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    ISSN: 1990-7958 © Medwell Journals, 2008 International Journal of Electrical and Power Engineering 2 (3): 179-184, 2008 A Fuzzy IRFOC Application Based Speed Sensorless Control of Induction Machine Using a Speed and Load Torque Observer K, Abed, K. Nabti and H. Benalla Department of Electrical Engineering, Faculty of Engineering Sciences, ‘Mentouri University Route d’Ain El Bey, Constantine, Algeria ‘Abstracts In dis sady, a Fuzzy controler of an Tadiect Rotor Feld Orenied Conrol (FOC) wing a speed observer for an Induction Machine (IM) dive, feedthrough an ameliorate voltage inverter is proposed. A superiority ofthe proposed fizzy controller over conventional PI controller n handling nonlinear sch 3s an induction motor has been effectively demonstrated by comparing FT speed controller with the conventional PI under varying operating conditions like step change inspoad reference and torque referee, Observers se a model to predict the speed by the phase currents and voltages as state variables, these estimates are improved ty an error feedback compensator that measures the difference between the estimated and acta values. The observed value of speed i then wsed by the FOC to adjust the PWM waveform in exactly the same way 38 an actual measured value Key words: IRFOC, sensoless contol, Induction Machine (IM), ameliorate tree level voltage inverter, PWM, Fuzzy-PL(F-PD) contoler, Luenberger observer, simolink INTRODUCTION Tndvetion motors are widely used in industrial applications because they are less cost, more rugged and roliable than DC motors. Though induetion motors have a few advantageous characteristics, they possess nonlinear and time-varying dynamio interactions. Using conventional PI controller, it is very difficult and complex. to design @ high performance induction motor drive ‘The fuzzy logic controller is attractive approach, which can accommodate the motor parameiric variations and difficulty in obtaining an accurate mathematical model of induction motor due to rotor parameter and load time constant variations, Tn order to have fast transient response, the controller must have the robustness against speed variations and extemal perturbations. The fuzzy logic is applied to optimize the PI conteoller gains which designed to optimize the step response of the system, ‘In this study, we describe the speed control strategies of an IRFOC for IM. Next, with help of the Matlaby Simulink, we propose the F-PI controller, which is suitable for speed control without mechanical sensors, an observer is used for predict the load torque and speed, Finally, we compare the F-PI simulation results to conventional proportional-plus integral controller. The simulation results validate the robustness and reliable of the proposed F-PI controller for high performance of inchiction motor dive, ‘THREE LEVEL VOLTAGE INVERTER As for the two level voliage inverters, we ean produce a three-phase three level voltage inverter in complete bridge by assembling three hal-bridges using common capacitive divider (Fig. 1). Fig. 1: Three level newtral-point-clamped inverter cireuit Corresponding Author: K. Abed, Department of Flectrical Enginesring, Faculty of Engineering Seiences, Mentouri University Route d’Ain El Bey, Constantine, Algeria ser Eng, 2 (3): 179-184, 2008 a Fine eno eho 8) atten ue eo ako ess nies tein eas desta eee T ‘ete ame inatee}H— 7 aa Sz, ko. is we Fig 3 Fieki oriented controler lock — diagram (Abed ra, 20056) fg) fa Foxe &t ‘ Fig. 2 Prinpel of sawtoothsimsoidel command wih | ie] iwocaiers oe is hg ss Diet PACA cnt tit |S : vollage inverter are given in Abed ef al. (2006) we use the Savrtooth-Simusoidal command with two carriers This strategy is defined by two identical carriers, which cone is delay compared to the other by @ tull-period (Fig. 2. FIELD ORIENTED CONTROL STRUCTURE A block diagram for an IRFOC can be seen on Fig. 3. This design uses a more robust structure fnown as Indirect Rotor Field Oriented Control, meaning that the rotor angle isn’t determined directly by measuring the air gap flux with halleffact sensors. These sensors are not particularly suited for use in ergo industrial motors as they oan be fragile and sensitive fo temperature change (Abed ef al, 2006 bs; Rajashekara eral, 1986). ‘The dynamic model of an induction motor ean be represented according to usual d-q axes components in asynchronous rotating frame as follows Where. M L, LL" R, ‘The decoupling control between d ane q axes ean be achieved by aligning the roter flux veetor to the d-axis and sting the rotor fTus linkage to be constant, which means 4, . © at rated flu 180 Int. J. Elec, Power Eng, Substituting (2) in (1) yields The elecvomagnetio torque equation and the mechanical speed motor are elated by: im « a Where, the electromagnetic torque equation is T=x, Moi 6 7, ie The decoupling contol system is given by: (i tents 7 Where: o DESIGN OF F-PI CONTROLLER FOR INDUCTION MOTOR ‘The purpose of this study, is 10 synthesize a controller without the exact knowledge of a model, ‘numerically simple and simulated on Matlab/Sirwulink allowing good performance in terms of overshoot and fast and accuracy under the speed and load variations, The Fuzzy Logie Toolbox bused controller architecture is shown in Fig, 4 ‘The fuzzy logie controller employs speed eeror and change of speed error as inputs, the reference torque is output. 181 J: 179-184, 2008 I~ rorey | 7 ‘Gime or a Fig. 4: Fuzzy controller architecture by wuns Ps OM » as Za 55h TE St (Ere x P i as Ade dea a2 0 a2 aa os aR (©) Chang of ere s M L os ° ‘0s ass ou ow Fig, 5: Membership function of input, output variables ed)= NN o ‘et = e(8) ef) o And ituses following linguistic labels: {NL (Negative Large),.NM (Negative Medium), NS (Negative Shor), 2 {Zero}, PS Poaitive Shor), PM (Positive Medium), PL Positive Targe)}. Each fuzzy label has an associated membership furetion. The membership functions as shown in ig. 5 ‘The control rules are represented as a set if then rules, The fuzzy rules of proposed controller for speed conizol of induction motor are presented in Table 1. And formulated a follows fe (kis NL and Ae (k) 8 N then Te*() is ZE. Int. J. Elec, Power Eng., 2(3): ‘Table Carl alba BQ NL NM NSPS Ne $MM mz mw s M LC M 8 & eg pe eset ‘The present study uses Mamdoni's Max-Min Algorithm for inference mechanism. In the defuzzification sage, a crisp value of the output variable is obtained by using the center of gravity method, Souway i aoy SENSORLESS SPEED CONTROL ALGORITHM Synchronous angular speed estimation (Pinard, 2004; Abed ef al,2007): From the row 4 of (3) we obtain M oe NpN any card, =0int=08 Whore: &, is the estimate flax, e= 0.01 From the row (3) Migs «2 Teep ‘Once we obtain the synchronous angular speed, 8, 1s simply equal to: a3) Knowledge of the synchronous angular speed and 8, is essential for accurately applying the Clarke and Park transforms Speed control: Sensorless control is another extension to the IRFOC algorithm that allows IMs to operate without the need for mechanical speed sensors. Theve sensors are notoriously prone to breakage, so removing them not only reduces the cost and size of the motor but improves the drive's long term accuracy and reliability (Chavez. et al., 2004; Lysherski, 2000; Shi et af,, 2000; Shoudao et al., 2004), This is particularly important ifthe motor is being. used in a harsh, inaccessible environment such as an oil well (Fig. 6) Instead of physically measuring certain values control engineers ean calculate them frorn a systems state 182 70.184, 2008 esa Fig, 6 Simulink mele of fuzzy controller for IM w Fig, 7: Block diagram-estimation of speed variables. This is known as the state space modeling approach and is a powerful method for analyzing and controlling complex. non-linear systems with multiple inputs and outputs, From expression (4) we establish the following transfer function 1m) ay pat In the goal of compare, we study a PI controller fora speed regulation: J (Sem*Ke) f- 1 asy Nope op JSON par or Kp eee BIL (1) WK, Opek, PK, +R, We obtain the block diagram shows in Fig. 7 ‘The contoller parameters of this 2nd order dynamic characteristic equation are given from: ) Closed loop observer implantation: The objective here is to use a load torque and speed observer in order to delete all mechanical sensors From (4) and (3) cas) © Y Pao 6) >} 40 + mo Ot 4.00) Gut) E>} oa cw) Yo) Fig. 8. The Luemberger observer (George, 2002) ‘The system of the 2nd order Luenberger observer [R-ax suse as |v=ck fu) (20) U2 at 7\(5e ; : 1) iin: (2)s [ ‘The factors II andl 12 are selected to fix the observer 250, = -600 dynamics, we put 1 RESULTS AND DISCUSSION ‘The SIMULINK modal used in this stady, models the induction motor as a continuous system fr its dynamic equivalent circuit The IGBT dave level (NPC) inverter is controlled by a PWM witha switching frequency of I8kHz, We have tested the robust controller for senseless speed controlled induction motor dive, with load torque applied asthe following way + -10N minis + -10N:min 25s. + HONmin6s + -10N-min 7s + ONmings 183 Fig. 9: Simul lation results TRFOC closed loop control Zoom in estimated speed: PL and fuzzy-PI controller 0 + ‘Obmrer dread gue a) 12 14 16 1 20 22 242628 3 Fig, 10; Simulation results IRFOC closed loop observer implimantation Int. J. Elee. Power Eng., 2 (3): 179-184, 2008 Fora field reference &, = 08 Wb, The speed is fixed at 150, then -150 Rad’ into 35s ‘The simulation results show the superiority of the F-PI compared to the traditional PI very used in industry ‘Therefore, it mains the good choice, it able to reacted positively with an ameliorate three level inverter to control the IM (Fig. 9). Figure 10 shows the speed graph of Closed Loop Observer Implantation flow the estimated speed given in $62, the comparaison between the observed load torque ‘and the real one reveals that the observation is, satisfactory even if there is a difference between these two torques at the time of the transitory modes such a8 speed or load change. + Observed and real oad torque Observed and estimated speed, Zoom in observed and estimated speed, CONCLUSION Tn this study, we presented the states variations in an objective of ameliorate the IM sensorless speed control by an F-PI regulator. A comparison between the E-PI controller and the conventional Pl controller reveals the superiority of the fist one. The fuzzy controller is less sensitive to the system parameters variation and this proves its robustness, Nomenclature: Vary + deq axis stator applied voltages. iggy: d-qaxis stator currents ,.@, © d-q rot flux linkage R.R,- Siatorand rotor winding resistances LyLr : Stator and rote: M ‘Munal magnetizing inductances, y, Number of pole pairs P Laplace operator. ,.0, Synchronous and electrical angular speed. T.T, + Electromagnetic and load torque I ‘Total inertia, £ Friction coefficient & Rotor time constant, ° Leakage coefficient " ‘Denotes the estimated valu. . Denotes the reference value. N,Ng, + Estimated and observed speed. Thay | Observed load torque. 184 REFERENCES: Abed, K.,K. Nabti and H. Benalla, 2007. A fuzzy IRFOC application in speed sensceless control of IM. supplied from an ameliorate inverter. Proceedings of the 16th JASTED Intemational Conference Applied Simulation and Modelling, Palma ce Mallorca, Spain, (581-025), Abed, K., K. Nabti and H. Benalla, 2006. A. speod sensorless control for triphase induction machine using indirect field-oriented control scheme, Proceedings of the 15th IASTED Intemational Conference Applied Simulation and Modelling Rhodes, Greece (522-057), pp: 346-351 Abed, K, K. Nabtiand H, Benalla, 2006, Ameliorate speed sensorless control of Induction Machine (IM) by a nee level voluge inverter using Indirect Rotor Field Oriented Control (IREOC) scheme, simulation and ‘experimentation validation, Second International Conference on Electrical Systems ICE, Oum El Bousghi, Algeria, pp: 260-268. Chavez, VS, R.A. Palomares and AN. Segura, 2004. Speed estimation for an indvetion motor using the extended Kalman filler, eleotronies, communications ‘and computers. Conielecomp. 14th International Conference, pp: 63-68 Ghosn, R., 2001. Contréle veotoriel de la machine asynchrone rotor bobiné double alimentation, thesis for a doctoral degree, LEEL-Inseeiht, Toulcsse George Ellis Danaher Corporation, 2002, Observers in ‘Control Systems a Practical Guide, Academic Press, USA. Lysherski, S., 2000, Electromechanical systems, electric ‘machines and applied mechatronies. CRC Press, Boca Raton, Pinard, ML, 2004, Commande électronique des moteurs

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