Adaptive Neuro Fuzzy Based Dynamic Simulation of

Induction Motor Drives

Dr. A. Jaya Laxmi
Associate Professor, Dept. of EEE,
Jawaharlal Nehru Technological University, College of
Engineering, Kukatpally, Hyderabad-500085,
Andhra Pradesh, India
ajl1994@yahoo.co.in

P. M. Menghal
Faculty of Degree Engineering,
Military College of Electronics & Mechanical Engineering,
Secunderabad, 500 015
Research Scholar, EEE Dept., JNTU, Anantapur-515002,
Andhra Pradesh, India
prashant_menghal@ yahoo.co.in
Abstract In the industrial sector especially in the field of
electric drives & control, induction motors play a vital role.
Without proper controlling of the speed, it is virtually impossible
to achieve the desired task for a specific application. Basically AC
motors, such as Induction Motors are of Squirrel-Cage type.
They are simple, reliable, low cost and virtually maintenance-free
electrical drives. Based on the inability of conventional control
methods like PI, PID controllers to work under wide range of
operation, artificial intelligent based controllers are widely used
in the industry like ANN, Fuzzy controller, ANFIS, expert
system, genetic algorithm. The main problem with the
conventional fuzzy controllers is that the parameters associated
with the membership functions and the rules depend broadly on
the intuition of the experts. To overcome this problem, Adaptive
Neuro-Fuzzy controller is proposed in this paper. The
comparison between Conventional PI, Fuzzy Controller and
Adaptive neuro fuzzy controller based dynamic performance of
induction motor drive has been presented. Adaptive Neuro Fuzzy
based control of induction motor will prove to be more reliable
than other control methods.

Keywords- Adaptive Neuro-Fuzzy controller, PI Controller, Fuzzy

Logic Controller(FLC), Sugeno Fuzzy Controller, Hebbian
learning algorithm

I.
Rs
Rr
Lm
Lls
Llr
r
Llr
Rr
qs ,ds
qr , dr
iqs , ids
iqr , iqr
vqs , vds
vqr , vqr
p

a
J

NOMENCLATURE

The stator resistance.

The rotor resistance.
The magnetizing inductance of the motor.
The stator leakage inductance.
The rotor leakage inductance.
The slip frequency is the frequency of the
actual rotor current.
The rotor leakage inductance referred to stator side.
The rotor resistance referred to stator side.
q-axis and d-axis components of stator flux.
q-axis and d-axis components of rotor flux.
q-axis and d-axis components of stator current.
q-axis and d-axis components of rotor current.
q-axis and d-axis components of stator voltage.
q -axis and d-axis components of rotor voltage.
Number of poles.
The angular position of the rotor.
Reference frame rotating speed.
Moment of inertia (kg/m2).

Te
Tl
e (k)
r (k)
y (k)
e(k)
u(Ri)

Electrical torque.
Load torque.
Control error.
Reference signal.
Output signal.
Changed error.
The crisp u value corresponding to the maximum
membership degree.
II.

In

INTRODUCTION

most of the industries, induction motors play very

important and that is the reason they are manufactured in large
numbers. About half of the electrical energy generated in a
developed country is ultimately consumed by electric motors,
of which over 90 % are induction motors. For a relatively long
period, induction motors have mainly been deployed in
constant-speed motor drives for general purpose applications.
The rapid development of power electronic devices and
converter technologies in the past few decades, however, has
made possible efficient speed control by varying the supply
frequency, giving rise to various forms of adjustable-speed
induction motor drives. In about the same period, there were
also advances in control methods and Artificial Intelligence
(AI) techniques. Artificial Intelligent techniques mean use of
expert system, fuzzy logic, neural networks and genetic
algorithm. Researchers soon realized that the performance of
induction motor drives can be enhanced by adopting artificialintelligence-based methods. Since the 1990s, AI-based
induction motor drives have received greater attention. Among
the existing control technologies, intelligent control methods,
such as fuzzy logic control, neural network control, genetic
algorithm, and expert system, have exhibited particular
superiorities. Artificial Intelligent Controller (AIC) could be
the best controller for Induction Motor control. Over the last
two decades, researchers have been working to apply AIC for
induction motor drives [1-6]. This is because that AIC
possesses advantages as compared to the conventional PI, PID
and their adaptive versions. Since the unknown and
unavoidable parameter variations, due to disturbances,
saturation and change in temperature exists; it is often difficult
to develop an accurate system mathematical model. High
accuracy is not usually of high importance for most of the

induction motor drive. During the operation, even when the

parameters and load of the motor varies, a desirable control
performance in both transient and steady states must be
provided. Controllers with fixed parameters cannot provide
these requirements unless unrealistically high gains are used.
Therefore, control strategy must be robust and adaptive. As a
result, several control strategies have been developed for
induction motor drives within last two decades. The main idea
for such a hybrid controller is that with a combination of fuzzy
logic and neural network, such as uncertainty or unknown
variations in plant parameters and structure can be dealt more
effectively. Hence, the robustness of the control of induction
motor is improved. Conventional controllers have on their side
well established theoretical backgrounds on stability and allow
different design objectives such as steady state and transient
characteristics of the closed loop system to be specified. Much
research work is in progress in the design of such hybrid
control schemes. Fuzzy controller conventionally is totally
dependent to memberships and rules, which are based broadly
on the intuition of the designer. This paper tends to show
Adaptive Neuro Fuzzy controller has edge over fuzzy
controller. For training the fuzzy, the authors used Sugeno
fuzzy controller with two inputs and one output [10-14].
III.

and magnetizing inductance (Llr = Lr + Lm). From the

equivalent circuit of the induction motor in d-q frame, the
model equations are derived. The flux linkages can be
achieved as:
1

(1)

(2)

(4)

By substituting the values of flux linkages in the above

equations, the following current equations are obtained as:
(5)
)

(6)

DYNAMIC MODELING & SIMULATION OF INDUCTION

MOTOR DRIVE

The induction motors dynamic behavior can be expressed by

voltage and torque which are time varying. The differential
equations that belong to dynamic analysis of induction motor
are so sophisticated. Then with the change of variables the
complexity of these equations decrease through movement
from poly phase winding to two phase winding (q-d). In other
words, the stator and rotor variables like voltage, current and
flux linkages of an induction machine are transferred to
another reference model which remains stationary[1-6].

(3)

(7)
)

(8)

Where mq and md are the flux linkages over Lm in the q and

d axes. The flux equations are written as follows:
(9)
(10)
(11)
In the above equations, the speed r is related to the torque by
the following mechanical dynamic equation as:
2
(12)

Fig. 1 d q Model of Induction Motor

In Fig.1 stator inductance is the sum of the stator leakage

inductance and magnetizing inductance (Lls = Ls + Lm), and
the rotor inductance is the sum of the rotor leakage inductance

then r is achievable from above equation, where:

p: number of poles.
J: moment of inertia (kg/m2).
In the previous section, dynamic model of an induction motor
is expressed. The model constructed according to the
equations has been simulated by using MATLAB/SIMULINK
as shown in Fig. 2 in conventional mode of operation of
induction motor. A 3 phase source is applied to conventional
model of an induction motor and the equations are given by:
2

(13)

2
3

(14)

sin t
(15)
2
a transformed to
By using Parks Transformation, voltages are
two phase in the d-q axes, and are applied too induction motor.
In order to obtain the stator and rotor currrents of induction
motor in two phase, Inverse park transformaation is applied in
the last stage [6].

NS

NB

PS

PB

-0.1

-0.05

NS

NB

0.1

0.05

PS

0.1

PB

-1

-0.5

0.5

1.5

Fig. 4 Triangular Meembership of e and e

In Table-I, the fuzzy rules decision

d
implemented into the
controller are given. The ceenter of area method yields the
following

( )
Fig. 2 Induction motor in d-q modeel
ICONS
To Workspace1

iqs

iqs

ids

ids

iqr

iqr

idr

idr

Te

teta

Vqs
Va

Va

Vb

Vb

Vc

Vc

Iabc

Vqs
Vds
Vds

AC Source

Ir-abc

teta

abc to d-q
Park transformation

Scope1
ICONR

TL

To Workspace2

Wr

Constant1

Speed

induction motor d-q model

Final speed value

1/s

Torque
XY Graph

Integrator

SCON

Scope

To Workspace

Fig. 3 Simulated Induction Motor Model in Convventional Mode

IV.

, ,

, ,

( )

(17)

Where, u(Ri) is the crisp u value corresponding to the

maximum membership degree of the fuzzy set that is an
output from the rule decisioon table for the rule Ri. The
conventional simulated inducttion motor model as shown in
Fig. 3 is modified by adding Fuzzy
F
controller and is shown in
Fig. 5. Speed output terminal of
o induction motor is applied as
an input to fuzzy controller, annd in the initial start of induction
motor the error is maximum, so
s according to fuzzy rules FC
produces a crisp value. Theen this value will change the
frequency of sine wave in the speed
s
controller. The sine wave
is then compared with trianguular waveform to generate the
firing signals of IGBTs in the PWM inverters. The frequency
of these firing signals also graadually change, thus increasing
the frequency of applied voltagge to Induction Motor [12].

FUZYY LOGIC CONTRO

OLLER

Continuous
pow ergui

The speed of induction motor is adjusted by the fuzzy

controller. The following equation is usedd to represent the
fuzzy triangular membership functions:
0
( , , , )

IGBT1
IGBT4
IGBT3
IGBT6
IGBT5
IGBT2

Va

iqs

Va

ids

ids

iqr

iqr

idr

idr

Te

teta

Iabc

stator current Scope

Vqs
Vb

Vb

Vc

Vc

V
Vds

PWM ac source

Vds

Ir-abc

teta

abc to d-q
Park transformation

(16)

iqs
V
Vqs

T
TL

Torque Scope

d-q to abc
Park transformation

Wr

Load Torque
1
4
3
6
5
2

induction motor d-q model

Integrator

In 1

0
In fig. 4, the membership function of e, e and three scalar
values of each triangle that are applied into this controller are
shown.

1/s
Speed Scope

Speed contrller
Feedback
Divide

1710
U(k)
Reference

Fuzzy controller

Fig. 5 Fuzzy Control Induction Motor Model

rotor current Scope

Scope1

In1

Out1

<=

In1

1
1

Sin wa ve

NOT

2
4

In1

Out1

<=

3
3
NOT

Si n wave1

4
6

Fig. 8 (a) IGBTs gating signals

In1

Out1

<=

5
5

Si n wave2

NOT

6
2

T rian gle

Fig. 6 Fuzzy Logic Speed Controller

As discussed earlier, the crisp value obtained from Fuzzy

Logic Controller is used to change the frequency of gating
signals of PWM inverter. Thus the output AC signals obtained
will be variable frequency sine waves. The sine wave is
generated with amplitude, phase and frequency which are
supplied through a GUI. Then the clock signal which is
sampling time of simulation is divided by crisp value which is
obtained from FLC. So by placing three sine waves with
different phases, one can compare them with triangular
waveform and generate necessary gating signals of PWM
inverter. So at the first sampling point the speed is zero and
error is maximum. Then whatever the speed rises, the error
will decrease, and the crisp value obtained from FLC will
increase. So, the frequency of sine wave will decrease which
will cause IGBTs switched ON and OFF faster. It will increase
the AC supply frequency, and the motor will speed up. Fig. 6
shows Fuzzy logic speed controller block. The structure of
PWM inverter is shown in Fig 7. The inputs to these blocks
are the gating signals which are produced in speed controller
block. The firing signals are applied to IGBT gates that will
turn ON and OFF the IGBTs according to the following
logics.

Fig. 8 (b) PWM inverter output

The flow chart of simulation of fuzzy logic controller is shown

in Fig. 9
Start

Reading the initial values

and assigned values of the
variables

Generating Vabc and

then Vdq0

Solving the differential equations

to find the flux linkages
,
,
,
,
,

t = t + t

Calculating the currents

,

Calculating the torque and the

angular speed

Fig. 7 PWM inverter circuit

When Vcontrol1 > Vtri then IGBT1 is ON & IGBT4 is OFF

When Vcontrol1 < Vtri then IGBT1 is OFF & IGBT4 is ON
When Vcontrol2 > Vtri then IGBT3 is ON & IGBT6 is OFF
When Vcontrol2 < Vtri then IGBT3 is OFF & IGBT6 is ON
When Vcontrol3 > Vtri then IGBT5 is ON & IGBT2 is OFF
When Vcontrol3 < Vtri then IGBT5 is OFF & IGBT2 is ON
The above logics are applied to generate firing signals
applied to speed controller block as shown in Fig. 6.The
output of the PWM inverter is shown in Fig. 8.

t>T

End
Fig. 9 Flow Chart of Fuzzy Simulation Process

The ANFIS model is shown in Fig. 10. It states that if the

cross product of output and input is positive, then it results in
increase of weight, otherwise decrease of weight. Fig. 11
shows ANFIS layout.

TABLE I. MODIFIED FUZZY RULE DECISION

V.

PB

NB
ZZ

NS
NS

ZZ
NS

PS
NB

PB
NB

PS

PS

ZZ

NS

NS

NB

ZZ

PS

PS

ZZ

NS

NS

NS

PB

PS

PS

ZZ

NS

NB

PB

PB

PS

PS

ZZ

ADAPTIVE NEURO FUZZY CONTROLLER

AC motor drives are used in multitude of industrial and

process applications requiring high performances. In high
performance drive systems, the motor speed should closely
follow a specified reference trajectory regardless of any load
disturbances and any model uncertainties. In the designing of
a controller, the main criteria is the controllability of torque in
an induction motor with good transient and steady state
responses. With certain drawbacks, PI controller is able to
achieve these characteristics. The main drawbacks are (i) The
gains cannot be increased beyond certain limit. (ii) Non
linearity is introduced, making the system more complex for
analysis. With the advent of artificial intelligent techniques,
these drawbacks can be mitigated. One such technique is the
use of Fuzzy Logic in the design of controller either
independently or in hybrid with PI controller. Adaptive NeuroFuzzy Inference System(ANFIS) replaces the draw-backs of
Fuzzy Logic Control and Artificial Neural Network. Adaptive
neuro fuzzy combines the learning power of neural network
with knowledge representation of fuzzy logic. Neuro fuzzy
techniques have emerged from the fusion of Artificial Neural
Networks (ANN) and Fuzzy Inference Systems (FIS) and have
become popular for solving the real world problems. A neuro
fuzzy system is based on a fuzzy system which is trained by a
learning algorithm derived from neural network theory. There
are several methods to integrate ANN and FIS and very often
the choice depends on the applications. In this paper, the
inputs will be e(k) and e(k)[12,15,17,35]. A first-order
Sugeno fuzzy model has rules which are as follows:
Rule1:
If x is A1 and y is B1, then f1 = p1x + q1y + r1
Rule2:
If x is A2 and y is B2, then f2 = p2x + q2y + r2
In the Sugeno model if-then rules are used, and output of each
rule is linear combination of inputs plus a constant value.
The learning algorithm applied to this model is Hebbian. This
method is feed forward and unsupervised and the weights
will be adjusted by the following formula:

(18)

Fig.10 Neuro Fuzzy Controller

Fig. 11 ANFIS layout

In layer 2 of ANFIS layout, the triangular membership

function is same as that of the fuzzy controller model. The
output of layer 2 is given by:

(19)

Layer 3 indicates the pro (product) layer and its output is

product of inputs, which is given by:

( ).

( )

(20)
th

Layer 4 represent Norm and it calculates the ratio of i firing

strength to sum of all firing strengths. The obtained output is
normalized firing strength, which is given by:

(21)

Layer 5 is an adaptive node with functionality as follows:

( ( )

( )

(22)

That pi, qi, ri are consequent parameters, which are initially are
set to 0.48, 0.25 and 1 respectively. Then they are adaptively
adjusted with Hebbian learning algorithm. Layer 6 calculates
the output which is given by :

(23)

Fig.12 shows the overall structure of Adaptive Neuro-Fuzzy

model.
Continuous

iqs

pow ergui

IGBT4
IGBT3
IGBT6
IGBT5
IGBT2

iqs

Torque-Speed Characteristics with Conventional Controller

20

Vqs
Va

Va

Iabc

ids

ids

iqr

iqr

idr

idr

Te

teta

stator current Scope

Vqs
Vb

Vb

Vc

Vc

15

Vds

PWM ac source

Vds

Ir-abc

teta

abc to d-q
Park transformation

TL

Torque Scope

d-q to abc
Park transformation

Wr

Load Torque

10
rotor current Scope

T or qu e

IGBT1

whereas in adaptive neuro fuzzy and FLC, no oscillations

occur in the torque response before it finally settles down as
shown in Fig. 15. Good torque response is obtained with
adaptive neuro fuzzy controller as compared to conventional
and FLC at all time instants and speed response is better than
conventional
controllers and FLC. There is a negligible
ripple in speed response at Adaptive neuro fuzzy controller in
comparison with conventional controller and FLC under
dynamic conditions which is shown in Fig.14. Modeling and
simulation of Induction motor in conventional, fuzzy and
adaptive neuro fuzzy are done on MATLAB/SIMULINK. Fig.
16 show the stator currents and rotor currents of 3 different
controllers under dynamic conditions.

1
4
3
6
5
2

induction motor d-q model

1/s

In 1

Integrator

Speed Scope

Speed contrller
Feedback
Divide

1710

-5
0

U(k)
Reference

200

400

600

800

1000

1200

1400

1600

1800

Speed

Fig.13 (a) Torque Speed Characteristics with Conventional Controller

Fuzzy controller

Torque-Speed Characteristics with Fuzzy Controller

140

Fig.12 Adaptive Neuro-Fuzzy Controller Simulation model

100
80

SIMULATION RESULTS & DISCUSSION

60
T or q u e

A complete simulation model for inverter fed induction motor

drive incorporating the proposed FLC and adaptive neuro
fuzzy controller has been developed. The dynamic
performance of the proposed FLC and Adaptive neuro fuzzy
based induction motor drive is investigated. The superiority
of the proposed adaptive neuro fuzzy controller is proved by
comparing the response of conventional PI with FLC speed
controller based IM drive.The results of simulation for
induction motor with its characteristics are listed in Appendix
'A' as given below: Fig.13, 14 and 15 show the torquespeed
characteristics, torque and speed responses of conventional,
FLC and adaptive neuro fuzzy controller respectively. It
appears the rise time drastically decreases when fuzzy
controller is added to simulation model and both the results
are taken in same period of time. In Fuzzy based simulation,
it is apparent from the simulation results shown in Fig. 13(b)
and Fig 13 (c), torque-speed characteristic converges to zero
in less duration of time when compared with conventional
Controller, which is shown in Fig. 13(a). Adaptive neuro
fuzzy controller has no overshoot and settles faster in
comparison with FLC and conventional controller. It is also
noted that there is no steady-state error in the speed response
during the operation when adaptive neuro fuzzy controller is
activated. In conventional controller, oscillations occur,

40
20
0
-20
-40
-60
-200

200

400

600

800
Speed

1000

1200

1400

1600

1800

1600

1800

Fig.13 (b) Torque Speed Characteristics with Fuzzy Controller

Torque-Speed Adaptive Neuro Fuzzy Controller
120
100
80
60
T orq u e

VI.

120

40
20
0
-20
-40
-60
-200

200

400

600

800
Speed

1000

1200

1400

Fig.13 (c) Torque Speed Characteristics with Adaptive Neuro Fuzzy

Controller

Torque response of Conventional Controller

Speed response of Conventional Controller

20

1800
1600
15

1400
1200
S P E ED

T orq u e

10

1000
800

600
400

200
-5

500

1000

0
0

1500

0.5

1.5

2.5
x 10

Fig.15 (a) Speed Response of Conventional Controller

Fig. 14 (a) Torque Response of Conventional Controller

Torque response of Fuzzy Controller

Speed response of Fuzzy Controller

140

1800
1600

100

1400

80

1200

60

1000
S peed

T orq u e

120

40

800

20

600

400
200

-20

-40

-200

-60

Time

Time

0.5

1.5
Time

2.5

Fig. 14(b) Torque Response of Fuzzy Controller

0.5

1.5
Time

3
x 10

2.5

3
x 10

Fig. 15(b) Speed Response of Fuzzy Controller

Speed response of Adaptive Neuro Fuzzy Controller

1800

Torque response of Adaptive Neuro Fuzzy Controller

120

1600
100

1400
80

1200
60

1000
T orq u e

S peed

40

800

20

600
0

400

-20

200

-40
-60

0
0

0.5

1.5
Time

2.5

Fig. 14(c) Torque Response of adaptive neuro fuzzy controller

3
x 10

-200

0.5

1.5
Time

2.5

Fig. 15(c) Speed Response of adaptive Neuro Fuzzy Controller

3
x 10

Current responses of Conventional Controller

the control system will decrease the rising time more than
expectation and it proves adaptive neuro fuzzy controller to
perform better than FLC and Conventional controller.
APPENDIX 'A'
The following parameters of the induction motor are chosen
for the simulation studies:
V = 220
f = 60
HP = 3
Rs = 0.435
Xls = 0.754
Xlr = 0.754 Xm = 26.13
Rr = 0.816
p=4
J = 0.089
rpm = 1710

150

Stator & Rotor Currents

100

50

-50

-100
0

0.5

1.5

2.5

TIME

x 10

REFERENCE

Fig. 16(a) Stator & Rotor Currents of Conventional Controller

[1]

Current responses with Fuzzy Controller

300

[2]

200

[3]
Stator & Rotor Currents

100

[4]

[5]

-100

-200

[6]

-300

-400

0.5

1.5
Time

2.5

3
x 10

[7]

Fig. 16(b) Stator & Rotor Currents of Fuzzy Controller

[8]

Current responses W ith Adaptive Neuro Fuzzy Controller

300

Stator & Rotor Currents

200

[9]

100

[10]

-100

[11]
-200

-300

0.5

1.5
Time

2.5

3
x 10

[11]

Fig. 16(c) Stator & Rotor Currents of Adaptive Neuro Fuzzy Controller

[12]

VII. CONCLUSION
In this paper, simulation results of the induction motor are
presented in conventional, fuzzy control and Adaptive neuro
fuzzy based models. As it is apparent from the speed curve in
two models, the fuzzy controller drastically decreases the rise
time, in the manner which the frequency of sine waves are
changing according to the percentage of error from favorite
speed. The frequency of these firing signals also gradually
change, thus increasing the frequency of applied voltage to
Induction Motor. According to the direct relation of induction
motor speed and frequency of supplied voltage, the speed also
will increase. With results obtained from simulation, it is clear
that for the same operation condition of induction motor,
fuzzy controller has better performance than the conventional
controller. By comparing Adaptive neuro fuzzy model with
FLC model, it is apparent that by adding learning algorithm to

[13]
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[15]
[16]
[17]
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