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Motor de Induc
ao, Controle Direto de Torque, Controlador Fuzzy tipo PI Auto-ajust
avel, Fatores
Abstract The Direct Torque Control (DTC) with Space Vector Modulation (SVM) and Self-Tuning PI-Type
Fuzzy (STPIF) controller is proposed. This controller determines dynamically the load angle between stator and
rotor flux vectors and in consequence the electromagnetic torque necessary to supply the motor load. The rule
base for STPIF controller is defined in function of the error e and the change of the error e of the torque
using a most natural and unbiased membership functions. Constant switching frequency and low torque ripple are
obtained using SVM. Performance of the proposed DTC-SVM with STPIF are compared with the performance of
the same scheme but using PI controller in terms of several performance measures such as settling time, rise time
and integral-of-time multiplied by the absolute magnitude of the error index (ITAE). The simulation results show
that the proposed scheme can ensure fast torque response and low torque ripple in comparison with DTC-SVM
with PI controller.
Keywords
DTC, SVM, Induction Motor, Self-Tuning PI-Type, Fuzzy Controller, Scaling Factors.
Introduction
~s
d
dt
~r
d
~r
= Rr~ir +
jr
dt
= Ls~is + Lm~ir
= Lr~ir + Lm~is
= Rs~is +
~us
0
~s
~r
(2)
(3)
(4)
Tem
Tem
3
Lm ~
~s
P
r
2 Lr Ls
Lm ~ ~
3
P
r s sin()
2 Lr Ls
(5)
(6)
2.1
(1)
~us t
(7)
vector at a speed which is proportional to the magnitude of the stator voltage space vector. By selecting step-by-step the appropriate stator voltage
vector, it is possible to change the stator flux in
the required direction.
~r + )
~ | sin(6
qs
= |
s
~s
~r
~r
~ = |
~ | cos( + 6
~r ) + j|
~ | sin( + 6
~r ) (8)
s
s
s
~ | cos(6
~r + )
= |
ds
s
Figure 1: Load angle between stator flux refer~ and rotor flux
~r in stationary reference
ence
s
frame.
3
Fuzzy logic control has been proved to be powerful and able to solve many IM control problems. In Fig. 2, we show the block diagram
for the DTC-SVM scheme with STPIF controller based in (Rodriguez et al., 2004). The
scheme (Rodriguez et al., 2004) is an alternative to the classical DTC schemes (Takahashi
and Noguchi, 1986),
(Depenbrock, 1988)
and (Habetler et al., 1992). In this scheme, the
load angle is not prefixed but it is determinate by the STPIF controller. Equation (6) shows
that the angle determines the electromagnetic
torque which is necessary to supply the load. The
proposed STPIF determines this angle from the
torque error e and the change of torque error
e. Details about this controller is going to be
presented in the next section.
In Fig. 3, it can be seen the scheme of the
power electronics drive used in our simulation.
The control signals for three-phase, two-level inverter is generated by the DTC-SVM block shown
in Fig. 2.
Control
signals
A
B
VL + V +
VL V
Three-Phase
diode
rectifier
Braking
chopper
Link
DC
Three-Phase
Inverter
Induction
motor
3.1
(Lm~is (1 jr r )r )dt
(9)
(10)
~r = tan1 ( rq )
rd
(11)
(12)
te
Self-Tuning
~|
|
s
PI-type Fuzzy
Stator flux
reference
calculator
~s
Control
Signals
~us
1
t
SVM
SW
~s
~r
~is
Torque
and stator flux
estimator
te
Figure 2: Direct torque control with space vector modulation and self tuning PI-type fuzzy controller.
In (12), k is the sampling time and (k)
represents the incremental change of the controller
output. It is emphasized here that this accumulation (12) of the controller output takes place out
of the fuzzy part of the controller and it does not
influences the fuzzy rules.
NL
Degree of membership
NM
NS
ZE
PS
PM
PL
0.8
0.6
0.4
0.2
0
1
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
.
(a) Membership function for eN , eN and N
Z 1
e
+
Ge
eN
PI-type
Fuzzy (PIF)
+ +
Z 1
Ge
eN
Gain tuning
Fuzzy (GTF)
ZE
Degree of membership
VS
SL
ML
VL
0.8
0.6
0.4
0.2
0
0
0.1
0.2
0.3
0.4
0.5
0.6
gain factor ()
0.7
0.8
0.9
4.1
Scaling Factors
4.3
eN
eN
=
=
Ge e
Ge e
(13)
(14)
( G ) N
(15)
N
for the PIF controller is determined by the
rules of the form:
Rx : if eN is E and eN is E then N
is N
Where E = E = N = {N L, N M, N S, ZE,
P S, P M, P L}. The output for the GTF controller is determined by the rules of the form:
Rx : if eN is E and eN is E then is
Where E = E = {N L, N M, N S, ZE, P S,
P M, P L} and = {ZE, V S, S, SL, M L, L, V L}.
NL
NL
NL
NL
NL
NM
NS
ZE
NM
NL
NM
NM
NM
NS
ZE
PS
NS
NL
NM
NS
NS
ZE
PS
PS
ZE
NM
NM
NS
ZE
PS
PM
PM
PS
NS
NS
ZE
PS
PS
PM
PL
PM
NS
ZE
PS
PM
PM
PM
PL
PL
ZE
PS
PM
PL
PL
PL
PL
0.5
eN / eN
NL
NM
NS
ZE
PS
PM
PL
0.5
1
0.5
1
0.5
0.5
4.4
NL
VL
VL
VL
S
VS
VS
ZE
NM
VL
VL
ML
SL
S
S
S
NS
VL
L
L
ML
VS
ML
SL
ZE
L
L
VL
ZE
VL
L
L
PS
SL
ML
VS
ML
L
L
VL
PM
S
S
S
SL
ML
VL
VL
PL
ZE
VS
VS
S
VL
VL
VL
).
(a) Surface of PIF controller output (N
eN / eN
NL
NM
NS
ZE
PS
PM
PL
0.5
1
error (e)
0.8
0.6
0.4
0.2
1
0.5
1
0
The target of the GTF controller is online continuous update the value of in every sample time.
This value is necessary to control the percentage of the output SF G to calculate the new
, equation (15).
The GTF controller rule base is based on the
knowledge about the three-phase IM control, using a DTC type control according to the scheme
proposed in (Rodriguez et al., 2004), in order to
avoid large overshoot and undershoot, e.g., when
e and e have different signs, it means that the
torque estimate Tem is approaching to the torque
reference te , the output SF G must be reduced
to a small value by , for instance, if e is P M and
e is N M then is S.
On the other hand, when e and e have the
same sign, it means that the torque estimate Tem
is moving away from the torque reference te , the
output SF G must be increased to a large value
by in order to avoid that the torque departs
from the torque reference, e.g., if e is P M and e
is P M then is V L.
The
nonlinear
relationship
between
e, e, N
and e, e, are shown in
Fig. 6.
The inference method used in this paper is
the Mandanis implication based on max-min aggregation. Center of area method is used for defuzzification.
5
Simulation Results
The simulations were performed using MATLAB Simulink/SimPowerSystem simulation package which include fuzzy logic toolbox. The switch-
0.5
0
0.5
0.5
error (e)
1
ing frequency of PWM inverter is 10kHz. Motor parameters are given in Table 3 (Krause
et al., 2002) and the stator flux reference considered was 0.47 Wb which is the rated stator flux.
In order to investigate the effectiveness of the
proposed control system and in order to check the
closed-loop stability of the complete system, it was
performed several tests.
It was used different dynamic operating conditions such as step change in the motor load (from
0 to 1.0 pu) at 90 percent of rated speed, no load
sudden change in the speed reference (from 0.5 pu
to -0.5 pu) and the application of a specific load
torque profile at 90 percent of rated speed.
The Fig. 7 and Fig. 8 show similar behaviors
of the torque, current and the motor speed when
it is imposed a speed reference step change from
0.5 pu to -0.5 pu in the DTC-SVM scheme with
STPIF and PI controllers respectively. The sinusoidal shape of the current shows that this control
technique leads also to a good current control in
other words this means that the current control
in inherent to the algorithm control presented in
this paper.
Fig. 10 presents the results when the same
speed (rad/s)
DTC-SVM PI
DTC-SVM STPIF
ts (s)
1.016
1.012
IT AE
212.8
199.5
100
reference
0
speed
100
1
1.5
2.5
3.5
2.5
3.5
2.5
3.5
(N.m)
20
torque
em
0
20
1
1.5
current Ia
20
I (A)
20
1
1.5
2
time (s)
Conclusion
speed (rad/s)
100
reference
0
speed
100
1
1.5
2.5
3.5
2.5
3.5
2.5
3.5
(N.m)
20
em
torque
0
20
1
1.5
20
2
current Ia
I (A)
20
1
1.5
2
time (s)
Acknowledgment
14
STPIF
12
(N.m)
10
8
PI
reference
6
em
220/60Hz
2238
11.9
179
0.435, 0.816
0.002, 0.002
0.0693
0.089
2
2
0
2
4
0.98
0.99
1.01
1.02
1.03
time(s)
torque rated
(Nm)
15
STPIF
10
reference
em
0
5
0.9
1.1
1.2
1.3
1.4
time(s)
1.5
1.6
1.7
1.8
reference
PI
10
torque rated
5
em
(Nm)
15
0
5
0.9
1.1
1.2
1.3
1.4
time(s)
1.5
1.6
1.7
1.8