research and apply PID hybrid fuzzy control technology in position

control system using inverter and asynchronous motor

Dao Ba Phong, Phan Xun Minh, Nguyen Doan Phuoc
Ha Noi University of Technology, Viet Nam
E-mail: dbphong@mail.hut.edu.vn
http://www.hut.edu.vn

Abstract
This paper presents researching and applying
PID hybrid fuzzy control technology replacing
traditional PID control to improve the precision for
position control system with electrical transmission
system using inverter and asynchronous motor. The
results of researching simulated by Matlab software,
tested with experimental model and will be applied in
position control system of iron sheet cutting machine
at Ha Noi Mechanic Company.
1 Introduction
When position controller for the system of
asynchronous motor and inverter is established, several
needed targets of control quality is that: rapid response
time, high precision, stable operation with required
moment and speed. Because asynchronous motor is
strongly nonlinear object so that ability to well meet
these targets is very difficult if using traditional PID
controller for this position control system. Appearance
of fuzzy control field opened a new period in
automation control. Fuzzy control is quite appropriate
for the nonlinear control systems, difficult parameter
determining systems, measured parameters having
great error and systems with highly adaptive. Now the
expanding research on fuzzy control give PID hybrid
fuzzy control having great high control quality because
of combine the advantages of traditional PID controller
and PID hybrid fuzzy controller. So that using PID
hybrid fuzzy controller to improve the precision for
position control system and applying it to iron sheet
cutting machine at Ha Noi Mechanic Company will
be a prospective researching direction.
2 Establish Position Control System
2.1 Building the mathematical model for
asynchronous motor
In order to build the mathematical model for
asynchronous motor, it is need to change 3-phase
parameters of the asynchronous motor from space
vector (a,b,c) to vector parameters described in the
rotor magnetic flux co-ordinate system (d,q). The
advantage of this method is that changing electrical
circuit structure and complicated connection of 3-
phase parameters into clear interrelation (current ~
magnetic flux, current ~ moment) similar to DC
motor for getting control quality as if DC motor.
Describing the asynchronous motor space in the
form of vector parameters:
( )
( )
(

+
+
=
(

i
i
pL R pL
pL pL R
u
u
S
T
m
m S S S

0
0
(1)
Changing the electrical parameters of
asynchronous motor from space vector co-
ordinate system (a,b,c) to fixed stator co-ordinate
system (,):
(
(
(
(
(

(
(
(
(

+
+
+
+
=
(
(
(
(
(

y
x
m m
m m
m m
m m
y
x
i
i
i
i
pL R pL pL
pL R pL pL
pL pL pL R
pL pL pL R
u
u
u
u
2
2
1
1
2 2
2 2
1 1
1 1
2
2
1
1
0 cos . sin .
0 sin . cos .
cos . sin . 0
sin . cos . 0

(2)
Changing the electrical parameters of
asynchronous motor from fixed rotor co-ordinate
system (x,y) to fixed stator co-ordinate system
(,):
(
(
(
(
(

(
(
(
(

+
+
+
+
=
(
(
(
(
(

2
2
1
1
2 2 2
2 2 2
1 1
1 1
2
2
1
1
0 0
0 0
i
i
i
i
pL R L pL L
L pL R L pL
pL pL R
pL pL R
u
u
u
u
m m
m m
m
m
(3)
Changing the electrical parameters of
asynchronous motor from fixed stator co-ordinate
system (,) to rotor flux orientation co-ordinate
system (d,q):
(
(
(
(
(
(
(

(
(
(
(
(
(
(

+
+
+
+
=
(
(
(
(
(
(
(

q
d
q
d
m
s m
r
r n n n
r
r
n n n
q
d
i
i
p T T L
T T L
T
k
k pL R L
k
T
k
L pL R
u
u
2
2
1
1
2 2 s
2 2
2
1
2
1
1
1
1 . 0
p 1 0

. .
0
0

(4)
With: = d/dt;
1
= d
1
/dt;
S
=
1
- is
sliding rate of rotor with rotate magnetic; R
1
is stator
resistance, L
1
is stator reactance; R
2
is rotor resistance,
L
2
is rotor reactance; L
m
is mutual induction between
stator and rotor; T
1
is stator time constant; T
2
is rotor
time constant; R
n
is short circuit resistance of motor;
L
n
is short circuit reactance of motor; k
r
= L
m
/L
2

Equation (4) give the relation between rotor
magnetic flux with volltage and current of stator. From
that point, the general structure diagram of
asynchronous motor is built in fig. 1; The principal
diagram of asynchronous motor controled system by
inverter is described in fig. 2; Fig. 3 is simplified
diagram of fig. 2.


2.2 Building the current control round
The structure diagram of current control round
(fig. 4) find out the function of closed-loop as (5).
According to the module optimization standard, the
function of current control round is (6) [5].




( )
( )
( ) ( ) p W p W R k
p W R k
p W
L i u
i u
i
. . . 1
. .
1
1
+
= (5)
with ( )
( ) p T R
p
n n
+
=
1 .
1
1
W and ( )
p T
p
L
L
+
=
1
1
W
( )
1 2
1
1 2 2
1
2 2
+

+ +
=
p T p T p T
p W
i i i
i
(6)
because value of T
i
is very small
Combine (5) and (6) as well as choose T
L
= T
i

so that the function of current control round ( ) p R
i

is a PI controller as (7).
( )
( )
p
k
k
p T k
p T R
p R
i
p
i u
n n
i
1
1
. . 2
1 .
+ =
+
(7)
2.3 Building the speed control round




( ) ( )
( )p p T J
k
Jp
k
p T Jp
k
p W p W
i
m m
i
m
i DT
1 2 1 2
1
+
=
+
= =

Set ; T ; T
m
k k =
i
T 2 =

J =
having ( )
( ) p T Tp
k
p
DT

+
=
1
W (8)
So the controled object has form of the first-class
inertial integral. According to [3], the speed controller
built under the symmetrical optimization standard has
form of the PI controller.
|
|
.
|

\
|
+ =
p T
k p R
I
P
1
1 ) (

with condition T (9)

T
I
>
Parameters of speed controller (PI) are calculated
as follows:
1. Calculation a from the stable reserve angle
(
r
) of closed-loop as following equation:
r
r
a

cos
sin 1+
= with a>1
2. Calculation T
I
by equation T and k

T a
I
2
=
P

by equation
m
k aT
J

P
k aT
T

= = k
Applying the over calculation result for a
asynchronous motor with label parameters are: P
n
=
400W; cos
n
= 0.83; U
n
= 220V; I
n
= 2.7A; f
n
= 50Hz;
n
n
= 940 rpm; J = 0.001 kgm
2
; n
0
= 1000 rpm. Using the
approximate method to calculate important motor
parameters from label parameters [6]. The function of
this asynchronous motor has the form of (10) equation.
( )
( ) ) 004 . 0 1 (
529
1 2 p p p p T J
k
p W
i
m
DT
+
=
+
= (10)
With a = 4 or , calculate the function
of speed controller having following form:
0
65 =
r

( )
p
p R
847 . 1
118 . 0 + =

2.4 Building the position control round [1] [4]
Basing on the results of speed control round
establishment, the structure diagram of position
control round is built in fig. 7 and fig. 8.



According to fig. 8, the controled object
function has form of first-class in numerator and
fourth-class in denominator. This is a kind of
controled object which do not belong to those special
kinds. So it is impossible using several usual
methods to calculate the parameters for PID
controller such as module optimization method,
symmetrical optimization method, Reinisch method,
Chien-Hrones-Reswick method, Kuhn method. In
this case, these parameters of PID controller (K
P
, T
I
,
T
D
) are usually calculated by second Ziegler-Nichols
method because of simple calculation and good
result.
Applying the second Ziegler-Nichols method,
determine the gain k
limit
= 18.1 and the fluctuation
cycle T
limit
= 0.0625 (s). The position controller has
form of the following PID controller.
p
p
p R 085 . 0
52 . 347
86 . 10 ) ( + + =

3 Establish PD Hybrid Fuzzy Control Law
PD hybrid fuzzy control law is designed according
to Sugeno fuzzy model with 2 input and 1 output:
The first input (ET) is error between setpoint
position and present position, ET[-5,+5] rad.
The second input (DET) is the changing velocity of
ET, DET[-5,+5] rad/s.
The output (U) is a DC voltage value controlling
inverter, U[-10,+10] V.
The determined area of variables: ET{BN, SN,
ZE, SP, BP}, DET{BN, SN, ZE, SP, BP} v U{-
10, -7.5, -5, -2.5, 0, 2.5, 5, 7.5, 10}.
According to experience, establishing 25 control
rules as follows table 1 [7].
DET

BP SP ZE SN BN
BN 0 -2.5 -5 -7.5 -10
SN 2.5 0 -2.5 -5 -7.5
ZE 5 2.5 0 -2.5 -5
SP 7.5 5 2.5 0 -2.5
ET
BP 10 7.5 5 2.5 0
Table 1: PD hybrid fuzzy control rules


Fig. 9: The specific surface for input/output relation of
PD hybrid fuzzy control law
4 The Simulation Results in Matlab and
Testing in Experiment Model
In order to improve position control quality of the
traditional PID controller, should add the first-class
inertial to the model taking the part of a preprocessor
with function having following form:
1 08 . 0
1
) (
+
=
p
p W
pre


Fig. 10: The position control system model using the
traditional PID controller and the PD hybrid fuzzy
controller with electrical transmission system using
inverter and asynchronous motor
4.1 The simulation result of position control
system using the traditional PID controller
and the PD hybrid fuzzy controller with
moving distance d = 0.0001 rad

PD hybrid fuzzy
PID
Fig. 11: The position response with PID and PD
hybrid fuzzy controller


Table 2: The control quality comparison between the
different controller
Remark:
1. If using the traditional PID controller without a
preprocessor, the overshooting quantity reach
63.3% the value of setpoint position. So this
controller does not fit with position control system.
2. Using the traditional PID controller with a
preprocessor, the overshooting quantity is reduced
to 0% but the transitional time is increased (0.78
second).
3. Using PD hybrid fuzzy controller, the overshooting
quantity is reduced to 0% and the transitional time
is also reduced (0.35 second).
Obviously, the position control system using PD
hybrid fuzzy controller gives targets of control quality
better than PID controller.
4.2 Testing following control quality of position
control system using the traditional PID
controller and the PD hybrid fuzzy controller
Using sampling signal y = 1sin(2ft) with f = 10 rad/s.

Fig. 12: The following control quality of the PID
controller

Fig. 13: The following control quality of the PD hybrid
fuzzy controller
Remark: In the following control mode, PD hybrid
fuzzy controller is also better than PID controller.
4.3 Testing in experiment model
Basing on the theory researching results, the PD
hybrid fuzzy controller is chose to use in the position
control system. A experiment model is built
including a 3-phase asynchronous motor, a
micromaster 420 inverter of Siemens, a encoder for
position measurement and a ADC (Analog Digital
Converter) Card to measure and output voltage signal
to control inverter. A software with PD hybrid fuzzy
control algorithm is made to test theoretic accuracy.

Fig. 14: Design and set up fuzzy control rules for the
position controller

Fig. 15: The position control experiment with
different lengths

Fig. 16: The position control experiment in following
mode
Carrying out 2 kinds of testing in the experiment
model and receiving following results:
The position control experiment with different
lengths. For example: with setpoint length d =
1000 mm, max position error e = 0.016 mm
The position control experiment in following
mode. The position error is [0.012 0.125]
mm.
With the testing results in experiment model, this
researching achievements can be applied into
production in Viet Nam and particularly in position
control system of iron sheet cutting machine at Ha Noi
Mechanic Company because of two main advantages
as follows:
The position accuracy satisfy required targets
of iron sheet cutting machine.
Cost-price of this position control system only
equals one-third the similar control system
from overseas.
5 Conclusion and Developmental Direction
In summary, the position control system using PD
hybrid fuzzy controller has two main targets of control
quality better than PID controller as follows:
The overshooting quantity and the transitional
time is smaller.
Position error while having load is smaller.
In future, the continued researching direction is
that building adaptive hybrid fuzzy controller.
Flexibility of this controller will make control
quality better.
References
[1] D. B. Phong, Master Thesis, Ha Noi University
of Technology, Viet Nam, 2003.
[2] Ph. Xu. Minh and Ng. D. Phuoc, Theory of
Fuzzy Control, Science and Technology
Publishers, Viet Nam, 1999.
[3] H. Lutz and W. Wendt, Taschenbuch der
Regelungstechnik.
[4] Ng. D. Phuoc, Theory of Linear Control,
Science and Technology Publishers, Viet Nam,
2002.
[5] B. Q. Khanh, Ng. V. Lien, Ph. Q. Hai and D.
V. Nghi, Automatic Control for Electrical
Transmission System, Science and Technology
Publishers, Viet Nam, 2002.
[6] Ng. Ph. Quang, Automatic Control for 3-phase
alternating Electrical Transmission System,
Education Publishers, Viet Nam, 1998.
[7] N. T. Hung and M. Sugeno, Fuzzy Systems-
Modelling and Control, Kluwer Academic
Publishers, 1998.