Improvement in Speed Control of a Six-Phase

Induction Motor Using Fuzzy Control and Genetic

Algorithm
A. Kargar1, D. Ghanbari2, N. R. Abjadi3, K. Rahmati4
Engineering Faculty, Shahrekord University, Shahrekord, Iran
1
kargar@ieee.org 2 ghanbari_1388@yahoo.com 3 navidabjadi@yahoo.com 4 kh.rmb84@yahoo.com

Abstract- This paper presents an application of a self tuning fuzzy controllers is feasible and higher performance motor drives can be
control technique for speed control of a six-phase induction achieved. Now a powerful fuzzy controller (FC) is employed. This
motor (SPIM). The torque ripple of a SPIM is lower than a FC has too many parameters and by tuning them, a perfect response
three-phase IM. This paper proposes a rotor flux-oriented is obtained. The key problem is how to tune these parameters.
control technique for a SPIM to decouple torque and flux
Genetic algorithm (GA) or other heuristic optimization algorithms
control. Using the genetic algorithm (GA) with a simple cost
function for tuning of the fuzzy controller parameters, a perfect are helpful in such cases.
speed control for SPIM is achieved. In [11], an optimal tuning of PI coefficients by using fuzzy-
genetic for V/f controlled IM is proposed. In [12], a GA Optimized
I. INTRODUCTION speed control is proposed for conventional DTC drives. In [13-14], a
By using voltage source inverters (VSIs) to supply the ac GA–particle swarm optimization based vector control of indirect
motors, multiphase machines can be utilized in industrial three phase IM is introduced. In [15], a genetic based fuzzy
applications. The advantages of multiphase machines, with controller is introduced for direct vector control. In this paper, a
respect to conventional three-phase machines are reduced Sugeno type fuzzy system is used as speed controller. The
torque pulsations, reduced dc-link harmonics, higher torque parameters of the membership functions, the Sugeno parameters and
density, greater fault tolerant, improvement of the drive noise the scale factors are tuned using GA. Choosing the SPIM and the
characteristics, and reduction in the required rating per proposed control structure results an ideal speed control system.
inverter legs [1-5]. Among multi-phase motors, five-phase and
six-phase motors are more common. This paper deals with an II. DESCRIPTION AND MODELING OF THE SPIM
asymmetrical SPIM which is called in some literatures, quasi The considered SPIM has two distinguish set of three-phase
six-phase IM, split-phase IM or dual three-phase IM. windings mutually displaced in space by 30 o as shown in Fig. 1.
Induction motors (IM) have low cost and are suitable for
many manufacturing applications. In the other hand, SPIMs
have many advantages for special applications. In this paper a
high performance SPIM drive is proposed.
In [6], a field oriented control (FOC) for a SPIM is
introduced. FOC in stator flux reference frame of SPIMs is
proposes in [7]. In [1] and [8], feedback linearization and
model following sliding mode control techniques are used to
control SPIMs respectively. In [9], a simple sliding mode
control and a fuzzy controller are proposed for symmetrical
six-phase IM and it is shown that, by using special parameters,
the performances of two controllers are similar. A feedback
linearization sliding mode controller is reported in [10].
Chattering and high control efforts are the problems of the
sliding mode controllers. In this paper, a direct vector control
in rotor flux oriented frame is used to decouple the torque and
rotor flux of the machine.
With increasing the calculation power of the digital signal
processors, the implementation of the more complicated Fig. 1. Schematic representation of the SPIM

Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey 337 978-1-4673-5003-7/11$26.00©2011 IEEE
 The degrees of freedom in a multiphase machine are higher
than conventional three-phase machine. In some researches
the model of this machine is presented considering each three-
phase winding set separately and using the conventional
Clarke’s transformation for three-phase case [16]. Based on
Clark's transformation described by the following matrix C in
(1), the (    ), ( x  y ) and (zero sequence) equivalent
circuits of the motor in the stationary reference frame can be
obtained for a SPIM as shown in Fig. 2. One can see from
Figs. 2b and 2c that the only impedance in front of ( x  y ) and
(zero sequence) stator voltage components is stator leakage
impedance; thus a small voltage in these circuits causes a
large current.
(a)
 1 cos  cos 4 cos 5 cos 8 cos 9  
 
 0 sin  sin 4 sin 5 sin 8 sin 9 
 
2 x 1 cos 5 cos 8 cos  cos 4 cos 9  
C   
6 y 0 sin 5 sin 8 sin  sin 4  sin 9  
0 1 0 1 0 1 0 
 
0 0 1 0 1 0 1 
(1)

where    / 6 [17].
Based on the considered model, the stator voltage equations
of the machine are:

d (b)
v s 
R s i s  ( L s i s  L m i r )
dt
d
( L si  s  L m i  r )
(2)
v s 
R si  s 
dt
d

v xs R s i xs  ( L ls i xs )
dt
d

v ys R s i ys  ( L ls i ys )
dt (c)
Fig. 2. SPIM equivalent circuits; (a) (    ) equivalent circuits, (b) ( x  y )
where R s , L s , L ls and L m are the resistance, inductance, equivalent circuits, (c) (zero sequence) equivalent circuits
leakage inductance and magnetizing inductance of the stator
respectively. The torque equation of the machines is given as follows:
Also, the rotor voltage equations of the machine can be
written as:  T e P L m ( i r i  s  i  r i s ) (4)

0 R r i  r   r ( L r i  r  L m i  s )  in which P is the pole pairs. From (4), one can see that the torque
d producing currents of the motor are is and is. The ( x  y )
( L r i r  L m i s )
dt components of the stator current only increase the motor losses, thus
0 R r i  r   r ( L r i  r  L m i  s )  one should force v xs vys 0 . The zero component currents are
(3) equal to zero if the neutrals of the two three-phase winding sets are
d
(L ri  r  L mi  s) separated [17].
dt
III. VECTOR CONTROL IN ROTOR FLUX ORIENTED FRAME
where Rr, Lr and Llr are the resistance, inductance and leakage Because the torque and flux equations of the SPIM are identical to
inductance of the rotor respectively . the conventional three-phase IM, the same control techniques can be

338 Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey

used for SPIM. The considered vector control block diagram
of the motor drive is shown in Fig. 3.

Fig. 5. The proposed fuzzy control system

GA is used to tune standard deviation of the bell-shaped

membership functions, the Sugeno parameters (K1i and K2i) and the
scale factors.
The following cost function is used as objective function in GA:

1
F *
  r (k )   r(k ) (5)
100 k

Fig. 3. Vector control of the SPIM in rotor field oriented frame The genes of each chromosome are considered as shown in Table
I. Each gene is a decimal number.
The type and structure of the speed controller seriously
affects the performance of a motor drive. Conventional PI TABLE I
speed controllers are extensively used in many industrial THE CONFIGURATION OF EACH CHROMOSOME
applications because of their simplicity and effectiveness. Sugeno  of the Scale factors
Using the power of digital signal processors, a higher parameters membership
performance speed controller can be achieved by a more functions
complicated controller like FC. 25*2 genes 5 genes 3 genes

IV. FC AND GA STRUCTURES AND TUNING Parameters used in GA structure are given in Table II. A simple
A Sugeno type fuzzy controller is proposed for speed selection process is used to determine the new generation. In this
control. The fuzzy speed controller (Fig. 2) has two inputs e selection procedure, the worse chromosome is omitted and the best
(speed error) and e (change in speed error) and one output one is repeated.
u (change in u). General form of i-th rule of this controller is TABLE II
as follows: GA PARAMETERS
Rolei: if e is Ai and e is Bi, then u= K1i e+K2i e n (number of the chromosome 10
The membership functions of the Ai and Bi are shown in Fig. in initial population)
4 (NL: negative large, NS: negative small, Z: zero, PS: Number of genes in each 58
positive small and PL: positive large). With five membership chromosome
functions for each inputs, the number of rules becomes Pc (crossover operator index) 40 %
5*5=25. P m (mutation operator index) 10 %

Fig. 4. Membership functions of the controller inputs
The configuration of the fuzzy control system is given in
Fig. 5. In this figure, Se, Se and Su are scale factorsof the e,
e and u respectively.
V. SIMULATION RESULTS
A C++ code is written to simulate the overall system and the
fourth order Rung-Kutta method is used to solve all differential
equations. Also, sinusoidal pulse width modulation (SPWM)
switching method is used as inverter control technique. SPIM motor
parameters are shown in Table III.
To show the effectiveness of the proposed control method, the
designed controller is applied to the SPIM for 4 seconds. The tuning
process with GA is only performed in first second. The speed
reference in Fig. 6a is changed from 0 to 100 rad/s exponentially and
then is decreased to zero in t=2sec exponentially. The result without
and with GA tuning are shown in Figs. 6 and 7 respectively. The
rotor speed in Fig. 6b has some oscillations, but with GA tuning, a
perfect speed response is obtained in Fig. 7a. As indicated in these
figures, tuning with GA can reduce speed (and torque) pulsations

Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey 339

 (a) (d)

(b) (e)

(c)
(f)
Fig. 6. Simulation results without GA tuning; (a) reference speed, (b) rotor speed, (c) produced electromagnetic torque, (d)  component of rotor flux, (e) stator phase a
current, (f) stator phase a voltage

340 Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey

 (d)
(a)

(b)
(e)

(c)
(f)
Fig. 7. Simulation results with GA tuning; (a) rotor speed, (b) produced electromagnetic torque, (c)  component of rotor flux, (d) stator phase a current, (e) stator
phase a voltage, (f) cost function

Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey 341

effectively. The cost function of the GA in Fig. 7f shows a fast Induction Motor," Applied Soft Computing, vol. 7, pp. 601-611, 2007.
[14] D. H. Kim and K. Hirota, "Vector Control for Loss Minimization of Induction
convergence to the optimal results. Motor using GA-PSO," Applied Soft Computing, vol. 8, pp. 1692-1702, 2008.
[15] E. AkIn, M. Kaya, and M. Karakose, "A Robust Integrator Algorithm with
TABLE III
Genetic Based Fuzzy Controller Feedback for Direct Vector Control,"
SPIM PARAMETERS
Computers & Electrical Engineering, vol. 29, pp. 379-394, 2003.
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Rr 8.37 Ls 740mH Displacement Between Multiple Winding Sets," Power Apparatus and Systems,
IEEE Transactions on, vol. PAS-93, pp. 841-848, 1974.
Lr 740mH Lm 712mH [17] Z. Yifan and T. A. Lipo, "Space Vector PWM Control of Dual Three-Phase
Pn 1Kw Fn 50Hz Induction Machine using Vector Space Decomposition," Industry Applications,
IEEE Transactions on, vol. 31, pp. 1100-1109, 1995.
VI. CONCLUSION
This paper reports the application of a high performance
fuzzy controller for SPIM drives. Genetic algorithm is used to
tune a fuzzy controller. The simulation results show
effectiveness and fast convergence of the proposed method.
These results indicate that the suggested control scheme yields
a very good performance even when the rotor speed is close to
zero.

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342 Acemp - Electromotion 2011, 8 - 10 September 2011 İstanbul - Turkey