Applied Soft Computing 7 (2007) 601611 www.elsevier.

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GAPSO based vector control of indirect three phase induction motor

Dong Hwa Kim *
Department of Instrumentation and Control Engineering, Hanbat National University, 16-1 San Duckmyong-Dong, Yuseong-Gu, Daejeon City 305-719, South Korea Received 12 April 2005; received in revised form 13 March 2006; accepted 6 April 2006 Available online 5 June 2006

Abstract This paper deals with the genetic algorithmparticle swarm optimization (GAPSO) based indirect vector control for loss minimization operation and optimal torque control of induction motor. It is estimated that more than around 50% of the world electric energy generated is consumed by electric machines such as induction motor, dc motor. So, optimal control strategy for minimum-energy loss in electric drives is important as one of improving efciency. Relative to this aspect, the vector control of induction motor has been widely used to operate in a wide speed range by using ux weakening at rated speed. However, it is still necessary to advance in controller tuning because of coupling behavior between uxes in motor. In this paper, tuning of speed controller and current controller in indirect vector control approach is performed using GA PSO method on simulation and experiments. They reveal satisfactory results. # 2006 Published by Elsevier B.V.
Keywords: Induction motor; Vector control; Hybrid intelligent system; Genetic algorithm; Particle swarm optimization

1. Introduction Induction motors have been widely used in various industries as actuators or drivers to produce mechanical motions and forces. Since it is estimated that more than around 50% of the world electric energy generated is consumed by electric machines, improving efciency in electric drives is important [1,2]. That is mainly, for two reasons as follows: economic saving and reduction of environmental pollution [3,4]. Generally, induction motors require both wide operating range of speed and fast torque response in operational conditions, regardless of load variations. Namely, induction motors have a high efciency at rated speed and torque. Therefore, it has been widely used as driver in the industrial eld. However, at light loads, iron losses increase dramatically, reducing considerably the efciency [5,6]. To improve the motor efciency, the ux must be reduced, obtaining a balance between copper and iron losses [5]. Generally, there exist two different approaches to improve the efciency in induction motor referred to as power measure based method and loss model based method. In rst approach, an optimum ux search algorithm is used, and the drive power consumption is measured [7,8,10]. This

* Tel.: +82 42 821 1170; fax: +82 42 821 1164. E-mail address: kimdh@hanbat.ac.kr. 1568-4946/$ see front matter # 2006 Published by Elsevier B.V. doi:10.1016/j.asoc.2006.04.001

approach does not require the information or knowledge of motor parameters. However, it is only efcient at steady-state condition and for transients, a controller actuating as a supervisor, is needed to optimize efciency with reduced ux levels. Some results propose different optimum ux search algorithms in an indirect eld-oriented control and compared in a standard induction motor [3]. In second approach, when a motor loss model is available, the loss minimization optimum ux can be computed analytically [4,5]. The main advantage of this method is the simplicity of approach, not requiring extra hardware. However, it is compulsorily necessary to obtain an accurate knowledge of motor parameters, which change considerably with temperature, saturation, skin effect, variation of load, etc. In these methods, the optimum tools such as dynamic programming let us solve the problem of efciency optimization to calculate the optimum ux trajectories. However, this approach presents difculty to be implemented and it is also very sensitive to parameter changes. To meet this requirement, many control approaches such as intelligent optimization are introduced into loss minimization control or energy saving control area in induction motor. The eld-oriented control is one of the most successful in meeting the above requirements. Due to advances in power electronics and DSP technology, variable-speed drives of induction motors using the eld-oriented control have been widely used in many

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applications, such as ac servo, electric vehicle drive systems, and so on [25]. Using the eld-oriented control, a highly coupled, non-linear, multivariable induction motor can be simply controlled by means of implementing linear independent decoupled control of torque and ux, similar to separately excited dc motors. Therefore, high performance torque control requires fast enough current response for the current regulator to track the reference current. However, due to limitations of voltage and current ratings on the inverter dc link, input voltage and current of an induction motor are limited accordingly. Hence, developed torque in the motor should be limited for low loss operation under these input constraints. In particular, since the objective of a variable-speed control system for higher efciency is to track the reference speed as fast as possible, under the constraints of input voltage and current, control approaches which yield the maximum torque over the entire speed range can be usefully applicable to minimum-time speed control of induction motors. However, most researchers who deal with the speed control of induction motors have not discussed the maximum-torque generation scheme, under low loss consideration. Some approaches which yield the maximum torque have been published a method which set the stator ux reference inversely proportional to the rotor speed should produce more output torque than a conventional method, which set the rotor ux reference inversely proportional to the rotor speed, without mentioning the maximum torque [8]. Results suggested a voltage control strategy for the maximum-torque operation of induction motors in the eld-weakening region, considering the voltage and current constraints, not mentioning the stator resistor. In order to produce the maximum torque, ux current components are compensated, as much as current components omitted by neglecting the stator resistor. Hence, the resultant maximumtorque generation algorithm is not the theoretically exact solution to maximize torque, because the solution is obtained by using an approximated formulation. Some result suggests the entire current input is used for generating the rotor ux before the torque is developed. However, at the moment that the rotor ux reaches the steady-state value, since the entire input current is switched to produce torque current component, this research can guarantee the instantaneous maximum torque, but should require a constant time interval for producing the rotor ux at the initial time. Hence, the minimum-time speed control is not guaranteed and can also not provide low loss control strategy. In this paper, a new minimum-time minimum-loss control algorithm for induction motors using hybrid system genetic algorithmparticle swarm optimization (GAPSO) is suggested to obtain high performance, as well as high efciency, under practical constraints on voltage and current. The validity of the suggested scheme, which carries out minimum-time speed control in the transient state and minimum-loss control in the steady state, will be revealed via simulation, including an induction motor model. The remainder of this paper can be outlined as follows. In Section 2, the dynamical model for vector control is overviewed. Section 3 gives a brief overview for vector control of induction motor. Section 4 describes the structure of indirect

vector control. Section 5 presents PI speed controller and PI current controller tuning algorithm using GAPSO. Sections 6 and 7 describe the simulation and experiment of the suggested speed and current control scheme. Finally, conclusions and further studies are explained in the last Section 8. 2. Mathematical model of induction motor The control algorithm implemented in some paper for vector is a rotor ux-oriented control strategy, based on the eldoriented control (FOC) structure [6]. In this strategy, given the position of the rotor ux and two phase currents, this generic algorithm operates the instantaneous direct torque and ux controls by means of coordinate transformations and PI regulators. Therefore, a really accurate and efcient motor control is achieved. The generic FOC structure needs to be augmented with two modules in order to address the asynchronous drive specicity. The current model must be added to the generic structure. Current model takes as input both id and iq current as well as the rotor mechanical speed and gives the rotor ux position as output [1,3,5]. These two components of the phase currents feed the Clarke transformation module and provide the input of the Park transformation that gives the current in the d and q rotating reference frame. The id and iq components are compared to the ux reference, isdref and the torque reference, isqref. The torque command isqref corresponds to the output of the speed regulator. The ux command isdref is the output of the eld-weakening function that indicates the right rotor ux command for every speed reference. The current regulator outputs are vsqref and vsdref . They are applied to the inverse Park transformation. The output of this projection are vsdref and vsqref , the components of the stator vector voltage in the a and b orthogonal reference frame. The speed control of the ac induction machine is often split into two ranges: the low speed range which the motor speed is below the nominal speed, the high speed range which the motor speed is higher than the nominal speed. Above the nominal speed the effective back electromotive force is high enough, given the dc bus voltage limitation, to limit the current in the winding. Where, back electromotive force depends on both the motor speed and on the rotor ux. As such, this limits both the torque production and the drive efciency due to problems with magnetic saturation and heat dissipation. Where the rotor ux has been maintained at its nominal value during the low speed operation so as to achieve the highest mutual torque production, it must be reduced in the high speed operation in order to avoid magnetic saturation and the generation of too high back electromotive force. Reducing the rotor ux in this way extends the high efciency operating range of the drive. This functionality is integrated into the eld-weakening module. For these ux controls, angle r between rotor vector and eldoriented vector is dened as: r tan1 cb ca (1)

where ca and cb are ux vector in state space (Fig. 1).

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The nal equation for eld-oriented vector control is dened by: dv TL B mcd iq v dt J J di q iq id 1 g iq np bvcd np vid aM uq dt cd s dc d acd aMid ; dt 2 iq 1 di d g id abcd aM ud dt cd s dr iq np v aM dt cd where This approach needs the rotor resistance as a parameter. Accurate knowledge and representation of the rotor resistance is essential to achieve the highest possible efciency from the control structure. Park transformation for vector control mentioned above is generally given as [4,7,8]:  id iq " cd cq  #  cos r sin r  cos r sin r sin r cos r sin r cos r  ia ib   ; (2)  np M M2 s Ls 1 ; ; m JLr Ls Lr M Rr M 2 Rs ; g b 2 s Lr s Ls Lr s Ls  a Rr ; Lr (8)

(7)

Fig. 1. Stator frame and eld-oriented frame.

and m: torque constant, a: inverse of rotor constant Lr/Rr. In eld-oriented equation, input to stator is uq and stator voltage ud, q coordinate iq of stator current to generate speed, w and d coordinate of id as stator voltage ud to generate rotor ux cd [1,2]. 3. Vector control overview The direct torque and ux control for induction machine drives has been developed as direct torque control (DTC) in [1,4] and as direct self-control (DSC) in [2]. The technique was generalized to all ac drives, as torque vector control (TVC) in [3], and it was recognized as a viable alternative to eldoriented control [4]. Industrial drives with DTC are present on the market today [5]. DTC abandons the stator current control philosophy, characteristic of FOC and achieves bangbang torque and ux control by directly modifying the stator voltage in accordance with the torque and ux errors. DTC is characterized by fast dynamic response, structural simplicity, and strong robustness in the face of parameter uncertainties and perturbations. It does not employ current controllers and pulsewidth modulation (PWM), and it is well suited for sensorless drives. Classic DTC [6,9] has still several drawbacks. It exhibits large torque, ux, and current ripple, produces annoying acoustical noise, operates with non-zero steady-state torque error, has difculties in controlling the ux at low speeds, and the switching frequency is variable and lower than the sampling frequency. Four classes of modied DTC schemes that deal with these problems and attempt to improve DTC behavior have evolved:  Schemes that use improved comparators and switching tables, while the original topology is unchanged [5,6].  Solutions that implement the DTC concept by means of space-vector modulation [7,8].  DTC solutions based on fuzzy logic and/or neural networks schemes [11,12].

 ca : cb

(3)

q 2 Since rotor ux is jcj cd c2 a cb and cos r = (ca/ jcj), sin r = (cb/jcj), the following equation is obtained by: id iq cd cq ca ia cb ib jcj ca ib cb ia : jcj q 2 c2 a cb jcj 0

(4)

State equation for eld-oriented control is xe v; iq ; cd ; id ; rT : (5)

State transformed in stator vector for eld-oriented control is dened by: iq cd id r ca ib cb ia cd q 2 c2 a cb ca ia cb ib : cd   1 cb tan ca (6)

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 Torque and ux control systems that explicitly use the variable structure control approach [13,15,18]. The variable structure control is an effective, high frequency switching control strategy for non-linear systems with uncertainties. It features good robustness in the face of parameter uncertainties and other disturbances, it has fast response control, but the controlled quantities exhibit chattering [13]. Since the voltage-source inverter (VSI) is, by its nature, a switching device, it is natural to regard the drive control from a VSC perspective. In fact, the classic DTC is a VSC system, remarkably well designed to take advantage of the eight-state discrete nature of the VSI. The direct torque and ux control can be implemented as VSC, and the SVM is employed to reduce the torque and current ripple and to ensure constant switching frequency. The fast dynamic response of classic DTC is entirely preserved, while the steady-state behavior is signicantly improved. Comparative experimental results illustrate the characteristic behavior of each scheme and conrm their feasibility. Electrical machines normally operate at rated ux in a variable frequency drive to get best transient response. However, most of the time, drives operate with light loads. In this case, the core losses become excessive causing poor efciency [4]. If signicant energy saving are to be obtained, is necessary to optimize the efciency of motor drive systems. Various methods have been investigated to achieve such a goal [24]. In [2], an optimal controller scheme has been proposed and implemented on a conventional eld-oriented control structure of an induction motor. Simulation results have shown that it is possible to signicantly improve the induction motor drive efciency when it is slightly loaded. DTC has evolved from a particular control strategy to a wide concept that employs a broad range of control solutions. Many existing schemes depart from the classic bangbang approach [16] and achieve high performance torque and ux control by using modern control techniques. All approaches that realize the motor control by direct modication of stator voltage, based on torque and ux errors, can be considered DTC schemes [515]. In the DTC, there are advantages that simultaneous and decoupled control of torque and stator ux is achieved by direct adjustment of the stator voltage, in accordance with the torque and ux errors, without intermediate current control or decoupling network. Generally, in sensor-less DTC scheme [17], it is composed of four components such as the torque controller, the stator ux controller, the switching strategy, and a state observer. Classic DTC uses hysteresis torque, ux controllers, and a switching table that generates the VSI switching signals [5]. On the basis of the torque and ux errors, the VSI voltage vector is determined so as to rapidly reduce these errors and to maintain them within prexed limits, while no PWM is employed. Application of this scheme results in very fast and robust bangbang control, with large torque, ux, and current ripple, and variable switching frequency. The indirect eld-oriented control (IFOC) approach is one of a powerful way to guarantee dynamic performances of induction

motor drives. As the crucial point is the knowledge of the instantaneous position of rotor ux, it has been estimated in IFOC based on a real time model of the induction motor. Hence, it is parameter dependent. It is well known that a detuned system leads to poor performances both in steady state and in dynamic operation. The most critical parameter is that the rotor resistance has the wider range of variation due to changes in temperature. In particular, as the stator windings inuence cannot be neglected any more due to the low switching frequencies in high power systems, a parameter adaptation in the vector controller using the modied reactive power is needed through simulation and experiment [1923]. This introduces a cross-coupling effect we can eliminate by introducing decoupling terms in each axis of the synchronously rotating reference frame. The IFOC method associated with compensation scheme of parameter variation is efcient enough to achieve good dynamic performances of an induction machine drive, due to its simple implementation and its physical approach of the process. Recently, practical investigations are performed on an experimental drive system to validate the IFOC method in a high power application. 4. Structure of indirect vector control 4.1. Derivation of indirect vector-control scheme The indirect eld-oriented control method is a powerful way to guarantee dynamic performances of induction motor drives. The crucial point is the knowledge of the instantaneous position of rotor ux. This is estimated in IFOC based on a real time model of the machine. Hence, it is parameter dependent. It is known that a detuned system leads to poor performances both in steady state and in dynamic operation. The most critical parameter which has the wider range of variation due to changes in temperature is the rotor resistance. A parameter adaptation control using the vector controller is very useful for induction motor. Especially, in high power systems, due to the low switching frequencies the stator windings inuence cannot be neglected any more. That is, we obtain a cross coupling effect we can eliminate by introducing decoupling terms in each axis of the synchronously rotating reference frame. 4.2. Indirect rotor ux-oriented control The expressions for ratios of actual to commanded rotor ux and actual to commanded torque, and equation for the error in orientation angle are illustrated in [25] with the vector expressions. Dynamic equations are frequency dependent due to frequency dependence of the iron core loss. In the speed mode of operation, due to closed speed control loop, the conditions (load torque = reference torque) have to be satised in any steady state. Thus the load torque becomes independent variable, while torque command is unknown and has to be calculated. The additional equation for speed mode is obtained by utilizing torque ratio of dynamic equation.

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4.3. Indirect air-gap ux-oriented control The expressions for ratios of actual to commanded rotor ux and actual to commanded torque, and equation for the error in orientation angle are essentially the same as indirect rotor uxoriented control denoted by air-gap ux, its angular velocity, and the error in orientation angle. The additional equation that characteristics steady-state speed mode of operation is obtained in the same way as explained in conjunction with RFOC. However, due to non-linear correlation between commanded torque and commanded slip frequency it is easier to form this equation in terms of angular slip frequency as the unknown variable. Once when, for the given speed of rotation and for the given load torque, commanded slip frequency is calculated, commanded torque is easily determined using the correlation between the two for the AFOC. 4.4. Indirect stator ux-oriented control In the case of stator ux-oriented control the expression for the error in orientation angle is found to be too cumbersome to be given here. Hence, only equations for the actual to commanded ux and torque ratios are given, in the vector form. The procedure for calculation of commanded torque for given speed and load torque closely parallels the one described in the previous subsection. The additional equation required for the speed mode is again formed in terms of commanded angular slip frequency. Once when the slip frequency is calculated, commanded torque is found from correlation between the two for stator ux-oriented control. 4.5. Performance of indirect vector controlled induction motor The speed of the drive is selected in such a way that operation with rated Hz frequency results for all the four machines when the commanded torque equals rated torque of the machine. Flux command is for each of the machines set to the appropriate rated value for each of the three types of eld orientation. All the results include characteristics for all the motors and can be plotted against per unit load torque, which is taken as the independent variable. Due to frequency dependence of the iron loss, the selected value corresponds to the maximum value of iron loss that will take place during operation of the time in the constant ux region. Hence, detuning at lower operating speeds will always be smaller than that illustrated. 4.6. Implementation of indirect vector control scheme The PI controller in indirect vector control system should provide the speed and ux requests and generates the commanded values of torque and ux producing components of stator both currents iq and id. The commanded current values are processed through two independent pairs of PI controllers (d and q synchronous frame current control) to generate two sets of command and reference voltage vectors. These reference

voltage vectors are used to generate two sets of three phase command and reference voltage vectors and phase shifted by an arbitrary of set value angle, through transformation (dq synchronous). The commanded voltage vectors in conjunction with the bidirectional triangular waveform provide the switching signals to the base drive of the inverter switches. It will be worthwhile to mention here that the parameter detuning effect is neglected. As the vector controlled induction machine is assumed to be current fed from an ideal current controlled PWM inverter, operation with constant, rated ux command would be discussed. As the indirect vector controller is the scheme composed of the appropriate decoupling circuit for each of the three orientation possibilities such as stator, air-gap, and rotor ux-oriented control, it incorporates only PI speed controller. Decoupling circuits neglect iron loss, magnetic saturation and resistance variations and have the well-known form, representation of the induction machine, in terms of space vectors. That is, the indirect vector control system neglects the core loss. The electrical torque in an induction machine can be expressed as: Te 3 P Lm e e l i ; 2 2 Lr dr qs (9)

e e e where rotor ux instantaneous speed ve, le r ldr jlqr ldr , e e e lqr 0, iqs Lr =Lm iqr . The slip equations for an induction motor in an arbitrary synchronously rotating reference frame are given by:

Rr ie Rr Lm e qr ve vr vsl e e i ldr ldr Lr qs    L r 1 Rr e 1 p iqs Rr i e ds Lr

(10)

e where ie qs is the torque current and ids is the ux current. When e e ids and iqs are decided by vsl, rotor ux position ue is given by: Z t Z t ue ve dt vr wsl dt (11) 0 0

In indirect vector control, stator current and slip angle vsl through ue is controlled, then le qr 0 become [2] (Fig. 2). 5. GAPSO for vector control This paper focuses on the advantage of PSO into the mutation process of GA, for improving the GA learning efciency. Euclidean distance is used on crossover to avoid local optimal and obtain fast running time of solution. We illustrate the performance of the method using four test functions [2426]. Using the conventional GA or PSO approach optimal solutions are obtained mostly with some initial differentiated data [2729] and there is a high possibility for obtaining local optimal solutions. The proposed approach uses data points with the longest Euclidean distance for crossover process to avoid such local optimisation [30]. The idea is to obtain global solutions by considering the entire search space (all the data points).

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Fig. 2. Block diagram of indirect vector PI controller using GAPSO.

To demonstrate the performance, the Himmelblau function is used:

2 2 2 F x x2 1 x2 11 x1 x2 7 :

(12)

The contour to obtain optimal solution by crossover using a conventional GA is illustrated in Fig. 4. Data points are selected by: Ax1 ; y1 Bx1 ; y1 ) A0 ; B0 x01 jminx11;y11 ; y01 jminx11;y11 :
maxx ;y maxx ;y

(13)

duction step of tth, w the weighting factor, c1 and c2 the acceleration constants, rand() and Rand() the random value between 0 and 1, pbestj the optimal position vector of agent j, and gbest is the optimal position vector of group. The value of position vector and speed vector is determined by acceleration constants c1 and c2. If these values are large, each agent moves to the target position with high speed and abrupt variation. If vice versa, agents wander about target place. As weighting factor w is for the searching balance of agent, the value for optimal searching is given by w wmax wmax wmin iter; itermax (15)

As per the contour plot (Fig. 4) it is evident that there is an optimal solution in only one place and optimal solution is obtained after 200 generations. Contour plot (Fig. 4) obtained by the proposed GA based on Euclidean distance shows that there are optimal solutions in both local and global spaces and its solution is obtained after 50 generations. The inuence of mutation in GA or in a hybrid system of PSO and GA has been studied to speed up the running time to obtain optimal solution [27]. We used the position and speed vector of PSO as follows:
v f ;g B B w v j c 1 rand pbest j;g k j;g c 2 Rand gbestg k j;g ; t t1 t t

where wmax is the maximum value of w (0.9), wmin the minimum value of w (0.4), itermax the number of iterative number, and iter is the number of iterative at present. t min max The speed vector is limited by Vg  v j;g  Vg . In this research, the value of speed vector for each agent is limited to

j 1; 2; :::; n; g 1; 2; :::; m: t1 t t1 t 1 min max  k j; g  kg k j;g k j;g v j;g ; kg

(14)

where n is the number of agent in each group, m the number of t member in each group, t the number of reproduction steps, v j;g the speed vector of agent j in reproduction step of tth, t min max t Vg  v j;g  Vg , k j;g the position vector of agent j in repro-

Fig. 3. (a) Calculation process of EUGAPSO algorithm. (b) Individual structure combined by PSO and GA.

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1/2 to avoid abrupt variation of position vector. Calculation process for each step is given in Fig. 3. [Step 1] Initialize each variables of GA. [Step 2] Initialize each variables of PSO. [Step 3] Calculate afnity of each agent for condition of optimal solution of GA. At this point, optimal position condition of PSO is introduced into GA. [Step 4] Arrange the group of PSO and agent in GA as shown in Fig. 3.

[Step 5] Update position vector pbest and speed vector gbest. [Step 6] Perform crossover in GA using Euclidian distance and position vector of PSO. [Step 7] Perform mutation in GA. [Step 8] If condition of GA is satised with the target condition (iteration number or target value), reproduction procedure is halted. Otherwise, it goes to step 3. In Fig. 3, IG, ED, PV, and SV refer to initial group, Euclidean distance, position vector, and speed vector, respectively.

Fig. 4. (a) Convergence of GAPSO for Rosenbrock function and (b) Rosenbrock function: convergence characteristics after 100 generations.

608 Table 1 Parameter values of the induction motor Parameter Number of pole pairs, np Stator resistance, Rs [V] Rotor resistance, Rr [V] Stator inductance, Ls [mH] Rotor inductance, Rr [mH] Mutual inductance, M [mH] Rotor mass moment of inertia, J [kg m2] Coefcient of friction, B [N m s/rad] Table 2 Initial range of PI parameters for simulation PI parameters Range Minimum Kp_speed Ki_speed Kp_current Ki_current 0 0 0 0

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Value 2 0.84 0.3858 70.6 70.6 67.2 0.008 0.004

Maximum 1 1 20 200 Fig. 7. d-Axis current of indirect vector PI controller.

Fig. 5. Speed tracking of indirect vector PI controller.

Fig. 8. q-Axis current of indirect vector PI controller.

6. Simulation Fig. 4 represents convergence contour and convergence characteristics after 100 generations of GAPSO approach incorporating the Euclidean distance obtained on Rosenbrock
Table 3 Result of the tness values after generation Generation Fitness value Best (e5) 1 5 10 20 33.963 35.001 36.259 36.273 Average (e5) 18.513 25.867 34.591 36.268 Speed Kp (e2) 28.44 47.06 83.56 83.56 Ki (e2) 46.92 98.37 98.37 99.19 Current Kp 1.295 1.295 1.732 1.914 Ki 197.6 198.2 198.3 198.3

Fig. 6. Flux amplitude tracking of indirect vector PI controller.

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Fig. 9. DSP-based indirect vector control system for induction machine.

Fig. 11. d-Axis current tracking in experiments of indirect vector PI controller: (a) GEN = 1 and (b) GEN = 20.

function. Experiment results reveal the efciency of the proposed approach with a faster convergence and optimal solutions. The GAPSO system proposed in this paper for PID controller tuning could be easily extended to model other complex problems involving local optimal and global optimal solutions. For more effective simulation, this paper uses three phase squirrel induction motor model with rotary encoder, 2.2 kW, 3 HP, 220/380 V, 60 Hz, 8.5/5 A provided by LG-OTIS and its parameter is shown in Table 1. To observe the characteristic of motor and performance of GAPSO based controller on motor mentioned above, we simulate with MATLAB. Initial value of GAPSO to obtain optimal PI parameters is shown in Table 2 and parameters of GAPSO are dened as: - members of each agent: Kp_speed, Ki_speed, Kp_current, Ki_current; - the number of group: 3; - weighting factor: wmax 0:9, wmin 0:4;

Fig. 10. Speed tracking in experiments of indirect vector PI controller: (a) GEN = 1 and (b) GEN = 20.

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Fig. 12. Experimental result of q-axis current of indirect vector PI controller: (a) GEN = 1 and (b) GEN = 20.

Fig. 13. Experimental result of stator voltage in one phase by indirect vector PI controller: (a) GEN = 1 and (b) GEN = 20.

- limit of speed vector:

max VKp Ki speed;KpKi current

1 KpKimax speed;current ; 2
max VKp Ki speed;KpKi current ;

min VKp Ki

speed;KpKi current

- acceleration constant: c1 = c2 = 2; - max generation: 20. Figs. 58 show speed tracking curve, ux amplitude tracking, d-axis current, and q-axis current by indirect vector PI controller based on GAPSO, respectively. In these gures, detailed difference cannot be seen but Table 3 represents difference. 7. Experiment and discuss In this section, TMS320F2812 DSP with 32 bit, 150 MIPS (TI Co.) and inverter is prepared for experiments. TMS320F2812 is with Flash-ROM: 128K 16, SRAM: 18K 16, two SCI (communication port), and CAN function. This experiment uses

parallel running with TMS320F2812 to increase computation speed. Inverter is SV-iV5 with IGBT and voltage type (200 230 V, 50/60 Hz). Fig. 9 shows total experimental system. Figs. 1013(a) are results by optimal PI parameter obtained at rst reproduction and Figs. 1013(b) represent results by PI parameter obtained after 20 reproductions. Fig. 10 represents speed tracking of GAPSO based indirect vector PI controller with generations 1 and 20 on experimental apparatus. Response curve is very similar to the speed tracking response of Fig. 5 obtained on simulation. Fig. 11 is d-axis current response of indirect vector PI controller. Fig. 12 gives the experimental results of q-axis current of indirect vector PI controller when generations 1 and 20, respectively. These responses are the similar to q-axis current (Fig. 8) of indirect vector PI controller achieved on simulation. Fig. 13 illustrates experimental result to variation of stator voltage in one phase of induction motor by indirect vector PI controller when generations of genetic algorithm are 1 and 20, respectively. Fig. 13(a) shows slightly lower oscillation.

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8. Conclusions In this paper, the GAPSO based indirect vector control is suggested through simulation and experiment. In optimal search by GAPSO, a population consists of a nite number of individuals and each individual is decided by an evaluating mechanism to obtain its tness value. Based on this tness value and undergoing GAPSO operators with Euclidian distance, a new population is generated iteratively with each successive population referred to as a generation. The GAPSO system proposed in this paper for PI controller tuning of indirect vector control could be easily extended to model other complex problems involving local optimal and global optimal solutions. Hence, a simultaneously tuning approach is evaluated in tuning of speed PI controller and current PI controllers for vector control of induction motor on simulation and experiments. Therefore, speed following function torque, speed, and efciency are able to be satised together. We expect this strategy for efciency can be well performed for the load change. References
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