Application of Allied Genetic Algorithms in Sensorless Speed Adjustment

Control for Induction Motor Drive System

Feng Lin, Qi-Wen Yang

College of Electrical Engineering, Zhejiang University, 3 10027, P.R.China,

E-mail: eeflin@,emb.zju.edu.cn

Abstract-This paper presents a Genetic tuning digital

PI controller for the sensorless speed vector control of 2. THE MATHEMATICAL MODEL AND
induction motor drive system. In order to prevent
premature convergency we introduce the allied VECTOR CONTROL
strategy of human being into GAS, and present
parallel genetic algorithm based on the allied strategy
(PGAAS). Based on the designed control system
structure, the system is simulated. The simulation
results show that the system has a strong robust to the
parameter variation and is insensitive to the load
disturbance.

Index Terms--sensorless speed control, genetic

algorithms,vector control, allied strategy

1. INTRODUCTION

Recently , vector control without a speed sensor

for an inverter-induction motor system has received
wide spread research interests . Many methods to
estimate the speed from terminal electrical
measurements have been proposed since 1975. Here a

I]{:
scheme by which the rotor speed is described. This
Gs -&

q+r$p
rs+Q MP +i:s
approach utilize motor parameter values (e.g., the rotor
time constant and the magnetizing inductance) to (3)
implement nonlinear feed forward calculation of the
proper motor slip frequency so that the speed of rotor is
-
achieved.
In this paper, we applied Genetic Algorithms to
cope with this problem. We employed a parallel
genetic algorithm based on the allied strategy
(PGAAS) to the classical PI controllers. The approach
having ability for global optimization and with good
robustness is expected to overcome some weakness of
conventional approaches and to be more acceptable for
industrial practices. Simulations are carried out to verify
the feasibility of this sensorless control under vector
control conditions. The simulation results demonstrate
that this PGAAS - based approach is really an
alternative and potential method for induction motor
drive system . 3. SPEED ESTIMATION

A block diagram of the speed estimation is shown

in Fig. 2 . In this system, two stator voltages uaC and

0-7803-6542-9/00/$10.00 0 2000 IEEE

979
Ubc and two stator currents & and 4 are measured.
These voltages and currents are transformed into d-q
components , and the flux linkage of the rotor and the
motor speed are estimated.
To derive the equations for the speed calculation,
Elitist Strategy, GAGMS). 2.the modification of genetic
operator and its operating probability (genetic operators
vary with the coding method, e.g. AGA). These
strategies greatly improve the optimizing ability of Gas.
Because GAS has the inborn ability of collateral
processing, with the popularization of parallel
distributing computer, people pay attention to GAS
gradually. In order to increase the exploring efficiency
of GAS, in this article, we advance modifying methods
to genetic strategy and genetic operator respectively,
and we get the Parallel Genetic Algorithm Based on
Allied Strategy, PGAAS).

4.2 Allied Strategy

J.Craig Potts brought out a parallel-realizable

:-f$-B-=
Fig. 1 Configuration of control system GAMAS algorithm based on transference and manual
selection. This algorithm uses four genetic groups with
different functions, maintains the individuals ’ diversity
F IM
ROM SENSOR d-q SPEED through the purposeful movement of best individuals
T
%
I%ON
U& between genetic groups, and seeks for new best
FROM VOLTAGE
IM SENSOR CALCULATE individuals on the base of the above work. The failures
of GAMAS also exist: the number of genetic groups is
Fig. 2 Block diagram of speed estimation
too large. The work of this algorithm is huge. The
convergent speed is slow because of the use of SGA in
the voltage equation of a squirrel cage induction motor, the inter-genetic-group development, the relationship
as is well known is used. Which is expressed as follows:
among different genetic groups is loosen, and there is
no inter-effects between best individuals in a generation.
As a result, the effective genes, which are carried by
best individuals, are not explored out.
Where
. . As we know, during the course of creature
us = + j u q r, i s = i d s+ j i q s , evolution, this situation exist: the natures of the
w, = W d r + jw,, = Mi, + L , i , , offspring who bore as a result of close relative
propagation are always no better than their parents, and,
(3 = 1 - M / ( L s L , ) , (3, yr&,
p = d / dt . on the contrary, the nature of offspring whose parents
The motor speed are given by are widely departed is extremely good. So, people also
choose this kind of marriage, and they try their best not
O r =-Pwdr’/qr -‘r(Wdr-Midr)/Wqr (6)
to get marry with close relatives.
w, =PWqr / W d r - o r ( - v q r- M i q s ) / v d r (7) In the GAS of single group, the offspring is
In the steady state, when the currents, the reproduced by definitive parents because the size of
voltages ,and the flux linkage have sinusoidal waves, (6) genetic group is limited, and a fair number of offspring
and (7) become as follows: result from the same parents with the homologic genetic
w r = - (T r ( W d r - > /w q r (8) structure, which will cause the premature convergence
of algorithm. In this article, we introduce the allied
w r = - Or (-w qr + M i q s > /v d r (9) method of people into GAS, and bring out a GAS based
on parellel evolution among multi-genetic groups: For,
4. TEE ADAPTIVE PI CONTROLLER M genetic groups evolve parellelly, when the
relationship between genetic groups satisfy a certain
BASED ON ALLIED GENETIC requirements, the recent two best individuals of
ALGORITHMS different genetic groups ally. And the best individuals
will exist in the offspring, transfer to the related groups,
and engage in the evolution of next generation. Because
4.1 Genetic Algorithm allied offspring carry the genes of another group, allied
GAS has been formally provided for more than 20
strategy can both assure the diversity of genes, avoid
years. Nowadays, people bring our a lot of modifying
the danger brought by the propagation of close
algorithms according to GAS’ s problems and faults,
relatives, and speed the exploring process of GAS with
which include development in the following directions:
the introduction of good genes from other groups. In
1.the modification of genetic strategy (for example,
order to prevent the best individuals from rapid

980
vanishing, we extend the best-individual-maintaining-
strategy of single genetic group GAS: By comparing the
best offspring of original group and allied offspring, we
select the excellent one and put it into the next
evolution process. This is the main idea of allied
strategy.
Select the best one
W
4.judge the terminal standard t of the algorithm, if the
condition is satisfied, the program ends; otherwise,
turn to 2.
The structure of controller in this article is showed
in figure 4. The parameters of the PI controller are
adjusted gradually through the allied GAS.
In the control method of this article, the genetic
optimizing procedure is used in online estimation, the
control signal is sent by traditional PI controller. At first,
we use allied GAS on original parameter to fulfill offline

lc7 Genetic group

I .(
“Seed”
0
Genetic group optimizing, then we add these into control system. On
one hand, we propose the best PI parameter, on the
other hand, the system is studying further, adjust its PI
parameter to satisfy the change of the controlled object.
Fig. 3 the model of allying

4.3 Logical Operator Stator resistance rs 0.5616Q

According to this GAS based on binary code,
crossbreed operator is usually expressed as 1-point
crossbreed, 2-point crossbreed, multipoint crossbreed
and uniform crossbreed. In these four operators, the
genes constituted of {O,l} act as symbols to take
function. But, as we all know, “0” and “1” are two
logical states in computer technology, and their
behavior manner can be fulfilled by logic operations of
different definitions. In this article, we endue the logic
functions of “0” and “1” to the genes in the GAS, so
we get
- a novel genetic operator----logic operator:
crussbreed
I I O I O O ~ O=3
I oioiooooi “in~uperariun
01 1101001 111101101 “u#”uperaiion
llo!o?lol ~ I O O O ~ I O“nut-u3’uperatiot
~ table 1. The calculation of this control schemes in less
mufafiun =$
01 1101001
.. 01 1100001 “and-uPoperatiut
4.3 The Description of PGAAS and the
Procedure of Algorithm
According to the description of single group GAS
of article [3], the PGAAS can be expressed as:
,=I
In this equation, M is the genetic group size; Pi (0)
is the initial genetic group; rJ is the size of every
genetic group; h is the length of chromosome, in order
to assure the achievement of the allying, h must be
equal. S; is the genetic strategy, allied strategy is one
too. gi is the genetic operator and a is the genetic
probability. fi is the proper-value algorithm; q is the
allying condition. The t is the terminal standard of the
algorithm.
The procedure of PGAAS is following:
1.M genetic groups initiate respectively.
2.Every genetic group evolves by itself (single
genetic group GAS).
3.if the allying condition q is satisfied, the genetic
groups marry one to the other (see figure 3).
Rotor resistance rr 0.5345Q
Stator inductance L, 0.009348H
Rotor inductance L 0.005636H
I Magnetizing inductance IM I 0.008415H I
5. SIMULATION RESULTS
Using the Genetic tuning controllers, simulation of
a vector control induction motor ratings of 15KW were
carried out. The current source inverter drive with
vector control and the speed estimation is used in this
system. The constant used for simulations is listed on
than lms is possible using a digital signal processor
@SP).
The simulation of the overall closed-loop system
is accomplished using Runge-Kutta numerical method.
Now the change interval of Ti is [0,50], the length 11=16;
Ki is [0.1,0.42], i=lO, Tn is [O.OS,l.OS], b=lO; & is
[O.6,1.83],l4=1O, (M,N, A ,Pc, P,)= (2,30,45,0.6,0.05).
According to the parameters value mentioned
above, a series of comparison curves of the speed
control responses between the conventional PI
controller and the new Genetic tuning PI controllers are
shown in Fig.4 to 7.
Fig. 4 and Fig. 5 show the variation of the speed
responses when each of the different rr is set for the
same system. In Fig. 4, the simulation curves are caused
by using the conventional PI controllers, and in Fig. 5
by using the Allied Genetic tuning PI controllers. These
curves show that the system with the Allied Genetic
tuning PI controllers is insensitive to the change of
motor parameters.
In Fig. 6, the curves are corresponding to the
starting response of command speed caused by the PI
and the new Allied Genetic tuning PI controllers. 1:
Allied Genetic tuning PI controllers 2: conventional PI
controllers. The simulation curves show that the

981
overshot are reduced in the response and the setting
time is shorter by using the Allied Genetic tuning PI controllers 2: conventional PI controllers. The
controllers than using the others. simulation curves shows that the system with new
In Fig. 7 the curves are corresponding to the controllers is insensitive to the load disturbance.
transient response in change of the load (from 100% to
120%) caused by the PI and the new Allied Genetic
6. CONCLUSION
tuning PI controllers. 1: Allied Genetic tuning PI

The proposal of genetic algorithms (GAS) is

resulted from the evolution of creatures. The GAS
follows the evolution principle of creatures at great level.
So, every principle which benefits the creature’ s
multiplying and evolution can be regarded as the
ameliorating method of GAS, which is the main cause of
the opinion that “GAS is not a simple optimizing
algorithm, but a novel general methodology based on
evolution ideal”. Human beings’ marrying manner is
the outcome of accumulation of tens of thousands
years’ evolution. We improve stability and the
convergent speed of the algorithm by introducing the
marring idea of humans. Because the genetic groups,
which are independent to each other, are marrying in
appropriate time, PGAAS is used in parallel calculation
of multi-processor. In the same time, we can build a
fundamental of the hard ware realization by substituting
traditional operator with logical operator. So we can
believe that due to the convenient realizing method and
the global quickly convergent characteristic divorced
from the controlled object model, GAS have powerful
life-force although they need be ameliorate furthermore.
GAS introduces a special method to the design of
control system, and it must be widely used in the
electrical drive system. .

REFERENCES

Nicholas P. Rubin, Ronald G. Harley, and Gregory

Diana. “Evaluation of Various Slip Estimation
Techniques for an Induction Machine Operating
Under Field-Oriented Control Conditions”, IEEE
Tram. onLA., vol. 28, 1992, pp. 1367-1375
Geng Yang and Tung-Hai Chin, “Adaptive-
Speed Identification Scheme for a Vector-
Controlled Speed Sensorless InverterInduction
Motor Drive”, IEEE fianx on LA., vol. 29, 1993,
pp. 820-824.
A. E.Eiben, E. H Aarts and Van Hee K. M., Global
Convergence of Genetic Algorithms.. An Infinite
Markov Chain Anabsis. Parallel Problem
Solvingfrom Nature. Heidelberg, Berlin: Springer-
Verlay, 1991,pp. 4- 12.
M. Srinvas, and L. M. Patnaik, “Adaptive
Probabilities of Crossover and Mutation in
Genetic Algorithms,” IEEETrans. on SMC, vol. 4,
0 A
m Lim LEm 2m 1994,pp. 656-666.
tfms

Fig.7
982