1

ANN BASED VOLTAGE CONTROL SCHEME FOR THREE PHASE SVM INVERTER FED INDUCTION MOTOR DRIVE SYSTEMS

*Sowmmiya U, Scholar, Jerusalem College of Engg, Pallikaranai, Chennai-600 100 Deivasundari P, Scholar, Jerusalem College of Engg, Pallikaranai, Chennai-600 100 Jamuna V, Asst Prof, Jerusalem College of Engg, Pallikaranai, Chennai-600 100 RamaReddy S, Professor, Jerusalem College of Engg, Pallikaranai, Chennai-600 100

Abstract This paper presents an efficient implementation scheme for the ANN based voltage control of an induction motor incorporating Space Vector Pulse Width Modulation (SVM). The neural network is trained to estimate the voltage at different conditions. To provide the required data for the training of a neural network, a simulation program is written. Voltage control is required to meet the variation in the input voltage and to regulate the output of the inverter. Space Vector Modulation (SVM) is an algorithm for the control of Pulse Width Modulation (PWM). SVM gives better harmonic response and higher efficiency compared to pulse width modulation techniques. For non-linear loads, closed loop is achieved using a neural network controller. It is observed that, the neural network controlled drive system has better dynamic performance. Key Words: Artificial Neural Network (ANN), Space Vector Modulation, Three Phase Inverter, Voltage Control 1. Introduction Three phase induction machine is most widely used in industry because of its simple construction, reliable operation, lightness and cheapness. Voltage controllers are increasingly
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

used as energy savers, reducing the flux level in the connected induction motor in accordance with the load. The use of Space Vector Modulation (SVM) inverter eliminates the drawback of SCR voltage controllers partially. SVM has the advantage of lower THD in addition to the features of complete digital implementation by a single chip microprocessor. Thus, SVM is advantageous over phase control and PWM. Traditionally PI controllers are used in inverters. They suffer from certain disadvantages. Recent development in artificial neural network (ANN) technology has made it possible to train neural networks for non linear loads. ANN represent simplified model of the human brain. It consists of large number of neurons which have weighted interconnections. Since, ANN are highly parallel and distributed networks, they are extremely fault tolerant and insensitive to noise. Various formulae involved and the methodology to produce the gate pulses is explained [1]. Induction motor model is developed based on Krauses model in a step by step approach. Each block is developed and indirect vector control is implemented [2]. The SVM approach to an Induction Motor is discussed. Speed Control implementation in Induction Motor was clearly explained [3]. An efficient implementation scheme for the closed loop speed control of an induction motor with constant v/f control, slip regulation and SVM technique is briefly explained [4].The neural network controlled Space Vector Modulator with vector control is implemented and the strategy is explained [5] . Various PWM techniques that can be used for three phase voltage controlled VSI and the three space vector pulse width modulation schemes are discussed [6, 7].

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

The generalized model of the three phase induction motor using SIMULINK-TM is discussed [8]. The simulation of ANN for the energy saving of a single phase Induction Motor is discussed. In this, various parameters from the motor are taken and are trained to meet the goal [9].A control scheme to implement the energy-savings of three-phase induction motors when they operate under long-term light load or small duty ratio load is explained [10]. This scheme is based on the principle of variable voltage control (VVC) at constant speed. In the above literature, the voltage control scheme for three phase induction motor drive is not implemented using SVM. In this paper, the SIMULINK-TM model for the ANN based voltage control scheme of SVM fed induction motor is developed and the results are presented. 2. SVM Inverter fed Induction Motor Drive The block diagrammatic representation of ANN based voltage control of SVM inverter fed induction motor drive is shown in fig.1. The three phase supply is rectified to DC by a bridge rectifier and is converted to perfect DC with the help of the capacitor.

Fig.1 Block diagram of ANN based voltage control of SVM inverter fed induction motor drive The three phase inverter has six power switches S1 to S6. The various parameters like line voltages(Vab, Vbc, Vca), rotor speed(), stator current(Is), rotor current(Ir), conventional controller
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

parameters(ev, evv) are measured and are trained to achieve the goal. The output of the neural network is the given to the SVM controller. SVM treats the inverter as a single unit; the inverter can be driven to eight unique states. The control circuit produces the driving pulses. During each time, the weights and biases of the NN are updated using the back propagation algorithm. SVM technique approximates the reference voltage Vref by a combination of the eight switching patterns (V0 to V7). 3. Realization of Space Vector Modulation Technique Realization of SVM involves Step 1: Determination of direct axis component (Vd), Quadrature axis component (Vq), Reference axis component (Vref)and angle () Step 2: Determination of time duration constants (T0, T1 and T2 ) Step 3: Determination of the switching time of each transistor Three phase to two phase conversion is done with Parks transformation.
q axis b Vq Vd c a d axis Vref

Fig. 2 voltage space vectors and its components in (d, q) From the fig.2, : : Vd =Van-Vbn.cos60-Vcn.cos60 Vq =0+Vbn.cos30-Vcn.cos30 (1) (2)

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

The angle between Vd and Vref is calculated as : =tan-1 (vq/vd) The switching time duration at any sector can be calculated [1] as
:

(3)

(4)
:

(5) : (6)

The switching time calculator block is shown in fig.3.

Fig.3 Switching time calculator The switching time is calculated to know the timing of the voltage vector applied to the motor. The block input is the sector in which the voltage vector lies. The timing sequence obtained is compared with the triangle signal and the gate timing signals to activate the inverter switches at the proper time are generated. The gate pulses of the upper switches of the inverter are shown in fig.4.

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

Fig.4 Gate Pulses for the upper switches 4. Modeling of Three Phase Induction Motor The induction motor model is designed using Krauses theory. To develop the model of the machine, various equations (7-18) are derived from the Krauses theory. : : : : : : dFqs/dt=b[vqs-(e/b)*fds+Rs/xls(fmq+fqs)] dFds/dt=b[vds+(e/b)*fqs+Rs/xls(fmd+fds)] dFqr/dt=b[vqr+(e-r/b)*fdr+Rr/xlr(fmq-fqr)] dFdr/dt=b[vdr+(e-r/b)*fqr+Rr/xlr(fmd-fdr)] Fmq=xml*[fqs/xls+fqr/xlr] Fmd=xml*[fds/xls+fdr/xlr] (7) (8) (9) (10) (11) (12)

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

: : : : : :

IqS=1/xls[fqs-fmq] IdS=1/xls[fds-fmd] Iqr=1/xlr[fqr-fmq] Idr=1/xlr[fqr-fmd] Te=[3/2]*[P/2]*[1/b]*[fdsiqs-fqsids] Te-TL=[J]*[2/P]*[dr/dt]

(13) (14) (15) (16) (17) (18)

For a squirrel cage induction motor Vdr and Vqr are generally set to zero. An induction machine can be represented with the differential equations (7-18). The modeling equations of squirrel cage induction motor in state-space are developed and the same are given in equations (19-23). : : : : : dFqs/dt=b[vqs-(e/b)*fds+Rs/xls(Xml*/Xlr*fqr+(xml*/xls-1)fqs)] dFds/dt=b[vds-(e/b)*fqs+Rs/xls(Xml*/Xlr*fdr+(xml*/xls-1)fds)] dFqr/dt=b[vqr+(e-r/b)*fdr+Rr/xlr(Xml*/Xlr*fqr+(xml*/xls-1)fqr)] dFdr/dt=b[vdr+(e-r/b)*fqr+Rr/xlr(Xml*/Xlr*fqr+(xml*/xls-1)fqr)] dwr/dr=(P/2J)(Te-TL) The induction motor model consists of the following blocks abc-syn conversion block Induction machine d-q model block syn-abc conversion block (19) (20) (21) (22) (23)

4.1 abc-syn conversion block To convert three-phase voltages to the voltages in a two phase synchronously rotating reference frame equations 25- 27 are used.
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

(25) Vqs=vqss cose-vdsssine Vds=vqss sine+vdsscose (26) (27)

: :

4.2 Induction motor d-q model block The d-q model of an induction motor is developed with the help of the flux linkage state equations (19-23). These state equations are required to calculate other variables. The various equations required for induction motor model are implemented in different blocks. The d-q model of the motor is shown in fig.5.

Fig.5 Induction machine d-q model block implementation using SIMULINK-TM

4.3 syn-abc conversion block To convert two phase synchronous variables into three phase variables, Equations 28 and 29 are used. : : Iqss=iqscose+idssine Idss=-iqssine+idscose (28) (29)

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

5. Voltage Control of Three Phase Induction Motor Using SVM The performance parameters of inverter are determined using PWM and SVM techniques. The corresponding harmonic spectrums are given in fig.6 and fig.7. The comparison is made between PWM and SVM fed induction motor drive systems and is presented in Table 1.

Fig.6 Harmonic spectrum of PWM output voltage using fast fourier technique

Fig.7 Harmonic spectrum of SVM output voltage using fast fourier technique Table 1 - Comparison between PWM and SVM fed Induction Motor Drive Systems PARAMETERS V01 THD PWM 284 V 16.63% SVM 296 V 8.53%

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

10

From the Table 1, it is observed that, SVM has improved fundamental voltage and lower THD. Hence, in the present work, SVM technique has been incorporated to achieve the voltage regulation. Open loop model for the SVM inverter fed Induction Motor drive is shown in fig.8.

Fig.8 Open loop model of SVM inverter fed induction motor In open loop voltage control, the voltage fluctuations are introduced through the circuit breaker mechanism. The output voltage varies with the fluctuations in the input voltage and the results are shown in fig.9.The voltage can be regulated by using the closed loop control.
250

200

Vt g V o e) la (

150

100

50

0.5

1.5 Time(sec)

2.5

Fig.9 RMS output voltage of the open loop control of an induction motor

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

11

6. Neural Network Controller Neural networks are simply a class of mathematical algorithms, since a network can be regarded as a graphic notation for a large class of algorithms. It consists of an input layer, a hidden layer and an output layer, where each layer has a specific function. The input accepts an input data and distributes it to all the neurons in the hidden layer. The hidden layer transfer function is logsigmoid or tan-sigmoid and the output transfer function is usually linear. Here, the tan-sigmoid is used as the hidden layer transfer function followed by the linear transfer function for the output layer. Equations 30 and 31 show these transfer functions. :

Y= 1

(1+ e

(V ji . X +B1 )

(30)

O = Wkj .Y + B2

(31)

In the above equations, X is the input vector, Y and O are the output vectors of the hidden layer and output layer respectively. Vji, Wkj are the weight matrices and B1 and B2 are the bias vectors. The neural network system to estimate the driving pulses of SVM inverter fed three phase Induction Motor is shown in fig.10.

Fig.10 Neural network system to estimate the driving pulses of SVM Inverter

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

12

To provide the required data to train the neural network, a simulation program is written. Using this program, 1, 00, 000 sets of training pattern are obtained. These patterns are used for training the neural network using error back propagation algorithm. For simplicity, some of the training patterns are given in Table-2. Table 2 Testing Patterns
Vab
0.000000 0.000000 57.576614 127.368230 94.458807 109.662814 122.426846 101.304489 101.825339 117.577773 117.577773 117.577773 117.577773 117.577773 117.577773

Vbc
0.000000 0.000000 57.882063 116.674474 98.837575 124.851376 115.459081 113.145037 109.501900 104.896137 104.896137 104.896137 104.896137 104.390611 104.559391

Vca
0.000000 0.000000 24.485369 116.371816 90.453670 113.456304 122.426846 111.100553 113.611617 105.231806 105.231806 105.231806 105.231806 105.399239 105.566407

0.000000 -0.038217 -1.987326 83.593323 17.657298 44.212627 86.291346 982.183335 982.718717 1001.321210 1001.325573 1001.328358 1001.329575 1001.331736 1001.334768

Ir
-1000.000000 -1000.038217 -1001.987326 -916.406677 -982.342702 -955.787373 -913.708654 -17.816665 -17.281283 1.321210 1.325573 1.328358 1.329575 1.331736 1.334768

Is
0.000000 0.000000 281.146464 336.851379 313.320090 359.105309 344.957571 58.483550 21.070499 42.049969 38.141674 34.339395 30.661578 33.679792 36.957063

ev
0.000000 0.000000 281.855261 346.284486 318.948093 363.478303 354.053219 73.014128 35.894682 50.014807 46.623726 43.413567 40.410947 41.151086 45.922380

evv
-1000.000000 -1000.838233 -1049.438495 -1366.162908 -1134.971217 -1251.337847 -1384.506264 -1073.535420 -1075.026341 -1098.932703 -1098.928076 -1098.925025 -1098.923542 -1098.920583 -1098.917284

After training the neural network successfully, the program is replaced by neural network controller and the simulation is performed. Output of the neural network controller is used to generate the driving pulses of the SVM inverter. 7. Closed Loop Voltage Control of Three Phase Induction Motor Using SVM The neural network based closed loop controller is developed and the same is shown in fig.11.
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

13

Fig.11 Closed loop voltage control of an induction motor The power circuit used to generate the Space Vector Modulated AC voltage is modeled and simulated. SVM AC voltage is applied to the three phase induction motor and the voltage is sensed. The actual voltage is compared with the reference voltage. The error in voltage is given to the PI controller. Initially, PI controllers are used to control the voltage applied to the three phase induction motor. The values of Kp and Ki are tuned for various load conditions. For each load, parameters like line voltages, speed, stator and rotor current are estimated. Around 1,00,000 sets of training patterns are obtained. These patterns are used for training the neural network, using the error back propagation algorithm. The subsystem showing the neural controller and the internal structure of the trained neural-network used for the simulation is shown in fig.12 and fig.13.

Fig.12 Subsystem showing the neural controller

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

14

Fig.13 Internal structure of the trained neural network Based on the reference value, the desired voltage is obtained. Thus, the voltage is regulated. The RMS output voltage of the closed loop control of an induction motor is shown in fig.14.

Fig.14 RMS output voltage of the closed loop control of an induction motor From the figure, it is observed that the output voltage is closer to the reference value irrespective of the fluctuations in the input voltage. 8. Results and Conclusions The performance parameters of PWM and SVM fed induction motor drive systems are determined. It is observed that SVM has improved fundamental component and reduced THD.
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

15

The mathematical model of three phase Induction Motor has been developed using Krauses theory. With the open loop control, the output voltage is not regulated and it varies with the fluctuations in the input voltage. To train the neural network, a simulation program has been written. With the help of conventional controller, 1,00,000 sets of training patterns are obtained. The network is successfully trained with these patterns using Error Back Propagation Training algorithm. In order to meet the constant voltage requirement, ANN based closed loop control is proposed. This scheme regulates the output voltage irrespective of the variations in the input. With the Artificial Neural Network based Space Vector Modulated inverter, voltage can be effectively controlled with reduced harmonic content. REFERENCES [1] Jin-Woo-Jung, (2005), Space Vector PWM Inverter Mechatronics Systems Laboratory, DECE, The Ohio State University. [2] Leon M Tolbert and Burak Ozpineci(2005), Simulink Implementation of Induction machine model A Modular approachpp 728-734. [3] Linga Swamy.R and Satish Kumar.P (2008), Speed control of space vectored modulated inverter driven induction motor, proceedings of the International Multi conference of engineers and computer scientist, vol. 2. [4] Muhammed Safian Adeel, Tahir Izhar and Muhammed Asghar Saqib, (2009), An Efficient Implementation of the Space Vector Modulation based Three Phase Induction Motor Drive, 978-1-4244-4361-1-IEEE.
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

16

[5]

Rajesh Kumar, Gupta.R.A, Rajesh.S.Surjuse (2008), A vector controlled motor drive with neural network based space vector pulse width modulator, Journal of theoretical and applied information technology,pp 577-584.

[6]

Trzynadlowski M, (1996), An overview of modern PWM techniques for three- phase, voltage-controlled, voltage-source inverters, in Proc. the IEEE International Symposium on Industrial Electronics, Warsaw, Poland, 1996, pp. 25-29.

[7]

Wei-Feng Zhang and Yue-Hui Yu (2007), Comparison of three SVPWM Strategies, Journal of electronics science and technology of China, vol.5, no.3.pp 283-287.

[8]

Shi K L, Chan T F, Wong Y K and Ho S L (1999), Modeling and simulation of three phase induction motor using simulink, Int.J.Electrical engineering education Vol.36, pp. 163-172.

[9]

Jamuna V and Rama Reddy S(2009),ANN controlled Energy Saver for Induction Motor Drive, Journal of Electrical Engineering, Romania, Vol 8,Edition 4, pp 70-77.

[10]

Xue X D and Cheng K W E (2006), An Energy-saving Scheme of Variable Voltage Control for Three-Phase Induction Motor Drive Systems, 2nd International conference on power Electronics systems and applications, pp 241-243.

Bibliographies Ms. U. Sowmmiya is a Scholar pursuing her M.E. degree in Power Electronics & Drives, Jerusalem College of Engineering, Chennai, India. She received her B.E. degree in Electrical & Electronics Engineering in 2009 from Adhiparasakthi Engineering College, Melmaruvathur, Chennai, India. Presently, she is doing research in Inverters, Energy Saving of Induction Motor Drive Systems, Neural Networks for drive systems and Space Vector Modulation.

Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com

17

Ms. P. Deivasundari is a Scholar pursuing her M.E degree in Power Electronics & Drives, Jerusalem College of Engineering, Chennai, India. She received her B.E. degree in Electrical and Electronics Engineering in 1999 from Mepco Schlenk Engineering College, Madurai Kamaraj University, India. She has secured Madurai Kamaraj University Gold Medal for obtaining the highest score in her B.E. She has 6 years of teaching experience in India and 4 years of Industry experience in United States. Her current research interests include Induction Motor Drives, Matrix Converter and Z-Source Converters. Dr. V. Jamuna is Professor in Electrical and Electronics Engineering Department, Jerusalem College of Engineering, Chennai, India. She received her B.E degree in Electrical & Electronics Engineering from St.Peters Engineering College, Madras University, Chennai, India in 1999, M.E. degree in Power Electronics and Drives from Anna University, Chennai, India in 2005. She has secured university fifth rank in her P.G degree. She obtained her doctorate in Anna University, Chennai in 2010.She has 12 years of teaching experience. She has published over 20 technical papers in national and international conferences proceedings/journals. She is life member of Indian Society of Technical Education, Institution of Engineers (India) and Institution of Electronics and Telecommunication Engineers (India). Her research interests include AC to AC converters and Neural Network controller for the drives. Dr. S. Rama Reddy is Professor in Electrical & Electronics Engineering Department, Jerusalem College of Engineering, Chennai, India. He obtained his D.E.E from S.M.V.M. polytechnic, Tanuku, A.P., A.M.I.E. in Electrical Engineering from Institution of Engineers (India), M.E. in Power Systems from Anna University, Chennai and Ph.D in the area of Power Electronics from Anna University, Chennai, India. He has published over 60 technical papers in national and international conferences proceedings / journals. He has secured A.M.I.E. institution gold medal for obtaining highest marks. He has secured AIMO best project award and Vijaya Ratna Award. He has worked in Tata Consulting Engineers, Bangalore and Anna University, Chennai. He has 20 years of teaching experience. His research interests include the areas of resonant converters and FACTS. He is life member of Institution of Engineers (India), Indian Society for Technical Education, Systems Society of India, Society of Power Engineers and Institution of Electronics and Telecommunication Engineers (India). He has published text books on Power Electronics, Solid State Circuits and Electronic circuits.
Sowmmiya Uthaykumar 209/104,Vellala St,Kodambakkam,Chennai,India-600024 sowmmeee@gmail.com