Energy Conversion and Management 52 (2011) 675686

Contents lists available at ScienceDirect

Energy Conversion and Management

journal homepage: www.elsevier.com/locate/enconman

Speed estimation of vector controlled squirrel cage asynchronous motor with articial neural networks
Yuksel Oguz *, Mehmet Dede
Department of Electrical Education, Faculty of Technical Education, Afyon Kocatepe University, Afyonkarahisar, Turkey

a r t i c l e

i n f o

a b s t r a c t
In this paper, the articial neural networks as a sensorless speed estimator in indirect vector controlled squirrel cage asynchronous motor control are dened. High dynamic performance power semi conductors obtainable from direct current motors can also be obtained from asynchronous motor through developments in digital signal processors (DSP) and control techniques. With using of eld diverting control in asynchronous motors, the ux and moment can be controlled independently. The process of estimating the speed information required in control of vector controlled asynchronous motor without sensors has been obtained with articial neural networks (ANN) in this study. By examining the data obtained from the experimental study concluded on the DSP application circuit, the validity and high performance of the ANN speed estimator on real-time speed estimation has been demonstrated. 2010 Elsevier Ltd. All rights reserved.

Article history: Received 5 May 2009 Received in revised form 17 December 2009 Accepted 30 July 2010 Available online 21 August 2010 Keywords: Vector control Asynchronous motor Speed estimation Articial neural networks

1. Introduction AC motors have been used as the workhorse in industry applications due to their simple construction, high robustness, reliability, low price and high efciency for many years. AC motor drives have been widely used in many of industrial and process applications requiring high performances. The vector-control technique, which is based on the eld orientation principle, has been widely used in industry for high-performance control of AC motor drives [1,2]. In the industrial applications, different vectorial control methods are being used. Conventional vector control methods require motor speed as a feedback signal. Transducers such as shaft-mounted tachogenerators, resolvers, or digital shaft position encoders are used to obtain the real-speed information. The vectorcontrol technique is easy to implement and independent of machine operation conditions. The basic idea of the eld-oriented control (FOC) algorithm is to decompose a stator current into ux and torque producing components. Both components can be controlled separately after decomposition. The structure of the motor controller is then as simple as that for a separately excited DC motor. [3,4]. The aim of vector control is to implement control schemes that produce high dynamic performance and are similar to those used to control DC machines. The control performance of the AC motor drives depends on mechanical parameter variations, external torque disturbances, resistance changes, measurement noise, frictional variations, and system uncertainty for improper eld orientation in transient state [58].
* Corresponding author. E-mail address: yukseloguz@aku.edu.tr (Y. Oguz). 0196-8904/$ - see front matter 2010 Elsevier Ltd. All rights reserved. doi:10.1016/j.enconman.2010.07.046

In recent years, it is possible to nd a number of works that deal with both sensorless direct and indirect vector control methods for induction motors (IMs). These methods could be developed with reference to the rotor ux, stator ux or airgap ux; however, the rotor oriented control allows the independent control of ux and torque [9]. Using vector control, it is possible to achieve the speed and torque control of IMs both in the transient and steadystate. For the indirect vector control of IMs, accurate knowledge of the slip frequency is required in addition to the rotor speed. On the other hand, the direct vector control of IMs requires information on the amplitude and position of the ux with reference to the stationary stator axis, with the addition of the rotor angular speed for speed control [9,10]. The motor speed is measured by using taco generator on encoder. The ux of AC motors can be directly measured by using ux bobbins and ux sensors, even if it is difcult. These ux and speed sensors cause decrease in mechanical durability, increase in cost, noise and decrease in system security [11]. Additionally, in very high speed and forceful applications, placement of such sensors is difcult. On account of these reasons, researches in induction motor drives have been focused on the elimination of speed sensor at the motor shaft without deteriorating the dynamic performance of the drive control system. Many speed-sensorless control methods for IMs have been developed [1219]. Speed-estimation techniques based on the standard smooth-airgap induction machine model hence cannot work at zero electrical frequency. For this problem solution, attempts have been made to estimate speed by injecting highfrequency carrier signals into the stator currents or voltages [20], but these schemes are based on either second-order effects

676

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

or a specially modied rotor structure. The speed-estimation techniques based on injected carrier signals and the fundamental smooth-airgap induction machine model second-order effects or a specially modied rotor structure have been presented in [13,21,22]. Various control algorithms for the elimination of the speed sensor have been proposed: algorithms using state equations [23], model reference adaptive systems [24], Luenberger- or Kalman-lter observers [25], saliency effects [26], sliding-mode controls [27], articial intelligence [28,29], sensorless vector control [30], direct controls of torque and ux [31], nonlinear inverter model and parameter identication [32]. These algorithms are mainly based on the ux and speed estimations. which are obtained from the terminal electrical quantities, and they are complicated and have difculties in the speed estimation. The proposed sensorless vector controlled scheme cannot require speed estimations, and directly uses stator current and voltage. The speed can be estimated by using space vector angular uctuation (SVAF) signal for inverter-driven induction motor in Ref. [33]. This speed estimation algorithm can be used to estimate the motor speed in real time without a speed sensor. This algorithm needs two stator current signals and employs DSP techniques to lter and manipulate the speed-related harmonics. In the sensorless speed control of induction motors with direct eld orientation, the rotor ux and speed information are dependent on the observers. However, the exact values of the parameters that construct the observers are difcult to measure and changeable with respect to the operating conditions. The adaptive slidingmode ux and speed observer is improved to make ux and speed estimation according to parameter variations. The effects of parameter deviations on the rotor ux observer can be reduced by the interaction of the current sliding-mode observers [27]. Ref. [34], presents a novel unit to estimate the speed and the rotor resistance for induction motor drives. This unit is based on a new Adaptive Linear Neuron (ADALINE) structure, which is suitable for single output systems only [34]. In Ref. [7], a recursive leastsquares estimator and Kalman estimators are developed to estimate parameters, ux, and speed for vector-controlled induction motor drives. The recursive least-squares estimator is based on the continuous time induction motor model in a stationary twoaxes reference frame. Estimation errors of this developed method lie below a 6% value. In Ref. [10], a speed-sensorless indirect eld-oriented control for induction motors based on high-gain speed estimation is designed. For this purpose, a new high-gain speed estimator is realized on basis of the torque current regulation error. This method has the achievable dynamic performances of the speed sensorless controller for induction motors. The articial neural networks (ANN) attract more attention in control of nonlinear systems like in estimation of speed. ANNs have been used in some power electronic applications, such as inverter current regulation [35], DC motor control [36], ux estimation [37], speed estimation [38] and observer-based control of induction machines [39]. Studies on ANN are directed to two main elds; to develop new models and theories related to functions of human brain and apply the theories to real problems in the world. Though there is a mutual correlation between these two research elds, application of ANN in solution of problems of which solution are difcult with conventional methods and are uneconomical is very important. In this study, the process of estimating the rotor speed information required in control of vector controlled asynchronous motor without sensors has been obtained with articial neural networks (ANN). First, measurements of q-axis current (Iq) rotor speed and q-axis voltage (Vq) rotor speed are made for the rotor speed estimation. Then the ANN the rotor speed estimator is utilized to estimate the rotor speed. With data obtained from the study made on the DSP application circuit, performance of the speed estimator has been examined. The experimental results show a fast response and

accurate performance of the proposed method in estimation the rotor speed for vector controlled squirrel cage asynchronous motor. 2. Vector control of eld-oriented squirrel cage asynchronous motor Squirrel cage asynchronous motors are simple, durable, maintenance free and the cheapest motors in all powers. Besides, disadvantages such the electrical and mechanical noise caused by commutator brush system in direct current motors, continuous maintenance obligation and not to be able to work in explosive mediums do not exist in asynchronous motors. For this reason, vector controlled asynchronous motors will make using of direct current motors in sensitive servo control applications unnecessary in the future by means of fast developments in microelectronic eld. Even in applications that do not require high dynamic performance, it will be preferred to conventional methods with regard to reliability and energy saving [40]. The vector control method was rstly applied by Blaschke and many researchers from various countries like Leonhard and Bose contributed in development of that method. There are mainly four types of vector control methods depending on options of superposition of reference axis on magnetization ux, rotor ux, stator ux or rotor during decomposition of stator current to its moment and ux components [40]. Besides, direct and indirect control methods are dened according to obtaining style of unit vectors used in transformations. The main problems experienced in application of such methods are: ux measures not sensitive enough, control system just depended on motor parameters and deterioration of decoupling feature of ux components [41]. Because of the magnetic coupling between the stator and rotor phases of three-phase asynchronous motor, modeling of its dynamic behavior in the three-axis system is possible with variable coefcient differential equations that change in time and a very complex model structure appears. For this reason, dynamic behavior of an asynchronous motor fed by a balanced three-phase frequency converter is modeled in a two-axis system consists of dq axes [1]. In that system, parameters that change in time are eliminated and all the parameters and variables are dened on orthogonal d and q axes decoupling from each other. The dynamic model of the machine can be dened in constant or rotating axis systems. In the constant axis system, ds and qs reference axes are in constant position by stator. In the rotating axis system, ds and qs reference axes rotate in rotor speed or synchronous speed. The advantage of the axis system rotating in synchronous speed is that the variables are constant by time [42]. In general, the control is realized according to the following steps: Measuring of motor current and voltage magnitudes. By applying the Clarke transformation, a b transferring of these magnitudes to the two-phase system. Calculation of rotor ux vector and angular position. By using the Park transformation, transferring of stator currents d to q reference plane. Controlling of moment component (isq) and ux component (isd) individually from stator currents. Calculation of reference voltage values of vq and vd. By using the revert Clarke transformation, obtaining of va, vb, vc. By using the space vector modulation (SVM), production of three-phase output voltage. Transformations used during the process in vector control of three-phase squirrel cage asynchronous motor are given in Fig. 1.

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

677

Fig. 1. Vector control transformations in the three-phase system [43].

In voltage equations used to analyze the dynamic performance of an asynchronous motor, it is seen that some inductances of asynchronous motor change in time. In other words, these inductances are a function of rotor cycle. Coefcients in differential equations change in time except when the rotor stops. Complexity of differential equations can be decreased by changing (dening) variables with other variables. This process in dened as transformation. In general transformations, the real variables of the machine can be dened on other reference plane. Generally, this plane is an arbitrary reference plane. All the known transformations can be obtained from such general transformations. For this, it will be sufcient to only know the rotating speed of the reference plane to be used. In Fig. 2, vectorial presentations related to reference planes are given. 2.1. The Clarke transformation The space vector, with two axes of (ab), can be transferred to other reference plane. The a axis and a axis can be shown by being considered in the same direction in the vector diagram given in Fig. 3. The projection transforming the three-phase system to twodimensional system (ab) is given in (1) and (2):

a b (c)

Clarke

is i a,

c
Fig. 3. The Clarke transformation.

2.2. The Park transformation This transformation is the most important part of the vector transformation. In reality, this transforms the projection to a two-phase system on dq rotating reference plane. If we consider that the d axis is adapted with the rotor axis, the diagram shows correlation between two reference planes for the current vector. (Fig. 4). Whereas h is the rotor ux position. The ux and moment components of the current vector are expressed with (3) and (4) equations:

ia i2 1 2 ib p ia p ib 3 3

1 2

Fig. 2. (a) Three-phase reference plane, (b) two-phase reference plane, and (c) rotating reference plane.

678

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

i i

Park

iq id

va vb p v 3v a vb b
d

7 8 9

i iq is id i
Fig. 4. The Park transformation.

vc

2p v b 3v a 2

3. The vector control methods The vector control can be applied in two ways; the direct vector control and indirect vector control. In the direct vector control, position of the rotor ux is directly measured with sensors. In the indirect vector control, the rotor speed and sliding speed is used and there is no need for a special structure. They can only be calculated by using speed feedback. In vectorial control, choosing of moment expression of the machine is very important. The stator current and stator ux or moment expressions created by the rotor ux will be chosen as moment expressions. In this method, stator current can be easily obtained and there is only the ux formation problem. If the ux involved in then moment expression can be kept constant (stator or rotor ux), moment can only be controlled linearly with component of stator ux on the q axis. During that control, the ux must not change just as on the free stimulating direct current machine. This can only be realized through a control to be realized on the rotor ux. When the moment control is made through stator by keeping the stator ux constant, as the ux will be affected from that control, no linear control occurs. When the rotor ux is kept constant, the correlation between the q axis stator current and moment is linear. Thus, the stator current components that control the ux and moment are vertical to each other and can be controlled independently from each other. There is no magnetic interaction between them [10,25]. A vector controlled block diagram is given in Fig. 7. 3.1. The direct vector control method

id ia cos h ib sin h iq ia cos h ib sin h

3 4

These components depend on components in the current vectors (ab) and rotor ux position. If the correct ux position is known, on that projection, dq elements will be constant. Here, a two coordinated system independent from time of which id (ux component) and iq (moment component) and direct moment control is possible and easy has been obtained. 2.3. The inverse Park transformation After controlling, to transform two voltage vectors (vd, vq) obtained on the d, q plane to three-phase motor voltage, rst of all, we must transform it from two-axis arbitrary reference plane to two-axis constant reference plane (va, vb). For this process, rstly the reverse Park transformation (5) and (6) is used (Fig. 5).

V a V d cos h V q sin h V b V d sin h V q cos h

2.4. The inverse Clarke transformation

5 6

The next step is the transformation from two-axis constant reference plane (va, vb) to three-phase reference plane (va, vb, vc). For this process, expressions in the reverse Clarke transformation (7) (9) are used. (Fig. 6).

In the direct vector control, the ux is determined with direct measuring. In the measuring method, the ux sensors placed in the air gap, ux bobbins placed specially on the stator or observer models are used. It is disadvantageous if the ux sensors are affected from the heat or are fragile. 3.2. The indirect vector control method In the direct vector control, in formation of unit vectors, some difculties are experienced. In the indirect vector control, the angular position of the rotor ux vector can be determined by means of calculation by considering the principle of ids, iqs couples dene only one sliding angular frequency [40]. By using the motor equations and speed feedback, the effective value of voltage, its frequency and phase related control magnitudes are established. 4. Synchronous reference frame (dq) dynamic model of squirrel cage asynchronous motor The dq transformation that ensures analyzes of electric machines on any reference frame and is suggested by R.H Park is dened as in (10)(12). In Fig. 8, the dynamic model equivalent circuit of the squirrel cage asynchronous motor on a synchronous plane is given

Fig. 5. The inverse Park transformation.

Iq d0s SuIabcs
Fig. 6. The inverse Clarke transformation.

3 2 p p cosu cos u 23 cos u 23 7 26 p p 4 sinu sin u 23 sin u 23 5 I2bcs 3 1 1 1

2 2 2

10

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

679

Fig. 7. Block diagram of vector-controlled induction motor [44].

(a)
-

(b)
Fig. 8. Synchronous plane: (a) qe-axis and (b) de-axis dynamic model equivalent circuit.

where

Iq d0s iqs Iabcs ias

ids ibs

i0s T ics T

v e Rs ie ds ds
11 12

d e w xe we qs qs dt ds d e w xe xr we dr dt qr d e w xe xr we qr dt dr

14 15 16

v e 0 Rr i e qr qr v e 0 Rr i e dr dr

u is an angle between iqs and ias.

By using the (2.56) equation, the mathematical model of asynchronous motor on synchronous reference frame is obtained as in (13)(16):

v e Rs i e qs qs

d e w xe we ds ds dt qs

13

where vqs, vds are the stator voltages, vqr, vdr the rotor voltages, wqr, wdr the rotor ux linkages, xe the synchronous speed, xr the Electrical rotor speed, Ls the stator inductance, Rs the stator resistance, Lr the rotor inductance degraded to stator, Rr is the rotor resistance degraded to stator.

680

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

Stator in these equations can be written as given in (17)(19) in terms of rotor air gap ux linkages current.

cal moment and synchronous speed can be determined as given in (21) and (22) by simplifying the above stated equations:

6 e 7 6 6 wds 7 6 0 7 6 6 we 7 6 L 4 qr 5 4 m 0 we dr
e e

we qs

Ls

0 Ls 0 Lm

Lm 0 Lr 0

32 ie 3 qs 6 7 Lm 76 ie 7 76 ds 7 7 0 56 ie 7 4 qr 5 e Lr i 0
dr

Te 17

3PLm e e w i 4Lr dr qs Lm iqs

21

xe xr
18 19

sr wdr

22

we Lm iqs iqr qm we Lm ids idr dm

e e

By using the mechanical circuit of motor, the motor speed and its position can be determined as given in (23):

dxr P T e T L ; 2J dt

dhr xr dt

23

The electrical moment produced by motor can be obtained on synchronous reference frame as shown in (20):

Te

3PLm e e e wdr iqs we ids qr 4Lr

20

Transformation from synchronous frame axes to constant frame axes and from here, to three-phase voltages can be obtained is given in (24)(28). Transformations between planes are given vectorially in Figs. 9 and 10.

As a result of rotor eld diverting on the synchronous reference frame, as the qe axis rotor ux linkages is zero (we = 0), the electriqr

v sqs v e cos he v e sin he qs ds v sds v e sin he v e cos he qs ds v as v sqs v bs

p 1 s 3 s v qs v 2 2 ds 1 2 p 3 s v 2 ds

24 25 26

27

v cs v sqs

28

In variables at the Eq. (25)(28), e indicates the synchronous reference frame and s indicates the constant reference frame. 5. Articial neural networks ANNs are successfully used in a lot of areas, such as control, early detection of electrical machine faults, and digital signal processing in everyday technology. The memory of a neural network lies in the weights and biases. Neural networks can be classied into three categories according to how the weights and biases

Fig. 9. Transformation between dsqs and deqe planes.

Fig. 10. Ones transformed to asbscs and dsqs plane.

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686 Table 1 Label information for the asynchronous motor.

681

Output Input w

+
Target

GAMAK 3 $ MOT I.CL F V Hz 50 TYPE AGM71 2b IP 55 B3 A 2.3 1.34 kW 0.55 S1

4404354284 EFF CE Cos u 0.84 r/min 2780

ANN
Fig. 11. A supervised network.

D 220 Y 380

are obtained: xed-weight, unsupervised and supervised networks [28,29]. In this paper, supervised networks are used. The set-up for a supervised network is shown in Fig. 11. In the supervised network, the weights and biases are adaptively trained by a learning mechanism, which has been the mainstream of neural model development. The most popular learning algorithm is known as back-propagation. The best initial weights and biases for backpropagation networks are created at random, utilizing the minimum and maximum value of each input. The jth weight-update equation of the ith neuron is given as Eq. (29):

tions. The dsPIC can be programmed from a computer by means of the USB interface on that device and data in its memory can be easily transferred to the computer. In Fig. 13, LEDs, buttons, LCD screen and external programming outputs are given. On the control card, there are two trimpots, LCD screen, LEDs and buttons. Other than these, there are external power source and communication port outputs. The motor control card and power module used in the application are shown in Fig. 14. 6.2. Introduction of the control system software The program realizing the control is edited and inspected after it is entered in C language by means of MPLAB IDE program and loaded in the microprocessor by MBLAP PM3 programming device via USB line. Data saved in the microprocessor by means of MPLAB IDE program are transferred to the computer medium. The software used in the application is software belongs to MICROCHIP Company. In general, the program uses the current and voltage data from analog inputs and the speed information from encoders as input data. It forms a new PWM by using the vector control algorithm and sends it to the power module. The program ow diagram is given in Fig. 15.

W ij t 1 wij t

@Em @wij t

 29

Here g is the learning rate, wij(t + 1) is the new weight, and wij(t) is the old weight. 6. Experimental system set-up and the proposed speed estimation method In this study, it is aimed to estimate the speed information of vector controlled squirrel cage asynchronous motor without using a sensor by means of ANN. For this purpose, a motor control development card by Microchip Company is used. In the following paragraphs, dsPIC micro processor, control card and a three-phase, 50 Hz, 0.55 kW, 2-pole squirrel cage asynchronous motor (ASM) used for that purpose will be introduced. The block diagrams of vector controlled squirrel cage asynchronous motor and system components are given in Fig. 12. The label information for the squirrel cage asynchronous motor used in application is given in Table 1. 6.1. Digital signal processor (DSP) programming and motor control card The programming card used in the application is a set developed by the MPLAB PM3 Microchip Company for dsPIC applica-

Fig. 13. MPLAB PM3 programming device.

Computer

Programming Card (MPLAB PM3)

Control Card (dsPIC 30F6010)

Power Module

ASM 3-phase

Fig. 12. Block scheme of the application circuit.

682

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

6.3. Obtaining of data on vector controlled squirrel cage asynchronous motor The vector controlled asynchronous motor in no load position is operated in 100 cycle increases starting from speed of 500 r/min to speed of 1000 r/min. In each operation, the Speed-q-axis current (Iq) and Speed-q-axis voltage (Vq) data couples are taken. To save these data in the processor, the commend lines are added in the software. To start saving, it is obligatory to press any button. While the system is operating, vector rotates in control mode with 480 r/ min speed. After the button is pressed at any time and the rst 500 data are saved, the speed automatically increases at any desired rate and other 500 data are saved. The sampling time of these data is 4 ms. From Speed-Iq and Speed-Vq data obtained from the motor operated in different speed phases, total 50 data groups are obtained. By taking means of these Vq and Iq data, four data groups are obtained related to change depending on speed. The Iq and Vq change during 800 r/min increase of the motor speed and correlation between these changes are given in Fig. 16. When means of these data are taken (obtained depending on the correlation given in Fig. 15), linear graphics are obtained. The change related to these obtained data is given in Fig. 17. As it can be understood from the graphics in Fig. 17, there is a linear correlation between the speed and Vq and Iq parameters. In this gure, four data groups are obtained. With one group of these data, ANN is trained and with other group, tests are made. Data used in training are given in Table 2. Data used in training are given in Table 2. The data to be used for ANN tests are taken from the 2nd data group. Ten data are chosen for the test. These data are given in Table 3.

Fig. 14. motor control development card.

Measurement of speed () and phase current (ia,ib,ic)

(ia, ib, ic)

(id, iq)

Calculation of rotor flux vector angular position

7. Modeling of system with articial neural networks The used ANN model is a multi-layer perceptron model where more than one layers are used between its input and output layers. Algorithm of error backward diffusion is used as the training algorithm. The error backward diffusion algorithm is a coded algorithm that minimizes the error function (of which square is taken) and is used to train the generalized delta rule. The training of that ANN model is shown is the ow diagram in Fig. 18. According to the ow diagram in Fig. 18, the training program of ANN is entered in C++ programming language. Modeling of the system with ANN consists of four phases as follows:

New transformation angle calculation

1. 2. 3. 4. Obtaining of input and output data of the system. Choosing of ANN structure. Realization of training process. Conformity test of ANN model of the system. The ANN parameters modeling the system are given below: 1. 2. 3. 4. 5. 6. 7. 8. The input number is 2. The output number is 1. The layer number is 1. The cell number in layer is 4. The layer activation function is Sigmoid. Maximum iteration number is 500,000. The learning coefcient is 0.7 . The momentum coefcient is 0.9.

(Vq-Vd)

(V-V )

(V-V )

(Va, Vb,Vc)

Fig. 15. Program ow scheme.

As there is not any denite criterion in choosing of the layer number in ANN structure and cell number in each layer, the layer

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

683

Fig. 16. Momentarily Iq and Vq change depending on speed.

Fig. 17. Changes of averaged: (a) Vq and (b) Iq parameters depending on speed.

684 Table 2 Data used for training of ANN. Speed (r/min) 500 510 520 530 550 560 570 590 610 620 630 640 660 670 680 690 700 720 730 740 Vq 10696.1 10913.26 10978.29 11102.31 11615.22 11829.56 11779.87 12237.28 12707.98 13156.5 12988.33 13398.96 13635.37 13623.12 13930.32 14368.58 14547.13 14751.32 14880.76 15232.35 Iq 1163.13 1167.74 1168.72 1172.81 1209.52 1195.33 1173.65 1202.06 1207.65 1218.07 1270.22 1267.22 1247.71 1257.44 1240.82 1271.96 1266.25 1263.9 1310.61 1303.01

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

Determine starting values of very weights random

Speed (r/min) 750 760 780 790 810 820 830 840 850 860 880 890 900 910 920 930 940 960 970 1000 Vq 15442.36 15368.38 15935.34 16342.53 16714.49 16889.13 17029.32 17059.48 17292.82 17538.94 17758.64 18074.85 17844.09 18472.37 18572.41 19029.92 18919.34 19215.21 19394.23 20283.67 Iq 1269.61 1299.24 1288.33 1321.67 1363.19 1319.54 1334.25 1357.85 1359.06 1306.12 1364.38 1318.5 1355.26 1351.47 1310.43 1343.77 1364.04 1371.74 1350.02 1432.19

Apply training set to neurol networks

Find error from network output and desired output, and add it to total error

Update weights with backpropogation of error

Is training set completed?

Table 3 Data used in the ANN test. Speed (r/min) 510 540 580 610 670 Vq 10925.76 11381.67 12104.86 12804.96 13793.27 Iq 1132.77 1180.65 1187.31 1261.86 1263.88 Speed (r/min) 760 870 910 970 1000 Vq 15366.56 17606.56 18273.08 19343.09 20203.5 Iq 1320.98 1363.98 1344.23 1355.52 1412.27

Is error small sufficiently?

Take training set to beginning

number and cell numbers are determined by means of trial and error method. Similarly, the learning and momentum coefcients are determined depending on the experiences in previous studies. The input data is normalized to 5. The output is between 0.1 and 0.99. Change of error between the ANN structure and training process is given in Fig. 19. As the quadratic error decreases to 0.0009 in 500,000 iteration, it has been decided to cease training. After the training process with ANN is completed, the data taken from the 2nd group are tested. The obtained results and real values are given in Table 4 and Fig. 20. As it can be seen in Table 4 and Fig. 20, the speed information estimated with ANN application is close to its real values and they are correct. As these parameters are used in vector control, there is no need to use any additional element. By observing the change of these two data in the software program, the speed is estimated in correct manner. 8. Experimental results and discussion In this study, to prove the correctness of the proposed ANN speed estimator, an experimental set that belongs to vector controlled squirrel cage asynchronous motor drive was used. In the experimental study, the motor controlled development card used for dsPIC applications is MPLAB PM3. In Table 1, the label values of three-phase and 2-polar squirrel cage asynchronous motor used in the experimental study are given. The vector control algorithm and the speed estimation algorithm are executed by the motor control board with a DSP chip. MPLAB PM3 program uses q-axis current (Iq) and q-axis voltage (Vq) from analog inputs and the real-speed information from quadratic encoder as input data. The real speed measurement is also made by the DSP. By running in various speed phases, rotor speed-Iq and rotor speed-Vq of the squirrel cage asynchronous mo-

Fig. 18. The ow diagram of ANN training program entered in C++ language.

tor were taken as given in Table 2. In this study, the speed range of squirrel cage asynchronous motor was taken at 5001000 rpm. After the study, it was determined that the speed information required for recycling in vector control could be obtained with ANN speed estimator by using the q-axis current (Iq) and q-axis voltage (Vq) parameters. In Table 3, the rotor speed, q-axis current (Iq) and q-axis voltage (Vq) values selected in order to be used in the ANN test and approximate speed values obtained with the ANN speed estimator were compared. The variation of error in training process with ANN is given in Fig. 19. As it was seen that the quadratic error decreased to 0.0009 in 500,000 iteration, the training made with ANN was ceased. As matter of fact, as it is seen in Fig. 20, the speed information estimated with the ANN speed estimator are very close to its real values and are correct. As these parameters were used in vector control, there was no need to use an additional component. By tracing the change of these two data in software, correct estimation of speed was realized. Besides, by only using the data that belong to Iq and Vq parameters, without using the real rotor speed, the same speed estimation values were obtained with the ANN speed estimator. Estimators, observers and spectral analysis methods are frequently used techniques for sensorless speed estimation of induction motors estimators depend on accurate machine model and parameter estimation in model reference adaptive system. However, the induction motors are nonlinear and their parameters vary with time and operating conditions. Observers and spectral analysis method have a relatively long delay and data processing time that can limit real-time speed measurement [33,4548]. As matrix

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686

685

Fig. 19. Change of error during the training.

Table 4 Values of motor speed estimated with ANN and its real values. The obtained results with ANN 0.126076 0.169747 0.246175 0.321902 0.403430 0.557564 0.766499 0.822947 0.924769 0.994801 As a speed up equivalent with ANN achieved data (r/ min) 514.64 539.18 582.12 624.66 670.46 757.05 874.43 906.15 963.35 1002.69 The real data 0.1178 0.1712 0.2424 0.2958 0.4026 0.5628 0.7586 0.8298 0.9366 0.99 The real data as a speed equivalent (r/ min) 510 540 580 610 670 760 870 910 970 1000

not a desired situation. The period to reach to desired speed value in real speed estimation methods and techniques of induction motors is shortened with the ANN speed estimation algorithm realized in this study. 9. Conclusions In this study, a sensorless speed estimation algorithm with ANN has been successfully demonstrated for a sensorless indirect vector controlled squirrel cage asynchronous motor drive system. Data selected for the ANN test was used to evaluate the capabilities of the proposed ANN speed estimator for real-time speed estimation. The performance of ANN speed estimator is found to be excellent in the wide speed region. Although the estimator performance is demonstrated for a sensorless vector controlled squirrel cage asynchronous motor drive system, it can also be used to scalar or vector control of drive systems. The proposed ANN speed estimator can improve the performance and reliability of squirrel cage asynchronous motor drives, because it does not require a speed sensor, extra wiring and detailed machine model.

operations are used intensively in such applications, the time period 15 times of the cycle period of the all vector controlled algorithm is needed. Extension of estimation period and sampling times in speed estimation operations of asynchronous motors is

Fig. 20. Values of motor speed estimated with ANN and real motor speed values.

686

Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675686 [24] Vasic V, Vukosavic S. Robust MRAS-based algorithm for stator resistance and rotor speed identication. IEEE Power Eng Rev 2001;21(11):3941. [25] Ritter CM, Silvino JL. An alternative sensorless eld orientation method. IEEE Trans Energy Convers 1999;14:133540. [26] Ha JI, Ohto M, Jang JH, Sul SK. Design and selection of AC machines for _ saliency-based sensorless control. In: Conf rec IEEE-IAS annu meeting; 2002. p. 115562. [27] Li J, Xu L, Zhang Z. An adaptive sliding-mode observer for induction motor sensorless speed control. IEEE Trans Ind Appl 2005;41(4):103946. [28] Campbell J, Sumner M. Practical sensorless induction motor drive employing an articial neural network for online parameter adaptation. Proc IEEElect Power Appl 2002;149(4):25560. [29] Vas P. Articial-ntelligence-based electrical machines and drives. London, UK: Oxford Univ Press; 1999. [30] Edelbaher G, Jezernik K, Urlep E. Low-speed sensorless control of induction machine. IEEE Trans Ind Electron 2005;53(1):1209. [31] Maes J, Melkebeek J. Speed sensorless direct torque control of induction _ motors using an adaptive ux observer. In: Conf rec IEEE-IAS annu meeting; 1999. p. 230512. [32] Joachim H, Quan J. Sensorless vector control of induction motors a very low speed using a nonlinear inverter model and parameter identication. IEEE Trans on Ind Appl 2002;38(4):108795. [33] Arkan M. Sensorless speed estimation in induction motor drives by using the space vector angular uctuation signal. IET Electr Power Appl 2008;2(2):11320. [34] Marei MI, Shaaban MF, El-Sattar AA. A speed estimation unit for induction motors based on adaptive linear combiner. Energy Convers Manage 2009;50:166470. [35] Burton B, Harley RG, Habetler TG. High bandwidth direct adaptive neurocontrol of induction motor current and speed using continual online random weight change training. In: PESC 99. 30th annual IEEE power electronics specialists conference , vol. 1(27); 1999. p. 48894. [36] Herrmann G, Ge SS, Guoxiao G. Practical implementation of a neural network controller in a hard disk drive. IEEE Trans Control Syst Technol 2005;13(1):14654. [37] Cirrincione M, Pucci M, Cirrincione G, Capolino GA. A new adaptive integration methodology for estimating ux in induction machine drives. IEEE Trans Power Electron 2004;19(1):2534. [38] Tsai C-H. CMAC-based speed estimation method for sensorless vector control of induction motor drive. Electr Power Compon Syst 2006;34:121330. [39] Leu YG, Wang WY, Lee TT. Observer-based direct adaptive fuzzy-neural control for nonafne nonlinear systems. IEEE Trans Neural Net 2005;16(4):85361. [40] Vas P. Vector control of AC machines. Oxford, New York: Clarendon Press; 1990. [41] Bose BK. Power electronics and motor drives advances and trends. Condra Chair of excellence in power electronics/emeritus. The University of Tennessee, Academic Press is an imprint of Elsevier; 2006. [42] Narendra KS, Parhasarathy K. Identication and control of dynamical systems using neural networks. IEEE Trans Neural Net 1990;1(1):427. [43] Sustek P, Stekl P. Washing machine three-phase AC-induction direct vector control based on MC56F8013. Freescale Semiconductor, Inc., AN3476, Rev.1; 2007. [44] Ross D, Theys J. Using the dsPIC30F for vector control of an ACIM. Microchip Technology Inc.; 2004. p. DS00908A. [45] Aiello M, Cataliotti A, Nuccio S. An induction motor speed measurement method based on current harmonic analysis with the chirp-Z transform. IEEE Trans Instrum Measure 2005;54(5):18119. [46] Staines CS, Asher MG, Summer M. Rotor-position estimation for induction machines at zero and low frequency utilizing zero-sequence currents. IEEE Trans Ind Appl 2006;42(1):10512. [47] Aller JM, Habetler TG, Harley RG, et al. Sensorless speed measurement of AC machines using analytic wavelet transform. IEEE Trans Ind Appl 2002;38(5):134450. [48] Bharadwaj RM, Parlos GA, Toliyat HA. Neural speed ltering for sensorless induction motor drives. Control Eng Pract 2004;12:687706.

References
[1] Krishnan R. Electric motor drives: modeling, analysis, and control. Englewood Cliffs, NJ: Prentice-Hall; 2001. [2] Messaoudi M, Sbita L, Abdelkrim MN. Robust nonlinear observer for states and parameters estimation and on-line adaptation of rotor time constant in sensorless induction motor drives. Int J Phys Sci 2007;2:21725. [3] Barut M, Bogosyan S, Gokasan Metin. Switching EKF technique for rotor and stator resistance estimation in speed sensorless control of IMs. Energy Convers Manage 2007;48(3):1203134. [4] Inanc N. A robust sliding mode ux and speed observer for speed sensorless control of an indirect eld oriented induction motor drives. Electr Power Syst Res 2007;77:16818. [5] Uddin MN, Radwan TS, Rahman MA. Performances of fuzzy logic based indirect vector control for induction motor drive. IEEE Trans Ind Appl 2002;38(5):121925. [6] Mannan MA, Murata T, Tamura J, Tsuciya Takeshi. Speed control and a fullorder state observer for efciency optimized induction motor. Electr Power Compon Syst 2005;33:9991013. [7] Maragliano G, Marchesoni M. Implementation of a mixed recursive leastsquares and kalman lter approach in parameters, ux, and speed estimation for vector-controlled induction motor drives. Electr Power Compon Syst 2008;36:35986. [8] Abdesh Khan M, Azizur Rahman M. A new wavelet-based speed controller for induction motor drives. Electr Power Compon Syst 2008;36:128298. [9] Barut M, Bogosyan S, Gokasan M. An EKF-based estimator for the speed sensorless vector control of induction motors. Electr Power Compon Syst 2005;33:72744. [10] Montanari M, Peresada S, Tilli A. A speed-sensorless indirect eld-oriented control for induction motors based on high gain speed estimation. Automatica 2006;42:163750. [11] Varghese GC, Sanders SR. Observers for ux estimation in induction machines. IEEE Trans Ind Electron 1998;35(1):8594. [12] Derdiyok A, Gven MK, Rehman Hur, Inanc N, Xu L. Design and implementation of a new sliding-mode observer for speed-sensorless control of induction machine. IEEE Trans Ind Electron 2002;49(5):117782. [13] Wang G, Hofmann HF, El-Antably Ahmed. Speed-sensorless torque control of induction machine based on carrier signal injection and smooth-airgap induction machine model. IEEE Trans Energy Convers 2006;21(3):699707. [14] Comanescu M, Xu L. Sliding-mode MRAS speed estimators for sensorless vector control of induction machine. IEEE Trans Ind Electron 2006;53(1):14653. [15] Vasic V, Vukosavic SN, Levi E. A stator resistance estimation scheme for speed sensorless rotor ux oriented induction motor drives. IEEE Trans Energy Convers 2003;18(4):47683. [16] Suwankawin S, Sangwongwanich S. A speed-sensorless IM drive with decoupling control and stability analysis of speed estimation. IEEE Trans Ind Electron 2002;49(2):44455. [17] Ahn Kwon Y, Hwan Kim S. A new scheme for speed-sensorless control of induction motor. IEEE Trans Ind Electron 2004;51(3):54550. [18] Maiti S, Chakraborty C, Hori Y, Ta MC. Model reference adaptive controllerbased rotor resistance and speed estimation techniques for vector controlled induction motor drive utilizing reactive power. IEEE Trans Ind Electron 2008;55(2):594601. [19] Barut M, Bogosyan S, Gokasan M. Speed sensorless direct torque control of IMs with rotor resistance estimation. Energy Convers Manage 2005;46:33549. [20] Briz F, Degner MW, Diez A, Lorenz RD. Static and dynamic behavior of saturation-induced saliencies and their effect on carrier-signalbased sensorless ac drives. IEEE Trans Ind Appl 2002;38(8):6708. [21] Leppanen V, Luomi J. Speed-sensorless induction machine control for zero speed and Frequency. IEEE Trans Ind Electron 2004;51(5):10417. [22] Hinkkanen M, Leppanen V, Luomi J. Flux observer enhanced with lowfrequency signal injection allowing sensorless zero-frequency operation of induction motors. In: Proc 31th IAS annu meeting, vol. 2; 2003. p. 105056. [23] Beres Z, Vranka P. Sensorless IFOC of induction motor with current regulators in current reference frame. IEEE Trans Ind Appl 2001;37:10128.