IPASJ International Journal of Electrical Engineering (IIJEE)

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Volume 4, Issue 12, December 2016

SPEEDPERFORMANCE OF SOS
ALGORITHMBASEDDTC OF INDUCTION MOTOR
V.Vikas1, M.Ram Mohan Rao2, A.Bala Naga Lingaiah3 , A.V.NareshBabu4
1

PG Student [P.E&E.D], Dept. of EEE, DVR & Dr. HS MIC College of Technology, Andhra Pradesh, India
2,3

Assistant Professor, Dept. of EEE, DVR & Dr. HS MIC College of Technology, Andhra Pradesh, India
4

Professor,Dept. of EEE, DVR & Dr. HS MIC College of Technology, Andhra Pradesh, India

ABSTRACT
This paper presents a method for improving the speed performance of 3-phase induction motorusing direct torque control
(DTC) based on symbiotic organism search (SOS) optimization technique. In conventional direct torque controlled induction
motor drive, there is usually undesired torque and flux ripple.So Tuning PI parameters (Kp and Ki) are essential to DTC system
to improve the performance of the system.In this work, symbiotic organism search optimization is proposed to adjust the
parameters (Kp and Ki) of the speed controller in order to improve the performance of the system, and run the machine at rated
speed. The speed control of the IM is done by using the conventional DTC proportional integral controller and SOS controller.
The effect of variation of the speed has been clearly tested for both conventional and SOS based speed controllers. The
simulation results shows a better performance of the induction motor whenusing the DTC based on SOS in comparison with
conventional DTC. Also, the SOS based DTC has improved the speed performance of the IM over a wide range of operating
conditions.

Keywords:DirectTorqueControl,PIController,Symbiotic Organism Search .

1.INTRODUCTION
Direct torque control of induction motor drives has gained popularity due to its simple control structure and sensor less
operation. The simple structure of conventional DTC drive originally introduced in [1]. It consists of torque and flux
hysteresis-based controllers, flux and torque estimator switching look-up table. Despite of its simplicity, it was well
known that the implementation of the hysteresis-based DTC PI controller requires fine tuning and cannot cope with
parameters variation. This result in unpredictable switching frequency of the switching devices. Further, the variable
switching frequency will generate unpredictable harmonic currents. The PI control is simple and offers a wide stability
margin,but it incorporates tuning, overshoot problems. Various methods have been proposed to overcome these
drawbacks, such as variable structure control approach, fuzzy logic control, neural network control and Symbiotic
organism search optimization. These adaptive control methods have been proposed for motion control of Induction
motor drive [2].
The SOS algorithm simulates heinter active behavior seen among organismsin nature. Amain advantage of the SOS
algorithm mover most othermeta-heuristical go rithmsisthatalgorithm operation srequireno specific algorithm
parameters.
SOS uses only the two parameters of maximum evaluation number and population size. Other algorithms such as GA,
DE, PSO and CS require the tuning of at least one specific algorithm parameter in addition to these two parameters.
While simpler and more robust than competing algorithms, SOS is able to resolve a wide variety of problems.
Moreover, it avoids the risk of compromised performance due to improper parameter tuning.

2.MATHEMATICALMODELING OF INDUCTIONMOTOR
Theinductionmotor is modeledby [3]usingvoltage & flux linkage equations which are referred to stationary reference
frame, denoted by superscripts.
Stator voltage equations:
d s
s
s
Vqs R s i qs qs (1)
dt

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d s
s
s
Vds R s i ds ds
dt

(2)

d s:s
s
s
0 R r i qr
qr dr
r
dt

(3)

d s
s
s
0 R r i dr dr qr
r
dt

(4)

Stator Flux linkages:

s
s
s
qs L i L i
s qs
m qr

(5)

s
s
s
ds L i
L i
s ds
m dr

(6)

s
s
s
qr L i L i
r qr
m qs

(7)

s
s
s
dr L i L i
r dr
m ds

(8)

Rotor Flux linkages:

Electro-magnetic torque developed by the induction motor drive is given by:

Te

3 P s s
s s
ds i qs - qs i ds (9)

2 2

3.THREEPHASEVOLTAGESOURCEINVERTER
The circuit topology for 3- voltage source inverter using IGBTS is shown in Fig 1. S1 to S6 are the six power
switches that shape the output, which are controlled by the switches a, b and c. The inverter produce output when any
one of the switch is ON in every segment, if an upper switch is ON the corresponding lower switch is OFF in that
segment. The state of the switch will determine the output voltage of inverter. The speed and electromagnetic torque of
induction motor is controlled by the selection of optimal inverter switching modes.

Fig1.Voltage source inverter using IGBTS

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The standard three-phase VSI topology has eight valid switching states .In these two are zero voltage states which
produce zero ac line voltages and in this case, the ac line currents freewheel through either the upper or lower
components[4]. The remaining states are active states which produce non-zero ac output voltages. The inverter moves
from one state to another in order to generate a given voltage waveform. Thus the resulting ac output line voltages
consist of discrete values of voltages such as , 0,
for the topology shown in Fig1.

4.DIRECTTORQUECONTROLOFINDUCTIONMOTOR
Blockdiagramofdirecttorquecontrolofinductionmotor [5]isshowninFig2.

Fig2.BlockdiagramofIMdriveunderDTC

The electromagnetic torque developed by the induction motor is given by

Te

3P

Lm

2 2 LsLr

s r sin

(10)

Where r and s are the rotor and stator flux linkages and is the angle between the fluxes and is the leakage
coefficient.
In the DTC scheme, the electromagnetic torque and flux signals are delivered to two hysteresis comparators. The
corresponding output variables and the stator flux position sector are used to select the appropriate voltage vector from
a switching table which generates pulses to control the power switches in the inverter [6].

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Table1.Selection table of voltage vector

S

ST

Sector I

Sector II

Sector III

Sector IV

Sector V

Sector VI

V2

V3

V4

V5

V6

V1

V7

V0

V7

V0

V7

V0

-1

V6

V1

V2

V3

V4

V5

V3

V4

V5

V6

V1

V2

V0

V7

V0

V7

V0

V7

-1

V5

V6

V1

V2

V3

V4

5.SOS ALGORITHM
In this paper, the main objective of SOS is minimization of speed error. Fig.3 shows the block diagram for PI controller
and the corresponding objective function is givenin equation (11) and (12).

Fig3. PI controller

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e(t) Wref Wactual

T
e

e(t)
K

(11)

(12)

K t
p
i

Where
e(t) =Speed error
Te*= Reference torque
K = Proportional constant of PI controller
p

K = Integral constant of PI Controller.

i

Step1.Initialization

(a) Initialization of SOS parameters:

The parameters like initial population size, number of design variables, Limits of control variables and maximum
generation limit are initialized [7]. The parameters like number of organisms (eco size), initial ecosystem and
termination criteria are also initialized.
(b) Initialize the population:
Generate a random population according to the population size and number of design variables.For SOS, The
ecosystem is expressed as a random matrix and its corresponding fitness value is obtained.

This population is expressed as

x1,1
x
2,1
Population


x
Pn,1

x 1,2

x 2,2

x Pn,1

x 2,D

x Pn,D

x 1,D

(13)

Where P = population size

D = no. of variables
From the obtained values the lowest minimum fitness value of the entire ecosystem is chosen as the Xbest. The phases in
SOS algorithm are as follows
STEP2.MUTUALISMPHASE
Mutualism denotes a symbiotic relationship between two different species in which both benefit. In SOS, Xi is an
organism matched to the ith member of the ecosystem. Another organism Xj is then selected randomly from the
ecosystem to interact with Xi. Both organisms engage in a mutualistic relationship with the goal of increasing mutual
survival advantage in the ecosystem. New candidate solutions for Xi and Xj are calculated based on the mutualistic
symbiosis between organism Xi and Xj, which is modeled in Eqs (14) and (15).

X inew X i rand 0,1 X best Mutual vector BF1

X jnew X rand 0,1 X best Mutual vector BF2

j

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(14)
(15)

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Mutual vector

Xi X j

(16)

Where Xinew and Xjneware the new candidate solutions for organisms Xi and Xj calculated based on mutualistic.BF1 and
BF2 are two benefit factors determine randomly as either 1 or 2. These factors represent the level of benefit to each
organisms, i.e., whether an organism partially or fully benefit from the interaction.Mutual vector represents the
relationship characteristic between organism Xi andXj.
Step 3.Commensalism Phase
Commensalism is a symbiotic relationship between two different species in which one benefits and the other is
unaffected or neutral. Similar to the mutualism phase, an organism Xj, is selected randomly from the ecosystem to
interact with Xi. In this circumstance, organism Xi attempts to benefit from the interaction [8]. However, organism Xj
itself neither benefits nor suffers from the relationship. The new candidate solution of Xi is calculated according to the
commensal symbiosis between organism Xi and Xj. Following the rules, organism Xi is updated only if its new fitness is
better than its pre-interaction fitness.

X inew X i rand - 1,1 X best X

j

(17)

Where Xinew is the new candidate solution of Xi organism calculated based on commensal symbiosis between organisms
Xi and Xj.
Step 4. Parasitism Phase
Parasitism is a symbiotic relationship between two different species in which one benefits and the other is actively
harmed. In SOS, organism Xi is given a role similar to the anopheles mosquito through the creation of an artificial
parasite called Parasite Vector. Parasite Vector is created in the search space by duplicating organism Xi, then
modifying the randomly selected dimensions using a random number. Organism Xj is selected randomly from the
ecosystem and serves as a host to the parasite vector. Parasite Vector tries to replace Xj in the ecosystem. Both
organisms are then evaluated to measure their fitness. If Parasite Vector has a better fitness value, it will kill organism
Xj and assume its position in the ecosystem [9]. If the fitness value of Xj is better, Xj will have immunity from the
parasite and the Parasite Vector will no longer be able to live in that ecosystem.
Step5.Selection
Bysortingthe profits, the nests with the best profit valuesareselectedandmemorizethe bestsolutionandgo to step
2(Mutualism phase)[10].
STEP6.STOPPINGCRITERIA
Steps2-4 is repeated until the minimum or maximum (depends on minimization or maximization) is achieved or
maximum iteration count is reached.
In the current work, when the number of generations reaches the given maximum number of generations is used as
stopping criteria. Best organisms are copied to next generations until stopping criteria is satisfied.

6.RESULTS AND DISCUSSION

In this section, the conventional DTC was initially simulated with chosen Kp& Ki values. Later, the Symbiotic
organism search algorithm was applied to the controller of conventional DTC of induction motor. The input parameters
of Symbiotic organism search algorithm are given in Table2. The optimal parameters for Symbiotic organism search
algorithm Kp& Ki are 129.05&1.27.The optimized parameters for both conventional DTC and SOS based DTC are
shown in table 3.Table4 shows the parameters of the induction motor.

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Table2.Algorithm parameters
Parameters

Table3. Optimal Parameters

Values

No of iterations

100

Population size

No of variables

Kp limits

0 to 130

Ki limits

0 to 10

Conventional
DTC

SOS based DTC

Kp

Ki

Kp

Ki

30

0.4

129.05

1.27

Table4. Induction Motor Parameters

Parameters

Values

Rating

3-,4kw,50Hz,1200rpm

Rs

1.57

Rr

1.21

Ls=Lr

0.17H

Lm

0.165H

4 poles

0.089Kg-m2

The plots are taken for the both conventional DTC and SOS based DTC when applying and removing of a load torque
30 N-m at 0.4sec and 0.6sec respectively. The plots are shown in Fig4 and Fig5 respectively. In the both the cases the
speed deviation occurred at 0.4sec to 0.6sec.The speed deviation was less in SOS based DTC over conventional DTC. It
is clearly given that the SOS based DTC improve the speed performance when compared with conventional DTC and
are shown in Fig6. The optimal values of SOS based DTC improves the speed performance by minimizing the speed
error.

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Fig4.Current, Torque and Speed response for Conventional DTC.

Fig5.Current, Torque and Speed response for SOS based DTC

Fig6.Speed comparison of Conventional DTC & SOS based DTC

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7.CONCLUSION
In this paper, the proposed SOS based DTC control scheme has been implemented. The simulation results of this
method have improved the speed performance of the induction motor irrespective of the load torque fluctuations. The
proposed SOS method has optimized the parameters of PI controller by minimizing the speed error. It can be concluded
that the SOS algorithm employed in DTC of induction motor has resulted in the optimal generation of Kp&Ki values.
This proposed method has finally improved the speed behavior of the induction motor when compared with that of a
Conventional DTC of Induction motor.

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