Professional Documents
Culture Documents
Abstract
Fuzzy logic is recently getting increasing emphasis in soft control
applications. This paper presents an application of fuzzy logic to control the
speed of an AC drive system is proposed for space vector pulse width
modulated (SVPWM) voltage source inverter-fed induction motor drive. This
paper presents the results of an investigation into the suitability of a Direct
Torque Fuzzy Control (DTFC) method for an induction motor drive system.
Direct torque control is known to produce quick and robust response in AC
drive system. However during steady state, torque, flux and current ripple
occurs. An improvement of the AC electric dive speed regulation can be
obtained using a new DTFC method based on space vector modulation (SVM)
which reduces the torque and flux ripples. To validate the proposed method,
the simulation has been carried out using MATLAB-SIMULINK. Simulated
results presented in this paper shown to have low current distortion, low
torque ripple, and a fast torque and speed responses. The simulation results
verify the superiority of the proposed method to the conventional DTC
method.
Keywords: Fuzzy logic, Direct Torque Control (DTC), Direct Torque Fuzzy
Control (DTFC), Induction Motor (IM), Space Vector Modulation (SVM),
switching table.
234
Introduction
Fuzzy logic is recently getting increasing emphasis in soft computing applications in
the recent days. The fuzzy logic control technique has been an active research topic in
automation and control theory since the work of Mamdani proposed in 1974 based on
the fuzzy sets theory of Zadeh proposed in 1965 to deal with the system control
problems which are not easy to be modeled [1]. Hence, the development of highperformance control strategies for AC motor drives resulted in a rapid evolution. One
of the most popular methods, known as field oriented control has been proposed by F.
Blaschke[2]. In the vector control the motor equations are transformed in a field
coordinate system that rotates in synchronism with the rotor flux vector and hence
FOC controls the induction motor in a same manner as separately excited DC motor.
The disadvantage of this control scheme is inclusion of the pulse encoder, indirect
torque control and also it is quite complex due to reference frame transformations. To
overcome these disadvantages, in the middle of 1980s, a new quick response
technique for the torque control of induction motors was proposed by Takahashi as
direct torque control (DTC) [3]. DTC provides very quick response with simple control
structure and hence, this technique is gaining popularity in industries [4]. Though DTC
has high dynamic performance, it has few drawbacks such as high ripple in torque,
flux, current and variation in switching frequency of the inverter. The effects of flux
and torque hysteresis band amplitudes in the induction motor drive performance have
been analyzed in [5]. To improve the performance of conventional DTC, modern
resources of artificial intelligence like neural networks, fuzzy logic and genetic
algorithms are implemented [6]. In the following, we will describe the application of
fuzzy logic in DTC [7] [8].
The main objective of this paper was to develop the digital simulation software for
direct torque fuzzy control of SVPWM voltage source inverter-fed induction motor
drive to reduce the ripples at all modulation indices and to improve the speed
performance, under transient and steady state uncertainties caused by variation in load
torque replacing conventional DTC by fuzzy based DTC, yields a new type of
induction motor control method called as DTFC. The MATLAB SIMULINK is used
to perform the simulation. The simulated results of this method are discussed and
compared with conventional DTC.
235
voltage phasors. Thus, the simultaneous and decoupled control of torque and flux is
achieved by direct adjustment of the stator voltage in response to the torque and flux
errors [9]. The DTC regularly applies the appropriate voltage vector in order to
maintain the torque and stator flux within two hysteresis bands which results bangbang
behavior and produces variation in witching frequency and significant ripple in flux,
torque and current [8].
ref
DTFC
Tref
Tem
VS
S1
Switching S2
Table
S3
Flu x
sector
VDC
PWM
Inverter
S
V
M
Flu x and
Torque
Estimator
AC
MO TOR
236
S1
S2
S3
A
B
VDC
N
C
S1
S2
S3
Inducton
Motor
In a 3-, voltage source inverter, the switching commands of each limb are
complementary. So, for each limb, logic state Si (where i=1 to 3) is ON (1) or OFF
(0) can be defined. As there are three independent limbs, there will be eight different
logic states, provides eight different voltages obtained applying the vector
transformation described as:
Vs =
2
4
j
j
2
VDC S1 + S2e 3 + S3e 3
3
(1)
Eight switching combinations can be taken according to the above expression (1).
The partitions of d-q plane in to two zero voltage vectors and six non-zero voltage
vectors are show in Fig.3.
237
flux (d, q) given by (6) and (7) . The stator flux linkage per phase and the
electromagnetic torque estimated are given by (8) and (9) respectively.
2
(2)
Id =
IA
3
1
(I B I C )
Iq =
2
2
1
V DC S 1 (S 2 + S 3 )
3
2
Vd =
1
VDC (S 2 S 3 )
2
Vq =
d = (V d RS I d )dt
t
(3)
(4)
(5)
(6)
0
t
q = V q RS I q dt
(7)
s =
d2 + q2
(8)
Tem = p (d I q q I d )
(9)
The stator resistance RS can be assumed constant during a large number of
converter switching periods TS. The voltage vector applied to the induction motor
remains also constant over the time period TS. Therefore, resolving first equation of
system leads to:
t
(10)
S = (V S RS I S )dt
S (t ) = S (0 ) + V S TS
(11)
In equation (11), S(0) stands for the initial stator flux condition. This equation
shows that when the term RSIS can be neglected in high speed operating condition of
the extremity of stator flux vector VS. Also, the instantaneous flux speed is only
governed by voltage vector amplitude [3] given in (12).
d S
(12)
VS
dt
Therefore, by selecting adequate voltage vector one can increase or decrease the
stator flux amplitude and phase to obtain the required performances. The deviation
obtained at the end of the switching period TS can be approached by the first order
Taylor Series. By choosing a suitable sequence of the vectors of tension, one can force
the end of the vector flux to follow a desired trajectory. To function with a module of
practically constant flux S, it is enough to choose an almost circular trajectory for the
end of the vector flux [3] [5].
C. Switching Table Formation
The vectors Vi+1 or Vi-1 are selected to increase the amplitude of flux, and Vi+2 or Vi-2 to
decrease it when flux is in sector I. Which shows that the choice of the vector tension
depends on the sign of the error of flux is independent of its amplitude [3]. Obviously,
the exit of the corrector of flux must be a Boolean variable. One adds a band of
hysteresis around zero to avoid unwanted commutations when the error of flux is very
238
small [3] [4]. Indeed, with this type of corrector in spite of its simplicity, one can easily
control and maintain the end of the vector flux in a circular ring form. The switching
table proposed by Takahashi [3] is as given in Table I.
II
III IV
VI
V2
V7
V6
V3
V0
V5
V3
V0
V1
V4
V7
V6
V4
V7
V2
V5
V0
V1
V6
V7
V4
V1
V0
V3
V1
V0
V5
V2
V7
V4
V5
V0
V3
V6
V7
V2
F
U
Z
Z
I
T F
I
C
A
T
I
O
N
RULE BASE
()
(T)
()
DECISION
MAKING
FUZZY
V OV/ P
DATA BASE
D
E
F
U
Z
Z
I VS
F
I
C
A
T
I
O
N
239
A
N
-0.05
0.05
B
1
NL
-0.025
NS
ZE
PS
0.1
-0.1
PL
0.025 T
240
1 0
11
12
3
12
5 7 9 11 13 15 17 19 21 23
12 12 12 12 12 12 12 12 12 12
12
D
1
V1
V2
V3
V4
V5
V6
241
corresponding errors are sending to the Direct Torque Fuzzy Controller of the
induction motor drive system. The outputs of the flux and torque comparators along
with stator flux linkage angle are used in order to determine the appropriate voltage
vector and stator flux space vector. Vector locations are shown in order to validate the
control strategies as discussed above. A digital simulation studies were made by using
the S-factions and SIMULINK software of MATLAB environment for the system
described in Fig.1. The flux and torque loops of the drive were also designed and
simulated respectively using fuzzy logic control techniques. The feedback control
algorithms were iterated until best simulation results were obtained. The proposed
DTFC is simulink model is developed by using Fuzzy Toolbox.
For the simulation, a four pole, 3 KW, 1500 rpm, three phase, 220/440 volts and 50
Hz induction motor AC drive system is developed using S-functions, Fuzzy Toolbox
and SIMULINK of the MATLAB. The rated parameters of induction motor are
Rs=4.85, Rr=3.805, Ls=0.275H, Lr=0.274H, Msr=0.258H, J=0.031kgm2 and
B=0.00039. The inverter dc bus voltage is 160 volts. The proposed DTFC AC drive
system dynamic responses were obtained by simulation of the proposed AC drive
system of Fig.1 at a sampling time period of 1000 s. The pulsating ripple in the actual
torque simulated response of DTFC shown in Fig.11 is very much reduced compare to
the actual torque simulated response of conventional DTC shown in Fig.10 for the
same corresponding estimated torque simulated response shown in Fig.9.
The Direct Torque Fuzzy Control of induction motor presents the advanced
performance to achieve tracking of the desired smooth circular trajectory of stator flux
locus shown in Fig.13. The DTFC speed response shown in Fig.12 rejects the load
disturbance rapidly with no overshoot and with a negligible steady state error
compared to the conventional DTC. The reason for superior performance of DTFC of
AC drive system is basically adaptive in nature and is able to realize and fire
corresponding stable control fuzzy rules for each input state of inputs , T and .
242
243
Conclusions
The paper presents a new approach for speed control of 3- induction motor using
fuzzy logic technique. The paper develops a fuzzy logic based DTC methodology for
AC drive systems is intended for an efficient control of the torque and flux without
changing the motor parameters. Also the flux and torque can be directly controlled
with the inverter voltage vector using SVPWM methodology.
A complete direct torque fuzzy control of SVPWM voltage source inverter-fed
induction motor drive system has been described. The system was analyzed, designed
and performances were studied extensively by simulation to validate the theoretical
concept. The simulation results shows that the proposed DTFC method is superior to
conventional DTC in robustness and in tracking precision. It appears from the response
properties that it has a high performance in presence of load disturbances.
The control of speed by DTFC gives fast dynamic response with no overshoot and
negligible steady state error. So, it is concluded that DTFC can be applied for AC
drives and is reliable in a wide speed range. Especially in AC servo motor applications,
where high dynamic performance is demanded. DTFC has a great advantage over
other control methods due to its property of fast torque response. In order to increase
the performance, control period should be selected as short as possible. When the
sampling interval is selected smaller, it is possible to keep the bandwidth smaller and
to control the stator magnetic flux more accurately.
The simulation study clearly indicates the superior performance of DTFC over
conventional DTC, because it is inherently adaptive in nature. To make this DTFC AC
drive system fully adaptive, the hybridization of fuzzy with other soft computing
techniques like ANN and Rough Sets will be preferred.
References
[1]
244
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]