International Journal of Modelling and Simulation

ISSN: 0228-6203 (Print) 1925-7082 (Online) Journal homepage: http://www.tandfonline.com/loi/tjms20

Modelling, simulation & analysis of induction

motor using artificial intelligent controller

P. M. Menghal & A. Jaya Laxmi

To cite this article: P. M. Menghal & A. Jaya Laxmi (2016) Modelling, simulation & analysis of
induction motor using artificial intelligent controller, International Journal of Modelling and
Simulation, 36:4, 120-135

To link to this article: http://dx.doi.org/10.1080/02286203.2016.1209965

Published online: 03 Aug 2016.

Submit your article to this journal

Article views: 18

View related articles

View Crossmark data

Full Terms & Conditions of access and use can be found at

http://www.tandfonline.com/action/journalInformation?journalCode=tjms20

Download by: [Prashant Menghal] Date: 25 August 2016, At: 04:49

International Journal of Modelling and Simulation, 2016
VOL. 36, NO. 4, 120135
http://dx.doi.org/10.1080/02286203.2016.1209965

Modelling, simulation & analysis of induction motor using artificial intelligent

controller
P. M. Menghala,b and A. Jaya Laxmic
a
Cadets Training Wing, Military College of Electronics & Mechanical Engineering, Secunderabad, India; bDepartment of EEE, Jawaharlal Nehru
Technological University, Anantapur, India; cDepartment of EEE, Centre for Energy Studies, Jawaharlal Nehru Technological University Hyderabad
College of Engineering, JNTUH, Kukatpally, India

ABSTRACT ARTICLE HISTORY

This paper presents an integrated environment for speed control of induction motor (IM) using artificial Received 2 October 2015
intelligent controller. The main problem with the conventional fuzzy controllers is that the parameters Accepted 4 July 2016
associated with the membership functions and the rules depend broadly on the intuition of the experts.
KEYWORDS
To overcome this problem, adaptive neuro-fuzzy inference system (ANFIS) controller is proposed in this Proportional integral (PI);
paper. The rapid development of power electronic devices and converter technologies in the past few fuzzy logic (FL); artificial
decades, however, has made possible efficient speed control by varying the supply frequency and voltage, neural network (ANN);
giving rise to various forms of adjustable-speed induction motor drives. The integrated environment adaptive neuro-fuzzy
allows users to compare simulation results between classical and artificial intelligent controllers. The inference system (ANFIS)
fuzzy logic controller (FLC), artificial neural network (ANN), and ANFIS controllers are also introduced to
the system for keeping the motor speed to be constant when the load varies. Comparison between PI,
fuzzy, ANN, and Adaptive neuro-fuzzy controller-based dynamic performance of induction motor drive has
been presented. ANFIS-based control of induction motor will prove to be more reliable than other control
methods. The performance of the induction motor drive has been analyzed for no load, constant load, and
change in speed conditions. This paper also takes detailed review of the previous literature along with the
contribution of us.

1.Introduction
This paper briefly discusses the dynamic modeling and simula-
tion of induction motor using MATLAB/SIMULINK. Evaluation
of an induction motor control system can be performed in two
ways. The first approach at hardware level uses a real motor
with an inverter and a controller. Due to the advancement of
the power semiconductor technology, controller is usually con-
structed using electronic devices such as Integrated Circuits (IC),
Microprocessor and Microcontroller, digital signal processor
(DSP), system on chips (SoC), and dSPACE, with algorithms
coded in assembler or Embedded C language. The advantage
of the experimental approach is that it includes the actual noise
present, the practical inverter voltage and current waveforms,
and sensor characteristics that may not be available in computer
simulation. The main disadvantage of the practical approach is
that the experimental results are valid only for the system being
investigated such as motor type, rating, and inverter supply.
Besides that some parameters may be difficult to measure. The
second approach at algorithm level is a computer simulation of
the system.[1] In computer simulation, all quantities can be read-
ily observed and parameters can be altered to investigate their
effects on the system, thereby providing useful information for
controller design. Process noise and sensor noise can be added to
simulate the performance, motor type size and power supply may
change easily.[110] Development of new drive often involves
expensive prototypes. This paper also presents the dynamic
modeling of induction motor using differential equation and
simulation using MATLAB/SIMULINK. The simulated results
of the induction motor model with conventional and PI, fuzzy,
artificial neural network (ANN), and adaptive neuro-fuzzy infer-
ence system (ANFIS) controller are also given. The comparative
static and dynamic analysis of induction motor using artificial
intelligent controller is also presented.
The conventional proportional-integral (PI) controller
remains the most popular design approach used in industrial
applications due to its simplicity and reliability for the control
of first- and second-order plants, and even high-order plants
with well-defined conditions. An excellent performance can be
achieved by a well-tuned PI controller.[3] However, getting a
poor performance whenever the plant is subjected to some kind
of disturbance or, the plant has high-order nonlinear structure
is the major disadvantage.[4] In a wide range of applications
induction motor due to its low cost, reliability and ruggedness is
a prime choice of variable-speed drive.[5] Because of the highly
coupled non-linearity and the variations of internal parameters,
the tuning of PI controller becomes a challenging problem when

CONTACT P. M. Menghal prashant_menghal@yahoo.co.in

2016 Informa UK Limited, trading as Taylor & Francis Group

the conventional PI design is applied to the control problem of
induction motors.[11]
PI controller is one of the most commonly used controllers
showing good robustness. Later on, FLC became a well-known
controller and has been used as independent or combined with PI
to improve the performance of the electric drive.[12] According
to research, an AC induction motor may consume more energy
than it needs. So, using FLC can save more energy consumed by
induction motor during start time or when it works in less than
full load. Furthermore, the cost and complexity of controller are
reduced. Fuzzy logic (FL) controllers based on fuzzy set theory
are used to represent the experience and knowledge of a human
operator in terms of linguistic variables that are called fuzzy rules.
[13] An experienced human operator adjusts the system inputs to
get a desired output by just looking at the system output without
any knowledge on the systems dynamics and interior parame-
ter variations.[14] The implementation of linguistic fuzzy rules
based on the procedures done by human operators does not also
require a mathematical model of the system.[15] Therefore, a
fuzzy logic controller (FLC) becomes nonlinear and adaptive
in nature having a robust performance under parameter varia-
tions with the ability to get desired control actions for complex,
uncertain, and nonlinear systems without the requirement of
their mathematical models and parameter estimation.[11, 1620]
With the advent of artificial intelligent techniques, these draw-
backs can be mitigated.[21, 22] One such technique is the use of
fuzzy logic in the design of controller either independently or
in hybrid with PI controller.[23] FLC yields superior and faster
control, but main design problem lies in the determination of
consistent and complete rule set and shape of the membership
functions.[24] A lot of trial and error has to be carried out to
obtain the desired response which is time consuming.[25] On
the other hand, ANN alone is insufficient if the training data
are not enough to take care of all the operating modes.[26] The
drawbacks of fuzzy logic control and ANN can be overcome by
the use of ANFIS.[27] The main concept of a neuro-fuzzy net-
work is derived from the human learning process, where an initial
knowledge of a function is first setup by fuzzy rules and then the
degree of function approximation is iteratively improved by the
learning capabilities of the neural network.[26] Hence, ANFIS
combines the learning power of neural network with knowl-
edge representation of fuzzy logic. Intelligent, self-learning, or
self-organizing controls using expert systems, artificial intelli-
gence, fuzzy logic, neural networks, hybrid networks, etc. have
been recently recognized as the important tools to improve the
performance of the power electronics-based drive systems in the
industrial sectors. Combination of this intelligent control with the
adaptiveness appears today as the most promising research area
in the practical implementation and control of electrical drives.
[28] Conventional controller such as a PI is unable to maintain
satisfactory performance under these conditions. Recently, it has
been observed that there is an increasing interest in combining
artificial intelligent control tools with classical control techniques.
[29] The principal motivations for such a hybrid implementation
is that with fuzzy logic, neural networks, and rough sets issues,
such as uncertainty or unknown variations in plant parameters
and structure can be dealt more effectively, hence improving
the robustness of the control system.[30] Conventional controls
have on the other side well-established theoretical backgrounds
International Journal of Modelling and Simulation 121
on stability and allow different design objectives such as steady
state and transient characteristics of the closed loop system to be
specified. Several works were contributed to the design of such
hybrid control schemes which was shown by various research-
ers.[28] Classical control systems like PI, PID control have been
used, together with vector control methods, for the speed control
of induction machines by various researchers. The main draw-
backs of the linear control approaches were the sensitivity in
performance to the system parameter variations and inadequate
rejection of external perturbations and load changes.[27] ANFIS
techniques have emerged from the fusion of ANN and fuzzy infer-
ence systems (FIS) and form a popular framework for solving
the real world problems.[31] A neuro-fuzzy system is based on
a fuzzy system which is trained by a learning algorithm derived
from neural network theory. While the learning capability is an
advantage from the viewpoint of FIS, the formation of linguistic
rule base will be an advantage from the viewpoint of ANN.[32]
There are several methods to integrate ANN and FIS, and very
often the choice depends on the applications.[33]
2. Dynamic modeling and simulation of induction
motor
The induction motors dynamic behavior can be expressed by
voltage and torque which are time varying.[2] The differential
equations that belong to dynamic analysis of induction motor are
so sophisticated, that with the change of variables the complexity
of these equations decreases converting polyphase winding to
two-phase winding (q-d). In other words, the stator and rotor
variables like voltage, current, and flux linkages of an induc-
tion machine are transferred to another reference model which
remains stationary.[3] In Figure 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 and magnetizing inductance (Llr=Lr+Lm).
From the equivalent circuit of the induction motor in dq frame,
the model equations are derived as:
The flux linkages can be achieved as:
1 d qs
= vqs e ds Rs iqs . (1)
b dt b
1 d ds
= vds e qs Rs ids . (2)
b dt b
1 d qr ( r )
= vqr e dr Rs iqr (3)
b dt b
1 d dr ( r )
= vdr + e qr Rs idr (4)
b dt b
By substituting the values of flux linkages in the above equations,
the following current equations are obtained as:
122 P. M. Menghal and A. Jaya Laxmi

Figure 1.dq model of induction motor.

Figure 2.Simulated Induction Motor Model in Conventional Model.

( )
qs mq 1
Xml =
iqs = . (5) 1
+ 1
+ 1 (11)
Xls Xm Xls Xlr

In the above equations, the speed (r) is related to the torque by

the following mechanical dynamic equation as:
( )
ds md
ids = (6)
Xls
dm J2 dr
Te = Tload + J Tload + . (12)
( ) dt p dt
qr mq
iqr = (7) Then r is achievable from above equation, where, p: number of
Xls
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
( )
dr md
idr = (8) been simulated using MATLAB/SIMULINK as shown in Figure 3
Xls
in open-loop and closed-loop mode with PI controller of operation
Where mq and md are the flux linkages over Lm in the q and d of induction motor. A 3 phase source is applied to conventional
axes. The flux equations are written as follows: model of an induction motor and the equations are given by:
Va = 2Vrms sin (t) (13)
( qr )
qs
mq = Xml + (9)
Xls Xlr
2

Vb = 2Vrms sin t (14)
3
( )
ds dr
2

md = Xml + (10) Vc = 2Vrms sin t +
Xls Xlr 3 (15)

By using Parks Transformation, voltages are transformed to two
phase in the dq axes, and are applied to induction motor. In
order to obtain the stator and rotor currents of induction motor
in two phases, inverse Parks transformation is applied in the last
stage.[4] The block diagram of induction motor and its drive that
are simulated in MATLAB/SIMULINK are shown in Figure 2.
3. Control approaches of induction motor drive
For several decades, researchers used classical methods to con-
trol the speed of induction motor. Such controllers (like con-
ventional PI controller) show simplicity in design and stability
in performance.[34] Even though, the conventional controllers
still require the mathematical model of induction motor. Besides,
they may produce overshoot or long settling time in case of load
disturbance or sudden change of reference speed.[35] To over-
come these drawbacks, intelligent control systems, such as fuzzy
logic, have been widely used for induction motor control. These
control systems are based on artificial intelligence theory and
conventional control theory.[4] Today, three-phase induction
motor drives are employed in different industrial areas with a
wide power range starting from few 100W to several MW.[22]
Drive industry is very thankful to the present generation of pow-
erful microprocessors, microcontrollers, and digital processers
such as DSP, field programmable gate arrays, and dSPACE, which
are responsible for the realization of control functions within
short cost margins.[25] However, cost of controller hardware is
a limiting constraint, particularly at low-power and low-perfor-
mance drives.[15] Main market share of about 8090% are simple
drives with low dynamic requirements like pumps and fans.[36]
The v/f control drives are parameter independent, easy to imple-
ment, and low cost, but they are classified as low-performance
drives.[24] Therefore, the v/f control algorithm is widely adopted
in general purpose inverters, such as adjustable-speed pumps,
fans, or blowers where high-control quality would be superflu-
ous.[37] In v/f control methods, the stator voltage is adjusted in
proportion to the supply frequency, except for low and above
Figure 3.Basic v/f control of induction motor.
International Journal of Modelling and Simulation 123
base speeds. At low frequency operation, the voltage drop across
stator resistance must be taken into account.[38] A pulse width
modulated (PWM) inverter employing pure sinusoidal modula-
tion cannot provide sufficient voltage to enable a standard motor
to operate at rated values. Sufficient voltage can be obtained from
the inverter by over modulating, however, producing distortion
of the output waveform.[39] The space vector pulse width mod-
ulation (SVPWM) method is an advanced, computation-inten-
sive PWM method, and possibly the best among all the PWM
techniques for variable frequency drive application.[5,6] Because
of its superior performance characteristics, it has widespread
application in recent years.[7] Figure 4 shows proposed control
scheme for an induction motor in open loop and closed loop
for static and dynamic analysis.[40] Figures 3(a) and (b) shows
proposed control scheme for induction motor drive system in
open loop and closed loop with artificial intelligent controller
under implementation.
The PI controller gain is optimized using artificial intelligent
controllers to get the optimized output of the controller in order
to control the speed of the induction motor as shown in Figure 4.
3.1. PI controller
Scalar control method is widely used in industries due to its
simple structure characterized by low steady-state error.[37]
Proportional integral (PI) controllers are commonly used in sca-
lar speed control of induction motors in addition to AI control-
lers.[41] A mathematical model of the real plant is required for
the controller design with conventional methods. The difficulty
of identifying the accurate parameters for a complex nonlin-
ear and time-varying nature of real plants may render, in many
cases, the fine tuning of parameters which is time consuming.
[42] PI controllers are very much sensitive to parameter varia-
tions inherent in real plant operations.[34] The gain equation for
PI controller is given by
T = Kp e + Ki e dt (16)
124 P. M. Menghal and A. Jaya Laxmi
Figure 4.Proposed drive system for static and dynamic analysis.
Figure 5.PI controller.
The output of the PI controller is updated by updating the PI
controller gains (Kp and Ki) based on the control law in the pres-
ence of parameter variation and drive nonlinearity.[3] The use
of PI controllers for speed control of induction machine drives
is characterized by an overshoot during tracking mode and a
poor load disturbance rejection.[4] This is mainly caused by
the fact that the complexity of the system does not allow the
gains of the PI controller to exceed a certain low value. If the
gains of the controller exceed a certain value, the variations in
the command torque controller gains are very high.[5] Without
overshoot, the motor reaches the reference speed rapidly and
step commands are tracked with almost zero steady-state error.
Load disturbances are rapidly rejected and variations of some of
the motor parameters are fairly adjusted.[43] Figure 5 shows the
structure of PI controller.
3.2. Fuzzy logic controller
Apart from PI controller, the speed of induction motor is also
adjusted by the fuzzy controller.[35] In Table 1, the fuzzy rules
implemented into the controller are given. The conventional sim-
ulated induction motor model as shown in Figure 4 is modified
by adding fuzzy controller and is shown in Figure 6. Output
terminal of induction motor which is speed is applied as an input
to fuzzy controller, and in the initial start of induction motor
Table 1.Fuzzy rule decision.
e
e P Z N
P P P Z
Z P Z N
N Z N N
the error is maximum, so according to fuzzy rules FC produces
a crisp value. Then this value will change the frequency of sine
wave in the speed controller.[32] The sine wave is then compared
with triangular wave to generate the firing signals of IGBTs in
the SVPWM inverters. The frequency of these firing signals also
gradually changes, thus increasing the frequency of applied volt-
age to induction motor.[40, 44]
As discussed earlier, the crisp value obtained from FLC 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 fre-
quency 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 wave and
generate necessary gating signals of PWM inverter. So at the first
sampling point, the speed is zero and error is maximum. Then

Figure 6.Structure of fuzzy controller.
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. 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.
3.3. Artificial neural network
The objective of this neural network controller (NNC) is to
develop a back propagation algorithm such that the output of the
neural network speed observer can track the target one.[34] The
static and dynamic analysis of induction motor drives using neu-
ral network, which is a contribution made by the authors. Figure7
depicts the network structure of the NNC, which indicates that
the neural network has a three-layered network structure.[5]
This model is achieved by improving the conventional and PI
model simulation by adding ANN controller in open loop and
closed loop.[45] The dq model of IM and Parks transformation
and inverse Parks transformation are same as the conventional
model, but AC source is replaced with SVPWM inverter which is
controlled by neural controller.[25] So in the following sections,
added models and their functionalities will be discussed. In this
model, the SVPWM inverter produces the three-phase AC sources
which are applied to Parks transformation, wherein three phases
are converted to two signals and then the IM will act as conven-
tional model.[46] But the only difference which we observe in this
model when compared with the conventional model is that, the
induction motor rotor speed is applied to neural controller. The
speed is normalized between zero and one and it is compared with
one then error and change in error will be calculated. The produced
crisp value is applied to neural network and the rated value will
be produced. The speed controller block is shown in Figure 8. A
feed forward carrier-based PWM technique, such as SVM, can also
be looked upon as a nonlinear mapping phenomena, where the
command phase voltages can be sampled at the input and the cor-
responding pulse width patterns are generated at the output.[47]
International Journal of Modelling and Simulation 125
The sine wave is generated with amplitude, phase, and fre-
quency which are supplied through a GUI. The clock signal which
is the sampling time of simulation is divided by the crisp value
which is obtained from ANN controller. By placing three sine
waves with different phases one can compare them with triangu-
lar waveform and generate necessary gating signals of SVPWM
inverter. At the first sampling point, the speed is zero and error
would be maximum. As the speed increases, the error will
decrease, and the crisp value resulting from ANN will increase.
So the frequency of sine wave will decrease which will cause IGBTs
switched ON and OFF faster. These further increase the AC supply
frequency and the motor will speed up. The controlling action of
the induction motor drive is done with the help of ANNs. Before
the signal is provided to controller, the generated speed signal is
normalized and compared with reference signal. Thus, obtained
error signal will be fed to controller which is designed with the
neural network. This will produce the required gain to enhance the
voltage signal which makes the induction motor to run at defined
reference speed. Neural controller is a typical two-layer neural
network model designed with the help of neural network toolbox.
The parameters of the ANN controller are given in Table 2.
Generated signal is given to speed controller block where
obtained sinusoidal signals will be compared with reference sig-
nal to produce pulses. These pulses are used to excite the inverters
in SVPWM block to generate three phase voltage signals.
3.4. Adaptive neuro-fuzzy inference system
The inputs will be e(k) and e(k).[40, 4850] A first-order Sugeno
fuzzy model has rules which are as follows:
Rule 1:
If x is A1 and y is B1, then f1=p1x+q1y+r1
Rule 2:
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.
126 P. M. Menghal and A. Jaya Laxmi

Figure 7.Structure of two-layer NNC.

Figure 8.Speed controller with ANN.

Table 2.Parameters of ANN controller. In layer 2 of ANFIS layout, the triangular membership func-
Type of neural network considered Feed forward neural network tion is same as that of the fuzzy controller model. The output of
No. of layers Two layer 2 is given by:
Type of Learning Algorithm LevenbergMarquardt Algorithm
No. of Hidden Layers 50 O2 = 1 , 2 , 3 . (18)
Value of learning rate 0.01
Activation function (hidden) tan sigmod Layer 3 indicates the pro (product) layer and its output is product
Activation function (output) Linear of inputs, which is given by:
No. of epochs used for training 1000
O3 = i (e).j (e). (19)
Layer 4 represents Norm and it calculates the ratio of ith firing
The learning algorithm applied to this model is Hebbian. This strength to sum of all firing strengths. The obtained output is
method is feed forward and unsupervised and the weights will normalized firing strength, which is given by:
be adjusted by the following formula:
w
wi (new) = wi (old) + xi y (17) O4 = i . (20)
w
The ANFIS model is shown in Figure 9. It states that if the cross Layer 5 is an adaptive node with functionality as follows:
product of output and input is positive, then it results in increase
in weight, otherwise decrease in weight. Figure 10 shows ANFIS
(21)
( )
O5 = wi fi = wi pi (e) + qi (e) + ri .
layout.[27]
 International Journal of Modelling and Simulation 127

Figure 9.Structure of adaptive neuro-fuzzy model.

Figure 10.ANFIS layout.

That pi, qi, ri are consequent parameters, which are initially are 4. Performance assessment of artificial intelligent
set to 0.48, 0.25, and 1, respectively. Then they are adaptively controller-based induction motor drives
adjusted with Hebbian learning algorithm. Layer 6 calculates
A complete simulation model for scalar v/f controlled Induction
the output which is given by:
motor drive incorporating PI, fuzzy logic, neural network, and

wf ANFIS controller is developed in open-loop and closed-loop
O6 = i i (22) mode. V/f control of Induction motor drive with fuzzy controller
wi is designed by proper adjustments of membership functions. NNC
is designed by adjusting the weights and ANFIS is developed on
Figure 10 shows the overall structure of adaptive neuro-fuzzy
a fuzzy system which is trained by a learning algorithm derived
model.
from neural network theory in order to get simulated results. The
128 P. M. Menghal and A. Jaya Laxmi

performance of the artificial intelligent-based induction motor 4.1. No load conditions

drive is investigated under different operating conditions. In order
Figures 1116 show torquespeed characteristics, torque
to prove the superiority of ANFIS, a comparison is made with the
response, and speed response with PI and AI controllers. The
response of conventional PI, FL, and neural network-based induc-
ANFIS controller performs better performance with respect to
tion motor drive. The performance of PI, FL, ANN, and ANFIS
rise time, % overshoot and settling time as given in Tables 3
were analyzed and compared. The parameters of the induction
and 6.
motor considered in this study are summarized in Appendix 1.

Figure 11.Torquespeed characteristics: AI controller at no load.

Figure 12.Torque responses: AI controller at no load.

Figure 13.Speed responses: AI controller at no load.


Figure 14.Torquespeed characteristics: AI controller at no load.
Figure 15.Torque responses: AI controller at no load.
Figure 16.Speed responses: AI controller at no load.
Open loop
When adaptive neuro-fuzzy controller is added to simulation
model, the rise time drastically decreases and in same period of
time all the results are taken. From the simulation results based
on ANFIS, as shown in Figure 11, it is apparent that torquespeed
characteristics converge to zero in less duration of time when
compared with ANN, FL, and PI controller.
The overshoot is less and settles faster with ANFIS controller
when compared with ANN, FL, and PI controllers. Torque response
obtained is good with ANFIS controller as compared to ANN, FL,
and PI controllers at all time instants as shown in Figures 12 and 13.
International Journal of Modelling and Simulation 129
Closed loop
From the torquespeed characteristics shown in Figure 14, it
has been observed that when compared with PI, FL, ANN, and
ANFIS controllers reach smoothly to its final steady state.
From Figures 15 and 16, it is inferred that for ANFIS-controlled
induction motor, speed settles down at 0.488 s, whereas in case of
ANN, FL, and PI-controlled IM, speed settles at 0.5319, 0.8892,
and 1.2727 s, respectively. Hence, it is clear that ANFIS exhibits
better due to its learning capability. When speed gets controlled,
the motor parameters like current, electromagnetic torque, etc.
also get controlled.
130 P. M. Menghal and A. Jaya Laxmi

4.2. Constant load conditions time as compared to ANN, FL, and PI Controller. This proves
that ANFIS gives better transient and steady state responses as
Figures 19 and 22 show the speed response of the proposed AI
shown in Figures 17 and 20.
controller when the reference speed is 1440rpm. In this simu-
lation, a load of 1.5 Nm is applied at time 2 s. This applied load
Open loop
causes the motor speed to go down below the reference speed. At
From Figure 17, it is observed that the ANFIS controller
the same time, the control signal is able to compensate the loss
significantly improves the torquespeed characteristics and
of speed which is shown in Figures 18 and 21. When the applied
decreases the steady state and transient errors.
load was removed, the control signal comes down to maintain the
In Figures 18 and 19, rotor speed increases gradually and set-
actual speed equal to the set point. As noticed in Figures19 and
tles to reference value at 1.5 s. Due to application of load torque,
22, PI controller fluctuates as and when load is applied, whereas
speed is suddenly reduced to a lower value compared to reference
FL, ANN, and ANFIS controllers show a good response to this
speed. Application of load torque doesnt cause much variation
change. But, to be more accurate, Tables 4 and 7 show a numer-
in rotor speed in case of ANFIS. Rotor speed tries to follow the
ical comparison between the performance of PI, FL, ANN, and
reference speed quickly in case of ANFIS whereas it is not so in
ANFIS controllers, in terms of rise time, settling time, and %
case of ANN, FL, and PI controllers. When torque is increased
peak overshoot when sudden change in load is applied. From
suddenly, it settles within a millisecond time.
the tables, ANFIS has a lesser overshoot, rise time and settling

Figure 17.Torquespeed characteristics: AI controller at constant load.

Figure 18.Torque responses: AI controller at constant load.

Figure 19.Speed responses: AI controller at constant load.


Figure 20.Torquespeed characteristics: AI controller at constant load.
Figure 21.Torque responses: AI controller at constant load.
Figure 22.Speed responses: AI controller at constant load.
Closed loop
The settling time of the ANFIS controller is 2.129 s while it
is about 2.2501, 2.3142, and 2.7432 s in case of ANN, FL, and PI
controllers as shown in Figure 20.
Simulated results shown in Figure 21, illustrate that, there is
a negligible ripple in speed response with ANFIS controller in
comparison with ANN, FL, and PI controller under dynamic
conditions. On comparing PI, FL, ANN, and ANFIS controllers,
ANFIS shows superior performance due to its learning capability
as shown in Figure 22.
4.3. Change in speed command
Figures 23 and 24 show speed response with PI, FL, ANN, and
ANFIS-based controller. The ANFIS controller performs better
with respect to rise time and steady-state error. Figures 25 and 26
International Journal of Modelling and Simulation 131
show the load disturbance rejection capabilities of each controller
when using a step change in speed from 1440to 1000rpm at time
2 s. The ANFIS controller at that moment returns quickly to com-
mand speed, whereas the PI controller maintains a steady-state
error. Figures 27 and 28 show the torque speed characteristics
when sudden change in speed reference is applied. The intelligent
controller exhibits better speed tracking when compared to PI
controller. The comparison of AI and PI controllers performance
is given in Tables 5 and 8. From numerical analysis, it is observed
that ANFIS controller responds quickly and reaches it steady
state value for sudden change in speed as compared to PI, FL,
and ANN controllers.
Open loop
Figure 27 shows the torquespeed characteristics of the PI,
FL, ANN, and ANFIS controllers at change in speed command.
132 P. M. Menghal and A. Jaya Laxmi
Figure 23.Speed responses: AI controller at change in speed command.
Figure 24.Speed responses: AI controller at change in speed command.
Figure 25.Torque responses: AI controller at change in speed command.
Figure 26.Torque responses: AI controller at change in speed command.
Under application of change in speed command, ANFIS controller
responds quickly and gives more initial torque and reaches the rated
speed, but ANN, FL, and PI controllers are unable to achieve this.
Under speed variations, speed is settled to a lower value of
reference speed in the case of ANN, FL, and PI controllers. But
the rotor speed follows reference speed in the case of an ANFIS
controller. The desired torque can be obtained gradually in the
case of ANN, FL, and PI controllers, whereas for ANFIS con-
troller, desired torque can be obtained in a fraction of second.
So, overall performance of ANFIS controller is much better than
ANN, FL, and PI controllers which is depicted in Figure 23.
Closed loop
It is to be noted that the ANFIS controller gives better
response in terms of overshoot, steady-state error, and settling
time when compared with ANN, FL, and PI controllers as shown
in Figure 28.
It also shows that the ANFIS controller-based drive system
can handle the sudden increase in command speed without over-
shoot, undershoot, and steady-state error, whereas the ANN,
FL, and PI controller-based drive system has steady-state error
and the response is not as fast as compared to ANFIS which is
shown in Figure 26.
 International Journal of Modelling and Simulation 133

Figure 27.Torquespeed characteristics: AI controller at change in speed command.

Figure 28.Torquespeed characteristics: AI controller at change in speed command.

The performances of the scalar-controlled induction motor Open loop

with all intelligent controllers are presented at no load, constant Table 3.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers
load, and variable load in open and closed loop mode. Figures during steady state operation.
1128 show the static and dynamic behaviors of the PI control- Control strategies Rise time (s) % Overshoot Settling time (s)
ler, FLC, NNC, and ANFIS controller, under no load, constant PI 0.5602 0.021 1.114
load, and variable load conditions in open-loop and closed-loop FLC 0.4413 0.021 0.8405
modes, respectively. By trial and error method, tuning of the ANN 0.4121 0.0212 0.7352
ANFIS 0.381 0.0939 0.5573
PI controller was done. At very start of the operation, the peak
overshoot occurs which is the only downside of control strategy
Table 4.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers
using PI controller. Such a sharp change in the motor speed at the during transient operation.
start can lead to hazardous situations where the motor windings
can burn. However, with ANN controller, not only the peak over- Control strategies Rise time (s) % overshoot Settling time (s)
shoot is reduced to zero, but the initial torque has been reduced, PI 0.5602 0.021 2.4911
FLC 0.4413 0.021 2.4502
also the amount of oscillations under steady state is reduced, thus ANN 0.4121 0.0212 2.3582
giving promising results than PI controller. ANFIS 0.381 0.0939 2.1902
134 P. M. Menghal and A. Jaya Laxmi

Table 5.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers Notes on contributors
for change in speed command.
P. M. Menghal was born in Khapa (Village), Nagpur
Control strategies Rise time (s) % Overshoot Settling time (s) (District), Maharashtra India on 7 Feb 1975 and is
PI 0.5602 0.021 2.8819 working as an assistant professor in Cadets Training
FLC 0.4413 0.021 2.6847 Wing (CTW) of Military College of Electronics and
ANN 0.4121 0.0212 2.5728 Mechanical Engineering, Secunderabad. He received
ANFIS 0.381 0.0939 2.2069 BE degree in Electronics and Power Engineering from
Nagpur University, Nagpur in 1998, masters degree
in Control Systems, from Government College of
Closed loop Engineering, Pune, University of Pune, India in 2000,
and submitted his PhD thesis at Jawaharlal Nehru
Technological University, Anantapur, Andhra Pradesh. He is a member
Table 6.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers of IEEE, Institute of Engineers (M.I.E.), Kolkata India, Indian Society
during steady state operation.
of Technical Education(M.I.S.T.E.), IETE, Indian Science Congress
Control strategies Rise time (s) % Overshoot Settling time (s) and System Society of India (S.S.I He has 20 International and National
PI 0.56 2.3344 1.2737 Journals to his credit. He has 25 International and National papers pub-
FLC 0.4658 3.5484 0.8892 lished in various conferences held at India and also abroad. His current
ANN 0.3967 1.9638 0.5319 research interests are in the areas of Real Time Control system of Electrical
ANFIS 0.3661 1.2524 0.488 Machines, Robotics, and Mathematical Modeling and Simulation. He was
awarded Best Oral/Poster Award in Power & Energy Track in 11th IEEE
India Conference INDICON 2014, held at Pune.
A. Jaya Laxmi was born in Mahaboob Nagar District,
Table 7.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers
during transient operation. Andhra Pradesh, on 07 November 1969. She completed
her B Tech. (EEE) from Osmania University College
Control strategies Rise time (s) % Overshoot Settling time (s) of Engineering, Hyderabad in 1991, M Tech.(Power
PI 0.56 2.3344 2.7432 Systems) from REC Warangal, Andhra Pradesh in 1996
FLC 0.4658 3.5484 2.3142 and completed PhD(Power Quality) from Jawaharlal
ANN 0.3967 1.9638 2.2501 Nehru Technological University College of Engineering,
ANFIS 0.3661 1.2524 2.129 Hyderabad in 2007. She has five5 years of Industrial
experience and 13 years of teaching experience. She
has worked as a visiting faculty at Osmania University
College of Engineering, Hyderabad and is presently working as a professor
Table 8.Performance comparison between PI, fuzzy, ANN, and ANFIS controllers and coordinator, Centre for Energy Studies, JNTUH College of Engineering,
for change in speed command. JNTUH, Kukatpally, Hyderabad. She has 50 International Journals to her
credit. She has 120 International and National papers published in vari-
Control strategies Rise time (s) % Overshoot Settling time (s)
ous conferences held at India and also abroad. Her research interests are
PI 0.56 2.3344 2.815 Neural Networks, Power Systems & Power Quality. She was awarded Best
FLC 0.4658 3.5484 2.4444
Technical Paper Award for Electrical Engineering in Institution of Electrical
ANN 0.3967 1.9638 2.1462
ANFIS 0.3661 1.2524 2.0803 Engineers in the year 2006. A Jaya Laxmi is a Member of IEEE and IAO,
Life Member of System society of India, Fellow of Institution of Electrical
Engineers Calcutta (M.I.E), and also Life Member of Indian Society of
Technical Education (M.I.S.T.E), MIETE, Indian Science Congress.

5.Conclusion
Simulation results of the induction motor are presented with
conventional PI, FLC, ANN, and ANFIS controllers. As it is
apparent from the speed curves in four models, by comparing
ANFIS controller with other controllers, it is apparent that by
adding learning algorithm to the control system will decrease the
rising time more than expectation and it proves ANFIS controller
has better dynamic performance as compared to ANN, FL, and
conventional PI controllers. The comparative results prove that
the performance of scalar v/f control drive with ANFIS controller
is superior to that with conventional PI, fuzzy, and NNC. Thus
by using ANFIS controller, the transient response of induction
machine has been improved greatly and the dynamic response of
the same has been made faster. For variable loads, when there is
a sudden change in load, the ANFIS controller reaches its steady
state value faster and there are no overshoots as compared to
the PI, fuzzy, and ANN controllers. This proves the robustness
of ANFIS controller.
References
[1] Krause PC, Thomas CH. Simulation of symmetrical induction
machinery. IEEE Trans. Power Apparatus Syst. 1965;84:10381053.
[2]Krause PC. Analysis of electrical machinery and drives system. 2nd
ed. Hoboken (NY):IEEE Willey Press; 2000.
[3]Mohan N. Advanced electric drives: analysis, control modeling using
Simulink, 1st ed. Natick (MA): Singapore: MNPERE; 2001.
[4]Chan TF, Shi K. Applied intelligent control of induction motor drives.
1st ed. Hoboken (NY): IEEE Willey Press; 2011.
[5]Abu-Rub H, Iqbal A, Guzinski J. High performance control of AC
drives with MATLAB/Simulink models. 1st ed. Chichester: John
Wiley & Sons; 2012.
[6]Stanley HC. An analysis of the induction machine. AIEE Trans.
1938;57:751757.
[7]Weygandt CN, Charp S. Electromechanical transient performance of
induction motors. AIEE Trans. 1946;65:10001009.
[8]Maginniss FJ, Schultz NR, Concordia C. Electromechanical transient.
AIEE Trans. Electr. Eng. 1946;65:11671168.
[9]Hwang HH. Unbalanced operations of AC machines. IEEE Trans.
Power Apparatus Syst. 1965;84:10541066.

[10]Jordan HE. Analysis of induction machines in dynamic systems.
IEEE Trans. Power Apparatus Syst. 1965;84:10801088.
[11]Ivanov S, Cbmpeanu A, Bitoleanu A, et al. MATLAB-SIMULINK
library for AC drives simulation. IEE International Conference on
Simulation; York. 1998. p. 195200.
[12]Ghani SN. Digital computer simulation of three-phase induction
machine dynamics-A generalized approach. IEEE Trans. Ind. Appl.
1988;24:106114.
[13]Zadeh LA. Fuzzy logic: issues, contentions and perspectives.
IEEE International Conference on Acoustics, Speech, and Signal
Processing; Adelaide (SA). 1994.
[14]Sousa GCD, Bose BK. Fuzzy logic applications to power electronics
and drives an overview. IEEE 21st International Conference on
Industrial Electronics, Control, and Instrumentation; Orlando (FL).
Vol. 1; 1995. p. 5762.
[15]Bose BK. Fuzzy logic and neural networks in power electronics and
drives. IEEE Industry Applications Magazine. 2000;5763.
[16]Shi KL, Chan TF, Wong YK, et al. Modelling and simulation of the
three-phase induction motor using Simulink. Int. J. Elect. Eng. Edu.
1999;36:163172.
[17]Orille AL, Sowilam GMA, Valencia JA. A new simulation of
symmetrical three phase induction motor under transformations of
Park. J. Comput. Ind. Eng. 1999;37:359362.
[18]Sybille G, Le-Huy H. Digital simulation of power systems and power
electronics using the MATLAB/SIMULINK power system blockset.
IEEE Power Engineering Society Winter Meeting 2000 Special
Technical Session; Singapore. 2000. p. 29732981.
[19]Spiller PA, Haffner JF, Pereira LFA. A Matlab/Simulink-based
platform for real-time planning and execution of control techniques
applied to induction motors. IEEE 32nd Annual Power Electronics
Specialists Conference; Vancouver, (BC). Vol. 2; 2001. p. 834838.
[20]Bauer P, Van Duijsen PJ. Challenges and advances in simulation.
IEEE 36th Conference on Power Electronics Specialists; Recife. 2005.
p. 14301436.
[21]Mohanty NK, Muthu R, Senthil Kumaran M. A survey on controlled
AC electrical drives. Int. J. Electr. Power Eng. 2009;3:175183.
[22]Bose BK. Power electronics and motor drives recent progress and
perspective. IEEE Trans. Ind. Electron. 2009;56:581588.
[23]Bose BK. Recent advances in power electronics. IEEE Trans. Power
Electron. 1992;7:216.
[24]Mishra R, Singh SP, Singh D, et al. Investigation of transient
performance of VSI-fed IM drives using volts/Hz and vector control
techniques. 2nd International Conference on Power, Control and
Embedded Systems; Allahabad, India. 2012. p. 16.
[25]Pinto JOP, Bose BK, Borges LE, et al. A neural network based space
vector PWM controller for voltage-fed inverter induction motor
drive. IEEE Conference, Thirty- Fourth IAS Annual Meeting.
Industry Applications; Phoenix (AZ). 1999. p. 26142622.
[26]Bose BK. Artificial neural network applications in power electronics.
27th Annual Conference of the IEEE Industrial Electronics Society;
Denver (CO). Vol. 3; 2001. p. 16311638.
[27]Uddin MN, Wen H. Development of a self-tuned neuro-fuzzy controller
for induction motor drives. IEEE Conference on Industry Applications
39th IAS Annual Meeting; Seattle (WA). 2004. p. 26302636.
[28]Safdar Fasal TK, Unnikrishnan L. A comparative study of
proportional integral controller and fuzzy logic controller in scalar
speed control of three phase induction motor. Int. J. Electr. Electron.
Data Commun. 2013;1:1821.
[29]Arulmozhiyaly R, Baskaran K. Implementation of a fuzzy PI
controller for speed control of induction motors using FPGA. J.
Power Electron. 2010;10:6571.
[30]Gehlot NS, Alsina PJ. A discrete model of induction motors for real-
time control applications. IEEE Trans Ind. Electron. 1993;40:313325.
[31]Santos TH, Goedtel A, Silva SAO, et al. Speed estimator in closed-
loop scalar control using neural networks. International Conference
on Electrical Machines; Berlin. 2014. p. 25702576.
[32]Ustun SV, Demirtas M. Modeling and control of V/F controlled
induction motor using genetic-ANFIS algorithm. Energy Convers.
Manage. 2009;50:786791.
International Journal of Modelling and Simulation 135
[33]dos Santos TH, Goedtel A, da Silva SAO, et al. Scalar control of an
induction motor using a neural sensorless technique. Electr. Power
Syst. Res.. 2014;108:322330.
[34]Narendra KS, Mukhopadhyay S. Intelligent control using neural
networks. Intelligent control systems: Theory and applications.
NewYork (NY): IEEE Press; 1996.
[35]Abu-Rub H, Awwad A. Artificial neural networks and fuzzy logic
based control of AC motors. IEEE International Conference on
Electric Machines and Drives; Miami (FL). 2009. p. 15811586.
[36]Aspalli MS, Kalshetti S, Hunagund PV. Speed control of 3 induction
motor using volts hertz control method. Int. J. Electron. Eng.
2011;3:231236.
[37]Upasan A, Kumsuwan Y. Closed loop speed control of induction
generator with scalar-control inverters. Energy Proc. 2013;34:371
381.
[38]El-Nobi GES, Ibrahim A, Elbesealy M. V/F control of three phase
induction motor drive with different PWM techniques. Innov. Syst.
Design Eng. 2013;4:131144.
[39]Mir SA, Zinger DS, Elbuluk ME. Fuzzy controller for inverter fed
induction machines. IEEE Conference on Industry Applications
Society Annual Meeting; 1992. p. 464471.
[40]Pillay P, Krishnan R. Modeling of permanent magnet motor drives.
IEEE Trans. Ind. Electron. 1988;35:537541.
[41]Koreboina VB, Magajikondi SJ, Raju AB. Modeling, simulation
and PC based implementation of a closed loop speed control of
VSI fed induction motor drive. International Conference on Power
Electronics (IICPE); New Delhi. 2010. p. 15.
[42]Huang A. Recent advances and applications of power electronics
and motor drives power semiconductor devices. IEEE 34th Annual
Conference Industrial Electronics; Orlando (FL). 2008. p. 2829.
[43]Kelemen A, Imecs M. Mathematical model and digital simulation
of a current-fed induction motor system. Mathematical Modelling.
1987;8:550555.
[44]Grace ACW. SIMULAB, an integrated environment for simulation
and control. IET International Conference on Control; Boston (MA).
Vol. 1; 1991. p. 466470.
[45]Oh WS, Bose BK, Cho KM, et al. Self tuning neural network
controller for induction motor drives. IEEE 28th Annual Conference
on Industrial Electronics Society. Vol. 1; 2002. p. 152156.
[46]Tunyasrirut S, Suksri T, Srilad S. Fuzzy logic control for a speed control
of induction motor using space vector pulse width modulation.
World Academy of Science, Engineering and Technology; France.
2007. p. 7177.
[47]Uddin MN, Wen H. Development of a self-tuned neuro-fuzzy
controller for induction motor drives. IEEE Trans. Ind. Appl.
2007;43:11081116.
[48]Buchner P, Nehiri MH. A block-oriented PC-based simulation tool
for teaching and research in electric drives and power systems. IEEE
Trans. Power Syst. 1991;6:12991304.
[49]Doumbia ML, Roy G, Rajagopalan V. An integrated solution
for simulating electrical drive systems with Matlab/Simulink.
Proceedings of the IEEE International Symposium on Industrial
Electronics; Guimares. 1997; p. 952955.
[50]Ehsani M, Ramani KR. Recent advances in power electronics and
applications. Southcon Conference Record; Orlando (FL). 1994.
p.813.
Appendix I
Induction Motor Parameters
1HP,3phase, 415V, 50Hz, 1440 rpm, star connected induction machine
Stator resistance Rs = 10.1 ,
Stator reactance Xs = 15.81 ,
Rotor resistance Rr' = 9.8546 ,
Rotor reactance Xr' = 15.81
Mutual reactance Xm = 245.8954 .