ena. 1s SeRAIEEEIICALY CALE 94 te nate it | NEW DIRECTIONS IN CONTROL & AUTOMATION ZUNE 19-27, 1994 | MALEME- CHANIA, CRETE, GREECE. T2-13 ‘FORQUE-SPEED REGULATION OF INDUCTION MOTOR DRIVES USING NEURAL NETWORK BASED CONTROLLER, G.EI-Saady and A.M.Sharaf Electrical Engineering Dept. University of NewBrunswick Fredericton 4400 N.B. E3B 5A3_ CANADA Key Words: Expert System Neural Network Electric Motor Drives ABSTRACT ‘The paper presents a novel neural network hybrid control strategy for speed-torque regulation of induction motor drives using a tunable neural network based contoller. A PI controller is used for speed loop regulation with neural network based regulating loop controlling the motor torque/current:The on-line tuning algorithm of the neural network is based on the induction motor speed error , therefore successive on-line weights adaptation can be achieved for on-line tunable neural network parameters. Simulation results show the robustness and effectiveness of this new control strategy jn enhancing the transient and steady state tacking performance of the induction motor drive system, hence resulting in high performance drive scheme with adaptive gain-dynamic neural network based controller JHNTRODUCTION ‘The squirrel cage induction motor is considered as a constant speed motor drive compared to the dc moter. ‘This is due to fixed voltage and frequency of a-c supply.The d-c motor drives are used in various application in the industry for its fast response as it is simple and easy to change the motor speed{!,2] However, d-c machines has some demir such as commutation problems , frequent maintenance size and environmental issues in hazardous industries, On the contrary , the squirrel-cage induction motor is rugged in the construction, less costly in comparison with the d-< motor and requires Jess-maintenance . With advent of power electronics with high voltage and current ratings 22k AMakky/M.ELSherbiny and G.Mohamed Blecaical Engineering Dept. Faculty of Engineering Assiut University Assiut, EGYPT ‘and the adjustable voltage/frequency a-¢ supply became available .This development revolutionize the use of the squirrel -cage induction motor to replace the competitor d- ¢ machine in different industrial applications especially in the hazard environment(3-7].The induction machine behaves as nonlinear highly coupled dynamic system , therefore the nonlinear control method is considered appropriate . But all'non linear control techniques are very complicated and computionally demanding and difficult to implement in real-time control. The other solution for speed regulation of induction machines is to Janiaries the drive model at certain operating point ,and, then apply the linear control theory linearization is not accurate and does not give Howeve ‘ood performance at all operation conditions. When the machine parameters change with time the adaptive non linear control method is used with model reference system to adjust the controller parameters ensuring the drive plant(induction motor) is following the reference model response{8].This scheme is also complex and require ‘computational time for estimation and control adaptation. ‘The present paper introduces a novel control strategy fér speed and torque regulations of induction motor using ANN based controller.The scheme consists of two control loops , one of them is called the main speed loop tusing a PI controller. While the inner supplementary loop is for torqueicurrent Updating the weights of ANN is achieved on-line using the motor speed error. The back- propagation "6" leaming method is applied to tune the ANN control parameters . Sarple dynamic simulation and, laboratory validation results are shown to validate the new. hybrid speed-torque control strategy. 2-SCHEME DESCRIPTION: : ‘The schematic shown in fig(1) depicts the induction motor drive system with the ANN based controller.This scheme comprises of following components: 2.4: PI controller ‘The input to the PI controller is the speed error between reference speed and motor speed from tachometer.This controller is used as the main speed regulator in outer loop of the control system,with reference current output. The parameters of the PI controller is adjusted to give fast dynamic response without excessive overshoot or motor current excursions Following the PI controller is the current limiter to ensure limited over load motor current capability 2.2: ANN based controller ‘The input vector to the ANN based control loop comprises. seven : ‘Acmotor reference current at sampling instant (k) B-current error between reference current and motor current at sampling instant(k) ¢;(k) C-current error at sampling instant(k-1) _ey(k-1) D- current error at time instant(k-2) _ ¢,(k-2) E-feedback signal from ANN output at the instant (k-1) for rate stabilization Fefeedback signal from ANN output at time (K-2) for better nonlinear mapping G-cumulative rw given by rw=sqrt(ey(k)**2+ey(k-1)**2+e(K-2)%*2) to stabilize the ANN controller.This is an added synthesized input signal ‘measuring the level of excursions vector ‘The inner loop in the control system which contains the ANN controller is used to adapt the motor torque or ‘current for any load excursion or any sudden disturbances It also ensures better speed tracking and fast dynamic response. Updating the weights and biases of the ANN based controller is carried out on- line using the back- propagation learning method to minimize error squared criterion(SEE)=[ew|**2 . The sampling interval is selected at 4ms to ensure fast torque adaptation and cumultave successive weight adaptation and neural network tuning. 2.3: motor drive system ‘The drive system which supplies the induction motor by electric energy is a voltage source inverter fed (VSI) structure that has adjustable voltage and frequency.The control input to the inverter are the reference frequency (Free from ANN Based controller and the reference voltage (Vee derived from a constant volt per hertz(V/F) strategy. 2.4; three-phase squirrel cage induction motor ‘The induction motor used in both simulation and testing has the following parameters : 1/4 Hp,208 volt 60 Hz,1.2 amp.1720 rpm and stator resistance is 0.198 p.u,, rotor resistance is 0.135 p.u. stator leakage reactance is 0.117 p.u, rotor leakage reactance is 0.117 pu, magnetizing reactance is 2.2 pa. All the above p.u.values are calculated on the rated based values V base=208.0 volt, P base =.25 Hp, I base=1.3 amp. 3-DISCRETE-TIME MODELLING of VOLTAGE- FED INDUCTION MOTOR DRIVE Basically, the motor drive system comprises a voltage source inverter-fed motor(VSIM) :namely a controlled rectifier, a de link filter, a three-phase inverter, and the induction motor. The squirtel-cage induction motor voltage equations which are based on an orthogonal d-q reference rotating frame where the co-ordinates rotates with the controlled source frequency. The model details are given in reference{!3]. 4 ARTIFICIAL NEURAL NETWORK AND BACK PROPAGATION LEARNING ALGORITHM In recent years,research in the field of artificial neural ‘networks(ANNs) has achieved significant successes. Detailed introduction and classification are given inrefs [9] and [10] respectively. Research has proven that an ANNs feedforward structure fase mumber of advantages: (@ Capability of synthesizing complex and transparent inpuoutput mapping and relationships (b) fast camputional performance (©) Robustness in terms of noise and fault tolerance (@) Adaptivity to performance requirements using enhanced predictor input vector (©) Flexible software simulation and low cost hardware implementation (0 Less computer memory requirements ‘A multilayer feedforward neural network , which is called"the connectionist model", is used as a basic structure in this paper.The network consists of some layers, namely, an input layer, hidden layers and an output layer.Each layer includes several numbers of reurons(cfFig. 1). When there are no recurrent connections, the processing of th i-th neuron of the n-th layer is given uf = Yolx, + e fo). se (1) ‘Where U;' is the membrane potential, X;* is the output , Wis the synaptic weight of the connection from the j-th neuron of the n-th layer, and 0; is the threshold(bias) value. f{U) is the output function ‘of the neuron, which is sigmoidal except in the input layer, and is defined by: |g input layer , fu) sy" é Syne |)» te others. . .(2) Trepp) ‘The behavior of the network is determined by the set of synaptic weights w and thresholds values @. These values are changed in order to implement a specific function, This process is called leaming, which can be executed ‘with the following Error Back-Propagation method.Let the potential function E represent the summation of the output errors 8s: B12 E (4-0)? ® Here,o; is the output of the network corresponding to a certain set of inputs and t, is the desired output. The objective of learning is to minimize the potential function E. According to the maximum, gradient scheme. Each synaptic weight a, should be changed by Aa*y OE 30%, Aol, a ‘Where 1 is the parameter which determines the speed of leaning , 8, is the error signal based on the generalized Delta Rule and is obtained by substituting equations (12) and (3) into eqn (4) as: (er 04) f:(0,) output Layer ae ochere . . (3? ‘To stabilize the iterative calculation of Aaxy in eqn (4), the equation (6) is used which is given by Ao") GH) = nex; tadoty © Where Aat(p) is the changing rate of the synaptic weight atthe pth step ofthe iterative calculation. i the parameter which determines momentum of leaming 6°, should be changed in the same manner as eqn (6) by substituting 1 for X°,. Thus , multilayered neural networks, afer training come to represent a nonlinear function approximator and mapping between the: input and output patterns.When the leaming procedure is {implemented as a built-in mechanism,neural networks can automatically acquire new information-processing abilities as specified by a given desired output response. ‘After presentation of the first input-output pair, one