Fuzzy and Anfis Based Soft Starter Fed Induction Motor Drive For High Performance Applications

VOL. 3, NO.
4, AUGUST 2008 ISSN 1819-6608

ARPN Journal of Engineering and Applied Sciences
©2006-2008 Asian Research Publishing Network (ARPN). All rights reserved.
www.arpnjournals.com
FUZZY AND ANFIS BASED SOFT STARTER FED INDUCTION MOTOR

DRIVE FOR HIGH PERFORMANCE APPLICATIONS
L. Rajaji1, C. Kumar2 and M. Vasudevan3
1
Sathyabama University, India
2
S.K.P. Engineering College, India
3
Vestas RRB India Ltd., India
E-mail: vasumame@yahoo.com
ABSTRACT
Soft starters are used with induction motors in blowers, fans, pumps and the crane hoist drives. AC voltage
controllers are used as soft starters in induction motors for starting and to adjust its speed. This paper highlights the
intelligent controllers such as Fuzzy and Neuro fuzzy based ac voltage controllers to generate the firing pulses for
appropriate thyristors for any given operating torque, speed of the motor and the load. FUZZY and ANFIS (Adaptive
Neuro Fuzzy Inference System) models have been designed to achieve the proposed algorithm. MATLAB/SIMULINK
package was used to simulate the proposed methods. Simulation results presented in this paper explain the advantages of
proposed soft starting methods over conventional method. The advantages of intelligent methods proposed in this paper are
its simplicity, stability, accuracy and fast response.
Keywords: soft starter, AC voltage controller, FUZZY, ANFIS, thyristor, induction motor.
I. INTRODUCTION due to high starting currents meeting utility requirements

Due to the increased number of induction motors for reduced voltage starting and eliminating voltage dip
in industry applications and residential appliances and brown out conditions [4].
especially air conditioners, many utilities and industry Soft starters allow the machine to start, vary its
firms are affected by the high inrush current that may speed and stop with minimum mechanical electric stresses
cause important failures. The problem is more severe in on the equipment. This can be done by appropriate
areas where the loads represent a high portion of the adjustment of the induction motor terminal voltage.
power demand. If soft starters are substituted in such However, adjusting the voltage for a given operating
applications, reduction of inrush current can be achieved condition of speed and torque is not a simple task. To
and on the other hand, energy saving can also be possible. adjust the voltage, the firing angle α of the thyristors shall
Energy savings by voltage control through soft starter is be calculated for each operating condition. Firing angle is
achieved by reducing the applied voltage if the load torque a nonlinear function of motor speed and torque and it is
requirement can be met with less than rated flux. This very difficult to find the exact value of α for any motor
way, core loss and stator copper losses can be reduced speed and torque. Some methods of closed loop control
[1,2]. In soft starter fed induction motor system, smooth technique to achieve this have been developed and
acceleration with reduced stress on the mechanical drive presented in [5]. In this method, speed sensor is required
system is achieved. This is due to high starting torque to acquire the signal feedback. Some researchers have
hence increase the life and reliability of belts, gear boxes, proposed and developed a method of optimal soft starting
chain drives, motor bearings and shafts [3]. Smooth without a speed sensor in which sensing of thyristors
acceleration reduces also stress on the electrical supply voltages is very much required [6,7].
Figure-1. Basic Soft Starter with induction motor.
12
VOL. 3, NO. 4, AUGUST 2008 ISSN 1819-6608
This paper proposes a new adaptive neuro fuzzy firing angle α. Figure-1 shows the typical schematic of a
based soft starting strategy for selection of firing angles symmetrical voltage controller or soft starter. Each phase
for thyristors in voltage controlled induction motor drive has two thyristors and which are connected in anti-parallel
system. The proposed strategy is mainly operates in open connection. Thyristors in this configuration are fired
loop and speed and voltage sensors are not required. according the sequence of firing pulses. Figure-2 shows
Moreover, sensing of voltage across thyristors is also not the firing sequence of six thyristors in soft starter circuit.
required. In this paper simulation procedures and results From this Figure, it should be noted that at least two
have been presented for the proposed method and they thyristors must conduct simultaneously to allow current to
have been compared with the conventional soft starter flow through the load and that the firing angle α is
results. The proposed soft starter strategy may be measured from the zero crossing of phase A voltage.
recommended for industrial requirements such as
compressors, air blowers, pumps, air conditioners etc.
II. PRINCIPLE OF SOFT STARTER

A soft starter is an ac voltage controller in which
the voltage is adjusted through the setting of the thyristor
Figure-2. Firing sequence of thyristors.
III. FUZZY MODEL and output of thyristors firing angle. Membership

The proposed fuzzy system is shown in Figure-3. functions chosen are triangular membership functions.
Mamdani model is chosen from SIMULINK to simulate Figures 19 and 20 are triangular membership functions for
fuzzy based soft starter algorithm. Rules have been written inputs torque and speed.
clearly to incorporate two inputs such as torque and speed
13
Figure-3. Fuzzy model for thyristors triggering.
IV. ANFIS MODEL It is important to note that the system has a good
The ANFIS neuro-fuzzy system [8,10,11] was modeling if the training set is enough representative, i.e., it
used to implement the proposed model. First, it uses the has a good data distribution to make possible to
training data set to build the fuzzy system in which, interpolated all necessary values to the system's operation.
membership functions are adjusted using the The clustering technique used was the fuzzy c-means.
backpropagation algorithm, allowing that the system After setting the number of clusters that are estimated to
learns with the data that it is modeling. Figure-4 shows the compose the data, the cluster's centres are searched in an
network structure of the ANFIS that maps the inputs by iterative way based on minimizing an objective function.
the membership functions and their associated parameters, This represents the distance between a data value to the
and go through the output membership functions and cluster's centre. As we do not know how much clusters
corresponding associated parameters. These will be the exist, or the number of rules composing the neuro-fuzzy
synaptic weights and bias, and are associated to the compensator, we used the technique of subtractive
membership functions that are adjusted during the learning clustering to estimate the number of clusters.
process. The computational work to obtain the parameters The ANFIS model which is used for the
and their adjustments is helped by the gradient descendent calculation of firing angle of the appropriate thyristor as a
technique. function of the motor speed (ωm) and torque (Te), has two
In this paper, the ANFIS system was used at the input variables (Te and ωm) and one output variable (α).
MATLAB environment. Its operation can be resumed in Since the angle α is a nonlinear function of the motor
two steps: speed and torque, then the tansigmoidal function is the
most appropriate to model the ANFIS as given in equation
1. The set of membership functions has to be chosen:
(1).
their number and corresponding shape.
2. The input-output training data is used by the ANFIS.
f(n) = 2/ (1+e-2n) - 1. (1)
It starts making a clustering study of the data to obtain
a concise and significant representation of the system's
behavior.
14
Figure-4. Neuro-fuzzy controller structure.
The layers shown in Figure-4 are defined as follows: • Layer 5: This layer sums all the incoming
signals.
• Layer 1: Every node in this layer contains
membership functions.
IV. SYSTEM MODELING
• Layer 2: This layer chooses the minimum value Figure-5 shows the proposed system and which is
of two input weights
modeled mathematically using software package
• Layer 3: Every node of these layers calculates MATLAB/SIMULINK. 1 H.P., 415 V and 1446 r.p.m.
the weight, which is normalized. motor was used for simulation and the data output taken
• Layer 4: This layer includes linear functions, from the simulation was used for training in ANFIS.
which are functions of the input signals. Parameters of motor are given in APPENDIX.
Figure-5. Proposed ANFIS based soft starter strategy.
15
It is important to note that the system has a good thyristors. Iterative training of the neuro fuzzy system has
modeling if the training set is enough representative, i.e. it been done to achieve the desired output. The presence of
has a good data distribution to make possible to interpolate this iteration comes from the capability of the training
all necessary values to the system’s operation. After set program to simulate the system and, after a pre-defined
the number of clusters that are estimated to compose the simulation time, to obtain the simulation results and use
data, the cluster’s centers are searched in an iterative way them to the training. Training data was obtained from the
based on minimizing an objective function. This simulation of complete induction motor drive system.
represents the distance between a data value to the Fig.6 shows the flowchart of training process in which the
cluster’s center. In this paper, the technique of subtractive output of the training block is the compensating signal.
clustering has been used to estimate the number of The compensated firing angle signal is produced and
clusters. loaded into the system as shown in the dotted line in
flowchart. In this flowchart, N represents the number of
V. SIMULATION PROCEDURE iterations and ‘i’ represents iteration counter. The
The ANFIS model and the drive system have maximum number of N represents in this paper is stopping
been implemented with MATLAB / SIMULINK package. criterion. When ‘i’ reaches N, the training program will
ANFIS considers two inputs such as torque and speed of be stopped and the results can be taken.
the motor and one output namely firing angle of the
Figure-6. Flow chart for proposed algorithm.
VI. RESULTS AND DISCUSSIONS Figure-14 shows the locus of stator current rms during
Simulation results of the proposed ANFIS system start up at direct online starting. Figure-15 shows the two
are shown from Figure-7 to Figure-12 and from Figure-14 axes voltages and currents of motor at the time of starting
to Figure-17. Figure-7 shows the actual and ANFIS output by using proposed soft starter methodology. Figure-16 and
of firing angles in which ANFIS output exactly matched Figure-17 show the surface plots of the Fuzzy and ANFIS
with the actual values. Fig. 8 shows the zoomed view of models in which two inputs such as torque and speed and
Figure-7 in which the minor difference between the actual one output firing angle are clearly shown. Figure-18 and
an ANFIS data has been shown. Similarly, Figure-9 to Figure-21 show the rule formation to develop the proposed
Figure-12 shows the ANFIS output and actual data models. Figure-19 and Figure-20 are membership
comparison and zoomed view of respected figures for the functions of motor torque and motor speed used in Fuzzy
speed of 0.5 and 0.8 per unit values respectively. system. They are triangular shaped membership functions.
Simulation results of direct online starting of induction Similarly Figure-22 and Figure-23 are membership
motor are also produced in this paper to validate the functions of motor torque and motor speed used in ANFIS
results. They are shown in Figure-13 and Figure-14. system. They are Bell shaped membership functions.
Figure-13 shows the torque and speed of induction motor.
16
2.5
Training Data
ANFIS Output
1.5
Torque (Nm )
0.5
0
30 40 50 60 70 80 90 100 110
Firing Angle(DEG)
Figure-7. Comparison of actual and ANFIS data at ωm = 0 (p.u.).
0.537 Training Data

ANFIS Output
0.536
0.535
0.534
0.533
Torque (Nm)
0.532
0.531
0.53
0.529
0.528
88.5 88.55 88.6 88.65 88.7 88.75 88.8

Firing Angle(DEG)
Figure-8. Zoomed view of Figure-4.
17
2
Training Data
ANFIS Output
1.8
1.6
1.4
1.2
Torque (Nm)
0.8
0.6
0.4
0.2
0
30 40 50 60 70 80 90 100 110
Firing Angle(DEG)
Figure-9. Comparison of actual and ANFIS data at ωm = 0.5 (p.u.).

Training Data
1.362 ANFIS Output
1.361
1.36
Torque (Nm)
1.359
1.358
1.357
1.356
1.355
62.6 62.65 62.7 62.75 62.8 62.85

Firing Angle(DEG)
1.4
Training Data
ANFIS Output
1.2
0.8
Torque (Nm)
0.6
0.4
0.2
0
30 40 50 60 70 80 90 100 110
Firing Angle(DEG)
Figure-11. Comparison of actual and ANFIS data at ωm = 0.8 (p.u.).
18
0.8525
Training Data
ANFIS Output
0.852
0.8515
Torque (Nm)
0.851
0.8505
0.85
62.68 62.7 62.72 62.74 62.76 62.78 62.8 62.82

Firing Angle(DEG)
Figure-13. Simulation results of direct on-line motor starting (α=0˚).
Figure-14. Simulation results of direct on-line motor starting.
19
0.4
vs
α
vs
β
0.2
s t a t o r v o lt a g e s (p u )
0
-0.2
-0.4
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time (sec)
is
α
is
β
2
s t a t o r c u rre n t s (p u )
-1
-2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time (sec)
Figure-15. Stator two axes voltages and currents of induction motor.
Figure-16. Surface plot of proposed Fuzzy model.
20
Figure-17. Surface plot of proposed ANFIS model.
Figure-18. Rule formation for Fuzzy model.
21
Figure-19. Membership function chosen for torque in Fuzzy model.
Figure-20. Membership function chosen for speed in Fuzzy model.
22
Figure-21. Rule formation for ANFIS model.
Figure-22. Membership function chosen for torque in ANFIS model.
Figure-23. Membership function chosen for speed in ANFIS model.
23
VII. CONCLUSIONS [8] Jang J.R. 1993. ANFIS: Adaptive-networks based

In this paper, a new method of controlling soft- fuzzy inference system. IEEE Transactions on
starter fed induction motor drive system using ANFIS has Systems, Man and Cybernetics. Vol. 23, pp. 191-197.
been introduced. This method has a backpropagation
based neuro-fuzzy structure with five layers and clusters. [9] Guangqiang, Yanchao, Hongxiang and Zhang. 2003.
This model was simulated using set of data obtained by Analysis of a Novel Topology of Soft Starter for
simulations. The generated data are speed and torque Induction Motors. IEEE Industry Application Society
patterns a inputs an their corresponding firing angle Conference record. Vol. 12, pp. 662-667.
patterns as output of the ANFIS model. The results
obtained by this ANFIS model shown in this paper are [10] Purwanto E., Arifin S. and Bian-Sioe So. 2001.
more accurate and this approach has solved the problem of Application of adaptive neuro fuzzy inference system
the complexity of the online determination of the on the development of the observer for speed sensor
appropriate thyristors firing angle for any operating less induction motor. IEEE Tencon. Vol. 1, pp. 409-
condition. This proposed controller methodology can 414.
eliminate the speed or voltage sensors since it is an open
loop control. [11] Ali Akaayol. Application of adaptive neuro-fuzzy
controller for SRM. Advances in Engineering
APPENDIX software. 35(3-4): 129-137.
3 phase, 415V Induction
Motor [12] I. Çadirci, M. Ermis, E. Nalçaci, B. Ertan and M.
Motor
Rahman. 1999. A solid state direct- online starter for
Speed 1446 r.p.m medium voltage induction motors with minimized
Rated current 2.7A current and torque pulsations. IEEE Trans. Energy
Stator Resistance 1.723 Ω Conversion. Vol. 14, pp. 402-412. September.
Stator inductance 0.1665 H
Rotor resistance 2.011 Ω [13] Gürkan Zenginobuz, Isik Cadirci and Muammer
Magnetizing inductance 0.1592 H Ermis. 2004. Performance Optimization of Induction
Motors during Voltage-Controlled Soft Starting. IEEE
REFERENCES Trans. Energy Conversion. 19(2): 278-288.
[1] F. Blaabjerg, J.K. Pedersen, S. Rise, H.H. Hassen and

A.M. Trzynadlowski. 1997. Can soft-starters help
save energy? IEEE Ind. Appl. Mag. 3(5): 56-66.
[2] N. Mohan. 1980. Improvement in energy efficiency of

induction motors by means of voltage control. IEEE
Trans. Power App. Syst. Vol. PAS-99. pp.1466-1471.
July/Aug.
[3] R.F. McElveen and M.K. Oney. 2001. Staring high

inertia loads. IEEE Trans. Ind. Appl. 37(1): 137-144.
[4] J. Nevelsteen and H. Aragon. 1989. Starting of Large

Motors-Methods and economics. IEEE Trans. Ind.
Appl. 25(6): 1012-1018.
[5] S.B. Dewan, G.R. Slemon and A. Strughen. 1984.

Power Semiconductor Drives. New York: Wily
Inderscience.
[6] G. Zenginobuz, I. Cadirici, M. Ermis and C. barlak.

2001. Soft starting of large induction motors at
constant current with minimized starting torque
pulsations. IEEE Trans. Ind. Appl. 37(5): 137-144.
[7] V.V. Sastry, M.R. Prasad, and T.V. Sivakumar. 1997.

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Power Electron. 12(6): 1041-1059.
24

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VOL. 3, NO.

4, AUGUST 2008 ISSN 1819-6608

FUZZY AND ANFIS BASED SOFT STARTER FED INDUCTION MOTOR

I. INTRODUCTION due to high starting currents meeting utility requirements

Figure-1. Basic Soft Starter with induction motor.

II. PRINCIPLE OF SOFT STARTER

Figure-2. Firing sequence of thyristors.

III. FUZZY MODEL and output of thyristors firing angle. Membership

Figure-3. Fuzzy model for thyristors triggering.

Figure-4. Neuro-fuzzy controller structure.

Figure-5. Proposed ANFIS based soft starter strategy.

Figure-6. Flow chart for proposed algorithm.

Figure-7. Comparison of actual and ANFIS data at ωm = 0 (p.u.).

0.537 Training Data

88.5 88.55 88.6 88.65 88.7 88.75 88.8

Figure-8. Zoomed view of Figure-4.

Figure-9. Comparison of actual and ANFIS data at ωm = 0.5 (p.u.).

62.6 62.65 62.7 62.75 62.8 62.85

Figure-10. Zoomed view of Figure-3.

Figure-11. Comparison of actual and ANFIS data at ωm = 0.8 (p.u.).

62.68 62.7 62.72 62.74 62.76 62.78 62.8 62.82

Figure-12. Zoomed view of Figure-5.

Figure-13. Simulation results of direct on-line motor starting (α=0˚).

Figure-14. Simulation results of direct on-line motor starting.

Figure-15. Stator two axes voltages and currents of induction motor.

Figure-16. Surface plot of proposed Fuzzy model.

Figure-17. Surface plot of proposed ANFIS model.

Figure-18. Rule formation for Fuzzy model.

Figure-19. Membership function chosen for torque in Fuzzy model.

Figure-20. Membership function chosen for speed in Fuzzy model.

Figure-21. Rule formation for ANFIS model.

Figure-22. Membership function chosen for torque in ANFIS model.

Figure-23. Membership function chosen for speed in ANFIS model.

VII. CONCLUSIONS [8] Jang J.R. 1993. ANFIS: Adaptive-networks based

[1] F. Blaabjerg, J.K. Pedersen, S. Rise, H.H. Hassen and

[2] N. Mohan. 1980. Improvement in energy efficiency of

[3] R.F. McElveen and M.K. Oney. 2001. Staring high

[4] J. Nevelsteen and H. Aragon. 1989. Starting of Large

[5] S.B. Dewan, G.R. Slemon and A. Strughen. 1984.

[6] G. Zenginobuz, I. Cadirici, M. Ermis and C. barlak.

[7] V.V. Sastry, M.R. Prasad, and T.V. Sivakumar. 1997.

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