POWERENG 2009

Lisbon, Portugal, March 18-20, 2009

Real time Implementation of Backstepping Controller in Indirect field oriented control of Induction motor drive
F. Mehazzem1, A. Reama1, Y. Hamam1,2 and H. Benalla3 Universit Paris-Est, ESIEE Paris, Embedded Systems Department, Cit Descartes BP 99- 2, Bd Blaise Pascal 93162 Noisy-Le-Grand Cedex, France e-mail : [mehazzef, a.reama, hamamy@esiee.fr]
2 1

F'SATIE at Tshwane University of Technology, Pretoria, South Africa e-mail : yskandar@hamam.ws

3

Electrical Engineering Laboratory, Constantine University, Algeria e-mail : benalladz@yahoo.fr

Abstract- A novel structure of backstepping control has been proposed for indirect field oriented control of induction motor drive. Voltage and current signals are usually contaminated with high frequency switching noises due to SVPWM inverter. The proposed structure avoids real time integration and its associated drift problems, which in practice are the source of generation of unwanted noise. these problems are typical in the PI controllers used in conventional indirect vector control for speed and current regulation . By using the proposed backstepping controller , the system has a good load disturbance rejection capability, fast dynamic response and less parameters sensitivity. The effectiveness of this proposed control structure is verified by simulation as well as by experiment under critical operating conditions.

methods for a large scale of nonlinear systems [8]-[12]. This control scheme can successfully achieve global stabilization in the presence of uncertain parameters. Using this design methodology, the feedback control laws are based on the construction of an associated Lyapunov functions. Strong properties of global and local stability are built into a large class of feedback linearisable nonlinear systems exhibiting constant uncertainty [13]. Backstepping control scheme can be used in two different ways for control of IM drive. One method utilizes the detail IM model without any simplifying assumptions which leads to a tedious analysis to construct a regression matrix. The scheme also assumes the linearity in the parameter which is not true in many practical situations. These problems are taken care of by the use of neural networks (NN) techniques [14]-[17]. The second method works in association with indirect field oriented control. This simplifies the IM model and the adaptation of backstepping controller becomes easier. For this second case, many versions of backstepping control have been developed [18]-[20]. But most of them are not verified experimentally. They did not take into account the problem of current regulation, estimation of unobservable states and the filtering of signals in their study. Few works reported the experimental results such as adaptive backstepping of position control [21], and online loss minimization using backstepping control [22]. In this paper, a new structure of backstepping controller is used for speed, flux and current regulators in indirect field oriented control (IFOC) for speed control of IM. It successfully avoids the PI controllers and its associated drifting problem. The overall aspect of the structure is maintained exactly as in the conventional IFOC like speed control loop,

I.

INTRODUCTION

The induction motor (IM) has found to be used in a wide range of industrial applications, due to its reliability, ruggedness, low maintenance requirement, and relatively low cost. The control of the induction motor, however, is complex because the dynamics of the induction motor are nonlinear, multivariable, and highly coupled. The field oriented technique, introduced by Blashke [1] is the most popular method for the control of IM drive. It takes the IM model in synchronously rotating frame for decoupling control of torque and flux like dc machine [2]. In the last two decades, many modified nonlinear state feedback schemes such as input-output feedback linearization [3], passivity-based control [4], [5] and sliding mode control [6], [7] have been applied to the IM drive. Since 1990s, in the field of adaptive and robust control, backstepping has become one of the most popular design

978-1-4244-2291-3/09/$25.00 2009 IEEE

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flux control loop and two current control loops. Flux and load torque estimators are also provided to fulfill the requirement of the backstepping controller. II. MODEL DESCRIPTION AND CONTROL DESIGN Under the assumptions of linearity of the magnetic circuit and neglecting iron losses, the fifth-order nonlinear model of IM, expressed in the fixed stator frame (a,b) is [23]: d 3n p Lm (2a i1b 2bi1a ) TL = 2 JL2 dt J
d 2 a R R = 2 2 a n p 2b + 2 Lm i1a dt L2 L2 d 2 b R R = 2 2b + n p 2 a + 2 Lmi1b dt L2 L2 n p Lm L2 R + L2 R di1a Lm R2 + 2b m 2 2 2 1 i1a = 2 2a L1L2 dt L1 L2 L1 L2 + 1 u L1 1a

i1d =

2 a i1a + 2b i1b 2 2a 2 2a
+ 2 2b + 2 2b

, i1q =

2 a i1b 2b i1a
2 2 2 a + 2 b

2 d =

, 2 q

2 b = 0, = arctan 2a

(2)

Where much simplification is gained by the fact that 2 q = 0 . Then, the dynamic model (1) can be rewritten as
d T = 2 d i1q L dt J di1q i1q i1d = 1i1q n p 2 d n p i1d R2 2 I1q + Lm 2d dt + 1 u1q L1

2 n p Lm L2 di1b Lm R2 m R2 + L2 R1 = i1b 2b L1 L2 2 a dt L1L2 L1 L2 2 2

d 2 d = R2 2 d + Lm R2i1d dt i12q di1d = 1i1d + n p i1q + R2 2 I1d + 2 d + Lm 2d dt 1 + u1d L1 I1q d = n p + Lm R2 2d dt

(3)

1 u1b L1

(1) Where,

Where, =

=1

L2 m L1L2

3n p Lm Lm R L2 1 m , = , 1 = 1 , 2 = , = 2 L2 L1L2 L1 2 JL2 L1L2

i1a ,i1b the stator current in (a,b) frame 2 a , 2b the rotor flux linkage in (a,b) frame u1a ,u1b the stator voltage input in (a,b) frame
the rotor angular speed the angle between the rotor flux linkages

n p the number of pole pairs

Lm the mutual inductance L1 , L2 the stator and rotor inductances respectively R1 , R2 the stator and rotor resistances respectively J the moment of inertia TL the applied load torque
The model (1) is highly coupled, multivariable and nonlinear system. These properties often complicate the control of the IM. The field oriented transformation is frequently used in order to simplify the model. This transformation changes the representations of the state vector (i1a , i1b , 2 a , 2b ) in the fixed stator frame (a,b) into a new state vector in a frame (d,q) which rotates along with the flux vector (2 a , 2b ) . It is described as:

The model (3) is more suitable to applying the backstepping control mechanisms. The basic idea of the backstepping design is to chose recursively some appropriate functions of state variables as virtual control inputs for single-input-singleoutput subsystems of the overall system. Then, backstepping design is divided into various design steps. In each step, an extended Lyapunov function is associated to achieve the stability of the whole system [18].
Step 1 As the rotor angular speed and the rotor flux amplitude are the tracking objectives, we define first the tracking errors as e1 = ref (4) e3 = ref 2 d

Then the error dynamical equations are T e1 = ref 2 d i1q + L J e3 = ref + R22 d Lm R2i1d

(5)

Since our objectives require that the two errors converge to zero, and require also that the current must be regulated and limited, we could satisfy this two objectives by viewing i1q

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and i1d as virtual control in the above equations and use them to control
V=

e1 , e3 . We use the Lyapunov function

1 2 1 2 e1 + e3 (6) 2 2 To derive stabilizing feedback virtual controls i1q and i1d as follows. The derivatives of V along the error equations (5) is V = e1e1 + e3e3

be computed as 1 e2 = 1 u L1 1q

1 e4 = 2 u L1 1d

(12)

Where i ' s( i = 1,2 ) are known signals that can be used in the control, and their expressions are as follows

T = e1 ref 2 d i1q + L J + e3 ref + R2 2 d Lm R2i1d

1 =

k1 2 ( k1e1 + 2 d e2 ) R ( Lmi1d 2 d ) 22 d 2 d 1 TL ref + 1i1q + n p 2 d )+ 2 d J i1q i1d 2d )

(13)

] ]]

(7)

( k1e1 + ref +

T 2 2 = k1e1 k3e3 + e1 k1e1 + ref 2 d i1q + L J + e3 k3e3 + ref + R2 2 d Lm R2i1d

Where

+ n p i1d + R2 ( 2i1q + Lm

k1 ,k3 are positive design constants that determine

k3 ( k3e3 + Lm e4 ) + 1 ref 2 = Lm R2 Lm R2 R2 ( 2 d Lmi1d ) + 1i1d n p i1q Lm

the closed-loop dynamics. If the stabilizing virtual controls are chosen as T 1 i1q ref = k1e1 + ref + L J 2 d (8) 1 (i1d )ref = k e + ref + R2 2 d Lm R2 3 3 We obtain

( )

i12q R2 + + i L 2d m 2 1d 2d

Now we extend the Lyapunov function in (6) to include the state-variables e2 ,e4 as

2 V = k1e12 k3 e3 0

(9)

Then, the virtual controls in (8) are chosen to satisfy the control objectives and also provide references for the next step of the backstepping design.
Step 2 Now, the new tracking objectives are the signals current i1q

1 2 2 2 2 e1 + e2 + e3 + e4 (14) 2 We use Ve to derive both the control algorithm. To this end, we again compute the derivate of Ve along with the error equations (11), (12) Ve = e1e1 + e2 e2 + e3e3 + e4 e4 Ve = = e1 ( k1e1 + 2 d e2 )
1 + e2 1 L u1q 1 + e3 ( k3e3 + Lm R2 e4 ) 1 + e4 2 L u1d 1
2 2 2 2 = k1e1 k 2 e2 k3e3 k 4 e4

and i1d . So we define again error signals involving the desired variables in (8) e2 = i1q ref i1q

( )
1

T k1e1 + ref + L i1q 2 d J e4 = (i1d )ref i1d = 1 k e + + R2 2 d i1d Lm R2 3 3 ref Then the error equations (5) can be expressed as =
e1 = k1e1 + 2 d e2 e3 = k3e3 + Lm R2 e4

(15)

(10)

1 + e2 2 d e1 + k 2 e2 + 1 u1q L1 1 + e4 Lm R2 e3 + k 4 e4 + 2 u1d L1

(11)

Where k2 ,k4 are positive design constants that determine the closed-loop dynamics. From the above we can obtain the control laws as

Also, the dynamical equations for the error signals e2 , e4 can

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u1q = L1 [ 2 d e1 + k 2 e2 + 1 ]

u1d = L1 [Lm R2 e3 + k 4 e4 + 2 ]

(16)

Witch leads to
2 2 2 2 V e = k1e1 k 2 e2 k3e3 k 4 e4 0 .

(17)

Profile 2. The speed reference is periodic triangular signal with amplitude 62.8 (rad/s) and frequency 0.15 Hz. Profile 3. The speed tracking controller is operated in a critical situation of benchmark commands (rapidly changes as 84 0 -84 0 40 rad/s). The reference flux is set to 0.5 Wb in all cases. A constant load torque of 6.1 N.m is applied from the instant t = 3s.

III. ADAPTIVE ROTOR FLUX ESTIMATOR The rotor flux has been estimated using the simplified IM model (3) obtained after the application of the field oriented transformation. This allows estimation of the rotor-flux vector in polar form is given by

= R 2d 2 2 d + Lm R2 i1d IV. LOAD TORQUE OBSERVER

(18)

The load torque is needed for backstepping control. It is calculated by the load torque observer [24]: 1 J tL = z 0 np (19) dz 2 = n p Lm 2 d i1q tL dt 3 t L is the observed load torque, 0 is the observer time constant and z is the observer state. V. SIMULATION AND EXPERIMENTAL STUDY The overall configuration of the control system for IM is shown in Fig. 1. The voltage-fed inverter is used for generating space vector pulse width modulated (SVPWM) three phase voltages for the induction motor. The parameters of the induction motor used are given in Appendix. Parameters of the backstepping controller are: k1= 100, k2=700 , k3= 300 and k4= 700. A. Simulation Results The effectiveness of the proposed controller has been verified by simulation in Matlab/Simulink environment. The results are shown in Fig. 2 and Fig. 3 for two different profiles for speed, flux and torque reference ( namely classical and critical profiles).
Classical profile: The speed reference is a step function followed by smoothening. The reference flux is set to 0.5 Wb. A constant load torque of 6.1 N.m is applied from the instant t = 3 s. Critical profiles: Profile 1. The speed reference is a smooth function, ref = 64(sin(0.2t ) + sin(0.6t )) .

B. Experimental Results The block schematic of the experimental setup is shown in Fig. 4. Experimental setup consists of a squirrel cage induction motor of rating : Star/Delta 380V/220V AC, 8.9 A/ 15.5 A , 4 kW, p.f. 0.82, 1440 r.p.m, 50 Hz and is coupled with a dc generator for loading. The rotor shaft of the induction motor is fitted with a optical position encoder with 1024 lines per rotation for measuring angular position and speed. The induction motor receives power from an SVPWM inverter of 1000 V, 30 A rating. The dSPACE interface generates the SVPWM pulses for the inverter and takes the signals of the measured currents for phase a and b through ADCs and angular position signals through encoder. It takes also the speed command from the dSPACE controldesk and generates the voltage command for the SVPWM inverter. The signal for angular positions are sampled for every 750 microsecond interval and the current signals are sampled for every 200 microsecond interval. The computation for control algorithm is done within a time step of 200 microsecond. The inverter switching frequency is kept at 10kHz using the slave DSP. The control and estimation algorithms need as inputs (1) the stator currents and (2) the encoder position. For that filters are used: Digital low pass filter is used for filtering encoder position signal. Digital synchronous resonating filter [25] is used for reducing high-frequency noise in the stator current signals arising out of SVPWM and electrical grid.

In experimental mode, the same two profiles ( classical and critical) are used and the load torque is applied at the instant t=3 s.
C. Discussion As shown in the simulation results of Fig. 2 and Fig. 3, the performance are satisfactory. Fig. 2 shows the performance of the proposed scheme with a classical profile of step speed reference. Speed and flux tracking are rapidly converging. Fig. 3 illustrates the satisfactory performances of the speed and flux tracking. The control objective is achieved even with the critical profiles of speed reference.

As shown in the experimental results of Fig. 5 and Fig. 6, the performance are satisfactory. Fig. 5 shows the performance of the proposed scheme with a classical profile of step speed

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reference. Speed and flux tracking are rapidly converging. Fig. 6 illustrates the satisfactory performances of the speed and flux tracking. The control objective is achieved even with the critical profiles of speed reference. We find that, with the utilization of the proposed nonlinear backstepping control on an induction motor drive, the controlled speed and flux amplitude can quickly and accurately track the desired references, under critical profile for benchmarking. The validity and effectiveness of the practical implementation of this control structure are thus demonstrated satisfactorily. VI. CONCLUSION A new and effective version of backstepping technique control with SVPWM inverter is presented. We have shown by simulation and by experiment that the proposed nonlinear adaptive control algorithm achieved very good tracking performance within a wide range of the operation of the IM. The proposed method also demonstrated a very interesting robustness properties with respect to the extreme variation of the rotor speed reference. The other interesting feature of the proposed method is that it is simple and easy to implement in real time. APPENDIX INDUCTION MOTOR DATA Stator resistance Rotor resistance Mutual inductance Rotor inductance Stator inductance Number of pole pairs Motor load inertia 1.34 ohms; 1.18 ohms; 0.17 H; 0.18 H; 0.18 H; 2 0.0153 kgm2; REFERENCES
[1] [2] [3] W. Leonhard, Control of Electrical Drives. New York: Springer-Verlag, 1985. B. K. Bose, Modern Power Electronics and AC Drive, Prentice Hall PTR, Upper Saddle River, NJ, 2002, pp 368-378. R. Marino, S. Peresada, and P. Valigi, Adaptive input-output linearizing control of induction motors, IEEE Transactions on Automatic Control, vol. 38, No. 2, pp. 208- 221, 1993. R. Ortega, G. Espinoza., Torque regulation of induction motor, Automatica, vol. 29, 1993, p.621-633. R. Ortega, et. al., On speed control of induction motor, Automatica, vol. 32, No. 3, pp.455-460, 1996. Utkin, V. 1. (1993). Sliding mode control design principles and applications to electric drives. IEEE Transactions On Industrial Electronics, 40, 26-36 G. Bartolini, E. Punta, T. Zolezzi, Approximability Properties for Second-Order Sliding Mode Control Systems, IEEE Transactions on Automatic Control, vol. 52, Issue 10, pp. 1813 1825, Oct 2007. I. Kanellakopoulos, P. V. Kokotovic and A. S. Morse, Systematic Design of Adaptive Controllers for Feedback Linearizable Systems, IEEE Trans. Automat. Contr., vol. 36, pp. 1241-1253, 1991.

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P. V. Kokotovic, Bode lecture: The joy of feedback, IEEE Contr. Syst. Mag., No. 3, pp. 7-17, June 1992. M. Krstic, I. Kannellakopoulos, and P. Kokotovic, Nonlinear and Adaptive Control Design, Wiley and Sons Inc., New York, 1995. Yang Jun-hua, Wu Jie, Hu Yue-ming,Backstepping method and its applicatons to nonlinear robust control, Control and Decision, vol. 17, suppl, pp. 641-653, 2002. M.R Jovanovic, B. Bamieh, Architecture Induced by Distributed Backstepping Design, IEEE Transactions on Automatic Control, vol 52, Issue 1, pp. 108 113, Jan 2007. Arbin Ebrahim and Gregory Murphy, Adaptive Backstepping Control of an Induction Motor Under Time-Varying Load Torque and Rotor Resistance Uncertainty, Proceedings of the 38th Southeastern Symposium on System Theory, Tennessee Technological University Cookeville, TN, USA, March 5-7, 2006. Chiman Kwan, F. L. Lewis, Robust Backstepping Control of Nonlinear Systems Using Neural Networks, IEEE Transactions on Systems, Man, AND CyberneticsPart A: Systems and Humans, vol. 30, no. 6, pp. 753766, 2000. Yahui, Liu Guozhong, Zhuang Xianyi and Qiang Sheng, Adaptive backstepping control for induction motor based on neural networks and dynamic surface technique, Proceedings of IEEE Conference on Control Applications, , vol 2, pp. 826- 831, June 23-25, 2003. Z. C. Ji, Y. X. Shen, Backstepping Position Control for Induction Motor based on Neural Network , Proceedings of the 1ST IEEE Conference on Industrial Electronics and Applications, pp. 1- 5 , May 24-26, 2006 . J. Soltani , R. Yazdanpanah, Robust Backstepping Control of Induction Motor Drives Using Artificial Neural Networks, Proceedings of the 5th IEEE International Conference on Power Electronics and Motion Control, vol 2, pp. 1-5, Aug 14-16, 2006. Hualin Tan and Jie Chang, Field Orientation and Adaptative Backstepping for Induction Motor Control, Volume 4, 3-7 Oct. 1999, Page(s):2357 - 2363 vol.4, IEEE.. Sang Woo Nam, M. Nasir Uddin, Development of an Adaptive Backstepping Based Nonlinear Control of an Induction Motor Incorporating Iron Loss with Parameter Uncertainties. IEEE Canadian Conference on Electrical and Computer Enginnering, Otawa, pp. 16621666, May 2006. A. Laoufil, A. Hazzab, I. K. BousserhaneI, M. Rahli, Direct FieldOriented Control using Backstepping Technique for Induction Motor Speed Control, 2nd IEEE Conference on Information and Communication Technologies, vol 1, pp. 1422-1427, April 24-28, 2006. Yaolong Tan, Jie Chang, and Hualin Tan, Adaptive Backstepping Control and Friction Compensation for AC Servo With Inertia and Load Uncertainties, IEEE Transactions on Industrial Electronics, vol. 50, Issue. 5, October 2003.. M. Nasir Uddin and Sang Woo Nam, Adaptive Backstepping Based Online Loss Minimization Control of an IM Drive, IEEE Power Engineering Society General Meeting, June 24-28, 2007 . P.C.Krauss, Analysis of Electric machinery, IEEE Press, 1995. S. Endo, H. Kobayashi, Y. Yoshida, S. Kobayashi, Robust Digital Tracking Controller Design for High speed Positioning System New Experimental Results, 3rd International Workshop on Advanced Motion Control, University of California, Berkeley, March 1994, pp. 643-647. P. Syam, P. K. Nandy, and A. K. Chattopadhyay, Improvement in power quality and a simple method of subharmonic suppression for a cycloconverter-fed synchronous motor drive IEE Proc. B, EPA, Issue 4, pp. 292-303, July 2002.

[4] [5] [6]

[7]

[8]

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SPEED (rad/s)
100 90 80

FLUX (Wb)
0.8 0.7 0.6

70 60 50 40 30

0.5 0.4 0.3 0.2

20 10 0 0 5 10 15 20

0.1 0 2 4 6 8 10 12 14 16 18 20

Load Torque estimate (N.m)

7 6 5 4 3 2 1 0 -1 2 4 6 8 10 12 14 16 18 20

STATOR CURRENT (A)

20 15 10 5 0 -5 -10 -15 -20 0 5 10 15 20

Time (s) Fig. 1. Overall block diagram of the control scheme for IM
SPEED (rad/s)
100 100 80 60 50 40 20 0 0 -20 -50 -40 -60 -100 0 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 5 10 15 20 -80 -100 2 4 6 8 10 12 14 16 18 20

Time (s)

Fig. 2. Tracking performance (Simulation results) Classical profile

SPEED (rad/s)
100 80 60 40 20 0 -20 -40 -60 -80 -100 0 5

SPEED (rad/s)

10

15

20

FLUX (Wb)
0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 5 10 15 20 0 2 4 6

FLUX (Wb)

FLUX (Wb)
0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 5 10 15 20

10

12

14

16

18

20

STATOR CURRENT (A)

10 8 6 4 2 0 -2 -4 -6 -8 -10 0 5 10 15 10 8 6 4 2 0 -2 -4 -6 -8 20 -10 2

STATOR CURRENT (A)

60 40

STATOR CURRENT (A)

Fig. 4. The experimental setup

20

-20

-40

10

12

14

16

18

20

-60

SPEED (rad/s)
0 5 10 15 20

SPEED (rad/s)
100 80 60

100 80 60 40 20 0 -20 -40 -60 -80

SPEED (rad/s)

Time (s)

100

Time (s)

Time (s)
50 0

Fig. 3. Tracking performance (simulation results) Critical speed reference profiles 1-2-3

40 20 0 -20

-50

-40 -60

-100 2 4 6

-80

FLUX (Wb)

10

12

14

16

18

20

-100 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1

FLUX (Wb)

10

12

14

16

18

20

-100 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1

FLUX (Wb)

10

12

14

16

18

20

SPEED (rad/s)
100 90 80 0.6 70 60 50 40 30 0.2 20 10 0 2 4 6 8 10 12 14 16 18 20 0.1 0 2 4 6 0.5 0.4 0.3 0.8 0.7

FLUX (Wb)

0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 2 4 6 8 10 12 14 16 18 20

10

12

14

16

18

20

10

12

14

16

18

20

10

12

14

16

18

20

STATOR CURRENT (A)

Load Torque estimate (N.m)
12 10 20 8 6 4 2 0 -2 -4 2 4 6 8 10 12 14 16 18 20 -30 2 4 6 8 10 12 14 16 18 20 -10 -20 -20 -30 2 4 6 8 10 12 14 16 18 20 -30 2 -20 10 0 0 -10 -10 0 10 10 30 20 20

STATOR CURRENT (A)

30 30 20

STATOR CURRENT (A)

STATOR CURRENT (A)

30

10

-10

-20

10

12

14

16

18

20

-30

10

12

14

16

18

20

Time (s)

Time (s)

Time (s)

Time (s)

Time (s)

Fig. 5. Tracking performance (experimental results) Classical profile

Fig. 6. Tracking performance (experimental results) Critical speed reference profiles 1-2-3

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