2009 International Conference on Information Technology and Computer Science

Inverse System Decoupling Control for Induction

Motor Based on Neural Network On-line Learning
Song Yongxian, Gong Chenglong, Zhang Hanxia Ni Wei
School of Electronic Engineering Department of Electronic Engineering
Huaihai Institute of Technology Huaiyin Institute of Technology
Lianyungang, China Huaian, China
e-mail:niweizhang@163.com e-mail:dianqixi@sina.com

Abstract—The induction motor is a MIMO, nonlinear and high
coupling system. The reversibility of the induction motor is
testified. Consequently, a pseudo-linear system is completed by
constructing a neural network inverse (NNI) system and
combining it with the motor system. The inverse can transform
the MIMO nonlinear system into two SISO linear subsystems (i.e.,
rotor speed and flux subsystems). In order to approach the
inversion exactly in operation of the motor, the control method
online learning based on NNI system is proposed, in which
connection value can be amended continuously on-line to make
the NN adapt to the changes of environment to strengthen its
robustness. Experiment results have shown that NN can be
adjusted in the control process. The good applicability of NN
along with the strong stability and robustness of the system can
be achieved by using the proposed method.
Keywords- -neural network; inverse system; intelligent control;
induction motor
I. INTRODUCTION
With the well-known advantages of reliability, simple
construction, and low weight, the induction motors have been
gradually utilized in place of DC motors with drawbacks of
spark, corrosion and necessity of maintenance. However, the
induction motors have more complexities in control
characteristics than DC motors due to their coupled and
nonlinear time-varying dynamics. The high performance
control of induction motor necessarily requires that the control
of the flux and the electromagnetic torque must be entirely
decoupled. So, in the past years the decoupled control of
induction motor has been investigated largely [1-4].
investigated. However, the decoupling and linearization of
multivariate nonlinear system demand exact mathematics
model of controlled object. The induction motor as a multi-
variable, nonlinear, strong-coupled system, its rotor
parameters change very prominently with the time-varying
conditions. All unmodeled dynamic effects, such as the change
of load torque, the existence of disturbance and magnetic
saturation make the differential geometry and inverse system
method difficult to apply in practice.
Recently, neural networks (NNs) have attracted
considerable attention as candidates for novel tools in
identification and control of nonlinear systems. They were also
applied to the induction motor control[5-6]. In decoupling
control, if NN is used to approach the inverse model of system,
the decoupling effect will be perfect. The neural network
inverse (NNI) system method can realize the linearization
decoupling control for generic non-linear system, and its
structure is simple enough to be applied in engineering easily [7].
However, the NNI is trained offline in certain operating
conditions of the controlled system with fixed parameters, so
the NNI control scheme is lack of robustness and adaptability
to some extent.
II. MATHEMATIC MODEL AND REVERSIBILITY ANALYSES
For voltage controlled PWM inverter of induction system,
when the nonlinear and time-delay of the inverter, magnetic
saturation and iron loss of the induction motor are ignored, the
model of induction motor in rotating coordinates (d-q) is [8]:
­ di Lm Rr  Lr Rs
2 2
Lm Rr Lm Rr u sd
( )isd  ( n p Z r  isq )isq  \r 
sd

The vector control systems of induction motors have been

° dt V Ls Lr
2
Lr\ r V Ls Lr
2
V Ls
widely used in industrial applications. Induction motor vector °
control is based on motor electromagnetic field theory and ° di Lm Rr Lm Rr  Lr Rs
2 2
n p Z r Lm u sq
° ( n pZr  isq )isd  ( )isq  \r 
sq

take producing the same rotating magnetic field as principle, ° dt Lr\ r V Ls Lr

2
V Ls Lr V Ls
transforming induction motor into the equivalent DC motor ®
via twice coordinate transformation and achieving the ° d\ r
Lm Rr
isd 
Rr
\r
decoupling in rotor speed and rotor flux linkage of induction ° dt Lr Lr
motor. But only when the flux linkage achieves steady-state, °
can achieve the decoupling control between electromagnetic ° dZ Lm Tl
isq\ r 
r
torque and rotor speed. So, the dynamic response performance np
°¯ dt JLr J
is not satisfactory. In order to enhance the dynamic response
performance of the induction motors, the differential geometry (1)
and the inverse system decoupling control methods are

978-0-7695-3688-0/09 $25.00 © 2009 IEEE 619

618
DOI 10.1109/ITCS.2009.308
where i, ȥ, u, R, Ȧ, Tl and J represent current, flux, voltage, negative function existing principle, the inverse system is
resistance, electrical angular speed, load torque and rotor existed. The inverse system can be expressed as follows:
inertia respectively. Subscript s and r represent stator and u M ( y1 , y1(1) , y1( 2) , y2 , y2 (1) , y2 ( 2) ) (5)
rotor respectively. L m, Ls and Lr represent mutual inductance,
stator self-inductance and rotor self-inductance respectively. np Define
°­ v1 y1
(2)
represents pole pairs. V 1  Lm /( Ls Lr ) .
2

® (2)
(6)
Define state variable as °̄v2 y2
x [ x1 , x2 , x3 , x4 ]
T
[isd , isq ,\ r , Zr ]
T So
System output as u M ( y1 , y1(1) , v1 , y2 , y2 (1) , v2 ) (7)
T T
y [ y1 , y2 ] [ x3 , x4 ]
III. NNI CONTROL OF THE INDUCTION MOTOR
Control variable as
T T
u [u1 , u 2 ] [u sd , u sq ] A. Offline Training of NNI
Thus equation (1) can be modified as Because it is very difficult to accurately model the
x f ( x , u) induction motor system, the inversion (7) can not be expressed
analytically. In order to implement the inverse system, a NN
­ Lm] 1 u1 can be trained offline to approximate the inversion (7).
° ] 3 x1  (n p x4  x x2 ) x2  ] 1] 2 x3  V L The dynamic data and static data of the induction motor
° 3 s

° Lm] 1 x2 u2 are needed to train NNI. In order to obtain the inversion, the
°  ( n p x4  ) x1  ] 3 x2  n p ] 2 x3 x4  (2) given signal should cover the running domain of the induction
® x3 V Ls motor completely. In this paper, excited signal with different
° scope is used as the system input. The sampling signals
° Lm] 1 x1  ] 1 x3
° include the inputs of the induction motor which are two
Tl
°] 4 x2 x3  voltage signals and the outputs which are flux and speed. The
¯ J high accuracy seven-point numerical algorithm is adopted to
Rr Lm Lm 2 Rr  Lr 2 Rs L calculate the 2-order differential coefficient of flux and speed.
where ]1 , ]2 , ]3
, ] 4 np m .
Lr V Ls Lr V Ls Lr 2 JLr In order to solve the problem of slow convergence, the
training data should be normalized into -1~+1.
In order to analyze the reversibility of the system, the 3
output formula should be differentiated until the input variable ANN of N 6,13,2 is constructed, where 3 represent layers of
is visualized firstly. According to formula (2), the following the network, 6 represent the number of the input layer neuron,
formulas can be deduced: 13 represent the number of the hidden layer neuron and 2
­ y1(1) ] 1 Lm x1  ] 1 x3 represent the number of the output neuron. The active function
° used for hidden neurons is tan-Sigmoid
° y ( 2) ] L [ ] x  (n x  Lm] 1 x ) x x
f ( x ) ( e  e ) /( e  e )
x x x
(8)
° 1 1 m 3 1 p 4
x3
2 2

° Active function for output neurons is linear.

° u Then a pseudo-linear composite system can be gotten by
] 1] 2 x3  1 ]  ] 1 ( Lm x1  x3 )
2

°° V Ls cascading the NNI trained offline and the controlled system, as

® (1) (3) shown in Fig. 1. The pseudo-linear system was equivalent to
° y2 ] 4 x2 x3  T / J two linear integral subsystems which are two 2-order
° ( 2) L] x subsystems of speed and flux. Finally, a closed-loop controller
° y2 ] 4 x3 [( n p x4  m 1 2 ) x1  ] 3 x2 can be designed by using the linear system theorem for the
° x3
° pseudo-linear composite system, as shown in Fig. 2.
u
°  n p ] 2 x3 x4  2 ]  ] 1] 4 x2 ( Lm x1  x3 )
°̄ V Ls
Calculate the Jacobin \r
\r
ª wy wy1 º º ª] L
(2) (2)

1 m
1
0
« wu wu » » «VL Zr
A( x ) « 1 2
» » « (4)
s

Zr
« wy (2)
wy
(2)
»
] x » « 0
«
2 2
» x 4 3

V L »¼ «¬ 3

¬ wu 1
wu 2 ¼ s

] 1] 4 Lm x /(V Ls ) . When x3 \ r z 0 ,
2
Det( A( x )) 3
Figure 1. The pseudo-linear system
Det( A( x )) z 0 , and A( x , u) is nonsingular. According to the

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 wJ ( k )
W1 ( k  1)
T
W1 ( k )  K1
T
(11)
wW1 ( k )
T

wJ ( k )
W2 ( k  1)
T
W2 ( k )  K 2
T
(12)
wW2 ( k )
T

where
wJ ( k )
 e( k ) u f (W2 X )
T
(13)
wW1 ( k )
T

Figure 2. Block diagram of NNI method

wJ ( k )
e ( k ) u W1 (l  1) u (1  f ( zl ) ) u X ( j )
2
(14)
wW2 ( k )
T
B. Online Learning of NNI
The NNI controller trained offline can control the In (14), j=1,2Ă7, l=1,2Ăn. The formula (11) - (14) can be
induction motor system with a relative good control used to update the weights of the NN on-line.
performance, but the control performance may be worse under
some uncertainties. Motivated by the control performance of The online learning scheme of NNI controller is based on
the excitation system, online learning of the NNI controller is offline training, which benefits the initial stability of the
further studied based on the offline training of the NNI. The closed-loop system and convergence of the NNI. But the
block diagram of the online learning NNI controller is shown computation burden is still very hard because two weight
in Fig. 3. matrixes need to be updated on-line. In the study of NN
adaptive control, Lewis proposed the idea of basis function
For the convenience of expression, the I/O relation of NNI for adaptive online learning of NNs[9], and applied the idea to
trained offline is described as neural net work adaptive control. However, this idea is seldom
u
T
W1 f (W2 X )
T
(9) used for online learning in supervised learning. Because the
weights of the input-to-hidden layer in the single-hidden-layer
Where X [1 y1 y1
(1)
v1 y2 y2
(1)
v2 ] , NNs have minor effect on the approximation performance
when the hidden nodes n•2, only the weights in the hidden-to-
T
W2 X = [ z1 z2 } zn ]
T
, the number n is the number of the output layer need to be updated while the ones in the input-
hidden nodes, f (W X ) [1 f(z )
2
T
1
f(z 2 ) } f(z n )]
T
, f(·) is the hidden layer can be kept invariant. Based on the above ideas,
this paper keeps W2 constant after offline training, thus
active function as shown in formula (8). W  R T 1u ( n  1)
and
making f (W X ) basis functions. After that, the weight matrix
1 T

W2  R
T
are the connective weight matrix of the hidden-to-
nu m 2

W1 is only required to be updated online.

output layer and the input-to-hidden layer respectively, the
number m is the dimension of X. At last, the online learning algorithm of NNI is
The performance index for online learning of NNI is W1 ( k  1)
T
W1 ( k )  K1 e ( k ) u f (W2 X )
T T
(15)
( u  W1 f (W2 X )) It should be noted that the learning rate K1 should be made a
T T 2
( u  u )
2

J (10)
2 2 compromise between the fastness for online learning and the
convergence for NN. The bigger learning rate accelerates
where X [1 y y 1
y 1
y
(1)
y y ] . According to the
1
( 2)
2 2
(1)
2
( 2)
online learning, but worsens the convergence of NN; however,
gradient descent method, the online learning algorithm of NNI the smaller learning rate results in a long learning time.
is
IV. EXPERIMENT RESULTS
The plant is an AC squirrel-cage induction motor. The
parameters of motor are as shown in table 1. Schematic
diagram of experiment system with the NNI online learning
control for induction motor is shown in Fig. 4. The current is
measured by Hall sensor, and speed of induction motor could
be obtained through photoelectrical coder. The experiments
are based on DSP TMS320LF2407 produced by TI Co. The
experiment result is shown in Fig. 5. In order to prove the
effect of the decoupling control, we change the reference of
speed and flux respectively. The speed reference steps from 20
rad/s to 60 rad/s at t=8.5s, while flux reference steps from
Figure 3. Block diagram of online learning NNI controller 0.5Wb/m2 to 0.2Wb/m2at t=4s. From Fig. 4, when speed
changes suddenly, there is almost no effect on flux. When the
flux suddenly changes there is also no effect on speed.

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 TABLE I. PARAMETERS OF MOTOR is beneficial to the initial stability of the motor system and the
convergence of the NN. The online learning algorithm based
Parameter Value on the idea of basis functions can reduce the computation
burden. In the end, the system is implemented on Matlab-
Pe˄kW˅ 0.5
Simulink and DSP TMS320LF2407. Simulation and
ne˄rpm˅ 1800
experiment results show that the system has good dynamic and
J(kg·m2) 0.006
static properties and excellent characteristic of speed tracking,
Ue˄V˅ 380/220
and the decoupling effect between speed and flux is achieved.
Ie˄A˅ 2.4
Ls˄H˅ 0.51
Lr˄H˅ 0.52 REFERENCES
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[8] J. Gao, and F. Li, Analysis of AC Machines and Their Systems. Beijing:
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0 2 4 6 8 10 12 14
t(s)

(a) Speed

0.7
0.6
0.5
M/Wb/m2

0.4
0.3
0.2
0.1
0.0
-0.1
0 2 4 6 8 10 12 14
t(s)

(b) Flux

Figure 5. Simulation results of changing speed and flux

V. CONCLUSION
This paper has presented an online learning NNI
decoupling control scheme of induction motor. The online
learning NNI control is built on the NNI trained offline, which

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