Applied Soft Computing 9 (2009) 1187–1196

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Applied Soft Computing

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

Review

Application of CMAC neural network to the control of induction motor drives

Cheng-Hung Tsai a,*, Ming-Feng Yeh b
a
Department of Electrical Engineering, China Institute of Technology, Taipei, Taiwan
b
Department of Electrical Engineering, Lunghwa University of Science and Technology, Taoyuan, Taiwan

A R T I C L E I N F O A B S T R A C T

Article history: In this paper, a cerebellar-model-articulation-controller (CMAC) neural network (NN) based control
Received 5 December 2007 system is developed for a speed-sensorless induction motor that is driven by a space-vector pulse-width
Received in revised form 24 March 2009 modulation (SVPWM) inverter. By analyzing the CMAC NN structure and motor model in the stationary
Accepted 28 May 2009
reference frame, the motor speed can be estimated through CMAC NN. The gradient-type learning
Available online 6 June 2009
algorithm is used to train the CMAC NN online in order to provide a real-time adaptive identification of
the motor speed. The CMAC NN can be viewed as a speed estimator that produces the estimated speed to
Keywords:
the speed control loop to accomplish the speed-sensorless vector control drive. The effectiveness of the
CMAC neural network
Real-time adaptive identification
proposed CMAC speed estimator is verified by experimental results in various conditions, and the
Speed-sensorless performance of the proposed control system is compared with a new neural algorithm. Accurate tracking
Induction motor response and superior dynamic performance can be obtained due to the powerful online learning
capability of the CMAC NN.
ß 2009 Elsevier B.V. All rights reserved.

Contents

1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1187

2. The basic concept of CMAC NN . . . . . . . . . . . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1188
3. Mathematical model of an induction motor. . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189
4. CMAC speed estimator design for sensorless vector control of induction motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189
5. Simulation and experimental system setup . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1193
6. Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1193
7. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1195
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1195

1. Introduction
Accurate speed information is necessary for realizing high-
performance and high-precision speed control of an induction
motor. The mechanical sensors such as resolvers or pulse encoders
are used to achieve the speed control loop. However, these sensors
are usually expensive and bulky. Therefore, the cost and size of the
induction motor drive systems are increased.
Since the late 1980s, speed-sensorless control methods of
induction motors using the estimated speed instead of the
measured speed have been studied. Various control algorithms
* Corresponding author.
E-mail addresses: chtsai@cc.chit.edu.tw (C.-H. Tsai),
mfyeh@mail.lhu.edu.tw (M.-F. Yeh).
for the elimination of the speed sensor have been proposed:
algorithms using state equations [1,2], model reference adaptive
systems [3,4], Luenberger- or Kalman-filter observers [5,6],
saliency effects [7], sliding-mode controls [8,9], sensorless vector
control [10–12] and direct controls of torque and flux [13–15].
However, an induction motor is a highly coupled, nonlinear
dynamic plant. It is very difficult to obtain good performance for an
entire speed range and transient states using previous methods.
Since 1990, there have been some investigation into the
application of neural networks to various aspects of induction
motor control such as adaptive control [16], sensorless speed
control [17–19], as well as for motor parameter identification
purposes [20], and flux estimation purposes [21,22]. Neural
networks show great potential for modeling nonlinear systems
where it is difficult by using traditional techniques, owing to their
inherent parallel structure and ability to learn. Especially, the

1568-4946/$ – see front matter ß 2009 Elsevier B.V. All rights reserved.
doi:10.1016/j.asoc.2009.05.001
1188 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196
CMAC NN [23,24], a particular type of neural network, is capable of
learning nonlinear functions quickly due to the local nature of its
weight modification. Therefore, this kind of network is easier to
implement in the motor control algorithm than the other types of
neural network. Furthermore, the CMAC NN is suitable for on-line
and real-time implementation of modeling and controlling
induction motor that typically exhibit nonlinear behavior.
In this paper, a new method for speed estimation of an
induction motor is presented. In the proposed approach, two
models of state variable estimation are used. One provides the
desired output, and the other one gives the estimated values. The
weights of the CMAC NN are chosen to be the motor parameters,
such as rotor speed. The estimated speed is then fed to the
adjustable model. The output of the adjustable model is compared
to the desired value, and the total error between the desired and
the estimated state variable is then backpropagated to adjust the
weights (i.e., rotor speed) of the CMAC NN, so that the output of this
model will coincide with the desired value. The simulation and
experimental results will show that the effectiveness and validity
of the proposed scheme.
This paper is structured as follows: in Section 2, the basic
concept of the CMAC NN is introduced. The Section 3 describes the
mathematical model of the induction motor. The speed estimation
method using CMAC NN for speed-sensorless vector control drives
is constructed in Section 4. In Section 5, the simulation and
experimental system setup is discussed. The last two sections
provide the experimental results and conclusions, respectively.
2. The basic concept of CMAC NN
In a CMAC NN, each state variable is quantized and the problem
space is divided into discrete states [23,24]. A vector of quantized
input values specifies a discrete state and is used to generate
addresses for retrieving information from memory elements for
this state. The architecture of the CMAC NN is shown in Fig. 1.
Learning space (input layer) s is quantized into discrete states s1, s2,
. . ., sk . Each state maps into an association cell matrix A (conceptual
layer). Suppose that ȧk is the set of nonzero or active cells of k-th
state of A. The actual output of each state would be the sum of the
weights stored in the memory cells (physical layer) which are
corresponding to the activated association cells. Note that
difference between actual output and desired output is used to
update the data stored in the corresponding memory cells.
Fig. 1. The architecture of the CMAC NN.
Mapping of CMAC NN can be divided into two parts as follows:
f : s!A
w (1)
g : A! p;
where s is a k-dimension input space, A is an N-dimension
association cell vector which contains M active elements, P is the
output space and W is the corresponding weight vector in which
the mapping information of P is stored.
The first mapping function, f, means that each state in s maps
onto the vector A* 2 A that contains M nonzero elements. In the
second mapping, output P will be the sum of the weights whose
corresponding association cells are activated. Its mathematic form
can be represented as follows:
P k ¼ gðak Þ ¼ Ak  W; (2)
ak
where k means k-th state, means the set of activated association
cells of k-th state, and Ak is the association cell vector of k-th state.
The weights will be updated by the learning as follows:
a
W k ð j þ 1Þ ¼ W k ð jÞ þ DW k ð jÞ ¼ W k ð jÞ þ ðY d;k  P k ð jÞÞ
M
a
¼ W k ð jÞ þ ðY d;k  Ak  W k ð jÞÞ (3)
M
where Wk means the weight vector at k-th state, j means j-th
iteration, a is learning rate, M is the number of activated
association cells(generalization width), and Yd,k is the desired
output at k-th state. In (3), the learning rule of CMAC is to distribute
the error equally to the corresponding weights. The actual output
of each state can be represented as follows:
2 3
w1
6 w2 7 X n
6 7
ysk ¼ ask W ¼ ½ask;1 ask;2    ask;n   6 .. 7 ¼ ask; j  w j ; (4)
4 . 5 j¼1
wn
The functioning of CMAC is described in the following. In each
time step k, the CMAC neural network involves a learning process
and a recall process. Initially, the CMAC table is empty. In the recall
process, as shown in Fig. 2, used Yd(k + 1) and Y(k) as the address to
generate the control signal Uc from the CMAC table, where the
Yd(k + 1) is the desired system output of the next time step.
In the learning process, as shown in Fig. 3, the input of the
controlled plant U is treated as a desired output to modify the
 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196 1189

contents of CMAC stored at location Y(k) and Y(k + 1), where

Y(k + 1) is the actual system output at time step k + 1.
Fig. 4 illustrates a block division of the CMAC scheme for a
two-variable case. Each state variable is quantized into three
discrete regions, called blocks. For instance, S1 can be divided into
A, B, and C and S2 divided into a, b, and c. Areas Aa, Ab, Ac, Ba, Bb, Bc,
Ca, Cb, and Cc are formed by quantized regions are called
hypercubes. By shifting each variable a small interval (called an Fig. 2. CMAC recall process.
element), different hypercubes can be obtained. The width of
small interval is called the resolution. For instance, D, E, and F for
S1 and d, e, and f for S2 are possible shifted regions. Dd, De, Dd, Ed,
Ee, Ef, Fd, Fe, and Ff are new hypercubes from the shifted regions.
We restrict that hypercubes must be formed by the same layer of
blocks. With this kind of decomposition, one can imagine that
there are Ne layers of hypercubes, where Ne is the number of
elements in a complete block. The CMAC associates each
hypercube to a physical memory element. Information for a
discrete state is equally stored in memory elements associated
with hypercubes that cover this state.

3. Mathematical model of an induction motor

The state equations of an induction motor in the stationary Fig. 3. CMAC learning process.
reference frame is described in the following [25]:

dXðtÞ
¼ A  XðtÞ þ B  V s ðtÞ; (5)
dt

YðtÞ ¼ C  XðtÞ; (6)

where
X ¼ ½ ids iqs fdr fqr T ;

Y ¼ ½ ids iqs T ;

V s ¼ ½ vds vqs T
2   3
Rs 1s Lm Lm
6  þ 0 vr
6 s Ls st r   s Ls Lr t r s Ls Lr 77
6 Rs 1s Lm Lm 7
6 0  þ vr 7
6 s Ls st r s Ls Lr s Ls Lr t r 7 Fig. 4. Block division of CMAC NN for a two-variable example.
A¼6
6
7
7
6 L 1
vr 7
m
6 0  7
6 tr tr 7 convenient to express these equations in the stationary frame since
4 Lm 1 5
0 vr  the induction motor voltages and currents are measured in the
tr tr
stationary reference frame, and they are expressed in (7) and (8) as
follows:
2 1 3
0
6 s Ls 7   Voltage model:
6 7
6 1 7 1 0 0 0
B¼6 0 7; C¼ Lr
6 s Ls 7 0 1 0 0 ḟr ¼ ðV s  Rs is  s Ls i̇s Þ (7)
4 5 Lm
0 0
0 0 Current model:
T  
is ¼ ½ ids iqs  stator current 1 Lm
 T l̇r ¼ I þ vr J lr þ is (8)
fr ¼ fdr fqr rotor flux tr tr
Rs, Rr stator and rotor resistance T
where the symbol ‘‘’’ denotes the time derivative, lr ¼ ½ ldr lqr  is
Ls, Lr stator and rotor self inductance the same rotor flux but obtained from (8), and the matrices I, J are
Lm mutual inductance defined as:
   
s leakage coefficient, s ¼ 1  L2m =ðLs Lr Þ 1 0 1 1
I¼ ; J¼ :
0 1 1 0
tr rotor time constant
vr motor angular velocity
T
The stator current is ¼ ½ ids iqs  and the rotor flux fr ¼ 4. CMAC speed estimator design for sensorless vector control of
 T
fdr fqr are chose as the state variables. The input variable induction motor
is the stator voltage V s ¼ ½ vds vqs T .
From (5), two well known flux simulators are obtained. One is Owing to Eq. (7) does not involve the speed vr, it is selected
called the voltage model and the other is the current model. It is to generate the desired value of rotor flux, fr, and (8) which does
1190 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196

Fig. 5. The structure of the proposed CMAC speed estimator.

involve vr generates the estimated rotor flux, lr. Eq. (8) may be
regarded as CMAC model with adjustable weights. Eq. (7) may
also be regarded as a reference model. Fig. 5 illustrates the
structure of the proposed speed estimator of an induction motor
using CMAC. Given complete data of the motor parameters and
the motor speed, these two model outputs should coincide.
However, any mismatch between the speed used in the CMAC
and the motor speed would automatically result in error
between the output of the two estimators lr and fr. It is this
error between the desired rotor flux and the actual rotor flux
that will be used to adjust the weights of the CMAC, in other
words the rotor speed vr in (8).
To obtain the learning algorithm, the discrete–time model of (8)
is first derived using the backward difference method: Fig. 7. Flowchart of the training algorithm for the CMAC speed estimator.

lr ðkÞ ¼ W 1 Z 1 þ W 2 Z 2 þ W 3 Z 3 (9)

where W1 = vrT, W2 = 1  (T/tr), W3 = (Lm/tr)T, Z1 = Jlr(k  1), represent the weights of the networks, is and lr(k  1) are the
Z2 = Ilr(k  1), Z3 = Iis(k  1), and T is the sampling period. input features of the CMAC NN as shown in Fig. 5. The error output
The model (9) can be represented as a two-dimensional CMAC between the desired flux and the plant output is given by
model with three index memories, where W1, W2, and W3 eðkÞ ¼ fr ðkÞ  lr ðkÞ. The weights in CMAC are tuned so as to

Fig. 6. Block diagram of the speed-sensorless controller using CMAC NN.

 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196 1191

Table 1 and the new weight W1(k) is computed as follows:

Data of the induction motor used for experiment.
a
Nameplate data Nominal parameters W 1 ðkÞ ¼ W 1 ðk  1Þ þ DW 1 ðkÞ: (12)
M
220 V 60 Hz Rs 0.9 V
Three phase Rr 0.8 V By using the above expression, the estimated rotor speed is
D connected Ls 118 mH given as follows:
Four poles Lr 118 mH
Rated power 2.2 kW Lm 114 mH a DW 1 ðkÞ
Rated speed 1720 rpm J 0.00825 N m s2
v̂r ðkÞ ¼ v̂r ðk  1Þ þ : (13)
M T
Rated current 8.6 A B 0.001 N m/(rad s)
Rated torque 12 Nm It shows that the estimated speed can be obtained by the
DW1(k) that produced from the CMAC NN. Fig. 6 shows the block
diagram of the speed-sensorless drive system of an induction
minimize the energy function E ¼ ð1=2Þe2 ðkÞ, and the weight W1 motor with a CMAC speed estimator. The system consists of an IP
variation is obtained in the following: speed controller, a current controller, SVPWM generator, deadtime
compensator, and a CMAC speed estimator. From Fig. 6, the
@E @E @lr ðkÞ
DW 1 ¼  ¼ ¼ dðkÞZ 1 (10) integral-proportional (IP) speed controller is chose to increase the
@W 1 @lr ðkÞ @W 1
stability of the speed control loop [26] in the speed-sensorless
T
where dðkÞ ¼ @E=@lr ðkÞ ¼ ðlr ðkÞ  fr ðkÞÞ was derived from the vector control systems. Furthermore, the deadtime compensation
energy function E. The weight variation DW1(k) is therefore given by strategy must be added in the PWM patterns so as to prevent
deteriorating the control performance of the induction motor,
DW 1 ðkÞ ¼ ðfr ðkÞ  lr ðkÞÞT Jlr ðk  1Þ (11) especially in the low-speed region [27].

Fig. 8. The block diagram of the experimental hardware.

Fig. 9. Estimator performance (a) estimated speed and (b) estimated rotor flux.
1192 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196

Fig. 10. Improved estimator performance (a) estimated speed and (b) estimated rotor flux.

Fig. 11. Speed and current response of speed-sensorless control with load change
vr ¼ 1800 rpm. (a) The actual rotor speed, (b) the estimated rotor speed, and (c) the Fig. 12. Speed reversal operation of vr ¼ 900 rpm with load applied. (a) The actual
feedback a-phase current. rotor speed, (b) the estimated rotor speed, and (c) the feedback a-phase current.
 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196
The software program flowchart of the training algorithm
for the CMAC speed estimator is shown in Fig. 7. First, the CMAC
network is initialized. Secondly, the reference flux fr is obtained
from the flux voltage model. Then the adjustable flux lr
is calculated from the CMAC estimator. The error between fr
and lr is used to adjust the weights of the CMAC. Finally,
the estimated speed v̂r ðkÞ is produced from the weights variation
of the CMAC.
5. Simulation and experimental system setup
An experimental setup is assembled to practically evaluate
the proposed speed estimator using CMAC NN. The chief
ingredients of the experimental setup are: a personal computer
with TMS320F2812 DSP emulator, a voltage source inverter,
a 2.2 kW induction motor whose parameters are shown in Table 1.
The block structure of the experimental system is shown in Fig. 8.
The speed-sensorless vector control algorithm with CMAC
speed estimator are executed by the DSP chip TMS320F2812.
The phase currents of the induction motor are sampled by the A/
D converters that built in the DSP chip. The actual rotor speed of
the induction motor is measured by a pulse encoder which has
Fig. 13. Speed and current response of speed-sensorless control vr ¼ 10 rpm. (a)
The actual rotor speed, (b) the estimated rotor speed, and (c) the feedback a-phase
current.
1193
Fig. 14. Reference, measured, estimated speed, and speed estimation error with all
five-speed observers during a speed reversal from 100 to 100 rad/s (experimental)
[28].
2000 pulses per revolution. The switching frequency of the
inverter is 4 kHz.
The simulation of the proposed CMAC estimator is presented to
test the performance of the proposed estimator. The simulation
results are shown in Figs. 9 and 10. In Fig. 9, the states of CMAC are
quantized to 20 segments and the generalization width is set to 3.
From Fig. 9, the CMAC performance, although somewhat crude in
comparison with the reference command, indicates the correct
trend for estimation. For more accuracy of the estimator, the state
of CMAC is changed to 40 segments and the generalization width is
also set to 3. After the on-line learning of the CMAC speed
estimator, the estimator performance is shown in Fig. 10. Fig. 10
shows improvement of the estimator performance when the
resolution is increasing.
For the best results of the proposed CMAC speed estimator, the
parameters of the CMAC NN must be given in advance from the
simulation experiences and trial error. In this paper, the number of
block is set to 18 and the activate association cell is set to 3. The
learning rate is also another important parameter for weight
adjustment during training. Smaller learning rate makes the
training more accurate at the expense of speed, but it wastes more
time. Therefore, from the simulation and trial error, the learning
rate is set to 0.15.
6. Experimental results
Experiments are executed on various operating conditions to
verify the performance of the proposed method. Figs. 11–13 show
the experimental results of the proposed control system. Fig. 11
shows the speed-sensorless control performance where the load is
applied and is released at 4s and 8s by using the dynamo system at
1800 rpm speed, respectively. The estimated speed coincides with
the real speed exactly also at the load abrupt change. Fig. 12 shows
the speed and current of the induction motor at free acceleration/
1194 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196

Fig. 15. Reference, measured, and estimated speed in a square wave reference of amplitude 2 rad/s and pulsation 0.3 rad/s (experimental) [28].

deceleration mode with load applied at star-up. Similarly, as in speed-sensorless drive. From Fig. 13, it is shown that the proposed
Fig. 11, the proposed scheme has high performance at the rated algorithm also has good speed estimation and high-performance
speed region. Fig. 13 shows the speed reversal and current control vector control characteristics at low-speed operation. As shown in
performance in the low-speed operation region (10 rpm) of the Figs. 11–13, the speed estimation error is very small.

Fig. 16. The weights change in time with the operating speed and torque. (a) The estimated speed, (b) the weight of the CMAC NN, (c) the d-axis current, and (d) the weight of
the CMAC NN.
 C.-H. Tsai, M.-F. Yeh / Applied Soft Computing 9 (2009) 1187–1196
Fig. 17. The rotor flux loci (a) without deadtime compensation and (b) with
deadtime compensation.
Ref. [28] proposed speed observers based on a new total least-
squares (TLS) technique: the TLS EXIN neuron. Fig. 14 shows the
reference, measured and estimated speed during the speed
reversal for five speed observers in [28]. The figure shows that
the proposed TLS adaptive observer has good performance in the
speed reversal operation. Compare this figure to Fig. 12, the TLS
adaptive observer is slightly better than the CMAC speed estimator
in the low speed operation region. For Figs. 13 and 15, the
performance for both methods is almost the same. However, the
technique proposed in [28] is more complicated than the CMAC
speed estimator. Moreover, the hardware for executing the TLS
adaptive observer requires a dSPACE card (DS1103) with a
PowerPC 604e at 400 MHz and a floating-point DSP TMS320F240.
The CMAC speed estimator uses only one floating-point DSP
TMS32F2812. Therefore, the technique in [28] can operate in the
critical environment. The CMAC speed estimator is suitable for low
cost condition.
Fig. 16 shows the weights variation with speed operation.
From the figure, we can observe that the convergence of the
CMAC NN is quickly for on-line learning and real-time
implementation on DSP chips. It takes about 1 second to
converge to the steady state. Therefore, the speed of the motor
is smoother than the low speed region. The rotor flux loci of the
induction motor is also shown in Fig. 17(a) without deadtime
compensation (b) with deadtime compensation. It demonstrated
that the performance of the deadtime compensation is found to
1195
be useful. From these experimental results, it is shown that the
proposed CMAC speed estimator for speed-sensorless control
drive has good performance from low speed to the entire rated
speed range.
7. Conclusions
A CMAC-NN-based speed identification method for induction
speed-sensorless vector control drive application is proposed. The
gradient-type learning technique is used to provide a real-time
adaptive estimation of the motor speed. The validity and
effectiveness of the proposed estimator are verified by software
simulations. From experimental results, the proposed scheme
performs well under various conditions and therefore can lead to
an improvement in the performance of speed-sensorless drives.
Also, it has robust speed estimation performance even at load
variation or variable-speed operation. Furthermore, the CMAC NN
application in this paper can enhance the performance and cost
compared to the traditional artificial neural network. Finally,
results show that the proposed CMAC speed estimator has a
satisfactory performance under low cost condition.
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