A Simplified Adaptive Neuro-Fuzzy Inference System Control Strategy for PMSM drives

Mustafa Khalid Masood, Hew Wooi Ping, Nasrudin Abd Rahim

University Malayas Power Electronics Dedicated Advanced Centre (UMPEDAC) Kuala Lumpur, Malaysia mkm_imn@hotmail.com, wphew@um.edu.my, nasrudin@um.edu.my

Abstract Adaptive Neuro-Fuzzy Inference Systems (ANFIS) combine the advantages of fuzzy logic and neural networks, the former allowing the incorporation of expert knowledge in the definition of inputs and the latter allowing training for adaptability. Offline training of ANFIS often requires formidable amounts of data. In this paper, a simplified ANFIS-based control strategy is presented for a vector controlled Permanent Magnet Synchronous Motor (PMSM) drive. The ANFIS uses the speed error as the only input, with three membership functions and thus only three rules. Offline training is performed for the ANFIS to learn to output the appropriate values of torque producing current isq based on the speed error. Results of MATLAB simulation show excellent speed response of the PMSM drive in both transient and steady state conditions. Keywords ANFIS, PMSM, Membership functions

To select the best parameters of the fuzzy inference system, an ANFIS can either be trained offline with reference data or online using tuning equations. So as to avoid training with large amounts of data, most researchers have opted for online training of ANFIS for use in PMSM drives [8]-[10]. Offline training of an ANFIS for speed control of a PMSM drive was conducted in [11]. A total of seven Gaussian membership functions were used for two inputs, thus leading to 49 rules. In this paper however, an ANFIS is trained offline using just one input with only three membership functions and three rules. Thus, the excellent speed response comes with a considerable reduction in computational burden. Additionally, the time required for training is greatly reduced. The PMSM drive is simulated in MATLAB/Simulink. II. PMSM DRIVE

I.

INTRODUCTION

Research and industrial use of Permanent Magnet Synchronous Motors (PMSM) is progressing fast, owing to factors such as high efficiency, fast response and robustness. They currently function as actuators in many highperformance industrial automation applications. The control of PMSMs, as that of all variable speed drives, involves a great deal of uncertainty. Conventional controllers such as PI controllers are not able to cope well with the nonlinearity of motor drive control. To remedy this, a number of intelligent techniques have been proposed over the years. Fuzzy logic, by offering a way to incorporate expert knowledge into the control through its membership functions, has been shown to perform very well in vector control of AC motor drives[1]-[3]. Neural networks have offered the advantage of adaptability and have also been tested successfully with PMSMs[4]-[6]. However, fuzzy logic depends on a good deal of trial and error in the selection of membership functions, while neural networks require huge training data sets to function well. An excellent solution emerged in the form of the Adaptive Neuro-Fuzzy Inference System (ANFIS)[7], which allowed the use of training algorithms to select the right parameters of fuzzy inference systems. It thus combined the advantages of fuzzy logic and neural networks.

Representing the three phase stator winding of a surfacemounted PMSM by an equivalent two-phase winding containing direct (d) and quadrature (q) axes, the stator voltages can be expressed as:

vsd = Rsisd + Ls vsq = Rsisq + Ls

where

d isd m Lsisq dt

(1) (2)

d isq m ( Lsisd + fd ) dt

m is the electrical speed and fd is the d-axis flux due

to the permanent magnets of the rotor. The flux linkages can be represented as follows:

sd = Ls isd + fd sq = Ls isq

(3) (4)

Field Oriented Control (FOC) is used for the PMSM drive. The expression for generated torque is:

T=

p fd .isq 2

(5)

This University of Malaya, provision of high impact research, Grant No, D000022-16601, hybrid solar energy research suitable for rural electrification and University Malayas Power Electronics Dedicated Advanced Centre (UMPEDAC).

For simplicity, the flux density is maintained constant, which means isd is kept zero. The key control variable is therefore the torque-producing component of the current The parameters of the motor are: Rs = 1.6 ; Ld = Lq = 0.0065H ; fd = 0.1852V .s ;

isq .

x<a 0 ( x a ) ( b a ) a x b Oi1 = Ai ( x) = ( c x ) ( c b ) b x c 0 x>c where a,b and c are called antecedent parameters.

(6)

J = 1.854e 4kg.m 2 ; Friction factor = 5.396e 5 ; P = 4.

Layer 2: Firing strengths

Oi2 = wi = Ai ( x). B i ( y)
Layer 3: Normalisation of firing strengths

(7)

Oi3 = wi =
Layer 4: Fuzzy output

wi wi + w2

(8)

Oi4 = wi f i = wi ( pi x + qi )
Fig. 1. PMSM drive with ANFIS speed controller

(9)

Layer 5: Crisp output

III.

ANFIS CONTROLLER

Oi5
The fuzzy inference system used contains only one input, the speed error. Triangular membership functions are chosen as they reduce the computational burden in comparison to the sigmoidal membership functions used in [11], which is an additional advantage besides the reduction in number of inputs. The ANFIS structure is shown in Fig.2 and explained below.

wi f i = wi f i = i wi i
i

(10)

IV.

OFFLINE TRAINING

Fig. 2. Structure of ANFIS

The function of each layer is as follows: Layer 1: Degrees of membership

To train the ANFIS, a set of reference inputs and corresponding outputs was first created. A PID controlled drive was used to generate the reference values. The data set incorporated the response of the drive at varying speeds with and without load. The training algorithm used was the hybrid learning algorithm [12], which combines the least squares estimate with backpropagation. Premise parameters are first initialized using grid partition. These are kept fixed in the forward pass. Based on the error between the desired value of iq and the actual value, the backpropagation algorithm adjusts the weights of the ANFIS. This is continued until the error is within the tolerance limit. The final membership functions after training are shown in Fig.3. Note that both the range and width of the membership functions is modified by the algorithm to minimize the objective function. Table 1 depicts the rule base. With only one input and three membership functions, there are only 31=3 rules.

Fig. 3. Membership functions after ANFIS training

ANFIS response Command Speed PID response

1500

Speed (rpm)
0 0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Time (sec)

Fig. 4. Speed response of ANFIS controller vs PID controller for 1500rpm command speed

ANFIS response Command Speed PID response

800

Speed (rpm)
0 0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Time (sec)
Fig. 5. Speed response of ANFIS controller vs PID controller for 800rpm command speed

ANFIS response Command Speed PID response Speed (rpm)

1500

1000

0 0

0.5

1.5

2.5

Time (sec)

Fig. 6. Speed response of ANFIS controller vs PID controller for step change in command speed

ANFIS response Command Speed PID response

800

Speed (rpm)
0 0

0.5

1.5

2.5

3.5

Time (sec)
Fig. 7. Speed response of ANFIS controller vs PID controller for step change in load

TABLE I RULE BASE OF FUZZY INFERENCE SYSTEM If is N then iq is -0.001602 + 0.001909 If is Z then iq is -0.003849 + 0.403 If is P then iq is 0.004414 + 0.0000441 the PID controller. Additionally, the ANFIS response has no overshoot. The steady state error is also zero. The response of the drive at 800 rpm is shown in Fig.5. Also, Fig.6 shows the response for a step change in command speed. Both transient and steady state responses are excellent and considerably improved over the PID controller. To check the robustness of the controller, a step change in load was introduced at 1.5 seconds, as is seen in Fig.7. The controller quickly recovers from the change and maintains zero steady state error, much faster than the PID controller. VI. CONCLUSION A simplified ANFIS controller for a vector controlled

V.

SIMULATION RESULTS

The speed response of the simulated drive for a command speed of 1500 rpm is shown in Fig.4. For comparison, the response of a PID controlled drive is included as well. The ANFIS has a low settling time of 0.2s, compared to 0.53s for

PMSM drive was implemented in this paper. Having only one input with only three membership functions, the controller greatly reduced computational burden. The speed response was shown to be excellent for varying speeds and even with variation in load. Future works could seek to implement the control strategy with hardware. REFERENCES
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