International Conference on Instrumentation, Control & Automation ICA2009 October 20-22, 2009, Bandung, Indonesia

A Fuzzy Logic Approach for Stator Resistance Estimation of an Induction Motor

Norazila Jaalam, Ahmed M. A. Haidar, Nor Laili Ismail, Rohana Abdul Karim University Malaysia Pahang, Lebuhraya Tun Razak, 26300 Gambang, Kuantan, Pahang, Malaysia. E-mail: zila@ump.edu.my

Abstract
An accurate estimation of stator resistance is so important especially during the operation of an induction motor due to variation in the stator resistance and the temperature of the working machine. This paper proposes a Fuzzy Technique (FT) for an online estimation of the stator resistance under steady state operating conditions of an induction motor. The FT considers two inputs and one output, in which the inputs are current error and change in current error whereas the output is the change in stator resistance. The proposed technique is compared with the Proportional Integral (PI) estimator. The obtained results of applying the FT for resistance estimation give better performance and high robustness than those obtained by the application of PI.

reliance of rotor and stator resistance on temperature may become a critical obstruction as a stator resistance error may cause an error in rotor resistance estimation of the same magnitude [2] & [3]. Furthermore, a mismatch between the actual and estimated rotor fluxes will produce an error between the actual and estimated motor torque which in turn may leads to motor breakdown [4]. Therefore, the alteration of induction motor parameters and its consequence on the performance of induction motor drives have been long documented. In recent years, numerous methods have been proposed in order to estimate the stator resistance changes of an induction motor. Some examples of resistance estimation are that based on extended Kalman Filter [5], Proportional Integral (PI) [4], Artificial Intelligence (AI) [6] and Model Reference Adaptive System (MRAS) [7]. However, due to

Introduction

some limitation and as conventional control theory experienced some boundaries caused by the nature of the controlled system such as time-invariance, linearity and etc, over the past decade, AI tools such as fuzzy logic and neural network have become more important and has extensively applied in process control, agriculture, identification, automation, military science, diagnostics, etc [8], [9]. According to Bose, who equalize AI as an emulation machine of human thinking process, neural network and fuzzy logic are expected to lead a new age in motion control, machine drive and power electronics area in the future.

Nowadays, induction motors are extensively used for the most reliable electrical machines. This is due to its excellent characteristics such as high efficiency, high overload capability, cheap, robust and less prove to any failure at high speed. However, throughout the operation of induction motor, stator resistance changes continuously with the temperature of the working machine. In induction motor, temperature escalation is generated by power loss inside the motor which the major causes come from the current flowing throughout the stator winding and the heat produced in the stator winding is proportional to the square of stator current magnitude and frequency [1]. In high-performance control of induction motor drives, the

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Fuzzy logic which can converts the linguistic control strategy of human experience and knowledge into an automatic control strategy, has transpire as important tool to typify and control a system which is unclear or ill-defined [9] & [10]. In this paper, a Fuzzy technique is proposed for accurate estimation of the variation in the stator resistance. The same inputs and output are applied to FT and PI to evaluate the performance of these methods. The paper is organized as such that in section 2, the design of an induction motor using MATLAB is discussed. While in section 3, the stator resistance estimator schemes based on the proposed FT and PI are described. respectively. Simulation results and conclusions are given in sections 4 and 5

Table 1: Induction motor model parameters. Parameter Stator resistance, Rs Rotor resistance, Rr Stator inductance, Ls Rotor inductance, Lr Magnetizing inductance, Lm Voltage Frequency Rated speed Rated Power Number pole pairs Value 1.2 1.8 0.156H 0.156H 0.143H 311.13V 50Hz 1440rpm 4000W 2 0.024kgm2

Induction Motor Model

Inertia, J

For the purpose of analysis, two motor models have been constructed to observe the effect of the stator resistance changes and this section will discusses the methods used in constructing both induction motor models. The project was conducted in the Newcastle University Drives Simulation Library (NUDSL) to model an actual induction motor while MATLAB SIMULINK used to model an estimated induction motor which latter will be called stator current observer.

Then, the stator current observer is constructed using MATLAB SIMULINK in order to study the effect of estimated stator current compared to the actual stator current when an estimated stator resistance is changed. The same parameter given in Table 1 is used for this stator current observer. Figure 2 illustrates the SIMULINK model for both machines to give an overview on how this section will work.
ids2 iqs ids is3 iqs

As the major aims of this study to investigate the changes in stator resistance of induction motor, the Simple IM block is used and Figure 1 illustrates the model of this induction motor which used four main blocks. Table 1 gives the parameter s value used in this induction motor model.
IM model

wr1 Vdq Vds1

1 wr1 2 Vdq 3 Vds1

Subsystem

is2 2 Gain
wr ids* Vds Vdq iqs* Rs iqs* ids* is*

Subsystem 1

Rs1

current observer

3PH -> DQ

ids

3PH Supply

3PH to DQ

Figure 2: SIMULINK model for both machines to

Voltage Fed 3-ph Induction Motor

iqs

compare the stator current output.

rotor speed Te

When the estimated stator resistance is changed, a current error, e(k) between the two machines will result. This error between the actual stator current,

Mechanical Dynamics

is (k ) and

Figure 1: Induction motor model using NUDSL.

estimated stator current,

2009 ICA, ISBN 978-979-8861-05-5

is (k ) is then will be used to

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determine the changes in current error, De(k ) . The equations for both e(k) and e(k) are given by:

mathematical model. Figure 4 gives an overview on how this fuzzy logic estimator will operate in order to detect the changes in stator resistance.

e(k ) = DI s (k ) - I s (k )
*

(1) (2)

De( k ) = e( k ) - e( k - 1)

Note that, this current error will be utilized as the input to the PI estimator while both current error and the changes in current error will be the inputs to the fuzzy logic estimator which will be discussed latter. Figure 4: Fuzzy logic stator resistance estimator. It can be observed in Figure 4 that there are two inputs and one output variable for this fuzzy logic estimator. The input variables are e(k) and e(k) while the output is Rs. They can be divided into seven fuzzy segments namely as negative large (NL), negative medium (NM), negative small (NS), zero (Z), positive small (PS), positive medium PI estimator is known as one of the simplest method proposed to estimate an induction motor stator resistance. This method is based on the error function of stator current variation such mentioned in Section 2. The proportional term will scale the present value of the current error while the integral term scales the integral of the current error. Figure 3 gives an overview on how this PI will work to track the changes in stator resistance. It can be observed which is Rs.
e(k)

Stator Resistance Estimator

This section will discuss on estimator design which will be used to track the changes in stator resistance. PI estimator will be considered first followed by Fuzzy Logic.

(PM) and positive large (PL) which corresponds to 49 rules as shown in Table 2 [6]. Table 2: Fuzzy rules for the fuzzy logic estimator. e (k) NS Z NL NL NL NM NM NS NS Z Z PS PS PM PM PL

that there is only one input which is e(k) and one output

NL NM NS Z PS PM PL

NL NL NL NL NL NM NS Z

NM NL NL NL NM NS Z PS

PS NM NS Z PS PM PL PL

PM NS Z PS PM PL PL PL

PL Z PS PM PL PL PL PL

The crisp input variables are converted into fuzzy variables using triangular membership function as it is the most common choices due to their linearity. Figure 5 and 6 show the membership function used for this fuzzification stage with the universe of discourse or range of control normalized from -10 to 10 for e(k) and e(k) respectively. Figure 3: PI stator resistance estimator. Since the relationship between the stator current and the stator resistance is nonlinear, it can be easily mapped using a fuzzy logic system as it does not require any The range of the control is normalized using trial and error method.

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Simulation Results

It has been addressed in [4] that the stator resistance may vary up to 50% during the operation of motor. Therefore, the estimated stator resistance has been increased to 25% to examine the effectiveness of FT and PI estimation scheme. PI estimator was tested first by increasing 25% of the actual value of stator resistance. Figure 8 illustrates that the PI Figure 5: Fuzzy membership distribution for current error. estimator can track the changes in stator resistance since there is no steady state error when the change in stator resistance is made. However, PI estimator produces large overshoot with 25.33% peak overshoot with settling time is approximately 0.16s.
2

Rs* Rs
1.8

stator resistance (ohm)

1.6

1.4

1.2

Figure 6: Fuzzy membership distribution for change in current error. For the defuzzification stage, the output variable which is Rs is obtained by applying the mean of maximum (MoM) operator and the membership functions for this stage is depicted in Figure 7.

0.8

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

time(s)

Figure 8: Stator resistance waveform using PI estimator. To verify the effectiveness of FT, the estimated stator resistance has been increased again to 25% of the actual value. It can be observed in Figure 9 that the FT can also track the stator resistance very well as the steady state error is zero. However, the peak overshoot is better compared to PI as it reduced to 22.20% with the settling time is approximately 0.15s.
2

Rs* Rs
1.8

stator resistance (ohm)

1.6

1.4

Figure 7: Fuzzy membership distribution for change in stator resistance.

1.2

0.8

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

time (s)

Figure 9: Stator resistance waveform using fuzzy logic scheme.

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The control surface for this fuzzy logic estimator is illustrated in Figure 10 where the vertical axis is Rs while the horizontal axes are e(k) and e(k). It is known before that there is no specific or clear method to design fuzzy logic estimator. Thus, it is very difficult to set the membership function and to normalize the range if the designer does not familiar with the system. Therefore, fuzzy logic scanning is applied in order to overcome this problem. This method allowed the designer to change the value outside the fuzzy logic controller.

References
[1] S.Lee, T.G.Habetler, R.G.Harley, and D.J.Gritter, An Evaluation of Model-based Stator Resistance Estimation for Induction Motor Stator Winding Temperature Monitoring, IEEE Trans. Energy Conv., vol.17, no.1, pp. 7-15, March 2002. [2]R.Beguenane,M.A.Ouhrouche, and A.M.Trzynadlowski, Stator Resistance Tuning in an Adaptive Direct Filed-Orientation Induction Motor Drive at Low Speed, 30th Annual Conf. IEEE Ind. Electron., pp. 68-73, Nov. 2004. [3] R.Marino, S.Peresada, and P.Tomei, On-line Stator and Rotor Resistance Estimation for Induction Motors, IEEE Trans. Contr. Syst. Technol., vol.8, no.3, pp. 570-579, May 2000. [4] B.Karanayil, M.F.Rahman, and C.Grantham, On-line

Figure 10: Control surface of fuzzy logic estimator.

Rotor Resistance Identification for Induction Motor Drive with Artificial Neural Networks Supported by a Simple PI Stator Resistance Estimator, The Fifth International Conf. on Power Electron. and Drive Syst., vol.1, pp. 433-438, 2003. [5] H.A.Toliyat, E.Levi, and M.Raina, A Review of RFO Induction Motor Parameter Estimation Techniques, IEEE Trans. Energy Conv., vol.18, no.2, pp. 271-283, June 2003. [6] B.Karanayil, M.F.Rahman, and C.Grantham, Stator and Rotor Resistance Observers for Induction Motor Drive using Fuzzy Logic and Artificial Neural Networks, IEEE Trans. Energy Conv., vol.20, no.4, pp.771-780, Dec. 2005. [7] V.Vasic, S.N.Vukosavic, E.Levi, A Stator Resistance Estimation Scheme for Speed Sensorless Rotor Flux Oriented Induction Motor Drives, IEEE Trans. Energy Conv., vol.18, no.4, Dec 2003. [8] C.C.Lee, Fuzzy Logic in Control Systems: Fuzzy Part I, IEEE Trans. Syst., Man and

Conclusion and Future Works

In this paper, two methods have been addressed to detect the changes in the stator resistance of an induction motor. These methods are based on FT and PI. The results have been compared to evaluate and verify the effectiveness of the proposed method where the estimation tuning is done automatically which is based on 25% changes in the estimated stator resistance. It was found that FT is more capable to track the changes in the stator resistance. FT scheme managed to reduce the overshoot and the settling time is better compared to PI estimator. For future work, more tuning should be done for the fuzzy logic estimator in order to reduce the overshoot and to improve the effectiveness of the scheme at any range. Besides, these entire estimators could also be compared with other techniques such as neural network or neuro-fuzzy.

Logic Controller

Cyber., vol.20, no.2, pp. 404-418, March/April 1990.

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[9] B.K.Bose, Expert System, Fuzzy Logic, and Neural Network Applications in Power Electronics and Motion Control, Proc. of the IEEE, vol.82, pp. 1303-1323, 1994. [10] C.C.Lee, Fuzzy Logic in Control Systems: Fuzzy Logic Controller, Part II, IEEE Trans. Syst., Man and Cyber., vol. 20, no.2, pp. 419-435, March/April 1990.

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