Adaptive Neuro Fuzzy Based Dynamic Simulation of
Induction Motor Drives
P. M. Menghal
Faculty of Degree Engineering,
Military College of Electronics & Mechanical Engineering,
Secunderabad, 500 015
Research Scholar, EEE Dept., JNTU, Anantapur-515002,
Andhra Pradesh, India
prashant_menghal@ yahoo.co.in
Abstract In the industrial sector especially in the field of
electric drives & control, induction motors play a vital role.
Without proper controlling of the speed, it is virtually impossible
to achieve the desired task for a specific application. Basically AC
motors, such as Induction Motors are of Squirrel-Cage type.
They are simple, reliable, low cost and virtually maintenance-free
electrical drives. Based on the inability of conventional control
methods like PI, PID controllers to work under wide range of
operation, artificial intelligent based controllers are widely used
in the industry like ANN, Fuzzy controller, ANFIS, expert
system, genetic algorithm. The main problem with the
conventional fuzzy controllers is that the parameters associated
with the membership functions and the rules depend broadly on
the intuition of the experts. To overcome this problem, Adaptive
Neuro-Fuzzy controller is proposed in this paper. The
comparison between Conventional PI, Fuzzy Controller and
Adaptive neuro fuzzy controller based dynamic performance of
induction motor drive has been presented. Adaptive Neuro Fuzzy
based control of induction motor will prove to be more reliable
than other control methods.
Keywords- Adaptive Neuro-Fuzzy controller, PI Controller, Fuzzy
Logic Controller(FLC), Sugeno Fuzzy Controller, Hebbian
learning algorithm
I. NOMENCLATURE
Rs The stator resistance.
Rr The rotor resistance.
Lm The magnetizing inductance of the motor.
Lls The stator leakage inductance.
Llr The rotor leakage inductance.
r The slip frequency is the frequency of the
actual rotor current.
Llr The rotor leakage inductance referred to stator side.
Rr The rotor resistance referred to stator side.
qs ,ds q-axis and d-axis components of stator flux.
qr , dr q-axis and d-axis components of rotor flux.
iqs , ids q-axis and d-axis components of stator current.
iqr , iqr q-axis and d-axis components of rotor current.
vqs , vds q-axis and d-axis components of stator voltage.
vqr , vqr q -axis and d-axis components of rotor voltage.
p Number of poles.
The angular position of the rotor.
a Reference frame rotating speed.
J Moment of inertia (kg/m2).
Dr. A. Jaya Laxmi
Associate Professor, Dept. of EEE,
Jawaharlal Nehru Technological University, College of
Engineering, Kukatpally, Hyderabad-500085,
Andhra Pradesh, India
ajl1994@yahoo.co.in
Te Electrical torque.
Tl Load torque.
e (k) Control error.
r (k) Reference signal.
y (k) Output signal.
e(k) Changed error.
u(Ri) The crisp u value corresponding to the maximum
membership degree.
II. INTRODUCTION
In most of the industries, induction motors play very
important and that is the reason they are manufactured in large
numbers. About half of the electrical energy generated in a
developed country is ultimately consumed by electric motors,
of which over 90 % are induction motors. For a relatively long
period, induction motors have mainly been deployed in
constant-speed motor drives for general purpose applications.
The rapid development of power electronic devices and
converter technologies in the past few decades, however, has
made possible efficient speed control by varying the supply
frequency, giving rise to various forms of adjustable-speed
induction motor drives. In about the same period, there were
also advances in control methods and Artificial Intelligence
(AI) techniques. Artificial Intelligent techniques mean use of
expert system, fuzzy logic, neural networks and genetic
algorithm. Researchers soon realized that the performance of
induction motor drives can be enhanced by adopting artificial-
intelligence-based methods. Since the 1990s, AI-based
induction motor drives have received greater attention. Among
the existing control technologies, intelligent control methods,
such as fuzzy logic control, neural network control, genetic
algorithm, and expert system, have exhibited particular
superiorities. Artificial Intelligent Controller (AIC) could be
the best controller for Induction Motor control. Over the last
two decades, researchers have been working to apply AIC for
induction motor drives [1-6]. This is because that AIC
possesses advantages as compared to the conventional PI, PID
and their adaptive versions. Since the unknown and
unavoidable parameter variations, due to disturbances,
saturation and change in temperature exists; it is often difficult
to develop an accurate system mathematical model. High
accuracy is not usually of high importance for most of the
induction motor drive. During the operation, even when the and magnetizing inductance (Llr = Lr + Lm). From the
parameters and load of the motor varies, a desirable control equivalent circuit of the induction motor in d-q frame, the
performance in both transient and steady states must be model equations are derived. The flux linkages can be
provided. Controllers with fixed parameters cannot provide achieved as:
these requirements unless unrealistically high gains are used.
Therefore, control strategy must be robust and adaptive. As a 1
result, several control strategies have been developed for (1)
induction motor drives within last two decades. The main idea 1
for such a hybrid controller is that with a combination of fuzzy (2)
logic and neural network, such as uncertainty or unknown
variations in plant parameters and structure can be dealt more
effectively. Hence, the robustness of the control of induction 1 ( )
(3)
motor is improved. Conventional controllers have on their side
well established theoretical backgrounds on stability and allow
different design objectives such as steady state and transient 1 ( )
(4)
characteristics of the closed loop system to be specified. Much
research work is in progress in the design of such hybrid
control schemes. Fuzzy controller conventionally is totally By substituting the values of flux linkages in the above
dependent to memberships and rules, which are based broadly equations, the following current equations are obtained as:
on the intuition of the designer. This paper tends to show
Adaptive Neuro Fuzzy controller has edge over fuzzy (5)
controller. For training the fuzzy, the authors used Sugeno
fuzzy controller with two inputs and one output [10-14]. ( )
(6)
III. DYNAMIC MODELING & SIMULATION OF INDUCTION
MOTOR DRIVE
(7)
The induction motors dynamic behavior can be expressed by
voltage and torque which are time varying. The differential
equations that belong to dynamic analysis of induction motor ( )
are so sophisticated. Then with the change of variables the (8)
complexity of these equations decrease through movement Where mq and md are the flux linkages over Lm in the q and
from poly phase winding to two phase winding (q-d). In other d axes. The flux equations are written as follows:
words, the stator and rotor variables like voltage, current and
flux linkages of an induction machine are transferred to (9)
another reference model which remains stationary[1-6].

(10)

(11)

In the above equations, the speed r is related to the torque by

Fig. 1 d q Model of Induction Motor
In Fig.1 stator inductance is the sum of the stator leakage
inductance and magnetizing inductance (Lls = Ls + Lm), and
the rotor inductance is the sum of the rotor leakage inductance
the following mechanical dynamic equation as:
2
(12)
then r is achievable from above equation, where:
p: number of poles.
J: moment of inertia (kg/m2).
In the previous section, dynamic model of an induction motor
is expressed. The model constructed according to the
equations has been simulated by using MATLAB/SIMULINK
as shown in Fig. 2 in conventional mode of operation of
induction motor. A 3 phase source is applied to conventional
model of an induction motor and the equations are given by:
2 ( ) (13)
 2
2 (14)
3
NS Z PS PB
sin t (15)
NB
2 1

By using Parks Transformation, voltages are a transformed to

two phase in the d-q axes, and are applied too induction motor.
In order to obtain the stator and rotor currrents of induction -0.1 -0.05 0 0.05 0.1 0.1
motor in two phase, Inverse park transformaation is applied in
the last stage [6].

NB NS Z PS PB
1

-1 -0.5 0 0.5 1 1.5

Fig. 4 Triangular Meembership of e and e

In Table-I, the fuzzy rules decision

d implemented into the
controller are given. The ceenter of area method yields the
following

, , , ( ) ( )
( ) (17)
, , ,
Fig. 2 Induction motor in d-q modeel
Where, u(Ri) is the crisp u value corresponding to the
maximum membership degree of the fuzzy set that is an
ICONS

To Workspace1
iqs iqs

Vqs Iabc
output from the rule decisioon table for the rule Ri. The
Va Va
ids ids
conventional simulated inducttion motor model as shown in
Fig. 3 is modified by adding Fuzzy
F controller and is shown in
Vqs
Vb Vb iqr iqr

Vc Vc
Vds
idr idr
Fig. 5. Speed output terminal of o induction motor is applied as
an input to fuzzy controller, annd in the initial start of induction
Vds
Ir-abc
AC Source teta Scope1
Te teta
abc to d-q
Park transformation TL
ICONR

To Workspace2
motor the error is maximum, so s according to fuzzy rules FC
0
Constant1
Wr
Speed
produces a crisp value. Theen this value will change the
induction motor d-q model
frequency of sine wave in the speed
s controller. The sine wave
Final speed value
Torque
is then compared with trianguular waveform to generate the
1/s XY Graph
firing signals of IGBTs in the PWM inverters. The frequency
of these firing signals also graadually change, thus increasing
Integrator SCON
Scope
To Workspace

the frequency of applied voltagge to Induction Motor [12].

Fig. 3 Simulated Induction Motor Model in Convventional Mode

IV. FUZYY LOGIC CONTRO

OLLER Continuous

pow ergui
iqs iqs

V
Vqs
The speed of induction motor is adjusted by the fuzzy IGBT1
IGBT4
Va Va
ids ids
Iabc

controller. The following equation is usedd to represent the

stator current Scope
Vqs
IGBT3
Vb Vb iqr iqr

fuzzy triangular membership functions: IGBT6

IGBT5 Vc
V
Vds

0 IGBT2
Vc

PWM ac source teta

Vds
idr idr
Ir-abc

Te teta rotor current Scope

abc to d-q
T
TL
( , , , ) (16)
Park transformation Torque Scope
0 d-q to abc
Wr
Load Torque Park transformation
induction motor d-q model
1
4
3
6
5
2

1/s

0 Integrator Speed Scope

In 1

In fig. 4, the membership function of e, e and three scalar Speed contrller

values of each triangle that are applied into this controller are Feedback
Divide

shown. U(k)
1710

Reference 1

Fuzzy controller

Fig. 5 Fuzzy Control Induction Motor Model

 Scope1

1 In1 Out1
In1 <= 1
1

Sin wa ve
NOT 2
4

In1 Out1
<= 3
3
NOT 4
Si n wave1
6

Fig. 8 (a) IGBTs gating signals

In1 Out1
<= 5
5

Si n wave2 NOT 6
2

T rian gle

Fig. 6 Fuzzy Logic Speed Controller

As discussed earlier, the crisp value obtained from Fuzzy
Logic Controller is used to change the frequency of gating
signals of PWM inverter. Thus the output AC signals obtained
will be variable frequency sine waves. The sine wave is Fig. 8 (b) PWM inverter output
generated with amplitude, phase and frequency which are The flow chart of simulation of fuzzy logic controller is shown
supplied through a GUI. Then the clock signal which is in Fig. 9
sampling time of simulation is divided by crisp value which is Start
obtained from FLC. So by placing three sine waves with
different phases, one can compare them with triangular
waveform and generate necessary gating signals of PWM
inverter. So at the first sampling point the speed is zero and
error is maximum. Then whatever the speed rises, the error Reading the initial values
and assigned values of the
will decrease, and the crisp value obtained from FLC will variables
increase. So, the frequency of sine wave will decrease which
will cause IGBTs switched ON and OFF faster. It will increase
the AC supply frequency, and the motor will speed up. Fig. 6
shows Fuzzy logic speed controller block. The structure of Generating Vabc and
PWM inverter is shown in Fig 7. The inputs to these blocks then Vdq0
are the gating signals which are produced in speed controller
block. The firing signals are applied to IGBT gates that will Solving the differential equations
turn ON and OFF the IGBTs according to the following to find the flux linkages , ,
logics. , , ,

Calculating the currents , ,

t = t + t ,

Calculating the torque and the

angular speed

Fig. 7 PWM inverter circuit

When Vcontrol1 > Vtri then IGBT1 is ON & IGBT4 is OFF
t>T
When Vcontrol1 < Vtri then IGBT1 is OFF & IGBT4 is ON
When Vcontrol2 > Vtri then IGBT3 is ON & IGBT6 is OFF
When Vcontrol2 < Vtri then IGBT3 is OFF & IGBT6 is ON
When Vcontrol3 > Vtri then IGBT5 is ON & IGBT2 is OFF
When Vcontrol3 < Vtri then IGBT5 is OFF & IGBT2 is ON
The above logics are applied to generate firing signals End
applied to speed controller block as shown in Fig. 6.The
Fig. 9 Flow Chart of Fuzzy Simulation Process
output of the PWM inverter is shown in Fig. 8.
 The ANFIS model is shown in Fig. 10. It states that if the
TABLE I. MODIFIED FUZZY RULE DECISION cross product of output and input is positive, then it results in
increase of weight, otherwise decrease of weight. Fig. 11
e shows ANFIS layout.
NB NS ZZ PS PB
PB ZZ NS NS NB NB

e PS PS ZZ NS NS NB

ZZ PS PS ZZ NS NS

NS PB PS PS ZZ NS

NB PB PB PS PS ZZ

V. ADAPTIVE NEURO FUZZY CONTROLLER

AC motor drives are used in multitude of industrial and
process applications requiring high performances. In high
performance drive systems, the motor speed should closely
follow a specified reference trajectory regardless of any load
disturbances and any model uncertainties. In the designing of
a controller, the main criteria is the controllability of torque in Fig.10 Neuro Fuzzy Controller
an induction motor with good transient and steady state
responses. With certain drawbacks, PI controller is able to
achieve these characteristics. The main drawbacks are (i) The
gains cannot be increased beyond certain limit. (ii) Non
linearity is introduced, making the system more complex for
analysis. With the advent of artificial intelligent techniques,
these drawbacks can be mitigated. One such technique is the
use of Fuzzy Logic in the design of controller either
independently or in hybrid with PI controller. Adaptive Neuro-
Fuzzy Inference System(ANFIS) replaces the draw-backs of
Fuzzy Logic Control and Artificial Neural Network. Adaptive
neuro fuzzy combines the learning power of neural network
with knowledge representation of fuzzy logic. Neuro fuzzy
techniques have emerged from the fusion of Artificial Neural
Networks (ANN) and Fuzzy Inference Systems (FIS) and have
become popular for solving the real world problems. A neuro
fuzzy system is based on a fuzzy system which is trained by a
learning algorithm derived from neural network theory. There
are several methods to integrate ANN and FIS and very often
the choice depends on the applications. In this paper, the
inputs will be e(k) and e(k)[12,15,17,35]. A first-order Fig. 11 ANFIS layout
Sugeno fuzzy model has rules which are as follows:
Rule1: In layer 2 of ANFIS layout, the triangular membership
If x is A1 and y is B1, then f1 = p1x + q1y + r1 function is same as that of the fuzzy controller model. The
Rule2: output of layer 2 is given by:
If x is A2 and y is B2, then f2 = p2x + q2y + r2 , , (19)
In the Sugeno model if-then rules are used, and output of each Layer 3 indicates the pro (product) layer and its output is
rule is linear combination of inputs plus a constant value. product of inputs, which is given by:
The learning algorithm applied to this model is Hebbian. This ( ). ( ) (20)
th
method is feed forward and unsupervised and the weights Layer 4 represent Norm and it calculates the ratio of i firing
will be adjusted by the following formula: strength to sum of all firing strengths. The obtained output is
( ) ( ) (18) normalized firing strength, which is given by:
 whereas in adaptive neuro fuzzy and FLC, no oscillations
(21)
occur in the torque response before it finally settles down as
Layer 5 is an adaptive node with functionality as follows: shown in Fig. 15. Good torque response is obtained with
( ( ) ( ) ) (22) adaptive neuro fuzzy controller as compared to conventional
That pi, qi, ri are consequent parameters, which are initially are and FLC at all time instants and speed response is better than
set to 0.48, 0.25 and 1 respectively. Then they are adaptively conventional controllers and FLC. There is a negligible
adjusted with Hebbian learning algorithm. Layer 6 calculates ripple in speed response at Adaptive neuro fuzzy controller in
the output which is given by : comparison with conventional controller and FLC under
dynamic conditions which is shown in Fig.14. Modeling and
(23) simulation of Induction motor in conventional, fuzzy and
adaptive neuro fuzzy are done on MATLAB/SIMULINK. Fig.
Fig.12 shows the overall structure of Adaptive Neuro-Fuzzy 16 show the stator currents and rotor currents of 3 different
model. controllers under dynamic conditions.
Continuous
iqs iqs Torque-Speed Characteristics with Conventional Controller
pow ergui
20
Vqs Iabc
IGBT1 ids ids
Va Va
IGBT4 stator current Scope
Vqs
IGBT3
Vb Vb iqr iqr 15
IGBT6
Vds
IGBT5 Vc
Vc idr idr
IGBT2 Vds
Ir-abc
PWM ac source teta 10
Te teta rotor current Scope

T or qu e
abc to d-q
Park transformation TL
0 Torque Scope
Wr
d-q to abc
Load Torque Park transformation
5
induction motor d-q model
1
4
3
6
5
2

1/s
Integrator Speed Scope
In 1

Speed contrller 0

Feedback
Divide
1710 -5
U(k)
0 200 400 600 800 1000 1200 1400 1600 1800
Speed
Reference 1

Fuzzy controller Fig.13 (a) Torque Speed Characteristics with Conventional Controller
Torque-Speed Characteristics with Fuzzy Controller
140

Fig.12 Adaptive Neuro-Fuzzy Controller Simulation model

120

100

80
VI. SIMULATION RESULTS & DISCUSSION 60
T or q u e

A complete simulation model for inverter fed induction motor 40

drive incorporating the proposed FLC and adaptive neuro 20

fuzzy controller has been developed. The dynamic 0

performance of the proposed FLC and Adaptive neuro fuzzy -20

based induction motor drive is investigated. The superiority -40

of the proposed adaptive neuro fuzzy controller is proved by -60

-200 0 200 400 600 800 1000 1200 1400 1600 1800
Speed
comparing the response of conventional PI with FLC speed
controller based IM drive.The results of simulation for Fig.13 (b) Torque Speed Characteristics with Fuzzy Controller
induction motor with its characteristics are listed in Appendix Torque-Speed Adaptive Neuro Fuzzy Controller
'A' as given below: Fig.13, 14 and 15 show the torquespeed 120

characteristics, torque and speed responses of conventional, 100

FLC and adaptive neuro fuzzy controller respectively. It 80

appears the rise time drastically decreases when fuzzy 60
controller is added to simulation model and both the results
are taken in same period of time. In Fuzzy based simulation, 40
T orq u e

it is apparent from the simulation results shown in Fig. 13(b) 20

and Fig 13 (c), torque-speed characteristic converges to zero 0

in less duration of time when compared with conventional
-20
Controller, which is shown in Fig. 13(a). Adaptive neuro
fuzzy controller has no overshoot and settles faster in -40

comparison with FLC and conventional controller. It is also -60

-200 0 200 400 600 800 1000 1200 1400 1600 1800
noted that there is no steady-state error in the speed response Speed

during the operation when adaptive neuro fuzzy controller is Fig.13 (c) Torque Speed Characteristics with Adaptive Neuro Fuzzy
activated. In conventional controller, oscillations occur, Controller
 Torque response of Conventional Controller
20 Speed response of Conventional Controller
1800
1600
15
1400
1200
10
1000
T orq u e

S P E ED
800
5
600
400
0

200

-5
0
0 500 1000 1500 0 0.5 1 1.5 2 2.5
Time Time 6
x 10
Fig. 14 (a) Torque Response of Conventional Controller Fig.15 (a) Speed Response of Conventional Controller

Torque response of Fuzzy Controller

140 Speed response of Fuzzy Controller
1800
120 1600

100 1400

80 1200

60 1000
T orq u e

S peed

40 800

20 600

400
0
200
-20
0
-40
-200
-60 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 Time 5
5 x 10
Time Fig. 15(b) Speed Response of Fuzzy Controller
x 10
Fig. 14(b) Torque Response of Fuzzy Controller
Speed response of Adaptive Neuro Fuzzy Controller
Torque response of Adaptive Neuro Fuzzy Controller 1800
120
1600
100
1400
80
1200
60
1000
40
S peed
T orq u e

800
20
600
0
400
-20
200
-40
0
-60
0 0.5 1 1.5 2 2.5 3 -200
5
0 0.5 1 1.5 2 2.5 3
Time
x 10 Time 5
Fig. 14(c) Torque Response of adaptive neuro fuzzy controller x 10
Fig. 15(c) Speed Response of adaptive Neuro Fuzzy Controller
 Current responses of Conventional Controller
the control system will decrease the rising time more than
150 expectation and it proves adaptive neuro fuzzy controller to
perform better than FLC and Conventional controller.
APPENDIX 'A'
100
Stator & Rotor Currents

50 The following parameters of the induction motor are chosen

for the simulation studies:
0
V = 220 f = 60 HP = 3 Rs = 0.435
-50
Rr = 0.816 Xls = 0.754 Xlr = 0.754 Xm = 26.13
p=4 J = 0.089 rpm = 1710
-100
0 0.5 1 1.5 2 2.5
TIME
x 10
6
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