18th Mediterranean Conference on Control & Automation Congress Palace Hotel, Marrakech, Morocco June 23-25, 2010

A New Adaptive Fuzzy Vector Control for Permanent Magnet Synchronous Motor Drive
K. Hakiki, A. Meroufel, V. Cocquempot, M. Chenafa
algorithms. Fuzzy logic control (FLC) technique can be considered as an alternative to conventional feedback approaches to control complex nonlinear plants where mathematical modelling is uncertain [6,7]. This technique has been successfully applied to electrical motor drives [810, 12]. The main advantage of FLC resides in the fact that no mathematical modelling is a priori required to design the control law. The fuzzy controller uses a set of control rules that are based essentially on the knowledge of the system behaviour and the experience of the control. Fuzzy controllers, like conventional PID controllers, cannot adapt themselves to changes in operation conditions such as varying mechanical parameters. To ensure optimum control performance over a wide range of parameter variations, adaptive fuzzy techniques may be used [13, 14]. In this paper, a new adaptive fuzzy control law is designed. The scheme differs from that presented in [13, 14] which uses a classical adaptation mechanism. This work proposes an adaptive fuzzy speed controller for field oriented PMSM fed by voltage source inverter in which the system output tracks very closely the reference model even with increasing inertia, augmented stator resistance and load variations. This paper is organized as follows. In Section 2, the PMSM Field Oriented Control (FOC) technique is recalled. In section 3, FLC principle is presented and applied to PMSM fed by PWM voltage source inverter. Then, an adaptation mechanism using the reference model approach is developed. In section 4, the control performance of the fuzzy adaptive controller is evaluated by simulation in different operating conditions. The results are compared with that provided by a classical fuzzy controller. Implementation approaches of the proposed adaptive FLC are discussed. Finally, concluding remarks end the paper. II. CONTROL OF PMSM A. Mathematical model of the PMSM The electrical equations of the PMSM in the rotor (dq) reference frame are as follows [2,3]: d vd = Rs id + Ld dt id r Lq iq (a) v = R i + L d i + ( L i + ) s q q q r d d f (1) q dt d = Ld id + f (b ) q = Lq iq

Abstract The control of a permanent-magnet synchronous motor (PMSM) is a nontrivial issue in AC drives, because of its nonlinear dynamics and time-varying parameters. This paper investigates the application of a new adaptive logic fuzzy controller (FLC) for the speed control of field oriented PMSM fed by voltage source inverter. A model-reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and changes of error measured between the motor speed and the output of a reference model. To make the controller less dependent on the quality of the expert knowledge, the fuzzy speed controller is augmented by the model following error driven fuzzy adaptive mechanism to provide fast and robust control for various operating conditions. The effectiveness of the proposed control is illustrated by numerical simulation results.

I. INTRODUCTION

ERMANENT magnet synchronous motor (PMSM)

drives are widely used for high-performance industrial servo applications like robotics and aerospace actuators [1]. This popularity is justified by numerous advantages over commonly used motors. The absence of the external rotor excitation eliminates losses on the rotor and makes PMSM highly efficient. In addition, the absence of the rotor winding renders slip rings on the rotor and brushes obsolete, and thus reduces the maintenance cost. New magnetic materials are capable of creating high magnetic fields which yield high power density. This in turn implies rapid dynamic response due to high torque inertia ratio. In many applications, PMSM drives are preferred because the control system is usually less complex than that of field oriented induction motor drives. To perform speed control of typical PMSM drives, PI controllers and vector control method are classically used. However, in industrial applications, the motor parameters are subject to change during drive operation. This leads to decrease the performances of the pre-designed control. In order to cope with this robustness problem, adaptive control techniques [2-5, 11] have been proposed. In most cases, on-line estimation of the system parameters is required, resulting in complex control
Manuscript received May 5, 2010. K. Hakiki and M. Chenafa are with LAAS ENSET, RP 1523 Oran Algeria hakikikhalid@yahoo.fr, mchenafa@yahoo.fr. V. Cocquempot is LAGIS FRE 3303, Lille 1 University, France vincent.cocquempot@univ-lille1.fr; T. A. Meroufel is with I.C.E.P.S, Faculty of engineer sciences, Sidi-Bel-Abbs University, Algeria , ameroufel@yahoo.fr

978-1-4244-8092-0/10/$26.00 2010 IEEE

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And the electromagnetic torque is The mechanical equation can be written as:

d r dt = (Ce TL f r r ) / J C = 3 p i ( L L )i i q d d q e 2 f q
where
Rs is the stator resistance,

(2)

Ce = kt iq 3 kt = p f 2

(7)

Note that the electromagnetic torque equation is similar to that of DC motor

Ld , Lq are stator

inductances in (d,q) frame, r is the rotor speed, ( d , q ) are stator flux,

f rotor flux, ( (id , iq ) and (vd , vq ) are

respectively stator currents and stator voltages in the (d,q) frame , Ce is the electromagnetic torque, TL is the load torque. J and f r are the rotor moment inertia and the friction coefficient. B. Current controller and decoupling compensation When a voltage source PWM inverter is used, the stator currents need to be controlled to track the reference currents. As it can be seen from (1), the dynamics of the stator currents with stator voltages as input are coupled and nonlinear. However, if the stator voltages commands are given in the form

D. PWM inverter Pulse width modulation (PWM) technique is used to generate the required voltage or current to feed the motor or phase signals. This method is increasingly used for AC drives with the condition that the harmonic current is as small as possible. Generally, the PWM schemes generate the switching position patterns by comparing the three-phase sinusoidal wave forms with a triangular carrier. The inverter model is represented by the relationship between output phase voltages ( va , vb , vc ) and the control logic signals ( s1 , s2 , s3 ) as follows:
va 2 1 1 S1 Vdc (8) vb = 3 1 2 1 S 2 vc S3 1 1 2 Where Vdc is the rectified voltage, Si (i = 1, 2, 3) [0 1] are logic signals. III. PRINCIPLE OF FLC The design of FLC does not require mathematical modelling. The formulation of the control rules is based on the knowledge of the PMSM drive and the experience of the control engineer [8,9]. A. Fuzzy logic controller structure The FLC has three functional blocks as shown in figure 2 In the fuzzification block, the inputs and output crisp variables are converted into fuzzy variables e, de and du using the triangular and the trapezoidal membership functions shown in figure 3 (a) Each universe of discourse is divided into three fuzzy sets: Negative (N), Zero (Z) and Positive (P). The fuzzy variables e and de produced by the fuzzification block are then processed by an inference mechanism that executes a set of control rules contained in a (3x3) table as shown in table 1. E Z N Z P

vd = ud ud _ comp vq = uq uq _ comp
Where

(3)

ud _ comp = r Lq iq uq _ comp = r ( Ld id + f )
Then the stator currents dynamics reduce to d vd = Rs id + Ld dt id (4) v = R i + L d i s q q q q dt Since the current dynamics in (4) are linear and decoupled, PI controllers can be used for current tracking

vd = k Pi (id _ ref id ) + k Ii (id _ ref id )dt d d vq = k Piq (iq _ ref iq ) + k Iiq (iq _ ref iq )dt

(5)

Figure 1 shows the block diagram of the decoupling system C. Vector control of the PMSM The objective of the vector control of PMSM is to allow the motor to be controlled just like a separately excited DC motor. So, the direct d axis is aligned with permanent magnet flux linkage phase and the direct current id is forced to be zero. Then 1(b) can be written as follows

du de N Z P

N N N Z

P Z P P

d = f q = Lq iq

(6)

Table 1 Fuzzy control rules for du

The fuzzy rules are expressed under the IF-THEN form.

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The crisp output of the FLC is obtained by using Max-Min inference algorithm and the center of gravity defuzzification approach. B. FLC Design The fuzzy controller behaviour depends on the membership functions, their distribution and the rules that influence the fuzzy variable in the system. There is no formal method to determine accurately the parameters of the controller [8,9]. Tuning the FLC is an iterative process requiring trial several combinations of membership functions and control rules. The adjustment can be done by observing the response of the system regulator and modifying the fuzzy sets in the universes of discourse of the input variables ( e and de ) and output variable ( du ) until satisfactory response is obtained. The control surface 3 (b) is a three dimensional graphic showing the output variable corresponding to all combinations of values of the inputs. This surface can be used to facilitate the FLC tuning. The number of rules can be reduced in order to optimize the inference engine execution speed. In this paper, a trial and error approach is used to determine and adjust the weighting factors Ci (i = 1,2,3) as in [11,13,14]. C. Model Reference Adaptive Fuzzy Logic Controller The reference model is used to specify the desired performance that satisfies design specifications. A fuzzy logic adaptation loop is added in parallel to the fuzzy control feedback loop [11,13,14]. In the nominal case, the model following is perfect and the fuzzy controller adaptation loop is idle. When parameters change, an adaptation signal produced by adaptation mechanism will be added to the output signal of the direct speed fuzzy logic controller to preserve the desired model following control performance [11,13,14]. Figure 4 shows a Simulink block diagram of the proposed hybrid controller for vector control PMSM. The chosen reference model is a first order transfer function with time constant set at 50ms. IV. SIMULATION RESULTS The control performance of the proposed scheme in fig.4 is evaluated by simulation using Matlab/Simulink software. The parameters of the PMSM are as follows: Ld = 1.4mH , Lq = 2.8mH , f = 0.12 wb, P = 4, J = 1.110 3 kgm 2 , f = 1.410 3 Nm / rad .s 1 , Ce = 10 Nm, R = 0.6 , I qn = 20 A In order to validate the adaptive control law method for a wide operating domain, we use the reference profiles shown in figure 5. The robustness is further evaluated by using increasing inertia (3*J), stator resistance augmented +50% and variation load 10Nm. Fig.6 shows the responses of the PMSM flux oriented control with FLC. It is shown that the direct current is maintained at zero, the motor speed tracks

the reference speed and the perturbation is rejected very quickly. Fig.7 shows the robustness of the speed response and the superiority of the adaptive FLC in the case of the external disturbances. The system output tracks very closely the reference model. The obtained results show the effectiveness of the adaptive mechanism faced with load variations. In case of a variation of the reference speed or an abrupt change of the load torque, a short transient pick appears in the speed error. Fig.7, 8 and 9 show the robustness of the speed response in the case of external and internal disturbances. The system output tracks very closely the reference model even with increasing inertia, augmented stator resistance and load variations. The results show the effectiveness of the fuzzy adaptive mechanism faced with the different perturbations. V. CONCLUSION An adaptive fuzzy speed controller for field oriented PMSM fed by voltage source inverter has been proposed in this paper. A comparison between adaptive FLC and classical FLC reveals the superiority of the first one. The speed adaptive FLC is insensitive to the system parameter variations. The obtained results show that the decoupling is maintained under load variations. The combination of FLC and adaptive FLC permits to avoid the problem of flux orientation and the in-exactitude of the representative system model. This control strategy gives satisfactory performances even in presence of load variations. The proposed scheme is effective only during transients since the parameters of the direct speed fuzzy controller are not upgraded by the adaptation mechanism.The simulation results have confirmed the efficiency of the proposed adaptation scheme in maintaining good performance under external disturbances. REFERENCES
[1] [2] [3] Achour,A.Y- Mendil, B. -Bacha,S.-Munteanu,I ,Passivity - based current controller design for a permanent magnet synchronous motor, ISA Transactions, Vol. 48 N3, pp. 336-346, 2009. Zhang, H-Li, Y- Zuo, Y : A DSP based fully digital PMSM servo drive using on line self tuning PI controller, Proc. PIEMC 2000, vol 2 , pp.1012-1017. Kung,Y. S -Huang, P. G :High Performance position controller for PMSM drives based on TMS320F2812 DSP, Proc. Of the IEEE Int. Conf. On Control. Applications. Taipei, Taiwan, pp. 290-295. sept. 24, 2004. Wang, L - Tian, M - Gao, Y : Fuzzy Self PID adapting Control of PMSM Servo System, Electric Machines & Drives Conference, IEMDC 07, IEEE International 3-5 May 2007. Kung,Y.S-Tsai, M.H, Fpga based speed control, IC for PMSM drive with adaptive fuzzy IEEE Trans. vol. 22, n6,pp. 2476-2486, 2007. Hakiki, K . Cocquempot, V. Mazari, B Djaber, A., Robust output feedback control for a class of uncertain systems using an observer based dynamic compensation, International Conference on Electrotechnics, ICEL2005 USTO M.B Oran. Yang, H- Cocquempot, V - Jiang, B,Robust Fault Tolerant Tracking Control With Application to Hybrid Nonlinear Systems. IET Control Theory & Applications. 3(2), 211-224, 2009.

[4] [5] [6]

[7]

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[8]

Li, Y.F and Lau, C.C:Development of Fuzzy fuzzy algorithm for servo systems IEEE Contr. Syst. Mag. Vol. 9, No 3, pp. 65-72, 1989. [9] Mamdani E.H Application of fuzzy algorithms for control of simple dynamic plant Proc. IEE, Vol. 121, No12, pp.1585-1588, dec.1974. [10] Meroufel,A-Massoum,A-Belabs, B. , Fuzzy logic control of permanent magnet synchronous machine fed by voltage source, Revue roumaine des sciences techniques, srie lectrotechnique, tome 49, pp. 385-393,juillet - septembre 2004. [11] Meroufel, A, Massoum,A Belabs, B Fuzzy adaptive model following speed control for vector controlled permanent magnet

Synchronous Motor, Leonardo Electronic Journal of Practices and Technologies, 7:13 (July-December), 2008, p. 19-33. [12] Chenafa ,M Meroufel,,A -Mansouri,A Massoum, A, Fuzzy logic control of induction motor with input-output feedback linearisation, Acta Electrotechnica et Informatica Journal, N2, Vol 7, 2007. . [13] Yin, T. K: Fuzzy model reference adaptive control, IEEE Trans. On Syst. Man. And Cybernetics, vol.25, No 12, Dec. 1995. [14] [Minh, T.C- Hoang, L.H: Model reference adaptive fuzzy controller and fuzzy estimator for high performance induction motor drives, Proc. Of the annual Meeting of the IEEE, Industry Applications Society California 1996.

FIGURES

r
id _ ref
+

iq
comp

id
-

Regulator d PI PI Regulator q

ud

Decoupling d loop

Mux C1 du
Fuzzification Defuzzification

ud +
+

vd
vq
comp

iq _ ref

iq

uq

d dt

C2 de

Inference mechanis m

C3

uq

r
1 0.8 0.6 0.4 0.2 0 -100 N

Decoupling q loop

id
e
1 0.8 Z P 0.6 0.4 0.2 0 0 100 -0.5 0 0.5 N Z P

Fig.2 FLC internal structure

Fig.1 Decoupling system with compensation

de
D g e o m m e ip e re f e b rsh 1 0.8 0.6 0.4 0.2 0 -200 0 200 N Z P

du

(a)

100 d u 0

-100 0.5 0 de 0 50

(b)
100 e

-0.5

-100

-50

Fig.3 (a) Membership functions

Reference model wrm t Adaptive_mechanism FLC

(b) Control surface

Reference Speed

Vdc wr FLC 1 s Iq FLC 0 Idref Id FLC

Vq v1

PWM
va wr vb

Decoupling with emf compensation Vd ---------------------- v 2 dq---abc T ansformation

wr,Iq,Id v3

PMSM
vc wr,Iq,Id

INVERT ER Load

TL

Fig.4 Simulink block of MRAFLC for PMSM

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100 0 -100 0 0.5 ref erence direct current [Idref (A)] 0 0.05 0.1 0.15 0.2 time (sec) 0.25 0.3 0.35 0.4 ref erence speed [wref (rad/sec)]

-0.5

0.05

0.1

0.15

0.2 time (sec)

0.25

0.3

0.35

0.4

10 Load torque input (Nm) 5 0 0 0.05 0.1 0.15 0.2 time (sec) 0.25 0.3 0.35 0.4

Fig.5 Reference profile inputs

stator current components (A) 100 speed (rad/sec) 50 0 -50 -100 0 0.1 0.2 time (sec) 0.3 0.4 wref wr 30 20 10 0 -10 0 0.1 0.2 time (sec) 0.3 0.4 Iq Id

Electromagnetic torque (Nm)

speed error (rad/sec)

10 0 -10

e = wref - wr

15 10 5 0 -5 0 0.1 0.2 time (sec) 0.3

Ce

0.1

0.2 0.3 time (sec)

0.4

0.4

Fig.6 Responses of FLC for vector control of PMSM under load

sta r cu n co p n n (A to rre t m o e ts ) 100 sp e (ra /se e d d c) 50 0 -50 -100 0 0.1 0.2 0.3 time (sec) 0.4 wref wrm wr 30 20 10 0 -10 0 0.1 0.2 time (sec) 0.3 0.4 Iq Id

E ctro a n tic to u (N ) le mge rq e m

sp e e r (ra /se e d rro d c)

e = wrm - wr 5

15 Ce 10 5 0 -5 0 0.1 0.2 time (sec) 0.3 0.4

-5

0.1

0.2 0.3 time (sec)

0.4

Fig.7 Responses of MRAFLC for vector control of PMSM load variation

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100 speed (rad/sec) 50 0 -50 -100 0 0.1 0.2 time (sec) 0.3 0.4 wref wrm wr

stator current components (A)

Iq 20 Id

-20

0.1

0.2 time (sec)

0.3

0.4

e = wrm - wr speed error (rad/sec) 2

Electromagnetic torque (Nm)

Ce 10

-2 0 0.1 0.2 time (sec) 0.3 0.4

-10

0.1 0.2 time (sec)

0.3

0.4

Fig.8 Responses of MRAFLC under abruptly step load variation and increasing inertia 3*J
100 speed (rad/sec) 50 0 -50 -100 0 0.1 0.2 time (sec) 0.3 0.4 wref wrm wr stator current com ponents (A) Iq 20 0 -20 -40 Id

0.1

0.2 0.3 time (sec)

0.4

e = wrm - wr speed error (rad/sec) 2

Electrom agnetic torque (N m )

Ce 10 0 -10

-2 0 0.1 0.2 0.3 time (sec) 0.4

-20

0.1

0.2 time (sec)

0.3

0.4

Fig.9 Responses of MRAFLC under abruptly step load variation, augmented inertia 3*J, and increasing stator resistance +50%

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