Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26,

2007 264

Induction Motor Drive Using Fuzzy Logic

SHAHRAM JAVADI
Islamic Azad University –Central Tehran Branch
Electrical Engineering Department

Moshanir Power Electric Company

Thermal Power Plant Division
IRAN
Email: sh.javadi@gmail.com

Abstract:
Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science
like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation
and soft computation. Artificial intelligent has found high application in most nonlinear systems same as
motors drive. Because artificial intelligent techniques can use as controller for any system without requirement
to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and
reliability of drives increase and volume, weight and cost of them decrease. Due to the improved operating
characteristics they give to the equipment control, electronic motor soft starters are increasingly widely applied.
Escalators, pumps, elevators and conveyor belts all operate more effectively if they are soft started. However, it
is not simply the ergonomics of an airport, process plant or shopping mall that are improved by soft starters.
A major factor in the growth in popularity of soft starters is the reduced wear and tear that they place on motors
and their associated drive systems.
In turn, this reduces maintenance, conserves energy and plays a significant part in improving plant performance
and operating costs.

Keywords: Power Plant, Fuzzy Logic, Induction Motor, Soft starter

I. INTRODUCTION lower maintenance, smaller motor size, and

An important factor in industrial progress during
the past five decades has been the increasing
sophistication of factory automation which has
improved productivity manifold. Manufacturing
lines typically involve a variety of variable speed
motor drives which serve to power conveyor
belts, black start of power plants, robot arms,
overhead cranes, steel process lines, paper mills,
and plastic and fiber processing lines to name
only a few. Prior to the 1950s all such
applications required the use of a DC motor drive
since AC motors were not capable of smoothly
varying speed since they inherently operated
synchronously or nearly synchronously with the
frequency of electrical input. To a large extent,
these applications are now serviced by what can
be called general-purpose AC drives. In general,
such AC drives often feature a cost advantage
over their DC counterparts and, in addition, offer
improved reliability. However, the control
flexibility available with these drives is limited
and their application is, in the main, restricted
to fan, pump, and compressor types of
applications where the speed need be regulated
only roughly and where transient response and
low-speed performance are not critical. More
demanding drives used in machine tools,
spindles, high-speed elevators, dynamometers,
mine winders, rolling mills, glass float lines,
and the like have much more sophisticated
requirements and must afford the flexibility to
allow for regulation of a number of variables,
such as speed, position, acceleration, and
torque. Such high-performance applications
typically require a high speed holding accuracy
and fast transient response. Until recently, such
drives were almost exclusively the domain of
DC motors combined with various
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007
configurations of AC-to-DC converters
depending upon the application. With suitable
control, however, induction motors have been
shown to be more than a match for DC drives in
high-performance applications. While control of
the induction machine is considerably more
complicated than its DC motor counterpart, with
continual advancement of microelectronics, these
control complexities have essentially been
overcome. Such that power electronic equipment
which is used widely in motor drives is IGBTs
which is shown in figure 1.
Figure1. IGBT power electronic element
Although induction motors drives have already
overtaken DC drives during the next decade it is
still too early to determine if DC drives will
eventually be relegated to the history book.
However, the future decade will surely witness a
continued increase in the use of AC motor drives
for all variable speed applications.
II. Speed Control
AC motor drives can be broadly categorized into
two types, thyristor based and transistor based
drives. Thyristor posses the capability of self
turn-on by means of an associated gate signal but
must rely upon circuit conditions to turn off
whereas transistor devices are capable of both
turn-on and turn-off. Because of their turn-off
limitations, thyristor based drives must utilize an
alternating EMF to provide switching of the
devices (commutation) which requires reactive
volt-amperes from the EMF source to
accomplish.
Induction motors are practically fixed speed
devices. There are practically only two methods
to change the rotation speed of AC induction
motor: use frequency converter or use motor with
separate winding for different speeds. In some
applications motors with dual speed winging are
265
used. The applications where accurate speed
control is needed, you need a frequency
converter. A frequency converter can run a
three phase AC motor at very wide speed range
quite well (the performance of motor is usually
reduced outside its optimal operation speed).
There are variable frequency drives that allow
induction motors to run on different speeds. But
on those applications mechanical load and the
speed range must be considered, because on
those applications motors can get very hot very
fast. The problem is that a 60 Hz (or 50 Hz)
motor does not have enough iron in it to allow
efficient 25 Hz operation. The motor will run
hot due to not having enough inductive
reactance at the reduced frequency. Dropping
down to 10 Hz would make it even worse. A
motor designed for variable frequency drive has
more iron. Also, it might use a different
iron/steel alloy to allow efficient operation at
higher frequencies (say 400 Hz). With a light
mechanical load and a good motor combined
with a good variable frequency drive controller,
it's sometimes possible to get a reasonable
speed range using a variable frequency inverter.
A good variable frequency drive device controls
both frequency and voltage. The better ones
even take into account that at very low speeds
the resistance of the coils cannot be neglected.
In VFD (variable frequency drive) system the
incoming single phase power is rectified and
filtered, and three-phase power is generated
from the DC rail using three half-bridges. You
get to set the frequency over a range so you can
vary the speed of your motor, plus a nice digital
display etc. It's a bit harder on the motor
insulation than just running it from the line, but
well-designed motors should be okay. The
reason why VFD is harder for motor insulation
is that the inductance in the wiring to the motor
allows spikes and ringing at the motor itself.
The waveforms that go from VFD to motor are
typically quite far from ideal sine wave.
Frequency converter does not work with AC
induction motors that are run from single phase
power source, because the operation of the
needed motor phase conversion capacitor is
very frequency sensitive (works as expected
only at normal mains frequency).
There are variable frequency drive devices that
take in single phase power but can output three-
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007
phase power to the three phases motor. The
problem in this kind of single phase to three
phases VFD is that single phase high power to dc
conversion is much more expensive than three
phase high power to dc conversion. Filter
capacitors have to be much larger with lower
ESR. Also, you will need at least three times the
current on a single phase line (3 phase power of
same amps per line carries about 1.73 times of
power of the same amps on single phase line).
The momentary power requirements when motor
spins up are much larger.
A brief list of the available drive types is given in
Figure2. The drives are categorized according to
switching nature (natural or force commutated),
converter type and motor type. Naturally
commutated devices require external voltage
across the power terminals (anode-cathode) to
accomplish turn-off of the switch whereas a force
commutated device uses a low power gate or
base voltage signal which initiates a turn-off
mechanism in the switch itself. In this figure the
category of transistor based drives is intended to
also include other hard switched turn-off devices
such as GTOs, MCTs and IGCTs which are, in
reality, avalanche turn-on (four-layer) devices.
The numerous drive types associated with each
category is clearly extensive and cannot be
treated in complete detail here. However, the
speed control of the four major drive types
having differing control principles will be
considered namely
1) Voltage controlled induction motor drives
2) Load commutated synchronous motor drives
3) Volts per hertz and vector controlled induction
motor drives
4) Vector controlled permanent magnet motor
drives.
Figure2. Various Motor Drive Types
266
A Schematic block diagram of a transistor
based controller of an induction motor is shown
in figure3.
Figure3. A transistor based induction motor drive
III. Soft Starting
In today’s market motors or used across a wide
section of the commercial sector. It could be
from standard squirrel cage motors in a typical
boiler room situation or alternatively it could be
a variable speed motor requiring the use of an
inverter to ramp the run cycle up and down.
Similarly soft starts are becoming more
apparent throughout the industry. The current
drawn by a three-phase motor at start up is
several times more than its rated operating
current. This can vary from 3 to 15 times
depending on the characteristics of the motor
and is typically at least a factor of 7 more than
the operating current. In addition, problems
associated with torque surge are encountered
when a motor is started direct. Extra stress on
the gearbox, couplings, belt drives and other
parts can soon lead to wear and even failure.
To overcome the problems associated with
current and torque surges, designers have
developed different systems over the years.
These can be categorized as follows: Direct-on-
line starting; Star delta starting; Frequency
conversion; and Solid state, stepless control, or
soft starting.
Direct-on-line starting is common up to 7.5kW.
However for higher currents, some form of
start-up reduction is required.
Traditionally, the star delta method of reducing
the start-up voltage electro-mechanically has
proved popular. The technique, so called
because the motor windings are switched from a
star connection to a delta connection, reduces
both start-up current and torque by about two
thirds. However, at the point where switching
occurs there is still a current surge that can be
as high as those experienced in DOL starting.
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007
The alternative method of frequency conversion
takes the AC voltage, converts it to DC and then
to a start-up voltage of any desired frequency.
However this can be both complicated and
expensive.
Soft start systems however, offer an excellent
alternative at low cost and complexity. Soft start
devices provide stepless motor control, allowing
both the start-up torque and current to be adjusted
in small increments. Not only can these
parameters be controlled; soft starters can also
vary the time taken to run the motor up to its
normal operating speed. The devices operate by
gradually increasing the voltage to the motor
during the run-up period, this being done by
phase control of the input AC voltage. The
starting current is reduced in proportion to the
reduction in voltage, the starting torque by the
square of the reduction. Soft starting is now
finding application in control situations as
diverse as water treatment plants and crisp
factories.
The benefits of longer motor life, reduced
maintenance and improved torque control mean
that this type of starter is now being used in many
areas where inverters would have previously
been considered the only option.
IV. Control Principle
AC motors, particularly the squirrel-cage
induction motor (SCIM), enjoy several inherent
advantages like simplicity, reliability, low cost
and virtually maintenance-free electrical drives.
However, for high dynamic performance
industrial applications, their control remains a
challenging problem because they exhibit
significant non-linearity and many of the
parameters, mainly the rotor resistance, vary with
the operating conditions. Field orientation control
(FOC) or vector control (Vas, 1990) of an
induction machine achieves decoupled torque
and flux dynamics leading to independent control
of the torque and flux as for a separately excited
DC motor. FOC methods are attractive but suffer
from one major disadvantage: they are sensitive
to motor parameter variations such as the rotor
time constant and an incorrect flux measurement
or estimation at low speeds (Trzynadlowski,
1994). Consequently, performance deteriorates
and a conventional controller such as a PID is
267
unable to maintain satisfactory performance
under these conditions. Recently, there has been
observed an increasing interest in combining
artificial intelligent control tools with classical
control techniques. The principal motivations
for such a hybrid implementation is that with
fuzzy logic and/or neural networks issues such
as uncertainty or unknown variations in plant
parameters and structure can be dealt with more
effectively, hence improving the robustness of
the control system. Conventional controls have
on their side well-established theoretical
backgrounds on stability and allow different
design objectives such as steady state and
transient characteristics of the closed loop
system to be specified. Several works
contributed to the design of such hybrid control
schemes (Cao et al., 1996; Chen and Chang,
1998; Shaw and Doyle, 1997).
In this paper both control methods (Classical
PID controller and Fuzzy Control base) are
introduced and applied to an indirect field-
oriented induction motor.
In the first design approach a classical PID
controller is introduced to apply to an induction
motor in order to control its speed and also
starting situation is investigated. See figure 4 in
bellow.
Figure 4. PID Controller
In the second design approach the basic fuzzy
logic controller (FLC), regarded as a kind of
variable structure controller (VSC) for which
stability and robustness are well established is
developed. This follows the interpretation of
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007
linguistic IF–THEN rules as a set of controller
structures that are switched according to the
process states. Figure 5 shows a typical FLC.
Figure 5. Fuzzy Logic Controller
The mathematical technique called fuzzy logic
offers a new approach to improving ASD
voltage/frequency/current control. Fuzzy logic
has evolved from an esoteric branch of
mathematics into a useful engineering tool. By
virtue of its adaptability, it can be applied to
problems whose nonlinearity and dynamic nature
makes them intractable to solution via classical
control methods. Motor control has all of the
attributes of this class of problems. Fuzzy logic
has been implemented in this development of
improved motor control because:
1) Fuzzy logic overcomes the mathematical
difficulties of modeling highly non-linear
systems.
2) Fuzzy logic responds in a more stable fashion
to imprecise readings of feedback control
parameters, such as the dc link current and
voltage.
Figure 6. PI Vector Control Induction motor diagram
268
3) Fuzzy logic control mathematics and
software are simple to develop and flexible for
each modification.
V. Vector Control Drive:
Although the large majority of variable speed
applications require only speed control in which
the torque response is only of secondary
interest, more challenging applications such a
traction applications, servomotors and the like
depend critically upon the ability of the drive to
provide a prescribed torque whereupon the
speed becomes the variable of secondary
interest. The method of torque control in ac
machines is called either vector control or,
alternatively field orientation. Vector control
refers to the manipulation of terminal currents,
flux linkages and voltages to affect the motor
torque while field orientation refers to the
manipulation of the field quantities within the
motor itself. Since it is common for machine
designers to visualize motor torque production
in terms of the air gap flux densities and MMFs
instead of currents and fluxes which relate to
terminal quantities, it is useful to begin first
with a discussion of the relationship between
the two viewpoints. A complete vector
controlled induction motor signal diagram is
shown in figure 6. The feedback speed control
loop generates the active or torque current
command iqs*’. The vector rotator receives the
torque and excitation current commands Iqs*
and ids* from one of the two positions of a
switch: the transient position (1) or the steady-
state position (2). The fuzzy controller becomes
effective at Steady state condition; i.e., when
the speed loop error, dωr approaches zero.
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007 269

A feed-forward pulsating torque compensator has fuzzy logic controller and if it is selected
been developed to prevent speed ripple and improper, it may be we don't get optimum result
mechanical resonance during transient operation. or even it leads to instability.
As the excitation current is reduced in adaptive
steps by the fuzzy controller, the rotor flux
decreases exponentially. The decrease of flux
causes loss of torque, which normally is
compensated for slowly by the speed control
loop. Efficiency optimization control is effective
only at steady-state conditions. A disadvantage of
this control mode is that the transient response
becomes sluggish. For any change in load torque
or speed command, fast transient response
capability of the drive can be restored by
establishing the rated flux.

VI. Fuzzy Logic:

Three interactive efficiency-optimizing (input
power minimizing) controllers have been
developed for Type 1 ASDs. These controllers
are 1) voltage perturbation for input power
minimization, 2) speed correction, and 3) slip
compensation.
The voltage perturbation controller is based on
changes in input power and stator voltage. Fuzzy
logic control has been emphasized for voltage
perturbation. The fuzzy logic membership
functions for both inputs and the output are
partitioned using seven MF for inputs and nine
MF for output fuzzy sets and are shown in figure Figure 7. Fuzzy Membership functions for
7. The input variables are: 2 inputs (e & de) and output (du)
E = ω r* − ω
dE ∆E CE The rule base table can be read according to the
= = following example:
dt ∆t TS IF ERROR (E) is ZERO (Z) AND CHANGE
The output variable is: IN ERROR (CE) is NEGATIVE SMALL (NS),
DU = ∆Te* = K1E + K 2CE THEN OUTPUT (DU) is NEGATIVE SMALL
(NS).
Triangular fuzzy sets are used for both inputs and FAM table of such rules is brought in table 1:
outputs, with a restriction that the output fuzzy
sets must be isosceles to simplify defuzzification. Table1: FAM Table for Fuzzy Speed Controller
e
Input and output values are represented ce
NB NM NS Z PS PM PB
linguistically (i.e., NM=negative medium, NB NB NB NB NM NS NVS Z
NS=negative small, ZE=zero, PS=positive small, NM NB NB NM NS NVS Z PVS
and PM=positive medium). As it is shown in NS NB NM NS NVS Z PVS PS
figure7, both inputs and output are normalized Z NM NS NVS Z PVS PS PM
between -1 and 1. So it is necessary to define PS NS NVS Z PVS PS PM PB
proper gains for all parameters, i.e. ke , kde and PM NVS Z PVS PS PM PB PB
kdu in order to change parameters in per unit. PB Z PVS PS PM PB PB PB
Selecting these gains is one of challenging part of
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007 270

Speed correction control is needed because the

perturbation approach alters motor speed and
output power. The motor's output rotor speed
should be maintained as constant as possible.
The input/output mapping of the FLC is shown in
figure 8.

Figure 8. Crisp input/output map

VII. Simulation
In this paper two case studies have been studied.
In Both simulations, it is used simulink and
powersym toolboxes of MATLAB software.
In the first case study, a 50 HP induction motor is Figure 9. Output Variable of a classic controlled
induction Motor from Top to Bottom:
started and controlled by a PID controller. 3 Voltage, Current, Rotor Speed, Output Torque
phase voltages and currents are measured and
plotted in the first 3 seconds of its action. Also
acceleration curve and output torque are
investigated. All graphs are shown in figure 9.
In the second case, the same motor is started and
controlled by a Fuzzy Logic Based controller.
The results are shown in figure 10. As it is shown
the outputs are improved regarding to magnitude
of starting currents and also time response of
acceleration. For example amplitude of current
with a classic PID controller is about 500 A
during startup while with fuzzy logic controller
this value reduced to 200 A.

Figure 10. Output Variable of a Fuzzy Logic Controlled

induction Motor from Top to Bottom:
Voltage, Current, Rotor Speed, Output Torque
Proceedings of the 7th WSEAS International Conference on Systems Theory and Scientific Computation, Athens, Greece, August 24-26, 2007
VIII. Conclusion
An AC induction motor can consume more
energy than it actually needs to perform its work,
particularly when operated at less than full load
conditions. This excess energy is given off by the
motor in the form of heat. Idling, cyclic, lightly
loaded or oversized motors consume more power
than required even when they are not working.
With a fuzzy logic controller we can control the
amplitude of starting current and also save more
energy during this time. In addition the cost and
complexity of controller is reduced when it is
designed by fuzzy method, because it does not
need the exact model of system. The complete
schematic of controller is shown in figure 11.
Figure 11. Top: Complete system
Bottom: Fuzzy Logic Controller
271
IX. Acknowledgment
The author thanks MOSHANIR, the most important
consultant company in electrical engineering in
IRAN for using real data of one of its projects and
also Islamic AZAD University for whole helps.
References
[1] Bimal Bose, Power Electronics and Motor Drives,
Elsevier, Academic Press, 2006
[2] M. AZZEDINE DENAI, S. "AHMED ATTIA, FUZZY
AND NEURAL CONTROL OF AN INDUCTION MOTOR"
Int. J. Appl. Math. Computer. Sci., 2002, Vol.12.
[3] John G. Cleland and M. Wayne Turner, "Fuzzy Logic
Control of Electric Motors and Motor Drives Feasibility
Study", United States Air and Energy Engineering
Environmental Protection Research Laboratory
Agency Research Triangle Park,
[4] J. X. Shen, Z. Q. Zhu, and D. Howe, "Hybrid PI and
Fuzzy Logic Speed Control of PM Brushless AC Drives",
EPE 2001 – Graz
[5] Andreas Dannenberg, "Fuzzy Logic Motor Control
with MSP430x14x", Texas Instruments, Application
Report, SLAA235–February 2005.
[6] Y. Miloud, A. Draou, "Performance Analysis of a
Fuzzy Logic Based Rotor Resistance Estimator of an
Indirect Vector Controlled Induction Motor Drive", Turk
J Elce Engine, VL 13, NO. 2, 2005
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Authors: Hossein Najafi Islamic Azad University - Saveh Branch, Electrical Export Formats:
Engineering Department and Moshanir Power Electric
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C ompany, Iran 2007 Article
Shahram Javadi Islamic Azad University - C entral Tehran Branch
Zolfeghar Asherloo Moshanir Power Distribution Department Share:

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Conference on Systems Theory and Scientific Computation - Volume 7
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Pages 244-249
engineering load forecasting
World Scientific and Engineering Academy and Society (WSEAS) Stevens Point, Wisconsin, USA ©2007
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