Speed Sensorless Vector Controlled Inverter Fed Induction Motor Drive Using Fuzzy Logic Controller

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1 Spd Snsolss Vcto Contolld Invt Fd Induction Moto Div Using Fuzzy Logic Contoll V. SaiPhannda 1, P.K.Das 2 Post Gaduat studnt(eee) G.V.P. Collg of Eng. (A) Associat Pofsso(EEE) G.V.P. Collg of Eng. (A) Abstact: A Fuzzy logic contoll basd Modl Rfnc Adaptiv Systm (MRAS) is poposd in this pap to stimat th spd of an Induction Moto. In od to Implmnt Fild ointd Contol of an Induction Moto it qui snsos lik cunt snso, voltag snso and Spd snso, us of such snsos will add additional cost. In th poposd pap ffots a mad to liminat th spd snso. Th poposd wok is implmntd in MATLAB/simulink and sults a displayd in this pap. Indx Tms: Spd stimation, Fild ointd contol, Induction moto (IM), Modl Rfnc Adaptiv Systm (MRAS), Fuzzy logic contoll. I. Intoduction Induction moto divs hav ctain advantags lik lss cost, uggdnss and quid low maintnanc. Fild ointd contol povids good solution fo industial applications. [1] Nomally in od to implmnt a vcto contol opation w gnally qui numb of position snsos lik spd, voltag, cunt snsos. But if w us th position snsos thn th cost and siz will b incasd. So, to ovcom this w nd to us limitd numb of snsos [2]. Rducing th numb of snsos will incas th liability of th systm. So, if w liminat th numb of snsos w nd to stimat th quid quantity. Th stimation can b don by using diffnt statgis lik modl basd and signal basd out of this modl basd stimation th bst mthod to stimat th spd by using Modl Rfnc Adaptiv Systm (MRAS). [3] An induction moto can b lookd as a tansfom with a moving sconday wh th coupling cofficint btwn th stato and oto phas s changs continuously with a chang of oto position θ. Th stady stat modl nglcts all lctical tansints duing load changs and stato fquncy vaiations. So w nd to build a dynamic modl which taks into account of all tansints. This modl can b dscibd by diffntial quations with tim vaying mutual inductancs, but this kind of moto is vy had to build. Th dynamic modl of IM can b dvlopd by using a two phas machin modls in dict and quadatu axs. A th phas machin can b psntd by two phas machin as shown in Fig 3.1 wh ds-qs a stato dict and quadatu axis, and d-q axs a cospond to oto dict and quadatu axis.th a diffnt MRAS mthods availabl lik flux basd MRAS, activ pow basd MRAS tc. [4] Th back mf basd MRAS dos hav poblm of pu intgato but it has disadvantag of divativ tms [2]. If w go fo a activ pow basd MRAS it has advantags lik absnc of pu intgato and it also dosn t hav ffct of stato sistanc but th poblm with this kind of MRAS is that it is unstabl in gnativ mod of opation [3]. A vcto contolld induction moto offs a xact contol of induction moto ov a scala contol, bcaus a scala contol although povids good stady stat spons but it posss vy poo pfomanc duing dynamic situation [3]. In od to achiv fild ointd contol th nti flux should b alignd on th dict axis [1]. To convt th th phas machin vaiabls into two phas vaiabls w hav to pfom claks tansfomation [4]. Diffnt fnc fams a discussd [4]. Th machin modlling quations a considd in synchonous fnc fam wh all th vaiabls appa as DC quantitis. [3] II. MODELING OF INDUCTION MOTOR An induction moto can b lookd as a tansfom with a moving sconday wh th coupling cofficint btwn th stato and oto phas s changs continuously with a chang of oto position θ. Th stady stat modl nglcts all lctical tansints duing load changs and stato fquncy vaiations. So w nd to build a dynamic modl which taks into account of all tansints. This modl can b dscibd by diffntial quations with tim vaying mutual inductancs, but this kind of moto is vy had to build. Th dynamic modl of IM can b dvlopd by using a two phas machin modls in dict and quadatu axs. A 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 63 Pag

2 th phas machin can b psntd by two phas machin as shown in Fig 1.1 wh ds-qs a stato dict and quadatu axis, and d-qaxs a cospond to oto dictand quadatu axis. But th poblm of tim vaying inductancs will main th sam. So, in od to liminat ths w nd to f all ths stato and oto vaiabls to a common fnc fam(abitay fnc fam). Such a modl can b obtaind by mans of spac vcto phaso thoy. Fig 1.1 Two Phas quivalnt of a machin two-axis thoy of lctical machins. Both mthods a actually clos and two-axis thoy and will b xplaind h. Th pow must b qual in th phas and its quivalnt two phas modl [3]. Following figu shows block diagam of vaious stps in modlling th induction machin. Equations fo dynamic modlling of Induction Machin a: w Rs Fqs wb V qs Fds ( Fqs Fqm) wb X ls w R w R Fq wb Fd ( Fq Fq) Fd wb X wb Fq ( Fd Fdm) l wb X l w Rs Fds wb V ds Fqs ( Fds Fdm) wb X ls Toqu Equation is givn as: dwm 1 T T ( 3 2)( p 2)(1 wb )( Fdsiqs Fqsids) TL J BWm Wm dt ( T T 1 ) (o) J III. Vcto Contol o Fild ointd contol Among th vaious contol mthods of an IM a Scala contol mthod is vy asy to implmnt but in an IM th is coupling ffct so th contol of IM though scala contol will b vy sluggish so, in od to ovcom this ffct w a going fo a vcto contol. Basically a vcto contol offs vy cla-cut contol ov a scala contol. Th a two typs of fild ointd contols, thy a : i. Dict fild ointd contol ii. Indict fild ointd contol In a dict fild ointd contol masumnt of flux is don by using hall snsos of stato sns coils. Ths masud ai gap flux linkag componnts a usd in calculating oto flux linkag spac phaso position and also its magnitud. In Indict vcto contol flux stimato is usd to stimat th flux linkag spac phasos position and magnitud. Ths kind of snsing will povid mo flxibl systms than a nomal standad systm with hall ffct snsos. A. VARIOUS BLOCKS IN SIMULINK 1. Spd contoll This gnats q-axis fnc cunt (isqf), by PI contoll i sqf ki w w k p s 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 64 Pag

3 2. TORQUE/CURRENT CONTROLLER This gnats th q-axis componnt of voltag vqs, which cosponds to th toqu componnt, by PI contoll. This contoll is also known as q-contoll. ki vqs i sqf iqs k p s 3. FIELD CONTROLLER This gnats th d-axis componnt of voltag vds, which cosponds to th flux componnt, by PI contoll. This contoll is also known as d-contoll 4. SLIP CALCULATOR Th slip spd btwn synchonous spd and oto spd will b quid to find out th flux linkag spac phaso angula position ρ. This is calculatd by following xpssion This block also calculats th angula position by intgating th synchonous spd obtaind by adding oto spd and slip spd. = + sl = (sl +) w sl v ki i i k IV. Snso lss Vcto Contol Nomally in od to achiv accuat contol w gnally us closd loop contol. To achiv closd loop opation w qui fdback signal, to gt this signal w gnally us snsos, but us of snsos not only incas th cost of th systm but also th siz of th systm will incass. Ths snsos a vy snsitiv to damag. So, moving ths snsos fom th systm will not only ducs th cost but also ducs th siz of th systm. So, w a choosing to contol ou moto without a snso. But now th qustion is how can I gt a fdback signal to contol ou moto. Instad of masuing it with snsos w can also gt th infomation though stimation. A. Modl Rfnc adaptiv systm (mas). Basically it has two modls on is fnc modl and th oth on is adjustabl modl. Th modl which dos not dpnds on which quantity it has to b masud is known as fnc modl and th modl which dpnds on which quantity it has to b masud is known as adaptiv modl. Th o gnatd fom ths two modls is usd as an input fo th adaptiv mchanism. In snsolss contols most of th tims th quantity which dfs th two modls is oto spd. It consists of fnc modl and adaptabl modl as shown in th figu 5.1. Th Spd adaption mchanism will adjust its output basd upon th outputs of fnc and adaptiv modls. ds i qs * i m sdf ds p s Fig 3.1 : Simulation modl of MRAS 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 65 Pag

4 B. Simulation modl of poposd systm Fig 3.2 : Simulation modl of poposd systm C. FUZZY LOGIC CONTROLLERS: Boolan logic was dvlopd basd on th thinking of human. It stats that th human taks dcisions basd on ys o no analysis, o simply 1 / 0. By using this logic a taditional Expt systm modl was fomulatd. But in pactical human dcisions a not always basd on ys o no analysis thy a nomally fuzzy in natu. By considing th abov dawback a fuzzy logic was dvlopd. If w consid a situation in nomal Boolan logic th output will b logic 1 if it is tu and if it is fals th output will b logic 0. Unlik this a fuzzy offs mo cystal cla output of a givn situation, h th output will hav dg of mmbship and output may b anywh btwn 0 and 1. With all ths advantags fuzzy logic contolls hav bn usd in many applications lik figatos, washing machins tc. Fig 3.3 : Simulation modl of MRAS with Fuzzy logic contoll 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 66 Pag

5 Fig 3.4 : Edito viw of fuzzy contoll in MATLAB/Simulink V. SIMULATION RESULTS Th poposd MRAS-basd spd snso lss vcto-contolld IM div is simulatd in MATLAB/Simulink.This sction fist psnts th simulation sults showing th MRAS obsv with nomal PI-Contoll. Thaft, simulation sults cosponding to MRAS obsv with Fuzzy logic contoll a shown. Cas (a): Ramp Rspons: Th amp spons of spd stimato is shown in Fig.4.1 & 4.3. In Fig.4.1 a is gadually changd fom 0 to 30 ad/sc following a amp signal. Th fnc and stimatd spds a shown in Fig.4.1 fo a PI-contoll basd MRAS and in Fig.4.2 th actual spd of moto is shown. In Fig.4.3 A fuzzy contoll basd MRAS is shown. Not that th actual spd of th moto is masud dictly by placing a snso. FIg 4.1: simulation sults of fnc and stimatd spd 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 67 Pag

6 Actual Spd Fig 4.2 : simulation sults of Actual spd Fig 4.3: simulation sults of fnc and stimatd spd Cas (B) : Rgnating mod of opation: Th pfomanc of th spd stimato is studid und gnativ mod of opation and th sults a shown in fig Th fnc and stimatd spds a shown in Fig.4.4 fo a PI-contoll basd MRAS and in Fig.4.5 th actual spd of moto is shown. In Fig.4.6 A fuzzy contoll basd MRAS is shown. Not that th actual spd of th moto is massud dictly by placing a snso. Actual Spd FIg 4.4: simulation sults of fnc and stimatd spd Actual Spd Fig 4.5 : simulation sults of Actual spd 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 68 Pag

7 Fig 4.6: simulation sults of fnc and stimatd spd Cas (c) : Rspons und low spd: Th pfomanc of th spd stimato is studid und low spd conditions and th sults a shown in fig Th fnc and stimatd spds a shown in Fig.4.7 fo a PI-contoll basd MRAS and in Fig.4.8 th actual spd of moto is shown. In Fig.4.9 A fuzzy contoll basd MRAS is shown. Not that th actual spd of th moto is masud dictly by placing a snso. FIg 4.7: simulation sults of fnc and stimatd spd Fig 4.8 : simulation sults of Actual spd Fig 4.9: simulation sults of fnc and stimatd spd VI. CONCLUSION This pap psntd a spd snsolss vcto contolld Induction moto Div which povids sam dynamic and satisfactoy pfomanc as that of a vcto contolld Induction moto div using a snso. Th 2 nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 69 Pag

8 dynamic pfomanc of th poposd systm is tstd und many cass. This wok also psntd a fuzzy contoll basd Modl Rfnc Adaptiv Systm which will giv btt sults than a PI contoll basd MRAS. ACKNOWLEDGMENT Th authos would lik to thank fo th commnts of anonymous viws who hav hlpd to impov th quality of thmanuscipt. REFERENCES [1] VimlshVma,ChandanChakaboty, SumanMaiti and Yoichi Hoi Spd Snsolss Vcto Contolld Induction Moto Div Using Singl Cunt Snso, IEEE Tansactions On Engy Convsion, Vol. 28, No. 4, Dcmb [2] SumanMaiti, ChandanChakaboty, Yoichi Hoi and Minh C. Ta Modl Rfnc Adaptiv Contoll-Basd Roto Rsistanc and Spd Estimation Tchniqus fo Vcto Contolld Induction Moto Div Utilizing Ractiv Pow, IEEE Tansactions On Industial Elctonics, Vol. 55, No. 2, Fbuay 2008 [3] Wang Yaonan, Lu Jiantao, Huang Shoudao, QiuSihai Spd Snsolss Vcto Contol of Induction Moto Basd on th MRAS Thoy, Collg of Elctical and Infomation Engining, Univsity of Hunan Changsha, Hunan, China [3] B.K.Bos- Modn Pow Elctonics & Divs -Pntic Hall Publishs-Fist Edition [4] R.Kishnan- Elctic Moto Divs - Pntic Hall Publishs-Fist Edition [5] Colin schaud Adaptiv Spd Idntification Fo vcto Contolld Induction Motos without Rotational Tansducs IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 28, NO. 5, SEPTEMBER/OCTOBER 1992 [7] T. Matsuo and T. A. Lipo, Cunt snsolss fild ointd contol ofsynchonous luctanc moto, IEEE Ind. Appl. Soc. Annu.Mting Conf.Rc., pp , [8] C. Schaud, Adaptiv spd idntification fo vcto contol of inductionmotos without otational tansducs, IEEE Tans. Ind. Appl., vol. 28,no. 5, pp , Sp./Oct., [9] M. Rashd and A. F. Stonach, A stabl back-mf MRAS-basd snsolss low spd induction moto div insnsitiv to stato sistancvaiation, IEE Poc. Elct.Pow Appl., vol. 151, no. 6, pp ,2004. [10] J. Holtz, Snsolss contol of induction moto divs, Poc. IEEE,vol. 90, no. 8, pp , Aug [11] T. Pana, Modl basd spd and oto sistanc stimation fo snsolssvcto-contolld induction moto divs using floating point DSP, Poc th Int. Wokshop Adv. Motion Contol (AMC), vol. 1, pp ,Ma [12] R. Kim, S. K. Sul, and M. H. Pak, Spd snsolss vcto contol ofinduction moto using xtndd Kalman filt, IEEE Tans. Ind. Appl.,vol. 30, no. 5, pp , Sp./Oct nd Intnational Confnc On Innovations In Elctical & Elctonics Engining 70 Pag