Artificial Intelligence Sensorless Control of
Induction Motor
Haithem Abu-Rub*, Abdel Karim Awwad**, Noreddin Motan*
Electrical Engineering Department, Texas A&M University at Qatar, E-mail: haitham.abu-rub oqatar.tamu.edu
*Institut fur Informatik, Friedrich-Alexander-Universitat, Erlangen-Nurenberg/Germany
Abstract
In this paper a sensorless vector control system of induction motor
using Artificial \intelligence is presented. The ANN and fuzzy logic
solutions are discussed. A feed forward ANN with one input, two
units in the hidden layer and one output is used for the speed
controller. The tracking of the rotor speed is realized by adjusting
the new weights of the network depending on the difference
between the actual speed and the command speed.
A comparative study between the proposed controller
and the conventional PI one will be presented and will show
promising results. Also comparison between the conventional
PI and fuzzy logic controllers will be shown. The rotor speed
tracks the command one smoothly and rapidly, without
overshoot and with very small steady state error. Computer
simulation results are curried out
Keywords: Artificial Neural Networks, fuzzy logic, vector control,
induction motor, sensorless control.
I- Introduction:
By using vector representation, it is possible to present
the variables in an arbitrary coordinate system. If the
coordinate system rotates together with a flux space vector,
then we use different terminology: flux-oriented control.
In this way, it was possible to represent the electromagnetic
torque as a product of flux-producing current and a torque-
producing current. Keeping constant flux, an induction
machine may be controlled, like a separately excited dc
machine. Such method will be selected to control our
machine.
The new and real applications on the induction motor
need more rapid and smooth without overshoot command
speed track. The main problem during the use of PI controller
is not best response of the system in the case of operating
point variation.
Artificial intelligence, such as the use of neural
networks and fuzzy logic, can be used to identify and control
the non-linear dynamic systems since they can approximate a
wide range of non-linear functions to any desired degree of
accuracy. The ANN have the advantages of that they can be
implemented in parallel, which gives relatively fast
computation. Also they have the immunity from harmonic
ripples and fault tolerance.
Since 1990s, there have appeared investigation approaches
onto the applications of artificial intelligence to ac motors
control [1-2]-[4-7,9].
1-4244-1055-X/07/$25.00 C2007 IEEE.
At the beginning of using ANN an off-line training was
used [4], but this method needs to train the network with
different patterns to accommodate the variation of the motor
parameters, so it is not efficient. Another method was used at
which perceptron (two layers NN) was used and the training
is done online, [6] but this method was very sensitive to
parameters changes.
The new proposed ANN controller has three-layer feed
forward network and depends only on the stator current. Its
input value is the imaginary stator current component and it
has one hidden layer (has two units only), and one output. So
the system is simple and can be trained on line with very
good response.
The application of fuzzy logic is a good solution for
motor control [12, 13]. The reason for this is the advantages
over traditional methods particularly in fuzzy environment as
in our case. The speed in sensorless drive system is not
exactly obtained and represents a fuzzy condition. Therefore
fuzzy logic controller (FLC) is a good solution for sensorless
control.
To obtain the motor model, which enables system
control synthesis, it is necessary to realize variables
transformation. The first step is to perform a transformation
from three-phase to stationary coordinate system. This
operation decreases the number of variables and differential
equations in the motor model. For a quadrant coordinate
system selected in arbitrary way, there are five non-linear
differential equations in the motor model. The next step is to
select a coordinate system, such that one of the selected
vector components is equal to zero. This allows decreasing
the number of differential equations to four, from which one
is linear. The proposed ANN based and fuzzy logic
controllers will be used in such control system (field oriented
control method - FOC). Simulation results will be curried
out.
II INDUCTION MOTOR MODEL
The squirrel cage type of induction motor as
differential equations for the stator current and rotor flux
vector components presented in coordinate system XY
rotating with arbitrary angular speed is:
disx RL2+RL2 RL L L
s r r mi +0i +j m ury (
drLrw r
Lr wsry+7sx
di system (stationary) to the rotating one. The produced torque
sy= RL2+RL2 RL L L
s r r mi + r myr -,i -c mlt + ru Te in the machine has the next form:
dr Lrw sy L wTry s sx r w wrx sy L
rr

cIis x Rr
Lrx +( +R
L
(2) Te Tj mm(~
r
(vrdisq Vrq sd)
I -i/I)
- (6)
)f mi (3)
d- L r rx s r ry r L r sx where dq are the variables in rotating frame. If our coordinate
system rotates with of rotor flux 1r then the electromagnetic
torque could be controlled by only one component while the
second one is kept constant. This happens because the
dr dz- Wryy
Lr L ~ +RrLSY
(s mr i
-r (4)
imaginary component of rotor flux (Vrq=0) which gives the
dr
610) L1 M 'frp
i-yris )--mo (5) next form:
dr Lr J sy
rx rysx
L
L2 (7)
where w= 6SLrL ; 8 =1- and 'rx' l/IryixISx iSy are UL J rd sq
LrL s r
the rotor flux and stator current vectors in coordinate system
XY rotating with arbitrary speed, cor is the angular speed of If we keep constant isd then the rotor flux will keep constant.
the rotor shaft. Rr, R(LrLs are rotor and stator resistance and By this way the produced torque will linearly depends on the
inductances respectively, Lm is a mutual inductance, J is the
imaginary component of stator current (isq). The vector
control system with ANN controller is shown at Fig. 1.
inertia, mO is the load torque.

III. VECTOR CONTROL SYSTEM

The idea of vector control of AC machines depends on vector
representation and transformation from one coordinate

Fig. 1. Control system of induction motor with Al controller (Artificial Intelligence controller)
 IV. ROTOR ANGULAR SPEED CALCULATION signal obtained through experiments and Vf is the filtered
Rotor angular speed in a presented control system may be signal V.
determined by using the differential equations of stator
current and rotor flux vectors products (equations 1 to 4). V- ARTIFICIAL NEURAL NETWORK CONTROLLER
Rotor angular speed presents in deferent depends of stator ANN is a system that tries to model the behavior of human
and rotor deferential equations. In steady states the left-hand brain, at which simple processing elements are connected to
sides of equations (1 to 4) are equal to zero. This property, form the network. This network has the ability to lean non-
together with using new variables and power definitions, linear relations (Fig.2 shows a typical feed-forward artificial
provides a lot of equations for rotor speed [10, 12-14]. neural network).
For higher rotations the rotor speed can be calculated using
the state variables as: input layer hidden layer output layer
-a2x 2-si +a4Q
(8)
r
i2 + a3x22
where a2, a3, a4 are motor parameters, s, is the slip frequency
and Q is the imaginary reactive power [11]. X12 and x22 are
new variables defined below.
The equations of used power is:
Q=u s/ i sa -u i sf (9) Figure 2: Feed Forward ANN
sa
where cx and ( denote a stationary frame. The slip frequency Figure 3 shows an artificial neuron, which is the processing
is: unit in the artificial neural network, where xi: input and wji:
Rr X12 weight from neuron i to neuron j.
Si = (10)
Lr x22
and the new variables are [3]: xo
wiO
12 'ra' s,/3 - 'r/3'soa (1 1)
xi
Oj
x22 Vraisaoc V/r,Z3s, (12)
On the other hand the next observer system could be used for J
speed calculation at low speed region [2]:
A
Xn/
+ a3CariVry + a4UsX + k(isx
Figure 3: Artificial Neuron
dt = allsx + a2 rx -K (3)

disy
n

i)1 wI = Zxi*wj (20)

d a2Vfry -+a3wr' au~+ ki~s
ali + -
a4
(14yP' i=1
drx = + a6VJrx y k2 (rry-Y) Oj = g(WJ) (21)
dzr a5sx
- - (15)
Where g is called activation function and it could be linear,
diry unit-step, sigmoid etc.
d a5lY + a6i/ry + x +k2(d)rWrx - (x) (16) The proposed controller is shown in Figure 4 [2], it has one
input (isq ) and one unit in the hidden layer and one output
dX=
dzr-k
_

S (17) layer. The activation function in the input and output layers is
the linear function while, for the hidden layer the activation
function in equation 13 is used.
dSy = _kl (i,, - is ) , (18) The error between the current speed and the command speed
should be back propagated to adjust the weights
(19) The input of the input-unit is isq, Because this unit has a linear
6tr=S4
k4(V Vf )
Vtrx + ry activation function then its output is ai = isq . Assuming that
where A denotes estimated variables, kl, k2k3 are the INh is the input of the hidden unit h, then:
observer gains and S is the sign of speed. The values C, C, INhi = a *Wi (22)
Ihl = I1*(3
are the components of disturbance vector and V is the control INh2 =a i *W 2 (23)
Therefore, the output of the hidden unit h (ah) is:
ah = g(INh ) (24)
where g is the activation function of the hidden units and it is:
1
g(x) = (25)
l+x
The input of the output unit o is:
INo = ahlIw3 + W4 *ah2 (26)
So that, the output (isqc) will be
isqc = INo (27)
The next two equations are used in back propagation to
update the weights between the hidden unit h and the output
unit o.
W W3 + a*ahl *AO (28)
W4 =W4 + a*ah2 *AO (29) Figure 5: Speed response of the system when using AX
Ao= (rc Or ) (30) controller
Where INo is the input of the output-unit, Xc is the command
speed, w) is the current speed.
ANN controller

Wrc-Wr

Figure 4:the proposed ANN controller

r igure o. )peeu response o1 tUC systemil COnILFoi wrieni using
The next two equations are used in back propagation learning controller
to update the weights between the input unit the hidden unit h
andi: In the figures (5, 6) the command speed was changed from +1
WI = WI +a isq *A hi (31) pu. to 0.
The learning rate is set by trial and error method. If the
W2 =W2 +a*is,q *Ah2 (32) learning rate is set to the 0.05 instead of 0.3 the speed
where: response will be worse as shown in figure 7 [2].
Ahl g (IN hl) W3 *A (33)
Ah2 g (INh2) W4 *A, (34)
The proposed ANN controller is shown at Fig. 4. 1 -4---=
0)-
Figures 5-8 show the speed response of 4 kW induction 1-------
motor when PI and ANN controllers. The PI controller
parameters are tuned using trial and error method. The gain
of the controller is adjusted to 10 and the time constant is Figure 7: Speed response for learning rate of 0.05
adjusted to 1. All results are presented in per-unit system.
The learning rate is set to 0.3 which is get be trail and error,
It is observed that when ANN controller is used the response
is significantly better than when using PI one.
 VI. FUZZY LOGIC CONTROLLER WITH FIELD 0.01
wr (pu)
WEAKENING
0.005 .

Command:
Fuzzy logic controller (FLC) is a controlling system based
on fuzzy logic concepts. It is a nonlinear mapping between s::Observed Acal
-0 005 X :
inputs and outputs; it takes decisions depending on if-then
rules and fuzzy sets. -0.01 _

The control system of induction motors has difficulties in -0 015 . ... ... ... .. ... .. .. ...

describing the analytical relationships caused by non-precise -0.02

variable identification, in these situations FLC is the right 0
100 200 300 400 500 600 700 000 900 101
choice for control [12-14]. 1.2. Torquje (pu)
Mamdani type of FLC is used for speed control. The input 1
signals for the controller are: control error, 'e' and the change . C.m: :omand d
of error, 'Ae' and the output is the change of control signal,
... ... ... ... A ....1 .. . .

'Au'. The controller consists of three elements: fuzzification .......a te

:::: : ~~~~~d
.......................

04k
block, block of rules (rules of inference) and defuzzification, 0.2-
which are related by proper relationships. 0

On the basis of the values, 'e' and 'IAe', the fuzzy -0.2
numbers are calculated in the fuzzification block using the 0 100 200 300 400
Time
500
(sec)
;00 700 u00 900 1000

membership function presented in Fig. 2. Simple

membership functions for the three linguistic variables: 'N' - Fig. 8. Response of the vector control system on torque
negative, 'Z' - zero and 'P' - positive are used. Symbol "G" change - operation at zero speed
means great and symbol "S" means small. The resulting
block consists of logic table like, 'If Then' which are
...

described in Table 1.
The results of the observer system at very low speed is
shown on figure 8. I
-1 L I -< d L
-1
The fuzzy controller requires less computation and design C~~~~~~~~~~~~~~~~~~~~~~,
efforts than the ANN controller.
The control system with fuzzy logic and PI controllers was
investigated in the field weakening region. The investigated 0
system is shown on figure 1. 0 10 20 30 40 50 60 70 80 90 100

Tab. 1. Fuzzy logic controller rules of inference

i'
-S 0.5
'

- L I u d .
N z P

N GN SN SP
0 10 20 30 40 50 60 70 80 90 100
Z GN Z GP t [s]

P SN SP GP Fig. 9. Response of the vector control system with fuzzy logic

controller to speed change including field weakening region

The simulation results of the control system with fuzzy
logic and speed observer system at zero speed are shown on
figure 8. The results for operation in the field weakening
region using the voltage controller is shown on figure 9.
VII CONCLUSION
In the paper an ANN controller for sensorless control of
induction motor was used. Fuzzy logic controller also was
used and compared with a conventional PI one. The results
obtained form simulation show that the ANN and the PI
controller has significantly better performance than the
classical PI controller. The controller has simple form and
could be easily designed. The use of this controller caused
that the actual speed could track the command one rapidly,
smoothly and with zero steady state error for the control
system with speed sensor and without.
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