simultaneous fuzzy logic control of a three phase induction motor speed and soft switching dc link

8/12/2019 Simultaneous Fuzzy Logic Control of a Three Phase Induction Motor Speed and Soft Switching DC Link

1/15

2010 9thIEEE/IAS

InternationalConference on

IndustryApplications

- INDUSCN 2010 -

Si!ultaneous "u##y $o%ic Control ofa &hree 'hase Induction

(otor Speed and Soft S)itchin% DC $in*Cha!orro +,,. &oro,,

*Alternative Energy Sources Research Laboratory

(LIFAE)Facultadde Ingeniera, Ingeniera

Electrnica, niversidad !istrital "ogot#,

$olo%bia

hr,cha!oieee,or%34ladi!irtoroyahoo,es3

Abstract & In this document is proposed a

novel integra- tion of two fuzzy controls of

different systems involved in one, with the

objective of control the nominal speed of a three

phase induction motor and a soft switching

control of a dc link to support a VSC converter

which are running simultaneously !he fuzzy

control methodologies of each one are

presented Some tests are made to confirm thecontrol actions over the whole system "inally

the results are verified in a prototype hardware

designed

'eyords & "uzzy Controller, #on $inear

Systems, !hree

%hase Induction &otor, Soft

Switching, 'C $ink

I,

IN&DUC&IN

&he technolo%ical de4elop!ent in hard)are

processin% for intelli%ent control techni5ues such

as "$C 6fu##y lo%ic con- trol7 S8( 6support

4ector !achines7 and neural net)or*s ha4e

!ade possile apply the! in hi%h nonlinearity

po)er syste!s :1; such as +8DC syste!s :22;

s!art %rids :2; distriuted %eneration :; pro4idin% a lo) cost solution to prole!s inelectrical industrial applications

Different speed control techni5ues ha4e een

used in elec- trical !achines li*e 4ector control

scalar control :?; or direct tor5ue control ho)e4er

these !ethods need a difficult !athe!atical !odel

or its feedac* si%nal control is an indi- rect

!easure!ent of speed li*e the stator current or

slip o4i- ously these !ethods achie4e the control

o@ecti4e the speed re%ulation, "u##y lo%ic

control rin%s the opportunity to achie4e thesa!e o@ecti4e )ithout the prole! of its co!ple

!odel @ust eha4iour perfor!ance relyin% in

so!e lin%uistic rules and )ith the ad4anta%e of

ta*e the speed !easure!ent in a strai%htfor)ard

)ay,
mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]


2/15

ther)ise the soft s)itchin% topolo%ies ofresonant con-

4erters :B; ha4e een de!onstrated the

reduction of po)er dissipated y the !ain po)er

transistors durin% the s)itchin% inter4al in a

parallel circuit )hile at the sa!e ti!e eli!inatin%

!uch of the %enerated radio fre5uency ener%y orhi%h fre- 5uency noise :9;, &here a lot of

si%nificance research in this area and so!e

4aluale contriutions to control these con4erters

)ith fu##y lo%ic )hich *no)led%e asis ha4eeen

applied on this docu!ent :10; esides classical

control theory could not ha4e the sa!e action

accordin% to the 4ariaility and !ultiple operation

re%ions,

9B-1-=2==-010-=/10/F2?,00 G2010 IEEE

&he co!ination of those t)o fu##y lo%ic

controls is a ne) contriution earin% in !ind the

8SC as the central unit topro4ide the ener%y and

!o4e!ent for a three phase !otor to re%ulate its

no!inal speed and !i )ith another fu##y control

for a soft s)itchin% DC lin* in parallel )ith 8SCin order to reduce loss s)itchin% on it,

II, HENEA$ S&UC&UE''SED

&he net dia%ra! loc* represents the t)o fu##y

lo%ic con- trollers interactin% oth at the sa!e

ti!e, &he %eneral syste! is depicted ased on a

co!!on control structure :11; )hich in4ol4es a

reference a controller loc* one process control

)ith a feedac* si%nal and the insertion of a

!echanical load this structure is suitale for this

application ecause the !ain control do not

interfere )ith the susyste!s in :20 21; is

possile seen detailed as a pre4ious )or*,&he !ain syste! control the speed input is of

course a

speed reference 6ref7 and inside the controller

loc* is depicted the fu##y lo%ic controller in

)hich the control inputs areError and $hange in

Error those control actions are e5ui4alent to a 'D

controller, &he t)o outputs are delta% 64ariation in!odulation inde7 and delta 64ariation in fre-

5uency7,

"i%ure 1, loc* dia%ra!syste! inte%ration

&he secondary syste! is in4ol4ed in the process

loc* as is !entioned efore the 8SC 6full

rid%e7 is the actuator in oth processes the DClin* is in parallel to 8SC the fu##y controller 6in

%reen7 inputs are the current and 4olta%e

!easure!ent in the capacitor and the output are

the pulses to s)itch the IH&s in the DC lin*,


3/15

"irst is descried the induction !otor tests and

the speed fu##y lo%ic control and the DC lin*

fu##y control as indi4idual syste!s and then is

inte%rated usin% a synchronisation loc* in

si!ulation and pro%ra!!ed in hard)areprototype,

III, INDUC&IN(& &ES&S

&o otain the (atla loc* induction !otor

para!eters is necessary to do so!e tests in the real

!otor such as the DC test loc*ed rotor test and

no load test :12 1

2

6& ESIS&ANCE7 1,=?O

1

6S&A& INDUC&ANCE7

O(U&UA$ =

Is necessary proe the syste! response in open loop syste!

is depicted in the net loc* dia%ra! and si!ulated in Si!u-

lin* )ith different !echanical loads,

&he %eneration si%nal are pro4idin% y a three phaseDC/AC con4erter 68SC7 so the output syste! is the induction

!otor speed and this is dependant of the !odulation inde and

fre5uency )hich %enerate AC si%nals fro! '( 4ariaility

therefore those 4ariales are the input 4ariales and the input

control syste!,

&he open loop syste! in4ol4es the '( %enerator 8SC

the induction !otor and one loc* to !a*e the speed units

con4ersion in rad/s to rp! this is sho)n in fi%ure 2,


4/15

"i%ure 2, Si!ulin* dia%ra! of the syste!

&o achie4e the no!inal speed the !odulation inde !ust e

near to 1 and fre5uency in >0+# to estalish the 4/f relation the

speed response si!ulation in fi%ure < corresponds to the

theoretical and real tests docu!ented efore in oo*s :12 1


5/15

Clearly the induction !otor ha4e #ones of nonlinear per-

for!ance li*e others electrics !achines3 here the !echanical

non linear characteristics as the study o@ect is eposed

riefly, &here are other non P linearities eplained in differen-

tial e5uations and no coefficients constants ho)e4er that e5ua-

tion ha4e already de4eloped in other scientific contriutions!ethodolo%ies,

&he literature !ention the operation of an induction !otor as

a 5uadratic load tor5ue :1=; )hich the net e5uation

%

E C (

N C D

N C D(

C D

' C S

' C I

I

I

&A$E I8, IN'U& AND U&'U&$INHUIS&IC 8AIA$ES

*

=*

+6

*

*

70 +0

6 &he !e!ershipfunctions tunedto the li!its inerror and

+

)

h

er

eJ

chan%e in erroris otained thefi%ures ?,

!echanis!

productiontor5ue

inital

tor5ue

+

tor5ue

no!inal speed speed

%

characteristic

factor resistance

tor5ue chan%in%

the speed

a7 Chan%ein Error(e!ershi

p "unction

I8,

INDUC&IN(&S'EED"ULLKCN&$

So!e

de

4el

op

!e

nts

in

thi

s

area the speed

control re%ula-

tion of AC

!otors

specifically the

induction ha4e

een pre-

sented efore3


6/15

so!e of the! starts

for! the

!athe!atical !odel

:?; )hich is a%ainst

the proposition in thefu##y theoretical :1>

1?; one si%nificant

)or* :1B; is !ade )ith

@ust speed error and

chan%e in error to

feedac* as inputs for

con-

"-Rule

"ase

"i%ure ?, 7 Error

(e!ership"unction

troller and the output is

the fre5uency chan%e

and so!e inde

para!eter are sho)ed

ut it does not sho)

%raphical results,

&he control structure

proposes as the

feedac* si%nal the

!easured of speed

directly and the t)o

inputs in the fu##y

lo%ic control are thespeed error

6'roportional7 and

chan%e in error speed

6Deri4ati4e7 and the

outputs are the

4ariation in !odulation

inde and fre5uency

called delta% and

delta)-

&he fu##y controller

is ased on the !easure

of error and chan%e in

error as the inputs of

"$C the fi%ure >

sho)s a nor!ali#ation

of speed !easure the

outputs are the

4ariaility of

!odulation inde and

fre5uency na!ed delta

% and delta),

&he fu##y rulesasis is in thetale structuresho)n in I8,

&he fu##y controller

outputs delta% and

delta are ased on

this tale those

co!inatory options

6


7/15

2

6y7

$- !e)u44i)ication

627 6; )ith thescale factor,

&he proposed ter!s

accordin% to the Error

6E7 and Chan%e in

Error 6CiE7 are

condensed in the &ale

I8 the !eanin% of the

letters is Ne%ati4e 6N7

'ositi4e 6'7 $ar%e 6H7

(ediu!6(7 Increasin% 6I7Decre!ent 6D7 Chan%e 6C7and the

&he fu##y lo%iccontrollers processthe inputs and !ap

the

output accordin% the

fu##y sets :1;, &he

defu##ifier selected is

the a4era%e of centres

)hich is an

approi!ation of the

centre of %ra4ity and as

defined in 6=7J /

yn

(another ' is forS!all for

ea!ple ''6'ositi4eS!all7,

yn

n

(/n=1

6=7


8/15

here/ is the nu!er of fu##y sets are the)ei%hts of set defined for its hei%ht y y56 is thecentre of n-esi!al fu##y set,

&he output syste! fu##y of inference en%ine is

defined accordin% to asis rule so in this case!atch )ith the sets of incre!ent or decre!ent

laels, &hese outputs sets of !e!ership

functions represent the incre!ent or decre!ent in

the !odulation inde and fre5uency that is )hy is

called delta% and delta 6fi%ure B7- &he lael SC

!eans No chan%e and it happens )hen is no

necessary !a*e an incre!ent or decre- !ent,

"- Rule

"ase

a7 Current Input (e!ership "unction

7 8olta%e Input (e!ership "unction

"i%ure 9, c7 utput (e!ership"unction

"i%ure B,ut

put(e!ershi

p"uctions

&he controlsurfaces and rule

4ie) can e seen

in !ore detail

in :20 21;,

8,

DC$IN

M"ULLKC

N&

$

In addition a

soft s)itchin%

sche!e ispresented and is

si!ulated in

(atlaQ too, In

spite of the

topolo%y sho)ed


9/15

is not recent the use of

this to !ini!i#e the

s)itchin% losses is not

)ell docu!ented the

circuital study anddetails is )ell

docu!ented in :10; a

short description and

so!e si!ulations are

!ade in this docu!ent

due to the o@ecti4e in

this is to sho) the

inte%ration of these

fu##y controls, &he soft

s)itch-

in% sche!e circuit issho)n in fi%ure ,

"i%ure ,SoftS)itchin%CircuitSche!e

A- Linguistic

.ariables and

'noledge"ase

Due to the idea inthis fu##y lo%ic control

is to tri% the IH&s in

the circuit ased on the

4alues of current and

4olt- a%e of the

resonant capacitor is

necessary estalish the

!e!- ership

functions )ith

accuracy as is

reco!!ended in :19;

)hich eplains in

detail the fu##y sets

confi%uration, &he net

fi%ure sho)s the inputs

and output !e!ership

functions,

&helin%uisticlaelsintheinput!e!ership

functionsare

descri

edasfollo)sJ

'ositi4e$ar%e6'$7'ositi4e(e

diu!

6'(7Lero6L7and

Ne%ati4e6N7andtheout

put

!e

!

ers

hip

sin%leton%eneratespecificsi%nal

sthat!eansthetri%%erop-

tions

fortheinterruptersthe

positi4e4al

uesareusedtotur

n

onthe!andne%ati4etoturn

off and the suindees are asso-ciated to eachspecific IH&for instance &

Inte

rnational


15/15

induction !otors ho)e4er the use of fu##y lo%ic

controller see!s to e a %ood solution *eepin% in

!ind the not use of any

Conference on Intelli%ent Syste! Applicationsto 'o)er Syste!s ISA'2009

simultaneous fuzzy logic control of a three phase induction motor speed and soft switching dc link

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