(1)
pw
r
M .
uq 0 R iq dt Mq
d
149
III.
CONTROL STRUCTURE
The fuzzy logic control has two inputs and one output
U . The input variables used are the speed error e(k ) and
change in speed error %e(k ) :
e(k 1) wref wr (k 1)
(7)
%e(k 1) e(k 1) e(k ) .
(8)
To obtain normalized inputs and output for fuzzy logic
controller, the constant gain blocks are used as scaling factors
G1 , G 2 , G 3 :
eN (k 1) e(k 1) G1
(9)
%eN (k 1) %e(k 1) G2
(10)
U (k ) U (k 1) G 3 %U (k ).
(11)
The fuzzy logic control consists of three stages: the
fuzzification, rule execution, and defuzzification. In the first
stage, the crisp variables e(k ) and %e(k ) are converted into
fuzzy variables e (k ) and %e (k ) using the triangular
membership functions shown in Fig.2 and Fig.3. Moreover the
triangular membership function of variation in the command
%U and speed control surface are shown in Fig.4 and Fig.5.
The universe of discourse is divided into the fuzzy sets
symbolized as follows: NL (negative large), NM (negative
middle), NS (negative small), ZE (zero), PS (positive small),
PM (positive middle) and PL (positive large).Each fuzzy
variable is a member of the subsets with a degree of
membership varying between 0 and 1.
150
TABLE I
DESCRIPTION OF THE INFERENCES
NL
NM
NL
NL
NM
NM
NM
NS
ZE
NS
NS
PM
NS
PL
ZE
ZE
PM
PL
NS
NS
ZE
NS
ZE
PS
ZE
PS
PS
ZE
PS
PS
PM
PS
PS
PM
PL
%e
V.
e j (k ) i j ref i j (k )
(12)
%e j (k ) e j (k ) e j (k 1)
(13)
With: j =a, b or c.
The universe of discourse is divided into the fuzzy sets
symbolized as follows: NL (negative large), NS (negative
small), ZE (zero), PS (positive small), PL (positive large), N
(negative) and P (positive).Each fuzzy variable is a member of
the subsets with a degree of membership varying between 0
and 1.
Moreover the triangular membership function of the
error e j , error variation %e j , variation in the command %U j
TABLE II
DESCRIPTION OF THE INFERENCES
ej
%e j
N
ZE
P
NL
ZE
PS
PL
ZE
ZE
ZE
P
ZE
ZE
P
P
ZE
S
N
N
ZE
N
ZE
ZE
(14)
S j 1 if %U j is negative.
With: j =a, b or c.
But, the three level current controlled inverter devices
ON/OFF conditions are:
S j = 1 if upper transistor of inverter is on
= -1 if lower transistor of inverter is on.
= 0 if diode of inverter is on.
with j : a, b and c.
151
dX
dt AX BU
Y CX
with:
(15)
X id iq T ;U ud uq 'v ;Y id iq T
pXr
0
0
1 0
Ls
Ls
;B
; C
A
pXr
1
0 1
R
pXr
0
Ls
Ls
Ls
With:
T
T
X id iq ; Y id iq
0
0
p Xr
L
s
; B s
.
A1 (wr , R)
0
pXr
1
R
0
pXr
Ls
Ls
Ls
(17)
with N'
Xr K p (id iq iq id
M'
Ls
; ed id id ; eq iq iq .
t
'v
'
eq ) Ki (id iq iq id v eq )dt (18)
0
Ls
Ls
152
a) Speeds
a) Speeds
a) Speeds
153
IX. CONCLUSION
APPENDIX
TABLE III
THE PMSM CHARACTERISTIC PARAMETERS
Rated
voltage
R
Ld
Lq
Ls
'v
J
f
p
220/380V
1.4
6.6mH
5.8mH
6.6mH
0.1546Wb
0.00176N.m.s2/rad
0.000388 N.m.s/rad
3
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
d) Real speeds
Fig.14 Simulation results under load with and without on line
adjustment of the stator resistance
[7]
[8]
154
155