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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
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.
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
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
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 . ... ... ... .. ... .. .. ...
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
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
- 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]
The simulation results of the control system with fuzzy VII CONCLUSION
logic and speed observer system at zero speed are shown on In the paper an ANN controller for sensorless control of
figure 8. The results for operation in the field weakening induction motor was used. Fuzzy logic controller also was
region using the voltage controller is shown on figure 9. 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, [9] Kazmierkowski, M. and Sobczuk, D. "Investigation of neural
smoothly and with zero steady state error for the control network current regulator for VS-PWM inverters", Int. Con. on
Power Electronics Motion Control PEMC'94, Warsaw, vol. II pp.
system with speed sensor and without. 1009-1014, 1994.
[10]. Abu-Rub H., Guzinski J., Krzeminski Z., Toliyat H., Speed
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