INTERNATIONAL JOURNAL

OF PROFESSIONAL ENGINEERING STUDIES Volume IV /Issue4 / DEC 2014

ANALYSIS AND DESIGN OF FUZZY

CONTROLLED INDUCTION MOTOR

P. SRINIVAS
Pg Scholar,Sreenidhi Institute Of Science And Technology, JNTUH, Hyderabad

K. S. V. Phani Kumar
Asst,Prof,Dept.of EEESreenidhi Institute Of Science And Technology, JNTUH, Hyderabad

Dr. K. Sumanth
Prof. & Head, Dept.of EEE Sreenidhi Institute Of Science And Technology, JNTUH, Hyderabad

ABSTRACT- Basically, the motor drive system comprises a equations.

voltage source inverter-fed induction motor (VSIM): namely Though induction motors have few advantageous
a three-phase voltage source inverter and the induction motor. characteristics, they also posse's nonlinear and time-
The squirrel-cage induction motor voltage equations are varying dynamic interactions [5-6], Using conventional PI
based on an orthogonal d-q reference-rotating frame where controller, it is very difficult and complex to design a high
the coordinates rotate with the controlled source frequency. performance induction motor drive system. The fuzzy logic
The paper presents a novel fuzzy logic controller for high control (FLC) is attractive approach, which can
performance induction motor drive system. The inputs to the accommodate motor parametric variations and difficulty in
fuzzy logic controller are the linguistic variables of speed obtaining an accurate mathematical model of induction
error and change of speed error, while the output is change in motor due to rotor parametric and load time constant
switching control frequency of the voltage source inverter. In variations.
this paper a comparison between fuzzy logic controller and The FLC is a knowledge-based control that uses
traditional PI controllers are presented. The results validate fuzzy set theory and fuzzy logic for knowledge
the robustness and effectiveness of the proposed fuzzy logic representation [7]. This paper presents a novel fuzzy logic
controller for high performance of induction motor drive. controller suitable for speed control of induction motor
Simulink software that comes along with MATLAB was used drives.
to simulate the proposed model.
II. SIMULINK IMPLEMENTATION
I. INTRODUCTION One of the most popular induction motor models
Simulink induction machine models are available in derived from this equivalent circuit is Krause's model [6].
the literature [1-2], but they appear to be black boxes with no An induction machine model can be represented with five
internal details. Some of them in [1-2] recommend using S differential equations. To solve these equations, they have
functions, which are software source codes for Simulink to be rearranged in the state-space form,
blocks. This technique does not fully utilize the power and The inputs of a squirrel cage induction machine
ease of Simulink because S-function programming are the three-phase voltages, their fundamental frequency,
knowledge is required to access the model variables. Another and the load torque. The outputs, on the other hand, are the
approach is using the Simulink Power System Block set [3] three phase currents, the electrical torque, and the rotor
that can be purchased with Simulink. This block set also speed. The d-q model requires that all the three-phase
makes use of S-functions and is not as easy to work with as variables be transformed to the two-phase synchronously
rest of the Simulink blocks. Reference [4] refers to an rotating frame. Consequently, the induction machine model
implementation approach similar to the one in this paper but will have blocks transforming the three-phase voltages to
fails to give any details. In this paper, a modular, easy to the d-q frame and the d-q currents back to three-phase.
understand Simulink induction motor model is described. The induction machine model implemented in this
With the modular system, each block solves one of the model paper is shown in Fig. 1. It consists of five major blocks:
the o-n conversion, abc-syn conversion, syn-abc conversion,
unit vector calculation, and induction machine d-q model

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blocks. The following subsections will explain each block

E. Induction machine d-q model block

Fig. 2 shows the inside of the induction machine

d-q block where each equation from the induction machine
model is implemented in a different block. First consider
the flux linkage state equations because flux linkages are
required to calculate all the other variables. These
equations could be implemented using the Simulink “State-
space” block; but to have access to each point of the model,
implementation using discrete blocks is preferred.

Fig. 2. Induction machine dynamic model implementation in

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Simulink.

The resulting model is modular and easy to follow.

Any variable can be easily traced using the Simulink 'Scope'
blocks. The blocks in the first two columns calculate the flux
linkages, which can be used in vector control systems in a
flux loop. The blocks in Colunm 3 calculate all the current
variables, which can be used in the current loops of any
current control system and to calculate the three-phase
currents. The two blocks of Column 4, on the other hand,
calculate the torque and the speed of the induction machine,
which again can be used in torque control or speed control
loops. These two variables can also be used to calculate the
output power of the machine.
The resulting model is modular and easy to follow.
Figure 3. Open Loop Constant V/Hz Control Simulink
Any variable can be easily traced using the Simulink ‘Scope’
Model
blocks. The blocks in the first two columns calculate the flux
linkages, which can be used in vector control systems in a
flux loop. The blocks in Column 3 calculate all the current
variables, which can be used in the current loops of any
current control system and to calculate the three-phase
currents. The two blocks of Column 4, on the other hand,
calculate the torque and the speed of the induction machine,
which again can be used in torque control or speed control
loops. These two variables can also be used to calculate the
output power of the machine.

III. OPEN-LOOP CONSTANT V/Hz OPERATION

Fig. 5 shows the implementation of open-loop
constant V/Hz control of an induction machine. This figure Figure 4. Open loop constant V/Hz Response
has two new blocks: command voltage generator and 3-phase
PWM inverter blocks. The first one generates the three-phase IV.FUZZY LOGIC CONTROL ALGORITHM
Fuzzy control provides a formal methodology for
voltage commands, and it is nothing more than a "syn-abc" representing, manipulating, and implementing a human's
block explained earlier. heuristic knowledge about how to control a system. When
controlling any non linear process human operators usually
The latter first compares the reference voltage, vref encounter complex patterns of qualitative changing
to the command voltages to generate PWM signals for each conditions, which are difficult to interpret accurately, the
phase, then uses these signals to drive three Simulink magnitude of the change is usually described as fast, big
slow, high etc. to represent such inexact variable
"Switch" blocks switching between +Vd/2 and -Vd/2 (Vd: dc
information, and non mathematical approach called "fuzzy
link voltage). The open-loop constant V/Hz operation is set theory" was developed by Zadeh [7]. Fuzzy set theory
simulated for 1.2s ramping up and down the speed command involves very complicated theorems, but most of the
and applying step load torques. theorems do not relate to the development of fuzzy control
algorithms.
The results are plotted in Fig. 3 where the response A fuzzy algorithm consists of situation and action
of the drive to changes in the speed command and load pairs. Conditional rules expressed in IF and THEN
statements are generally used. For example, the control rule
disturbances can be observed.
might be: if the output is lower than the requirement and
the output is dropping moderately then the input to the
fuzzy algorithms. To achieve this the following system shall be increased greatly. Such a rule has to be
converted into a more generally statement for application to

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terms are defined: error equals the set point minus the process
output, error change equals the error from the process output
minus the error from last output: and control input applied to
the process. In addition, it is necessary to quantize the
qualitative statements and the following linguistic sets are
assigned
1. Large Positive (LP) 2. Medium Positive (MP)
3. Small Positive (SP) 4. Zero (ZZ)
5. Small Negative (SN) 6. Medium Negative (MN)
7. Large Negative (LN)
Thus the statement of the example control will be: if the error
is large positive and the error change is small positive then
the input to the system is large positive.

V.FUZZY CONTROL ACTION

1. Specify and store the minimum and the maximum ranges
of the error signal E=er(k) , the error change dE= der(k) and
the control input change df.
VI. CLOSED LOOP CONSTANT V/Hz OPERATION
The closed loop circuit has the fuzzy logic
2. If the minimum and maximum ranges of step one are controller as the new component. The inputs to the fuzzy
different then quantize then into a common universe of logic controller are the speed error and rate of change of
speed error. The output is fed to the power converter-pwm
discourse using scaling factors such that the maximum and inverter, which is used to adjust the inverter switching
minimum of the quantized error signal E, the quantized error control frequency. The output of FLC controls the firing
angle of the inverter, thereby varying the output voltages.
change dE, and the quantized control input change df are all The reference speed of the pwm inverter is modified each
the same. time when there is a different output of the fuzzy
controller. These outputs are found from the truth table
(rule table). The pwm inverter output is then fed to the
3. Define the symmetrical linguistic fuzzy subsets of E, dE, induction machine where a constant V/Hz operation is
carried out. Fig 5 shows the block diagram of closed loop
and df. control Voltage/Hertz Control, which has been
implemented in Fig 6
4. Calculate the error er and the error change der for the
current sampling period and find their quantized values E and
dE respectively in the common universe of discourse.

5. From the E and dE the contribution of each rule given in

table tin the fuzzy subsets of control input df and scaling of
its membership grades using the rule can be found.

Figure 5. Block Diagram of Closed Loop Using Fuzzy

Logic Controller

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Unlike most other induction machine model

implementations, with this model, the user has access to all
the internal variables for getting an insight into the machine
operation. Any machine control algorithm can be simulated
in the Simulink environment with this model without
actually using estimators. This paper presents a simple,
novel and robust fuzzy logic speed controller for high
performance induction motor drives. The FLC does not
need exact knowledge of induction motor and tolerate
range load excursions and parametric variations. The
control assignment rules are obtained using heuristic trial
and error and human expertise. The simulation test results
validate the FLC robustness for different speed trajectories.
motors,"

REFERENCES
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Figure 6. Closed Loop Controller Using Fuzzy Logic transfer functions applied to the modeling of induction
Controller Power engineering Society Winter Meeting, 2000, pp.387-
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[2] A. Dumitrescu, D. Fodor, T. Jokinen, M. Rosu, S.
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Figure 7. Closed loop constant V/Hz with Fuzzy Controller Industrial Electronics Society (IECON'01),
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VII. SIMULATION RESULTS [5] L. Tang, M. F. Rahman, "A new direct torque control
The output of the fuzzy logic controller (FLC) is strategy for flux and torque ripple reduction for induction
used to adjust the inverter switching control frequency and motors drive - a Matlab/ Simulink model," IEEE
the dc voltage at the inverter using a constant (VF) ratio. The International Electric Machines and Drives Conference,
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induction motor with 208 volt phase to phase voltage, 60 Hz Hill Book Company, 1986
rated frequency, 1750 rpm rated speed and 1/4 Hp rated [7] L.A.Zadeh,"Outline of a New Approach to the Analysis
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Hp, Vbase=208 volt and 'base=1.2 amp) RS=.198 p.u. [8] C.C.Lee,"Fuzzy Logic in Control System: Fuzzy Logic
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