Optimized PID Controller by Ant Colony

Optimization of DTC for Doubly Fed

Induction Motor

Said Mahfoud1(B) , Aziz Derouich1 , Najib El Ouanjli1,2 , Abderrahman El Idrissi1 ,

and Mohammed El Mahfoud3
1 Industrial Technologies and Services Laboratory, Higher School of Technology,
Sidi Mohamed Ben Abdellah University, Fez, Morocco
said.mahfoud@usmba.ac.ma
2 LMIET, Faculty of Sciences and Technology, Hassan First University, Settat, Morocco
3 Laboratory of Systems Integration and Advanced, Faculty of Sciences Dhar El Mahraz,

Sidi Mohamed Ben Abdellah University, Fez, Morocco

Abstract. This article describes a novel approach for controlling the behavior of
a Doubly Fed Induction Motor (DFIM) utilizing Direct Torque Control (DTC).
The speed is controlled by a Proportional Integral Derivative (PID) regulator that
has been optimized via Ant Colony Optimization (ACO). The traditional DTC
has several advantages, including high performance, robustness, dynamic, ease
of implementation, and. However, it exhibits large fluxes and torque ripples, as
well as fluctuating switching frequencies, resulting in machine vibrations and
fast machine aging. To address the shortcomings of conventional DTC, the novel
ACO-DTC strategy, which is based on the PID speed regulator optimized by the
ACO algorithm, can operate the machine at overspeed. Many enhancements are
added to machine performance in speed and torque terms, such as rejection time
and overshoot, torque and fluxes ripples. The complete system is developed and
evaluated using Matlab/Simulink.

Keywords: ACO-DTC · DFIM · PID · DTC · ACO

1 Introduction

During the 1980s, the asynchronous machine’s control approach, known as Direct Torque
Control (DTC), looked to be in direct competition with the prior control strategies.
TAKAHASHI [1] and Mr. DEPENBROCK [2] collaborated to create this control system.
DFIM working concept is done by determination directly of the control pulses delivered
to switches of voltage inverter, in order to keep the electromagnetic torque, as well as
the stator and rotor fluxes, within two predetermined hysteresis bands, throughout opera-
tion . It is feasible to achieve a decoupling between the flux control and the torque in this

© The Author(s), under exclusive license to Springer Nature Switzerland AG 2022

S. Motahhir and B. Bossoufi (Eds.): ICDTA 2022, LNNS 455, pp. 1–12, 2022.
https://doi.org/10.1007/978-3-031-02447-4_79
2 S. Mahfoud et al.

manner without the use of Pulse Width Modulation (PWM) or coordinate transformation
in this application of the method. Aside from that, the primary benefits of DTC its rapid
dynamic response of torque [3, 4], robustness, simplicity of installation, and excellent
performance [3]. This method, on the other hand, has two major drawbacks: As a starting
point, the switching frequency is quite varied. Second, the ripple amplitude of torque, as
well as the fluxes of the stator and rotor, remain poorly regulated throughout the operating
speed range that has been specified. It should be noticed that the torque ripples are caus-
ing extra sounds and vibrations to be generated. As a result, they are generating fatigue
in the spinning shaft of the machine. Intelligent approaches, it is predicted, will be able
to decrease the influence of these events on the machine’s life span, therefore increasing
its longevity.
The control of autonomous production systems using intelligent approaches such
as fuzzy logic, artificial neural networks, or artificial cognitive operations (ACOs) is
becoming increasingly popular in a wide range of application domains (voice or image
recognition, robot, automation) [5–7]. In general, artificial intelligence-based algorithms
are regarded to be extremely intriguing solutions for controlling and regulating non-linear
systems or systems characterized by uncertain complicated models in control and reg-
ulation applications. Numerous researchers have suggested techniques to enhance the
performance of traditional DTC approach, in which artificial intelligence is utilized; these
methods do not require the user to be familiar with the mathematical model in order to
be effective. It is quite difficult to quantify noise and parametric fluctuations using these
techniques. They suggest approaches in [8–11] for improving the dynamic performance
of DTC by employing intelligent techniques. Fuzzy Logic-DTC (FL-DTC), Artificial
Neuron Network-DTC (NN-DTC), and Neural-Fuzzy-DTC are the names given to these
types of control (NF-DTC). For this, they employ neural networks or fuzzy logic con-
trollers, or an Adaptive Neuro-Fuzzy Inference System (ANFIS), which is a hybrid of
artificial neural networks and fuzzy logic, to create the voltage vector that guides the
torque and flux to their respective reference points. When it comes to generating a volt-
age vector, these controllers base on neural networks and fuzzy logic controllers, and
also an ANFIS (which combines artificial neural networks with fuzzy logic), take the
role of hysteresis comparators and truth tables.
A novel DFIM control strategy is described by the authors of [12], in which the PI
speed regulator is updated by utilizing an optimization algorithm named by the Genetic
Algorithm (GA) of DTC control, applied only at the DFIM stator in order to reduce
the amplitude of torque ripples. However, it is not feasible to make use of the DFIM’s
overspeed [13] while employing this strategy. We have centered our research around the
implementation of DTC control on both DFIM sides as well as the adjustment of PID reg-
ulator settings by employing an ACO in order to overcome these problems and eliminate
the limitations described above. The contributions to this article are primarily concerned
with enhancing the performance of the suggested control system . As a result, the fol-
 Optimized PID Controller by Ant Colony Optimization of DTC 3

lowing portions of this article serve as representations of this article: DFIM modeling is
presented in Sect. 2, DTC modeling is presented in Sect. 3, ACO algorithm modeling is
presented in Sect. 4, Sect. 5 of the paper presents the findings of the simulation and the
interpretation. Section 6 of the document ends with the conclusion and proposes future
work.

2 Alpha-Beta DFIM Model

The DFIM’s mathematical model that is most suited for analyzing the behavior of DTC
is the model of two-phase described by the frame (alpha, beta), which is expressed and
represented by the Eqs. 1, 2, and 3 [14]:

• Electrical equations:
⎧
⎪
⎪ vsα = Rs .isα + d ψdtsα
⎪
⎨ dψ
vsβ = Rs .isβ + dtsβ
(1)
⎪
⎪ vrα = Rr .isα + d ψdtrα + ωm .ψrβ
⎪
⎩ dψ
vrβ = Rr .irβ + dtrβ − ωm .ψrα

• Magnetic equations:
⎧
⎪
⎪ ψsα = Ls .isα + Lm .irα
⎨
ψsβ = Ls .isβ + Lm .irβ
(2)
⎪
⎪ ψ = Lr .irα + Lm .isα
⎩ rα
ψrβ = Lr .irβ + Lm .isβ

• Mechanical equations:
  
Tem = p. ψsα isβ − ψsβ isα
(3)
J ddt + f  = Tem − Tr

3 DTC Strategy
Takahashi [1] proposed DTC control in the mid-80s. The DTC control is less susceptible
to machine parameters and provides for accurate and rapid torque dynamics. This control
works by directly controlling the machine’s fluxes and torque. A hysteresis comparator
compares the estimated value to the reference value, and then a selection table controls
the inverter’s state. Figure 1 depicts the proposed ACO-DTC coupled with DFIM.
4 S. Mahfoud et al.

ACO-DTC isα isβ Vsα Vsβ

Ψs-ref

ξ(Ψs) H(Ψs)
Ψs-est - + Sa
Stator Flux
Ns Switching Sb
and Torque Sc
Inverter
Estimation T-est Table

S1 S2 S3

Kp
ACO
Fitness

ξ(Ω ) Ki T-ref - H(T)

PID + DFIM
Kd
ξ(T)
ξ(Ω )
- + Ωref R1 R2 R3
Ωr
Ra
Rotor Flux Nr Switching Rb
Rc
Inverter
Estimation Ψr-est Table
-
+
ξ(Ψr) H(Ψr)
irα isβ Vrα Vrβ

Ψr-ref

Fig. 1. DTC strategy optimized by the ACO

3.1 Control Strategy of the Rotor and Stator Fluxes Vector

The fluxes of the stator and rotor are computed in the fixed reference (α, β) associated
with the stator using expression 4 expressed by the following equations [14]:
  
ψs =  Vs − Rs .Is dt
(4)
ψ r = V r − Rr .Ir dt

A relationship between the modules and positions of the rotor and stator fluxes is
defined as follows:
⎧

⎨ |ψ| = ψ 2 + ψ 2
α β
(5)
⎩ θ = tan−1 ψβ
ψα

The electromagnetic torque can be described in terms of the fluxes and currents in
the reference (α, β).

Tem = p.(ψsα .isβ − ψsβ .isα ) (6)

3.2 Hysteresis Comparators

The motor torque and reference fluxes are compared to the estimated torque and fluxes.
Appropriate commands are generated to keep torque and fluxes within their respective
hysteresis bands as shown in Fig. 2. For an increase in flux, must use ψ s = ψ r =
 Optimized PID Controller by Ant Colony Optimization of DTC 5

ν4 ν4 ν3

ν5 ν5

N=3 N=2 ν4 ν3
ν2
ν6
N=4 N=1
ν5 Ψref
ν3
ν6 N=5 N=6
ν1 ν2
ν2
Hysteresis band ν1
ν6 ν1

Fig. 2. Flux trajectory

1and for a reduction, must use ψ s = ψ r = −1 [5, 6]. To increase electromagnetic

torque, must use T e = 1, and to reduce electromagnetic torque, must use T e = −1.
T e = 0 keeps the torque constant. For torque control, a three-level control is utilized
Fig. 3,a, while for flux control, a two-level control is employed Fig. 3,a [6]:
H (T) H (Ψ)
+1
+1

-ΔTem 0 0
ε(Tem) ε(Ψ)
+ΔTem -ΔΨ +ΔΨ
-1

(a) (b)
Fig. 3. Comparators of Hysteresis: (a) of the three-level torque, and (b) of the two-level flux

3.3 Establishment of the Inverters Switching Table

The outputs of the hysteresis comparator with sector numbers are shown in Table 1. The
output voltage vectors and sector numbers for hysteresis are presented. The table below
details the switch positions required to generate the required vector.
6 S. Mahfoud et al.

Table 1. Switching table

Sectors
H () H (T) S1 S2 S3 S4 S5 S6
1 1 v2 v3 v4 v5 v6 v1
0 v7 v0 v7 v0 v7 v0
−1 v6 v1 v2 v3 v4 v5
0 1 v3 v4 v5 v6 v1 v2
0 v0 v7 v0 v7 v0 v7
−1 v5 v6 v1 v2 v3 v4

4 Methodology of the PID Speed Regulator Optimization

by Utilizing the ACO Algorithm
Until date, some academics have used PID regulators optimization techniques by
employing the ACO algorithm to improve its efficiency. In [15] authors utilized ACO
algorithm in order to search the optimal gains for a second-order mechanism with
multiple objective functions. They found a big enhancement over typical adjustment
procedures. Figure 4 shows a PID controller optimized using an ACO algorithm.

Fitness ACO
Kp Ki Kd
Ωref Ωr
+ PID Plant
- ξ(Ω) T-ref
Ωr

Fig. 4. Reduced structure of ACO-PID for DTC

The ACO algorithm technique is considered a metaheuristic class that was inspired
by the behavior of ant colonies while on the search for food in their natural environment.
The ants begin by traveling in a random manner. Then, after they have located food,
they will return to the colony, leaving a trail of pheromones in their wake [16]. Another
advantage of this trail is that it will likely cause other ants to cease their random motions
and follow the marked road, strengthening the marking on their return if the path leads
to a source of food. A positive feedback loop results in more people using the most
direct route [16], which makes the shortest road more reinforced and more desirable
(positive feedback loop). In the end, the weakest pathways are destroyed, and all ants
are compelled to take the shortest path. The ACO algorithm is illustrated in the following
flowchart in Fig. 5, which shows the processes involved in its implementation.
 Optimized PID Controller by Ant Colony Optimization of DTC 7

Start

Initialization

Random generation of KP, KI and KD

Run the DTC control of the full system

n_iter=n_iter+1 Calculate the Fitness

Reinforce the best tour

And forgetfulness of bad
tour

update the pheromone

Generate the KP, KI and KD

Max Iter

Save the optimum KP, KI and KD

End

Fig. 5. Flowchart of the speed PID controller optimization by ACO

By using the metaheuristic ACO algorithm, which can be expressed as a network

problem, as seen in Fig. 6. Each parameter’s value (KP , KI , and KD ) was inserted
using three separate vectors. This condition could be portrayed graphically as roadways
connecting the colonies. Each ant must visit three different nests during the voyage, by
choosing a road between the start and final nodes. The purpose of ACO algorithm is to
choose the path with the smallest objective functions (Eq. 12) between three nests. Ants
leave their scent at each road’s start. Then the pheromones were updated according to
the reinforcement rule.
The deposited pheromones are updated on the paths followed by each ant after a
defined turn Eq. (7):
0.01θ
τij (k) = τ (k − 1)ij + (7)
J
where

τij (k): presents the pheromone intensity between colony (i) and (j) at the k iteration.
θ : presents the pheromone coefficient updating.
J presents the objective function for the road achieved by the ants.
8 S. Mahfoud et al.

KP1 KI1 KD1

KP2 KI2 KD2

Ns KP3 KI3 KD3 ND

KPn KIn KDn

Fig. 6. Working principal of the ACO algorithm for tuning the gains PID regulator

The following expressions update the pathways pheromones pertaining to the best
road expressed by Eq. (8) and worst road obtained by Eq. (9) of the ants:
θ
τij (k)best = τ (k)ij best + (8)
Jbset
0.3θ
τij (k)worst = τ (k)ij worst − (9)
Jworst
where Jbset and Jworst are the pheromones of the ant’s smallest cost (Jbset ) and biggest cost
(Jworst ) pathways created in a single iteration. The routes pheromones in the optimum
road of the ant colony are greatly boosted, while those in the worst tour of the iteration
are greatly diminished. ACO can therefore search in novel directions without getting
stuck in minima of local because of pheromone evaporation Eq. (10).
 
τij (k) = τ (k)ij λij + τ (k)ij best
ij
+ τ (k) ij
worst
ij
(10)

The λ in the Eq. (10) is considered an evaporation constant

The selection of the cost function named Integral Square Error (ISE) that will be
utilized to select the suitability and the optimal of each node is the most important phase
in the ACO execution process.
t
ISE = e(t)2 dt (11)
0

In order to minimize the error signal e(t), which is the difference between the rota-
tional speed and the reference setpoint, a PID controller is used for the control in order
to have a very low error based on the use of specific performance indices, from the
values calculated by these indices the ACO algorithm search for optimal gains for the
PID controller in order to maximize the inverse ratio (Fitness Value) of the performance
index, which will automatically result in the minimization of the error to the maximum
possible extent, thus improving the machine performance, the fitness is expressed by
Eq. (12).
1
FitnessValue = (12)
ISE
 Optimized PID Controller by Ant Colony Optimization of DTC 9

5 Simulation Processes and Results Interpretation

The Matlab-Simulink is employed to design the DFIM and the hybrid ACO-DTC and
to test their implementation. In order to determine the performances of the system, the
global system that is composed by ACO-DTC and DFIM is subjected to varying torque
and speed references in order to install it in conditions that are as close to reality as
possible. Tests were carried out on a 1.5 kW machine to verify the results of simulation
for approaches (traditional DTC and ACO-DTC), the optimals parameters values of
ACO-PID is presented by KP = 21.5922, KI = −0.15143, and KD = 0.019804. The
motor parameters are given as follows: Vs = 230 v, Vr = 130 v, P = 2, f = 50 Hz, Rs =
1.75 , Rr = 1.68 , Lr = 0.104H, Ls = 0.295H, f = 0.0027 kg.m2 /s, M = 0.165H, J =
0.001 kg.m2 . and the parameters configuration of ACO algorithm are given as follows:
number of iteration = 300, Number of Ants = 30, Evaporation rate = 0.9, beta = 0.2,
alpha = 0.8, number of nodes for each parameter = 5000, Number of parameters = 3.

Fig. 7. Speed responses

Fig. 8. Torque responses

10 S. Mahfoud et al.

Fig. 9. Stator (a, b) and rotor (c, d) fluxes

Figures 7, 8 and 9 respectively represent the responses of the speed, the motor torque
and the rotor and stator fluxes, which can be obtained under different conditions whether
no load condition and during a nominal load of 10 Nm at the instant t = 1s as normal
working condition.
From Figs. 7a, 7b, and 8, one can see that the torque and speed characteristics of
the DFIM controlled by the ACO-DTC are similar to those of a conventional DTC for
tracking reference setpoints during start-up, at no-load, and at nominal load, and that they
reach their references without exceeding and very quickly compared to DTC without
optimization.
Figure 7, The speed responses of both ACO-DTC and DTC showed better perfor-
mance, but ACO-DTC has added improvements over DTC such that, the response time
is reduced by more than 77.33% (235.6 ms for DTC without optimization and 53.4 ms
for ACO-DTC), the speed overshoot is minimized by almost 100% (39.41 rad/s for DTC
without optimization and a null overspeed for ACO-DTC), In the other hand the reject
time is minimized by 89.1%.
Figure 8 illustrates the response of the electromagnetic torque of the ACO-DTC
strategy. The ripples are minimized by more than 20.41% (2.45 Nm for the DTC without
optimization and 1.95 Nm for ACO-DTC).
Figures 9 (a, b, c, d), shows the rotor and stator fluxes responses of ACO-DTC
compared to DTC without optimization. The ripples were reduced by 60.96%, and
83.36% for the rotor and stator fluxes characteristics, respectively (0.0159 Wb, and 0.092
Wb for DTC without optimization and 0.0153 Wb, and 0.0392 Wb for ACO-DTC).
Table 2 illustrates the simulation results of the ACO-DTC and DTC control and
the various improvements made to the DTC by the ACO algorithm, which shows the
efficiency of the new ACO-DTC in terms of speeds, torque, and fluxes.
 Optimized PID Controller by Ant Colony Optimization of DTC 11

Table 2. Performances characteristics of the ACO-DTC and DTC

Characteristics ACO-DTC Classic DTC Enhancement (%)

Speed Response time (ms) 53.4 235.6 77.33
Overshoot (rad/s) 0 39.41 100
Rejection time (ms) 14.15 129.75 89.1
Undershoot (rad/s) 6.25 9.23 32.29
Torque Rippels (Nm) 1.95 2.45 20.41
Stator flux Rippels (wb) 0.0617 0.0716 16.04
Rotor flux Rippels (wb) 0.0189 0.0159 15.87

6 Conclusion
In this article, an ACO is used to optimize the PID regulator of the conventional DTC
technique. The ACO is applied to a DFIM via two inverters, and the result is a more
efficient PID controller. The Matlab-Simulink environment is employed to introduce and
implement the modeling and specifics of the system under consideration. The simulation
findings enhance the performance of the DFIM in several ways, reducing the reaction
time by 77.3%, increasing the rejection time by 89.1%, and reducing the torque ripples
by up to 20.41%. The behaviors of the conventional DTC technique has been enhanced
by using the suggested control in both the transient and dynamic regimes.
To boost our laboratory’s technological research, the research team has opted to
considered the points as a future work.

• DTC theoretical and a practical experience for DFIM using ANFIS controllers.
• Using Artificial Intelligent to estimate DFIM parameters.

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