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Abstract
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
In the last decades, the importance of using the motors has been increased due
to their different usage in our daily life or industry [1]. Several motors may be used
according to the required performance. Three phase induction motor is one of the
widest spread motor due to its robustness, simple construction, no need for complex
circuits for starting and suitable for several operated environment [2-4]. Although
these advantages, the induction motor suffers from the complexity of controlling the
motor speed, low efficiency and power factor at low loads and the nonlinearity of
mathematical model [5-6]. Several control system techniques have been developed to
control the speed of three phase induction motors, these techniques differ according to
efficiency, ease of design, real implementation, reliability and cost [7].
Voltage / Frequency method is the simplest and wide spread way to control
the speed of the motor[8-9], but its accuracy is relatively low due to the stator flux
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and motor torque are not directly controlled as well as it is normally working without
feedback. Vector control method uses several control loops for flux and torque control
[10-11], but the highly computational capability is one of the drawbacks of this
method [12]. Field control of electrical drives has been one of the famous control
techniques for several years [13-15]. In Field-oriented control (FOC) the controlled
variables are the stator currents, which transformed to speed dependent system into dq
coordinates. These coordinates describe the motor torque and magnetic flux. The
control system investigates the reference currents from the motor torque, flux and the
desired control speed. This makes the controller accurate and independent of limited
bandwidth of the mathematical model [16]. Another control technique is Direct
Torque Control (DTC) [17-18]. It is a senseless technique, since the stator flux and
motor torque are estimated from the motor voltage and current. The advantages of
DTC are faster flux and torque changing responses, a simple control scheme with less
calculations and no need to current regulator or co-ordinate transformation. The main
drawbacks of DTC are flux ripples and poor dynamic response at low speed and slow
transient response at starting [19].
Different implementation algorithms and controllers were developed to control
the speed of induction motor as PID control [20-22], Pulse width modulation
(PWM)[23-24], fuzzy logic[25-27], Artificial Neural Network[28-30], sliding mode
control[31-33] and Particle swarm optimization (PSO)[34-36].
This paper presents a new PI-Artificial Neural Network (PI-ANN) controller
technique for speed tracking of three phase induction motor based on vector control
scheme. To validate the effectiveness of the controller, the motor is subjected to multi
disturbances as torque disturbances and speed variations during operation.
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= ∗ + + ∗ (1)
= ∗ + + ∗ (2)
= ∗ + +( − )∗ (4)
Where:
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= ∗ ∗( ∗ − ∗ ) (6)
Figure 2 shows the MATLAB Simulink induction motor model based indirect vector
control.
Because of the nonlinearity and tracking speed of the three phase induction motor, it
is required to design a new controller that can overcome these problems.
ANN is computational model that attempts to mimic the construction and tasks of
neural networks and specify simple approximations to parts of real brains [38-39]
Requisite structure block of ANN is neuron, it is a simple function. A model consists
of three groups of principles as shown Fig.3: multiplication, summation and
activation. ANN consists of elements connected together to perform a specific task.
At the beginning of ANN each input is multiplied with weight. In the second stage
there is a summation function that collects all weighted inputs and bias. At the end, all
weighted inputs and bias are exceeding through transfer function. Activation function
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used for converting the activation level to obtain the output of neurons. Note that each
input may be external or the output of some other neuron
.
Fig.3: Working principle of ANN
The most important type of ANNs used widely today are multilayer perceptrons.
Multilayer perceptrons are class of constructions called feed forward neural networks
as shown in Fig. 4. MLP have been used in microwave and optimization. In MLP, the
neurons are classified in to layers. In MLP construction, the first layers called input
layers and the last layers called output layers. Input and output layers of MLP perform
the all network.
A new PI-ANN controller is designed for speed tracking of IM. The Matlab
Simulink model including the controller is shown in Fig.5. The electrical parameters
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are summarized in table 1. The controller depends on use two control signals to
investigate the reference motor angular position and hence the required speed. The
first control signal is produced from PI controller, which receives the reference
required speed and the actual motor speed for fast speed tracking. The second control
signal comes from the ANN. The Advantages of the proposed neural network
controller that it deals with the IM regardless the model nonlinearity, it has parallel
processing and generalization capacities. In Simulink library PWM inverter is built
using a Universal Bridge block, connected with a 780 volts dc source, the motor
torque 300 Nm. Mechanical load of motor drives is characterized by the inertia,
friction coefficient, and load torque.
P (Power) 50 HP
V (voltage) 460 V
S (Speed of motor) 1750 RPM
RS (the Resistance of stator) 0.087Ω
LS (the inductance of stator) 0.8 mH
Rr (the resistance of rotor) 0.228 Ω
Lr (the inductance of rotor) 0.8 mH
the Inertia (J) 1.662
friction coefficient (B) 0.1
No of poles 2
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(a)
(b)
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(c)
Fig 7: The performance of IM Current for Reference Speed = 80 for (speed, torque
and currents)
Fig.5 shows that, the PI-ANN controller has better performance compared with PID
controller. The speed overshoot has been decreased and the reaching time is 1.4 sec.
While in PID controller, the reaching time is 2.2 sec with 18 RPM overshooting
speed.
Case2: For Reference Speed = 140 RPM. The motor speed, torque and currents are shown
in Fig.8.
(a)
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(b)
Fig 8: The performance of IM Current for Reference Speed = 140 for (speed, torque
and currents)
As shown in Fig.8, the motor reaches the reference speed using PI-ANN controller
faster than using PI controller with less speed overshooting. Table 2 summarizes the
results op PI and PI-ANN controllers.
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(a)
(b)
The motor takes 0.6sec to reach to 80RPM then it takes 0.3sec to reach from
80 RPM to 120 RPM. The system takes 0.2 sec to stabilize without overshoot.
Case 4: Other disturbance, the motor load torque is changed to 150N.M at reference
speed 80RPM. Figure 11, shows the motor curves at the torque disturbance.
(a)
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(b)
Fig.11: The disturbed load torque controller results (Speed, Torque)
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