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A Study on Fuzzy Controller and Neuro-Fuzzy Controller for Speed Control of

PMSM Motor

Conference Paper · September 2017

DOI: 10.1109/ICPCSI.2017.8391943

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 International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI-2017)

A Study on Fuzzy Controller and Neuro-Fuzzy

Controller for Speed Control of PMSM Motor

S.Sakunthala M.Tech ( Ph.D.)

Adhoc Lecturer & Research Scholar, Dept. of EEE
JNTUACEK – Kalikiri, JNTUA University, Ananthapuram
shakuntala.btech@gmail.com, s.sakunthala@ieee.org

Dr. R.Kiranmayi M.Tech, Ph.D Dr. P.Nagaraju Mandadi M.Tech, Ph.D

Professor & Head, Dept. of EEE Professor, Dept. of EEE
JNTUA University, Ananthapuram SITAMS, Chittoor, JNTUA University, Ananthapuram
kiranmayi0109@gmail.com mandadi.nagaraju@gmail.com

Abstract—Permanent Magnet Synchronous Motors (PMSM)
are a popular method for motion actuation due to their long
life, efficient use of power and low maintenance requirements.
PMSM have been used widely in the control system of high
performance depending development of the power electronic and
control technology", however, the performances of the PMSM
are very hyper sensitive to the parameter and load variations. To
overcome these problems several control schemes such as Fuzzy
Logic Control (FLC), Neural Network (NN) and Sliding Mode
Control have been preferred for speed control of the PMSM.
FLC, NN algorithms have been used currently as effective
methods in the control of system affected by the destroyed
entrance which is unknown quality and unstraight line. Because
of the absence of the structure of both methods has not been
removed ANFIS algorithm has been created by the connection of
both methods superiority. In this study, the ANFIS controller is
designed for PMSM speed control.
Keywords— PMSM, Speed Control, Artificial Intelligence,
Neural Network (NN), Fuzzy Logic (FL) Neuro Fuzzy Controller.
I. INTRODUCTION
A. PMSM Motor Drives
Permanent magnet synchronous motors (PMSM), so that
the manufacture of high torque and high power density for
industrial applications, more and high range of products and
applications. In this study was represents in the MATLAB /
SIMULINK simulation environment of PMSM motor Drive.
Permanent magnet synchronous motor (PMSM) has high
efficiency, power factor, as well as power density and it, is
widely used in different applications [2]-[3]. Lots of experts
have proposed Fuzzy logic controls, neural network control,
genetic algorithm control, sliding mode control, self-adaptive
control, or the combination of various of these control
algorithms on the study of improving the PMSM’s speed and
speed fluctuation performance. For widespread industrial
applications, such as high-performance motor drives, accurate
motor speed control is required in which regardless of sudden
load changes and variable differentiation. Hence, the control
system must be designed very carefully as it required to ensure
the optimum speed operation under the environmental
variations, load variations, and structural perturbations.
Alternative control strategies have been studied extensively in
attempts to provide accurate control capability. Among so
many kinds of control schemes, fuzzy logic controller (FLC)
is one of the higher level schemes used for plants having
complications in deriving mathematical models or having
performance limitations with conventional linear control
schemes. Reference also mentioned that the FL and neural
network (NN) became a pleasant approach to high-
performance controllers for nonlinear systems and has been
practical to electrical motor drives. FL is based on human
reasoning, providing algorithms which can convert a set of
semantic rules based on expert knowledge into an automatic
control strategy. There is no need of mathematical models to
deal with a problem, but skill is needed to create the rules in a
particular FL controller. This topic also being sustained by
which assert that a fuzzy control algorithm embeds the
intuition and experience of a researcher and an operator
designer as the theory of FLC are to use the quality knowledge
of a system to design a practical controller [1],[4]&[5].
B. Artificial Intelligence (AI)
Intelligence is the capability to learn, understand and think
about things. It is a general intellectual ability that involves
capability to reason, plan, resolve complications, think
abstractly, perceive ideas and learn. Scientifically, intelligence
is the ability of a system to arrive at the most appropriate
output in spite of all odds in a variety of situations. Typical
situations are those where insufficient inputs, wrong inputs or
noisy inputs may be present. There may be faults within the
system itself or in the environment. Intelligence is the ability
of the system to overcome these difficulties and produce
appropriate output presented [4]-[11].
Artificial Intelligence (AI) can be determined as
intelligence executed by manufactured or man- made system.
It is an attempt to make a machine behave in ways that would
be called intelligent if a human were to do the same thing.
Artificial Intelligence (AI) is a different field where
researchers pursue a broad range of complications, use a

978-1-5386-0814-2/17/$31.00 ©2017 IEEE

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selection of methods and pursue a spectrum of scientific goals. is no control on it. For analysis of control strategies, the
The main aim of an Artificial Intelligence (AI) based system is PMSM model is used.
to attain a human level of intelligence in research fields and
research techniques where AI is used in
 Industrial
 Medical
 Transportation
 Automotive
 Integrated applications
 Communications
 Household appliances
 Securities

An artificial intelligence based system can be modeled on one

of the below techniques.
 Artificial Neural Networks
 Fuzzy Logic
 Genetic Algorithm
Figure 1 mainly focuses on the three techniques of AI namely
Neural Networks (NN), Fuzzy Logic (FL) and Genetic
Algorithm (GA) and their combinations in common area and
in three different areas. Each of the technologies, in their own
right and benefit, has provided effective solutions to a wide
range of problems belonging to different domains.dom The
combinations include” Neuro-Fuzzy system area, GA-Fuzzy
system area, Neuro-GA system area,, Neuro-Fuzzy-GA
technologies.
Figure 1: Integration of neural networks area (NN), fuzzy logic system
area (FL) and genetic algorithm area (GA) technologies.
Figure 2: Construction of PMSM
PMSM.
A mathematical model of the engine must have been well
known for electric motor control. Because of the audit, issued
in mathematics, this is done according to the model.
Therefore, failure of the mathematical model of the pmsm
engine will cause the error control process. Before presenting
the motor mathematical model, some assumptions are made.
These hypotheses are as follows
follows:
 Air gap flux disposal depend on permanent magnets
(PM) is sinusoidal. Therefore, opposite EMF induced
in the stator windings are sinusoidal.
 Sinusoidal distribution of stator windings.
 There is no damper winding on the rotor.
 Pole flux due to PM is constant.
 In this Saturation is neglected.
Figure 3 explains a PMSM drive where the inductances of the
winding vary as a function of the PMSM motor rotor angle;
the 2-phase (d-q) q) equivalent circuit is a good solution to
analyze the multi phase machines because of its normal and
intuition. Commonly, a 2-phasephase equi
equivalent circuit instead of
the complex 3-phase
phase circuit of the PMSM has been used to
inspect reluctance synchronous machines, this theory is now
used in the analysis of other types of motors covering PM
synchronous motors [14]-[18].

II. PROPOSED METHODOLOGY

A. Modeling of PMSM Motor Drive

The Permanent Magnet Synchronous Motor (PMSM)

mounted surface with the cross-sectional layout. Figure 2
refers the stator convey a three-phase phase winding, which
produces a near sinusoidal dispensation of magneto motive
force based on the value of the stator current. The magnets are
mounted on the surface of the pmsm motor core. It has the
same major role as the field winding in a synchronous
machine excluding their magnetic field is sustained and there
Figure 3: Equivalent Diagrams of PMSM Motor Drive

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I. Fuzzification Interface: This transforms the input

vabcs = rsiabcs+ d (abcs) ………….. (1) crisp values into fuzzy values and it includes the
dt below operations.
 Drive the input values.
vq = rsiq+rd+d (q) …………... (2)  Alter the set of values of input changeable
dt into the corresponding totality of discourse.
vd= rsid-rq+d (d) …………... (3)  Converts input data into acceptable
dt linguistic values (fuzzy sets )
This Component is necessary when input data are fuzzy sets in
q= Lqiq ......................................... (4) the fuzzy interface.
II. Knowledge Base: It contains the knowledge of
d= Ldid+m..................................... (5) implementation field and the control goals. It consists
of a database linguistic rule base.
Te=(3/2) (P/2)(ψαiβ-ψβiα) …………..(6)  The database contains certain meaning
which is used in control rules and data
manipulation.
cos cos( − 120) cos( + 120)
 The linguistic rule base defines the strategy
= sin( − 120) sin( + 120) ….(7)
1/2 1/2 1/2
and goals by means of linguistic control
0
rules.
III. Decision – making logic: It performs the following
B. Fuzzy Logic (FL) functions:
Fuzzy logic is an AI technique which models and incorporates  Simulates the human resolution creation
the process control expertise of a designer or an operator. It procedure based on fuzzy concepts.
accommodates intellectualize that is approximate rather than  Theorize fuzzy control actions recruit fuzzy
accurate. Fuzzy logic is a rule-based system that can depend implication and linguistic rules.
on the realistic exploit of an operator, particularly useful to
capture experienced operator knowledge. Fuzzy logic is a IV. Defuzzification interface: It performs the below
pattern of artificial intelligence technique; therefore, it would operations:
be evaluated a subset of AI presented in [4]-[13].  A scale mapping which changes the range of
The premise for fuzzy logic stems from several-observation output values into the corresponding
such as universe.
1. The knowledge possessed by human beings of any  Defuzzification, which process a non-fuzzy
situation is generally imperfect. control can act from a theorize fuzzy control
2. Humans resolve complicated problems with effect.
approximate data. An intelligent society needs fuzzy logic because it has more
Thus, rather than modeling the system, it is useful to advantages and rugged processing. In future fuzzy logic will
model the behavior of the human operator controlling the probably be used in computers. Fuzzy logic is useful in many
system. applications. For electrical drives, fuzzy logic is capable of
There is no coherent process for the design of a fuzzy utilization in many areas where the accessible data requires
logic controller (FLC).However, we can present here a unreliability. For example, a problem it may involve logical
basic configuration of an FLC as shown in Figure 4. The reasoning but it can be applied to numerical, other than
configuration contains four main modules. They are: symbolic inputs and outputs.
 Fuzzification Interface Figure 5shows the basic block diagram for FLC based PMSM
 Knowledge Base motor speed control system.
 Decision – making logic
 Defuzzification Interface

Figure 5: Basic diagram of speed control system for FLC based PMSM motor
Figure 4: Configuration of an FLC

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C. Neuro Fuzzy Controller signal to computer "error" and then time

time-varied to return the
Neuro-fuzzy combines results in a compound intelligent error slope or rate-of-difference
difference-of-error, hence called "error-
system that grouping these two methodologies by mixing the dot". The error robustness hass value in units of deg F and a
human-like hypothesis method of fuzzy systems with the normal error studied being 2F although a large error is 5F.
learning and concussions structure of neural networks. Neuro-
Neuro Figure 7 shows Fuzzy logic (FLC) in Matlab\Simulink
fuzzy (NN-FL) integration is universally termed as two types, simulation software can be dealt very easily and simply the
a fuzzy neural network (FNN) or neuro-fuzzy
fuzzy system (NFS) in existing new Fuzzy Logic Toolbox. This provides a complete
the classics. A neuro-fuzzy system (NFS) is a fuzzy set of functions to design and implement various fuzzy logic
system(FS) that uses a learning algorithm obtains from or processes.
motivated by neural network (NN) theory to determine its
parameters (fuzzy sets and fuzzy rules)fuzzy
rules) logic by
processing data samples[4]-[13].
 A neuro-fuzzy system(NFS) is based on a fuzzy
system(FS) which is trained by a learning algorithm
algorith
obtained from neural network(NN) (NN) theory. The Figure 7: Simulation diagram for proposed Fuzzy logic controller based
(heuristical) learning procedure operates on local PMSM motor speed control system
information and causes only local modifications in Figure 8 shows the fuzzy interface system for a fuzzy logic
the underlying fuzzy system. controller which consists of Fuzzification, DeFuzzification
DeFuzzification,
 A neuro-fuzzy system (NFS) can seem as a 3-layer and Rule Evaluation.
feed forward neural network (NN).
(NN) The first layer
indicates input values, the middle (hidden) layer
shows fuzzy ruless and the third layer indicates output
values. Fuzzy sets (FLC) are encoded as connection
weights. It is not mandatory to involve a fuzzy
system like this to apply a learning
arning algorithm to it.
However, it can be convenient, because it represents
the data flow of input processing and learning within
the model.
 The he learning procedure of a neuro-fuzzy
neuro system
(NFS) takes the syndical methods of the underlying
fuzzy system (FLC) into account. This results in
constraints on the possible modifications applicable
to the system requirements.
Figure 6shows the normal block diagram of speed control Figure 8: Fuzzy Interface Editor for Fuzzy logic controller of the PMSM
system for NFS based PMSM motor. The features are:
 It provides tools to create and edit Fuzzy Inference
Systems (FIS). It allows integrating fuzzy systems
into the simulation with SIMULINK.
 It is possible to create standstand-alone C programs that
call on fuzzy systems built with MATLAB.
The block diagram of the NFC for the speed control of the
PMSM is shown in Figure ure 99. The NFC is composed of a
pattern set, an off-line line learning algorithm with back
propagation and a neuro-fuzzy fuzzy network. The neuroneuro-fuzzy
network is trained using off-lineline learning algorithm. For the
Figure 6: a block diagram of speed control system for NFS based PMSM off-line
line learning, a pattern set is realized using dynamic signal
motor.
analysis of the motor.
III. DESIGN OF FUZZY LOGIC (FLC) AND NEURO-FUZZY
CONTROLLER(NFS)
Fuzzy logic (FLC) requires some numerical
specifications in order to operate such as what is considered
substantial error and convincing rate-of-change
change-of-error, but
actual values of these numbers are usually not critical unless
very reactive completion is required in which case empirical
tuning would determine them.. For example, a normal
temperature control system can use a single temperature
Figure 9: Basic diagram of speed control system for the NFS using PMSM.
feedback sensor those data is detracted from the command

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IV. CONCLUSION Authors’ Information

In this paper speed control methods Fuzzy logic controller and
Neuro- Fuzzy and there block diagrams and simulation S.Sakunthala M.Tech ( Ph.D.)
diagrams are presented. The main aim of Permanent Magnet She is currently pursuing Ph.D. in the
Synchronous motor (PMSM) drives is to control speed and Department of EEE in JNTU University,
minimize torque and flux ripples. Conventional methods of Anantapur and also working as Adhoc
electric drives will not work that much efficient. Because of Lecturer Department of EEE in
these reasons we chose artificial intelligent techniques are a JNTUACEK, Kalikiri, India. Her research
fuzzy logic controller(FLC) and Neuro- Fuzzy logic controller interest is in Modeling and Control of
(NFS). These two techniques are implemented by using The Permanent Magnet Motor Drives using
MATLAB software. Matlab/Simulink. Her interesting areas include Power
Electronics, Electrical Machines, & Modeling and Analysis of
Acknowledgment AC Drives. She is a life member of ISTE, ISCA, IAENG and
I am very happy to be a part of the electrical world as a also a member of IEEE.
researcher. And I wish to thank all authors who supported me
for writing this paper. The paper, participating in its early Dr. R.Kiranmayi M.Tech, Ph.D
stage and giving the idea to extend it up to a review paper. I Presently working as Professor & Head
would also like to thank the colleagues and friends for their Department of EEE in JNTUA College of
fruitful cooperation, contribution, and discussions. My special Engineering, Anantapur, AP.
thanks to my husband for complete support to do this paper. Her areas of interest include renewable
energy resources, electrical power systems.
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