2013 International Conference on Machine Intelligence Research and Advancement
STABILITY ENHANCEMENT AND SPEED
CONTROL OF DFOIM USING HYBRID PID PLUS
FUZZY LOGIC CONTROLLER
Arshad Mohammed
Sr Assistant Professor
Aurora’s Technological & Research Institute
Hyderabad, India
arshad.eee202@gmail.com
Abstract— Due to many advantages of (DFOIM), it finds vast
applicability in diverse fields. But the only problem with them is
that the desired and instantaneous speed control under the load
torque disturbances is a bit difficult and complex. In this paper,
the best solution to the above problem is proposed by
implementing fuzzy logic (FLC) scheme based controller to tune
PID controller. Here it is further proposed that implementing
Ziegler-Nichols (Z-N) method for designing the PID controller is
adapted with FLC. The FLC tuned PID controller will give
superior control of speed and also provides sophisticated stability
enhancement to DFOIM. The proposed Z-N method utilizes the
acceleration error and speed error commands to train the FLC,
where the errors are PID controller outputs. In Simulink-
MATLAB environment, a Dynamic model for the proposed fuzzy
PID control based DFOIM is designed and it is simulated. The
results thus obtained in the simulation of Z-N based PID trained
FLC scheme will gives superior control over the speed and
enhanced stability constraints during load torque disturbances.
Index Terms—Stability Enhancement, Load Torque,
Disturbances, Robust performance, Hybrid controller, Z-N
Method, PID Controller, FLC.
I. INTRODUCTION
Due to low cost and easy deployment, the induction motor
[9] employed with Direct Field Orientation control technique
is widely used in varied industrial applications. Moreover, it
possesses high servo quality due to its nature of decoupled
torque and flux control. This decoupled control feature of
DFOIM can be affected adversely by load disturbances, due to
which, the speed control and enhanced stability performance
of motor is tarnished. Tuning of ordinary PI and PID
controller to get a satisfactory speed control under load torque
disturbances is difficult. In this view, it needs a design which
gives effective and robust speed control.
A fuzzy-logic based intelligent speed control [8] of the
DFOIM drives, have been proposed in this paper. Adaptive
gains associated by intelligence controllers are due to
knowledge base and fuzzy inference. In a conclusion, the
proposed can decrease the load torque disturbance when
compared with trial and error method based PI/PID
controllers.
A hybrid PID plus fuzzy controller is proposed for the
speed controlling [5] of Field Oriented Induction Motor Drive,
incorporated with PID controller in series alignment with
978-0-7695-5013-8/13 $31.00 © 2013 IEEE
DOI 10.1109/ICMIRA.2013.28
Sundeep. G
Post Graduate Student
Aurora’s Technological & Research Institute
Hyderabad, India
Sundeepg49@gmail.com
fuzzy logic controller. To design PID controller the Ziegler-
Nichols (Z-N) method whose design rules are modest and
organized is espoused.
II. TYPES OF SPEED CONTROL AND PROBLEM IDENTIFICATION
The nonlinear features of the induction motor make its
control complex. Out of different methods in controlling,
Variable Voltage Variable Frequency (VVVF) or V/f is the
well-known method for speed control with open loop. This
control schema is most appropriate for applications without
the requirements of position control or the need for high
precision speed control. Cases of those sorts of applications
include heating, air conditioning, fans and blowers. Some
other types of control of induction motor are as follows:
x Speed control by changing applied voltage
x Rotor resistance control
x Cascade control
x Pole changing schemes
x Stator frequency control
Induction motors find varied applications in utilizations,
control engineering, and automation; hence, they are often
called the workhorse of the motion industry. They are robust,
reliable, and durable. Many applications need variable speed
operations. Therefore it needs high defined dynamic speed
control, whereas the above mentioned control types only valid
in steady-state condition. So, we need the speed control in
steady state and dynamic as well, to meet the need of variable
speed operations. Recently, control systems have matured to
allow these components to be used for motor control in place
of mechanical gears. These systems not only control the
motor’s speed, but also improve the motor’s dynamic and
steady state characteristics. Besides this, there can be a
reduced consumption of average power [8][0] and noise
production [0] in the motor.
Hence for controlling the speed [0] of a direct field
oriented induction [13] drive, here we use structure of a closed
loop control system [0] to improve dynamic and steady state
control using the controllers like Ziegler-Nicholas based PID
controller in addition to a well-trained FLC to improve the
stability performance [0] of DFOIM even under various load
torque fluctuations.
110
 III. ZIEGLER-NICHOLS BASED PROPORTIONAL-INTEGRAL-
DERIVATIVE CONTROLLER
The proceedings are the steps [0] involved in tuning the
Ziegler-Nichols PID for controlling the speed of the DFOIM.
Initially; ω , the step input is utilized in conjunction with a
P-type linear speed controller whose gain [0] is amplified
until the motor reaches its stability limit. During this, the
values of time [0] period T and Ku of the DFOIM will be
computed. Where Tu is the critical [0,1,2,3,9]oscillation during
stability limit [5] and Ku is the [16] proportional gain at
critical level. There afterwards the following DFOIM Figure2. The Simulink model of the proposed controller.
parameters values are computed as indicated below.
KP = ku / 1.7; TD = TI / 4; TI = Tu / 2
We know that generally speed and torque have inverse
Where KP denotes the proportional gain; T denotes the relation so formulated the rules based on this.
derivative time and T denotes the integral time.
The above PID controller algorithm parameters [11] are
g(t) N Z P
tuned, so as to facilitate the controller for executing
appropriate control action intended for specific task. The g(t) u
accuracy of the controller depends on N b b b
1.) The response to the error signal of a controller, Z -b 0 b
P -b -b -b
2.) The level of system oscillations and Table 1: FUZZY rule base
3.) The degree to which the output of the controller We have used here two input membership functions one is
overshoots [11] the pre-set value. direct error signal and another is the difference between the
error and delayed error signal of the speed since the second
The thing here to be focused is that the system or system error signal is more precise one we shall give it more weight
stability does not have any guarantee in optimal control with age formulate two rules they are as follows;
the use of the PID algorithm. The PID algorithm in its final 1. If error signal is negative torque signal should be
form is given below in defining the u(t) which is controller positive.
output. 2. If the error signal is positive the torque signal should be
  negative.
( ) =
( ) = 
( ) +  ∫ () +  ( ) 1

IV. FUZZY LOGIC CONTROLLER
The FLC tuned PID controller will give superior speed
control and also provides sophisticated stability enhancement
to DFOIM. The FLC is trained by using two input commands
of acceleration error and speed error, which are the output of
PID controller whose tuning is done by Z-N method. To
minimize computational time and burden on a fuzzy controller
a simple three membership function (μ , μ and μ ) are
considered.
For a value x∈ N [5] ; (−∞,0) is the limits for N, and ‘N’ is
its respective provincial value. Moreover, for any x∈ P where
P lies in the interval (0,∞) , and ‘P’ is its respective provincial
value. Similarly, x∈Z where Z lies in the interval [−b, b], and
‘Z’ is its respective provincial value.
111
But if the error signal is approximately zero then we shall
consider the first input and based on that we shall have three
rules.
1. If the first input error signal is negative then [0] the
torque signal is negative.
2. If the first input error signal is positive the torque
signal should be positive.
3. Finally if the first input error signal is approximately
zero then the torque signal is also approximately zero.
V. DIRECT FIELD ORIENTATED CONTROL
The vectors of the stator currents will be controlled in this
field orientated control technique. The two coordinates (d and
q co-ordinates) time independent system transformation from
3-∅ time and speed varying system is the main control strategy
in this control schema. The T and  components of a Direct
Field orientated controlled machines [4] [1] are aligned with
the quadrature axis and direct axis as reference inputs
respectively. Projections are base for field orientated control
and the control structure is capable of handling instantaneous
electrical quantities. This improves the bandwidth limitations
posed by mathematical modeling and increases the accuracy
of the controller in every working constraints (steady state and
transient).
 In the following two ways the classic scheme problems
solved by the Direct field [2] orientated control ,:
1) The stator currents flux and torque [1] component are
easily reachable.
2) In the (d,q) reference frame judged by the torque
expression, as given in equation-2; facilitates to apply
easy direct control of torque [4].
 ∝ !"# 2 other simulators is the simple modelling procedure and
Constant amplitude of rotor flux [1] (ψ R) is maintained at
a fixed value to secure a linear relationship between T (torque)
and iSq (torque component). Then it will enable the torque [18]
control by varying the T (torque) and iSq (torque component).
VI. DYNAMICAL MODELLING OF INDUCTION MOTOR
Per phase equivalent circuit of the [0] induction motor is
only valid in steady-state condition. Electrical transients due
to load changes and stator frequency Variations are neglected
when studying steady state performance of the[10] machine.
In a variable speed drive, transient behavior has to be taken in
to consideration as it incorporates a feedback element in it.
Besides, the dynamic d-q model of the machine incorporates
high-performance drive control schemes. Among the high-
performance drive control schemes, vector control and field
oriented control are predominant.
Dynamic d-q Model.
The moving 3-Ф rotor windings [12] with respect to the 3-
Ф stator windings creates complication in the analysis of
dynamic performance of an A.C. machine as depicted in
below shown figure 3.1(a).
Fig. 3.1. (a) Coupling effect in (b) Equivalent two-phase
three-phase machine
Stator and rotor windings
Induction machine is treated as a transformer with a moving
secondary, with a week magnetic coupling, whose value
depends on rotor position θr. The machine can be [0] described
by differential equations with time-varying mutual
inductances, but such a model tends to be very complex. It is
to be noted that 3-∅ A.C. machine can be theoretically
substituted by a two-phase machine as depicted in figure
3.1(b), where ds and dr correspond to direct axes of stator and
rotor respectively, qs- qr correspond to quadrature [0] axes of
stator and rotor respectively. R.H. Park, formulated a change
of variables, which, in effect, replaced the variables (V, I
and) associated with the stator windings of synchronous
machine with variables associated with imaginary windings
rotating with the rotor with synchronous speed. In general, it
can be treated that all the stator variables are referred to
synchronously rotating [12] reference frame fixed in the rotor.
With such transformation (termed as park’s transformation),
he showed how to eliminate time-varying inductances in
112
electric circuit due to variable magnetic reluctances and
relative motion.
VII. SIMULINK IMPLEMENTATION
Usually, simulators like Pspice can analyse electrical
circuits in its steady state model only, but to study electrical
machines the transient analysis is also to be considered. Under
such circumstances Matlab-Simulink finds advantage over
accurate transient analysis of electrical machines and drives
which include drive controls in the process of simulation. Till
the mathematical models and differential equation solving
experience exists, any drive or control algorithm can be
modelled in Matlab-Simulink.
Fig.7.1. Complete Induction Motor Simulink model.
Some of the recommendations are to use software source
codes called S-functions, for building Simulink blocks, which
fails to fully utilize the power and ease of
Matlab-Simulink, because access to the model variables
requires programming knowledge in S-function. Implementing
“accelerators” or stand-alone Simulink models in discrete
Simulink blocks, Simulink models can be made to run faster
than S- Functions. These implementations incur additional
costs that can be avoided by reducing simulation speed. The
other way is by using the Sim-Power system block set that can
be-purchased with Simulink. Sim-Power system block set
affectively utilizes S-functions and is not as that easy to work
as the rest of the Simulink blocks. Earlier [5] a similar
implementation approach is presented as that of this paper but
fails to give any details. The description in this paper is carried
out in an integrated and simple to understand the manner of
induction motor model in Matlab-Simulink. Dis-similar to
black box models, the implementation of the integrated
system, makes each block easy to control the machine
parameters and elucidates the mathematical model equations
within each block respectively.
Basically an induction motor will have three-phase
voltages(V), fundamental frequency(f), and the load
torque(TL) as the inputs parameters and the outputs parameters
are, three phase currents(IL), the electrical torque(Te), and the
rotor speed(Nr). Two-phase synchronously rotating frame is
obtained from all the three-phase time and frequency variables
to acquire the d-q model. Consequently, the Simulink machine
model will have transformation blocks for the conversion
three-phase voltages to the d-q frame and vice-verse. It has
five major components;
 1) The o-n conversion block, 2) FUZZY controller Plus PID
2) The abc-syn conversion block, The following curves are obtained using FUZZY plus PID
3) The syn-abc conversion block, controller.
4) The unit vector calculation block and
5) The Induction Machine d-q model block. Torque Vs Time

A. Simulation responses
1) PID controller
The following curves are obtained using PID controller.

Torque Vs Time

Speed Vs Time

Speed Vs Time

speed and ref speed Vs time

speed and ref speed Vs time

113
 VIII. CONCLUSION [12] SVPWM Based Speed Control of Induction Motor Drive
with Using V/F Control Based 3-Level Inverter at VSRD
The induction motors are widely used in every field, International Journal of Electrical, Electronics & Comm.
because of their robust reliable and durable performance. But Engg. Vol. 2 (7), 2012.
the problem with them is that the desired and dynamic speed [13] International Conference on Industrial Technology, Access
control under the load torque fluctuations is a bit difficult and to the IES Annual Conference on IEEE XPLORE on Dec.
here proposed a solution to it by using a hybrid combination of 2006.
a fuzzy logic control (FLC) tuned PID controller scheme for [14] IEEE Transactions on Industrial Electronics, Volume 57,
the proposed strategy for speed control and stability Number 1, Access to the journal on IEEE XPLORE Jan
enhancement of a direct field-oriented induction motor 2010.
(DFOIM). Here it is further proposed that the Ziegler-Nichols [15] Digitization of Vector Control Algorithm Using FPGA by
M. P. Priyadarshini, K. G. Dharani, D. Kavitha at
method for designing the PID controller. The FLC is trained
International Journal of Engineering Research &
with the outputs of PID, Which indeed gives appropriate output Technology (IJERT), January- 2013.
torque signals to drive for enhanced robust performance under [16] Design of a Hybrid PID plus Fuzzy Controller for Speed
various states (dynamic, transient and steady-state periods). Control of Induction Motors by T.-J. Ho and L.-Y Yeh at
The FLC is trained based with the outputs of the PID IEEE, 2010.
controller, in which 1st input for the fuzzy is the error in speed, [17] Programmable Logic Controllers Programming Methods.
and the 2nd is acceleration and the output of the FLC is the [18] Programming Methods and Applications by John R.
appropriate torque command to the drive. The results thus Hackwarth and Federick D. Hackwarth.Jr.
obtained in the simulation of Z-N based PID trained FLC [19] Simulative calculation and optimal design of scissor lifting
scheme will gives superior control over the speed and mechanism by Tao Liu, Jian Sun at ACM Digital Libruary.
enhanced stability constraints during load torque fluctuations. [20] Sim-power Course, 2009 from West Virginia.
[21] Design of Fractional Order Controller Based on
IX. REFERENCES Evolutionary Algorithm for a Full Vehicle Nonlinear Active
Suspension Systems, at International Journal of Control and
[0] Power-Electronics-Handbook by RASHID, M.H. 2001. Automation, Vol. 3 No. 4, December, 2010.
[1] Sensor less Field Oriented Control of 3-Phase Induction
Motors by Bilal Akin, Manish Bhardwaj C2000 Systems
and Applications.
[2] Sensor less Field Oriented Control of 3-Phase Permanent
Magnet Synchronous Motors by Bilal Akin, Manish
Bhardwaj and Jon Warriner from Texas Instruments C2000
Systems and Applications Team.
[3] Texas Instruments C2000 Systems and Applications Team
on ‘Sensorless Field Oriented Control of 3-Phase Permanent
Magnet Synchronous Motors’.
[4] Field Orientated Control of 3-Phase AC-Motors, Literature
Number: BPRA073 from Texas Instruments, Europe
February 1998.
[5] Speed Control of Induction Motor using PID and Fuzzy
Controller by D.Praveen Kumar and D.Sunitha at
International Conference on Computing and Control
Engineering (ICCCE 2012), 12 & 13 April, 2012.
[6] DTC AND IFOC: Feasibility analysis on torque control
schemes of an Induction Motor by RAMYA R, ABHIJITH
C, SHAMINI RAJU S, ADITYA M BHAT & MADHURA
HILAK at Undergraduate Academic Research Journal
(UARJ), ISSN: 2278 – 1129, Volume-2, Issue-3,4, 2012.
[7] Energy Optimization of Field Oriented Poly-Phase
Induction Motor Drive by Miss. Roma A.Gathe, Mr.
R.D.Jawale, Mr.S.B.Warkad at International Journal of
Engineering Research and Applications (IJERA) ISSN:
2248-9622, Vol. 3, Issue 2, March -April 2013.
[8] Industrial Electronics Society Annual Conference on IEEE
XPLORE Nov. 2009; tii.ieee-ies.org/conf/IECON/35.htm.
[9] Full text of "Robust Control, Theory and Applications"
ROBUST CONTROL, THEORY AND APPLICATIONS
Edited by Andrzej Bartoszewicz, INTECHWEB.ORG.
[10] Full text of "Wind Power" Edited by S. M. MUYEEN.
[11] PID controller From Wikipedia, the free encyclopedia.

114