PERFORMANCE

ANALYSIS
OF
INDUCTION MOTOR FOR SUDDEN
LOAD DISTURBANCE USING PI AND
FUZZY CONTROLLER
1. ABSTRACT
Vector control is becoming the industrial
standard for induction motor control. The
vector control technique decouples the two
components of stator current space vector:
one providing the control of flux and the
other providing the control of torque. The
two components are defined in the
synchronously rotating reference frame.
With the help of this control technique the
induction motor can replace a separately
excited dc motor. The DC motor needs time
to time maintenance of commutator, brushes
and brush holders. The main effort is to
replace DC motor by an induction motor and
merge the advantages of both the motors
together into variable speed brushless motor
drive and eliminate the associated problems.
The squirrel cage induction motor being
simple, rugged, and cheap and requiring less
maintenance, has been widely used motor
for fixed speed application. So with the
implementation of vector control, induction
motor replaces the separately excited dc
motor. The vector control technique is
therefore a better solution so that the control
on flux and torque become independent
from each other and the induction motor is
transformed from a non-linear to linear
control plant. With the advent of field
oriented control; the induction motor has
become an attractive option. In this report
we will come to know the concept of vector
control and different types of vector control
techniques available. And finally we will be
able to compare them. Indirect field
orientation (IFO) induction machine drives
are increasingly employed in industrial drive
systems, but the drive performance is often
degrades. The analysis, design and
simulation of the fuzzy logic controller for

IVCIM drive system are carried out based

on the fuzzy set theory. The FLC algorithm
has been simulated on Simulink Toolbox in
MATLAB. The performance of the

proposed FLC has been investigated and

compared to the results obtained from the
conventional PI controller based drive at
different operating conditions such as
sudden change in load. Motor works on
best performance at certain voltage and
frequency for certain loads. Motor works on
best performance at certain voltage and
frequency for certain loads. Speed
estimation is one of the methods of speed
control for three phase induction motors.
With the advancement of the power
electronics switching devices and digital
technologies, the developments of speed
estimation methods have been intensively
implemented from many researchers
2. INTRODUCTION:An induction motor is an asynchronous AC
(alternating current) motor. The AC
induction motor (ACIM) is the most popular
motor used in consumer and industrial
applications, and represented the "muscle"
behind the industrial revolution.
Now a days more than 60% of all the
electrical energy generated in the world is
used by cage induction machines have been
mostly used at fixed speed for more than a
century. On the other hand, D.C machines
have been used for variable speed
applications. In DC machines mmf axis is
established at 90 electrical to the main field
axis. The electromagnetic torque is

proportional to the product of field flux and

armature current. Field flux is proportional
to the field current and is unaffected by the
armature current because of orthogonal
orientation between armature mmf and field
mmf .Therefore in a separately excited DC
machine , with a constant value of field flux
the torque s directly proportional to the
armature current. Hence direct control of
armature current gives direct control of
torque and fast response. Hence they are
simple in control and offer better dynamic
response inherently. Numerous economical
reasons, for instance high initial cost, high
maintenance cost for commutator, brushes
and brush holders of DC motors call for a
substitute which is capable of eliminating
the persisting problems in dc motors.
Freedom from regular maintenance and a
brushless robust structure of the three phase
squirrel cage induction motor are among the
prime reasons, which brings it forward as a
good substitute.
Variable Ac motor drive s have been used in
the past to perform relatively undemanding
roles in applications , which preclude the use
of the DC .motors , either because of the
working environment or commutator limits.
Because of the high cost of efficient and fast
switching frequency static inverters he
lowest cost AC motors has also been a
decisive economic factor in multi-motor
systems. However as a result of the progress
in the field of power electronics, the
continuing trend is towards cheaper and
more effective power converters, and single
motor AC drives compete favourably on a
pure economic basis with the DC drives.
3. Control Schemes for Speed
Control of Three Phase Induction
Motor
The different control schemes of induction
motor drives are including Scalar control,
vector or field orientation control, direct

torque and flux control etc. But induction

motor control drives are broadly classified in
two category i.e. scalar control and vector
control.

3.1 Scalar control

Scalar control as the name indicates, is due
to magnitude variation of the control
variable only, and disregards the coupling
effect in machine. For example, the voltage
of machine can be controlled to control the
flux, and frequency or slip can be controlled
to control the torque. However flux and
torque are also function of voltage and
frequency respectively. A scalar controlled
drive gives somewhat inferior performance.
Scalar control is easy to implement. Scalar
controlled drives have been widely used in
industry, but the inherent coupling effect
(both torque and flux are function of voltage
or current and frequency) gives sluggish
response and system is easily prone to
instability because of higher order (fifth
order) system effect. However, their
importance has diminished recently because
of the superior performance of vector or
Field orientated control (FOC) drives

3.2 Vector control

Blaschke in 1972 has introduced the
principle of field orientation to realize dc
motor characteristics in an induction motor
derive. For the same, he has used decoupled
control of torque and flux in the motor and
gives its name transvector control. In DC
machine the field flux is perpendicular to the
armature flux. Being orthogonal, these two
fluxes produce no net interaction on one
another. Adjusting the field current can
therefore control the DC machine flux, and
the torque can be controlled independently
of flux by adjusting the armature current. An
AC machine is not so simple because of the
interactions between the stator and the rotor
fields, whose orientations are not held at 90
degrees but vary with the operating

conditions. We can obtain DC machine-like

performance in holding a fixed and
orthogonal orientation between the field and
armature fields in an AC machine by
orienting the stator current with respect to
the rotor flux so as to attain independently
controlled flux and torque. Such a control
scheme is called flux-oriented control or
vector control. Vector control is applicable
to both induction and synchronous motors.
The cage induction motor drive with vector
or field oriented control offers a high level
of dynamics performance and the closedloop control associated with this drive
provides the long term stability of the
system. Induction Motor drives are used in a
multitude of industrial and process control
applications requiring high performances. In
high-performance drive systems, the motor
speed should closely follow a specified
reference trajectory regardless of any load
disturbances, parameter variations, and
model uncertainties. In order to achieve high
performance, field-oriented control of
induction motor drive is employed.
4. Problem Identification
The conventional control methods have the
following difficulties:
1. It depends on the accuracy of the
mathematical model of the systems.
2. The expected performance is not
met due to the load disturbance,
motor saturation and thermal
variations.
3. Classical linear control shows good
performance only at one operating
speed.
4. The coefficients must be chosen
properly for acceptable results.
Whereas choosing the proper coefficient
with varying parameters like set point is
very difficult to implement conventional
control, the model of the controlled system
must be known.

The usual method of computation of

mathematical model of a system is difficult.
When there are system parameter variations
or environmental disturbance, the behaviour
of the system is not satisfactory. Usually
classical control is used in electrical motor
drives. The classical controller designed for
high performance increases the complexity
of the design and hence the cost.
Intelligent control, act be better than
conventional adaptive controls. Fuzzy logic
technique is quite different, and yet with
unique capabilities useful in information
processing by specifying mathematical
relationships among numerous variables in a
complex system, performing mappings with
degree of imprecision, control of nonlinear
system to a degree not possible with
conventional linear systems. Design of a
fuzzy controller requires more design
decisions than usual, for example regarding
rule base, inference engine, defuzzification,
and data pre- and post processing.
While it is relatively easy to design a PI
controller, the inclusion of fuzzy rules
creates many extra design problems, and
although many introductory textbooks
explain fuzzy control, there are few general
guidelines for setting the parameters of a
simple fuzzy controller. There is no
design procedure in fuzzy control such as
root-locus design, frequency response
design, pole placement design, or stability
margins, because the rules are often
nonlinear. Therefore we will settle for
describing the basic components and
functions of fuzzy controllers, in order to
recognize and understand the various
options in commercial software packages for
fuzzy controller design.

5. Methodology
Intelligent control is a class of control
techniques that uses various AI computing
approaches. In this project Fuzzy logic
controller and PI controller is used here for

speed regulation of three phase induction

motor. Fuzzy logic is a form of multi-valued
logic derived from fuzzy set theory to deal
with reasoning that is approximate rather
than precise. In contrast with "crisp logic",
where binary sets have binary logic, fuzzy
logic variables may have a truth value that
ranges between 0 and 1 and is not
constrained to the two truth values of classic
propositional logic. Furthermore, when
linguistic variables are used, these degrees
may be managed by specific functions.
The performance of intelligent controllers is
better and reliable than conventional PI
controller in settling time and dynamic
response. On the other hand, practical
control problems are usually imprecise.
5.1 Proportional Integral controller
Proportional-Integral (PI) control is the most
common control algorithm used in industry
and has been universally accepted in
industrial control. The popularity of PI
controllers can be attributed partly to their
robust performance in a wide range of
operating conditions and partly to their
functional
simplicity,
which
allows
engineers to operate them in a simple,
straightforward manner.
As the name suggests, PI algorithm consists
of two basic coefficients; proportional and
integral which are varied to get optimal
response. The combination of proportional
and integral terms is important to increase
the speed of the response and also to
eliminate the steady state error. The PID
controller block is reduced to P and I blocks
only as shown in figure:

Figure 5.1: Block diagram of PI Controller

5.2 Fuzzy Logic

Fuzzy logic is a very powerful method of
reasoning when mathematical formulations
are infeasible and input data are imprecise.
Fuzzy logic is a powerful tool for designing
the control system accurately. Fuzzy logic
application mainly to control is being
studied throughout the world by control
engineers. There are specific components
characteristic of a fuzzy controller to support
a design procedure.
To determine a fuzzy rule from each inputoutput data pair, the first step is to find the
degree of each data value in every
membership region of its corresponding
fuzzy domain. The variable is then assigned
to the region with the maximum degree.
When each new rule is generated from the
input output data pairs, a rule degree or truth
is assigned to that rule, where this rule
degree is defined as the degree of
confidence that the rule does in fact
correlate to the function relating voltage and
current to angle. In the developed method a
degree is assigned which is the product of
the membership function degree of each
variable in its respective region.

P
os
tp
ro
ce
ss
in
g

In
R
Fuzzy
controller
Pr
fe
ul De
Fu
efu
e
zzi re
Pr
nb zzi
oc
c
fic as
es
fic
e
ati
sin on
ati
e
g
on
n
Figure 5.2 :- BlockgiDiagram of Fuzzy
Controller
n
e with comparison
Speed error is calculated
between reference speed and speed signal
feedback. Speed error and speed error
changing are fuzzy controller inputs. Input
variables are normalized with a range of
membership functions specified and the
normalization factors are named as K1, K2
and K3. Suitable normalization has direct
influence in algorithm optimality and faster
response.

high performance domains such as robotics,

rolling mills and tracking systems where fast
dynamic torque control is required. AC
machines are always preferable to dc
machine due to their simpler and more
robust construction; there is no mechanical
commutator. However, the electrical
structures of ac machines are highly
nonlinear and involve multivariable inputs
and outputs. Therefore, additional effort is
required to decouple and linearism the
control of these machines. In practice,
intricate control algorithms are involved if
ac drives have to match the dynamic
performance of dc drives. Due to
advancements in microelectronics and
power electronics, high performance control
of ac motors can now be implemented at a
reasonable
cost.
This
technological
breakthrough has stimulated in turn the
application
of
sophisticated
control
algorithms and the widespread use of ac
drives in high performance domains.
7. Mathematical Equations used in
Indirect Vector Control technique
The indirect vector control method is
essentially the same as the direct vector
e
control, except that the rotor angle
is
generated in an indirect manner (estimation)
m
using the measured speed
and the slip
speed

Figure 5.3 :- Fuzzy Controller

6. Vector control (field oriented

control) Scheme:The control of separately-excited dc
machines is straightforward due to the
inherent decoupled nature between flux and
torque. As a consequence, torque
linearization can be obtained easily by
armature current control with constant field
flux .DC motors have been widely used in

sl

. To implement the indirect

vector control strategy, it is necessary to take

dynamic equation into consideration and the
following equations
e = (m + sl )dt
For decoupling control, the stator flux
component of current ids should be aligned
on the de axis, and the torque component of

current iqs should be on the q e axis, that

qr
dr
r
leads to
= 0 and
=
then
Lm i ds =

Lr d
+r
Rr dt

The slip frequency is calculated from the

stator reference current iqs* and the motor
parameters.
L Rr
sl = m
i qs
| r|est Lr
It is found that the ideal decoupling can be
achieved if the above slip angular speed
command is used for making fieldorientation. For a constant rotor flux r
and

d
dt

=0

Substituting in equation yields the rotor flux

set as
Lm i ds =r
The stator quadrature-axis current reference
iqs* is calculated from torque reference Te*
as

2 2 Lr T e

i qs = . .
3 p Lm | r|est

d wm
Te = TL + J dt

d r
= TL +2/P J dt

TL =load torque, J = rotor Inertia, and wm

mechanical speed.
8. BLOCK
DIAGRAM
OF
VECTOR
CONTROLLED
INDUCTION MOTOR DRIVE
SPEED CONTROL
A block diagram of IVCIM drive is shown
in fig.5.1.The induction motor is fed by a
current- regulator. The motor drives a
mechanical load characterized by inertia J,
friction coefficient B, and load torque TL.
The speed control loop uses a fuzzy logic
controller instead of a simple proportionalintegral controller to produce the quadrature
axis current reference iq* which controls the
motor torque. The motor flux is controlled
by the direct-axis current reference id*.
Block d-q to abc is used to convert i d* and
iq* into current references ia*, ib*, and ic* for
the current regulator.

The stator direct-axis current reference i ds*

is obtained from rotor flux reference input |
r|*

| r|

i ds =
Lm
Where Lr is the rotor inductance, Lm is the
mutual inductance, and | r|est is the
estimated rotor flux linkage.
r
The speed
cannot normally be treated
as a constant. It can be related to torque as

9. Conclusion
Designing of controllers for speed control
loop is very complex because of high
computation burden .A conventional P-I
controller and fuzzy logic controllers for
speed control of induction motor using
indirect vector control method are designed.

The mathematical model, Operation and

performance
are
obtained
through
simulation.
A fuzzy speed controller for an indirect
field-oriented induction motor has been
proposed in this project. A comparison
between the fuzzy controller and the
conventional PI controller reveals the
superiority of the first one. The fuzzy
controller is less sensitive to the system
parameters variation and this proves its
robustness. In order to improve the
controller performance, it needs to study
about the auto-tuning fizzy controller or
fuzzy adaptive controller in the future. A FL
control
in
IVCIM
gives
superior
performance in terms of fast dynamic
responses and stiffer speed regulation.
Simulation results showed that the fuzzy
logic controller is more robust during load
changes and eliminates the transients during
sudden changes in speed. The results of both
controllers under the dynamics conditions
are compared and analyzed. The simulation
result support that the FLC settles quickly

and has better performance than when PI

controller.

10. Future Scope of Work

The simulations and experimental works
show the great promise of the studied
methods in this thesis. However, due to
equipment limitations these methods are not
tested over a wide speed and toque ranges.
Further, the experimental work is required to
implement these techniques in the entire
torque speed range of the induction motor.
Using the three different speed frames
(arbitrary,
stationary,
synchronous)
discussed equivalent circuit models for airgap flux, stator flux and rotor flux may also
be derived. In addition to the implemented
SVPWM algorithm over modulation
techniques may also be implemented in
order to utilize entire dc link voltage.
Implementing space vector modulation for
generating switching sequence to the
inverter. Realizing the vector controlled
induction motor through hardware.