2011 IEEE Applied Power Electronics Colloquium (IAPEC)
Modeling and Simulation of Adaptive Neuro-Fuzzy
Controller for Chopper-Fed DC Motor Drive
Yousif I. Al-Mashhadany, MIEEE.
Electrical Engineering Dept. College Engineering.
University of Al-Anbar
Al-Anbar, Iraq
Email: yousif_phd@hotmail.com
Abstract The classical controllers algorithm is both simple
and reliable, and has been applied to thousands of control
loops in various industrial applications over the past 60 years
(89%-90% of applications). This paper presents the neuro-
fuzzy controller incorporates fuzzy logic algorithm with a
five-layer artificial neural network (ANN) structure. The
conventional controller is replaced by Adaptive Neuro-Fuzzy
Inference System (ANFIS) before that made the
identification process of ANFIS controller by the data base
of classical controller to be consider as initial condition for
controlling process with this system.
The simulation of the design is achieved by using Matlab
Ver. 2010a. Chopper-Fed DC Motor Drive ( Continuous /
Discrete ) are consider as case study. Satisfactory results are
obtained explaining the ability of ANFIS controller to
control with the dynamic high nonlinear system and can be
get very good results by tunes the fuzzy controller.
Index TermsAdaptive Neuro-Fuzzy Inference System
(ANFIS) ,Chopper fed-DC motor drive.
I. INTRODUCTION.
Most industrial processes exhibit highly nonlinear
dynamics but are never the less controlled with the
classical PID linear technique, a widespread methodology
with the advantage of few parameters to tune according to
established guidelines. However, the use of the PID linear
technique in the control of a nonlinear process makes the
tuning configuration strongly dependent on the particular
steady-state working condition. Thus, a fixed tuning of the
PID algorithm cannot guarantee good system
performances for any operating point. A methodology
overcoming this limitation is a hierarchical control
strategy, consisting of a fuzzy supervisor and of the PID
controller itself: the fuzzy supervisor modifies the PID
tuning on-line, according to rules with one or more input
variables, usually the set point, the error and/or the actual
control action. Together with adaptively, the foremost
advantages of this control strategy are the ability to cope
with incomplete knowledge of the process and to provide
smooth transitions from an operating region to another.
We remark that the last two characteristics do not apply to
conventional gain scheduling or CGS (fuzzy supervision
of PIDs is often referred to in literature as fuzzy gain
scheduling or FGS), for the simple reason that CGS,
unlike FGS, is not rule-based. For further insights on
978-1-4577-0008-8/11/$26.00 2011 IEEE 110
fuzzy supervision of a PID controller and its theoretical
aspects see [1,2].
The speed of DC motor can be adjusted to a great
extent as to provide controllability easy and high
performance. The controllers of the speed that are
conceived for goal to control the speed of DC motor to
execute one variety of tasks, is of several conventional
and numeric controller types, the controllers can be: PID
Controller, Fuzzy Logic Controller; or the combination
between them Fuzzy-Genetic Algorithm, Fuzzy-Neural
Networks, Fuzzy-Ants Colony, Fuzzy-Swarm [3,4,5].
The source is a constant-voltage DC, such as a battery
or diode-bridge rectified AC supply, a different type of
converter is required to convert the fixed voltage into a
variable-voltage/variable-current source for the speed
control of the DC motor drive. The variable DC voltage is
controlled by chopping the input voltage by varying the
on- and off-times of a converter, and the type of converter
capable of such a function is known as a chopper.
A schematic diagram of the chopper is shown in
Fig.1. The control voltage to it's gate is ve. The chopper is
on for a time ton and its off time is toff . Its frequency of
operation is: Chopper
+ +
Vs Vo Load
Ve
-
(a)
ve
t
0 ton
toff
Vs
Vdc
vo
t
0 T 2T 3T
( b ) Voltage Waveforms
Fig.1. Chopper schematic and its waveforms.
 1 1
fc = = .. 1 This logic amounts to the fact that the duration for
(t on + t off ) T which the control signal exceeds the ramp signal
determines the duty cycle of the chopper. The on- and off
And its duty cycle is defined as time signals are combined with other control features,
t on such as interlock, minimum on- and off-times, and
d= .2 quadrant selection. The interlock feature prevents the
T turning on of the transistor (top/bottom) in the same leg
before the other transistor (bottom/top) is turned off
The output voltage across the load during the on-time completely. This is ensured by giving a time delay
of the switch is equal to the difference between the source between the turn-off instant of one device and the turn-on
voltage Vs and the voltage drop across the power Switch. instant of the other device in the same phase leg. -
Assuming that the switch is ideal, with zero voltage drop. Simultaneous
the average output voltage Vdc is given as conduction of the top and bottom devices in the same
ton leg results in a short circuit of the de source it is known as
Vdc = Vs = dVs .. 3 shoot-through failure in the literature. The de motor
T equations, including its field, are [9]:
where Vs is the source voltage.
di a
V a = R a ia + L a + K f wm
II. M ODELING OF CHOPPER MOTOR: dt

The closed-loop speed-controlled separately-excited di f
dc motor drive is shown in Fig.2. for analysis, With inner
Vf = Rf if + Lf +
dt (4)
current loop alone, the motor drive system is a torque
dw m
amplifier. The commanded value of current is compared Te Tl = J + B1 wm
to the actual armature current and its error is processed dt
through a current controller. The output of the current Te = K f ia

controller in conjunction with other constraints,
determines the base drive signals of the chopper switches.
The current controller can be either of the following types Where : K f = Mi f , and M is the mutual inductance
[7]: between the armature and field windings. The tacho
A. Pulse-Width-Modulation (PWM) controller. generator and the filter are combined in the transfer
B. Hysteresis controller.
function as:
In the Pulse-Width-Modulation (PWM) controller The
current error is fed into a controller, which could be
proportional (P), proportional plus integral (PI), or wmr ( s ) Hw
= (5)
proportional, integral, and differential (PID). The most wm ( s ) 1 + sTw
commonly used controller among them is the PI
controller. The current error is amplified through this
Generation of base-derive signals from current error for
controller and emerges as a control voltage, vc. It is forward motoring when one is using the chopper. The
required to generate a proportional armature voltage from input to the speed controller is the speed error. and the
the fixed source through a chopper operation. Therefore, controller is of a PI type given by [10]
the control voltage is equivalent to the duty cycle of the
chopper. Its realization is as follows. The control voltage
is compared with a ramp signal to generate the On- and Te* ( s ) K (1 + sTs )
= s Gc ( s ) = K c . (6)
Off-times. On signal is produced if the control voltage is *
( wr wmr ) sTs
greater than the ramp (carrier) Signal off signal is The current-error amplifier is modeled as a again and is
generated when the control signal is less than the ramp given by:
signal [8]. The chopper is modeled as a first-order lag, with a gain
given by:
Kr
Gc ( s ) = .
sT (7)
(1 + )
2
The PWM current controller has a delay of half the time
period of the carrier waveform, and its gain is that of the
chopper. Hence, its transfer function, including that of the
chopper, is Kc Kr
Gc ( s ) = . (8)
Fig.2. The closed-loop speed-controlled separately-excited sT
(1 + )
dc motor [6]. 2
2

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Where Ke is the gain of the PWM current controller, Kr is layer 1, every node i is an adaptive node with a node
the gain of the chopper, and the time constant T is given function
by,
OI ,i = Ai ( x ) for i = 1,2 or
1 1
Gc ( s ) = = . (9)
OI ,i = Bi 2 ( y ) for i = 3,4
(11)
carrier frequency f c
(here we denote the output of the ith node in layer l as
The gain of the PWM current controller is dependent O1,I ) where x (or y) is the input to node i and Ai (or Bi-2)
on the gain of the current error amplifier. For all practical is a linguistic label such as small or large associated
purposes, the PWM current control loop can be modeled with this node. The membership function for A can be any
as a unity-gain block if the delay due to the carrier appropriate parameterized membership function. In
frequency is negligible. The hysteresis controller has proposed scheme generalized bell function is used as a
instantaneous response: hence, the current loop is membership function given by equation (12) [11,12,13].
approximated as a simple gain of unity.
x ci
2bi
III. A DAPTIVE NEURO FUZZY CONTROLLER A ( x ) = 1 /(1 + )
(12)
The neuro-fuzzy controller incorporates fuzzy logic ai

algorithm with a five layer artificial neural network
(ANN) structure as shown in Fig.3 [4]. where {ai ,bi ,ci} is the parameter set. As the values
A tuning block is utilized to adjust fourth layers of these parameters changes, various forms of bell shaped
parameters in order to correct any deviation of control membership functions can be get for fuzzy set A.
effort. The speed error and the rate of change of actual Parameters in this layer are referred to as premise
speed error are the inputs of the neuro-fuzzy controller, parameters. In layer 2 , every node is a fixed node labeled
which are given by , whose output is the product of all the incoming
signals.
Input1 = w = w w
O2,i = wi = Ai ( x)Bi ( y) , i = 1,2 (13)
w ( n) w ( n 1)
input 2 = w = 100% (10)
T Each node output represents the firing strength of a
rule. In layer 3, every node is a fixed node labeled N. The
Where: w* is the command speed and T is the outputs of this layer are normalized firing strengths given
sampling time. by equation (14).
wi
Layer Layer Layer Layer Layer O3,i = wi = , i = 1,2 (14)
w1 + w2
In layer 4, every node i , is an adaptive node with a
node function given by equation (15).

O4 ,i = w i f i = wi ( pi x + qi y + ri ) (15)

where wi is a normalized firing strength from layer 3

and {pi ,qi , ri} is the parameter set of this node.
Parameters in this layer are referred to as consequent
parameters. Layer 5 is the single node layer with a fixed
node labeled , which computes the overall output as the
summation of all incoming signals.

Fig.3. ANFIS architecture of 2-input Sugeno fuzzy O5,i = wi f i =

iw f i i
(16)
model with 2 rules [4]. iw i

Sugeno fuzzy model with five- layer ANN structure The hybrid approach converges much faster since it
is used in proposed controller. In this five-layer ANN reduces the search space dimension of the original pure
structure the first layer represents for inputs, the second back propagation. In hybrid learning, for back
layer represents for fuzzification, the third and fourth propagation, objective function to be minimized is defined
layers represents for fuzzy rule evaluation and the fifth by (17) [14,15].
layer represents for defuzzification. A two input first order l
Sugeno fuzzy model with two rules is depicted in fig. 2. In E p = (Tm , p Om , p ) 2 (17)
m =1

112
 where Tm,p is the mth component of pth target output
vector and Omp is the mth component of actual output
vector produced by the presentation of the pth input
vector. Hence the over all error measure is given by (18).
p E
E = =1 p
(18)
p
Learning rules can be derived as follows:
ai ( n + 1) = ai ( n ) ai ( E )
ai
bi ( n + 1) = bi ( n ) bi ( E )
bi (19)
ci ( n + 1) = ci ( n ) ci ( E )
ci
Where ai , bi , and ci are the learning rates of the
NN see[16,17].
IV. CASE STUDY:
The simulation of case study is achieved by using
MATLAB Ver. 2010a. Two forms of simulation for the
Chopper-Fed DC Motor Drive was used:
Chopper-Fed DC Motor Drive in Continuous.
Chopper-Fed DC Motor Drive in Discrete.
The description of the circuit The DC motor is fed by
the DC source through a chopper which consists of GTO
thyristor and free-wheeling diode D1. The motor drives a
mechanical load characterized by inertia J, friction
coeficient B, and load torque TL. The hysteres is current
controller compares the sensed current with the reference
and generates the trigger signal for the GTO thyristor to
force the motor current to follow the reference. The speed
control loop uses a proportional-integral controller which
produces the reference for the current loop. Current and
Voltage Measurement blocks provide signals for
visualization purpose. The two circuits are shown in
Fig.s(4 & 5).
ANFIS (Fuzzy Logic Controller (FIS) with rule reviewer )
controller Matla Ver. 2010a toolbox. This simulation can
be summarized as follow:
Fig.4. Chopper-Fed DC Motor Drive in Continuous.
113
Fig.5. Chopper-Fed DC Motor Drive in Discrete.
Start the simulation. Observe the motor current,
voltage, and speed during the starting on the scope. At
the end of the simulation time (1.5 s), the system has
reached its steady-state. Response to a change in
reference speed and load torque.
The initial conditions state vector 'xInitial' to start with
wm = 120 rad/s and TL = 5 N.m has been saved in the
'power_dc drive_init.mat' file. This file is automatically
loaded in your workspace when you start the simulation
(see Model Properties). In order to use these initial
conditions you have to enable them. Check the
Simulation/Configuration Parameters menu , then select
"Data Import/Export" and check "Initial state".
Now, double click the two Manual Switch blocks to
switch from the constant "Ref. Speed (rad/s) " and
"Torque (N.m)" blocks to the Step blocks. (Reference
speed wref changed from 120 to 160 rad/s at t = 0.4 s
and load torque changed from 5 to 25 N.m at t= 1.2s).
Restart the simulation and observe the drive response to
successive changes in speed reference and load torque.
V. Simulation Results:
The simulation of the design is achieved by using
Firstly, setting the configuration of ANFIS controller
is shown in Fig.6.a. and rearrange the set of inputs
data and output data and the type FIS function that be
used in simulation.
After that by using ANFIS editor sets all parameters
of identification of Neuro controller and load the
input/output data. The training of Neoru-Fuzzy
controllers of Chopper-Fed DC Motor Drive (
continuous / discrete ) and error signal for this
training are shown in Figs( 6.a,7 ,8). The training of
network is achieved by using back propagation
algorithm with epoch length 30.
 -a- - b-
-a- - b-
Fig.11.a,b. The membership functions for first and
Fig.6. Training of ANFIS controller for Chopper-Fed second inputs.
DC Motor Drive Continuous. The output of this design after complete and connect
to the system is shown in Fig.12.a. for Chopper-Fed
DC Motor Drive Discrete and Fig.12.b. for the
Chopper-Fed DC Motor Drive Continuous. This
results is describing the speed of motor (w rad/s), the
armature current ( Ia ) and voltage ( Va ). Are
showing in the Fig. 12.c. and Fig.12.d. for two
simulated circuit (continuous / Discrete).

Fig.7. Training of ANFIS controller for Chopper-Fed

DC Motor Drive Discrete.

-a-
Fig. 8. Error signal of training network.
The structure of ANFIS controller in
continuous/discrete are used 12 rules, the structure is
shown in Fig.9.a. and the form of rule is shown in
Fig.9.b, while the membership functions for the first
input is shown in Fig10.a.. and for second input is
shown in Fig.10.b.

-a- - b-
-b-
Fig.10. ANFIS Controller Structure and Rules for ANFIS
controller.
5

114

-c- -d-
Fig.12. Simulation results
CONCLUSION
From the results were showing in above can be
concluded that the ANFIS has the ability to compressed
the power system (Chopper-Fed DC Motor drive
continuous / discrete ) to followed the desired output. This
ability is depending on the accuracy of identification,
where the knowledge of ANFIS controller with the
performance of system depends on identification process.
FIS controller Matlab toolbox is sufficient for design of
ANFIS with any system by building the FIS function for
this plant.
The parameters of ANFIS controller must be choose
and then retuning by using trail and error to get optimal
value of parameters. The error signal in identification
process can be depends as the cost function of optimally
parameters value. The mathematical model and
knowledge with the performance of system are must be
available to get the good results by busing ANFIS
controller.
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