Application of ANFIS Controller for Two - Mass - System

Stefan Brock
Poznan University of Technology,
Department of Electrical Engineering,
ul. Piotrowo 3A, 60 – 965 Poznań, POLAND
Phone: +48 61 6652627, Fax: +48 61 6652389
email: Stefan.Brock@put.poznan.pl

ABSTRACT: This paper presents scheme for the speed control of electrical drive when the mechanical system
shows low damped mechanical resonance. This situation happens when a comparatively long shaft drives the
load. In this case the presence of torsion vibrations can cause wear of gear boxes and quality deterioration of the
working process and of resulting products.
To damp torsion vibrations the state controller is used. This paper discusses briefly the use of ANFIS to
approximate a state observer. The design procedure of ANFIS network is shown.

KEYWORDS: torsional vibrations, ANFIS, state observer

1. INTRODUCTION.

Industrial processes oft require electrical drives with high dynamic performance. However the possible low
stiffness of the mechanical transmission can impose strong limitation to the dynamic performance reachable by

ωC Control PWM
system Inverter

Speed sensor Torque sensor Speed sensor

TF Load ωL
ωM PMSM

Fig. 1. Block diagram of drive system

the control system [1]. In such a case, adequate regulators are required. Figure 1 shows a drive system. A PWM
inverter supplies permanent magnet synchronous motor (PMSM). A motor drives a shaft with load inertia.

With the development of fuzzy logic controllers and the more recent hybrid controllers, which use both fuzzy
logic and neural network methodology, the possibility exists that one or both of these methods could perform as
a feedback controller in addition to a plain feedforward neural network. The recently developed Fuzzy Logic
Toolbox for MATLAB implements one of the hybrid schemes known as (Adaptive-Network-based Fuzzy
Inference System).

2. STRUCTURE OF CONTROL SYSTEM

The mechanical system of a large number of electrical drives with considerable transmission elasticity and
negligible friction and backlash effect may be efficient described by a linear elastic two – mass system (Fig. 2)
With respect to the design of the slower superimposed speed control system, the inner torque (current) control
loop may by approximated by the first order lag term with the equivalent time constant Tz
Two types of speed controller are discussed: a PI controller with motor speed feedback (Fig 3 a) and a full-order
state controller (Fig. 3 b)[2].

ESIT 2000, 14-15 September 2000, Aachen, Germany 357

 load torque 1
TL
current 3
1 Tf
-K- 1/s load inertia
2 -K- -K- 1/s
Ic T_zi.s+1 1/J_m -K- 1/s
k_m c_f
current loop m otor inertia 1/J_l
-K- -K-
d1 d2

1
W m m otor 2
W L
load

Fig. 2. Block diagram of 2 Inertia System

TL
ωS ωC
TC ωL
K4 Servodrive

TL ωM TF
ωS ωC
PI TC ωL K1
Controller Servodrive

K2
ωM TF
K3

Fig 3. Speed Control system

a) with PI controller b) with state controller

The use of the PI speed controller results in poorly damped oscillatory response. The use of the state-controller
introduces such advantages as well damped response (Fig. 4)

3. ANFIS STRUCTURE.

ANFIS (Adaptive-Network-based Fuzzy Inference System) has proven to be excellent function approximation
tool. Summarising from [4, 5], ANFIS implements a first order Sugeno-style fuzzy system. ANFIS structure is
shown in figure 5. Layer 1 consists of membership functions described by generalised bell function:

(
µ ( X ) = 1 + (( X − c ) / a )2b )
−1

where a, b and c are adaptable parameters. Layer 2 implemented the fuzzy AND operator while layer 3 acts to
scale the firing strengths. The output of the layer 4 is comprsed of a linear combination of the inputs multiplied
by the normalised firing strength w.
Y = w( pX + r )
where p and r are adaptable parameters. Layer 5 is simple summation of the outputs of layer 4. The adjustment
of modifiable parameters is a two step process. First, information is propagated forward in the network until
layer 4, where the parameters are identyfied by a least-squares estimator. Then the parameters in layer 2 are
modified using gradient descent. The only user specified information is the number of membership functions in
the universe of discourse for each input and the input–output training information.

ESIT 2000, 14-15 September 2000, Aachen, Germany 358

 PI Controller State Controller

10 10

Speed [rad/s]

Speed [rad/s]
5 5
command command
motor motor
load load
0 0
0 0.02 0.04 0 0.02 0.04
T ime [s] T ime [s]
60 60

40 40
Current [A]

Current [A]
20 20

0 0

-20 -20
0 0.02 0.04 0 0.02 0.04
T ime [s] Time [s]

Fig 4. Step response of the drive

a) with PI controller b) with state controller

µ1(X1) & Σ f11(X)

X1
µj(X1) & Σ f1j(X)
Y
Σ
µ1(Xi) & Σ fi1(X)
Xi
µj(Xi) & Σ fij(X)

Layer: 1 2 3 4 5

Fig. 5. ANFIS Structure

4. USING OF ANFIS NETWORK.

To design the full-order state controller the state observer is necessary [3]. The ANFIS network can by use as an
observer (Fig 6). The observer design procedure can be replace by learning algorithm of ANFIS network.

The indirect method for adjusting the tunable parameters in the ANFIS network is used with the training data
being generated by simulation. The step response of speed is applied. The full-order optimal state controller
controls the drive. Motor and load speed and elasticity torque are sampled. Only 10% of sampled point are used
to train an observer.

Verification became passed on the model with variable parameters. The load inertia changes from 0.5 to 2 times
nominal value. For this range the observer is stable.
The investigation shows that using of ANFIS network makes possible become good results at less outlay of
design work. The expensive torque sensor can be replaced by observer procedure. In the next step the whole
state controller can be approximated by ANFIS network.

ESIT 2000, 14-15 September 2000, Aachen, Germany 359

 TL
ωS ωC
TC TF
K4 Servodrive ωL

ωM

K1
∧ d/dt
TF
K2
ANFIS
d/dt
K3

Fig. 6 ANFIS network as state observer

14

12

10
Speed [rad/s]

4
JL=0.5*JLN
2 JL=1.0*JLN
JL=2.0*JLN
0

-2
0 0.02 0.04 0.06 0.08
Time [s]

Fig. 7 Step response for drive system with state controller and ANFIS state observer

REFERENCES:

1. Mapelli F.L., Matuono M.: Suppresion of torsional vibrations in industrial inverter drives using a state
observer. Proc. of 7th Internationale Power Electronics & Motion control conference, Budapest – Hungary
2-4 September 1996, pp.2/268 - 2/272
2. Deur Josko: Analysis of Speed Control System for Electrical Drives with Elastic Transmission. Proc. of
IEEE Intern. Symposium on Industrial Electronics. Bled-Slovenia July 12-16, 1999, pp.:624 – 630
3. Shin D.-J., Huh U.-Y., Lee J.-H. : An Observer Design for 2 Inertia Servo Control System. . Proc. of IEEE
Intern. Symposium on Industrial Electronics. Bled-Slovenia July 12-16, 1999, pp.:883 – 887
4. Jang, J. S. , Gulley N.: Fuzzy Logic toolbox User’s Guide. The Mathworks Inc,. 1995
5. Jang J.S.: ANFIS: Adaptive-Network-based Fuzzy Inference System. IEEE Trans. On system, Man and
Cybernetics. Vol.23, No 3, May/June 1993, pp. 665-685.

Acknowledgements.
This work was support by a grant no TB-42-572/00/DS

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