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 Energy-saving Control Based on Neural Network
Inverse Decoupling for Asynchronous Motors

Zhang Dongdong, Luo Wenguang, Chen Wenhui, Xie Rongxian

Department of Electronic Information and Control Engineering
Guangxi University of Technology
Liuzhou, China
dong410411@163.com, lwg168@126.com
Abstract—Because the conventional vector control for loss are controllable, which accounts for 80% of the total loss.
asynchronous motors is a kind of steady-state decoupling control, This is the emphatic part for the motor’s energy-saving control.
decoupling performance and energy-saving effect degrade in the The mathematical model [5] of a three-phase asynchronous
dynamic process of energy-saving control by regulation of motor in the two-phase rotating coordinator’s d-q axis can be
excitation and the load sudden changing. To solve the above expressed as:
problems, a novel energy-saving control method is proposed,
which combines the neural network inverse decoupling of
asynchronous motor control with the optimization strategy based u ds = Rs ids − ω1ψ qs + pψ ds
on the loss model. The simulation results show the method has (1)
good dynamic energy-saving effect and stronger ability to track
the load.
u qs = Rs iqs − ω1ψ ds + pψ qs (2)
Keywords-asynchronous motor; energy-saving; control of
neural network inverse decoupling; loss model

udr = Rr idr − ω sψ qr + pψ dr (3)

I. INTRODUCTION
Asynchronous motors are widely applied in many fields
because of their advantages, and their total electricity
consumption accounts for more than 60% in that of the national uqr = Rr iqr + ω sψ dr + pψ qr (4)
industrial electricity. The energy-saving control method applied
in asynchronous motors is mainly based on vector control
decoupling, and realized by reducing light load stator excitation ψ qs = Lls iqs +ψ qm ,ψ ds= Lls ids +ψ dm (5)
current component. In fact, the vector control is an approximate
steady-state decoupling control, only when the flux reaches
steady state and remains constant, the torque and the
decoupling control of flux can come true [4]. But the ψ dr = Llr ids +ψ dm ,ψ qr= Llr iqr +ψ qm (6)
performance of classic vector control has a certain decline in
dynamic process of the energy-saving controlling and load
torque changing; this would impact on the effect of energy- ψ qm = Lm iqm ,ψ dm = Lmidm (7)
saving control greatly [3]. The literature [1] combines the
neural network with inverse system linear decoupling, proposes
an inverse control method based on neural network inverse
decoupling for the motor control. It can achieve the dynamic Lm
and static decoupling of the asynchronous motor stator Te = n p [ψ dr (i − i) −ψ qr (ids − idFe )] (8)
Lr
excitation component and the torque component preferably.
The paper proposes a novel method that combines the where, uds, udr, uqs, uqr, ids, idr, iqs, iqr, idFe, iqFe, ψds, ψdr, ψdm,
neural network inverse control method with the energy-saving ψqr, ψqs, ψqm are stator and rotor’s voltage, current, iron loss
control strategy based on loss model. Based on decoupling, the current, flux, mutual inductance flux respectively in d-q axis;
motor system can get better energy-saving effect. Rs, Rr, Rm are stator and rotor’s resistance, core equivalent
resistance; Lls (equals to Llr ) and Lm are leakage inductance
II. ENERGY-SAVING CONTROL BASED ON LOSS MODEL and mutual inductance respectively; Te is the electromagnetic
torque; Np is the number of pole pairs.
Asynchronous motor losses include copper loss, iron loss,
mechanical loss and stray loss. Only the copper loss and iron The mathematical model can be simplified. For the
squirrel-cage motor, udr=uqr=0, if neglecting the leakage
This work is supported by Innovation Project of Guangxi Graduate Education
(No.2009105940811M01) and Guangxi Natural Science Foundation
(No.0832067)

978-1-4244-4813-5/10/$25.00 ©2010 IEEE

inductance of stator and rotor, in accordance with the vector III. INVERSE ENERGY-SAVING CONTROL METHOD OF
control system rotor-flux-oriented, there are ψds=ψdm=ψdr=ψr, ASYNCHRONOUS MOTOR BASED ON NEURAL NETWORK
ψqr=ψqs=ψqm=0. In the synchronous rotating coordinate
system, the current of d-q axis is DC, so the voltage of the A. The Reversibility Analysis of Asynchronous Motor
inductor is zero (pψdm =0). Set the above conditions into above In [1], the reversibility analysis of asynchronous motors in
equations to obtain: the rotor-flux oriented coordinates d-q axis has been depicted
very detailed. The asynchronous motor can be resolved
ω1ψ r ψr ω sψ r inversely in the rotor field oriented two phase rotating d-q axis
iqs = , ids = , iqr = (9)
RFe Lm Rr coordinate system as follows:

u = ξ ( y1 , y1′, y1′′, y 2 , y′2 , y ′2′)

ω1ψ r
iqFe = , idFe = 0, idr = 0 (10) ⎡u ds ⎤ y = ψ r (18)
RFe u=⎢ ⎥ 1
⎣u qs ⎦ y 2 = ω r

Te Rr B. The Inverse Energy-saving Control Based on Neural

ωs = (11)
n pψ r2 Network for Asynchronous Motors
Figure 1 shows the structure of the inverse energy-control
The total power loss of motors: based on neural network for asynchronous motors. The linear
decoupling is achieved by three-layer RBF neural network and
the integrator, namely, the multivariable, nonlinear and
ploss = pcus + p cur + pFe (12) strongly coupled asynchronous motor system is decoupled into
two independent second-order linear rotor speed subsystem and
Stator copper loss, rotor copper loss and iron loss are rotor flux one. The neural network includes 6 inputs, 12 hidden
respectively as follows: layers and 2 outputs. Hidden layer is selected by the empirical
formula that the nerve cell number of the hidden layer is 2 to 3
times as one of the input. The Gaussian function is as the
pcus = (ids2 + iqs2 ) Rs (13) activation function of the hidden layer nerve cells, shown as
(19).

pcur = (idr2 + iqr2 ) Rr (14) ⎡ 1 ⎤

f i ( x ) = exp ⎢− xi − ci ⎥ (19)
⎣ 2σ i
2
⎦
pFe = (idFe
2
+ iqFe
2
) RFe (15) The RBF network can be trained by neural network toolbox
in MATLAB, and completed by the use of selecting the center
According to above equations, we can get: for self-organization [2]. The brief steps of specific training are
as follows:

⎛R ω2 ⎞ T2 ⎛ R2 ⎞ 2ω T R • Obtaining the values of 12 centers of Gaussian

ploss = ⎜⎜ 2s + r ⎟⎟ψ r2 + e2 ⎜⎜ Rr + Rs + r ⎟⎟ ⋅ψ r−2 + r e r (16) function by the k-mean algorithm.
L
⎝ m R Fe ⎠
n p ⎝
R Fe ⎠
RFe n p
• The basis function of RBF is Gaussian function; the
By analyzing (16), it can be known that the total loss Ploss of square variance δi can be obtained from the following
the motor is the protruding function of ψr to the set rev and equation.
torque. Making the partial derivative to ψr, letting it equal to
zero, the optimal flux calculation equation can be obtained to
ensure the least loss in the situation of different motor’s torque cmax
σi = i = 1,2......h (20)
and speed. 2h

Where cmax is the distance between the selected centers.

L2m RFe ⎛ R2 ⎞ (17)
ψ =4
*
r
⎜⎜ Rr + Rs + r ⎟⎟ ⋅ Te • The weights wij between the hidden layers and output
( Rs RFe + ω r2 L2m )n 2p ⎝ RFe ⎠ layer can be calculated using the iterative least squares
method.
The trained neural network and 4 integrators are composed
of the inverse system. Shown as Figure 1, the controlled object
is linked with the inverse system in series, and the controlled
system corresponds to two linear two-order integral subsystems
with the transfer function 1/s2. This means that the control to
the strongly coupled asynchronous motor system is changed to
two linear two-order integral subsystems. So the controller’s
design becomes easy. In fact, we select the PD controller as the
flux and speed controllers, and it can provide good control
effect. The PD controller is
GPD = K p + K d s = K p (1 + Td s )
seconds. Sampled and normalized 7000 groups (ψr″,
ψr′, ψr , ωr″, ωr′, ωr, uds, uqs) are taken as the training
samples of the input and output of RBF network.
• The PD controller’ parameters KP and Td can be got
with the frequency-domain analyzing method. The
speed loop bandwidth of asynchronous motors is
usually taken between 5 and 70 rad/s. The crossover
frequency ωC and the phase margin γm are taken as
(21) 60rad/s and 60° respectively. So PD controller is:

In Figure 1, the optimal flux calculation module is used to GPD = 1200(1 + 0.0288s ) (22)
achieve energy-saving control. The calculation steps are as
follows:
The simulation test is done according to the follow
• Take the rotor angular frequency, electromagnetic situations: the motor works at the load torque 2.4Nm and the
torque as the input of the optimal flux calculation speed 150rad/s firstly, and the energy-saving control is applied
module, the optimal flux calculated with (17) output to between t=0.2s and t=1s, on the side, the load torque changes
the flux controller to achieve energy-saving control. suddenly to 6Nm at t=0.5s.
• Calculate the motor rotor angular acceleration and set The simulation results are shown as Figure 2, it can be
its threshold. When the motor is starting or the angular seen:
acceleration a≤-150rad/s2and the duration time τ≥0.3s,
• After using energy-saving control at 0.2s, the flux
the output of the optimal flux calculation module will
immediately reduces, and the controllable motor loss
be switched to the rated flux value in order to achieve
decreased from 260W to 60W, reduces 77%, and the
fast load tracking.
efficiency increases more than 20%. The
ψˆ r corresponding electromagnetic torque and the speed
−
+ S −1
almost have no fluctuations.
ψˆ ∗r
∗
usm u∗A
S −1
u∗B
• The electromagnetic torque can track the load torque
ωr ust∗ immediately when the load torque changes to 6Nm at
+
uC∗
− S −1 t=0.5s. At the same time, under the energy-saving
ωr∗ control, the controllable motor loss reduces 50%, and
S −1

the efficiency increases more than 7%.

ωr
θˆ ism ia From the simulation results, some conclusions are obtained
ψˆ r
Te
ist ib as follows: the method has a better energy-saving effect
whether at the light load or at the heavy load, and the smaller
load, the higher efficiency; on the other hand, the system has a
strong capability of tracking load.
Figure 1. The block diagram of the energy-saving control based on neural
network inverse decoupling for asynchronous motors
rotor flux /WB

IV. SIMULATION RESEARCH

Take an asynchronous motor as the simulation example, its
parameters as follows: rated torque Te=12Nm, stator resistance
Rs =0.475Ω, rotor resistance Rr =0.895Ω, leap inductance
Lls=Llr=9.5mH, mutual inductance Lm=0.95H, magnetic pole
number Np =2, moment of inertia J=0.015kgm2, the equivalent
resistance of the motor’s iron core Rm =500Ω.
Speed/rad/s

About simulation test, some aspects must be considered:

• The high order simulation model including iron loss of
the asynchronous motor is acted as the data acquisition
targets. The signal generator in Matlab/Simulink
produces two-way Gaussian random square wave
signal whose cycle is 1.5 seconds, and the simulation
model is incented (incentive time is 100 seconds) by
the gain module (amplitude is 1.1 times as the rated
value). The output signal of the module outputs from
the “out” port of the module and is sampled every 0.01
 the same time, combines the energy-saving control strategy
Loss Power/W based on loss model. It can provides high efficiency and the
good work performance in steady state and dynamic load for
asynchronous motors, improves the energy-saving effect under
the vector control.

REFERENCES
[1] DAI XZ, ZHANG XH, LIU GH, ZHANG L, “Decoupling control of
induction motor based on neural network inverse”, Proceedings of the
CSEE, Vol.24, No.1, pp. 112-118 , January 2004.
Motor torque /Nm

[2] ZHANG De, FENG MAILA, Neural Network Application Design,

Figure 2. The simulation diagram of asynchronous motor energy-saving
control
Chinese Machinery Industry Press, 2009.
[3] Chakraborty C, Hori Y, “Fast Efficiency Optimization Techniques for
the Indirect Vector-Controlled Induction Motor Drives”, IEEE
Transactions on Industry Applications, Vol.39, No.4, pp. 1070-1076,
April 2003.
[4] LI ke, “Study of High Efficient and Fast Response Electric Drive System
Control Strategy for Electric Vehicles”, Doctor Dissertation of Shan
Dong University, July 2007.
[5] LI Yongdong, The Digital Control System of AC Motor, Chinese
Machinery Industry Press, 2002.

V. CONCLUSION
The proposed method makes good use of the strong
decoupling capability of the neural network inverse system, at