Fuzzy Logic Enhanced Speed Control System of

a VSI-Fed Three Phase Induction Motor

Md. Nurul Islam, Mashud Haider, and M. Bashir Uddin
Abstract-- In closed loop speed control, the speed loop error
signal controls the PWM inverter frequency and voltage. The
control strategy can be implemented by scalar control and vector
control. Though so many researches have been carried on vector
control of induction motor, scalar control is rather simple to
implement and there is a lot of scope to make the control system
of the induction machine robust through scalar control. A speed
control with closed loop flux improves the performance of the
machine under v/f control. The flux feedback signal can be
estimated from machine terminal quantities as current and speed
and then solving first order simultaneous differential equations.
But complications arise with the numerical solution of
differential equations. The numerical solution of such problem
requires iterations that lead to a massive amount of
communication delay. Moreover numerical solutions of
machines differential equations need uniform and periodic
sampling of line quantities that is the limitations of many data
acquisition hardware. In this paper, Fuzzy-mapping technique is
proposed as a substitute of the conventional method in the
machine control application to make the overall control efficient
in real time.
Index Terms Fuzzy control, Induction motor drive, Pulse
width modulation.
I. INTRODUCTION
T
HE control and estimation of ac drives in general are
considerably more complex than those of dc drives. Most
of the induction motor drives are based on keeping constant
voltage/frequency (V/f) ratio in order to maintain a constant
flux in the machine. Although the control of V/f drives is
relatively simple, the torque and flux dynamic performance is
extremely poor. A speed control with close-loop flux control
improves performance of the motor under volts/Hz control
and eliminates the flux drift due to line voltage variation [1].
The flux feedback signals can be estimated from machine
terminal quantities on rotor field orientation.
Modulation of static converter waveform is common
method of simultaneous voltage and frequency control.
Triangular or Sine pulse width modulation (SPWM) is the
most common technique for obtaining switching points of
inverter. The sine-modulating wave is compared with a
triangular carrier wave and the points of intersections of these
two waves determine the switching points of an inverter. An
analog implementation of SPWM is susceptible to noise [2].
The potential source of distortion is the comparison of two
waveforms. If the triangular waveform is not perfectly linear,
the natural sampling times will contain error, and the end
result will be distorted. Power considerations, such as switch
nonlinearities, dead-time requirements, and gate drive delays
are complicating issues that imply additional sources of
distortion or other problems [2]. Aside from the difficulties
associated with an analog implementation, a digital
implementation of SPWM requires computation effort
because of calculation of the crossing times of the sinusoidal
modulating function and the carrier. This computational effort
is an important factor in real-time systems. In [3], two
transcendental equations are derived and these equations can
be solved iteratively to estimate the crossing times. The
performance can be made high, but computational complexity
is also high. In this research a new modulation technique is
used.
Rotor flux and speed can be used as control parameters.
But numerical solution of differential equations to estimate
rotor flux is not efficient. The numerical solution of such
problems requires iterations to solve the differential equations
that lead to a massive amount of communication between
processors and sensitivity to communication delays [4].
Moreover numerical solution of machines differential
equations needs external data sampling. From the control
point of view, the sampling rate is determined by the
dynamics of the plant, with the obvious intuition that a faster
and more complex dynamics requires more frequent sampling.
The sampling period is determined by the desired level of
approximation and by the properties of the signal. The proper
functioning of the program depends crucially on its being
invoked every T time units, where T is the sampling period of
the discrete time system. This sampling period may result in a
strong deviation of the program behavior from the intended
one. This is a very particular class of software errors inherent
in control applications. It takes a time to settle at steady value.
Using PLC 812PG data acquisition card line current and speed
are sensed. But periodic sampling cannot be done due to
hardware limitation. In this paper, a simple but efficient
technique of fuzzy mapping is proposed replacing the
numerical integration in flux estimation and it makes the
overall control system robust.
II. PROPOSED CONTROL SYSTEM
The per phase equivalent circuit consideration of an
induction machine is valid only in steady state condition. In an
adjustable speed drive, the machine normally constitutes an
element within a feedback loop, and therefore its transient
behaviour has to be taken into consideration. To ensure high
performance drive control, a good understanding of the d-q
2nd International Conference on Electrical and Electronics Engineering (ICEEE) and XI Conference on Electrical Engineering (CIE 2005)
Mexico City, Mexico. September 7-9, 2005
IEEE Catalog Number: 05EX1097
ISBN: 0-7803-9230-2
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296
model is mandatory [1]. The close-loop control is normally
required to satisfy the steady state and transient performance
specifications of ac drives. In closed loop speed control, the
speed loop error signal controls the PWM inverter frequency
and voltage of a VSI-fed induction machine.
The machines dynamic model referred to stationary
reference frame and represented by (1) is non-linear and
multivariable. To generate the control signals we need to map
the change of speed with the change of frequency and the
change of flux to the change index. Here G
1
and G
2
of Fig.1 are
Fig. 1. Block Diagram of Scalar Control System with Flux Control.
(
(
(
(
(

(
(
(
(

+
+
+
+
=
(
(
(
(
(

qr
dr
qs
ds
r r r r m m r
r r r r m r m
m s s
m s s
qs
ds
i
i
i
i
PL R L PL L
L PL R L PL
PL PL R
PL PL R
v
v
e e
e e
0 0
0 0
0
0
(1)
where
dt
d
P = .
Then deriving from rotor loop equations it can be shown that
qr r dr ds m
r
r
dr
i L
L
R
+ + = +
-
e ) ( , (2)
dr r qr qs m
r
r
qr
i L
L
R
+ + + = +
-
e ) ( . (3)
So rotor flux, ( )
2 2
qr dr r
+ = . (4)
0 0. 05 0. 1 0. 15 0. 2 0. 25 0. 3 0. 35 0. 4
-0. 5
0
0. 5
t i m e(s ec )
L
i
n
e

c
u
r
r
e
n
t
(
a
m
p
)
0 0. 05 0. 1 0. 15 0. 2 0. 25 0. 3 0. 35 0. 4
0
0. 005
0. 01
0. 015
0. 02
t i m e(s ec )
R
o
t
o
r

F
l
u
x
(
w
b
)
Fig. 2 Rotor Flux Estimation by Numerical Solution of Differential Equations.
conventional P-I-D controllers. So the full control system needs
huge calculation, which is not preferable for real time system.
With numerical solution of (2) and (3) to estimate rotor flux, it is
shown in Fig.2 that the steady state reaches after a certain
amount of time that is offensive in real time application. To
solve this problem a fuzzy controller (FC) is used which can
directly map the change of speed to the change of frequency and
the change of modulation index. This block diagram is shown in
Fig.3.
Fig. 3. Speed Control with Fuzzy Controller.
III. MODULATION TECHNIQUE
The new algorithm using simplified analytical equations
based on certain approximations is used to determine the
switching points of a three-phase inverter. The algorithm of
determining switching points for a typical triangular sine pulse
width modulation is depicted with the help of Fig.4. Here u
i
is
the mid-point of the i-th pulse, x
1
and x
2
are the switching
points. It can be expressed as
t
N
i
i
1 2
= u , (5)
where,
m
c
f
f
N = ,
f
c
= frequency of carrier wave,
f
m
= frequency of modulating wave.
Width of the i-th pulse,
) sin 1 (
1 2 i i
m
N
x x u
t
+ = = o . (6)
Then switching points can be presented as,
Fig. 4. Determination of Switching Points by a New Algorithm.
2
1
i
i
x
o
u = , (7)
2
2
i
i
x
o
u + = . (8)
IEEE Catalog Number: 05EX1097
ISBN: 0-7803-9230-2
297
The switching points obtained by the proposed simplified (7)
and (8) are compared with that obtained by conventional
comparison method of intersection between modulating wave
and triangular wave. A modulating signal of 50 Hz, carrier wave
250 Hz and modulation index of 0.8 are used for comparison.
The small difference found from comparison of the results
shown in Table 1 has insignificant effect on fundamental voltage
of the inverter.
TABLE I
Comparison of switching points
Proposed method
Switching time (sec.)
Conventional method
Switching time (sec.)
0.0000 0.0016
0.0042 0.0048
0.0078 0.0052
0.0090 0.0084
0.0110 0.0100
0.0138 0.0116
0.0142 0.0148
0.0175 0.0152
0.0185 0.0184
0.0200 0.0200
IV. FC: PRINCIPLE AND DESIGN
Fuzzy Logic offers several unique features that make it a
particularly good choice for many control problems. It is
inherently robust since it does not require precise, noise-free
inputs and can be programmed to fail safely if a feedback sensor
quits or destroyed. The output control is a smooth control
function despite a wide range of input variations. The authors in
[5] [7] showed the fuzzy logic application in induction motor
control in different dimensions and it is depicted that fuzzy
control is more robust in induction motor though it has non-
linear nature. In this research actual inputs to the fuzzy system
are speed error and machine current. Current is chosen as a
control parameter instead of flux. Using (3) and (4), the rotor
flux can be calculated from direct axis and quadrature axis
components of line current. It is found that there is a
proportional relation between line current and rotor flux as
shown in Fig.5.
Fig. 5. Relation of Flux with Current
A. Fuzzification, Inference, and defuzzification
The fuzzification process is based on the machines
performance curves shown in Fig.6,.7,8. In Fig.6 it is shown
that speed is proportional to frequency at no-load to full-load
and change of frequency in 1 Hz makes the change in speed
about 30 rpm. Hence to regulate small speed change it needs
to relate another factor like modulation index. So major speed
change in speed is adjusted by changing frequency and small
change is adjusted by modulation index.
Fig. 6. Change of Speed with Frequency.
From Fig.7 it is shown that at all conditions line current is
linear with modulation index at all frequencies. It is shown in
Fig.8 that line current varies linearly with frequency at no-
load and light-load conditions. But at high T
L
-load condition,
line current variation at low frequency is more than that at
high frequency. Currents for different modulation index at no-
load and T
L
-load (assumed full-load) conditions are stored in
computer memory. In a particular loading condition, line
current is sensed and then currents for no-load and full-load at
the operating modulation index and frequency are computed
from the stored data in computer memory. Then percent-
loading level is calculated.
Loading level = (Current at operating load Current at no-
load) / (Current at full-load Current at no-load)
Fig. 7(a). Current Variation with Modulation Index at 45 Hz.
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Fig. 7(b). Current Variation with Modulation Index at 50 Hz.
There are a number of implication methods. Mamdani Type
is the most commonly used method. Hence degree of fulfilment,
DOF = min{
L
(l) ,
H
(f) }; where l and f are input functions.
The inference engine produces an implied output fuzzy set,
corresponding to the output membership function, (N) shown
in Fig.9. The implied fuzzy set is transformed to a crisp output
by the centre of gravity and the defuzzification technique as
defined by (9), where c
j
is the centre of the jth output
membership function. The summation is one to R, where R is
the number of rules that apply for the given fuzzy inputs.
_
)
)
_
=
=
=
R
R
j
j
dS S
dS S
j
c
y
1
) (
) (
1

(9)
Fig. 8(a). Change of Current with frequency at no-load.
Fig. 8(b). Change of Current with Frequency at T
L
-load Condition.

(i) Input
(ii) Input
(iii) Output
Fig. 9. Membership Functions for Determination of Speed change Limit
(i) Loading level (l), (ii) Frequency (f), (iii) Speed change (N).
The linguistic definition of fuzzy sets is as follows:
VL = Very Low, L = Low , M = Medium
MM = Moderate Medium , H = High , VH = Very High
B. The Fuzzy Rule Base
The fuzzy controllers strongest asset is its knowledge
base. By carefully designing the knowledge base, the experts
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ISBN: 0-7803-9230-2
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experience is incorporated into fuzzy controller. This
experience is synthesized by the choice of the input-output
(I/O) membership functions and the rule base. Typically,
uniformly distributed triangular membership functions are
used in order to simplify the digital implementation [8]. This
research uses uniformly distributed triangular membership
functions for both the input and output membership functions.
Fuzzy rule matrix for determination of allowable speed
change by modulation index is as follows:
Frequency, f Rule Base
Speed
Change, N
H M L
VH VH H MM
H H MM M
MM MM M L
M M L VL
Loading
Level, l
L L VL 0
Fig. 10. Block Diagram of Fuzzy Controller.
Fig. 11. Crisp I/O Map.
V. EXPERIMENTAL AND SIMULATION DATA
In this research a 3-phase, 50 Hz, 4 pole, - hp case
rotor induction motor with the parameters R
s
= 12 O, R
r
= 7.5
O, L
s
= L
r
= 0.0386 H, L
m
= 0.446 H and R
m
= 1204.8 O has
been used experimentally.
The wave shapes of phase voltage, line voltage and line
current are shown in Fig.12.These wave shapes demonstrate
that the proposed sine pulse width modulation technique
reduces the distortion factor and it requires small filter to
smooth wave shapes.
Fig. 12(a). Wave Shape of Phase Voltage.
Fig. 12(b). Wave Shape of Line Voltage.
Fig. 12(c). Wave Shape of Line Current.
The simulation results of speed response of the machine
with fuzzy controller shown in Fig.13, Fig.14 and error
divergence shown in Fig.15 depict that the system is more
robust than PID controller. The speed response of PID
controller and the error divergence are shown in Fig.16 and
Fig.17 respectively.
Fig. 13. Speed Response with FC at 500 rpm
IEEE Catalog Number: 05EX1097
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Fig. 14. Speed Response with FC at 1420 rpm
Fig. 15. Error Divergence with FC at 1420 rpm.
Fig. 16. Speed response with PID Controller at 1250 rpm.
Fig. 17. Error Divergence with PID Controller at 1250 rpm.
VI. CONCLUSION
A new simple control strategy for the three-phase
induction motor has been presented in this paper. The
simulation results for scalar control of the induction motor
using Fuzzy Speed Controller shows that the performances
and robustness of the system are increased. The analysis has
been aimed at exploring the limitations of numerical solutions
of differential equations to estimate flux in a scalar control
with flux loop. The performance of the proposed Fuzzy
Controller (FC) has been evaluated under variety of operating
conditions of the drive system, and the result demonstrates the
effectiveness of the controller.
REFERENCES
[1] Bimal K. Bose, Modern Power Electronics and AC Drives, Prentice Hall,
2002.
[2] Pallab Midya, William J. Roeckner, High-fidelity PWM Inverter for
Audio Amplification Based on Real-time DSP, www.ifp.uiuc.edu/
~sarwate /pwm_PEL.pdf, June 19, 2002.
[3] M. Bashir Uddin, Stability Analysis of PWM Inverter-Fed Synchronous
Motors, P.hd. Thesis, BUET, January, 1996.
[4] Anton Schiela, Hans Olsson, Mixed-mode Integration for Real-time
Simulation, Modelica Workshop proceedings, pp. 69-75, 2002.
[5] Brian Heber, Longya Xu, Yifan Tang Fuzzy Logic Enhanced Speed
Control of an Indirect Field-Oriented Induction Machine Drive, IEEE
trans. on power electronics, vol. 12 , no. 5, Sept., 1997.
[6] Dr. Stefan Beierke, Enhanced Control of an Alternating Current Motor
Using Fuzzy Logic and a TMS320 Digital Signal Processor, Texas
Instruments, March, 1996.
[7] M A Denai, S A Attia, Fuzzy and Neural Control of an Induction Motor
, Int. J. on Appl. Math. Comput. Sci., vol. 12, No. 2, 2002.
[8] Leftery H. Tsoukalas, Robert E. Uhrig, Fuzzy and Neural Approaches in
Engineering, John Wiley & Sons, Inc. 1997.
BIOGRAPHIES
Md. Nurul Islam was born at Dhaka in Bangladesh,
on December 30, 1974. He graduated from Bangladesh
University of Engineering and Technology (BUET).
His special field of interest is electrical drives. He is
now Assistant Professor at Dhaka University of
Engineering and Technology (DUET), Bangladesh.
E-mail: nislam_03@yahoo.com

Md. Mashud Hyder was was born at Rajshahi in
Bangladesh, on February, 1978. He graduated from
Bangladesh University of Engineering and Technology
(BUET). His special field of interest is Fuzzy Logic. He
is now Lecturer at Dhaka University of Engineering and
Technology (DUET), Bangladesh.
EE-mail: mashud_buet@yahoo.com
IEEE Catalog Number: 05EX1097
ISBN: 0-7803-9230-2
301