Control of induction motors by artificial neural networks
J. R. Heredia F. Perez Hidalgo and J.L. Duran Paz
Univ. of MBlaga Dpto. Tecnologia Electr6nica
E.T.S.I. Industriales p. el ejido s/n 29013 Malaga(Spain)
Jum@dt e.uma. es
Abstracl- In this work we propose a VSI control in open loop
trough the measure of the current of the stator and using t i n
artificial neural network (ANN). The technical control proposed
has a mission to estimate the speed and torque ol' the rotor
without necessity of using elements like ttnchometrrs or
measurement o f torque while the machine is working. We try to
get an easy and cheap method of control with great precision zind
hardiness the same as others more complex ones. The artificial
neural networks receives as incomes the stator current , StiItlJr
voltage and it is trained for a collection of loads. The answer of
the network will generate the estimate of the speed and the
torque.
I.-INTRODUCTION
It is well known that the induction motors are displacing the
motors of continuous current in many applications \vhere these
last ones were usually used. These applications are those that
require a regulation of the speed. Induction motors are
relatively cheap and hardiness since for their construction slip
rings neither collectors are not needed. These characteristics
are very interesting for control applications.
The control of induction motors speed is possible thanks to
summit and development of power devices and their respective
speed control systems. There are different methods and
systems in function of the hardiness of the machine, pcnver>
degree of control that is wished, etc.
The most of the drives used in industrial application arc
based in scalar method working in close-loop as VSI ( Voltage
Source Inverter ). These kind of drive are used in application
where are not necessary a very great precision (kin, pump,
simple elevator ...) .
For other applications, where high precision and resolution
are needed, scalar control is used in closed loop and more and
more vector controls. The scalar control VSI in open loop has
some disadvantage, one of these is not accurate because in the
control only varies the relationship v/f (voltage /frequency) of
input feed, without having infoimation of speed and torque.
The object of this work is to provide to this control type ( VSI
in open loop), that is simple, cheap and veiy extended, ol' the
information about speed of the rotor and the torquc: by mciins
artificial neural networks. With this, we by to get an
cheap method of control with great precision and hardiness the
same as others more complex ones.
The technical control proposal has a mission to estiinate
the torque and the speed of the rotor without the necessity of
using elements like tachometers or measurement of torque
while the maclline is working. The artificial neiiral networks
receives as incomes the stator current and stator voltage and
it is trained for a collection of loads.
The answer of the network will generate the estimatt: of the
speed and the torque.
0-7803-5662-4/99/$10.00 01999 IEEE 792
Authorized licensed use limited to: INDIAN INSTITUTE OF TECHNOLOGY MADRAS. Downloaded on July 22,2010 at 15:38:01 UTC from IEEE Xplore. Restrictions apply.
Univ. of Mrilaga Dpto. Ingenieria electrica E.T.S.I.
Industriales p. el ejido sln 29013 Malaga(Spain)
11.-ESTIMATION OF THE SPEED BASED ON
NEURAL NETWORKS,
The neural networks technique is based on a learning
process. Neural networks have the advantage of extremely fast
parallel computation and fault tolerance characteristics due to
distributed network intelligence. Many neurons or processing
elements are interconnected to foim a parallel neurocomputing
network. The most commonly used neural networks are the
feedforward multilayer type, where no information is fed back
during recall process. Feedback signals are used only during
training the neural network. Generally, the back propagation
method is used for adjusting the neural network weights during
training. l h i s is generally a slow and very time-consuming
, a s the algorithm takes a long time to converge, but this
phase usually is made ofT-line.
Using neural network is possible not to depend on
approximate models since the net can learn with the complete
model. The use ofa neural network to estimate the speed will
consist of associating some income, in this case the stator
cutTent, the voltage of the stator and the frequency of primary
with some exits, concretely speed and torque. In this way we
will have for each set of income a set of outputs. To
accomplish this operation will have to train to the net in a first
phase. This leatning phase does not must be in real time and
also \\'e have not to given all the possible entry to the network
hccausc i t has capacit!. to generalize with a set of limited of
input and outputs. Oncc it accomplished the learning phase the
neural network will be prepared to estimate the speed for any
input combination.
During the training we have experienced with some
architecture and methodologies of learning . The objective is to
find a solution of commitment between the speed of learning
and the target error. The most important thngs to keep in mind
to define the stiuchire and the operation ofthe neural network
ore the input-oulput. We will choose the inputs to the ANN to
detemiine the state of the asynchronous motor. Also, for each
input will hc only one output. Finally they must have the
charactclistic that they iuc easy to measure in the motor, so that,
the ncccssiii?' hardivaru to control the machine will be
simplilicd. It is \vel1 known while the motor is more loaded
more cuirent consumes, and vice versa. Therefore, the current
I1 of the stator is a veiy good variable to know the load of the
motor. This parameter defines the load of the motor perfectly
(torque). If we combine two variables, Vl/fl and 11, is
possible to detennine the point of operation of the motor (speed
and torque) indcpendently of the load. Also'Vl/fl and I1 are
valucs rclatively easy of obtaining during the operation of the
1110tor.
'l'hc lirst valuc is oblaincd ol'lhe VSI drive and the second
tising ii transduccr ol' hall effect current. With all these
ISIE'99 - Bled. Slovenia
 considerations made until the moment, the A N N will have the
inputs and outputs that are represented in the Fig. 1.
Voltaee/freauencv
meed
networks
Stator current motor torclue
Figure 1 input and outputs of the neural networks to model the inductioii
motor
The form of training of the ANN consists on taking data 01'
training colresponding to the whole range of operation ol' the
motor. For example; if the motor is loaded with a specific load
we must vary for all range of frequency from OHz to a
frequency maximum with a increment of one hertz, we will
obtain a vector of data contain the speed and stator cunent. We
will use this vector of data for training the ANN.
The last operations will be done for different loads. To cover
the whole range of operation of the motor we will choose U
significant group of loads that allows to the ANN alier the
training to generalize for all the possible loads and speeds.
111,-Resultsand conclusions
A diagram of blocks of the control using the infoimation
estimated by the ANN is that of the Fig. 2. The control strategy
has been canied out with the toolbox of Matlab for A N N and
using a data acquisition card as inteiface between the computer
and the system formed by power inverter and the motor. The
network has been trained with 20 difbent loads and for ii range
of speed of 0 to 1500 r.p.m.
Target meed
Control Systeni
Torque
Speed
estiinated
Artificial Ntximl
f-
Network
- 4
Software
Figure 2: block diaqan? of tlx control using tile speed and torcpc
estimated by ANN
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Results are very satisfactory as we can see in the following
graphs. They show the answer of the rotor speed and the
speed estimated by the artificial neural networks when the
reference signal is changed. The first graph Fig. 3 is for a
constant load and for references belonging to those that they
were used in the phase of training. Fig 4 shows the same that
the previous one but in this case the speed reference signal and
the loads does not belong to the set trained pi-eviously. And
finally thc last graph in Fig. 5 show the respond of the control
for a Foucault brake. In all graphs we can appreciate that the
answer of' thc motor and the estimated one for the network are
quite similar and also we can observe that the respond in the
steady stale is possible to be considered with an almost null
emor.
This last reflective the capacity that the model has to
generalize and to adapt itself in front of situations not
contemplated in the phase of training.
The principal advantages of accomplishing the control of
induction motors through neural networks are:
- Can be used more accurate models without having to use
approximations.
- The neural network will learn the real behavior, but
accurate that the approximate.
- Once it accomplished the leaining, in the operation phase
to estimate the speed of the schemes and the for, the
operations to accomplish are very simple only add and
multiplication therefore it is quite feasible its operation in
real time ,
Voltage Source
Load
.+ Inveizer
]:;v I stator
Swsor
Hardware
793
 REFERENCES

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[3] Bruce Burton et al. Almplementation of a neural network to adap[ivciy
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lYn0 1.i

Fig 5 : Responss of the motor to a foucault break and the speed error

15%

,' I

Fig. 3: response for a constant load and for a speed target o f 1000 r.p.iii.

i5a

103
-
&
f
0
9
Y

500

Fig.4: Response for different loads and speed (1000 and 800 r . p . m . )

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