Fuzzy logic control contribution to the direct torque and flux control of an induction machine

A. LOKRITI, Y. ZIDANI, S. DOUBABI

Physics department, Electrical Systems and Telecommunication Laboratory Faculty of Sciences and Technologies. U.C.A.M University Marrakesh, Morocco Lokriti.eepci@gmail.com, zidani@yahoo.com, saiddoubabi@gmail.com
Abstract This paper presents a control strategy of an induction machine supplied by voltage-source inverter (VSI). The induction machine with the control strategy should provide, at the constraining requests, a response with high performances in electromagnetic torque and speed. This work aims to demonstrate the contribution of Fuzzy logic in the direct torque and flux control (DTFC). In fact, the conventional hysteresis comparators and IP speed controller have been replaced with two Fuzzy Logic Controllers (FLC), giving rise to a Fuzzy direct torque and flux control (FDTFC). Using MATLAB/SIMULINK software environment, simulations have been made to illustrate the performances of the presented control strategy. Keywords; induction machine, DTFC, IP controller, Fuzzy controllrer.

performances over a wide range of operation. However, due to the uncertainties, the variations in the plant parameters and the nonlinear operating conditions, fixed gain IP controllers may become unable to provide the required control performance [67]. In the recent years, the FLC have been successfully applied to many control problems, as they need no accurate mathematical models of the uncertain nonlinear systems under control [8-9]. Therefore, and to overcome the problems cited above, in this work, we try to combine the advantages of both DTFC and FLC in the induction machine drive. Thus, the hysteresis comparator and the switching table are replaced by a fuzzy logic switcher where the classical IP speed controller is replaced by a PI-fuzzy controller. The fuzzy logic switcher decides directly on the switches state. II. NOTATIONS

I.

INTRODUCTION

Induction machines have been widely used in industrial field as actuators, since they are more rugged, reliable, compact, efficient and cheaper then Direct Current (DC) machines. However, difficulties in high performance induction machine drive arise, as the machines model is complicated, highly coupled, nonlinear, multivariable and uncertain [1]. The recent advances of both high power switching devices and fast microprocessors have allowed the implementation of sophistical command algorithms. One of the common used control strategy is the direct torque and flux control (DTFC) combined with an IP speed controller. Nowadays, as a variable structure control, the DTFC is widely used for induction motor drives. It provides a very rapid, precise torque response, and lower parameter sensibility (basically, require the knowledge of stator resistance only), without a complex field orientation block and the inner current regulation loop [2-3].The DTFC scheme, as initially proposed in [4], consists of a pair of hysteresis comparators, torque and flux calculator, a lookup table, and a voltage-source inverter (VSI) [5], but major problems are usually associated with this drive: 1) switching frequency that varies with operating conditions, 2) high torque ripple and 3) flux and current distortion. Moreover, the design of the speed controller greatly affects the performance of the drive. Concerning The IP controllers, which are widely used in industrial control system applications, they have a simple structure and can offer a satisfactory

is , is vs , vs
s , s

- axis stator current, - axis stator voltage, - axis stator flux, Stator and rotor flux, Stator resistance, Stator and rotor self-inductance, Stator and rotor time constant, Leakage coefficient, Rotor speed, Number of pole pairs, Total inertia, Friction coefficient, Electromagnetic and load torque, Differential (or Laplace) operator,

s, r

Rs Ls , Lr
T s Tr

np
J f

elm , r p

III.

CLASSICAL DIRECT TORQUE AND FLUX CONTROL

The direct torque and flux control has been introduced by I. TAKAHASHI in 1985 from the flux-oriented method and the principle of the DC motor [10]. Fig. 1 shows the block diagram of a DTFC-based induction machine drive combined with an IP speed controller. A switching table is used to determinate the control sequence that should be applied to the voltage inverter switches, such as the torque and flux errors are kept within the specified bands.

so

(v
o

R s i s ) dt
s

(3) (4)

s so v s T e =

Where: so is the initial stator flux linkage at the instant to. To determine stator vector voltage to be applied, we begin by dividing the circular trajectory of the stator flux into six symmetrical sectors referred as the inverter voltage vectors. Then, we study the effect of each stator vector voltage on the flux and torque: When the stator flux is in sector Si, the vectors Vi+1or Vi-1 are selected to increase its amplitude, and Vi+2 or Vi-2 to decrease it. However Vi+1 or Vi+2 increase the torque and Vi-1 or Vi-2 decrease it. Fig. 2 shows the effect of those different choices in sector S1

Figure 1. Direct Torque and Flux Control (DTFC) combined with an IP speed controller A. DTFC strategie. Based on the state equations of the induction motor written in stator reference frame, (, ) coordinates, the relationships between the stator flux, the rotor flux and the electromagnetic torque are given by [11]:

Figure 2. Effect of different Vs choices on the torque and stator flux in sector S1. One can conclude that the choice of the voltage vector depends on the errors sign, independently of the amplitude. This justifies the use of hysteresis controller. To control the stator flux and the electromagnetic torque TAKAHASHI used:

A two levels hysteresis controller for the flux,

M s Ls 1 + Tr p

(1)

3 M (2) r s sin( s r ) np 2 Ls Lr From those equations we deduce that r follows the variations of s with Tr as time constant. Also the torque depends upon the amplitude of both stator flux s and rotor flux r, and their relative position (s-r). Because the rotor time constant is larger than the stator one, the rotor flux changes slowly compared to the stator flux; in fact, the rotor flux can be assumed constant (the rotor flux can be assumed constant as long as the response time of the control is much small than Tr). As long as the stator flux modulus is kept constant, the electromagnetic torque can be rapidly changed and controlled by changing the stator flux angle s. From the equation (3), if the stator resistance is ignored, over a short time period (sampling time Te), the change on the stator flux can be approximated as given by equation (4) [3]. elm =

Figure 3. Two levels stator flux hysteresis controller The output of this controller is represented by a Boolean variable cflx (see Fig. 3), which indicates directly if the amplitude of flux should be increased (cflx =1) or decreased (cflx =0) NB: s=2% sn =0.02T.

A three levels hysteresis controller for the torque. The three levels (1, 0,-1) instead of two levels (1,-1) is used in order to minimise the switches commutation number [12].

delivered reference torque will not present discontinuities when a speed step or a load torque perturbation is applied [15]. The rotor speed closed loop with the IP controller is presented by the block diagram in Fig 5.

Figure 4. Three levels torque hysteresis controller This correctors output is represented by a Boolean variable Ccpl, which indicates directly if the torque should be increased, decreased or maintained (ccpl=1,-1, 0). NB: elm=0.5% nelm =0.05N.m. The switching table proposed by Takahashi [13], is given by I
TABLE I. TAKAHASHI SWITCHING TABLE

Figure 5. Closed loop IP speed controller With:

F ( p) =

1 Jp + f

(12)

In case of no disturbances ( r = 0 ), the transfer function representing the dynamics of the system is given by:

( p) = *( p)
Where: 1 =

1
g1K i
K

1 p + p +1 g1K i
2

(13)

J p + f

and g 1 =

K K
p

(14)

+ f

For a step speed consign, the condition (15) should be respected in order to have an aperiodic response of the above presented system:
To estimate the stator flux amplitude, the electromagnetic torque and the stator flux angle, we use the following relationships:
K
i

1 4 g 1 1

(15)

v s

Ud = 3 v s

(2 s 1

s2 s3 ) s3 )

(5) (6)

In this case, the time-constant 2 of the closed loop system and the proportional gain become:

Where si is the state of the ith switcher

Ud = 3

(s 2

2 = 2 1 J 1 f = 1

(16) (17)

=
=

( v s R s i s ) dt
t 0

(7) (8) (9) (10)

(11)

For a response time tpw = 0.4 (s) at 5% of the speed, which corresponds to a time-constant equal to 0.08(s), we found Kp=0.348 and Ki=6. IV.
FUZZY DIRECT TORQUE AND FLUX CONTROL

(v

R s i s ) dt

(FDTFC).

)2 + (

)2

= tan 1
s

elm =

3 n p ( s is s is ) 2

s s

FLC, as artificial intelligence techniques, have some advantages such as: i) they do not need any exact mathematical model; ii) they can handle nonlinearity of arbitrary complexity; and iii) they are based on the linguistic rules with an IFTHEN general structure, which is the basis of human logic and can be generated using the errors between references and measured, estimated or observed values [6], [16].
A. Fuzzy Direct Torque and flux control strategie

From (7) and (8), it can be seen that the estimator use only one of the machine parameters to estimate the stator flux components values which is the stator resistance. B. IP speed controller synthesis. The Integral Proportional (IP) controller is mainly different from PI controller by the fact that it does not present any zero in the closed loop transfer function [14]. Therefore, the

By analyzing the structure of the switching table, we note that it can be printed as fuzzy rules. Therefore, a first fuzzy logic-switcher can replace the switching table and the hysteresis controllers, whose inputs are the errors on the flux and torque denoted respectively dF & dT, and the argument s of the stator flux (should remain between ) denoted

TETA-F. Whereas its outputs are the states of the voltage inverter switches. Same as the flux and the torque, an other PIFLC has been used instead of the classical IP to control the speed. The following figure shows the block diagram of the FDTFC.

elm Torque error membership functions (dT)

s Stator flux error membership functions (dF).

Figure 6. Fuzzy Direct Torque and Flux Control (FDTFC) combined with a PI-Fuzzy speed controller

Stator flux angle membership functions (TETA-F).

The fuzzy rules base with 42 rules can be obtained from the following table, where V1= (100) and so on.
TABLE II. FL-SWITCHER RULES

State switches membership functions as singletons.

Figure 7. Membership functions of the FL-switcher

Figure. 8 Closed loop PI-Fuzzy speed controller.

The membership functions of the PI-FLC inputs and output are all the same (Fig. 9). The membership functions of the FL-switcher are given by Fig. 7, Where: N denote negative, Z zero and P positive. We could have used more membership functions for the fuzzification of dT and dF. But, we have used the same number of their levels in the hysteresis controller. This was in order to see the contribution that the fuzzy logic would make in this control strategy.
B. PI-Fuzzy speed controller synthesis Figure 9. Speed error, rate change of speed error and torque membership functions.

The block diagram of the PI-Fuzzy controller is shown in Fig. 8; we chose the PI-FLC used in [7], whose inputs are the normalized values of the speed error and its rate of change, that should remain between 1. Two scaling factors (KpF and KiF) are used to normalize the actual speed error and its rate of change. The output of the controller is the normalized change of the motor torque command which generates the actual value of the motor torque demand when its multiplied by a third scaling factor (B).

The following fuzzy sets are used, NB negative big, NM negative medium, NS negative small, EZ zero, PS positive small, PM positive medium and PB positive big. [7] Table III shows the fuzzy rules base with 49 rules which can be obtained from observation of the drive performance at different operating points [7], [17-18].

TABLE III.

SPEED PI-FLC RULES.

After several simulations we adopted KpF = 1/157, KiF =1e-3 and B=1500. V. SIMULATION RESULTS & DISCUTION.
Figure 12. Rotor speeds and its reference under mechanical parameters variation

In order to valid the quality of the drives, a simulation test on 1.5KW induction machine has been performed. As shown in Fig.10, the test was carried out during 4.5 seconds. During the 3 first second, a 1000 (rpm) reference speed step was applied. At t =2s, an 80% load torque is insured. After t=3s, the speed reference was decreased to 500 (rpm). To study the effect of the mechanical parameters variation on the performance of the different controllers, respectively 200% and 300% steps increases in the total inertia and friction coefficient are applied at t = 3.2s.

Figure 13. Stator flux responses

Figure 10. Rotor speeds and its reference

Figure 14. Stator current responses

Figure 11. Rotor speeds and its reference in steady state and under 80% load change

REFERENCES
[1] A. Merabet, M. Ouhrouche, and R-T Bui, Nonlinear Predictive Control with Disturbance Observer for Induction Motor Drive, IEEE International Symposium on Industrial Electronics, vol. 1, pp. 86 91, July. 2006. Y. Lai, W. Wang, and Y. Chen Novel Switching Techniques for Reducing the Speed Ripple of AC Drives With Direct Torque Control IEEE Trans on Industrial Electronics, vol. 51, No 4, pp.768-775, August. 2004. A. Abbou. H. Mahmoudi Real Time Implementation of a Sensorless Speed Control of Induction Motor using DTFC Strategy, International conference on multimedia computing and systems proceedings, pp. 327333. Ourzazzate 2-4 April 2009. I. Takahashi, T. Noguchi, A newquick-response and high-efficiency control strategy of an induction motor, IEEE Trans. Ind. Appl., vol. A22, Sept/Oct. 1986. N. Rumzi Nik Idris, A. Mohamed Yatim, Direct Torque Control of Induction Machines With Constant Switching Frequency and Reduced Torque Ripple, IEEE Trans on Industrial Electronics, Vol. 51, No. 4, pp. 758 -767, August. 2004. M.N. Uddin, T.S. Radwan, M. Rahman, Performance of fuzzy-logicbased indirect vector control for induction motor drive, IEEE Trans. Ind. Appl. vol. 38, No. 5, pp. 12191225, 2002. S.M. Gadoue, D. Giaouris, J.W. Finch Artificial intelligence-based speed control of DTC induction motor drives. A comparative study, Electric Power Systems Research. vol. 79, pp. 210219, 2009. Z. Ibrahim, E. Levi A comparative analysis of fuzzy logic and PI speed control in high performance ac drives using experimental approach, IEEE Trans. Ind. Appl. vol. 38 , pp. 12101218. 2002. M. Masiala, B. Vafakhah, J. Salmon, and A. M. Knight Fuzzy SelfTuning Speed Control of an Indirect Field-Oriented Control Induction Motor Drive, IEEE Trans. Ind. Appl, vol. 44, No. 6, pp. 1732-1740, November/December 2008. B. H. Kennynasa, "Stator and Rotor Flux Based Deadbeat Direct Torque Control of Induction Machines," IEEE Industry Applications Society, Annual Meeting, Chicago, September 30-Octoer 4, 2001. J. Holtz, Sensorless Control of induction motor drives, Proc.IEEE, vol. 90, No. 8, pp. 1359-1394, 2002. Collective authors Modlisation, control vectoriel et DTC, vol. 1, chap. 6, Hermes Science Publication. 2000. I. Takahashi, Direct Y.Ohmori, "High-performance Torque Control of year Induction Motor", IEEE Trans. Ind. Appl. vol. 25, pp. 257-264, March/April 1989. Jarray K. Contribution la Commande vectorielle dun actionneur asynchrone avec et sans capteur mcanique : conception, ralisation et valuation de commande numrique par orientation de flux statorique, PhD thesis, University Aix Marseille III, 10 July 2000, T. Jebali, M. Jemli, M. Boussak, M. Gossa, and M.B.T. Kamoun, Dspacebased experimental results of indirect field oriented control (IFOC) PWM VSI fed induction motor, IEEE International Conference on Industrial Technology, Hammamet, 810 december 2004, vol. 2, pp. 569573. S. Bolognani, M. Zigliotto, Hardware and software effective configurations for multi-input fuzzy logic controllers, IEEE Trans. Fuzzy Syst., vol. 6, pp. 173179, Feb. 1998. Y. Lai, J. Lin, New hybrid fuzzy controller for direct torque control induction motor drives, IEEE Trans. Power Electron. vol. 18, pp. 12111219. 2003. M.A. Denai, S.A. Attia, Intelligent control of an induction motor, Electric Power Compon. Syst. vol. 30, pp. 409427. 2002.

[2]

[3]

[4]

Figure 15. Electromagnetic torque responses As shown in Fig 11 and Fig 12 both PI-FLC and IP speed controllers have achieved the test goals. However The PI-FLC presents a better: transient response, reject of perturbation and robustness against parameters variation (without down-shoot). We have to mention that the IP speed controller does not present the static error observed with PI-FLC although small. We also observe that the FL-switcher reduces distortion of flux and current as seen in Fig 13 and Fig 14. This effect is automatically propagated to the electromagnetic torque, especially when the machine is loaded (Fig 15).

[5]

[6]

[7]

[8]

VI.

CONCLUSION

[9]

In this paper, we have presented the direct flux and torque control with both its classical version and integration of Fuzzy logic. This contribution of fuzzy logic has improved clearly dynamic (response time) and static (disturbance rejection) performances, with very good robustness against change in mechanical parameters. The observed speed static error can be cancelled using a PI-self tuning FLC. In order to decrease torque ripple, the membership functions, used in torque and flux fuzzification, could be increased. On line adaptation of the stator resistance, which can vary with temperature and operating point, and the real implementation of the presented techniques in a DSP board are the prospects of our next work.
TABLE IV INDUCTION MACHINE PARAMETRES

[10]

[11] [12] [13]

[14]

[15]

Rated power (P) Voltage (V) Number of pair poles (np ) Stator resistance (Rs) Rotor resistance (Rr) Stator self-inductance ( L s ) Rotor self-inductance ( Lr ) Mutual inductance (M) Total inertia (J) Friction coefficient (f)

1.5 KW 220/380 V 2 4.75 1.2 0.4 H 0.07 H 0.162 H 0.025 Kg.m2 25 10-4 N.m.s/rad

[16]

[17]

[18]