2018 5th International Conference on Electrical and Electronics Engineering

Adaptive Nonlinear Control for an Asynchronous Machine

Moulay Fatima Habbatti Assia Hamdaoui Habib

Faculty of techology, IRECOM
Laboratory
University of Djillali Liabes,
Sidi Bel Abes, Algeria.
fatimamoulay66@yahoo.fr
Faculty of techology, IRECOM Faculty of techology, IRECOM
Laboratory, Laboratory,
University of Djillali Liabes, University of Djillali Liabes,
Sidi Bel Abes, Algeria. Sidi Bel Abes, Algeria.
bellia_abdeljalil@yahoo.fr hamdaoui_h@outlouk.fr

Abstract: This paper presents the general concept of the II. MATHEMATICAL MODEL OF THE
nonlinear control of the asynchronous machine. The ASYNCHRONOUS MACHINE
decoupling between the flow and the speed is realized by the
input-output linearization technique. In this work, a nonlinear A. Putting in nonlinear state equations
adaptive control method has been applied to the asynchronous The dynamic equations of the asynchronous machine
machine and we give some initial results on the adaptive
control of nonlinear systems, linearized by state feedback. The
in - repository are:
adaptation of the parameters is used as a technique for
robustifying the exact cancellation of the nonlinear terms,  Cr     
 ( a ia  b ib ) 
which is called for the linearization technique. The  m   J  
  
performance of the proposed nonlinear adaptive control      n    Mi   
 a   a p m b a 
   
d ua 
scheme is demonstrated by simulation results. These results  b   n p  m a   b  Mib      u  (1)
show that the proposed method achieves the desired dynamic dt     L    b
performance.  ia   a  n p   m b  ia   s 

 ib   n       i     
 p b 
m a b
Ls 
Keywords: Asynchronous machine. nonlinear command   
and adaptive control The system of equations is rewritten in the form
suggested for the application of linearization in the input-
I. INTRODUCTION output sense as follows:
Most variable drives use the asynchronous machine
because of its many advantages in performance and
x  f ( x)  g ( x)u (2)
robusteses. Its main disadvantage lies in the complexity of Where the vector of states x and commands u are:
its multivariable model which is non-linear and strongly
decoupled [1] The vector control technique, which is based
on flow orientation, allows flux and torque to be x  [ x1 , x 2 , x3 , x 4 , x5 ]T  [ m , a , b , ia , ib ]T
independently decoupled and controlled. However, exact
knowledge of the flux position poses a problem of And:
precision [2] The input-output linearization technique,
with a non-linear state feedback counter, allows the u  [u a u b ] T
machine model to be broken down into two linear,
monovariable and independent sub-systems.Thus, Witch:  m ,  a ,  b , ia , ib are simultaniously ,the
conventional or modern control techniques can be easily
applied. The tracking of the reference trajectories is based rotor speed,the composante a,b of the rotor flux and the
on the principle of the optimal imposition of the poles. composante a ,b of the courent
This technique has the advantage of controlling the torque
itself in regulation.Conventional control algorithms appear
to be inadequate if the controlled part is subject to with :
disturbances and parametric variations. Thus, some Cr
authors propose adaptive control by reference model [3],  f  ( x )    ( a i a   b i b )  

 f ( x)  J
others robust controllers [4] In this work, an adaptive non-       a  n p  m b   Mi a 
linear control is realized which regulates the flux and the f ( x )   f  ( x )    n       Mi 
p m a b b
 
speed of the asynchronous machine and maintains the  f  ( x )    a  n p   m b  i a 
decoupling between them. In this part, only parameters  f  ( x )    n        i 
that fit in a linear way into the machine model will be  p m a b b

taken into account. It is the rotor resistance Rr and the And

resistant torque Cr. To do so, we first design a command T
based on the linearization technique in the input-output 
 g a ( x)     
sense applied to the nominal model, then we calculate the Ls
g ( x)    
adaptation law that will estimate the vector uncertain     
parameters [5].  g b ( x)     
 Ls 

978-1-5386-6391-2/18/$31.00 ©2018 IEEE 94

B. Regulated Outputs and Ordering Criteria 
 y   Lf h   Lga Lf h Lgb Lf h ua 
It is desired to control the speed and the norm of the       
 (8)
 y   Lf h   Lga Lf h Lgb Lf h ub 

voltage imposes to lower the norm of the flux so one must
also control the norm of the rotor flux. In this panel, the
It represents the external dynamics of order 4.
outputs must be the rotor speed and the standard
(modulus) of the rotor flux [6]. The fifth equation of the system (7) is given
The outputs chosen to be controlled are thus: by:
(3) M
 y1   h1 ( x )   m   x1  y   L f h  n p y  ( a ib   b ia ) (9)
 y   h ( x )   2    2 2 y
 2   2    r   x 2  x3 
Represents the internal dynamics of order 1. For y1 = 0
III. LINEARIZATION INPUT-OUTPUT and Ce = 0 then,the dérivate of y5=0 we can conclude that
the stability of the internal dynamics is satisfied[8].
Consider the model of the machine defined by the system
of equations (2) and determine the derivation order for B. Linear ordering law
which the first variable to be adjusted (machine speed) is To have closed-loop decoupling and partial Input-
explicitly, affected by the commands [7]. By successive output linearization of order four, it suffices to apply a
derivations, the relative degree rl associated with the speed non-linear state feedback. Thus, the linear control law,
is equal to 2 (rl= 2); we can write: which ensures the decoupling, is expressed by:
 v a  
y1 ( x )  h1 ( x )  L f h1 ( x ) u  D   ( x )     A ( x )  (10)
(4) v
 b 
y1(x)  h1(x)  L2 f h1(x) Lga Lf h1(x)ua Lgb Lf h1(x)ub Alternatively, =( ) is the new input vector.
By successive derivation of the second output (flow A(x), is the looping matrix, it is given by:
norm), we will obtain a relative degree r2 equal to 2 (r2 =
2), so we can write: L 2h 
A( x)   f 2 1 
 L f h2 
y 2 ( x )  h2 ( x )  L f h2 ( x )
(5) D(x) is the decoupling matrix, it is, defined as follows
y2 ( x)  h2 ( x)  L2 f h2 ( x)  Lga L f h2 ( x)ua  Lgb L f h2 ( x)ub    
 Lg a L f h Lgb L f h   L  b L  a 
D( x )    s s

A. Changing coordinates (Diffeomorphism)  Lg a L f h Lgb L f h   2M  2M
b
a
 Ls Ls 
The choice of the outputs results in a partial
linearization of order four r=r1+r2=4 and an internal Its determinant is:
dynamics of order n-r=1 (n = 5 is the order of the system) M
Det [ D ]   2 ( a 2   b 2 )
y   h ( x )   m ( Ls ) 2
Cr
y   L f h ( x )   ( a i b   b i a )  Because the remanence of the magnetic circuit,
J  = 2 2
  + ≠0 the matrix D (x) is therefore non-
y   h ( x)   a  b (6)
y   L f h  ( x )     ( a

 b

)   M ( a i a   b i b ) singular, then D 1( x) , and u command exist.
 b  Substituting (10) into (7) the dynamics of the closed loop
y   h  ( x )  arctg  
 a  system becomes in the coordinates of :
With this change of coordinates, the dynamics of the  y   y 
asynchronous machine becomes:  y  v (11)
 y   y 
  a

  y  y
 y   L f h  L g a L f h u a  L g b L f h u b
 

 (7)
 y   vb
 y   y 
 
 y   L f h  L g a L f h u a  L g b L f h u b vsa  y2 1 y 2  y1 1 y1   m
 y  L h p p
  f 

The first four equations of the system (7) can be v sb  y 4 1 y 4  y 3 1 y3   a 2   b 2

rewritten as follows: p p
Figure 1 : Decoupled and linearized system

95
C. Stabilizing control law (trajectory imposition) uncertain parameters Considering the vector uncertain
parameters[9].
To ensure pursuit of trajectories of desired speed  m ref
2  p1  C r  C rN
( y1ref ) and flux  ref with certain dynamics sands, we  (17)
 p 2  R r  R rN
impose on the system linearized the new entrances vsa and where Rr and Cr are the real values, RrN and CrN are
vsb of the following form [11]: the nominal values .Then we can rewrite the equations of
the machine in the following form:
v sa  k a 1 ( y 1  y 1 ref )  k a 2 ( y 1  y 1 ref )  y1 ref (12)
x  f (x)  gaua  gbub  p f (x)  p f  (x) (18)
v sb  k b 1 ( y 3  y 3 ref )  k b 2 ( y 3  y 3 ref )  y 2 ref (13) With:
C
 f  ( x )    ( a i a   b ib )  rN 

 f ( x )  J
Alternatively, (k a1 , k a 2 ) and (kb1 , kb 2 ) are adjustment     n     Mi 
  a p m b a
parameters, chosen in such a way as to impose on the f ( x )   f  ( x )    n       Mi 
dynamics of the system the desired performances.    p m a b b

(19)
 f  ( x )    a  n p   m b   i a 
 f  ( x )    n        i 
Thus, the system of the asynchronous machine is  p m a b b
linearized and decoupled into two monovariable
subsystems of order 2 each: And
   
 d d    
dt (m  mref )  ka (m  mref )  ka dt (m  mref )  
     
(14) g ( x )  g a ( x ) g b ( x )    
 d (     )  k (     )  k d (     ) L   (20)
dt ref b ref b
dt
ref
 s 
   
  L s 
The dynamics of tracking errors e1  y1 y1ref and e2  y3  y3ref
become:
e  k a  e  k a e    

 

M


(15)
 J 
  ia
e  k b  e   k b  e     
a
Lr Lr
 
    
 b 
M
ib 
f ( x)     f (x)   Lr Lr 
If the coefficients (k a1 , k a 2 ) and (k b1 , k b 2 ) , are chosen    M M   (21)
  a  i a 
so as to satisfy the two Hurwitz polynomials    LS Lr

LS Lr 

   M M  
k a1  k a 2 p  p 2  0    ib 
(16)      L S L r
 b
LS Lr 
kb1  k b 2 p  p 2  0
Let us write the system (18) in the coordinates y
For our case, which is the control of the defined by:
asynchronous machine, we have chosen the coefficients
(ka1, ka2) and (kb1, kb2) to ensure asymptotic stability and  y  y   p L f h

 y   L f h  p  L f  h  Lga L f hu a  Lgb L f hub

to allow the obtained linear system to achieve the desired
performances. 
After calculation, we find:  y   y   p L f  h (22)

 y   L f h  p  L f  L f h  Lg a L f h u a  Lgb L f h u b

(ka1, ka2) = (900, 60)
(kb1, kb2) = (3600, 120)  y  L h  p L h (17)
  f   f 

T
Suppose that pˆ ( t )   pˆ  ( t ), pˆ  ( t )  are the
estimates of the parameters. The errors on these
parameters are;
IV. ADAPTIVE INPUT –OUTPUT LINEARIZING  e p1   p1  pˆ 1 (t ) 
ep     (23)
CONTROL OF THE AYNCHRONOUS MACHINE.  e   p  pˆ (t ) 
 p2   2 2 
In this part, only parameters that fit in a linear way into
the machine model will be taken into account. It is the Now we introduce the estimated parameters pˆ ( t ) in
rotor resistance Rr and the resistant torque Cr. To do so, the new coordinatesZ:
we start by designing a command based on the
linearization technique in the input-output sense applied to
the nominal model, then we calculate the adaptation law
that will make it possible to estimate the vector of the

96
 z  y In condensed form we will have:
z  y  pˆ L h (33)
    f  e  Ke  w ( z , pˆ  ) e p
 (24)
 z   y K  block diag ( K a , K b ) (34)
z  y  pˆ L h
    f 
 L f h  
z  y   L f  L f h 
w( z , pˆ  )    (35)
The system (18) becomes:   L f  h 
  
  ˆ
L f  L f h  p  L f  h 
z  z  e pL f f h

z  L  h  p L L h  dpˆ L h  L L h u  L L h u w( z, pˆ  ) is the regression matrix and it is a function
 f   f f 
dt 
f  ga f  a gb f  b
of the x variables (and therefore the z variables) [10]

z  z  e p L f h
 P Is a matrix symmetric definite positive and that is
z  L  h  p L L h  dpˆ  L h  pˆ L L h  pˆ p L  h (25)
 f   f f 
dt 
f   f f    f  the solution to the Lyapunov equation [11]
 T
  ua Lga L f h  pˆ  Lga L f h   ub Lgb L f h  pˆ  Lgb L f h  K P  PK  Q (36)
z  Lf h  p L f h Consider the quadratic Lyapunov function::
 

The linearization command is defined as follows: V  e T Pe  e Tp  e p (37)

 ua     ( x)   va  (26)  Is a symmetric matrix definite positive:
   D( x, pˆ  )       The derivative of the Lyapunov function V is:
 ub     (x)   vb 
dV  de p  (38)
dpˆ   e T ( K T P  PK )e  e Tp  wT Pe   
 
 ( x)  L f h  pˆ  L f L f h  dt L f h
dt  dt 
 (27) We now define the following adaptation law:
 ( x)  L  h  pˆ L L h  dpˆ  L h  pˆ L L h  pˆ  L h
  f   f f 
dt 
f   f f   f  de p 
  w T Pe (39)
 Lga Lf h Lgb Lf h  dt
D(x, pˆ  )    (28) d pˆ
ˆ ˆ
Lga Lf h  p Lga Lf h Lgb Lf h  p Lgb Lf h  Alternatively:   1 w T Pe (40)
dt
The new stabilizing controls are: This adaptation law defines the dynamics of the
 v a   k a z   k a  z   v a ref parameters of systems to estimate pˆ ( t ) .
 (29)
 v b   k b z   k b  z   v sb ref dV
 eT Q e  0 (41)
 v a ref  k a   ( t )  k a   
(t )   (t )
dt
Inequality V   ensures that e (t) and e p are
m ref m ref m ref
   
 v b ref  k b   ref ( t )  k b   ref ( t )   ref (t )
bounded which proves the stability of the adaptive control
Now define the reference model as follows: structure [12]. And, according to the lemma Barbalat, error
tracking e (t) and data on the estimated parameters pˆ ( t )
 z  m   zm   
   Ka     tend to 0 as t   .
 z  m   z m   v a ref  (30) The matrix P is evaluated using the equation of Lyapunov
 z  m   z m   
   Kb    
 z  m   z m   v b ref  KT P  PK  Q .

So
e  e  e p L f h
e  k ae  k a  e  e p  L f  L f h  7.5417 0.0006 0 0 
(31)  0.0006 
e  e  e p  L f  h P
0.0083 0 0

 0 0 15.0208 0.0001 
e  kbe  kb  e  e p  ( L f  L f h  pˆ  L f h )
  
 0 0 0.0001 0.0042 

Or in a matrix form:
The adaptation gains matrix is, in this case:
e       e  Lfh  
  
e k k   e    L L h e  1  diag (0.05, 0.0015 ) .
    a
 a     f f 
 p 
e       e    L h
f  ep  (32)
         
e    ˆ
 kb kbe    Lf Lf h  pLf h

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 V. SIMULATION others figures, we take into account two parameters
We test the performance of the proposed returning in a nonlinear way in the model (L and J), we
adaptive controller with Matlab softwere. estimated the inverse of the parameters rather than the
The main purpose of this section is to validate by parameters themselves which is illustrated by the figure 4
simulation the output linearization control of the and figure5 of Lfh1, Lfh2 and L2fh1 and L2fh2.
asynchronous machine. That is, verify if it fulfills its role A good response is observed from the application
fully: linearize and decouple the system from the machine of the perturbation which is the change in resistance from t
[13,14]. = 0.5s to t = 1.5s.
The parameters of the asynchronous machine are, For the fig 5, the answer goes in L2fh1 and the
taken from [7] : response Vb in L2fh2, and gives dirrectement, the
performance of the adaptive contolleur, in the presence of
P=1.5kW, p =2
a disturbance.
U =380 /220V, 50Hz N =1450tr min The speed is not affected by the variation of load
I =3/ 6A, M=0.258H and resistance. It is controlled by a adaptive controller that
Rs =4.85ohm,Rr=3.81ohm quickly rejects the disturbance of the load torque. The
Ls =0.274H, Lr=0.274H performance of this command are satisfactory. It can be
used for poorly modeled nonlinear systems.
J= 0.031Kgm2.

We give the parameter nomenclature:

Ls, Lr: stator and rotor inductors

M: Mutual inductance
J: Moment of inertia
fr: Coefficient of friction
Rs, Rr: stator and rotor resistors
p: Number of pole pairs
ψr: Rotor flux
Vs, Is: Stator voltage and current
Ce, Cr: Electromagnetic torque and
charge
α, β: Axis indices linked to the stator frame

This simulation part is devoted to the illustration

of the performances of the adaptive non-linear controller Figure 2: Load torque Cr and rotor resistance Rr estimat
designed and which takes into account the variations in Rr
and Cr.In order to test the performance of the control by
Adaptive Input-Output Linearization (AIOL), we have
simulated the system considering: A variation of the load
torque between 0 Nm and 10 Nm at t = 0.5 s. A variation
of the rotor resistance of + 50% at t = 1.5. It is also a
question of comparing its performances with those of the
Input-Output Linearization (IOL) control.

we begin by noting that the adaptive controller

has given the desired performance, according to Figure 2,
we see that the adaptive controller performs a perfect
torque control with uncertainty in R (resistance) and Ce
(torque), at the time of application dela load at t = 0.5s of
0Nm and 10Nm and the variation of 50% at t = 1.5s.
For fig. 3, a perfect speed regulation is observed, and
that of the rotor flux when the resistance varies from t =
0.5s to t = 1.5s..
the time of adaptation as well as the maximum
Figure 3: Speed and rotor flow as Rr increases by 50%.
jump of the velocity are a direct function of the initial
variations of the estimates (R = 0.5ohm and Cr = 0Nm).
we note that the controller mastermemore
disturbance (load torque). In these first 4 figures, we have
a controller that concerns two parameters returning
linearly in the model of the machine (R and Cr), but for

98

Figure 4: Nonlinear functions Lfh1 and Lfh2 when Rr increases by 50%
Figure 5: Non-linear functions L²fh1 and L²fh2 when Rr increases by50%
VI. CONCLUSION
In this paper, we presented the adaptive nonlinear
control of an asynchronous machine. The decoupling is
obtained by the technique of the linearization input /
output of the model of the machine in the graduation dq.
The speed is controlled by an adaptive regulator.
the flux is estimated thanks to the estimates of the
resistances and the load torque. the speed and the flux
converges quickly towards the corresponding real
variables. the performances of this adaptive controller are
satisfied and promising
The law of adaptation requires that the uncertain
parameters are constant. This type of control concerns the
adaptation of the parameters which enter in a linear way in
the model of the machine(resistance and load torque).
According to the results obtained in the given
figures, we can see the performance of the controller
adaptaif compared to the nonlinear controller input output,
for variations in parameters such as resistance and load
torque, we notice a good adaptation of the controller
studied who is the adaptive controller and a good answer
towards the esteemed.
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