CMAC Neural Network Application

for Induction Motor Drives

His-Kuang Liu Cheng-Hung Tsai Hung-Ching Lu
Department of Electrical Engineering Department of Electrical Engineering Department of Electrical Engineering
Tatung University China University of Science and Tatung University
Taipei, Taiwan Technology, Taipei, Taiwan Taipei, Taiwan
toshibaliu@gmail.com chtsai@cc.cust.edu.tw luhung @ttu.edu.tw

Abstract—This article presents a newly developed speed-
sensorless induction motor drive using cerebellar-model-
articulation-controller (CMAC). The gradient-type learning
algorithm is used to train the CMAC neural network online in
order to provide a real-time adaptive identification of the motor
speed. The CMAC is then viewed as a speed estimator that
produces the estimated speed to the speed control loop that
accomplishes the speed-sensorless vector control drive. From the
experimental results, the proposed CMAC speed estimator forces
the estimated speed to follow the actual motor speed precisely.
The article describes both the theoretical analysis as well as the
simulation results to verify the effectiveness of the proposed
method.
Keywords- CMAC, Real-time adaptive identification, Speed-
sensorless.
I. INTRODUCTION
Accurate speed information is necessary to realize high-
performance and high-precision speed control of an induction
motor. The mechanical sensors such as resolvers or pulse
encoders are used to achieve the speed control loop. However,
these sensors are usually expensive and bulky. Therefore, the
cost and size of the induction motor drive systems are increased.
Since the late 1980s, speed-sensorless control methods of
induction motors using the estimated speed instead of the
measured speed have been studied. Various control algorithms
for the elimination of the speed sensor have been proposed:
algorithms using state equations [1-2], model reference
adaptive systems [3-4], Luenberger- or Kalman-filter observers
[5-6], saliency effects [7], sliding-mode controls [8-9],
sensorless vector control [10-12] and direct controls of torque
and flux [13-15]. However, an induction motor is a highly
coupled, nonlinear dynamic plant. Therefore, it is very difficult
to obtain good performance for an entire speed range and
transient states using previous methods.
Since 1990, there have been some investigation into the
application of neural networks to various aspects of induction
motor control such as adaptive control [16], sensorless speed
control [17-19], as well as for motor parameter identification
purposes [20], and flux estimation purposes [21-22]. Neural
networks show great potential for modeling nonlinear systems
where this is difficult using traditional techniques, owing to
their inherent parallel structure and ability to learn. Especially,
the CMAC [23], a particular type of neural network, is capable
of learning nonlinear functions quickly due to the local nature
of its weight modification. Therefore, this kind of network is
easier to implement in the motor control algorithm than the
other types of neural network. Furthermore, the CMAC
network is suitable for on-line and real-time implementation of
modeling and controlling induction motor that typically exhibit
nonlinear behavior.
In this article, a new method for speed estimation of an
induction motor is presented. In the proposed approach, two
models of state variable estimation are used. One provides the
desired output, and the other one gives the CMAC output. The
weights of the CMAC are chosen to be the motor parameters,
such as rotor speed. The CMAC output is compared to the
desired value as shown in Fig. 1, and the total error between the
desired and the estimated state variable is then backpropagated
to adjust the weights(i.e., rotor speed) of the CMAC, so that the
output of this model will coincide with the desired value. The
simulation and experimental results will show that the
effectiveness and validity of the proposed scheme.
This article is structured as follows. The first section
discussed the basic concept of the CMAC neural network. The
next section describes the speed estimation method using
CMAC. The speed-sensorless vector control drives are
+ e
−
Figure 1. Speed identification using CMAC.

978-1-4577-0653-0/11/$26.00 ©2011 IEEE 2279

 where k means k -th state, ak* means the set of activated
w1
association cells of k -th state, and Ak is the association cell
w2

a1*
w3 vector of k -th state.
a *
2
w4 The weights will be updated by the learning as
w5 follows
M
M w6
α
ak*
w7 ∑ Wk ( j + 1) = Wk ( j ) + ΔWk ( j ) = Wk ( j ) + (Yd ,k − Pk ( j ))
w8 M
M ∑
α
wn = Wk ( j ) + (Yd ,k − Ak ⋅ Wk ( j )) . (3)
M
Figure 2. The structure of CMAC.
where Wk means the weight vector at k -th state, j means j -
obtained in the next section. In section 5, the simulation and th iteration, α is learning rate, M is the number of activated
experimental system setup is discussed. The last two sections
association cells, and Yd ,k is the desired output at k -th state.
provide the experimental results and conclusions, respectively.
In (3), the learning rule of CMAC is to distribute the error
II. THE STRUCTURE OF CMAC NEURAL NETWORKS equally to the corresponding weights. The actual output of
each state can be represented as follows:
Neural network has been used in many fields for a long
time. It has good performance in simulating an unknown ⎡w1 ⎤
function by simple structure. It has adaptability when the ⎢w ⎥ n
environment is changed. CMAC is one kind of neural network y sk = a skW = [a sk ,1 a sk,2 L a sk, n ] ⋅ ⎢ 2 ⎥ = ∑a ⋅w , (4)
⎢ M ⎥ j=1 sk, j j
that imitate the structure of human cerebellum. It is useful ⎢ ⎥
technique which is a table loop-up neuroncomputing technique, ⎣w n ⎦
and learning convergence is fast. This technique is not
necessary to describe the complicated solution of dynamic III. CMAC SPEED ESTIMATOR DESIGN
equation. According to its structure, CMAC stored data of
different states in memory. Fig. 2 shows the conceptual figure The state equations of an induction motor in the stationary
of CMAC. Learning space s is quantized into discrete states reference frame is described in the following: [24]
s1 , s2 ,L , sk . Each state maps into an association cell matrix A .
dX (t ) (5)
Suppose that a&k is the set of nonzero or active cells of k -th = A ⋅ X (t ) + B ⋅ Vs (t ),
dt
state of A . The actual output of each state would be the sum
of the weights stored in the memory cells which are Y (t ) = C ⋅ X (t ), (6)
corresponding to the activated association cells . Note that where
difference between actual output and desired output is used to X = [ ids iqs φ dr φ qr ]T , Y = [ ids iqs ]T , Vs = [v ds v qs ]T
update the data stored in the corresponding memory cells.
A = ⎡⎢ ⎛ R ⎞ L L ⎤
dynamic of the indirect-field-oriented LIM drive [24] is given ⎜ s 1−σ ⎟
⎢ −⎜ σ L + σ τ ⎟ 0
m ω m ⎥
⎜ σ L Lτ rσ L L ⎥
⎢ ⎝ s r ⎟⎠ s r r s r ⎥
⎢ ⎥
⎢ ⎛ R ⎞ L L ⎥
⎢ 0 −⎜ s 1−σ ⎟ −ω m m ⎥
f :s → A ⎢ ⎜⎜ σ L + σ τ ⎟⎟ rσ L L σL Lτ ⎥
⎢ ⎝ s r⎠ s r s r r⎥
⎢ ⎥
⎢ Lm 1 ⎥
⎢ 0 − −ω
w ⎢τ τ r ⎥⎥
g : A→ p (1) ⎢ r r ⎥
⎢ L ⎥
⎢0 m 1 ⎥
ω −
⎢ τ r τ ⎥
⎢⎣ r r ⎥⎦
where s is a k -dimension input space, A is an N -dimension ⎡ 1 ⎤
association cell vector which contains M active elements, P ⎢σ L 0 ⎥
is the output space and W is the corresponding weight vector ⎢ s
⎥ ⎡1 0 0 0⎤
⎢ 1 ⎥, C =⎢
in which the mapping information of P is stored. B = ⎢0 ⎥ ⎣0 1 0 0 ⎥⎦
⎢ σ Ls ⎥
The first mapping function, f , means that each state in ⎢0 0 ⎥
⎢ ⎥
s maps onto the vector A* ∈ A that contains M nonzero ⎣ 0 0 ⎦
elements. In the second mapping, output P will be the sum of is = [ids iqs ]T stator current, φr = [φdr φqr ]T rotor flux, Rs , Rr
the weights whose corresponding association cells are and rotor resistance, Ls , Lr stator and rotor self inductance,
activated. Its mathematic form can be represented as follows:
Lm mutual inductance, σ leakage coefficient σ = 1− Lm2 (Ls Lr ) ,
Pk = g (a k* ) = Ak ⋅ W (2)
τ r rotor time constant, ωr motor angular velocity.

2280
 The stator current is = [ids iqs ]T and the rotor flux is Vs
φr = [φdr φqr ]T are chose as the state variables. The input Actual Motor

variable is the stator voltage Vs = [ vds vqs ]T .

From (4), two well known flux simulators are obtained. One is Voltage Model
called the voltage model and the other is the current model. It φr
+
is convenient to express these equations in the stationary
frame since the induction motor voltages and currents are
−
measured in the stationary reference frame, and they are ω̂ r λr e
expressed in (6) and (7) as follows: Current Model

Voltage model:
Z −1
L (7)
φ&r = r (Vs − Rs is − σLs i&s )
Lm
Figure 3. The structure of the proposed speed estimator using CMAC.
Current model:

−1 Lm (8) are the inputs of the CMAC as shown in Fig. 5. The error
λ&r = ( I + ω r J )λr + is
output between the desired flux and the plant output is given
τr τr
by e(k) = φr (k) − λr (k) . The weights in CMAC are tuned so as to
where the symbol “ ． ” denotes the time derivative, minimize the energy function E = 1 e2 (k ) , and the weight W1
λr = [λdr λqr ]T is the same rotor flux but obtained from (7), and 2
variation is obtained in the following:
the matrices I , J are defined as:
∂E ∂E ∂λr ( k ) (11)
⎡1 0⎤ ⎡0 − 1⎤ ΔW1 = − =− = −δ ( k ) Z1
I =⎢ ⎥, J =⎢ ⎥ (9) ∂W1 ∂λr ( k ) ∂W1
⎣0 1⎦ ⎣1 0 ⎦
where δ ( k ) = ∂E = (λ ( k ) − φ (k ))T was derived from the
Owing to the equation (6) does not involve the speed ωr , it is ∂λr ( k )
r r

selected to generate the desired value of rotor flux, φr , and (7) energy function E . The weight variation ΔW1 ( k ) is
which does involve ωr generates the estimated rotor flux, λr . therefore given by
The equation (7) may be regarded as CMAC model with
adjustable weights. The equation (6) may also be regarded as a ΔW1 ( k ) = (φr ( k ) − λr ( k ))T Jλr ( k − 1) (12)
reference model. Fig. 3 illustrates the structure of the proposed
speed estimator of an induction motor using CMAC. Given
complete data of the motor parameters and the motor speed, and the new weight W1 (k ) is computed as follows:
these two model outputs should coincide. However, any
mismatch between the speed used in the CMAC and the motor α (13)
speed would automatically result in error between the output
W1 ( k ) = W1 ( k − 1) + ΔW1 ( k )
M
of the two estimators λr and φr . It is this error between the
desired rotor flux and the actual rotor flux that will be used to By using the above expression, the estimated rotor speed is
adjust the weights of the CMAC, in other words the rotor given as follows:
speed ωr in (7).
To obtain the learning algorithm, the discrete-time model α ΔW1 ( k ) (14)
ωˆ r ( k ) = ωˆ r ( k − 1) +
of (7) is first derived using the backward difference method: M T
λr (k ) = W1Z1 + W2 Z 2 + W3 Z 3 (10)
IV. SPEED-SENSORLESS VECTOR CONTROL WITH CMAC
where W1 = ω r T ,
W2 = 1 −
T , W3 =
Lm
T
, Z 1 = Jλ r (k − 1) ,
τr τr Fig. 4 shows the block diagram of the speed-sensorless
Z 2 = Iλ r (k − 1) , Z 3 = Ii s (k − 1) , and T is the sampling period. drive system of an induction motor with a CMAC speed
estimator. The system consists of an IP speed controller, a
The model (8) can be represented as a two dimensional current controller, SVPWM generator, deadtime compensator,
CMAC model with three index memories, where W1 , W2 , and a CMAC speed estimator. From Fig. 4, the integral-
proportional (IP) speed controller is chose to increase the
and W3 represent the weights of the networks, is and λr (k − 1)

2281
stability of the speed control loop [25] in the speed-sensorless VI. EXPERIMENTAL RESULTS
vector control systems. Furthermore, the deadtime Experiments are executed on various operating conditions
compensation strategy must be added in the PWM patterns so
to verify the performance of the proposed method. Fig. 9-11
as to prevent deteriorating the control performance of the
induction motor, especially in the low-speed region [26]. show the experimental results of the proposed system. Fig. 9
shows the speed-sensorless control performance where the
The software program flowchart of the training load is applied and is released at 4s and 8s by using the
algorithm for the CMAC speed estimator is shown in Fig. 5. dynamo system at 1800 rpm speed, respectively. The speed
First, the CMAC network is initialized. Secondly, the control performance. Fig. 11 shows the speed reversal and
reference flux φr is obtained from the flux voltage model. current control performance in the low-speed operation region
Then the adjustable flux λ r is calculated from the CMAC ( ± 10 rpm) of the speed-sensorless drive. From Fig. 11,
estimator. The error between φr and λ r is calculated to adjust
the weights of the CMAC. Finally, the estimated speed ωˆ r (k )
is produced from the weights variation of the CMAC.
ids , iqs
An experimental setup is assembled to practically
evaluate the proposed speed estimator using CMAC. The chief
ingredients of the experimental setup are: a personal computer φr
with TMS320F2812 DSP emulator, a voltage source inverter, a
2.2kW induction motor whose parameters are shown in Table I.
The block structure of the experimental system is shown in Fig. λr

6.
V. SIMULATION AND EXPERIMENTAL SYSTEM SETUP
φr λr

The speed-sensorless vector control algorithm with

CMAC speed estimator are executed by the DSP chip
TMS320F2812. The phase currents of the induction motor are
sampled by the A/D converters that built in the DSP chip. The
actual rotor speed of the induction motor is measured by a ωˆ r (k )

pulse encoder which has 2000 pulses per revolution. The

switching frequency of the inverter is 4kHz.
Figure 5. Flowchart of the training algorithm for the CMAC speed estimator
The simulation of the proposed CMAC estimator is
presented to test the performance of the proposed estimator.
The simulation results are shown in Fig. 7-8. In Fig. 7, the
states of CMAC are quantized to 20 segments and the
generalization width is set to 3. From Fig. 7, the CMAC
performance, although somewhat crude in comparison with
the reference command, indicates the correct trend for
estimation. For more accuracy of the estimator, the state of
CMAC is changed to 40 segments and the generalization
width is also set to 3. After the on-line learning of the CMAC
speed estimator, the estimator performance is shown in Fig. 8.
Fig. 8 shows improvement of the estimator performance when
the resolution is increasing.

ω r* iqe* Vqe* vqs*

Figure 6. The block diagram of the experimental hardware.
d e − qe
+ +
− − Vde* to *
vds
ω̂ r ide* d s − qs
+
−
iˆqe ˆ ibs ωr
ide 3φ / 2φ
ias

Rs Ω
+ ω sl
ωe 1
θe Rr Ω
Δ Ls
S

is Lr
ω̂ r
Vs*
Lm
J N − m − s2
B N − m rad s

Figure 4. Block diagram of speed-sensorless controller using CMAC.

2282
 ω rm (rpm )
1000 0.4 2 1 0 0
1 8 0 0
900 1 5 0 0
0.35 1 2 0 0
800
9 0 0
700 6 0 0
0.3 3 0 0
Speed(rpm)

Rotor flux(wb)
600 0

500 0 2 4 6 8 10 12
0.25
(a ) tim e ( s e c )
400
0.2 ω$ rm (rp m )
300 2 1 0 0
1 8 0 0
200 1 5 0 0
0.15
1 2 0 0
100
9 0 0
0 0.1 6 0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 0 2 4 3 0 0
time(sec) time(sec) 0
0 2 4 6 8 10 12

Figure 7. Estimator performance (a) estimated speed and (b) estimated rotor (b ) tim e ( s e c )

ias ( A )
flux. 15
10
5
1000 0
0.4
-5
900
-1 0
800 0.35 -1 5
0 2 4 6 8 10 12
700
0.3 (c ) tim e ( s e c )
Rotor flux(wb)
Speed(rpm)

600

500 0.25
Figure 9. Speed and current response of speed-sensorless control with load
400 change ω r* = 1800 rpm.(a) the actual rotor speed(b) the estimated rotor
0.2

a -phase current.
300

200
speed(c) the feedback
0.15
100 ω rm (rp m )
1 2 0 0
9 0 0
0 0.1
0 0.5 1 1.5 2 2.5 3 3.5 4 0 2 4 6 0 0
time(sec) 3 0 0
time(sec)
0
-3 0 0
-6 0 0
-9 0 0
-1 2 0 0
0 2 4 6 8 1 0 1 2
Figure 8. Improved estimator performance (a) estimated speed and (b) (a ) tim e ( s e c )

estimated rotor flux. 1 2 0 0

ω$ rm (rp m )
9 0 0
6 0 0
it is shown that the proposed algorithm also has good speed 3 0 0
0

estimation and high-performance vector control characteristics

-3 0 0
-6 0 0
-9 0 0

at low-speed operation. In the middle and high speed range as -1 2 0 0

0 2 4 6 8 1 0 1 2

shown in Fig. 9-10, the speed estimation error is small. ia ( A )

(b ) tim e ( s e c )

s
1 6

From the design procedure and experimental results, there 8

are several improvements compared to the tradition neural -8

0

network application for induction motors. First, there is no off- -1 6

line learning in the CMAC application. In the traditional 0 2 4 6

(c )
8 1 0 1 2

tim e ( s e c )

artificial neural network applications, it is always need to learn

off-line for the desired plane. Therefore, it is time-consuming Figure 10. Speed reversal operation of ω r* = ±900 rpm with load applied. (a)
in the design procedure. Secondly, the hardware requirement is
also less than the traditional artificial neural network due to its
the actual rotor speed(b) the estimated rotor speed(c) the feedback a -phase
current.
fewer multiplications. In the computational time of DSP chip, it
is time-consuming for the multiplication of multi-layer and ω rm (rpm )
several neurons. Therefore, a lot of applications using artificial
2 0 .0 0

1 0 .0 0

neural network need fast speed chip for the computation of 0 .0 0

multiplications. However, in the CMAC application, the -1 0 .0 0

computation for multiplications is less than the artificial neural -2 0 .0 0

2 0 .0 0 2 5 .0 0 3 0 .0 0
tim e (s e c )
network. Therefore, the cost for the CMAC application is less (a)

ωˆ rm (rp m )

VII. CONCLUSIONS
2 0 .0 0

1 0 .0 0

A CMAC-based speed identification method for induction 0 .0 0

-1 0 .0 0

speed-sensorless vector control drive application is proposed. -2 0 .0 0

The gradient-type learning technique is used to provide a real- 2 0 .0 0

(b )
2 5 .0 0 3 0 .0 0
tim e (s e c )

time adaptive estimation of the motor speed. The validity and

effectiveness of the proposed estimator are verified by software ias ( A )
simulations. From experimental results, the proposed scheme
1 5 .0 0
1 0 .0 0

performs well under various conditions and therefore can lead

5 .0 0
0 .0 0

to an improvement in the performance of speed sensorless

-5 .0 0
-1 0 .0 0

drives. Also, it has robust speed estimation performance even -1 5 .0 0

2 0 .0 0 2 5 .0 0 3 0 .0 0

at load variation or variable-speed operation. Furthermore, the (c ) tim e (s e c )

CMAC application in this paper can enhance the performance

and cost down compared to the traditional artificial neural Figure 11. Speed and current response of speed-sensorless control
networks. As a result, the approach is presented in a way that ωr* = ±15 rpm. (a) the actual rotor speed(b) the estimated rotor speed(c) the
will contribute to a better understanding of the CMAC
application to motion control.
feedback a -phase current.

2283

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