Identification and Control of Induction Motor

Using Artificial Neural Networks

Wang Dazhi , Wang Zhenlei , Gu Shusheng
Northeastern University School of Information
Science & Engineering
Shenyang 110006 ,China

Absfracr-This paper proposes the use of one kind of For controlling of the rotor speed, two systems using
Artificial Neural Networks (ANN), so called Dynamic D R " are introduced: one is to identify the change in
Recurrent Neural Networks ( D R " ) to identify and control rotor speed; the other is to control the rotor speed.
an induction motor. A scheme of identification of the Computer simulated results are used to demonstrate
electrical dynamics o f a voltage-fed induction motor is the performance of the speed controlled induction motor
presented. Computer simulation results of rotor speed are system, and show that the performance of this system is
based on a system to adaptively control the rotor speed via satisfactory.
identification o f the mechanical and current-fed system
dynamics, and the performance o f the combined speed and 11. REFERENCE
COORDINATE
SYSTEM
OF INDUCTION
current control scheme is perfect. MOTOR
Keywords-ANN, control, identification, induction motor.
A. Stationary ( a , 8,O)Coordinate System
I . INTRODUCTION
The induction motor is a system that is MIMO,
The electromagnetic torque of induction motor is not nonlinear and coupling, the coefficients of coupling
easy to control, and its characteristics of adjust speed is between stator and rotor vary with the position of rotor.
not as good as DC motor's. The dynamic control method The mathematic model of induction motor includes the
of induction motor veclor control was created. The coefficients that vary with time, which is difficult to
induction motor is a nonlinear system and its parameter analyze and operate. This problem can be solved by
varies with time and operating condition. The purposes coordinate conversion. Stationary coordinate system ( a,
of vector control attempt to reduce the complex 8,O) is given below.
nonlinear dynamic structure into a linear structure. In the The coordinate axis is put on stator, oaxis of
past 30 years, vector control techniques are widely ( a ,8,O)and A axis of ( (A,B,C)coordinate system is
applied in the AC driver system, but due to the drawback stator coordinate system) is coincident. Baxis of
of itself, its performance is not perfect. First, decouple of ( 0 , S,O) leads a axis 90'. Fig. 1 shows both coordinate
vector control may be obtained at stabilization state, that systems.
is, when the flux is constant, decouple has real meaning.
So, the dynamic performance of vector control does not
appear satisfactory. In actual system, the condition of T = f[iA + i,a + i , a 2 ]
decouple may be destroyed with the change of induction
motor's parameter variation, and the system performance
gets worse.
Recently, the use of Artificial Neural Networks (ANN)
has been largely successful applied in nonlinear dynamic
systems to identify and control [1],[21,[31,[41,[~1.
Previous papers have proposed schemes to identify and
control the induction motor, the results in these papers
show some schemes have certain advantages, such as
increased speed of execution and fault tolerance.
This paper starts with the introduction to the two kinds
of two-axis coordination system of induction motor, that ; a
is, ( a , 8,O) and (dq,0) coordination system. Those two
kinds of coordination system are used as the
electromagnetic model of the induction motor of the two
problems, namely the control of the stator current and
the control of the rotor speed.
For the control of the stator current, a system to
identify the electromagnetic model using a D R " is
introduced and another system is proposed to control the Fig.1 ( 0, S,O) coordinate system
stator current adaptively.

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 ............................... ".

j, j

. a

Fig.2 ( 4q,O) coordinate system

Fig.3.Structure of D R l h identifier

An ideal application for ANN is in the field of

nonlinear system identification [5]. Any discrete-time
nonlinear system may be represented by the Nonlinear
AutoRegressive Moving Average with exogenous inputs
(NARMAX) model. In general the NARh4AX model has
the following form [3]:
Y ( k + 1) = j ( Y ( k ),...,?(k - d,, ,u'(k),..., u'(k - d, )) (2)
Where d, and d, are the maximum delays in the input
and output vectors U' ,? , respectively.
The discrete-time form of the electromagnetic mode of
induction motor, expressed in stationary two-axis ( a ,a )
coordinates is well known and is given by [2]
T U B (k + 1) = $4(k)7@ ( k ) + c p(K) (3)
B. SynchronouslyRotating (4q,0) Coordinate System

Fig.2 shows this coordinate system rotates

synchronously with the stator magnetic field; q-axis lead
d-axis 90°.The direction of d-axis is the same as the
rotor's flux linkage, which is so called rotor's magnetic
field directional coordinate system. The project, id, i, on
the d-axis and the q-axis are the components of vector on
the two axis. The relation between (A,B,C) coordinate
system and (4q,O)coordinate system is:
i, = id cos 6 - i d sin 6
i, = id cos( e - 120 ' ) - i d sin( e - 120 ' )
i , = i d cos( e + 120 * ) i d sin( e + 120 ' ) -
Including zero-sequence current, the relation is:

cos(8 120')

-
TAB= = c ;
!&i 0 1 4 0
Inverse transformation is:

Tdq 0
2

= c
cos@-12d)
-sin@-12d)

3 - 4
-2I
OfABC
cos@+126)

I"]
-sin@+126) iB
IC

m.ANN IDENTIFICATION OF THESTATOR CURRENTS

A. N A W Model of the Induction Motor

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 a , = TR 22
a 6 = T /aL I 1
This model is unsuitable for system identification
purpose, because the flux linkages are unmeasurable.
However, it is possible to manipulate these equations
into two second-order different equations, which is
entirely expressed in terms of measurable quantities and
has the following form [3]:
i,"B(k+l) = j ( p ( k ) , T ; q k - l ) , U , ( k )
w ,(k - l), v@ (k - 1)) + C,V"'~(k) (4)
The vector hnction :R* is nonlinear,
iJuB(k+ 1) is a linear hnction of v (k) .

B, Identification of a Voltage-fedInduction Motor Fig.4.Identifier and current control using D R "

Fig.3 shows the structure of an ANN to estimate the weighted sum of the inputs to node j. H k is the
nonlinear function -
in (4). Note that a D R " is used,
it has only 5 n o d e l n the input layer, but, if the BP
output of node j, W,,, is the weight He ween the i'th
input and j'th hidden node, W,', is %weight between
0
neural networks are used, 8 nodes in the input layer must the j'th hidden and i'th output node, is the weight of @,
be needed [3]. recurrent node.
The training of a D R " starts with using Gaussian The algorithm of learning of D R " is:
distributed random steps as input voltage w ; / ( k + 1) = wp,(k)- '7, aIT/aw,q,
vector p f l ( k ) .The voltage vector 7 afl = w , ' / ( k ) + r ~ , & / ( k ) H, ( k )
current vectorC''(k) ,and the roto: c , ( k + I ) = c , ( k ) - '7, a E / a c ,
sampled, delayed and propagated through the D R " .
The one-step-ahead estimated vector value of the - C,I(k) + rl,&,I,(k)
stator current is:
i:fl (k + 1) = Z(iJ"B(k), isa@
( k - I), w , (k), w ,D (k + 1) = w /D ( k ) - '7 aE/a w
= w ~ ( k ) + r l , &(, W
~,:,)G,(k)
w , ( k - I), CSUfl(k - 1))
+ t " C " 8 (k) (5) I
A

W e r e C, is the estimated value of Cv . G ,(k) = aH , ( k ) / d W /D

<@(k+l) is delayed by one sample period and then to = P'(S,(.k))( H , ( k - l ) + w , D ( k ) G , ( k - l ) )
be com ared with the measured current <@(k) and the
w ,(,(k + 1 ) = w ,If(k)- a E / a w
error $his used to train the D R " as well as to
update the value of C,,and Cjs used as an additional = vj(,+ y W ( C&iWL/)Q,.,(k)
I
weight connected to the output layer of the D R " .
Fig.4 shows the structure of the ANN identifier. Q ,., ( k ) = a H , ( k ) / a w j!,
= P ' ( S , ( k M I , ( k ) + w , " ( k ) Q , . , ( k - 1))
C. The Algorithm of DR"
Q ., ( 0 1 = 1, G (01 = 0 , PI(*)
= dp(*)/d
Where rlw , '7" are the learning rate of DRNN.
E = + Z ( / ~ ) ~ z (Ik, (k)
) , = v;(k-I), I , ( k ) = v!(k-I),
I , (k)= a, (k),I , (k)= i," (k),I , (k)= if (k), N.AmCONTROLOF THE STATOR
CURRENTS
I,(k) = v," (k),I , (k)= "!
(k)
z(k)= (k), (k)]' = [(i; (K)-:i ( k ) ~ (k)-i!
The feedforward of ANN is:
(ir (k))r A block diagram of the stator current control scheme
is shown in Fig.4. The objective of the stator current
control system is tc~ force 7 @ ( k ) to follow a-desired
I; ( k + 1) = c
W / q , H ,(&),
stator current vector<@(k) , the desired output c @ ( k ) is
taken as the output of an asymptotically stable reference
i:"(k + 1) = c
I
W/q,H,(k), model. Ccntrol action isJaken to minimize the difference
between ilUB(k)and <@(k) . The desired stator current .

j = 1 , 2 ,......, H vector j d ( k ) is calculated at time k. If the nonlinear

H i s the number of the node in the hidden layer functiod -
and parameter c,in ( 5 ) are known, the
input volt@ of induction m o t o r p k) can be computed
ff ,(k) = P ( S , ( k ) ) from a knowledge of c(k) andw,(k! .
S , ( k ) = W p H ,(k - 1) + c' J4'j,fJ,(k) + B , y y k ) = [(-f(;@(k),pqk- I),w,(k),w,(k- I),
i;pa(k-I + p y k ) ] / C "
.-.
(6)
Where B, is the threshold of node j, s,(k) is the Where f(*)j ,C, can be estimated by an identifier ANN.

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Fig.5.The rotor speed control using DRNN
The reference model is chosen as a fust-order system
with a time constant of 0.01s, and it is expressed in the
synchronously rotating (d,q,O) reference frame.
V .ANNROTORSPEEDCONTROL
A. The Current-FedModel of the Induction Motor
The discrete-time form of the current-fed model,
expressed in (d,q,O) coordinates, is well known and is
given by:
i y (k + 1) = +c (k);l? ( k )+ m,yJ( k )
The mechanical dynamics are described by
mr(k+l)=w,(k)+2 ( ~ ~ , ( k ~ ~ ( k ) - ~ * ( k ~ ~ ( k ) )
l',(w,(k>>=~?(k>+Af?-(k)
(8)
Equations (7) and (8) describe the dynarmcs of the
current -fed induction motor. In order to convert these
equations into equivalent NARMAX form,;-it is
necessary to express (8) entirely in terms of inputt, , '@:[2]K.Narendra and K.Part'ms arathy, "Identification and control of
and output q ( k ) ,but this is difficult to achieve. Two
electrical states a, and Q u e to be eliminated
from (8), it is reasonable to assume that this elimination
will introduce second-order delay terms, resulting in a
NARMAX model of the form
h , ( k + 1) =S,(h,( k ) , h , (k- 1),t4(k - 11,
- (k))
P ( ~ ) , S ~ , ( ~ ) , S % ( k 1),Or
B. Control of the Rotor Speed
A Ni (Identification Network) is used as identifier to
i d e n w the model (9), Ni is a D R " that includes 5
input nodgs, 16 hidden nodes and 1 output node. Random
steps is and we are input to the current controlled
machine and the speed @,(k) is measured. The change
in speed over one sampling period bq is calculated and
compared with that is predicted by DRNN. The error is
used to update the weights.Fig.5 shows a diagram of the
speed controller. In this system, two D R " are used: one
is to identify the system, the other is to control the
system( Nc (Control Network)).
C. Simulation Results
A computer simulation was constructed of the entire
system in Fig.5 for a 1.lkw induction motor. The
current controller is initialized for 2s. Random steps
in i,%nda, , changing every 0.5s, then are used to train
Ni over a period of 20s. Thereafter, random steps
in 0; are used to train Nc over a period of 20s. After
these, normal operation commences.
Fig.6 shows the response to a squafe wave reference
speed In the first section (0-2s) o,(k) is a step of
magnitude 50 rads,the response has a overshoot. In the
second section (2-6s) wz(k) is a step of magnitude
-loorads, the response has a little overshoot in the3th
section(after6s~;(k)is a step of magnitude+100 rads ,the
response is perfect. The response of the ANN controlled
system improves with time as the system learns.
VI.CONCLUSION
This paper has proposed the use of D R " to identity
and to control the induction motor. For the stator current
control, an ANN current identifier and adaptive current
controller are proposed, basing on conventional
stationary axis coordinate system, and a new algorithm is
(7) given. For the rotor speed control, the current-fed model
of induction motor is given, then an ANN error of rotor
speed identifier and rotor speed controller are designed.
The simulate results is as good as DC drive system's.
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111 Hunt K J. Sbarbaro D "Neural networks for control system" A
survey, Automatics, 1992,28(6), pp.1083-1112
dynamical systems using neural networks " IEEE Trans. Neural
Networks, vol.1, no.1, pp.4-27, Mar.1990
[3]Gao Wenzhong, "Intelligent control theory and its application in
electric machine drive control system" Ph.D thesis, Northeastern
University, Shenyang, China Jan. 1997
[4]LJ.Leontaritisand S.A. Billings,UInput-outputparametric models for
nonlinear systems. Part 1:Detrministic nonlinear systems Part
2:Stochastic nonlinearsystems. " Int. J.Contr.vol.41.pp.303-344,
1985
(9) [S]S.Chen, S.kBillings, and P.M.Grant, " Non-linear system
identification using neural networks, " 1ntJ.Contr. , vol. 5 I 110.6
pp.1191-1214,1990.
t eo, . . . . . . . . .
.MI0 ' ' ' ' . ' . ' .
1 2 3 . 5 . 7 . 0 D
Time (S)
Fig.6.The results of simulation
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