Energy Conversion and Management 50 (2009) 786791

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Energy Conversion and Management

journal homepage: www.elsevier.com/locate/enconman

Modeling and control of V/f controlled induction motor using genetic-ANFIS algorithm
Seydi Vakkas Ustun a,1, Metin Demirtas b,*
a b

Vocational High School, Adiyaman University, Adiyaman/Turkey Electrical & Electronics Engineering Department, Balikesir University, Balikesir/Turkey

a r t i c l e

i n f o

a b s t r a c t
This paper deals with modeling and performance analysis of the voltage/frequency (V/f) control of induction motor drives. The V/f control, which realizes a low cost and simple design, is advantageous in the middle to high-speed range. Its torque response depends on the electrical time constant of the motor and adjustments of the control parameters are not need. Therefore, V/f control of induction motor is carried out. Space vector pulse width modulation is used for controlling the motor because of including minimum harmonics according to the other PWM techniques. Proportional Integral (PI) controller is used to control speed of induction motor. In this work, optimization of PI coefcients is carried out by Ziegler-Nichols model and Genetic-Adaptive Neuro-Fuzzy Inference System (ANFIS) model. These controllers are applied to drive system with 0.55 kW induction motor. A digital signal processor controller (dsPIC30F6010) is used to carry out control applications. The proposed method is compared Ziegler-Nichols model. Experimental results show the effectiveness of the proposed control method. 2008 Elsevier Ltd. All rights reserved.

Article history: Received 18 June 2007 Received in revised form 26 February 2008 Accepted 20 September 2008 Available online 29 November 2008 Keywords: ANFIS Genetic Induction motor Optimization DSP

1. Introduction The benets of squirrel-cage induction motors high robustness and low maintenance make it widely used through various industrial modern processes, with growing economical and performing demands. The V/f control, which realizes a low cost and simple design, is advantageous in the middle to high-speed range. Its torque response depends on the electrical time constant of the motor and adjustments of the control parameters are not need. V/f control is the best choice for simple variable speed applications like fans, pumps and it is control more effective in the high-speed range [1]. It is obvious that the use of proportional integral derivative PID control has a long history in control engineering and is acceptable for most of real applications because of its simplicity in architecture, even though a great number of advanced control techniques have been exhibited successively. The key of designing a PID controller is to determine three PID control gains, i.e., proportional gain Kp, integral gain Ki, and derivative gain Kd. For a single-inputsingle-output system, the tuning methods of Cohen-Coon and Ziegler-Nichols models are frequently used to nd these gains [2].
* Corresponding author. Tel.: +90 266 6121194; fax: +90 266 6121257. E-mail addresses: svustun@hotmail.com (S.V. Ustun), mdtas@balikesir.edu.tr (M. Demirtas). 1 Tel.: +90 416 2232125; fax: +90 416 2232129. 0196-8904/$ - see front matter 2008 Elsevier Ltd. All rights reserved. doi:10.1016/j.enconman.2008.09.032

The motor control issues are traditionally handled by xed gain PI and PID controllers. However, the xed gain controllers are very sensitivity to parameter variations, load disturbances, etc. So, the controller parameters have to be continually adapted. The problem can be solved by several adaptive control techniques such as model reference adaptive control [3], sliding mode control [4], variable structure control [5] and self tuning PI controllers [6]. The design of all of the above controllers depends on the exact system mathematical model. However, it is often difcult to develop an accurate system mathematical model due to unknown load variation, unknown and unavoidable parameter variations due to saturation, temperature variations and system disturbances [7]. In high performance applications, it is useful automatically extract the complex relations that represent the drive behavior. The use of learning through example algorithms can be a powerful toll for automatic modeling variable speed drives [8]. PI controller is unquestionably the most commonly used control algorithm the process control industry [9]. The main reason is its relatively simple structure, which can be easily understood and implemented in practice, and that many sophisticated control strategies, such as model predictive control, are based on it. In spite of its wide spread use there exists no generally accepted design method for the controller [10]. System model is necessary for tuning controller coefcients in an appropriate manner (e.g., percent overshoot, settling time). Because of neglecting some parameters, the mathematical model cannot represent the physical system exactly in most

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applications. Thats why, controller coefcients cannot be tuned appropriately. Many of the recent developed computer control techniques are grouped into a research area called Intelligent Control, that result from the integration of Fuzzy Logic techniques within automatic control systems. The problem with Fuzzy Logic comes when trying to determine the membership functions and the rules for which a specialist is needed. To solve that problem Neural Networks are used and the Adaptive Neuro-Fuzzy Inference System (ANFIS) design technique has a lot of sense [11]. The tuning of electric drive controller is a complex problem due to the many non-linearities of the machines, power converter and controller. Articial intelligence consists of two major branches such as the study of ANNs and expert systems. Recently, there has been a substantial increase in the interest on ANNs. ANNs have been successfully used in modeling complex physical phenomena in various elds [12]. The ANFIS can help us nd the mapping relation between the input and output data through hybrid learning to determine the optimal distribution of membership functions [13]. Therefore, system model can be obtained by using the ANFIS methods. ANFIS uses neural networks to tune a Fuzzy Logic Sugeno model type controller [14]. To obtain the membership functions and the rules it presents hybrid learning with back propagation algorithm to tune them and the least-squares method to identify them. Matlab ANFIS editor toolbox is used for training the ANFIS. The ANFIS input used with 3 triangle membership function, looking for a linear membership function at the output, an error tolerance equals to zero and only 2 epochs are needed. In the 1950s and 1960s, computer scientists were toying with the idea that evolution could be used as a model for optimization in engineering problems. The main idea is to evolve a solution using operators inspired by genetic variation and natural selection. A Genetic Algorithm (GA) for optimization is different from classical optimization methods in several ways: random versus deterministic operation, population versus single best solution and selecting solutions via survival of the ttest [15]. In this paper, a simple GA is used for optimization process. The paper is organized in the following manner. In Section 2, ANFIS architecture is presented. In Section 3, experimental setup is given. Section 4 illustrates modeling of the induction motor using ANFIS. In Section 5, optimization process of PI coefcients using GA is explained. Results and discussion are given in Section 7. Finally, conclusion is presented in last section.

are adjustable in these nodes, whereas xed nodes, denoted by circles, represent the parameter sets that are xed in the system. The output data from the nodes in the previous layers will be the input in the present layer [2]. Consider a rst-order Sugeno model fuzzy inference system which contains two rules Rule 1: If X is A1 and Y is B1, then f1 = p1x + q1y + r1. Rule 2: If X is A2 and Y is B2, then f2 = p2x + q2y + r2. Fig. 1 illustrates graphically the fuzzy reasoning mechanism to derive an output f from a given input vector [x, y]. The ring strengths w1 and w2 are usually obtained as the product of the membership grades in the premise part, and the output f is the weighted average of each rules output. More explicitly, the output f can be expressed as

w1 f1 w2 f2 ; or w1 w2 l xlB1 yp1 x q1 y r1 lA2 xlB2 yp2 x q2 y r2 f A1 lA1 xlB1 y lA2 xlB2 y f 1

The Sugeno model fuzzy is well-suited for adaptive network based learning introduced below. To facilitate the learning (or adapting) of the Sugeno model fuzzy, it is convenient to put the fuzzy model into the framework of adaptive networks that can compute gradient vectors systematically. The resultant network architecture, as shown in Fig. 2, is called ANFIS. Nodes within a layer of ANFIS perform similar tasks that are specied by their node functions, as described below (note that Oji denotes the output of the ith node in layer j.) 2.1. Layer 1: Each node in this layer generates membership grades of a linguistic label. For instance, the node functions of the ith node might be

O1 i lAi x 1

1   bi 2
x c i ai

2. ANFIS architecture ANFIS constitutes an appropriate combination of neural and fuzzy systems. This hybrid combination enables to deal with both the verbal and the numeric power of intelligent systems. As is known from the theory of fuzzy systems, different fuzzication and defuzzication mechanisms with different rule base structures can propose various solutions to a given task [16]. This paper considers the ANFIS structure with rst-order Sugeno model containing 49 rules. Triangular membership functions with product inference rule are used at the fuzzication level. The fuzzier outputs the ring strength for each rule. The vector of ring strengths is normalized. The resulting vector is defuzzied by utilising the rst-order Sugeno model. The procedure is explained briey in the following for the type-3 fuzzy reasoning and the corresponding ANFlS architecture shown in Figs. 1 and 2, respectively. Five layers are used to construct this inference system. Each layer contains several nodes described by the node function. Adaptive nodes, denoted by squares, represent the parameter sets that

where x is the input to node i, and Ai is the linguistic label (small, large, etc.) associated with this node function. In other words, Oji is the membership function of Ai and it species the degree to which the given x satises the quantier Ai. {ai, bi, ci} is the parameter set that changes the shapes of the MF. Parameters in this layer are referred to as the premise parameters. lA(x) is chosen to be triangular-shaped with the maximum equal to 1 and minimum equal to 0. 2.2. Layer 2: Every node in this layer calculates the ring strength of each rule via multiplication:

O2 i wi lAi xlBi y;
2.3. Layer 3:

i 1; 2

The ith node of this layer calculates the ratio of the ith rules ring strength to the sum of all rules ring strengths:

O3 i wi

wi ; w1 w2

i 1; 2

Outputs of this layer are known as normalized ring strengths.

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Fig. 1. ANFIS with type-3 fuzzy reasoning.

Fig. 2. ANFIS architecture for two rules.

2.4. Layer 4: Every node i in this layer is a square node with a node function

O4 i wi fi wi pi x qi y r i

where wi is the output of layer 3, and {pi, i, ri} is the parameter set. A parameter in this layer is known as consequent parameter. 2.5. Layer 5: The single node in this layer computes the overall outputs as the summation of all incoming signals, i.e.,

O5 i overall output

P i wi fi P w f i i i i wi

Error is calculated from difference between reference speed and actual speed taken from incremental encoder. Then, PI generates new control data according to this error. Amplitude and speed values are generated using the control data compared with V/f rate. Required values for PWM output of the DSP controller are calculated by using two values (amplitude and speed) and SVPWM technique. PWM time base is 200 millisecond (ms) for this application. The control loop is carried out once during each ten PWM time base. Dead time is formed by the controller. The value of dead time determined by a register is taken 7 milliseconds. The DSP controller program for the control process is written in dsPIC30F6010 assembly language and C30 language. Controlling and compiling process are performed by a compiler program. The experimental setup is shown in Fig. 4. 4. Modeling of the induction motor using the ANFIS

Therefore, the ANFIS output is clearly a linear function of the adjustable defuzzier parameters. 3. Experimental setup The experimental setup consisted of a motor and generator that is connected to it by a connecting element. The motor used is a 0.55 kW, 1.34 A, 50 Hz, Cosu = 0.84, three phase squirrel-cage induction motor. The processor used in this work is a 7.38 MHz dsPIC30F6010 Digital Signal Processor Controller (DSP Controller). The processor communicated with the PC via USB port. The block diagram of this application circuit is shown in Fig. 3. The stator voltage and frequency are adjusted using a Space Vector Pulse Width Modulation (SVPWM) technique.

ANFIS is a fuzzy system and used in classication, modeling and control problems. It is based on Takagi and Sugeno model fuzzy ifthen rules representation [17], which is different from commonly used fuzzy logic controllers [17,18]. The consequent part of the rule is a function of input variables. The system considered in this paper has two inputs (Kp and Ki) and the tness value is the only output. Kp and Ki are proportional and integral coefcients of the proposed controller, respectively. The inference mechanism of ANFIS is mathematically expressed by the set of the rules. In this study, ANFIS outputs are obtained by using maximum overshoot (Mo) and settling time (Ts) in tness function in Eq. (7). The rules and adjusting of the membership function parameters are performed by applying KpKi pairs to ANFIS input and

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Fig. 3. The block diagram of the application circuit.

0,002 0,0016 Fitness values 0,0012 0,0008 0,0004 0 1 4 7

Actual output ANFIS output

10 13 16 19 22 25 28 31 34 Number of reference sets

Fig. 5. The change in the actual system output and ANFIS model output. Fig. 4. The experimental setup.

obtaining tness function using Mo and Ts values. After training process nished, KpKi pairs is given to ANFIS input and tness function is produced. The fuzzy rules are determined from tness function, f, in Eq. (7).

the formed membership functions. Output parameter variable tness function is estimated accurately. The ANFIS model follows the system output, with a small error that arises from differences between experimental conditions and the model of the non-linear system. It shows that the ANFIS model created for the system models it successfully. 5. Optimization of PI coefcients using GA GAs are based on an analogy to the genetic code in our own DNA (deoxyribonucleic acid) structure, where its coded chromosome is composed of many genes [19,20]. GA approach involves a population of individuals represented by strings of characters or digits. Each string is, however, coded with a search point in the hyper search-space. From the evolutionary theory, only the most suited individuals in the population are likely to survive and generate off-spring that passes their genetic material to the next generation. GA is a search mechanism based on the principle of natural selection and population genetics that are transformed by three genetic operators: selection, crossover and mutation. Each string (chromosome) is a possible solution to the problem being optimized and each bit (or group of bits) represents a value or some variable of the problem (gene). These solutions are classied by an evaluation function, giving better values, or tness, to better solutions. Each solution must be evaluated by the tness function to produce a value [21]. Different crossover and mutation rates are used for processing of optimization of genetic algorithms. Ten of the tness values obtained, listed from the largest tness value to the smallest, and the tness values of the members of the rst generation are shown in Table 2. The ow chart of the GA is shown in Fig. 6. A PI controller with the transfer function Gc s kp ksi is employed to control the process.

1 Mo 2 Ts 1

The obtained value from Eq. (7) is taken as an ANFIS output. Data used for ANFIS model are given in Table 1. The obtained results are shown in Fig. 5. As shown in Fig. 5, there are small differences between the actual values and ANFIS output values. This also shows that the ANFIS model approach for modeling the nonlinear system is very good. Input parameter variables in Table 1 are used for training in ANFIS. The output parameter variable is accurately estimated from

Table 1 Data used for the ANFIS model Data set 1 2 3 4 5 6 7 8 9 10 35 36 Kp 3.19 3.19 3.38 3.38 3.58 3.77 3.77 3.77 4.94 4.94 6.5 6.5 Ki 0.97 1.1 0.85 0.80 0.44 0.48 0.024 0.006 0.049 0.012 1.26 1.1 f = 1/(1 + Mo(rpm) + 2*Ts(ms)) 0.000639 0.000796 0.001725 0.001725 0.001733 0.001758 0.001704 0.001566 0.001673 0.001732 0.000654 0.000644

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Table 2 Fitness values of the members, and GA parameters in the rst generation Parameter Fitness Fitness Fitness Fitness Fitness Fitness Fitness Fitness Fitness Fitness of of of of of of of of of of member member member member member member member member member member 1 2 3 4 5 6 7 8 9 10 Value 0.001791 0.001730 0.001721 0.001658 0.001582 0.001469 0.001455 0.001383 0.001223 0.001200

    

Population Size: 30 Number of generations: 60 Crossover rate: 0.80 Mutation rate: 0.20 Chromosome length: 30 bits (15 bits for Kp and 15 bits for Ki).

6. Results and discussion The experimental setup is consisted of induction motor, power module and load (generator). Mathematical modeling of this system is very complex and can not represent the physical system exactly because the system is nonlinear and depends on a lot of parameters. Some parameters are often neglected in similar applications. In this study, it is not necessary the mathematical model of the system. The whole system (induction motor, power module and load) is modeled using MATLAB ANFIS editor toolbox. The ANFIS model is systematically constructed from the inputoutput data. During this work the only rst 36 samples of data are used to model the system. The system is worked at 1000 rpm as open-loop control. The controller is applied to the system for 2000 rpm while the induction motor is working at 1000 rpm. That is, the controllers is switching-on while speed is increased from 1000 rpm to 2000 rpm. To show the validation of the proposed method, speed responses are demonstrated for different Kp and Ki pairs in Figs. 79. Kp and Ki pairs are randomly selected and applied to the system. In Fig. 7, the rotor speed cannot reach the reference speed for Kp = 3.35 and Ki = 0.88. This is not good result. As shown in Fig. 8, the rotor speed is over the reference speed for Kp = 3.35 and Ki = 0.88. This is not also good result.

2500 2000 speed(RPM) 1500 1000 500

Fig. 6. The ow chart of the GA.

The optimum values for the Kp and Ki pairs are obtained using a computer program written in C++ language for the GA. This process executes with three different operators at bit level. 30 of the Kp and Ki pairs are determined at random. Kp and Ki pairs consisted of 15 bits and 15 bits, respectively. These Kp and Ki pairs are entered to ANFIS model as input. The tness values are obtained from the ANFIS output. These values are then used as the tness function. The one-point crossover method is used on the crossover operator. Mutual parameters of two random members on the crossover are divided into two parts and their positions are changed. A random bit of a random number on the mutation process is changed 0 to 1 and 1 to 0. For the optimization process, mutation rate is increased when converge occurs in 510 generation. Therefore, early converge is prevented, and in addition, members that have high tness values are obtained. The range of Kp and Ki values chosen lay between (36.5) and (0.11.1), respectively. The tness function is dened as

0 0 500 1000 millisecond

Fig. 7. Speed of the rotor for Kp = 3.35 and Ki = 0.88.

1500

2000

2500 2000 speed(RPM) 1500 1000 500 0 0 500 1000 millisecond

Fig. 8. Speed of the rotor for Kp = 4.05 and Ki = 0.18.

1 Mo 2 Ts 1

1500

2000

In this algorithm, the genetic algorithm parameters are selected for the training cycles are:

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2500 2000 speed(RPM) 1500 1000 500 0 0 500 1000 millisecond

Fig. 9. Speed of the rotor for Kp = 4.93 and Ki = 0.44.

overshoot and settling time are very small if the system is controlled by control parameters obtained from the optimization process which uses GA. The experimental results show that the ANFIS is able to produce accurate dynamic models of process response directly from I/O data (I: KpKi, O: f (Mo,Ts)), and GA is suitable for optimization of controller coefcients by the performance criteria considered. This process can be also applied for nonlinear systems controlled by PD and PID controller, or a number of applications such a machine tool, robotics and servo drives.
1500 2000

Acknowledgment The project is supported by TUBITAK (The Scientic & Technological Research Council of Turkey). The authors would like to acknowledge the nancial support provides by TUBITAK. References
[1] Itoh JI, Nomura N, Ohsawa H. A comparison between V/f control and positionsensorless vector control for the permanent magnet synchronous motor. IEEE, PCC-Osaka 2002:13105. [2] Chang Wei-Der. A multi-crossover genetic approach to multivariable PID controllers tuning. Exp Syst Appl 2007;33:6206. [3] Sugimoto H, Tamai S. Secondery resistance identication of an induction motor applied model reference adaptive system and its characteristics. IEEE Trans Ind Appl 1987;23:296303. [4] Won CY, Bose BK. An induction motor servo system with improved sliding mode control, IEEE Conf Rec IECON92; 1992. p. 606. [5] Chem TL, Wu YC. Design of integral variable structure controller and application to electrohydraulic velocity servo system. IEE Proc 1991;138:43944. [6] Hung JC. Practical industrial control techniques, IEEE Conf Rec IECON94; 1994. p. 714. [7] Uddin MN, Radwan TS, Rahman MA. Performances of novel fuzzy logic based indirect vector control for induction motor drive, IEEE; 1987. p. 122531. [8] Cardoso FDS, Martins JF, Pires VF. A comparative study of a PI, neural network and fuzzy genetic approach controllers for an AC-drive. IEEE, AMC98 COIMBRA; 1998. p. 37580. [9] Yamamoto S, Hashimoto I. Present status and future needs: the view from Japanese industry. In: Chemical process control, proceedings of the fourth int conf on chemical process control, TX; 1991. [10] Wang Y, Shao H. Optimal tuning for PI controller. Automatica 2000;36:14752. [11] Jang J. ANFIS. Adaptif network-based fuzzy inference system. IEEE Trans Man Cybernet Syst 1993:66585. [12] Glc Mustafa. Articial neural network based modeling of performance characteristics of deep well pumps with splitter blade. Energy Convers Manage 2006;47:333343. [13] Ying Li-Chih, Pan Mei-Chiu. Using adaptive network based fuzzy inference system to forecast regional electricity loads. Energy Convers Manage 2008;49:20511. [14] Avare MV, Choube SO, Koothari AG. Application of adaptive neuro-fuzzy controller (ANFIS) for voltage source inverted fed induction motor drive. IEEE Trans Power Electron Motion Cont 2000:9359. [15] El-Naggar Khaled, Abdelhamid Tamer H. Selective harmonic elimination of new family of multilevel inverters using genetic algorithms. Energy Convers Manage 2008;49:8995. [16] Jang JS, Sun CT, Mizutani E. Neuro-fuzzy and soft computing. Upper Saadle River, NJ: PTR Prentice Hall; 1997. [17] Gulley N, Jang JSR. Fuzzy logic toolbox a reference guide, The MATHWORKs Inc.; 1995. [18] M. Ayyub. ANFIS based soft-starting and speed control of AC voltage controller fed induction motor. Power India Conf IEEE; 2006. [19] Goldberg DE. Genetic algorithms in search, optimization, and machine learning. Reading, MA: Addison-Wesley; 1989. [20] Ng KC, Li Y, Murray-Smith DJ, Sharman KC. Genetic algorithms applied to fuzzy sliding mode controller design. In: Proc rst IEE/IEEE int conf on genetic algorithms in Eng Syst, Innovations and Appl, Shefed; 1995. p. 2205. [21] Dahidah Mohamed SA, Agelidis Vassilios G, Rao Machavaram V. Hybrid genetic algorithm approach for selective harmonic control. Energy Convers Manage 2008;49:13142.

2500

Ziegler-Nichols model
2000 speed(RPM) 1500 1000 500 0 0 500 1000 millisecond 1500 2000

ANFIS-Genetics model

Fig. 10. The speed response for optimal Kp and Ki.

In Fig. 9, the settling time is too much for Kp = 4.93 and Ki = 0.44. This is not good result because there is overshoot. The obtained results show that the optimum PI coefcients must be nding for eliminating overshoot and the steady state error at the reference speed. The best solution for the rotor speed is the optimum PI coefcients. Therefore, the optimum PI coefcients are found by Ziegler-Nichols and Genetic-ANFIS models. The experimental setup is worked for Ziegler-Nichols model and Genetic-ANFIS model. In this study, the optimum PI coefcients by using Ziegler-Nichols model are found to be: Kp = 5.45, Ki = 0.66. The optimum PI coefcients by using the Genetic-ANFIS model are found to be: Kp = 3.66, Ki = 0.02 (generation number: 20). Optimal tness value is not change after generation 20. Therefore, optimal Kp and Ki values are taken for generation number 20. The responses of the system for these values of Kp and Ki are shown in Fig. 10 for comparing two models. The overshot at Ziegler-Nichols model is too over according to Genetic-ANFIS model. The settling time is shorter and the maximum overshoot is minimized for the optimum values according to the other Kp and Ki pairs, as shown in Figs. 79. The proposed method is a good control system. 7. Conclusion This paper describes and compares the Genetic-ANFIS model and Ziegler-Nichols model. Actual system (motor and controller) is modeled using ANFIS. It is also determined that the maximum