IMPROVED PERFORMANCE

OF PMSM BY GA TECHNIQUE

Nagendra Nandan Shukla

Neha Chaudhary
Nikhil Agrawal

Guided by-
Miss Deepti Yadav
 Contents
Introduction
PMSM
Genetic Algorithm
Differences between GAs and traditional optimization methods
Tuning of PID speed controller using MOGA in PMSMs
Results and simulations
Conclusion
 Introduction
The design of a speed controller forms a major part of the motor control
system to improve the torque and the speed characteristics in normal and
dynamic conditions.

A number of design techniques are devised to obtain a perfect controller

characteristic using Artificial Intelligent (AI) schemes.

The designing of the PID speed controller includes replacing the existing
controller by a new one or improvement of the existing controller by tuning .

Here Multi objective Genetic Algorithm has been used as an AI technique to

tune PID speed controller in PMSMs.
 PMSM
In a permanent magnet synchronous motor (PMSM), the dc field
winding of the rotor is replaced by a permanent magnet.

The advantages of PMSM are elimination of field copper loss, higher

power density, lower rotor inertia and more robust construction of the
rotor.

Due to simplicity, small steady-state error and low cost, the PID
controller has been used widely. If PID parameters are not chosen
carefully, the system becomes unstable.
 Genetic Algorithms
Search Algorithms based on mechanics of natural selection and natural
genetics.

Developed by Prof. John Holland, his colleagues and students at the

University of Michigan around 1975.

Based on the survival of the fittest concept (Darwinian Concept)

Simulates the process of evolution.

 Central theme of research on Genetic Algorithms

Robustness: Balance between efficacy and efficiency necessary for

survival in different environments.

If robustness is the objective, nature is the clear winner because of its

properties of self repair, self guidance and reproduction. These
properties are not common, even in sophisticated man-made designs.

Careful study of biological examples or evolution- Insight on survival

and adaption.
 Basic Genetic Algorithm
A population to 2n to 4n trial solutions is used (n- number of
variables).

Each solution is represented by a string of binary variables,

corresponding to chromosomes in genetics.

The string length can be made large enough to achieve any desired
fitness of approximation and thus any desired accuracy can be
achieved.
 Difference between GAs and Traditional
Optimization Methods
GAs work with the coding of parameter set, not the parameters
themselves.

GAs search for population of points, not a single point.

GAs use the objective function information, not the derivative or

second derivative.

GAs use the stochastic transition rules, not deterministic rules.

 The numerical value of the objective function corresponds to concept of
fitness in genetics.

After trial solutions are selected, a new generation (a new set of strings) is
produced by selecting, using stochastic principles, the fittest parents to
produce children from among the trial solutions.

In each child, crossover or exchange of portion of string of each of the two

parents generates new solution.

Some random alteration of binary digits in a string produces the (advantages

and disadvantages) effects of mutations.
 Tuning of PID Speed Controller Using
MOGA in PMSMs
The results of the tuning of the PID controller gains in multi objective
GA method are obtained by minimization of the four standard control
performance criteria, i.e. performance indices (PINs), evaluated over a
finite time.

These PINs are IAE (Integral Absolute Error), ISE (Integral square
error), ITAE (Integral Time-weighted Absolute Error) and ITSE
(Integral Time-weighted Square Error).
 These PINs are taken up as four different objective functions which are satisfied
simultaneously to obtain a Pareto set of optimized gains of the PID controller.

These optimized values of gains when put in the speed controllers of the
PMSMs resulted in the improved performances in terms of the transient
response specifications when compared against the Z-N method tuned PID
controller.

The values obtained from Multi Objective GA are:

Kp=1.04587
Ki=3.00487
Kd=0.000741
PMSM Speed Controller Model
Flowchart for GA algorithm employed in PMSMs
 Results
Plot showing average Pareto distance against number of generations
Starting Characterstic of PMSM using ZN PID Controller
Starting Characterstic of PMSM using MOGA PID Controller
Load Characterstic of PMSM using ZN PID Controller
Load Characterstic of PMSM using MOGA PID Controller
Speed Reversal Characterstic of PMSM using ZN PID Controller
Speed Reversal Characterstic of PMSM using ZN PID Controller
Comparison between different specifications of ZN tuned and GA tuned PID Speed Controll
 Conclusion
The performance and stability of the PMSM motor has improved by
tuning PID parameters effectively using GA technique.

The simulation results show that the proposed controller can perform
an efficient search for the optimal gains of PID controller. Through
comparing between GA method and ZN technique, it shows that GA
method can improve the dynamic performance of the system in a
better way.
THANK YOU