ANFIS Based Field Oriented Control for Matrix

Converter fed Induction Motor

Chitra Venugopal*

*
University of Kwazulu Natal/School of Electrical, Electronics and Computer Engineering, South Africa


AbstractThis paper presents a novel Adaptive Neural
Fuzzy Inference System (ANFIS) based Matrix Converter
for speed control of Induction Motor. The proposed ANFIS
consists of fuzzy logic controller algorithm with a five layer
Artificial Neural Network. The ANFIS system tunes the
fuzzy system with hybrid learning algorithm and hence
generates the reference voltage. The reference voltage is
used to generate the duty cycle for matrix converter
switches. The matrix converter is designed using Venturini
algorithm and results are shown under different switching
frequencies.
The ANFIS based Field Oriented Controller
circuit is designed using MATLAB/SIMULINK and its
performance is investigated under different reference speed
and torque conditions. The conventional PI controller based
matrix converter drive and ANFIS controller based matrix
converter drive is designed. Their speed and torque
performance are compared. The simulation study indicates
the robustness and suitability of ANFIS controller based
matrix converter drive for high performance applications.
Keywords Field Oriented Control; Matrix Converter;
ANFIS Controller; PI Controller;
I. INTRODUCTION
Induction motors are widely used in Industrial
applications where wide range of speed control and fast
torque response is required. The drive circuit should be
capable of providing variable amplitude and variable
frequency to the induction motor to operate it at the
required speed and torque levels. But the major drawbacks
of the conventional Voltage Source inverter circuit are that
it requires bulky DC link components and limitation on
its output frequency levels. Cycloconverters eliminates
this drawback by changing the output frequency less than
the input frequency or higher than the input frequency.
But cycloconverters operate satisfactorily when changing
the output frequency less than the input frequency. The
performance of cycloconverters is not satisfactory when
changing the output frequency higher than the input
frequency due to the amount of ripples present in the
output. Matrix converter eliminates this drawback by
providing sinusoidal output voltage and sinusoidal input
current[1]. Also, the number of switches used in matrix
converter is less compared to cycloconverters and the
switches provide bi-directional current flow. Another
major advantage of matrix converter is that it provides
AC-AC conversion without any DC link. Hence the size
of the converter is greatly reduced due to the lack energy
storage link.
There are different type of conventional control
techniques available namely Direct Torque Control(DTC),
Sensorless vector control and Field Oriented
Control(FOC).
Direct torque control method consists of torque and flux
estimators, adaptive model of the motor and optimum
switch selector table blocks. The major drawbacks of DTC
are adaptive model of the motor. Because this involves
calculating an estimate of the motors magnetic flux and
torque to select the switching state of the drive. Inaccurate
estimations degrade the drive performance and hence the
speed control process. In Sensorless vector control method
around zero speed, the slip angular velocity estimation
becomes impossible since division by zero takes place.
Field Oriented Control (FOC) technique is intended to
control the motor flux and thereby be able to decompose
the AC motor current into flux and torque components.
These components can be treated separately and then
recombined to create the actual motor phase currents. This
gives a better control of the motor torque and hence higher
dynamic performance[4].
This method employs the conventional Proportional
Integral (PI) Controllers. However the design of these
controllers depends on selecting accurate PI gain values.
Because these PI controllers are very sensitive to
disturbances, parameter variations and system non-
linearity. To select the accurate PI gain values the exact
mathematical model of the motor must be derived.
The design of Intelligent controllers based Artificial
Intelligence does not need the exact model of the motor.
Therefore, Artificial Neural Network (ANN) and Fuzzy
Logic Control (FLC) draws considerable attention in the
variable speed control drives. The accuracy of FLC
method depends on the rule set and shape of the
membership function. The accuracy of ANN method
depends on the training data set.
In this paper Adaptive Neuro- Fuzzy Inference System
(ANFIS) is used as an intelligent tool to replace the
conventional PI controllers. It helps to generate and
optimize membership functions as well as the rule base
from the sample data provided. It does not require the
mathematical model of the system. This paper provides a
novel control technique for matrix converter based on
ANFIS. A complete simulation model of the FOC based
matrix converter fed Induction motor is developed. The
speed and torque performance of the induction motor is
obtained for various reference speed values. A comparison
is made with the conventional PI speed controller and
ANFIS based speed controller response. Section II
presents the mathematical modeling of the matrix
converter and its output for various input frequencies.
Section III presents the design of conventional and ANFIS
based FOC schemes. Section IV presents the performance
of schemes for various reference speed values and
comparison results. Section V presents the conclusion.
2010 IEEE International Conference on Power and Energy (PECon2010), Nov 29 - Dec 1, 2010, Kuala Lumpur, Malaysia
978-1-4244-8946-6/10/$26.00 2010 IEEE 74
II. DESIGN OF MATRIX CONVERTER
A. Fundamentals of Matrix Converter
Matrix Converter is one of the direct AC-AC converters
which can produce variable output voltage with variable
frequency. Matrix Converter has got 9 bi-directional
switches arranged in the form of 3 x 3 matrixes[2]. The
switches are capable of holding bi-directional current
flow. The turn on and turn off of the switches are
controlled by using appropriate control technique to
produce sinusoidal output voltage and sinusoidal input
current. The general structure of matrix converter is
shown in the Fig. 1.
The switching state of bi-directional switches should be
selected such that the following rules should not be
violated at any operating condition
Input short circuit should be avoided by not
connecting any two input lines to the same output line
Output short circuit should be avoided by
connecting atleast any one of the input phase to the output
Considering the above two conditions various modulation
techniques are developed to turn on and turn off of
switches without producing overcurrent and overvoltage
spikes. Venturini algorithm presents a modulation method
in which the output voltages are obtained by multiplying
the modulation index matrix with the input voltages. In
the scalar control algorithm, the switching is arranged so
that each output is switched between the most positive and
most negative lines using PWM technique. The space
vector modulation technique, the space vectors of input
current and voltages are analyzed and based on the
position the switching sequence is determined.
B. Design of Matrix Converter
Here Venturini algorithm is used to design the matrix
converter. The bi-directional switches are controlled such
that any of the input phases (A,B,C) can be connected to
any of the output phases(a,b,c) during the particular
switching interval[8].
According to venturini algorithm[2], the relationship
between the output voltage and input voltage is given by
) ( ). ( ) ( t V t M t v
i o
= (1)
Where, o(= a,b,c) represents the output phase
components and i(=A,B,C) represents the input phases.

Fig.1 General Structure of Matrix Converter [1]

The relationship between input and output current is
given by
) ( . ) ( ) ( t i t M t i
i
T
o
= (2)
Where,

=
Cc Bc Ac
Cb Bb Ab
Ca Ba Aa
m m m
m m m
m m m
t M ) ( (3)


The output voltage of each phase is given by

T
v t v t v t
v
C Co B Bo A A
o
* * *
0
+ +
= (4)
Co Bo Ao
t t t T + + = (5)
T
t
m
io
io
= (6)
Where,
Co Bo Ao
t t t , , represents switching interval of
each switch, T represents the sampling interval and
io
m is
the duty cycle of the each switch.
) 3 sin( ) sin(
3
2
2
2 1 [
3
1
t
i i
t
i
m
q
q
im
V
o
v
i
V
io
m + + + = (7)
Where, q is the voltage transfer ratio given as
2
2
im
om
V
v
q = and q
m
is the maximum voltage transfer ratio
0.866.
The block diagram of matrix converter is shown in Fig. 2.
The input filter is used to eliminate the harmonics. Duty
cycle generator block is constructed using the equations
(1) upto (7). The reference voltage is given from a
reference source to check the output current and voltage of
matrix converter. Fig. 3 and Fig. 4 shows the matrix
converter output voltage and output current respectively.
Fig.5 and Fig. 6 shows the duty cycle for switching
frequency of 100Hz and 5000Hz respectively.

III. INDIRECT FIELD ORIENTED CONTROL
A. Conventional Controller
In the conventional Field Oriented Control (FOC), the
control is achieved in the reference frame (d-q) which is
attached to the rotor flux space vector [5]. So to achieve
the control, the system needs the information of
magnitude and phase angle of the rotor flux space vector.
To get this, the stator currents of the induction motor are
separated into flux and torque producing components by
applying Clarke and park transformations. The direct axis
(d-axis) should be aligned with the rotor flux space
vector. The space vector is rotating at a rate equal to the
angular frequency of the phase currents[5]. With the rotor
magnetic flux space vector, the rotational d-q axis can be
75










Fig. 2 Block diagram of Matrix Converter
established. From the d-q co-ordinate system, the stator
current torque (i
sq
) and flux (i
sd
) producing components
are separated. The error between the required
speed and actual speed is calculated. PI controllers are
used to produce reference voltages. These PI controllers
are tuned by i
sq
and i
sd
. The reference voltages generated
by PI controllers are used to determine the switching state
of the switches in the matrix converter.

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
4
-200
-150
-100
-50
0
50
100
150
200
Time in sec
V
o
lt
a
g
e

in

V
o
lt
s


Fig. 3 Matrix Converter output voltage

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
4
-60
-40
-20
0
20
40
60
Time in Sec
C
u
r
r
e
n
t

in

A
m
p

Fig. 4 Matrix Converter output current
0 50 100 150 200 250 300 350 400 450
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
S
w
itc
h
in
g
V
o
lta
g
e
Time in sec

Fig. 5 Duty cycle for Switching frequency of 100Hz
0 50 100 150 200 250 300 350 400 450
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Time in msec
S
w
itc
h
in
g
v
o
lta
g
e

Fig. 6 Duty Cycle for Switching frequency of 5000Hz
B. ANFIS Controller
The ANFIS is one of the inferences systems where
fuzzy logic and artificial neural network is combined.
Using the prior knowledge about the output of the system,
artificial neural network can be trained online or offline
learning process. The ANFIS inference system structure
proposed is composed of five functional blocks namely
rule base, database, decision making unit, fuzzification
interface and defuzzification interface.
These five blocks are generated using five network
layers. The inputs to the ANFIS controller are flux error
and speed error. The error signals are multiplied by their
respective weights and mapped through two fuzzy logic
membership functions. Training the ANFIS is system is
actually tuning the weights to reduce the flux and speed
errors. According the tuning the width of the membership
function of the ANFIS structure gets changed. The
proposed ANFIS structure composed of five membership
function and governed by 25 rules.The ANFIS layers and
rules are shown in Fig. 7.

Fig. 7 ANFIS layers and Rules formation
76
wsl-theta
w
s
l
w
m
t h
e
t a
wsl
Isd
Isq
wsl
dq-alphabeta
Vsd
Vsq
Vsalpha
Vsbeta
alphabeta -dq
Isalpha
Isbeta
Isd
Isq
alphabeta -abc
Vsalpha
Vsbeta
VAref
VBref
VCref
ViC
ViB
ViA
Torque Reference
1
Speed
wr
Saturation
PI Current Controller
Phi
theta
Vsd
PI Controller
Isq*
theta
Vsq
Motor Torque
Motor Speed
Matrix Converter
VA
VB
VC
VAref
VBref
VCref
Va
Vb
Vc
Isa
Isb
Isc
Induction Motor model
Va
Vb
Vc
Isa
Isb
Isc
Te
wm
Tm
Phi
ANFIS
Controller
ABC-alphabeta
Isa
Isb
Isc
Isalpha
Isbeta

Fig. 8 ANFIS based FOC for Matrix Converter


The surface view of the rules are shown in Fig.13.The
output of the ANFIS controller generates V
sd
and V
sq

voltages. These voltages are converted into three phase
voltages and fed as reference voltages into the matrix
converter. Using the algorithm described in section II,
required duty cycle can be calculated. The switches will
be turned on and off according to the duty cycle and
hence the frequency and amplitude of output voltage can
be altered to achieve the reference speed.
IV. SIMULAITON RESULTS
To verify the technique proposed in the paper,
simulations based on Matlab/Simulink is implemented.
Fig. 8 shows the simulation model of Indirect Field
Oriented Control using ANFIS Controller. The speed and
torque performance of conventional FOC based matrix
converter fed induction motor are compared with the
ANFIS controller based matrix converter fed induction
motor performance. Fig. 9 and Fig. 10 shows the speed
response of PI controller for no load and applied torque
respectively. Fig. 11 and Fig. 12 shows the speed response
ANFIS controller of no load and applied load torque
respectively.
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
160.1
160.12
160.14
160.16
160.18
160.2
160.22
w
m
in
ra
d
/s
e
c

Fig. 9 Speed response of PI controller (TL = 0)

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
160.1
160.12
160.14
160.16
160.18
160.2
160.22
160.24
Time in msec
w
m
in rad/s
ec

Fig. 10 Speed Response of PI Controller (TL =10)
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
159.96
159.965
159.97
159.975
159.98
159.985
Time in msec
w
m
in
ra
d
/s
e
c

Fig. 11 Speed response of ANFIS Controller (TL=0)
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
160.01
160.015
160.02
160.025
160.03
160.035
160.04
160.045
Time in msec
w
m
in
ra
d
/s
e
c
Fig. 12 Speed response of ANFIS Controller (TL=10)

77
The reference speed is maintained at 160
rad/sec. Initially the performance of PI controller and
ANFIS controller was investigated with no load torque. It
is observed that PI controller initial speed shoots upto
160.19 and in settles at 160.09 rad/sec. The load torque of
20 Nm is applied at t- 0.28msec, then the speed of PI
controller shoots to 160.22 rad/sec and settles at 160.12.
The ANFIS controller avoids the overshoot. Initially the
at no load torque, the speed stays constant at 159.975.
When load torque is applied, the speed goes upto 160.04
rad/sec and settles at 160.015 rad/sec.
The results shows better performance of ANFIS
controller based Matrix converter drive for Induction
motor as compared to Conventional PI controller drive
based matrix converter drive for Induction Motor under
no load and loaded torque conditions.
V. CONCLUSION
A novel ANFIS controller based Matrix Converter for
Induction Motor is presented in this paper. The matrix
converter is designed using Venturini algorithm and
sinusoidal current and voltage outputs are generated. The
variation in duty cycle is observed for different switching
frequency selection. It shows that the change in reference
voltage from the controller changes the selection of
switching state of the matrix converter. The ANFIS
controller based Field Oriented Control for matrix
converter is designed. The advantages of ANFIS are
faster speed operation and accuracy due to training
capability. The performance of ANFIS controller is
compared with conventional PI controller. The results
shows that the proposed ANFIS based controller for
matrix converter fed Induction motor is found to be
suitable for high performance applications.
.
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Fig. 13. Surface view of the rules in ANFIS

78