Speed Control of Induction Motor using PID and Fuzzy Controller

D. Praveen Kumar, S. HemaChandra, D. Sunitha

Abstract This paper is about speed control of induction motor combining composite control mode in series with one of the soft computing techniques, fuzzy logic. The composite control mode PID controller is designed based on Ziegler-Nichols (Z-N) tuning technique. Fuzzy logic controller (FLC) is connected in series with the PID controller for the effective speed control of widely used induction motors, especially direct field-oriented induction motor (DFOIM). The ZN PID is adopted because its parameter values can be chosen using a simple and useful rule of thumb. The FLC is connected to the PID controller for enhancing robust performance in both dynamic transient and steady-state periods. The FLC is developed based on the output of the PID controller, and the output of the FLC is the torque command of the DFCIM. Simulation results demonstrate that the proposed Z-N PID+FLC scheme can lead to desirable robust speed tracking performance under load torque disturbances. techniques for finding any difficult solution became a source for developing new technologies in several applications. One of those computing techniques is fuzzylogic. These are referred as intelligent controllers which we have been proposed for speed control of FOIM drives. Thos controllers are associated with adaptive gains due to fuzzy inference and knowledge base. As a result, they can improve torque disturbance rejections in comparison with best trial-and-error PI or PID controllers. Nonetheless, no performance advantages of intelligent controllers in combination with a PI or PID controller are investigated. Motivated by the successful development and application we propose a hybrid PID+fuzzy controller consisting of a PID controller and a fuzzy logic controller (FLC) in a serial arrangement for speed control of FOIM drives, more specifically, direct field-oriented IM (DFOIM) drives. The Ziegler-Nichols (Z-N) method is adopted for designing a PID controller (denoted as the Z-N PID) because its design rule is simple and systematic. We next design a FLC carrying out fuzzy tuning of the output of the Z-N PID controller to issue adequate torque commands. Based on a simulation model of the DFOIM drives incorporating the proposed controller, experiments are set up in a Matlab/Simulink environment and implemented in real time using the MRC-6810 analog-todigital (AD)/ digital-to-analog (DA) servo control card together with a DSP electronic controller. The results show that the incorporation of the proposed controller in to the DFOIM drives can yield superior and robust variable-speed tracking performance. II. INDUCTION MOTOR The principle of vector control of electrical drives is based on the control of both the magnitude and the phase of each phase current and voltage. For as long as this type of control considers the three phase system as three independent systems the control will remain analog and thus present several drawbacks. The most common accurate vector control is Field Orientated Control, a digital implementation which demonstrates the capability of performing direct torque control, of handling system limitations and of achieving higher power conversion efficiency. The electrical drive controls become more accurate in the sense that not only are the DC current and voltage controlled but also the three phase currents and voltages are managed by so-called vector controls. This vector control scheme Field Oriented Control is discussed here. It is based on three major points: the machine current and voltage space vectors, the transformation of a three phase speed and time dependent system into a two co-ordinate time invariant system and effective Pulse Width Modulation pattern generation. This control structure, by achieving a very accurate steady state and transient control, leads to high dynamic performance in terms of response times. The Field Orientated Control

Composite control mode, Fuzzy controller, PID controller, Speed tracking performance.
Keywords I. INTRODUCTION In recent years, field-oriented induction machine (FOIM) drives have been increasingly utilized in motion control applications due to easy implementation and low cost. Usage of induction motors reminds us to develop a better control over it. These induction motors have the advantage of decoupling (separation) of the torque and flux control, which makes high servo quality achievable. Torque and flux parameters are responsible for generating rotating motion of rotor. These parameters are effected depending on the load disturbances. The decoupling control feature can be adversely affected by load torque disturbances and parameter variations in the motor. This instinctly lowers the speed down compared to the desired speed, so that the variable-speed tracking performance of an Induction motor is degraded. In order to attain the rated speed there are many controllers like conventional PI and PID controllers. But, these have the difficulty in making the motor closely follow a reference speed trajectory under torque disturbances. In this regard, an effective and robust speed controller design is needed. The emerging of artificial intelligence soft computing

D. Praveen Kumar. Author is with Sree Vidyanikethan Engineering College, Tirupathi, 517102, India. He is Assistant Professor, Department of Electronics and Control Engineering; (Corresponding author phone: +91-9908753983; e-mail: [email protected]). S. HemaChandra, is with Sree Vidyanikethan Engineering College, Tirupathi, 517102, India. He is Associate Professor and Head, Department of Electronics and Control Engineering (e-mail: [email protected]). D. Sunitha, student of Bachelor of Technology in Sree Vidyanikethan Engineering College, Department of Electronics and Control Engineering (e-mail: [email protected]).

(FOC) consists of controlling the stator currents represented by a vector. This control is based on projections which transform a three phase time and speed dependent system into a two co-ordinate (d and q coordinates) time invariant system. These projections lead to a structure similar to that of a DC machine control. Field orientated controlled machines need two constants as input references: the torque component (aligned with the q co-ordinate) and the flux component (aligned with d co-ordinate). As Field Orientated Control is simply based on projections the control structure handles instantaneous electrical quantities. This makes the control accurate in every working operation (steady state and transient) and independent of the limited bandwidth mathematical model. We introduce the DFOIM drive shown in Figure 1. The dynamics of an induction motor can be described by synchronously rotating reference frame directquadrature (d-q) equations as

where the notational superscript e stands for the synchronous reference frame;stand for the daxis and the q-axis stator voltages, stator currents and rotor currents; Rs , Rr, Ls and Lr denote the resistances and self-inductances of the stator and the rotor; Lm denotes the mutual inductance; Te and TL represent the electromagnetic and external force load torques, respectively; J m and Bm are the rotor inertia and the coefficient of viscous damping, respectively; r and rm denote the rotor and motor mechanical speeds; e stands for electrical angular velocity; N is the number of poles of the motor mechanical speed; p stands for the differential operator (d /dt) . The notational superscript s in Figure 1 stands for stationary reference frame. For a DFOIM drive, the flux has to fall entirely on d-axis. Therefore, the q- axis rotor flux is set to zero. The root-locus method is utilized for the design of PI controllers. The controllers PI-1, PI-2, and PI-3 are chosen to ensure that and the flux command r and the estimated d-axis rotor flux satisfies , respectively. The parameters

and are given by . To control the speed of the IM, the speed controller of the DFOIM drive transforms the speed error signal e into an appropriate electromagnetic torque command Te*.

Figure 1: Block diagram of induction motor

III. PROPOSED CONTROLLER

The structure of the proposed controller is shown in Figure 2. This hybrid controller comprises of PID controller in series with the intelligent fuzzy logic controller. Fuzzy logic is developed based on the output of the PID controller.

xN where N denotes the interval (, 0), its corresponding linguistic value is N. Moreover, for any x P where P denotes the interval (0, ), its corresponding linguistic value is P. For any xZ where Z denotes the interval [b, b], its corresponding linguistic value is Z. The membership functions N (x) , Z (x) and

IV.ZIEGLER NICHOLS PID

The steps to acquire the Z-N PID controller for speed tracking of the DFOIM in Figure 1 are given as follows. First, we use a fixed step input rm and a linear proportional speed controller. The proportional gain of the speed controller is increased until the DFOIM reaches its stability limit. As a result, we obtain the period Tu of the critical oscillation at the stability limit of the DFOIM with the critical proportional gain Ku. Next, the values of the parameters Kp, TI, TD are given by KP= Ku /1.7; TI= Tu / 2; TD= TI/4, where KP is the proportional gain; TI is the integral time and TD is the derivative time. V. FUZZY LOGIC CONTROLLER The output of the PID controller is given as the input to the fuzzy controller. Fuzzy means uncertainty, fuzzy computes uncertainty by assigning values between 0 and 1 compared to conventional computation 0 or 1. This fuzzy logic involves computing using knowledge base and rule base. In fuzzy systems, input variables are assigned with a membership function. Each membership function is assigned with specified values. Fuzzy logic comprises of three stages.

B. Fuzzy inference: The fuzzy inference engine, based on the input fuzzy sets in combination with the experts experience, uses adequate IF-THEN rules in the knowledge base to make decisions and produces an implied output fuzzy set u . For this particular application, the proposed IF-THEN fuzzy rule base is shown in Table 1 and is described as follows:
i. If g(t)N, then u(g(t), g(t)) = b . ii. If g(t)P, then u(g(t ), g(t)) = b . iii. If g(t) Z and g(t) N, then u ( g (t ), g (t )) = b .. iv. If g(t) Z and g(t) P, then u ( g (t ), g (t )) = b . v. If g(t) Z and g(t) Z, then u ( g (t ), g (t )) = 0 . Moreover, the Mamdani-type min operation for fuzzy inference is employed in this study. In this mamdani type fuzzy inference, membership functions like trapezoidal, triangular, are applied to the input variables.

A. Fuzzification: In the fuzzification process, we only employ three input membership functions N(x) , Z (x) and P (x) shown in Figure 3 to map a crisp input to a fuzzy set with a degree of certainty where x = g(t) or g(t) with g(t) = K1f (t) and g(t) = K2f (t) . Those three membership functions are chosen because of their simplicity for computation since a large number of membership functions and rules can cause high computational burden for a fuzzy controller. For any

Figure 2: Block diagram of proposed controller

VI. SIMULATION RESULTS A computer simulation model of Figure 1 is developed using the Matlab/Simulink software. The parameter values of the0.14-hp squirrel-cage induction motor are given as follows: Rs () =17, Rr () = 11, Ls (H) = 0.196, Lr (H) = 0.196, (H) =1.88.103 Lm, N = 4, J (Kg cm s 2) = 2.4.104 m, B (kg cm) = 9.2.103 m Based on the root-locus method and the control objectives of the PI controllers in Figure 1, we obtain PI-1 as

Figure 3: Membership functions

C. Defuzzification: In the defuzzification process, we employ the centre of mass defuzzification method for transforming the implied output fuzzy set into a crisp output, and obtain

and PI-3 as . Given a fixed step input rm rpm, we obtain the critical gain Ku = 2.2 and the critical oscillation period Tu = 0.049 of the DFOIM. From equations, we get the Z-N PID as . To design the fuzzy control part of the proposed controller in Figure 2, we first set b = 9 and K2 =1 . Then gains K1 and K3 are varied until the desired system response under no torque disturbance is achieved. In this regard, we get K1 = 2 and K3 = 3 . The Simulink Fuzzy Logic Toolbox [13] is employed for fuzzy control simulations. Figure 4 shows that the proposed controller performs better than the Z-N PID under the condition that the command speed is increased from 0 to 900 rpm and

Figure 4: Simulation results of the DFOIM using the proposed controller and the Z-N PID under a load disturbance of 1.1 N-m occurring at the 4.2 second

a load disturbance 1.1 N-m is suddenly applied to the shaft at 4.2 sec. Due to the variations in supply voltage, frequent changes in load, the currents produced and flux generated are effected such that the torque developed to rotate the motor is also varied. When there is several torque disturbances occurred in running induction motor inindustrial sector, it causes huge damage and loss. These torque disturbances shows an impact on speed control of

motor. The simulation results of controller are shown in Figure 6 and fuzzy controllers helps to reduce the rejections which are shown in Figure speed control.

conventional PID proposed PID and torque disturbance 7, to have smooth

Figure 5: The effect of single torque disturbance on speed control of induction motor using PID controller only.

Figure 6: Simulation result showing effect of several torque disturbances on speed control of induction motor using only PID controller.

Trans. Control Systems Technology, Vol. 8, No. 2, pp. 270278, MAR.2000 [8] M. N. Uddin, et al., Performances of fuzzy-logic-based indirect vector control for induction motor drive, IEEE Trans [9] M. N. Uddin and H. Wen, Development of a self-tuned neuro-fuzzy controller for induction motor drives, IEEE Trans. Industry Applications, Vol.43, No. 4, July/Aug. 2007 [10] V. VanDoren, Auto-tuning control using ZieglerNichols, Control Engineering Vol. 53, No. 10, pp. 66-71, Oct. 2006. [11] A. Rubaai, Adjustable speed ac drives-a technology status review,Proc. IEEE, Vol. 70, pp. 116-135, Feb. 1982. D. Praveen Kumar, born on 13th July 1986 at Tirupathi, India. Completed BTech in 2007 & MTech in 2011. One year project work in Research Laboratory, Department of Space, Govt of India. Total teaching experience is 3 years. S. HemaChandra, pursuing his PhD in SV University, Tirupathi. Presently first author working as Assistant Professor and second author Associate Professor & Head, Department of EConE, Sree Vidyanikethan Engineering College. Total teaching/industry experience is 10 years. D. Sunitha, completed BTech in 2012 & working in Tata Consultancy Services.

Figure 7: The speed control is smooth for several torque disturbances occurring at different time intervals using proposed hybrid controller.

VII. CONCLUSION
In this paper, a novel hybrid modified Z-N PID+FLC-based speed control of a DFOIM has been presented. The proposed controller has exhibited the combined advantages of a PID controller and a FLC. Specifically, it can improve the stability, the transient response and load disturbance rejection of speed control of a DFOIM. The complete DFOIM drive incorporating the proposed controller could be implemented in real time using a MRC-6810 AD/DA servo control card for the Nikki DensoNA21-3F 0.14Hp Induction motor. The fuzzy logic and only with three membership functions are used for each input and output for low computational burden, which can achieve satisfactory results. Simulation results have illustrated that the proposed controller scheme has a good and robust tracking performance. A modified Z-N PID can perform better than a Z-N PID. Our future effort will focus on how to further improve the performance of the proposed controller herein by incorporating a modified Z-N PID.
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