dspace implementation of Fuzzy Logic based Vector Control of Induction Motor

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1 1 dspace mplmntaton of Fuzzy Logc basd Vcto Contol of Inducton Moto B.Subudh 1, Ansh Kuma A.K and D. Jna Dpatmnt of Elctcal Engnng Natonal Insttut of Tchnology Roukla Abstact- Vcto contol of nducton moto s an ffcnt appoach to contol th spd of nducton moto usd fo ndustal dvs. Although th vcto contol s vy popula mthod but th ls dffculty n obtanng an accuat modl of nducton moto (IM) owng to th vaaton of nducton moto paamts, such as sstanc, nductanc and tm constant. Thfo, to cop up wth ths unctanty n th modl w usd a fuzzy logc basd vcto contol appoach to spd contol of an nducton moto. Th focus of th pap s to analyz th al-tm mplmntaton ssud fo alzng a vcto contol n a laboatoy st up of nducton moto usng dspace 114. Ths fuzzy logc basd vcto contol schm has bn succssfully mplmntd on a 3 hp nducton moto dv n th laboatoy and th pfomancs of ths contoll has bn chckd wth a PID contol statgy. Indx Tms-- Inducton moto, vcto contol, fuzzy logc, dspace I. INTRODUCTION Th vcto contol mthod s vy ffctv appoach fo hgh-pfomanc contol of toqu, spd and poston of an nducton moto [1, 2,3]. By usng vcto contol statgy, w achv dcoupld contol of th oto flux magntud and th toqu-poducng cunt, wth a fast toqu spons. Th toqu spons s achvd by stmatng, masung, o calculatng th magntud and poston of th oto flux n th machn. Usually n most ndusts, th moto-contol ssus a tadtonally handld by fxd-gan popotonal-ntgal (PI) and popotonalntgal-dvatv (PID) contolls. Howv, th fxdgan contolls a vy snstv to paamt vaatons and load dstubancs, tc. A numb of oth contoll such as modl fnc adaptv contol (MRAC), sldngmod contol (SMC), and slf-tunng PI contolls hav bn poposd fo nducton moto contol [3-8]. Unavodabl paamt vaatons du to satuaton, tmpatu vaatons, and systm dstubancs a som th causs of modl unctanty. Thfo, t s oftn dffcult to dvlop an accuat systm mathmatcal modl. Th dvlopmnt of nducton moto modl du to unknown load vaaton also bcoms a dffcult task. To ovcom th abov poblms, th fuzzy-logc tchnqu mbddd to vcto contol s an attactv choc fo contollng of nducton moto. Futh, th al-tm mplmntaton of fuzzy vcto contol to an nducton dvs ncsstats hgh bb pfomanc computng platfom fo whch w hav consdd a dspace to alz th fuzzy vcto contol statgy n th lab. Th contbuton of th pap ls n th fact that th dvlopd MATLAB/SIMULINK vson of fuzzy vcto contol can asly b tansfomd n to dspace nvonmnt. In th subsqunt scton of th pap w dscbd th fuzzy logc vcto contol dsgn, ts MATLAB/SIMULINK mplmntaton and dspace mplmntaton n al-tm and fnally compad th fuzzy logc vcto contol wth PID contol. Th contbuton of th pap ls on th al-tm mplmntaton of fuzzy logc basd vcto contol on a laboatoy scald nducton moto dv systm usng dspcae. II. DESIGN OF FUZZY INDIRECT VECTOR CONTROL A. Indct vcto contol Th ndct vcto contol mthod s ssntally th sam as dct vcto contol, xcpt th unt vcto sgnals (cos, and snθ, θ s th otatng fld poston) a gnatd n mann. Indct vcto contol s vy popula n ndustal s s applcatons. Th d q axs a fxd on th stato, but th d q axs, whch a fxd on th oto, a movng at spdω. Synchonously otatng axs d q a otatng ahad of th d q axs by th postv slp anglθ sl, cospondng to slp fquncyω sl. Snc th oto pol s dctd on th d axs w hav, ω = ω + ω (1) sl dt ( ) dt (2) θ = ω = ω + ω sl In od to dsgn a fuzzy-logc-basd vcto contol algothm, th followng stps hav bn b followd. Dvlopmnt of a sutabl ul st Slcton of nput/output vaabls and th quantzaton n fuzzy sts Dfnton of mmbshp functons to b assocatd to th nput/output vaabls Slcton of th nfnc mthod Slcton of th dfuzzfcaton tchnqu. Fo th poposd fuzzy logc vcto contol, w hav consdd spd o Δ and at of chang of th spd w Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

spd o, Δw ( n 1) s th past w n s th psnt sampl of sampl of spd o, ( ) actual spd, s th psnt sampl w ( ) n of command spd, and f dnots th nonlna functon.

2 2 Δω o a consdd as th nput lngustc vaabls and th toqu-poducng cunt q componnt s consdd as th output lngustc vaabl. Thus, th functonal laton of th FLC can b xpssd as ( ) ( ) ( ), ( ) n = f Δ n Δ w n (3) q w wh n s th dsct stp Δ w( n) = Δw( n) Δw( n 1) s th chang of spd o Δ w( n) = w ( n) w( n), s th psnt sampl of spd o, Δw ( n 1) s th past w n s th psnt sampl of sampl of spd o, ( ) actual spd, s th psnt sampl w ( ) n of command spd, and f dnots th nonlna functon. Th man goal of th contol systm s to tack th command spd by povdng th appopat toqu-poducng cunt componnt q dpndng upon th opatng condtons. In al-tm, th moto poston nfomaton and output of th FLC, whch s consdd as th command q-axs cunt, as wll as th command d-axs cunt q d a usd to gt th command phas cunts a, b, and c. Th lctcal poston of th moto can b xpssd as θ = θ + θsl (4) wh θ s th oto poston du to slp spd, and θ sl s th slp poston du to slp spd. In th nxt stp, th scalng factos Kω, K and K a chosn fo fuzzyfcaton, as wll as fo obtanng th actual output of th command cunt. Ths scalng factos play a vtal ol fo th FLC. Th scal factos K and Kω a chosn to nomalz th Δ, spctvly, so that ths man wthn th lmt of ± 1. Facto K s so chosn that on can gt th atd cunt fo atd condtons. H, th constants a takn as K = ω w ( n) (command spd), K = 1, and K = 1 n od to gt th optmum dv pfomancs. Aft slctng th scalng factos, th nxt stp s to choos th mmbshp functon of Δ w, n Δ, and n qn whch pfom th mpotant task of th FLC. Th mmbshp functons usd fo th nput and output fuzzy sts a shown n Fg.2.Th tapzodal functons a usd as mmbshp functons fo all th fuzzy sts xcpt th fuzzy st ZE (zo) of th nput vctos. Th tangula mmbshp functons a usd fo th fuzzy st ZE of th nput vctos and all th fuzzy sts of th output vcto [5]. Th tapzodal and tangula functons a usd to duc th computaton fo onln mplmntaton. spd o Δ n ( ) and th chang of spd o wn ( ) B. Fuzzy-Rul-Basd Matx Δω n Δ ω TABLE I RULE BASE NH NL ZE PL PH NE NH NL NC PM PH ZE NH NL NC PM PH PS NH NL PL PM PH Fgu 1. Stuctu of Fuzzy Logc basd vcto contol systm Fo th fuzzyfcaton of Δw and Δ ω as dfnd tapzodal mmbshp functon n quaton (5), x a x a, a x b b a f( xabcd ;,,, ) = 1, b x c d x, c x d d c x d It may b notd that w can obtan th tangula mmbshp functons fom tapzodal functon by sttng b=c. Th uls usd fo th poposd fuzzy logc vcto contol of IM a shown n Tabl I. (4) Fo ths study, Mamdan-typ fuzzy nfnc s usd. Th valus of th scal factos, mmbshp functons, fuzzy sts fo th nput and output vaabls, and th uls usd n ths study a slctd by tal and o to obtan th optmum dv pfomanc. In ths fuzzy vcto contol dvlopmnt, (5) Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

3 th cnt of gavty dfuzzfcaton gvn n quaton (6) s usd = N k = 1 N k = 1 μ μ ( k) ( k ) wh N s th quantzaton lvls, ( q wth suffx q omttd fo smplcty) s th csp output, ( k ) cospondng fuzzy mmbshp functon. (6) μ s III. EXPERIMENTAL IMPLEMENTATION VSI Bas ccu Hal -ffct snso IM Encod 3 Dg of mmbshp N N ZEPL PH CRO PC-A D/ Dgtal I/O dspace Fuzzy logc contoll A/ Encod Intfac Dg of mmbshp Dg of mmbshp Spd Fgu.2.a Mmbshp functons fo spd o NE ZE PS Chang of spd o Fgu2.b Mmbshp functons fo chang spd o N N P N PM PH q axs command cunt Fgu2.c Mmbshp functons fo q axs cunt Fgu 3 Expmntal st up Th poposd FLC-basd vcto contol of IM s xpmntally mplmntd usng dspace 114 though both hadwa and softwa. Th DSP boad s ntfacd to PC wth unntuptd communcaton capablts though dual-pot mmoy. Th hadwa schmatc fo al-tm mplmntaton of th poposd FLC-basd IM dv s shown n Fg. 3. Th DSP has bn supplmntd by a st of on-boad pphals usd n dgtal contol systms, such as A/D, D/A convts, and ncmntal ncod ntfacs. Th dspace 114 s also quppd wth a TI TMS32C24 16-bt DSP pocsso. DSP that acts as a slav pocsso and povds th ncssay dgtal nput/output (I/O) pots and powful tm functons such as nput captu, output captu, and puls wdth modulaton (PWM) wavfom gnaton. In ths study, th slav pocsso s usd fo dgtal I/O confguaton. Th actual moto cunts a masud by th Hall-ffct snsos, whch hav good fquncy spons and a fd to th dspace boad though th A/D convt. Th oto poston s masud by an optcal ncmntal ncod, whch s mountd at th oto-shaft nd. It s thn fd to th dspace boad though an ncod ntfac. Th ncod gnats pulss p voluton. A 24-bt poston count s usd to count th ncod pulss and s ad by a callng functon n th softwa. Th moto spd s calculatd fom th oto poston by backwad dffnc ntpolaton. A dgtal flt s usd to mov th nos fom th spd sgnal. Th calculatd actual moto spd s compad to th command spd to gnat th spd o sgnal. Th nput vctos of th FLC a gnatd fom th psnt and th dlayd sampls of th spd o. Th command cunts a gnatd fom th FLC. Th hystss cunt contoll Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

4 4 compas th command cunts wth th cospondng actual moto cunts and gnats th logc sgnals, whch act as fng pulss fo th nvt swtchs. Thus, ths sx PWM logc sgnals a th output of th dspace boad and fd to th bas dv ccut of th nvt pow modul. Th D/A channls a usd to captu th ncssay output sgnals n a dgtal stoag osclloscop. Th complt IM dv s mplmntd though softwa by dvlopng a pogam n hgh-lvl Amcan Natonal Standads Insttut (ANSI) C pogammng languag. Th pogam s compld by th TI C cod gnato. Fnally, th pogam s downloadd to th dspace contoll boad usng load pogam. Th samplng fquncy fo xpmntal mplmntaton of th poposd FLC-basd IM moto dv systm s 5 khz. In od to vfy th fasblty and th pfomanc of th poposd pocdu, comput smulatons hav bn cad out usng MATLAB softwa. It s assumd n th followng that fo smulaton pupos a typcal 3kW nducton machn, fd by a souc voltag s alady unnng n stady stat at nomnal spd condtons. Th spcfcatons and paamts of th nducton machn a lstd n tabl II TABLE.II Paamts of Squl cag typ Inducton Moto Paamt Symbol Ratng unts Pow P 3 hp output Ln V 415 volts voltag Supply f 5 htz fquncy Mchancal N 141 pm spd Stato nductanc Roto nductanc Stato sstanc Roto sstanc Pol pas p 2 L 2.81 mh s L 4.5 mh R 8.2 ohm s R 2.8 ohm Som tsts such as constant spd and vaabl spd w pfomd to valuat th pfomanc of th poposd FLCbasd vcto contol of th IM dv systm both thotcally and xpmntally Th spd-contol loop of th dv was also dsgnd, smulatd, and xpmntally mplmntd wth th PID contoll. Th spd sponss a obsvd und dffnt opatng condtons such as a suddn chang n command spd, and stp chang n load, tc. Som sampl sults a psntd n th followng scton. Th PID contoll gan s tund at atd condtons n od to mak a fa compason. W thn conductd two sts of xpmnts as follows. #Tst 1: Constant command spd In Tst 1 w amd at analyzng th pfomanc of nducton moto on constant command spd. Fg.4 shows th smulatd pfomanc of constant command spons of PID vcto contol of nducton moto. Fg.5 shows th smulatd spons of constant command spd pfomanc of fuzzy logc vcto contol of nducton moto. Fg 6 shows th xpmntal spons of PID vcto contol usng dspace mplmntaton fo constant command spd Fg 7 shows th xpmntal spons of fuzzy logc vcto contol usng dspace mplmntaton fo constant command spd. Fom ths fgus t s sn that th fuzzy logc vcto contol pfomanc s mo smooth than PID vcto contol pfomanc. # Tst 2: Vaabl command spd Fg. 8 and Fg.9 show th smulaton sponss of th dv systm usng th PID vcto contol and Fuzzy logc vcto contol spctvly, wth a chang n th fnc spd. It s vdnt fom Fg. 8 and Fg. 9 that th poposd FLCbasd IM dv systm can follow th command spd wthout any ovshoot and stady-stat o. Th moto spd follows ts fnc wth zo stady-stat o and a fast spons usng a fuzzy contoll. Thus, th FLC-basd dv systm s not affctd by th suddn chang of th command spd.. a good tackng has bn achvd by th Fuzzy logc vcto contol, whas th PID-contol gvs mo ovshoot whn th s a suddn chang n command spd. On th oth hand, th mans a constant stady-stat o n th cas of PID contolld vaabl spd tackng xpmnt. Ths s th dawback of a PID contoll wth vayng opatng condtons. Fg. 11 and Fg. 12 show th pfomanc of th xpmntally mplmntd PID vcto contol and fuzzy logc vcto contol vaabl spd spons of nducton moto Fom Fg 11 and Fg 12 t can b sn that th fuzzy logc vcto contol has btt spd tackng pfomanc. spd n pm command spd actual spd tm n sconds Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

5 Fgu4 Smulaton pfomanc of constant spd PID vcto contol schm Fgu 7 Expmntal pfomanc fuzzy vcto contol of actual spd and constant st spd

smulaton pfomanc of constant spd fuzzy vcto contol schm 2 1 2 3 4 5 6 7 8 9 1 tm n sconds Fgu 8 smulaton pfomanc of PID vaabl spd contol

contol vcto contol schm Fgu 7 xpmntal pfomanc PID vcto contol of actual spd and constant st spd Fgu 1.

5 5 Fgu4 Smulaton pfomanc of constant spd PID vcto contol schm Fgu 7 Expmntal pfomanc fuzzy vcto contol of actual spd and constant st spd spd n pm actual spd constant command spd spd n pm 6 fnc spd actual spd tm n sconds Fgu 5 smulaton pfomanc of constant spd fuzzy vcto contol schm tm n sconds Fgu 8 smulaton pfomanc of PID vaabl spd contol schm 45 4 actual spd Rfanc spd 35 spd n adan/scons tm n sconds Fgu 9 smulaton pfomanc of fuzzy logc contol vcto contol schm Fgu 7 xpmntal pfomanc PID vcto contol of actual spd and constant st spd Fgu 1. Expmntal pfomanc of dsd cunts and actual cunts Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

[3]. Amulu Bogdan Poca, and Al Kyhan., Idntfcaton of Vaabl Fquncy Inducton Moto Modls Fom Opatng Data, IEEE Tans. Elctcal Engy vol.17.no.1,. 22 [4]. B.K. Bos, Pow Elctoncs and AC Dvs, Pntc-Hall, Nw Jsy [5].

Volt, "Smulaton of a Dct Fld- Ontd Contoll fo an Inducton Moto Usng matlab/smulnk Softwa Packag," Poc. of IASTED Int. Conf. Modlng and Smulaton (MS'2), USA. [7].

6 [3]. Amulu Bogdan Poca, and Al Kyhan., Idntfcaton of Vaabl Fquncy Inducton Moto Modls Fom Opatng Data, IEEE Tans. Elctcal Engy vol.17.no.1,. 22 [4]. B.K. Bos, Pow Elctoncs and AC Dvs, Pntc-Hall, Nw Jsy [5]. Alfo Consol,, Anglo Ract, Antono Tsta., Fuzzy Adaptv Vcto Contol of Inducton Moto, IEEE Tans. on Pow Elcton., vol. 12, NO. 6, Novmb 1997 [6]. M.A. Ouhouch, and C. Volt, "Smulaton of a Dct Fld- Ontd Contoll fo an Inducton Moto Usng matlab/smulnk Softwa Packag," Poc. of IASTED Int. Conf. Modlng and Smulaton (MS'2), USA. [7]. Emanul Cuto, Alfo Consol, Fuzzy Adaptv Vcto Contol of Inducton Moto Dvs, IEEE Tans.on, Pow Elctoncs vol. 12, no. 6, pp , [8]. Hazm N. Nounou,Habb-u Rhman, Applcaton of adaptv fuzzy contol to ac machns, Appld Soft Computng, vol. 7, pp , Fgu 11. Expmntal pfomanc of PID vcto contol actual spd vsus chang n command spd Fgu 12. Expmntal pfomanc of actual spd vsus chang n command spd IV. CONCLUSIONS Th pap has dscbd a fuzzy logc basd vcto contol of a laboatoy scald nducton moto dv systm.. th dsgnd FLC acts on th spd-contol loop. A hadwa st-up of th ntgatd nducton moto dv systm has bn dvlopd n th laboatoy and w hav also succssfully mplmntd th fuzzy vcto contol statgy n al-tm by mployng a dspace contoll 114. Th ffcacy of th contoll has bn vfd though ts hadwa and MATLAB mplmntatons. REFERENCES [1]. A. Hazzabl, M. Zbo, I. K. Bousshanl and P. Scad, Ral Tm Implmntaton of Adaptv P1 Contoll by Fuzzy Infnc fo Inducton Moto Spd Contol, Poc. IEEE ISIE 26, July 9-12, 26, Montal, Qubc, Canada [2]. Scott Wad, Matthw W. Dunngan, and Bay W. Wllams., Modlng and Smulaton of Inducton Machn, IEEE Tans. Pow Elcton, vol. 12, no. 3, 1997 Authozd lcnsd us lmtd to: NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA. Downloadd on May 18, 29 at 6: fom IEEE Xplo. Rstctons apply.

Design and Implementation of Speed Controller with Anti-Windup Scheme for Three Phase Induction Motor Used in Electric Vehicle

Design and Implementation of Speed Controller with Anti-Windup Scheme for Three Phase Induction Motor Used in Electric Vehicle Intnatonal Jounal of Comput Applcatons (0975 8887 Volum 89 No 9, Mach 2014 Dsgn and Implmntaton of Spd Contoll wth Ant-Wndup Schm fo Th Phas Inducton Moto Usd n Elctc Vhcl Pasun Msha QHS (T CSIR-CMERI,