SICE-ICASE International Joint Conference 2006

Oct. 18-2 1, 2006 in Bexco, Busan, Korea

Hybrid Artificial Intelligent Control for Speed Control of Induction motor

Jae-Sub Kol and Jung-Sik Choi2 and Dong-Hwa Chung3

1Department of Electrical Control Engineering, Sunchon national University, Sunchon, Korea
(Tel: +82-61-750-3543; E-mail: kokos22@naver . com)
2Department of Electrical Control Engineering, Sunchon national University, Sunchon, Korea
(Tel : +82-61-750-3540; E-mail: 1108cj s@naver . com)
3Department of Electrical Control Engineering, Sunchon national University, Sunchon, Korea
(Tel +82-61-750-3543; E-mail: hwa777@sunchon. ac. kr)
Abstract: This paper is proposed hybrid artificial intelligent controller for high performance of induction motor
drive. The design of this algorithm based on fuzzy-neural network controller that is implemented using fuzzy control
and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses
the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error
between the command output and actual output.
A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based
on the error and change of error measured between the motor speed and output of a reference model. The control
performance of the hybrid artificial intelligent controller is evaluated by analysis for various operating conditions. The
results of experiment prove that the proposed control system has strong high performance and robustness to parameter
variation, and steady-state accuracy and transient response.

Keywords: Induction Motor Drive, Fuzzy Control, Neural Network, Hybrid Artificial Intelligent Controller, High
Performance

1. INTRODUCTION algorithms. To solve these problems, direct fuzzy

Recently, Artificial Intelligent control using Fuzzy
control, neural network and genetic algorithm are
recognized primary techniques that should be improved
performance of power electronic system. These
techniques are developed adaptive-artificial intelligent
controller with mixed adaptive control technique. And
these inter-mixture methods will high performance the
induction motor drive that required adaptability and
robustly. [1]-[3]
Indirect vector control is applied extensively the drive
system for high performance of induction motor.
Because PI controller is indicated satisfactorily response
of steady-state, industrial field is used a lot of PI
controller. But PI controller can not expected
satisfaction performance in transient-state because of
nonlinear of induction motor. Especially, PI controller
can not be obtained satisfaction performance about
parameter variations such as disturbance, speed and load.
If proportion gain kP of PI controller is big, rising time
is short, overshoot is big and stability time is long and if
kP of PI controller is small, rising time is long,
overshoot is small and stability time is short. Thus
although PI controller adjusted the gain coefficient,
performance of drive can not more improved.
To satisfaction performance of drive, adaptive is
researched.[4] Adaptive control can be obtained more
excellent performance than existing PI controller.
Adaptive control technique is based on mathematical
modeling and is very complicated because of numerous
control is developed, but it can not be obtained the
response characteristic of robust and satisfaction
performances about various load change and inertia
change. [5]
Neural network is evaluated very influential
technique in parameter estimation and control of
drive.[6]-[7] Neural network is excellent in more ability
of adaptive control than generally vector control method.
But it is have a problem in high performance and robust
control that is indicated the characteristic of fuzzy
control.
In this paper is proposed hybrid artificial intelligent
controller that is mixed fuzzy control and neural
network for high performance of induction motor.
Hybrid artificial intelligent controller is consisted the
first part of fuzzy rule and the second part of clustering
method, multilayer neural network. Hybrid artificial
intelligent controller can be obtained high performance,
robust control in advantage of fuzzy control, and high
adaptive control ability in advantage of neural network.
To improve more performance, hybrid artificial
intelligent controller is applied adaptive mechanism
method that based on reference model.[8] Final output
is obtained add output of hybrid artificial intelligent
controller and output of adaptive fuzzy control. In this
paper, this controller applied drive system of induction
motor, and then analyzed the parameter variation,
response characteristic of steady-state and
transient-state. And the validity of proposed controller is
proof.

89-950038-5-5 98560/06/$10 © 2006 ICASE

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 ;=Ts_,2.S|~ PWAIV
2. MODELING OF INDUCTION MOTOR PID and adaptive control method are many used. But
these methods are complicated that evaluated the d-q
axis parameter and is very sensitive at parameter
Fig. 1 shows that d q axis equivalent circuit at variation, load change.
synchronously rotating reference frame. Fuzzy controller and neural network are developed
for speed control of induction motor. These methods
co,', i, List L r (0
0(w i
have the advantage about parameter variation, load
vv-,
change, system disturbance. But each controller
contains problems. To develop more new method, the
(a) d-axis
new way is tried. Mixture control that is inter-mixed
adaptive, fuzzy control, neural network and genetic
Rs CO,e OdJc Lis LXi, (C"e ml OdX R,. algorithm is predicted the influential method.
Figure 2 schematically expresses about research of
hybrid artificial intelligent controller.
(b) q-axis
Fig. 1 equivalent circuit at synchronously rotating .rAdaptive
reference frame
At equivalent circuit of Figure 1 evaluated the voltage Fuzzy NN
equation is equal that below;
Vds RS + Lsp -ceLs LmP eLm
i ids
Vqs ceLs RS + LSP LmP iqs
(OeLm

Rr + Lrp
Fig. 2 Research of hybrid artificial intelligent controller
0 LmP -(OiSLm WicoslLr 'dr
0 CosILm LmP lLr Rr LrP- iqr - (1 ) This paper is consisted of hybrid artificial intelligent
controller that is mixed adaptive control, fuzzy control
tsl =WMe - 0r slip angular speed
and neural network. This controller control induction
motor with high performance.
Ids' lqs d, q axis current
VdsI Vqs 4. DESIGN OF FUZZY-NEURO
d, q axis stator voltage
CONTROLLER
L
Rs Ls Resistance of stator, self inductance
Fuzzy-neuro controller is consisted of fuzzy control
Rr, Lr Resistance of rotor, self inductance and neural network. It has the softness of strong
Lm : Mutual inductance expression and numerical value processing ability. This
controller is consist that the first part of fuzzy rule and
The mechanical equation of induction motor is equal the second part of clustering method, multilayer neural
below that; network. And it has advantage of robust control that like
fuzzy control, and high adaptive ability that like neural
network.
Te =J m+ Bwm + T, To control of induction motor drive, structure of
dt (2) direct fuzzy controller is equal that Figure 3.
p
2 (3) ltrds

e Origination torque, Tl load torque,

J: Inertia coefficient, B the coefficient of
friction
Generally, dynamic action of fuzzy controller is
Evaluated generation torque is equal below characterized by group of language control rule that is
based on professional knowledge. Language control rule
Te jLm (iqsdr -dsqr ) is assumed that below.
(4)
If E is 4. and CE is 42 then U is Bi
3. HYBRID ARTIFICIAL INTELLIGENT (5)
CONTROLLER E, CE and U is each indicated error, variation of error
To speed follow and control of induction drive, PI, and control variable. An is indicated fuzzy variable that

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is characterized by membership function 1A(XJ), and Bi Indicated in figure 6, neural network between
is a constant that is composed of real. Fuzzy group of E, Al layer and A3layer is indicated realization of the first
CE and U is {NL, NM, NS, ZE, PS, PM, PL}. Figure 4 part about fuzzy rule. To effectively design membership
shows the membership function of fuzzy group. function of first part, first part is applied clustering
To control robust and high performance of induction method that is improved the contraction speed and is
motor drive, dynamic characteristic is required simple structure. Table 1 shows set of fuzzy rule
satisfactory performance that can be adjusted various
speed obeying ability, adapted load variation. Thus this Table I Fuzzy rule table
paper is consist of fuzzy-neuro controller by inter-mixed
NL NM NS ZE PS PM PL
fuzzy controller and neural network, because generally
fuzzy controller is not satisfied these demands. Figure 5 NL NL NL NL NL NM NS ZE
shows fuzzy-neuro controller structure for induction NM NL NL NL NM NS ZE PS
motor drive control.
NS NL NL NM NS ZE PS PM
',l(eCor) ZE NL NM NS ZE PS PM PL
NL NM NS ZEPS PM PL PS NM NS ZE PS PM PL PL
PM NS ZE PS PM PL PL PL
PL ZE PS PM PL PL PL PL

j
Sl(ceo) ) Input space is divided space of 49 at fuzzy rule base.
If rule is equal same action, doing clustering with same
NL NM NS ZEPS PM PL
input space. And then rule that united new clustering is
redesigned by expert and realized neural network. The
~Izv v \/ \ Lcewrlpu] number of fuzzy rule can be very decreased by
+1 C1 C2 0-cl -C2
(b)
1 clustering method. This realization can be designed the
nonlinear function and is divided input space of fuzzy
,uA(Aiqs) by sigmoid characteristic of neuron. Each output of
NL NM NS ZEPS PM PL
neuron at A3layer is truth value of fuzzy rule at each
part space. To realize fuzzy clustering and learning,
Ai*qAA] fuzzy-neuro controller that obtained the same effect at
+1 "Il i2 0 i-"I-2 -1 49 rules is needed function of error. Error function that
(c)
Fig. 4 Membership function of the fuzzy variables is determined through achievement of requirement
partition in fuzzy-neuro controller is frame as

2 2 (1T
=
i 6))
(6)
Ti =
1, (xI,x2)eR'
Fig. 5 Structure of fuzzy-neuro controller 0, otherwise (7)
Figure 6 shows organization of fuzzy-neuro controller.
Input variable of two is error e, variation of error Where, r is number of cluster, Ti is function that
ce and output variable is U. determine whether any input date is included required
cluster. And °i is output of neuron at A3 layer.
A1 A2 A3 A4 After defined error function, To minimize error, next
step is adjust weight Wik and Wi between Al layer
and A3 layer by back-propagation algorithm. Through
weight control, neural network can be completely
realized the first part of fuzzy rule.

A Wjk= (8)
Fig. 6 The construction of fuzzy-neuro controller a Wjk (8)
5. REALIZATION OF FUZZY-NEURO AWij = -77 8i -qOiOj
CONTROLLER (9)
5.1. The first part realization Where

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(5. =
(T 0,)f'(U,) (10)
6j f'(Uj)Y 6,Wj
=

(11)
°i is output of neuron atA2layer, 17is learning rate,
f ( ) is differentiation of sigmoid function, Ui and U is Or ( kw (k)
~~T NN)LL-
FNN IntgrIo {Ss
indicated total input about each neuron at
0Or(k)
between A2 layer and A3 layer. Finally, to improve Fig. 7 Algorithm of proposed hybrid artificial intelligent
contraction speed and avoid vibration in learning course, controller
new adjustment can be assumed momentum term.

Wjk (t + 1) Wjk (t) + AWJk + [Wjk (t) -Wjk (t- 1)]
W,j (t + 1) = WXj (t) + A\Wj + a[W,, (t) Wxy (t 1)]
- -
5.2 Realization of the second part
In Fig. 6, neural network between A3 layer
andA4 layer is indicated second part of fuzzy rule. While
learning, weight wci is adjusted minimize next error
function
(12) Output by fuzzy-neuro algorism is iqs(k) output
by AFC is iqs2(k) . After sum of two outputs, order q
A
(13)
axle current obtained trough integrator.
Output of motor 6r(k) is compared with output of
reference model Mm (k) and error enm(k) is
accomplished by AFC. Reference model is used primary
system for requirement performance that is satisfied
design reference like overshoot and stability time.
Figure 8 is indicated the AFC by reference model. AFC
and fuzzy-neuro loop is connected in parallel.

E - (U* U)2 r
ceW (k)
2 (14)
O (k) AFC
+Xp ee m(k)
U and U is indicated demand value and real value COr(k)
of fuzzy-neuro controller. Fig. 8 AFC with reference model
Variation ciof Weight ci using general delta
rule can be minimized equation (14) and Output is occurred a Aqs2(k) by AFC. After the sum
The second part of fuzzy rule redefine and determine
the below the equation. Ai*I (k) and A*i2(k) , Ai qs (k) is obtained. And
of As
then iqS(k) is occurred by integrator, and apply the
AWCi = -aE -qdcO0 plant.
(15) AFC input use input of reference model, error of real
WJ(t+1)=WWi(t)+AWWi +a[WZi(t)-WZi(t-1)] (16) speed (eOJm(k)), variation of error (cean (k))

6c is error signal in fuzzy-neuro controller ec6m(k) = Mtm (k) -etim(k) (17)

cea,m (k) = ea, (k) - ea (k -1) (18)
6. DESIGN OF HYBRID ARTIFICIAL
INTELLIGENT CONTROLLER Command q axis current of fuzzy controller can be
Induction motor drive is required high performance obtained that sum of A\iq$I(k) and A\iq>2(k)
and tenacity although various speed assumption ability,
load and inertia, parameter is changed in excess iqs(k) = i* (k -1) + [Ai'* (k) + Ai'*2(k)] (19)
characteristic. Hybrid artificial intelligent controller is
designed reference model in fuzzy-neuro controller and Controlled induction motor drive system by hybrid
is consist of adaptive mechanism as fuzzy inference.
Figure 7 is consisted of hybrid artificial intelligent artificial intelligent controller is same figure 9. And
controller that is designed fuzzy-neuro controller and Inverter used SV PWM method.
connected (Adaptive Fuzzy Controller) AFC in parallel. V.IM
In order to fuzzy-neuro error compensation, used AFC. Currelnt bs SV PWM
AFC is indicated adaptive mechanism that considered H
Controller
A
f
Control In vrter

reference model. Int rator

Fig. 9 Configuration diagram of induction motor drive

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 7. PERFORMANCE RESULT OF SYSTEM CH1 12, 00 t1 << Mn,in >>
CHZ 12~00Vt
1800
Figure 10 is indicated that manufactured induction
motor operation system that made for experiment in this
paper. ( [rpm]
CH1 -4: 00Vt
CHZ -4:. 00VW
CH2 6, 0 0Vt

20 ... ..
(b)iqsI[A] 0
..
20 ..

(c)Te[N m]

-5000 - 0"
CH4 00 V1
5.00

Fig. 12 Response characteristics of HAI controller with

step command speed
IBM PC
Fig. 10 System configuration 0 0
CHI 8-. 00 v << M.,i,, )>
CH3 81 00 v

A variety drive condition of Induction motor was

compared that the results of experiment HAI controller 1000
indicated with FNN controller in this paper (a) ,4rpm]
Fig. 11 and 12 are conclusion that the response
features of FNN controller and HAI controller when the 0
command speed drive a rated 1720[rpm] in no load CHI
CH3
CH2
CH4
0, 00 V
O.. 00 V
6.. 00 V
30. 00 V
condition. Fig. (a) is command speed and real speed, fig. 20
(b) is indicated q axis current, fig. (c) is indicated (b)'qs [A] 0
generation torque. Experiment results about step 20
command speed is highly reduced HAI controller speed (c) Te [N m]0o
more than FNN controller and the faster rising time, the
faster reached steady-state. CH4
-5,. 00
-
1 0 00
.
1O', 00 v
5. 00

Fig. 13 and 14 is indicated that response

characteristics of FNN controller and HAI controller Fig. 13 Response characteristics of FNN controller with
when drives 1000[rpm] at no load and bring load-torque change of load torque
1O[N.m]. While at a driving of constant speed, speed Ik

change is reduced and reached command speed faster CH1

CH3
S.. 00 V
ol 00 v
n.
<< >>
un

the response characteristics of HAI controller than FNN

controller. 1000
Fig. 15 and 16 is indicated that response
characteristic of FNN controller and HAI controller (a) oJ[rpm]
when step command speed make the forward-reverse
operation about -1200[rpm] and 1200[rpm]. 0
CH1
CH3
CH2
0, 00 V
0. 00 V
6. 00 V
CH4 30. 00 V
20
CHI
CH3
12, 00 V
12~00 V
<< M1ain >>
(b)'qs[A] 0
1800 . ..
20
(c)Te[N-m] 0
(a) C [rpm] CH2 - 0 0 0 'V
CH.I 4 0 V CH4 00 V
.H 6. -5:. 00 5. 0 0
0 4
Fig. 14 Response characteristics of HAI controller with
change of load torque
20
(b)'qs [A] 0 j
t ..... ......... ~ ~ ~ ~ . . . . .
20
(c) Te [N m] .H
-5 0
1
.0
0-

Fig. 11 Response characteristics of FNN controller with

step command speed

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 CH1 8-. 00 v << M.,m >)
REFERENCES
CH3 81 00 v
1200
[1] E. Cerruto, A. Consoil, A.Raciti and A. Testa,
(a) af[rpm] "adaptive fuzzy control of high performance
motion systems," in Proc. IEEE IECON Conf. Rec.,
San Diego, CA, Nov. 9-13, pp. 88-94, 1992.
-1200 CH1 -8: 00 v [2] H. Hong, et al., "A design of auto-tuning PID
CH3 -8-. 00 V

20
CH2
CH4
6-. 00 V
v
controller using fuzzy logic," in Proc, IEEE
IECON Conf, Rec., San Diego, CA, Nov. 9-13, pp
(b)'qs [A] 20 971-, 1992
20 [3] E. Cerruto, A. Consoil, P. Kucer and A. Testa, "A
(c) Te[N m]0 fuzzy logic quasi sliding mode controlled motor
CH2
CH4
.10 00 V
- 1O', 00 v
drive," in Proc. IEEE ISIE Conf. Rec, Budapest,
-5. 00 5. 0 0
Hungrary, June 1-3, pp. 652-657, 1993.
Fig. 15 Response characteristics of FNN controller with [4] K. J. Astrom and B. Wittenmark, "Adaptive
change of step command speed control," Addison-Wesley, 1989
[5] D. H. Chung, "Fuzzy control for high performance
CHI 8,:00 v <<Mni >>
vector control of PMSM drive system," KIEE, vol.
1200 47, no. 12, pp. 2171-2180, 1998.
[6] M. G. Simoes and B. K. Bose, "Meural network
based estimation of feedback sigmals for a vector
()[rpm] controlled induction motor drive," IEEE Trans. IA,
vol. 31, no. 3, pp. 620-629, 1995.
[7] M. T. Wishart and R. G. Harley, "Identification and
control of induction machines using neural
20 CHI -.
networks," IEEE Trans. IA, vol. 31, no.3, pp.
20 ....---------
..1.. 612-619, 1995
[8] D.H. Chung, et al., "MRAC fuzzy control for high
(c) Te [N m] performance control of induction motor," The
0 Trans. of KIPE, vol. 7, no. 3, pp. 215-223, 2002

Fig. 16 Response characteristics of HAI controller with

change of step command speed
8. CONCLUSION
In this paper is proposed hybrid artificial intelligent
controller for high performance control of induction
motor drive. Fuzzy-neuro controller is consisted that
term and conclusion part of fuzzy rule using clustering
method and multilayer neural network. In this controller
is obtained high performance, robust control that is
indicated in fuzzy control's advantage and ability of
high adaptive control that is indicated advantage of
neural network. To improve more performance, we
applied mechanism method that is based on reference
model.
Hybrid artificial intelligent controller is applied to
induction motor drive system which the response
characteristics were analyzed such as parameter change,
steady-state and transient-state. Hybrid artificial
intelligent controller rising time is faster than
fuzzy-neuro controller and overshoot is indicated more
small and can be assumed high performance with
sampling time, speed, load torque and change of inertia.
In this paper, hybrid artificial intelligent controller
can be obtained satisfactory performance that response
characteristics of parameter variation, transient-state and
estimation of speed.

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