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speed and load tor*ue. The simulation results demonstrate that the
L Dinesh
) *da% 1enkatesh1!
+ Santosh kiran2
L 13a%"
I.
OR
INT./D*0TI/N
1 L Dinesh is working as Assistant Professor in ANITS visakhapatnam (email: dinesh !"#$%ahoo&'o&in(& ) *da% venkatesh is working as Assistant Professor in ANITS visakhapatnam + santosh kiran is working as Assistant Professor in ANITS visakhapatnam & L Vjay is working as Assistant Professor in ANITS visakhapatnam .
e e!tri!a "rives goo" "ynami! performan!e is man"atory so as to respon" to the !hanges in !omman" spee" an" tor#$es. These re#$irements of A% "rives !an &e f$ fi e" &y the ve!tor !ontro system. 'ith the a"vent of the ve!tor !ontro metho"( an in"$!tion motor has &een !ontro e" ike a separate y e)!ite" *% motor for high performan!e app i!ations. This metho" ena& es the !ontro of fie " an" tor#$e of in"$!tion motor in"epen"ent y +"e!o$p ing, &y manip$ ating !orrespon"ing fie " oriente" #$antities -1.( -/.. The tra"itiona in"ire!t ve!tor !ontro system $ses
!onventiona PI !ontro er in the o$ter spee" oop &e!a$se of the simp i!ity an" sta&i ity. 1owever( $ne)pe!te" !hange in oa" !on"itions or environmenta fa!tors wo$ " pro"$!e overshoot( os!i ation of motor spee"( os!i ation of the tor#$e( ong sett ing time an" th$s !a$ses "eterioration of "rive performan!e. To over!ome this( an inte igent !ontro er &ase" on 0$22y Logi! !an &e $se" in the p a!e of PI reg$ ator -3.. The f$22y ogi! has !ertain a"vantages !ompare" to ! assi!a !ontro ers s$!h as simp i!ity of !ontro ( ow !ost( an" the possi&i ity to "esign witho$t knowing the e)a!t mathemati!a mo"e of p ant -4.. In this paper app i!ation of f$22y ogi! to the inte igent spee" !ontro of in"ire!t ve!tor !ontro e" in"$!tion motor "rive is investigate". The ana ysis( "esign an" sim$ ation of !ontro er have &een !arrie" o$t &ase" on the f$22y set theory. 'hen a new !ontro strategy of a !onverter or a "rive system is form$ ate"( it is often !onvenient to st$"y the system performan!e &y sim$ ation &efore &$i "ing the &rea"&oar" or prototype. The sim$ ation not on y va i"ates the systems operation( &$t a so permits optimi2ation of the systems performan!e &y iteration of its parameters. 5esi"es the !ontro an" !ir!$it parameters( the p ant parameter variation effe!t !an &e st$"ie". Va $a& e time is th$s save" in the "eve opment an" "esign of the pro"$!t( an" the fai $re of !omponents of poor y "esigne" systems !an &e avoi"e". The sim$ ation program a so he ps to generate rea time !ontro er software !o"es for "own oa"ing to a mi!ropro!essor or "igita signa pro!essor. 6any !ir!$it sim$ ators ike PSPI%7( 76TP( 6ATLA58 SI69LIN: in!orporate" these feat$res. The a"vantages of SI69LIN: over the other !ir!$it sim$ ator are the ease in mo"e ing the transients of e e!tri!a ma!hines an" "rives an" to in! $"e !ontro s in the sim$ ation. To so ve the o&je!tive of this paper 6ATLA58 SI69LIN: software is $se". The s$perior !ontro performan!e of the propose" !ontro er is "emonstrate" at SI69LIN: p atform $sing the f$22y ogi! too &o) -;. for "ifferent operating !on"itions. The !omp ete paper is organi2e" as fo ows< Se!tion II "es!ri&es the in"ire!t ve!tor !ontro system. The "esign an" "es!ription of inte igent !ontro er is provi"e" in se!tion III. The sim$ ation res$ ts( !omparison an" "is!$ssion are presente" in Se!tion IV. Se!tion V !on! $"es the work. II. INDI.40T 140T/. 0/NT./L S5ST4+
e = e "t = ( r + s ) "t = r + s
( 1)
0or "e!o$p ing !ontro ( the stator f $) !omponent of e !$rrent i"s sho$ " &e a igne" on the " a)is( an" the tor#$e e i !omponent of !$rrent #s sho$ " &e on # a)is( that ea"s to #r = 6 an" "r = r then< Lr " r + r = Lm i"s Rr "t As we ( the s ip fre#$en!y !an &e !a !$ ate" as<
Lm Rr R i#s i#s = r r Lr Lr i"s
( !)
s =
( 2)
It is fo7nd that the ideal de'o7pling 'an 8e a'hieved if the a8ove slip ang7lar speed 'ommand is 7sed for making field-orientation& The 'onstant rotor fl7, r and 'an 8e s78stit7ted in e97ation (!(: so that the rotor fl7, sets as
r = Lm i"s
" r =6 "t
( ")
The Sim7link model for s7'h an indire't ve'tor 'ontrol s%stem is shown in the ;ig& 2& This 'ontrol te'hni97e operates the ind7'tion motor as separatel% e,'ited D0 motor so as to a'hieve high d%nami' performan'e <1=: <!=&
III. D4SI>N AND D4S0.IPTI/N /; INT4LLI>4NT 0/NT./LL4.
0or the high performan!e "rives( the in"ire!t metho" of ve!tor !ontro is preferre" !hoi!e -1.( -/.. The in"ire!t ve!tor !ontro metho" is essentia y same as the "ire!t ve!tor !ontro ( e)!ept that the rotor ang e e is generate" in an in"ire!t
Sin'e the implementation of off-line t7ning of PI 'ontroller is diffi'7lt in dealing with 'ontin7o7s parametri' variation in the ind7'tion motor as well as the non-linearit% present in the entire s%stem: it 8e'omes of interest to go for intelligent 'ontroller& It is known that the stator and rotor resistan'es of ind7'tion motor ma% 'hange with the temperat7re 7p to #6? and motor ind7'tan'e varies with the magneti' operating point& ;7rthermore: the load tor97e ma% 'hange d7e to me'hani'al dist7r8an'es& The pro8lem 'an 8e solved 8% several adaptive 'ontrol te'hni97es s7'h as model referen'e adaptive 'ontrol: slidingmode 'ontrol: varia8le str7't7re 'ontrol: and self-t7ning PI 'ontrollers: et'& The theor% and s7rve% on model referen'e
manner +estimation, $sing the meas$re" spee" r an" the s ip spee" s . To imp ement the in"ire!t ve!tor !ontro strategy( it
adaptive s%stem has 8een reported 8% @& S7gimoto et&al <A=& Se'ondar% resistan'e identifi'ation of an I+ applied with +.AS and its 'hara'teristi's has 8een presented in their st7d%& The improved version of sliding mode 'ontrol for an I+ has 8een proposed 8% 0& 5& Bon et&al <C=& The design of integral varia8le str7't7re 'ontrol s%stem for servo s%stems has 8een proposed 8% T& L& 0hern et&al <D=& The self t7ning 'ontrollers are des'ri8ed 8% )& 0& @7ng <E=& @owever: in all these works: e,a't mathemati'al model of the s%stem is mandator% to design the adaptive 'ontrol algorithm& Th7s the% in'rease the 'omple,it% of design and implementation& Bhen f7FF% logi' 8ases intelligent 'ontroller is 7sed instead of the PI 'ontroller: e,'ellent 'ontrol performan'e 'an 8e a'hieved even in the presen'e of parameter variation and drive non-linearit% <1=: <2=& In addition: the f7FF% logi' posses the following advantages: (1( The ling7isti': not n7meri'al: varia8les make the pro'ess similar to the h7man think pro'ess& (!( It relates o7tp7t to inp7t: witho7t 7nderstanding all the varia8les: permitting the design of s%stem more a''7rate and sta8le than the 'onventional 'ontrol s%stem& (2( Simpli'it% allows the sol7tion of previo7sl% 7nsolved pro8lems& ("( .apid protot%ping is possi8le 8e'a7se: a s%stem designer doesnGt have to know ever%thing a8o7t the s%stem 8efore starting work& (#( It has in'reased ro87stness& (A( A few r7les en'ompass great 'omple,it%& The ve'tor 'ontrol of I+ with f7FF% PI 'ontroller has 8een proposed 8% I& +iki et& al <16= and B& P& @ew et&al <11=& As the% reported: the ;L0 a7tomati'all% 7pdates the proportional and integral gains on-line and th7s help in a'hieving fast d%nami' response& @owever: this te'hni97e does not f7ll% 7tiliFe the 'apa8ilities of the f7FF% logi'& +oreover: the inherent disadvantages asso'iated with the PI 'ontroller 'annot 8e avoided& The f7FF% PI 'ontrollers are less 7sef7l in ind7strial appli'ations& The performan'es of the f7FF% logi' 8ased indire't ve'tor 'ontrol for ind7'tion motor drive has 8een proposed 8% +& N& *ddin et&al <1!=: 4& 0err7to et&al <12=: H& @e8er et&al <1"=: and >& 0& D& So7sa et&al <1#=& The novel speed 'ontrol for '7rrent reg7lated 1SI-fed I+ has 8een dis'7ssed 8% them& The f7FF% logi' 8ased 'ontroller for I+ drives has 8een proposed 8% +inh Ta-0ao et&al <1A=& The performan'e of the proposed s%stem is 'ompared with the 'onventional ve'tor 'ontrol on the 8asis of Integral of time 8% A8sol7te Time 4rror (IAT4(& The Sim7link implementation of '7rrent reg7lated 1SI-fed I+ is proposed 8% Norman +ari7n et&al <1C= and 1inod I7mar et&al <1D=& The% proposed a f7FF% logi' 'ontroller in pla'e of PI 'ontroller in the ve'tor 'ontrol s%stem& @owever: the power s%stem 8lo'k set 7sed 8% them makes 7se of Sf7n'tions and it is not as eas% to work with as the rest of the Sim7link 8lo'ks&
The work presented in <1!=-<1D= 7ses a f7FF% logi' 'ontroller to set the tor97e 'omponent of referen'e '7rrent 8ased on speed error and 'hange of speed error& The inverter is then swit'hed to follow the referen'e '7rrent within h%steresis 8and& @owever: the 'onstant h%steresis 8and of the '7rrent reg7lated PB+ inverter of the f7FF% logi' 8ased indire't ve'tor 'ontrol s%stem possesses pro8lem in a'hieving s7perior d%nami' performan'e: even the drive 'ontrol s%stem in'l7des the effi'ient f7FF% logi' 'ontroller& This paper dis'7sses the f7FF% logi' speed 'ontrol for 1SI fed indire't ve'tor 'ontrolled ind7'tion motor drives& ;ig& 1 shows the 8lo'k diagram of f7FF% logi' 8ased speed 'ontrol s%stem& S7'h a f7FF% logi' 'ontroller 'onsists of fo7r 8asi' 8lo'ks viF&: ;7FFifi'ation: ;7FF% Inferen'e 4ngine: Inowledge 8ase and def7FFifi'ation&
;ig& 1& Hlo'k diagram of ;7FF% logi' speed 'ontrol s%stem for indire't ve'tor 'ontrolled ind7'tion motor drive
Inp$t8 O$tp$t varia& es The design of the f7FF% logi' 'ontroller starts with assigning the inp7t and o7tp7t varia8les& The most signifi'ant varia8les entering the f7FF% logi' speed 'ontroller has 8een sele'ted as the speed error and its time variation& Two inp7t e ( k ) !e ( k ) varia8les and : are 'al'7lated at ever% sampling instant as:
J e ( k ) = r ( k ) r ( k )
A.
!e ( k ) = e ( k ) e ( k 1)
where
J r ( k)
( #) ( A)
r ( k )
is the
e ( k 1) a't7al rotor speed and is the val7e of error at previo7s sampling time& The o7tp7t varia8le of the f7FF% logi' speed 'ontroller is the
variation of 'ommand '7rrent:
J !i#s ( k) J i#s
whi'h is integrated to
( k)
as shown in the
( C)
B. 0$22ifi!ation The s7''ess of this work: and the like: depends on how good this stage is 'ond7'ted& In this stage: the 'risp varia8les e ( k ) !e ( k ) and are 'onverted in to f7FF% varia8les e and !e respe'tivel%& The mem8ership f7n'tions asso'iated to the 'ontrol varia8les have 8een 'hosen with triang7lar shapes as shown in ;ig& !& The 7niverse of dis'o7rse of all the inp7t and o7tp7t varia8les are esta8lished as (-6&D: 6&D(& The s7ita8le s'aling fa'tors are 'hosen to 8ro7ght the inp7t and o7tp7t varia8les to this 7niverse of dis'o7rse& 4a'h 7niverse of dis'o7rse is divided into seven overlapping f7FF% sets: NL (Negative Large(: N+ (Negative +edi7m(: NS (Negative Small(: K4 (Kero(: PS (Positive Small(: P+ (positive +edi7m(: and PL (Positive Large(& 4a'h f7FF% varia8le is a mem8er of the s78sets with a degree of mem8ership var%ing 8etween 6 (non-mem8er( and 1 (f7ll-mem8er(& All the mem8ership f7n'tions have as%mmetri'al shape with more 'rowding near the origin (stead% state(& This permits higher pre'ision at stead% state <2=&
('( ;ig& !& +em8ership f7n'tions for (a( speed error (8( 'hange of speed error ('( 0hange of 'ommand '7rrent
C. :now e"ge &ase an" Inferen!e Stage Inowledge 8ase involves defining the r7les represented as I;-T@4N statements governing the relationship 8etween inp7t and o7tp7t varia8les in terms of mem8ership f7n'tions& In this stage: the varia8les e and !e are pro'essed 8% an inferen'e engine that e,e'7tes "E r7les (C,C( as shown in Ta8le I& These r7les are esta8lished 7sing the knowledge of the s%stem 8ehavior and the e,perien'e of the 'ontrol engineers& 4a'h r7le is e,pressed in the form as in the following e,ample: I; ( e is Negative Large( AND ( !e is Positive
!iJ Large( T@4N ( #s is Kero(& Different inferen'e engines 'an 8e 7sed to prod7'e the f7FF% set val7es for the o7tp7t f7FF% !iJ varia8le #s & In this paper: the +a,-prod7't inferen'e method <2= is 7sed&
(a( NL e 'e N L N + N S K 4 P S P + P L NL NL NL NL N+ NS K4 N + NL NL NL N+ NS K4 PS NS NL NL N+ NS K4 PS P+ TAHL4 I ;*KK5 0/NT./L .*L4S K4 NL N+ NS K4 PS P+ PL PS N+ NS K4 PS P+ PL PL P+ NS K4 PS P+ PL PL PL PL K4 PS P+ PL PL PL PL
(8(
D.
*ef$22ifi!ation
!iJ ( k ) In this stage a 'risp val7e of the o7tp7t varia8le #s is o8tained 8% 7sing height def7FF7fi'ation method: in whi'h the
"
'entroid of ea'h o7tp7t mem8ership f7n'tion for ea'h r7le is first eval7ated& The final o7tp7t is then 'al'7lated as the average of the individ7al 'entroid: weighted 8% their heights (degree of mem8ership( as follows:
wr*
wr*
wr
-K-
iqs*
ids*
;ig7res " and # shows speed response with 8oth the PI and ;L 8ased 'ontroller& The ;L 'ontroller performed 8etter performan'e with respe't to rise time and stead% state error& ;ig7re A shows the load dist7r8an'e re3e'tion 'apa8ilities of ea'h 'ontroller when 7sing a step load from 6 to !6 N-m at 6&D se'onds& The ;L 'ontroller at that moment ret7rns 97i'kl% to 'ommand speed: where as the PI 'ontroller maintains a stead% Vref state error& vao Vref ;ig7re C shows the speed tra'king test: when vao performan'e ia PI s7dden 'hange in speed referen'e is applied in the form of vqs* The vao* intelligent look-7p ta8le& 'ontroller e,hi8ited 8etter speed vao* tra'king 'ompared to PI 'ontroller& vbo ib
vbo vds* vbo* vbo* vco ic
!lm )ids*
PI
400
tl te
De m o
300
lm!"tr#
Speed, rad/sec
we
vco*
vco
,u,
0 -100 0
Tl
0.2
0.4
0.6
0.8
1.0
1.2
;ig& "& Speed response 'omparison at no-load ;ig& 2& Indire't ve'tor 'ontrolled ind7'tion motor 8lo'k diagram with the ;7FF% Logi' 0ontroller
Speed, rad/sec
J !iJ ( !i#s )i ( #s ) i i =1 n
302
Reference Speed
J !i#s ( k) =
!iJ ( #s ) i
i =1
( D)
iJ ( k ) The referen'e val7e of 'ommand '7rrent #s that is applied to ve'tor 'ontrol s%stem is 'omp7ted 8% the e97ation (C(& The overall model for f7FF% logi' 8ased speed 'ontrol s%stem for indire't ve'tor 'ontrolled ind7'tion motor drive is shown in ;ig& 2& The parameters of the motor are given in appendi,&
IV. SI+*LATI/N .4S*LTS AND DIS0*SSI/N
0.2
0.4
0.8
1.0
1.2
A series of sim7lation tests were 'arried o7t on indire't ve'tor 'ontrolled ind7'tion motor drive 7sing 8oth the PI 'ontroller and f7FF% logi' 8ased intelligent 'ontroller for vario7s operating 'onditions& The time response and stead% state errors were anal%Fed and 'ompared&
400
.4;4.4N04S
<1= <!= <2= <"=
0.2 0.4 0.6 Time, sec 0.8 1.0 1.2
<#= <A=
400
Reference Speed
<11=
0.6 Time, sec 0.8 1.0 1.2
<1!=
<12=
V.
0/N0L*SI/N
<1"= <1#=
The performan'e of f7FF% logi' 8ased intelligent 'ontroller for the speed 'ontrol of indire't ve'tor 'ontrolled: PB+ voltage so7r'e inverter fed ind7'tion motor drive has 8een verified and 'ompared with that of 'onventional PI 'ontroller performan'e& The sim7lation res7lts o8tained have 'onfirmed the ver% good d%nami' performan'e and ro87stness of the f7FF% logi' 'ontroller d7ring the transient period and d7ring the s7dden loads& It is 'on'l7ded that the proposed intelligent 'ontroller has shown s7perior performan'e than that of the parameter fi,ed PI 'ontroller and earlier proposed s%stem <"=&
<1A=
<1C=
<1D=
APP4NDIL 2-Phase Ind7'tion +otor Parameters .otor t%pe: S97irrel 'age: .eferen'e frame: S%n'hrono7s 1= hp( 413 ra"8se!( 3 Po es( Rs > =.1? @( Rr > =.4? @( L s > =./1eA4 1( L r > =.BeA4 1( Lm > 3eA4 1( C > =.=//B :gAm/.
Himal I& Hose: 6o"ern Power 7 e!troni!s an" A% *rives( Third impression: INDIA: Pearson 4d7'ation: In'&: !66C& Hlas'hke ;: MThe Prin'iple of ;ield-/rientation as applied to the New Transve'tor 0losed-Loop 0ontrol S%stem for .otating-;ield +a'hines:M Siemens .eview: 1ol& 2": pp& !1C-!!6: +a% 1EC!& 0& 0& Lee: N;7FF% Logi' in 0ontrol S%stems: ;7FF% Logi' 0ontrol O Part 1:P I777 Transa!tions on Systems( 6an an" %y&erneti!s( 1ol& !6: No& !: pp& "6"-"1D: +ar'hQApril: 1EE6& +& N& *ddin: T& S& .adwan and +& A& .ahman NPerforman'es of ;7FF%-Logi'-Hased Indire't 1e'tor 0ontrol for Ind7'tion +otor Drive:P I777 Transa!tions on In"$stry App i!ations( 1ol& 2D: No& #: pp& 1!1E1!!#: Septem8erQ/'to8er: !66!& http:QQwww&mathworks&'omQ (The offi'ial site for +ATLAHRSI+*LINI as well as ;7FF% Logi' Tool8o,(& @& S7gimoto and S& Tamai: NSe'ondar% resistan'e identifi'ation of an Ind7'tion +otor Applied +odel referen'e Adaptive S%stems and its 0hara'teristi'sP: I444 Trans& on Ind& Appl&: 1ol IA-!2: No&1: pp&!EA262: +arQApr: 1EDC& 0& 5& Bon and H& I& Hose: NAn ind7'tion +otor servo S%stems with Improved Sliding +ode 0ontrolP: in Pro'& I444 I40/NGE!: pp& A6-AA& T& L 0hern and 5& 0& B7: NDesign of Integral 1aria8le Str7't7re 0ontroller and Appli'ations to 4le'tro @%dra7li' 1elo'it% Servo S%stemsP: Pro'& In 4le'& 4ng&: 1ol& 12D: no& #: pp& "2E-""": Sept& 1EE1& )& 0& @7ng: NPra'ti'al Ind7strial 0ontrol te'hni97esP: in Pro'& I444 I40/NGE": pp& C-1"& +iki: N& Nagai: S& Nishigama: and T& 5amada: N1e'tor 'ontrol of ind7'tion motor with f7FF% PI 'ontrollerP: I444 IAS Ann7& +eet& 0onf& .e'&: pp& 2"!-2"A: 1EE1& B& P& @ew: +& .& Tam3is: and S& +& Saddi97e: NAppli'ation of ;7FF% Logi' in Speed 0ontrol of Ind7'tion +otor 1e'tor 0ontrolP: Pro'& /f the international 'onferen'e on .o8oti's: vision and Parallel Pro'essing for Ind7strial A7tomation: pp& CAC-CC!: Ipoh: +alasi%a: Nov& !D-26:1EEA +& N& *ddin: T& S& .adwan and +& A& .ahman NPerforman'es of ;7FF%Logi'-Hased Indire't 1e'tor 0ontrol for Ind7'tion +otor Drive:P I444 Transa'tions on Ind7str% Appli'ations: 1ol& 2D: No& #: pp& 1!1E-1!!#: Septem8erQ/'to8er: !66!& 4& 0err7to: A& 0onsoli: A& .a'iti and A& Testa: N ;7FF% Adaptive 1e'tor 0ontrol of Ind7'tion +otor DrivesP: I444 Trans: on Power 4le'troni's: 1ol&1!: No& A: pp& 16!D-162E: Nov& 1EEC& H& @e8etler: L& L7: and 5&Tang: N;7FF% Logi' 4nhan'ed Speed 0ontrol of Indire't ;ield /riented Ind7'tion +a'hine DriveP: I444 Trans& /n Power 4le'troni's: 1ol&1!: No&#& pp& CC!-CCD: Sept&1EEC& >& 0&D& So7sa: H&I& Hose and )&>& 0leland: N;7FF% Logi' 8ased /nLine 4ffi'ien'% /ptimiFation 0ontrol of an Indire't 1e'tor 0ontrolled Ind7'tion +otor DriveP : I444 Trans& /n Ind7strial 4le'troni's: 1ol& "!: No& ! : pp&1E!-1ED: April 1EE#& +inh Ta-0ao: )& L& Silva Neto and @& Le-@7%: N;7FF% Logi' 8ased 0ontroller for Ind7'tion +otor DrivesP: 0anadian 0onferen'e on 4le'tri'al and 0omp7ter 4ngineering: 1ol7me !: Iss7e: !A-!E +a% 1EEA Page(s(:A21 - A2" vol&!& Norman +ari7n: Sams7l 8ahari +ohd Noor: )& )asni and /& S& Hennanes: NA ;7FF% Logi' 8ased 0ontroller for an Indire't 1e'tor 0ontrolled Three-Phase Ind7'tion +otorP: I444 .egion 16 0onferen'e: T4N0/N !66": 1ol7me D: Iss7e& !1-!" Nov& !66" Page(s(: 1-" 1ol& " 1inod I7mar: .& .& )oshi: N@%8rid 0ontroller 8ased Intelligent Speed 0ontrol of Ind7'tion +otorP: )o7rnal of Theoreti'al and Applied Information Te'hnolog%: De'em8er !66A: 1ol& 2 No& 1: pp& C1- C#&