International Journal of Advanced Computer Science, Vol. 2, No. 9, Pp. 330-333, Sep., 2012.

Permanent Magnet Synchronous Motor Control Based on Bacterial Foraging Improved Particle Swarm Optimization
Shaozhong Cao, Ji Tu & Heping Liu
Abstract Consider each particle of Particle Swarm Optimization (PSO) as a bacteria individual, we use the bacterial foraging optimization (BFO) to improve the local search ability of Particle Swarm Optimization. The application of the novel algorithm in permanent magnet synchronous motor direct torque control is introduced. The simulation results show that the new algorithm has some distinct advantages over the PSO control and the conventional PI control. It can effectively reduce the torque ripple of permanent magnet synchronous motor; enhance the robustness in dynamic process and improve the stability in the running state. Manuscript
Received: 19,Sep., 2011 Revised: 4,Mar., 2012 Accepted: 6, Apr., 2012 Published: 15,Oct., 2012

Keywords
Particle swarm optimization; Bacterial foraging optimization; Permanent magnet synchronous motor; Direct torque control

optimum and has high control precision, but its very slow in convergence[4-5]. Firstly, this article use PSO algorithm for tuning and optimizing the PID parameters of permanent magnet synchronous motor speed regulator. Then adjust the parameters in PSO algorithm to obtain a better control result. Finally, the BFO algorithm has been added and combined with the PSO algorithm. Reproduce and disperse each particle in the PSO algorithm to improve its global convergence and control precision. The PSO-BFO algorithm experiment shows, PSO-BFO algorithm can significantly reduce the permanent magnet synchronous motor electromagnetic torque ripple and improves control accuracy. Meanwhile, the PI parameter tuning algorithm is intelligent, so that engineers do not need to repeated trial and error PI parameters, which can save a lot of time and effort.

2.

Direct torque control of PMSM

1.

Introduction

The tuning of PID parameters for Permanent magnet synchronous motor (PMSM) speed regulator is directly related to the motor control system. The proper PID parameters make the system more stable and accurate, thereby affecting the overall system stability and control accuracy. Over the years, various methods of the PID parameter tuning and optimization have been the hot spot for engineers and researchers. The common intelligent PID parameter tuning and optimization methods are as follows: particle swarm optimization (PSO), bacterial foraging optimization (BFO), genetic algorithms and neural networks and so on. These methods have their own advantages and disadvantages. Particle swarm optimization does not need gradient information, and is fast in convergence. This algorithm is easy to implement in program. However, its easily trapped in local optimum and leads to premature [1-3]. Bacterial foraging algorithm is superior in finding the global

Shaozhong Cao is with School of Information & Mechanical Engineering Beijing Institute of Graphic Communication, Daxing District, Beijing, China (Email: dsspmsm@gmail.com) Ji Tu and Heping Liu are with School of Information Engineering University of Science & Technology Beijing, Haidian District, Beijing, China (Email: tuji.100@163.com)

According to the motor rotor structure, PMSM can be divided into three types: the surface-mounted, the plug-in and the built-in PMSM[6]. For the surface-mounted PMSM, Ld=Lq=Ls; while for the other two types, there is Ld<Lq. In the surface-mounted PMSM, there exist two magnetic fields: the rotor magnetic field and the armature magnetic field. Rotor magnetic field is the excitation magnetic field f generated by permanent magnet. Armature magnetic field Lsis is generated by the stator current. The stator magnetic field s is composed of the two magnetic fields as s=Lsis+f (1) Electromagnetic torque of PMSM is the interaction effect of the rotor magnetic field and the armature magnetic field. The basic equation of Electromagnetic torque is: Te=pf is=pf Lsis/Ls (2) Electromagnetic torque of PMSM can also be seen as the interaction effect between the rotor and the stator magnetic field: Te=pf(Lsis+f) /Ls (3) By substituting the equation 1 to equation 3 we can obtain, Te= pfssin/Ls (4) The load angle is the phase difference between the stator flux and the rotor flux. In the PMSM driver, the amplitude of rotor flux f is a constant. If we can control the amplitude of the stator flux s

Shaozhong Cao et al.: Permanent Magnet Synchronous Motor Control Based on Bacterial Foraging Improved Particle Swarm Optimization.

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invariable, the electromagnetic torque will only be related to the load angle . So we can control the electromagnetic torque directly through changing the load angle. In the ABC coordination system, the vector equation of the stator voltage is, Us=Rsis+ds/dt (5) When the stator resistance is small enough and its effect can be ignored, there is: ds= us dt (6) Equation 6 shows that, by controlling the stator voltage vector, the stator flux can be controlled. Direct torque control doesnt need field orient and vector control transformation. It controls the stator flux and electric torque directly.

3.

The larger the health function of the individual bacteria is, the robustness of the individual bacteria is worse. Set the overall number of bacteria is N, then N/2 less robust individuals were eliminated. To maintain the total number of individuals, reproduce the remaining robustness individuals. 3Dispersed operation The survival Environment for bacteria varies with the food consumption. So comes out the dispersed operation. Disperse can help the bacteria find a more suitable living area. Thanks to this operation, the algorithm is not easy getting into local optimal solution. If bacteria meet the conditions of dispersed operation, then delete it and regenerate a new bacterium in the new location. After Rmax times reproduction with probability ped randomly assigned to the new optimal area, the algorithm can find the global optimum. B. Particle swarm optimization Particle swarm optimization adopts real code. PSO used to solve real need to adjust the parameters less than the genetic algorithm. The basic principle of PSO can be described as follows. Considering a group which consists of n particles, each particle searches the best position under a certain velocity. Particle updates its position according to the best record of its own and others in the history. The current position of particle i is represented as Ki=(Ki1,Ki2, ,Kin). The current velocity of particle L is represented as

PSO ALGORITHM BASED ON BFO

A. Bacterial foraging optimization The Professor Kevin M.Passino has proposed BFO algorithm in 2000. It is an algorithm simulates the Escherichia coli random feeding process in human intestinal. BFO has chemotactic, reproduction and dispersed operation. 1Chemotactic operation Chemotactic operation of Bacterial has a very significant impact on the convergence. Chemotactic operation composes turn and move operations which depends on the foraging efficiency of the current study. In the chemotactic operation, the search direction of bacteria is determined by turning, and bacteria go forward along the new direction with a fixed step. If the value of bacteria is away from the optimal solution, you need to move forward on many occasions; if the bacteria are close to the optimal solution, fixed steps may lead to cross the optimal solution. Therefore, the turn of the randomness and the length of the fixed step are important on the convergence of BFO[7]. Numerical simulation shows that the location of bacteria after tuning is expressed as. i(j +1, k,l) = i( j, k,l) + C(i) ( j). (7) Where, i (j, k, l) denotes the position of bacteria individual after chemotactic for j times, reproducing for k times, and disperse for l times; i (j+1, k, l) denotes the position of bacteria individual after chemotactic for (j+1) times, reproducing for k times, and disperse for l times; C(i) is the fixed step, (j) is a random number between (0, 1). 2Reproduction operation After Cmax times chemotactic operation, evaluate the bacteria individual to find the fitness one. After chemotactic for j times, reproducing for k times, and disperse for l times, the heath function of bacteria individual is as, H i = J i (j, k, l). (8) Where, J i (j, k, l) is the fitness function.
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(9)

Vi=(Vi1,Vi2, ,Vin). (10) The best position of particle i in its search history is represented as Pi=(Pi1,Pi2, ,Pin). (11) The best position of the population in its search history is represented as Pg (12) best = (Pg1,Pg2, ,Pgn). Update the velocity and position by the following equations
i Vi+1=Vi+c1[Pi-Ki]+c2[Pg best-K ] i+1 i i+1 K = K+ V .

(13) (14)

Where, is the constant inertia weight, c1, c2 is the learning factor (c1, c2 is usually on [0, 4] interval); , are uniformly distribution pseudo-random numbers on [0, 1] interval. The velocity of a particle is usually limited to a maximum speed. It can prevent the system unstable from the affect of some bad particles. C. The application of PSO-BFO algorithm The model and the parameters of PMSM are changing during its operation. The changes will lead to bad performance of permanent magnet synchronous motor. In the conventional PI speed regulation, it is difficult to select the right PI parameters in the initial stage, and the PI

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International Journal of Advanced Computer Science, Vol. 2, No. 9, Pp. 330-333, Sep., 2012.

parameters need to be fine tune when the system is running. In order to improve such problems, particle swarm optimization is introduced. To further improve the control performance of the PMSM, chemotactic, reproduce and disperse the particles. Evaluate the state of particles to calculate the fitness function. Then eliminate poor robustness of particles according to fitness function. Reproduce the remaining particles, and then update the particle's position and speed. Consisting the speed error e(l) and the change rate of speed error de(l) of PMSM as a fitness function. Fitness function is as: F= 1|e(l)|+2|de(l)|. (15) Where, 1, 2 are Impact Factor . By a number of n particles Mmax times iterative search, the minimal value of the fitness function is found. Accordingly, the particle s position value is the best PI parameter of the PMSM speed regulator.

presented in Fig.1. B. Analyses In the simulation experiments, surface-mounted permanent magnet synchronous motor was used. Its pole number is 4. Motor speed is set to 1850r /min. The load torque is a step signal as 7 Nm. A constant flux of 0.1827Wb is given. The speed and torque response of conventional PI control, particle swarm optimization and bacteria foraging optimization of PMSM is show in Fig 2 4. Contrast from the three graphs can be seen, the startup time is shortest in PI control of PMSM. But its stability is the worst. In the 0 ~ 0.016 seconds, torque vibrates large. The settling time of PSO-BFO is the longest, but the control system is smoothest. And the impact of startup torque is the least, which is only 8.5 Nm. The simulation results have been recorded in Table 1 as follows.
TABLE 1. SIMULATION RESULTS
PSO BFO PSO 6.57.3 0.40 12.6 PI 5.98.1 0.014 23.0 Electric torque (Nm) Rising time (s) Booting torque (N.m) 6.08.1 0.037 8.5

4.

SIMULATION AND ANALYSIS

A. Simulation In the purpose of analysis the effect of the hybrid PSOBFO controller, simulation has been done in the simulink environment in MATLAB version 2010. The Sim Power System Toolbox is used. The outer loop in Fig.1 is speed regulating loop and the inner loop is current regulating loop. The speed regulating controller is the intelligent controller, and the current controller is the PWM inverter. Modularizing the system and encapsulating the features of independent modules. The Hybrid PSO-BFO control simulation model is

From Table 1 we know that, when the system is stable, the maximum electromagnetic torque ripple of PI speed control system is about 1 Nm. In the contrast, electromagnetic torque ripple is reduced to 0.5 Nm when use the PSO-BFO speed regulator. Simulation results above show that the PSO-BFO speed regulator can improve the stability of PMSM compared with the PSO regulator and the PI regulator.

1850 w_ref
0 Clock

Mux

MATLAB Function

PI 0.1827 flux_ref

t_ang f_ref theta I

A

T
Tm A B C m

BFO_PSO control

<Electromagnetic torque Te (N*m)> <Rotor speed wm (rad/s)> 30/pi rad/s to rpm Te & w

1 s

S f
optsiminit

PMSM Universal Bridge

2r-2s Discrete, Ts = 1e-006 s. powergui

f I theta Te

i S

DC Voltage Source

estimate
Fig. 1. Simulation model of PSO-BFO

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Shaozhong Cao et al.: Permanent Magnet Synchronous Motor Control Based on Bacterial Foraging Improved Particle Swarm Optimization. T O 20 R Q 10
<Electromagnetic torque Te (N*m)>

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ACKNOWLEDGMENT
This work was supported by Beijing Natural Science Foundation (4092013). Thanks for Professor Liu in University of Science and Technology Beijing. And also thanks for Professor Cao in Beijing institute of graphic communication.

U 0 2000 E S P 1000 E E D 0 0 0.02 0.04 0.06 Simulation time/s

<Electromagnetic torque Te (N*m)>

REFERENCES
0.08 0.1

Fig. 2. PI speed regulator T O Q U E S E E D

0 0 0.02 0.04 0.06 0.08 0.1 0 2000 20

R 10

P 1000

Simulation time/s

Fig 3. PSO speed regulator T R Q S E P E E D 0 0 0.2 0.4 0.6 Simulation time/s 0.8 1 1000 15

O 10 5

0 U 2000

Kou P G, Zhou J Z, He Y Y, et al. Optimal PID Governor Tuning of Hydraulic Turbine Generators With Bacterial Foraging Particle Swarm Optimization Algorithm[J].Proceedings of the CSEE,2009, 29(26): 101106. [2] AlRashidi, M.R.; ElHawary, M.E.. A Survey of Particle Swarm Optimization Applications in Electric Power Systems [J]. Evolutionary Computation , IEEE Transactions . 2009,13(4): 913-918. [3] Wu M, Ding L, Cao W H, et al. A kind of hybrid optimization algorithm with prevention of premature convergence of particle swarm [J]. Control and Decision.2008,23(5):511519.) [4] Liu Y,Passino K M. Biomimicry of social foraging bacteria for distributed optimization models,principles,and emergent behaviors[J]. Journal of Optimization Theory and Applications. 2002,115(3):603-628. [5] Passino K M. Biomimicry of bacterial foraging for distributed optimization and control [J]. IEEE Control Systems Magazine. 2002,22(3):52-67. [6] Wang C Y, Xia J K, Sun Y B. Modern Motor Control Technology [M]. Beijing: China Machine Press, 2009.161176. Zhang N , Liang Y C . Study on Job Shop Scheduling Problems Based on Bacteria Foraging Optimization Algorithm [D]. Jilin University, Master Thesis of Engineering, 2007.
[1]

Fig. 4. PSO BFO speed regulator

5.

CONCLUTION

PSO-BFO controller, PI controller and PSO controller all have their own advantages and disadvantages. PSO-BFO control method suits the high stability requirements, but its response must be improved and it demands a powerful hardware processor. PI controller is simple, easy maintenance, and commonly used in almost every area. PSO controller is an intelligent controller, which is simply in design and can auto-tuning PI parameters.

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