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Abstract-G For the high performance drives of induction although it requires the same derivative information. The
motor, recurrent artificial neural network (RNN) based self EKF does not require batch processing of data and
tuning speed controller is proposed. RNN provides a therefore it is very suitable for on line training. But
nonlinear modeling of motor drive system and could give according to parameters that are needed in using EKF, the
the information of the load variation, system noise and
performance of EKF is varied. So it takes a time
parameter variation of induction motor to the controller
through the on-line estimated weights of corresponding consuming effort to find good parameters. In order to
RNN. Self tuning controller can change gains of the design EKF with optimal constants, simple genetic
controller according to system conditions. The gains are algorithm is proposed. Genetic algorithm is well
composed of the weights of RNN. For the on-line estimation established techniques which have recently found
of the weights of RNN, extended kalman filter (EKF) extensive application in an intelligent way to find values
algorithm should be used. In order to design EKF with close to the global optimum. Genetic algorithm (GA) can
optimal constants, simple genetic algorithm is proposed. follow the optimal estimation constants without trial and
Genetic algorithm can follow the optimal estimation error efforts.
constants without trial and error efforts.
The availability of the proposed controller is verified
The availability of the proposed controller is verified
through the MATLAB and Simulink simulation with the through the MATLAB and Simulink simulation with the
comparison of conventional controller. The simulation comparison of conventional controller. The simulation
results show a significant enhancement in shortening results show a significant enhancement in shortening
development time and improving system performance over development time and improving system performance
a traditional manually tuned EKF estimation algorithm over a traditional manually tuned EKF estimation
based neural network controller. algorithm based neural network controller. Experimental
results are under test.
Index Terms—neural network, induction motor speed
control, genetic algorithm, extended kalman filter
II. NEURAL NETWORK SPEED CONTROLLER
I. INTRODUCTION
A. Self tuning controller
In recent years artificial neural network (ANN) has
In order to design speed controller of the induction
gained a wide attention in control
motor, we define the following performance index.[1]
applications.[1][2][3][4] The ANN provides a nonlinear
modeling of motor drive system without any knowledge
of predetermined model and thus makes the drive system [ ]
J (u , k ) = y ( k + d ) − y ref ( k + d ) + ρ u [Ru ( k ) ]
2 2
(1)
robust to noise, parameter variations, load changes. The + ρ v [v e ( k + d ) ]
2
We could show that the speed output model of the Fig. 1 Basic structure of RNN model
induction motor is a function of speed and input like
Eq.(2).
III. GENETIC ALGORITHM
y2 (k +1) = f [y2 (k), y2 (k −1), u(k), u(k −1)] (2)
To minimize the performance index J (u, k ) of Eq.(1), In order to design EKF with optimal constants, simple
genetic algorithm (GA) is proposed in this paper. Fig.2
The control input is shown like Eq.(3) at sampling time k. shows the flowchart of GA [10]. In this paper, the
crossover possibility is 0.85 and the mutation possibility
1
u(k ) =
b0
[
a1 y2 (k ) + a2 y2 (k − 1) + a0 yref ( k + 1) + b1u (k − 1) + b2ve (k ) ] is 0.002. The generation number is 100 and the
individuals in generation are 20. The individual bit length
(3) is 24 bit which represents 8 bit normalization factors for
Where, a 0 , a1 , b0 , b1 , b2 is constant composed of S (k ) , 8 bit normalization factors for η (k ) and 8 bit
weights of the neural network. normalization factors for Q(k ) . The composition equation
Using EKF algorithm, we could get the weighting
and fitness value in ref.[10] are used for composition of
matrix W . Then, we have control input value u (k )
proposed GA.
through Eq.(3) that is composed of weighting values.
u (k ) is the torque current component of induction motor, Start
I qs (k ) .
Gen =0
.
D. Extended Kalman Filter Initialization
End
G
G
Fig. 2 Flowchart of genetic algorithmG
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RNN, the weights of the neuron are calculated using EKF
algorithm and go to the Self Tuning Neural Network
Controller to tune its gains. Simulations are focused on
the facts whether the proposed GA based Neural Network
(NN) algorithm is better than normal NN algorithm or not.
For the comparison, simulations of the speed response are
performed in case of the speed command variation, the
load variation of induction motor. Specifications of motor
are 1hp, 230V, 4 pole. The sampling time of the
controller is 100 μ sec .
Fig.4, 5 show speed response waveforms in case of
load variation using a normal NN speed controller where
EKF gains are designed arbitrary and proposed GA based
NN speed controller respectively. The command speed is
180rad/sec that is increased from zero speed and the
50% disturbance load of the rated torque is applied at
7sec. Fig.6,7 show speed response waveforms with
applying full load. In all point of view such as variable
speed characteristics and speed recovery time, proposed
GA based NN controller is better than normal NN Fig.5 Speed response I of NN with genetic algorithm (50% load)
controller. We can observe that proposed controller is
more robust to the inertia variation.
G
Fig. 3 Block diagram of proposed control system Fig. 6 Speed response II of NN controller with arbitrary
G constants(full load)
G
Fig. 4 Speed response I of NN controller with arbitrary Fig.7 Speed response II of NN with genetic algorithm(full load)
constants(50% load)
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V. CONCLUSION
REFERENCES
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