Design and Development of an Intelligent Control by Using Bee Colony Optimization Technique

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1 Amecan Jounal of Appled Scences 9 (9): , 2012 ISSN Scence Publcaton Desgn and Development of an Intellgent Contol by Usng Bee Colony Optmzaton echnque S. achaoen and. Chatchanayuenyong Faculty of Engneeng, Mahasaakham Unvesty,. Khamang, A. Kantaawcha, Mahasaakham, 44150, haland Abstact: Poblem statement: In the moden ndustal manufactung system, the effcency of machne contol s essental to educe waste and ncease the output. Most of the manufactung machnes employ an nducton moto n the dvng system. A numbe of nducton motos must be contolled dung machne opeaton. he moe accuately these motos ae contolled the hghe s the qualty of the fnshed poduct. Appoach: hs study focuses on usng the Bee Colony Optmzaton (BCO) to fnd optmal fuzzy ules and membeshp functons of a fuzzy speed contolle fo an ndect feld-oentated Inducton Moto (IM). he BCO optmzes those quanttes so that the contolle can contol the moto to a desed speed wth the mnmum se tme and speed eo. he ftness functon of BCO s defned as se tme and Integal me Absolute Eo (IAE). An ndect feld-oentaton method fo an IM dve and a descpton of the BCO ae ntoduced befly. Results: he speed tackng capablty of the Popotonal-Integal (PI), fuzzy and BCO optmzed fuzzy contolles ae compaed unde no-load and vaous load condtons wth dffeent efeence speeds. Concluson: he desgned contolle could tack to the set pont wth a elatvely mnmum se tme and low oveshoot compaed to the othe conventonal contolles. Key wods: Bee Colony Optmzaton (BCO), Inducton Moto (IM), Integal me Absolute Eo (IAE), speed tackng capablty, conventonal contolles, nducton moto INRODUCION Manufactue of the ndusty components consumes esouces such as mateals, captal, tme and enegy. he manufactung pocess outputs ae n the fom of poduct and waste mateals. o educe the waste, a numbe of pocess paametes must be contolled dung machne opeaton, patculaly those detemnng the ate of mateal emoval. he moe accuately these paametes ae contolled the hghe s the qualty of the fnshed poduct (Wates, 1996). Automatc contol has become an mpotant and ntegal pat of moden manufactung and ndustal pocesses (Ogata, 1996). Fo example, automatc contol s essental n the numecal contol of machne tool n the manufactung ndustes, n the desgn of cas and tuck n the automoble ndustes and n the desgn of acaft pats n the aeospace ndustes (My et al., 2005). In pocess measuement and contol of machne tool accuacy whle nceasng poductvty and educe waste (Feng et al., 2003). In a machne tool, moton (poston and speed) contol of the axes opeaton, the cuttng speed s dectly elated to the spndle speed. hat elates to speed contolle of spndle moto. In the manufactung pocess mentoned above, the altenatng cuent asynchonous motos o nducton motos ae often the pefeed choce n ndustal dve applcatons (Vas, 1999). In ode to acheve the pefomance equed by ndustal dve applcaton, these nducton motos have to be contolled effectvely. Fuzzy logc contolle was based on the fuzzy sets theoy of (Zadeh, 1965). he fuzzy logc contolle conssts of thee pats; Fuzzfcaton of nput paametes, Infeence Engne and Defuzzfcaton of output paamete. he majo poblems to mplement the fuzzy logc contolle ae the detemnaton of the defnton of the membeshp functons and lngustc state space of the contolle ules, of whch the optmal soluton s always based on the human expeence and tme-consumng tal-and-eo pocess. A numbe of optmzaton technques n the lteatue have been employed to solve ths poblem. Among of these technques ae Genetc Algothm (Juado and s necessay (Esaw and Ashby, 2003). In a tunng Valvede, 2005), abu Seach Algothm (Lee, 2005), Coespondng Autho: Chatchanayuenyong,., Faculty of Engneeng, Mahasaakham Unvesty,. Khamang, A. Kantaawcha, Mahasaakham, 44150, haland el: Ext.3004 Fax:

2 Am. J. Appled Sc., 9 (9): , 2012 Patcle Swam Optmzaton (Kaakuzu, 2010) and the Ant Colony Optmzaton (Abadeh et al., 2008). hs study focuses on usng a new optmzaton technque called the Bee Colony Optmzaton (BCO) to fnd the optmal fuzzy ules and membeshp functons of a fuzzy speed contolle fo an ndect feld-oentated Inducton Moto (IM). he tem ntellgence s defned as the ablty to make the ght decson (Jones, 2007) of human o bo-systems. By ths defnton, the BCO, whch mmcs the honey foagng behavo of bees (Pham et al., 2006) and use mechansms such as waggle move to optmally locate honey souces and to fnd new souce could be a choce of ntellgence contol system. he BCO s vey smple, obust and populaton based stochastc optmzaton algothm. he emanng of the study s oganzed as follows. Mateals and methods explans the ndect feld-oented contol fo the nducton moto, a geneal vew of fuzzy logc contolle and Bee Colony Optmzaton algothm. Results addesses the pocedue to mplement the poposed algothm fo the ndect feld-oented contol and ts coespondng smulaton esults. Dscuuson and Concluson povdes the esult dscusson and some concludng emaks espectvely. MAERIALS AND MEHODS Indect feld-oented contol: In a feld-oented contolle, the magntude and phase of each phase cuent and voltage must be contolled, n coespondng to changes n both the speed and the toque load. Feld-oented contol can be done by usng ethe the dect (Blaschke, 1972) o the ndect contol method. he ndect feld-oented contol method uses moto's paametes and otatonal-poston measuement to geneate unt vecto sgnals fo the tansfomaton n feed fowad path. he feld-oented contolle accepts the toque and flux command and then geneates the toque and flux-poducng components of the stato-cuent and the slp-angle, θ S, commands. he slp angle command θ S s geneated by ntegatng, ω S (the slp speed) as gven n Eq. 1: λ f = (1 + p) (3) L m whee, slp speed, ω S s gven n Eq. 4: L ω = = K R λ ( λ ) m e s t 2 Whee And K K te t 2 2 = 3 P 3 P L = 2 2 L R = Roto esstance e = Electomagnetc toques P = Pas of poles = Roto tme constant λ = Flux lnkages n the stato efeence fame m (4) he feld angle ( θ f ) s obtaned by summng the slp angle command (θ s ) wth the oto angle (θ ) as gven n Eq. 5: θ f = θ + θ s (5) Wth the toque and flux poducng components of the stato-cuent command and oto feld angle, the dq axes cuent commands ae obtaned as shown n Eq. 6-7: θ s = ω s dt (1) cos θ sn θ ds f f = he angle between the stato cuent components, qs sn θ cos f θ f f and f gves the toque-angle command. he flux- and toque-poducng components of the stato-cuent commands ae obtaned as shown n Eq. 2-3: as qs 1 bs = ds e = (2) λ K cs 0 te 1465 (6) (7)

3 Am. J. Appled Sc., 9 (9): , 2012 Whee: ds qs Fg. 1: Block dagam of the ndect feld-oented contol system = , = d, q-axs stato cuent components as, bs, cs = Ae the toque component of the stato cuent hen by computng stato cuent commands usng 1 cuent equatons ae obtaned as shown n Eq. 8-12: = sn θ (8) qs s s = cosθ (9) ds s s = sn θ (10) as s s 2 bs = s sn( θs π ) (11) 3 2 cs = s sn( θ s + π ) (12) 3 he poposed contolle s shown n Fg. 1. he fst block n Fg. 1 calculates cuent and flux n d-q axes (Boldea and Nasa, 2006). he cuent contolle should also ensue an deal decouplng between the feld and toque fomng ds and qs components snce both components ae stongly coupled to each othe n the feld synchonous coodnate system. he second block n Fg. 1, fnd a Pak s tansfomaton (Kause et al., 1995) of moto. he moto paametes ae shown n able 1. able 1: Inducton moto paametes Paametes Value P n Nomnal powe 1100 W V nf Voltage 220 V R s Stato esstance 9.53 ohm L sc Stato leakage nductance H L Roto nductance H L m Mutual nductance H J Roto neta kgfm 2 Fuzzy contolle: he nputs of the fuzzy logc contolle ae an eo between efeence and feedback speed of the system. he fuzzy logc contolle s desgned as a mult-nput and sngleoutput contol system. he nputs of the contolle ae speed eo and speed eo ate. he output of the fuzzy logc contolle s a contol acton, u. he desgn pocedues ae as the followngs. Fst, the membeshp functon of nputs and output paametes wee defned fo both the nput eo and eo ate, whch conssts of seven membeshp functons (mf1, mf2,, mf7). he membeshp functons fo the output stat wth seven membeshp functons (mf1, mf2,, mf7), whch can be defned as the populaton of the BCO n ts algothm. Secondly, the ules table s used to analyze the output (contol actons). hee ae 49 total numbes of fuzzy ules. Fnally, the defuzzfcaton was done by usng the Cente of Aea (COA) methods as shown n Eq. 13: COA : u csp (s) = m w α = 1 m = 1 w (13) whee, the output level a of each ule s weghted by the fng stength w of the th ule. 1466

4 Am. J. Appled Sc., 9 (9): , 2012 Bee cololny optmzaton: In BCO algothm, the hve of atfcal bees contans two goups of bees, whch ae scout and employed bees. he scout bees have the esponsblty of fndng a new honey souce. he esponsblty of employed bees s to detemne a honey souce wthn the neghbohood of the honey souce n the memoes and shae the nfomaton wth othe bees wthn the hve. he pocedue of the BCO algothm s gven as follows: Step 1: Randomly geneate the ntal populatons of scout bees Step 2: Fnd the ftness value of the ntal populatons Step 3: Neghbohood seach: select the best stes and sepaate nto two goups then fnd the sze of patch stes Step 4: Recut employed bees fo selected stes and select the fttest bees fom each patch Step 5: Check the stop cteon. If the cteon s satsfed, temnate the seach Step 6: Assgn the emanng bees to andom seach and then go to Step 2 RESULS In the desgn pocess, the fuzzy logc contolle based on -S fuzzy logc conssts of thee paametes wth two-nput and one-output. Each paamete conssts of two tapezodal and fve tangula membeshp functons. he contol ules ae shown n able 2 and ts coespondng gaphs ae shown n Fg. 2. hese membeshp functons and contol ules ae automatcally tuned by the BCO. Paametes n able 3 wee employed n the BCO optmzaton pocess. he pefomance ndex n the optmzaton algothm of BCO s the Integal me Absolute Eo (IAE) of speed eo and se tme. As a consequence, F, the objectve functon, s defned by Eq. 14: MnmzeF = (eo)dt + t (14) As a esult, the tuned paametes of membeshps of fuzzy logc contolles ae llustated n Fg. 3 he smulaton esults ae shown n Fg. 4 and 5. hey depct the speed and toque esponses fo statng tansence at speed set pont of 120 ad/s, whle a load dstubance appled at t = 0.4 sec. Fgue 4 shows a compason between Popotonal-Integal (PI) contolle and optmzed fuzzy logc contolle unde no-load and load condton. he ntegal gan (K ) and the ntegal tme ( ) of the PI contolles wee set to 10 and 0.8 s espectvely. Fgue 5 depcts toque esponse compason between both contolles. able 2: Contol ules of fuzzy logc contolle Eo Eo ate LN MN SN Z SP MP LP LN LP LP LP MP MP SP Z MN LP MP MP MP SP Z SN SN LP MP SP SP Z SN MN Z MP MP SP Z SN MN MN SP MP SP Z SN SN MN LP MP SP Z SN MN MN MN LP LP Z SN MN MN LP LP LP able 3: Paametes settng of the BCO Bees algothm paametes Symbol Value/ange Populaton n Numbe of selected stes m 5.00 Numbe of elte ste e 2.00 Patch sze ngh 0.01 Numbe of bees aound elte ste nep 5.00 Numbe of bees aound othe selected ste nsp 2.00 Maxmum numbe of teaton temax

5 Am. J. Appled Sc., 9 (9): , 2012 Fg. 2: Membeshp functons of the fuzzy logc contolle 1468

6 Am. J. Appled Sc., 9 (9): , 2012 Fg. 3: Optmzed membeshps functon fo fuzzy logc contolle (a) (b) (c) Fg. 4: (a) Speed esponse of BCO-optmzed fuzzy logc and PI contolle, (b) Zoom-n esult of (a) dung sng tme and (c) Zoom-n esult of a(a) dung load dstubance. 1469

7 Am. J. Appled Sc., 9 (9): , 2012 Fg. 5: oque esponse of optmzed fuzzy logc and PI contolle DISCUSSION REFERENCES It could be seen fom Fg. 3 that the ognal membeshp functons of fuzzy logc contolle as depcted n Fg.2 wee adjusted to the new locatons accodng to the BCO optmzaton algothm. hs leads the poposed contolle to have faste se tme and settlng tme and less steady-state eo compaed to PI contolle as shown n Fg. 4(a), (b) and (c). Fg.4(c) focuses on the speed esponse wth vaaton of load at tme of 0.4 sec. It was found that both contolle could espond to the load dstubance wthout sgnfcant dffeence, howeve, the BCO optmzed fuzzy contolle yelds less steady-state speed eo. he toque esponses of both contolle dung the step speed command and load vaaton ae smla as depcted n Fg. 5.. CONCLUSION In ths study, the desgn technque based on the BCO-optmzed fuzzy logc contolle of an ndect feld-oentated contol fo the nducton moto s pesented. Wthout tal-and-eo tunng of the membeshp functons, the contol ules of the fuzzy logc contolle ae automatcally tuned to the optmal values by the BCO. he pefomances between PI and the poposed contolle ae compaed and t s clea fom the smulaton esults that the poposed BCO optmzed fuzzy logc contolle yelds bette speed esponse than PI contolle n tems of se tme and settlng tme and steady-state eo. Both contolles could mantan the speed esponse n accodance as the speed command afte the load vaaton wth less steady-state eo fo the BCO optmzed fuzzy contolle. ACKNOWLEDGEMEN hs eseach s fnancally suppoted by 2553 yealy budget of Mahasaakham Unvesty Abadeh, M.S., J. Habb and E. Sooush, Inducton of fuzzy classfcaton systems usng evolutonay ACO-based algothms. Poceedngs of the 1st Asa Intenatonal Confeence on Modellng and Smulaton, Ma , IEEE Xploe Pess, Phuket, pp: DOI: /AMS Blaschke, F., he Pncple of feld oentaton as appled to the new tansvecto closed loop contol system fo otatng feld machnes. Semens Rev., 34: Boldea, I. and S.A. Nasa, Electc Dves. 2nd Edn., CRC/aylo and Fancs, Boca Raton, Fla., ISBN-10: , pp: 544. Esaw, A. and M.F. Ashby, Cost estmates to gude pe-selecton of pocesses. Mate. Desgn, 8: DOI: /S (03) Feng, C., E.G. Collns, C. Lu and B. Wang, Radal eo feedback contol fo ba tunng n CNC tunng centes. ASME J. Manufact. Sc. Eng., 125: Jones, M.., Atfcal Intellgence: A Systems Appoach. 1st Edn., Jones and Batlett Leanng, ISBN-10: , pp: 500. Juado, F. and M. Valvede, Genetc fuzzy contol appled to the nvete of sold oxde fuel cell fo powe qualty mpovement. Elect. Powe Syst. Res., 76: DOI: /j.eps Kaakuzu, C., Paamete tunng of fuzzy sldng mode contolle usng patcle swam optmzaton. Int. J. Innovatve Comput. Infom. Contol, 6:

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