Direct Torque Control of Induction Motor Based on Space Vector Modulation Using a Fuzzy Logic Speed Controller

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1 Volume 54, Numbe, Diect Toque Contol of Induction Moto Baed on Space Vecto Modulation Uing a Fuzzy Logic Speed Contolle Abdeelem CHIKHI ABSTRACT - In the pape, the popoed diect toque contol uing pace vecto modulation i baed on fuzzy logic technique to eplace popotional integal egulato PI anti-windup of the peed of induction moto, in ode to educe toque, flux ipple and get wifte epone velocity in compaion with the conventional DTC baed on SVM. The MATLAB SIMULINK pogamming envionment i ued a a imulation tool. The eult obtained, how the impotance of thi contol method. KEYWORDS: Induction moto IM, diect toque contol DTC, pace vecto modulation SVM, popotional integal PI, Fuzzy Logic contolle FLC 1. INTRODUCTION High dynamic pefomance of induction moto dive i indipenable in many application of today automatically contolled machine. Induction moto contol ha attacted much attention ecently in the powe electonic field. Vecto contol baed in oto flux oientation peent a majo diadvantage to be elatively enible to the machine paamete vaiation, fo uch eaon the diect toque contol (DTC) method of the induction machine have been developed duing the ninetie[1]. The baic concept i to contol both tato flux and electomagnetic toque of the machine imultaneouly. It imple tuctue i due to the ue two hyteei compaato and witching vecto table fo both flux and toque contol. The hyteei contolle i uually a two-value bang-bang contolle, which eult in taking the ame action fo the big toque eo and mall toque eo. Thu it may poduce big toque ipple []. To ovecome the above poblem, o fa a few eeache have peented, the DTC cheme uing the pace vecto modulation (SVM) technique. To contol the peed of an induction moto diven by the DTC-SVM. The Popotional-Integal contolle i alway the pefeed choice. Thi i becaue the implementation of the PI contolle equie minimal infomation about the moto, whee the contolle gain ae tuning until a atifactoy epone i obtained [3]. A, the induction moto i natually a non-linea ytem and i ubjected to paamete vaiation, extenal ditubance, and non-linea load, PI contolle may not give atifactoy pefomance when ubjected to thee condition a hown by [4,] Now a day fuzzy logic i conideed an inteeting altenative appoach fo it advantage: analyi cloe to that of the man opeato, ability of nonlinea ytem contol, bet dynamic pefomance and the inheent quality of obutne The objective of thi pape, fit to olve the poblem of toque ipple and incontant witch fequency of invete in the conventional diect toque contol, a new DTC-SVM method fo a peed contol of AC moto dive i popoed, econd, to contol the peed of AC moto diven by DTC-SVM uing fuzzy contolle In ode to impove wift epone, mall ovehooting and fine peciion in high and low peed.. PRINCIPLE Uing the vectoial expeion the machine in the efeence fame bind to the tato i defined by: d V RI dt d V 0 R I dt j (1) Fom the flux expeion, the oto cuent can be witten I 1 L m () L L L Lm With 1 (vaiability (catte) facto) LL The equation become: Manucipt eceived Mach 8, Mediamia Science Publihe. All ight eeved.

2 140 ACTA ELECTROTEHNICA d V RI dt d 1 Lm 1 j dt L Thee elation how that: (3) Il can poibly contol the vecto tating fom the V vecto, with the voltage dop RI The flux follow the vaiation of with time contant. The electomagnetic toque i popotional to the vectoial poduct of the tato and oto flux vecto. Lm elm p in (4) LL With Thu the toque depend on the amplitude and the elative poition of the two vecto and. If we manage to contol pefectly the flux (tating fom V ) in module and poition, we can thu contol the amplitude and the elative poition of and, conequently the toque. Thi can be poible only when the contol peiod T e of the voltage V i uch a [5] 3. DTC SPACE VECTOR MODULATION Te The tuctue of the DTC pace vecto modulation with fuzzy contolle peed a follow: 4. ADVANTAGES OF DTC-SVM In the DTC ytem, the ame active voltage vecto ae applied duing the whole ample peiod, and poibly eveal conecutive ample which give ie to elatively high ipple level in tato cuent, flux linkage and toque. One of popoal to minimie thee poblem i to intoduce Space Vecto Modulation (SVM), which i a pule width modulation technique that able to yntheie any voltage vecto lying inide the extant panned by the ix PWM voltage vecto. In thi method DTC SVM ha poved to geneate vey low toque and flux ipple while howing almot a good dynamic pefomance a the DTC ytem. The DTC-SVM ytem, though being a good pefome, but intoduce an exta complexity [6]. The fluctuation of the IM toque ha a cloed elationhip to the deviation fom an ideal otation tato flux vecto which ha a contant otational ef peed and a contant length. The diffeence between ef and, which i geneated in thee-phae PWM invete, caue toque pulation. The elationhip Fig. 1. The block cheme DTC pace vecto modulation with fuzzy contolle peed. between toque pulation ΔΓ e and the deviation of fom ef ha been deduced a: k k e e ef ef (5) Whee Γ e ef i the teady tate toque ΔΦ and Δδ ae epectively the deviation fom and δ which ae defined by: ef ef (6) Whee k and k ae the contant deived fom the IM pecification. The toque ipple i actually caued by ΔΦ and Δδ and the influence of the ΔΦ i conideably malle than that of Δδ. A a conequence the toque ipple can be almot emoved if Δδ i kept cloe to zeo. In Fig.1 one can notice that the toque eo ΔΓe and efeence tato flux amplitude ef ae deliveed to voltage vecto calculation which in it input give the deviation of efeence tato flux angle Fom the α, β axe component of the tato efeence voltage V e f, ae calculated a: Φ ef coδ+δδ -Φ ef coδ V α ef = +R I T α Φ ef inδ+δδ-φ ef inδ V β ef = +R I T β Whee the vecto magnitude and angle ae given a, (7) (8)

3 Volume 54, Numbe, V ef = V α ef +V β ef (9) α ef Vβ ef δ= actan (10) V Whee, T i the ample time of ytem q β d Δδ Fig.. Repeentation of tato flux vecto Φ and Φ ef.. 5. VOLTAGE SPACE VECTOR MODULATION The voltage vecto, poduced by a 3-phae invete, divide the pace vecto plane into ix ecto a hown in Fig.3. δ α Fig. 4. Pojection of the efeence voltage vecto. The et of the peiod pent in applying the nullvecto. Fo evey ecto, commutation peiod i calculated. The amount of time of vecto application can all be elated to the following vaiable: [7]. TS X V ef E T 6 Y V V E T 6 Z V V E ef ef ef ef (14) Table 1. Application duation of the ecto bounday Secto T1 T 1 Z Y Y -X 3 -Z X 4 -X Z 5 X -Y 6 -Y -Z Fig. 3. Diagam of the invete expoted voltage pace vecto. In evey ecto, the abitay voltage vecto i yntheied by baic pace voltage vecto of the two ide of ecto and one zeo vecto. Fo example, in the fit ecto, V i a yntheied by the voltage pace vecto equation (10) and (11), Vef T V 0 T 0 V 1 T 1 V T (11) T =T 0 +T 1 +T (1) Whee, T i the ample time of ytem, T 0, T 1 and T ae the wok time of baic pace voltage vecto V 0, V 1 and V epectively Fig. 4; with T 1 and T ae given by imple pojection: TS T1 6 V ef V ef E TS T V ef E (13) The thid tep i to compute the thee neceay duty cycle a: TS T1T Taon Tbon Taon T1 Tcon Tbon T (15) The lat tep i to aign the ight duty cycle (T xon ) to the ight moto phae accoding to the ecto. Table. Aigned duty cycle to the PWM output Secto Sa Tbon Taon Taon Tcon Tbon Tcon Sb Taon Tcon Tbon Tbon Tcon Taon Sc Tcon Tbon Tcon Taon Taon Tbon

4 14 ACTA ELECTROTEHNICA 6. MACHINE CONTROL WITH FUZZY CONTROLLER In the objective to cancel the tatic eo and to educe the time epone while peeving the ytem tability, the popotional integal coecto PI ued i eplaced with a fuzzy logic egulato Fuzzy logic egulato. The block diagam of the loop i made up mainly of the poce to contol, fuzzification block, infeence and defuzzification whee we define the membehip function of ε, Δε, and Δu fo the fit, fuzzy ule and thei deduction fo the econd and the conveion of fuzzy vaiable into deteminitic value fo the thid, of tandadization facto (G0, G1 and G) epectively aociated at the input ε =ω ef - ω, alo it vaiation Δε and the contol vaiation Δu [8]. 6.. Fuzzification It et on a poitioning of the field of poibilitie in fuzzy ubet Fo ou cae the egulato ha two input ε, Δε and fo the fuzzyfied output Δu a follow: fo ε et Δu, we have even linguitic tem (NS, NM, NB, EZ, PS, PM, PB) and fo Δε only thee which ae (N, EZ, P), each one of them i defined by a membehip function of the tiangula type accoding to figue.6 and 7. NS NM NB EZ PS PM PB Fig. 6. Fuzzy ubet ε and Δu. N EZ P Rule Fig. 5. Fuzzy logic contolle topology. Fig. 7. Fuzzy ubet Δε. The et of ule i decibed accoding to Mac Vica with the fomat If-Thu unde the fuzzy ule table with two input vaiable accoding to: ε Δε Δu Table 3. Deciion table Mac Vica NB NM NS EZ PS PM PB N NM NS EZ PS PM PB PB EZ NB NM NS EZ PS PM PB P NB NB NM NS EZ PS PM 6.4. Intefacing The choice of the infeence method depend upon the tatic and dynamic behavio of the ytem to egulate, the contol unit and epecially on the advantage of adjutment taken into account. We have adopted the infeence method Max-Min becaue it ha the advantage of being eay to implement on one hand and give bette eult on the othe hand [9] Defuzzyfication The mot ued defuzzification method i that of the cente of attaction of balanced height, ou choice i baed on the latte owing to the fact that it i eay to implement and doe not equie much calculation [10]. 7. SIMULATIONS RESULTS In ode to illutate the impovement that offe a fuzzy egulato with egad to a claic PI fo the tatic and dynamic pefomance of the contol of the aynchonou machine with DTC uing pace vecto modulation., we led a tudy of imulation with the ame tet condition uch a the thee tanitoy mode: a load le tating, an intoduction of a load toque and the inveion of the diection of peed otation, and to tet the contol obutne with epect to the paametic vaiation Intoduction of load toque To tet the adjutment obutne of the induction machine with fuzzy logic contolle we have intoduced a load toque of 5N.m at t=0.5 and to examine moe thi tet we have ued a tep of intuction of 5N.m at t=0.5, ee figue.8 It i noted that the peed eache it efeence = 100ad/ without going beyond and ef that the ditubance ejection due to the applied intuction of load at the vaiou above mentioned moment ae eliminated in contat to that obeved duing the adjutment by claic PI ee figue.7. It i alo noted that the egulation effect peit alway, indeed the electomagnetic toque act vey quickly to follow the intuction of intoduced load and peent a emakable eduction in the hamonic Inveion of peed diection of otation Figue.8 illutate clealy the obutne of fuzzy egulato paticulaly the peed epone with egad to a ignificant inveion of it efeence fom 100ad/ to -100ad/. and fo low peed fo 0ad/ to -0 ad/ it i clealy noted that the peed i etablihed without

Volume 54, Numbe, 013 143 a.1) a.) b.1) b.) c.1) c.) d.) d.1) e.) e.1) f.) going beyond and convege quickly to it efeence.

obtained by a claic PI. 8. CONCLUSION f.1) Fig. 8. The ytem epone with claic PI; a.1) flux tajectoy; b.1) module of flux; c.1) peed; d.1) toque fo intuction fo 5 N.m at 0.5; e.1) cuent; f.

Afte having choen the method of Simulink imulation and having confimed hi effectivene, we have ued thi imulation unde eveal opeating condition in ode to exploit with exactne the diffeent eult

But in pite of the obutne of FLC fuzzy logic contolle fo all the conideed vaiation (load toque and inveion of the peed diection of otation) with epect to claic PI, nevethele thee ae cetain eeve on

5 Volume 54, Numbe, a.1) a.) b.1) b.) c.1) c.) d.) d.1) e.) e.1) f.) going beyond and convege quickly to it efeence. Howeve the electomagnetic toque mak a peak at tating and anothe evee at the change of the peed diection of otation but the baking time at tating in the evee diection i elatively hote than that obtained by a claic PI. 8. CONCLUSION f.1) Fig. 8. The ytem epone with claic PI; a.1) flux tajectoy; b.1) module of flux; c.1) peed; d.1) toque fo intuction fo 5 N.m at 0.5; e.1) cuent; f.1) fo peed inveion of - 100d/ at t=0.5. In thi aticle we have intoduced the pinciple of the fuzzy logic contol and jutifying ou choice of thi method fo the contol of aynchonou machine. Afte having choen the method of Simulink imulation and having confimed hi effectivene, we have ued thi imulation unde eveal opeating condition in ode to exploit with exactne the diffeent eult obtained. Thu it wa clealy hown that fuzzy contolle exceed claic egulato. But in pite of the obutne of FLC fuzzy logic contolle fo all the conideed vaiation (load toque and inveion of the peed diection of otation) with epect to claic PI, nevethele thee ae cetain eeve on the chaacteitic of thi new contol technique when the opeating condition change in lage band. In concluion, it i believed that the DTC uing SVM pinciple will continue to play a tategic ole in the development of high pefomance dive. REFERENCES g.) Fig. 9. The ytem epone with fuzzy logic contolle; a.) flux tajectoy; b.) module of flux; c.) peed; d.) toque fo intuction fo 5 N.m at 0.5; e.) cuent; f.) fo peed inveion of - 100d/ at t=0.5; g.) fo peed inveion of -0d/ at t= X. del Too Gacia, A. Aia, M.G. Jayne, and P.A. Witting, Diect Toque contol of induction moto utilizing thee-level

144 ACTA ELECTROTEHNICA voltage ouce invete, IEEE Tanaction on Indutial Electonic, Vol. 55, No.,pp. 956-958, 008.. B.P. Panigahi, D. Paad, S.

6 144 ACTA ELECTROTEHNICA voltage ouce invete, IEEE Tanaction on Indutial Electonic, Vol. 55, No.,pp , B.P. Panigahi, D. Paad, S. Sengupta, A imple hadwae ealization of witching table baed diect toque contol of induction moto, Electic Powe Sytem Reeach, Vol. 77, No., pp , Z. Zhang, R. Tang, B. Bai, and D. Xie, Novel Diect Toque Contol Baed on Space Vecto Modulation With Adaptive Stato Flux Obeve fo Induction Moto, IEEE tanaction on Magnetic, vol. 46, no. 8, pp , G.R.A. Makadeh, J. Soltani: Robut Diect Toque and Flux Contol of Adjutable Speed enole induction Machine Dive baed on Space Vecto Modulation uing a PI pedictive Contolle, Electical Engineeing, Vol. 88, No. 6, Aug A. Sapin, P.K. Steame, J.J. Simond, Modeling imulation and tet of thee-level voltage-ouce-invete with output LC filte and diect toque contol, IEEE Tanaction on Induty Application, Vol. 43,No., pp , Ozkop E, Okumu H I, "Diect toque contol of induction moto uing pace vecto modulation (SVM-DTC)", 1th Intenational Middle-Eat on Powe Sytem, MEPCON, 008, pp J. Soltani, G.R A. Makadeh, and N.R. Abjadi, A new adaptive diect toque contol (DTC) cheme baed-on SVM fo adjutable peed enole induction moto dive, in ICEMS, Seoul, Koea, Oct. 8 11, pp , A. Miloudi, E.A. Al-adadi, A.D. Daou, A Vaiable Gain PI Contolle Ued fo Speed Contol of a Diect Toque Neuo Fuzzy Contolled Induction Machine Dive, Tuk Jou Elec Engin, vol. 15, no. 1, pp , J. Zhijun, H. Shimiao, C. Wenhui, A New Fuzzy Logic Toque Contol Scheme Baed on Vecto Contol and Diect Toque Contol fo Induction Machine, (ICICIC'08), S. Xi Liu, M. Yu W, Y. Guang Chen, S. Li, A Novel Fuzzy Diect Toque Contol Sytem fo Thee-level Invete-fed Induction Machine, Intenational Jounal of Automation and Computing, vol. 7, no. 1, pp , Febuay 010. Abdeelem Chikhi Depatment of Electical Engineeing Univeity of Batna Steet Chahid Med Boukhlouf Batna 05000, Algeia Fax: chikhi_alem@yahoo.f Abdeelem CHIKHI wa bon in Algeia in He eceived a Doctoal Degee in Dept. of Electical Engineeing fom Batna Univeity of Technologie Algeia in 013. Hi eeach inteet ae in the aea of analyi and contol.

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