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Multi-Objective Genetic-Fuzzy Optimal Design of PI Controller in the Indirect Field Oriented Control of an Induction Motor
M. Moallem, B. Mirzaeian, O. A. Mohammed, and C. Lucas
AbstractIn this paper, a novel multi-objective optimization method based on Genetic-Fuzzy Algorithm (GFA) is proposed. GFA is applied to optimize the five PI controller gains in the Indirect Field Oriented Control (IFOC) of an induction motor drive. The PI controller gains are designed to optimize the step response of the system. Rise-time, maximum over-shoot, settling time and steady state error are the objective functions. In this drive system, the simultaneous estimation of the rotor speed and time constant for a voltage source inverter-fed induction motor is discussed. The theory is based on the parallel Model Reference Adaptive Control System (MRAC). The vector control of the induction motor may be achieved in the rotor-flux-oriented frame. Furthermore, to eliminate the offset error caused by the change in the stator resistance, a fuzzy resistance is also designed. The simulation results of the new method for induction motor speed control is compared with the results obtained by the conventional method, which shows better performance. Index TermsGenetic algorithm, genetic-fuzzy algorithm, indirect field oriented control, multi-objective optimization.

II. GENETIC-FUZZY ALGORITHM The general multi-objective optimization problem can be stated as to find an dimensional vector, , such that: Maximize S.T. (1) Suppose that the number of population, , is fixed and each solution of the multi-objective problem defined as a chromo, with the length . some, In GFA, a probability function has been defined to select the best-fitted chromosomes for existing population. Mutation and recombination operators applied to create the new chromosomes for the new population. In the probability function, the objective functions are combined by fuzzy weights, so that the chromosomes with best performances for all objective functions have more chances to be chosen for participation in the next generation. Meanwhile, chances for participation of other chromosomes are not null. The probability function is defined as:

I. INTRODUCTION ENETIC algorithms (GAs) have been successfully applied to various optimization problems [1], [2]. The application of GAs to multi-objective optimization has been reported in several research works, for example see Schaffer [3] in 1985, Kursae [4] in 1991, Horn et al. [5] in 1994, Fonseca and Fleming [6][8] in 1993, Murata [9] in 1995, and Hisao and Tadahiko [10] in 1998. In this paper, a new method based on genetic-fuzzy algorithm for multi-objective optimization is proposed. GFA is an evolutionary algorithm. The method maintains a population of candidate solutions for a given problem. Individuals are evaluated and assigned fitness values based on their relative performance. Then, they are given a chance to be reproduced, i.e., replicate themselves a number of times proportional to their fitness. The offspring are modified by means of mutation and/or recombination operators before they are evaluated, and subsequently reinserted in the population.

(2)

is the fitness number of the th In this equation, is number of objective function for the th chromosome, is the number of the chromosomes the objective functions, , is the fuzzy weight which shows the in population and, goodness of the th objective function. The fitness number of the th objective function for th chromosome defined as: if if (3) is the fitness value for the th obIn this equation is the summation of the positive fitness jective function and values. Fitness value for each objective function is defined as:

Manuscript received June 5, 2000. M. Moallem, B. Mirzaeian are with Isfahan University of Technology, Department of Electrical Engineering, Isfahan, Iran. O. A. Mohammed is with the Electrical and Computer Engineering Department Florida International University Miami, FL 33174 USA. C. Lucas is with Tehran University, Electrical Engineering Department, Tehran, Iran. Publisher Item Identifier S 0018-9464(01)07881-5.

(4)

00189464/01$10.00 2001 IEEE

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where, is the mean value of the th objective function in is the fuzzy weight, which population sequences. In (2), shows the goodness of the th chromosome for the th objec, the first stage is to fuzzify the obtive function. To define jective functions. The membership function for the th fuzzy objective function is:

if if if (5) is a mapping from the real number set to where, the closed interval [0,1], which is a measure of the degree of ; , in the th satisfaction for any, fuzzy objective function. and represent the minimum and maximum values for the objective function respectively and defined as:

(6)

(7) The membership weighting factor is formulated as follows: (8) and fuzzy weight, , is defined as:

(9) III. FIELD ORIENTED CONTROL OF INDUCTION MOTOR Field oriented control of induction motor drive has been discussed in literature [11][13]. This method gives elegant way of achieving high performance control of induction motor drives. Estimation of the magnitude and phase of the rotor flux is crucial to the implementation of this method. Direct methods of sensing the flux by fabrication of hardware around the motor have proven to be inaccurate at very low speeds. The problem can be overcome using an indirect model of the rotor, which is excited by measured machine state variables, like speed, currents and voltages. The model calculates both the modulus and phase angle of the rotor flux. The accuracy of this model depends very much on the accuracy of motor parameters, especially the rotor time constant which inturn depends on the accuracy of the rotor resistance and the inductance. The advantages of using speed sensorless drives are clear, the machine setup and maintenance are simple because no shaft

sensor is required. The system becomes more robust and less sensitive to the environmental noise and the overall system cost is reduced. Like the systems using the actual measured speed, sensorless shames have the disadvantage of being sensitive to motor range. For high performance drives, this is a serious drawback. In other to eliminate the above-mentioned drawback a possible solution is to estimate the rotor speed by employing the adaptation techniques. So far a few method has been reported in order to estimate the speed of induction motor drives [14][19]. The present paper continues the method presented in [19]. In [19], Shinzo Tami and his colleagues proposed a rotor speed identification method of an induction motor based on MRAC, in which the induction motor is vector controlled. They did not taken into account the rotor time constant variation in their method. These variations caused by some existing effects inside the motor such as magnetic saturation, skin effects and temperature. The estimated rotor speed of any induction motor depends on its rotor time constant. Therefore, these two variables have to be estimated simultaneously, otherwise the rotor speed estimation is not accurate, especially at motor low speed operations. In the other hand, it should be noted that the motor parameters, which are usually taken from the manufacture catalogue, are very far from the same parameters but for the motor operation points. Therefore designing of the PI regulators based on the motor fixed parameters can not be guaranteed that these regulators could be tuned to the rotor parameter variations. As a results the system stability may be lost. The above mentioned problems can be solved by simultaneous estimation of the rotor speed and time constant. Among the adaptation methods has been reported, it has been shown the MRAC, is one the most powerful and efficient adaptation methods [14][20], even compare to Kaman filter. Therefore, the present paper has continued the same method described in [19], with the main objective of getting more important in applying the MRAC technique on the induction motor drives. Instead of the PWM current controlled voltage source inverter used in [19], a PWM voltage source inverter with a new trapezoidal control voltage waveform is employed to supply the induction motor. This inverter considerably reduces the torque pulsation and losses. The stator resistance is one of the main machine parameters, which is employed by drive/system controllers. An offset error usually exists due to the smooth change in this resistance with temperature. To eliminate this error an on-line fuzzy resistance estimator is designed which operates in parallel with the MRAC control system. This fuzzy regulator identifies the error in the stator resistance and corrects. Consequently, the drive/system performance may be improved, especially at low speed operation. To construct a mathematical model of the induction machine, PWM voltage source inverter set, which can be used to model the drive/system on a PC. To obtain such a model, the machine voltage equations are written in the rotor-flux oriented reference frame, [20] (10)

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Fig. 1.

Block diagram of the drive and fuzzy estimator. TABLE I FUZZY RULES FOR FUZZY RESISTANCE ESTIMATOR

(11) (12) (13) where , are the machine spatial inductance, is the stator vector flux, is the rotor vector flux, and is the rotor magnetizing current. from (13) into (11), this equation is Substituting for rewritten as: (14) is the rotor time constant. Where Splitting (14) into real and imaginary parts follows that: (15) (16) represents the electrical anIn (16), the term, gular slip velocity of the rotor. Equation (15) shows that if is constant then, . This implies that like a separately excited DC motor at below base speed, there is no field weakening and therefore, the electromagnetic torque is determined by . In this condition the modulus of the rotor vector flux can be kept at a desired level by controlling . From (13)(15), it can and the stator current be concluded that once the rotor speed and ,are known, the rotor slip speed, and components is obtained. consequently the speed of rotor vector flux, , and

Using the previous equations, we have: (17) (18) Resolving (17) and (18) into decoupled and coupled terms, it follows that: (19) (20) (21) (22) (23) (24) Fig. 1, shows the block diagram of indirect rotor flux oriented control of a voltage source inverter-fed induction motor drive. In this system, the rotor speed and time constant are estimated simultaneously and a fuzzy resistance estimator corrects the stator resistance. The flux model shown in Fig. 1, is used to calculate

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TABLE II OPTIMAL PERFORMANCES OF THE SYSTEM COMPARED WITH THE CONVENTIONAL METHOD Motor reference speed is 200 rpm and initial speed is zero

TABLE III INDUCTION MOTOR PARAMETERS

the modulus and velocity of the rotor vector flux , These are used in the decoupling circuits and also in calculating the motor torque given by the following equation: (25) , and The PI speed controller gives the reference torque, torque PI controller gives the reference value of the stator cur. The function generator is speed dependent and is rent, used to determine the modulus of the rotor reference magne. Below base speed, is kept at its tizing flux, nominal value and above the base speed it is reduced inversely proportional to the rotor speed, (Field weakening). The output . The signal errors, , of the PI flux controller is serve as inputs to the PI current controllers, their and and are used in (21) and (23) to calculate outputs are and . the stator voltage components The offset error caused by the change in the stator resistance affects both the decoupler voltage circuit and the rotor speed and the rotor speed and time constant identifier, especially at low rotor speeds. In other to eliminate this error, a fuzzy resistance estimator is designed. Equation (25) shows that for constant values of torque and rotor flux, the stator quadrate curis constant. Also, from (15), with a constant modulus rent should be of rotor vector flux, the stator current component constant and consequently, the magnitude of the stator current , should be constant. Thus, in the steady state condition and at below base speed operation any change in is merely due to the stator resistance. Therefore, at each time the change in step, , the fuzzy resistance estimation requires the error of the as well as the change in of error. These are stator current, given by: (26) (27) In this equation, the stator reference current corresponding to and ) the rotor flux and torque signal command, ( obtained.

General rule for the fuzzy resistance estimator as bellows: if is and is then for (28) for (29) for (30) where is positive large, is positive small, is zero, is negative small, and is negative large. From these fuzzy sets, twenty-five rules can be obtained for fuzzy rule base. These rules can be seen in Table I. From the knowledge base, according to ZadehMamdani compositional rule of reference, the fuzzy value of stator resistance error can be obtained. The resistance error value can be obtained by center of gravity defuzzification method. IV. SIMULATION RESULTS The simulation results of the new method for an IM drive are compared with the results obtained by the conventional method in Table II. The results by new method show improvement for all objective functions. The parameters of the induction motor are given in Table III. V. CONCLUSION In this paper, a new method based on genetic fuzzy algorithms for multi-objective optimization process is proposed. The method is successfully applied for optimal design of five PI controllers in the vector control of induction motor drive. In drive system, based on the theory of MRAC, the simultaneous estimation of the rotor speed and time constant has been described and a fuzzy resistance estimator has been designed to eliminate the error caused due to the change in the stator resistance.

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The new GFA method has shown promising success in the multi-objective optimization problems with constraints. Specially, it is suitable for optimization problems which consist of many constrained parameters and several contradictory objective function.

[9] [10] [11] [12]

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