, IEEE Ω: echacal peed, [ad/]. ϕ: Flux, [Wb]. Taacto o Automatc Cotol, ol. 8, pp , 99. T e : Electomechacal toque, [N.m]. [.] lote J. J ad aty. : Tackg cotol of olea ytem ω: Roto agula fuecy, [ad/]. ug ldg uface, wth applcato to obot mapulato, f : coe fcto coeffcet, [N.m./ad]. Iteatoal joual of cotol, vol. 8, pp. 6 9, 98. J: omet of eta, [Kg.m ]. [.] pugeo. K: Choce of dcotuou cotol compoet fo p: Pole pa umbe. obut ldg mode pefomace, Iteatoal joual of cotol, σ: Total leakage coeffcet. ol., pp.6-79, 99. R, R : tato, oto etace, [Ω]. [.] Wag. Y, Hog C., u C. C, ad Yag W. T: Deg of a tatc,, : tato, oto ad mutual ductace, [H]. eactve powe compeato ug fuzzy ldg mode cotol, τ τ : tato ad Roto tme cotat,[]. Iteatoal joual of cotol, ol. 6, No., pp. 9, 996. REFERENCE [6.] Zadeh. A: Fuzzy et, Ifomato ad Cotol, ol. 8, pp. 8 [.] Fdma, oeo J ad Iate R: ldg mode afte the ft, 96. decade of the t cetuy, NCI, vol., pge-elag Bel Hedelbeg. [.] Ha Q. P, Rye D. C, ad Duat-Whyte H. F: Fuzzy movg ldg mode cotol wth applcato to obotc mapulato, Automatca, ol., No., pp ,999. [.] Ha Q. P, Nguye Q. H, Rye D. Cad Duat-Whyte H. F: Fuzzy ldg-mode cotolle wth applcato, IEEE taacto o dutal electoc, ol. 8, NO., Febuay. [.] Ha Q. P: Robut ldg mode cotolle wth fuzzy tug, IEEE Electoc ette, ol., No. 7, pp , 996. [.] Huag.J, Huag C. ad Y.: eole peed detfcato of vecto cotolled ducto dve va eual etwok baed etmato, Electc powe ytem eeach, ol.8, pp. -, 998. [6.] KI G., HA I.J ad KO.: Cotol of ducto moto fo both hgh dyamc pefomace ad hgh powe effcecy, IEEE taacto o dutal electoc, ol. 9, pp. -, 99. [7.] aamayad T, Nace F, Abdeemed R ad Belkacem : A fuzzy ldg mode tategy fo cotol of the dual ta ducto mache, Joual of Electcal Egeeg: ol., No., 6-,. [8.] F.K ad aw C.: Cotol of dect feld-oeted ducto moto dve codeg the effect of dead-tme ad paamete vaato, IEEE taacto o dutal electoc, ol., pp. copyght 86-9, 99. Uvety POITEHNICA Tmoaa, [9.] W. ad Che C. : Robut adaptve ldg mode cotol ug Faculty of Egeeg Huedoaa, fuzzy modelg fo a cla of uceta IO olea ytem, IEE, Revolute, 8, Huedoaa, ROANIA Poceedg, Cotol Theoy ad applcato, ol. 9, No., ay. 9