Swarm Intelligence-Based Controller of Two-

Asymmetric Windings Induction Motor

A. M. A. AMIN, M. I. KORFALLY, A. A. SAYED, and O.T. M.HEGAZY
Department of Power and Electrical Machines
Faculty of Engineering, Helwan University
Cairo, EGYPT
E- Mail. amrmagic@hotmail.com

Abstract
In this paper, applying field orientation based on for a given load and speed or speed track. It is shown that,
Particle Swarm Optimization (PSO) controls the speed of the efficiency is reasonably close to optimal.
two-asymmetrical windings induction motor. The 2 Mathematical Model of the Motor
maximum efficiency of the motor is obtained by the The d-q model of an unsymmetrical windings induction
evaluation of optimal rotor flux at any operating point. In
addition, the electro-magnetic torque is also improved motor in a stationary reference frame can be used for a
while maintaining a fast dynamic response. In this dynamic analysis. It can consider core losses. The d-q
research, a novel approach is used to evaluate the optimal model as applied to TPIM is described in [4], [5]. The
rotor flux level. This approach is based on Particle Swarm equivalent circuit is shown in fig. 1. The machine model
Optimization (PSO). PSO method is a member of the wide may be expressed by the following voltage and flux linkage
category of Swarm Intelligence methods (SI). This research equations [4]:
presents two speed control strategies. These are field- ation [4]:
oriented controller (FOC) and FOC based on PSO.. The a. lg Eqions
results have demonstrated that the FOC based on PSO Vqs = rm qs + Pi qs (1)
method saves more energy than the conventional FOC Vds = ra i ds + Pkids (2)
method.
0 = rriqr - (1/ k)* c>r iLdr + Pi qr (3)
Key Words: mathematical model of the two-phase induction
motor; Field-Orientation controller; motor losses; a Particle Swarm 0 = rR i ds+ k *r Pqr + P>dr (4)
Optimization [PSO]; Inverter Circuits; Losses Minimization -
R (5)
Control. qfe qfe+Lmq' plqs+pIqrPIqfe)
I Introduction df0idfeRdfe + Lmd (P ds +pPdr-iPdfe) (6)
The single-phase, two asymmetrical windings induction b. Flux Linkage Equations:
motor is treated as a two-phase induction motor (TPIM). It A qs L /m i qs + L mq i qs + i qr - i qfe) (7)
is used in many low power applications, where three-phase
supply is not readily available. This motor runs at an A ds L la i ds + L md i ds + i dr - i dfe ) (8)
efficiency range (50% - 65%) at rated operating conditions rm 1~ M (1/k)(0 rX d
[1], [2]. The conventional field-oriented controller normally + -
operates at rated flux at any values with its torque range. Vqr, [qi ] rq.
When the load is reduced considerably, the core losses R qf
become so high causing poor efficiency. If significant
energy savings are required, it is necessary to optimize the
efficiency of the motor. The optimum efficiency is obtained k_ rX>
by the evaluation of the optimal rotor flux level [3]. This -§ + rR

flux level is varied according to the torque and the speed of

the operating point.
In this paper, PSO is applied to evaluate the optimal flux.
Vds _ _'Rdfenlif
-____________________ ___
Z

It has the straightforward goal'of minimizing the total losses ~~~~~~~~~~~~~~Fig.

1. the d-q axis two-phase
Euvln ici ihio oss
induction motor

1 -4244-0743-5/07/$20.OO ©C2007 IEEE 953

 equivalent circuit, which presumes some complicated
A qr =L Ir i qr +Lmq ( i qs + i qr - i qfe) (9) measurement of the magnetizing mutual inductance of the
A dr = LIR idr +Lm d (ids +idr - idfe) (10) statorandtherotorcircuits [5,6,7].
The indirect field-oriented control scheme is the most
c. Electrical torque equation
It expressed as: popular scheme for field-oriented controllers. It provides
material decoupling between the torque and flux currents
Te = 2 ( k Lmq idr ( 'qs + iqr - ife )- [6]. The electric torque must be a function of the stators
2 currentsand rotor flux in synchronous reference frame.
-L md i qr ( ids + idr -i ) (lf) Assuming the following definitions:
d. Dynamic Equation
It will give as follows: I ds I dsl (15)

Te -T, = jmP r + BmOr (12) is qs =ki5 qsl (16)

e. Losses of two asymmetrical windings induction motor: Te PMdr [is dr - s
dI qr
2 L qA d~ dA
(17)

Finding the losses expression for the two asymmetrical In synchronous reference frame, the electromagnetic torque
windings induction motor with losses model is a very is expressed as:
complex. In this paper, a simplified induction motor model pM
with iron losses are taken into account is developed. The Te = sdr [ie ,le _d ie eq (
losses in the motor are mainly:
a) Stator copper losses, PM
b) Rotor copper losses, Te = sdr [eqs e r

c) Core losses, and r (19)

d) Friction losses. ie ds 1 = r

Then, the total losses of the system expressed as follows: sdr (20)
Total Plosses = Pi - P out (13) M
Total losses = P loss ofmotor+ P inv (Inverter Losses) (14) WUe - (1r )
Z'r (21)
Where Equation (13) is the electrical losses formula, which
Pm = Vds ids + vqs iqs , Pout = T, wr depends on the stator currents (ids iqs). These currents depend
The approximate Inverter losses as a function of on the rotor flux (kr) according to operating point (speed
Stator current are given by and load torque). Furthermore, the efficiency of motor
P = K1* i2s + K2 is, where K1, K2 expressed as follows:
(K1=0.006, K2= 5.49e-003) are coefficients [7]. Efficiency (ri) = Pout / (Pou1t + Total Plosses) (22)

3 Field-Oriented Controller [FOC] 3.1 Simulation study with FOC

The stator windings of the motor are unbalanced. The
machine parameters differ from the d axis to the q axis. The
waveform of the electromagnetic torque demonstrates the
unbalance of the system. The torque in equation (11) contains
an AC term; it can be observed that two values are present for
the referred magnetizing inductance. It is possible to eliminate
the AC term of electro-magnetic torque by an appropriate
control of the stator currents. However, these relations are
valid only in linear conditions. Furthermore, the above-..
mentioned model is implemented using a non-referred
The FOC module is developed with closed loop speed
control. The input ofthe FOC module is the reference speed
and the rated rotor flux. The field-oriented controller
generates the required reference currents to drive the motor
as shown in fig.2. These currents are based on the flux
level, which determines the value of direct current (ids), and
the reference torque, which determines the value of
quadrature current (iqs). The reference torque is calculated
according to the speed error [5].
The motor that used in this study has the following
parameters, which were measured by using experimental
tests [4]:

2
954
 Table 1: Motor Parameters 12
10
Parameters Value

Ratedpower 750 w 6 -- -
Nr 1430 rpm
V 220 v
F 50 Hz 2 I-
_-_ _ _ _ _ _ __ L _ _ I _ L

rM 4.6 Q j
10.6 rA Q
0 0.05 0.1 0.15 0.2 0.25
time(sec)
0.3 0.35 0.4 0.45 0.5

X Lm 4.31 Q (b)
X La 7.1472 Q
if 3.455 Q ~
X Lr 4.284~i I
X mq 89.65Q2I
Xmd 169.43Q2
Rdfe 1450Q2
J 0.005776 kg.m2 I~~~~~~~~~~~~~~000
Rqfe1050~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~2
0 . .5.
.5030.50404
.

B 0.00328N.m.sec/r
Pole p air 2
..................... . ..0 0.0502 0 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time(sec)

V& ~~~~~~~~~~~~~~(c)
Te i, =arf

where themotorislodHysersiban4dhN.erd
terd see aux 2

Fig.2. Block diagram of indirect rotor flux oriented system (2 T

hasbeen deve~~lopds lbref ofproorrtiona
the motor.
M p adintgaFSi -3.
b)Truetm cre
FOn thissiection the motor operation with FOG is 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
In this section, ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
presented. Figure 3 shows the performances of the motor, (d)
where the motor is loaded by 4 N.m and steady speed is Fig.3 simulation results of the motor
1400 rpm. The control technique based on the PI controller (a) Speed-time curve.
has been developed. The proportional (Kp) and integral (K~) (b) Torque-time curve.
constants of PI controller are chosen by trial and error. The (c) The stator curr ent in q-axis.
speed-time curve for the motor is shown in fig. 3a. It is (d) The stator cufeent in d-axis.
noticed that the speed oscillations are eliminated when the The efficiency is calculated from equation (22). Therefore,
FOG is applied to the drive system. the efficiency is found to be equal to 60.49 00 at rated flux.
Figure 3b illustrates the developed torque-time curve of the It is clear that, the indirect field-oriented controller with a
motor. In this figure, the pulsating torque is eliminated, constant rated rotor flux generally exhibits poor efficiency
1500 of the motor at light load. If significant energy savings need
I ~~~tobe obtained, it is necessary to optimize the efficiency of
I I I I I I I I the motor. The optimum efficiency of the motor is obtained
l
tO-O-O
000 -- - - .- - - t.- - - - - - - - - - t - - - ---by the evaluation of the optimal rotor flux level, and the
Q~~~~~ motor has fast dynamic response.
500 _I - ---I --I - I --

I I I I I I I I I 4 Particle Swarm Optimization [PSO]

0~ ~ ~~~iesc 03 0. |
time(sec)
0.5 Particle Swarm Optimization (PSO) is an evolutionary
~~~~computation technique
(a search method based on a nature
(a) system). Kennedy and Eberhart [10], [1 1], first proposed it.

3
955
PSO method is a member of the wide category of Swarm Figure 4 shows the concept of modifying the
Intelligence methods (SI). It can be used to solve a wide
range of optimization problems. Most of the problems that
can be solved using Genetic Algorithms could be solved by
sc ing pit ntsbyP h0 Figureo5 shwte.
Eaching
concept with agents in the solution space. Each agent
PSO. For example, neural network training and nonlinear changes its current position using the integration of
optimization problems with continuous variables can be vector vk+Jas shown in fig. 4.
easily achieved by PSO. It can be easily expanded to treat
problems with discrete variables. The system initially has a
population of random solutions. Each potential solution, Y
called a particle. Each particle is given a random velocity
and is flown through the problem space. The particles have sk+l
memory and each particle keeps track of its previous best l -- ---
position (call the pbest) and with its corresponding fitness. 4 /
There exit a number of pbest for the respective particles in l1
the swarm and the particle with greatest fitness is called the VK l/ 1Vest
global best (gbest) ofthe swarm.l
PSO can be represented by the concept of velocity and SK \PItst
position. The Velocity of each agent can be modified by the x
following equations: (23 & 24)

vk+1 =w vk +C1 r* (pbes4; si )+ Fig. 4 Concept of modification of a searching point by

k ~~~~~~PSO
C2 r2 *(gbest-sik) (23)
Where:
vk : Current velocity of agent i at iteration. X3
k +1
v Modified velocity of agenti
rl , r2 :random number distributed [0,I],
Ski current position of agent i.
p best p best of agent
g best g best ofthe group.
Fig.5. Searching concept with agents in a solution
co : weight function for velocity of agent i, space by PSO.
cl, c2 positive constants; [cl+ c2< 4].
4.1 Losses minimization control [LMC]
The following weighting function is usually utilized in (1). scheme
a6 max -a6
max -C minl * iter
itermax As swarm intelligence is based on real life observations
=
max
(24)
Where: of social animals (usually insects), it is more flexibility and
robust than any traditional optimization methods. In this
)max :Initial weight, paper, PSO is applied to evaluate the optimal flux that
67min Final weight, minimizes the motor losses according to operating point
*termax Maximum [load torque, speed]. This problem can be formulated as
itrao nfollows:
iter : Current iteration number. Minimize Total P losses ( 2 , Te r)
Using the above equation, a certain velocity can be Where:
calculated that gradually gets close to (pbests) and (gbest). )k iS rotor flux, w)r iS the given speed.
The current position (searching point in the solution space)Th morusda atw-ymeicl inng
can be byth folloing eqation:induction motor. The parameters used are shown in Table 2
odifie

Si = si + vl (25) [1]

4
956
 Table 2 PSO Algorithm Parameters 12

Parameters Value l
Population size 10 F4
Max. iter 50
| ~~~~ ~
Cl ~~~~~~~~~~~~~
0.5I
0.5 C 2 0 0.05
~
II

0.1
~

0.15
~~~

0.2 0.25
~

0.3
~~~~~~~~~~~~~~~
0.35 0.4 0.45 0.5
tiesec)
Max. weight 1.2 (b)
Min. weight 0.1
R2 [0,1] -

3
- - I IL
L
Ir I
II
I I

Lbnd wt FO0.2b
Inverter ~ upbnd R[0,1]estetw-smmtia 2.2 wnig 0oI
4_ _ I I_ __ I _I _ _ _I_
A simplified block diagram of the proposed speed . -- r
control scheme is shown in fig.6. A Four-Switch2 T -- K I
curen(FSI) thmto the
t divfeeds crrspodig o hi flx.4 -- -3
- -I --- rI I
4

Inverter two-asymmetrical windings

4h 2 - - -
I-
- - -1~II I

induction motor. The optimal flux is fed to the 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time (sc)
indirect rotor flux oriented control. The indirect field- (c)
oriented control generates the required reference __ _ ______ _
current to drive the motor corresponding to this flux.
maximum efficienc at any operatin point. Next, th -3 ___ _____L _ ____ __-S-______
________________

4.2 Simulation results with FO based on r t

In other words the optimal rotor flux provides the

maximum efficiency at any operating point. Next the
previous six-cases are repeated by using FOG based on s4 r motor
PSO. PSO will evaluate the optimal rotor flux level. This 0 0.05 0.1 0.15 0.2 0.25
time (sac)
0.3 0.35 0.4 0.45 0.5
flux is fed to the FOG module. Figure 7 shows the (d)
performances of the motor, when PSO is applied side-by-
side FOG. 1 1
I~~~~~~~~~~~~~ I,d I

Mi ITtai nI Iloss =h1 76t19 w

76.89%, when
athe m hinter 8TI =4 bni N =N.at

176 _L L

2 4 6 6 10 12 14

500s -Ire
Te
U Nr
177 ---- ---- ---- -------------------- ;- -0() oalL sesa ans train
~~~~~~~~~~~~~~~~~~~~~~~~~~(e
Fig.6. Proposed losses minimization control system Fig.7 simulation results of the motor
1( T (a) Speed-time curve.
(b) Torque-time curve.
0.25
°O 0.05 0.1 0.150.2 0.4 045 oS
0.3 1000.35-------.--- ---(c) ItTheis stator
rpm. noticedcurrthat
ent the efficiency with
in q-axis. FIteratioo
I I II I I I I ~~~~~~~(d)
The stator cuffrent in d-axis.

500 *~I (e)Totl Losesagaist teraion

I I I I I I I I isnoicd tat te PO mpemetaio inrese
 )dr,qr rotor;flux(d and q axis)
Table3. Comparison of Efficiency Vds,qs stator voltage (d and q axis)
ids,qs stator current (d and q axis)
Controller Efficiency Flux Total loss M mutual inductance
technique (%) (Weber) (w)

FOC 60.49 Rater 383.03 References

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|
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