Engineering, Technology & Applied Science Research Vol. 11, No.

4, 2021, 7399-7404 7399

An Optimal Fuzzy Logic-based PI Controller for the

Speed Control of an Induction Motor using the V/F
Method

Noor Hussain Mugheri Muhammad Usman Keerio

Department of Electrical Engineering Department of Electrical Engineering
Quaid-e-Awam University of Engineering Science and Quaid-e-Awam University of Engineering Science and
Technology Technology
Nawabshah, Sindh, Pakistan Nawabshah, Sindh, Pakistan
[email protected] [email protected]

Abstract-The Induction Motor (IM) is popular because of its low control technique using constant V/F control. A simplified
price, higher efficiency, and low maintenance cost. A comparative fuzzy rule-based FLC can be easily implemented in hardware
analysis of IM speed controllers using Voltage/Frequency (V/F) and performs better in comparison with the standard 25-rule
control or Scalar Control (SC) is presented in this paper. SC is FLC [15]. D. Asija proposed a standard 25-rule Fuzzy-PI
commonly used due to its ease of implementation, simplicity, and controller for IM speed control using SC and concluded that the
low cost. To decrease the difficulty and cost of hardware Fuzzy-PI controller outperforms the traditional PI controller
implementation, this paper proposes an optimal Fuzzy [16]. B. N. Kar and K. B. Mohanty presented a standard 49-
Proportional Integral (Fuzzy-PI) controller. Firstly, the speed of rule FLC for IM speed control by Indirect Vector Control
IM using the V/F control technique is discussed. Then, speed (IVC) and concluded that compared with the conventional PI
control of IM using a conventional PI controller is performed.
Finally, a simplified-rules Fuzzy-PI controller is developed in
controller, the proposed FLC performs better with regard to
MATLAB/SIMULINK and its performance is compared with change in load, settling time, and overshoot [17]. Authors in
that of open-loop SC and the traditional PI controller. The [18] proposed a standard 49-rule FLC based IM speed control
performance of the simplified-rules Fuzzy-PI controller is by IVC and concluded that FLC performs better than the
superior to that of an open-loop constant V/F control and a traditional PI controller with regard to load disturbances and
conventional PI controller. changing reference speed. Authors in [19] proposed and
implemented a 3-phase IM using V/F control.
Keywords-induction motor; constant V/F control; PI controller;
optimal fuzzy PI controller II. PROPOSED FRAMEWORK
A simplified-rule Fuzzy-PI controller using the V/F control
I. INTRODUCTION technique is presented in this paper. Various researchers
Its low cost, simple structure, reliability, and good proposed FLC-based IM speed control using standard 49 fuzzy
robustness have made the Induction Motor (IM) a most rules, standard 25 rules, standard 9 rules, and simplified fuzzy
attractive choice [1, 2] for industry applications. To change the rules [20-25]. In this paper, the standard 9 rules are simplified
speed of IMs, frequency and voltage can be varied. In into 5 rules for the first time and the simplified-rule Fuzzy-PI
Voltage/Frequency (V/F) control, only their magnitudes are controller is developed and implemented for the speed control
controlled. V/F control is easy to implement, it requires a small of a 3-phase IM using constant V/F control. The rule base is
number of components, and can be employed in several selected using the trial and error technique. The proposed
applications such as variable speed pumps, fans, blowers, etc. simplified Fuzzy-PI controller reduces complexity and
[3]. Normally, a Proportional Integral (PI) controller is computational load, it is easily implemented, it is simple, and
employed for IM speed control for most applications [4, 5]. has better performance. Figure 1 exhibits the diagram of the
But, the conventional PI controller has some disadvantages: Its proposed framework. The DC supply voltage is converted into
accuracy depends on the mathematical model, the system variable voltage and variable frequency by a Metal Oxide
suffers fromnon-linearity, and it is very sensitive to parameter Semiconductor Field Effect Transistor (MOSFET) inverter.
and temperature variations and to load disturbances [6, 7]. The optimal Fuzzy-PI controller gets feedback signals from an
IM. The method of speed control used here is the popular
A Fuzzy Logic-based Controller (FLC) can overcome these
constant V/F control. The SVPWM generator produces firing
disadvantages [8-10]. The FLC does not need the model of the pulses to the inverter. The MOSFET converts the DC supply
plant, can handle non-linearity, it is less sensitive to load
voltage into variable AC by the SVPWM method.
disturbances, it produces human logic linguistic rules, and is
robust [11-13]. Authors in [14] suggested a 3-phase IM speed
Corresponding author: Noor Hussain Mugheri
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 Engineering, Technology & Applied Science Research Vol. 11, No. 4, 2021, 7399-7404 7400

N Z P
1

0.8

Degree of membership
0.6

(a)
0.4

0.2

Fig. 1. The proposed framework. -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
error

III. CONSTANT V/F CONTROL

N Z P
1
With the recent developments in power electronics, variable
voltage variable frequency IMs are increasingly employed in a 0.8
variety of industrial applications. The circuit diagram of V/F

Degree of membership
control is shown in Figure 2. Speed control of IM is achieved 0.6

using a 3-phase inverter. The frequency and applied voltage (b)

must be varied to maintain constant air-gap flux and to evade 0.4

saturation of the IM. The stator voltage and frequency are

0.2
changed at the same time to keep V/F ratio constant.
0

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

ChangeOfError

N Z P
1

0.8
Degree of membership

0.6

Fig. 2. Constant V/F control. (c)

0.4

IV. THE FUZZY LOGIC CONTROLLER

0.2
The FLC is an intelligent controller that is very similar to
human reasoning. It accepts crisp input, performs calculations,
0
and then gives an output value [26]. The structural diagram of
the FLC is shown in Figure 3. There are four steps for the -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Outputcontrol
implementation of an FLC: Fuzzification, inference engine,
rule base, and de-fuzzification. The FLC inputs are Fig. 4. The triangular membership functions: (a) error (e), (b) change of
characterized by triangular Membership Functions (MFs) and 3 error (∆e), (c) Output control (∆u).
triangular MFs are used for output control. There are 9 rules
out of which 5 are executed by the Fuzzy Inference System Table I shows the simplified rule base for the FLC. For this
(FIS). The triangular MFs for the FLC system are shown in a application the Mamdani type FIS is chosen. The fuzzy logic
Figure 4. The MFs for two inputs and a single output are: process which is based on if-then rules is represented as
Positive (P), Zero (Z), and Negative (N). follows: If N and P denote the error and change of error
respectively then the output control will be denoted by Z.

TABLE I. THE SIMPLIFIED FUZZY RULES FOR THE FLC

e ∆e N Z P Simplified Rules
P Z P P 1. If e is N and ∆e is Z then ∆u is N
2. If e is Z and ∆e is P then ∆u is P
Z N Z P 3. If e is Z and ∆e is Z then ∆u is Z
4. If e is Z and ∆e is N then ∆u is N
N N N Z 5. If e is P and ∆e is N then ∆u is Z

Fig. 3. The FLC structural block diagram.

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Fig. 5. The SIMULINK diagram of the open loop V/F control-based IM speed control.

1750
V. RESULTS AND DISCUSSION
1700 Figure 5 depicts the SIMULINK diagram of the open loop
1650 IM speed control using the SVPWM technique. A 3-phase IM
1600
is fed from an inverter and is connected with a DC voltage
source. A MOSFET inverter is modeled by a universal block
Speed (rev/min)

1550
and the IM by an asynchronous machine block. A constant
1500
(a) value of 11.9Nm load torque is applied to the IM shaft. A speed
1450
set point in rpm is applied to the V/Hz block. The initially
1400
reference speed is 1725rpm and the final speed value is
1350 1300rpm. The induction motor reaches a speed of 1275rpm. In
1300 this application, IM does not reach the final speed of 1300rpm
1250
0 0.5 1 1.5
which is the required final value. The simulation results for
Time (sec) open loop scalar control are shown in a Figure 6.
14 The SIMULINK diagram of the traditional PI controller
13
based IM closed loop speed control using SVPWM technique
is shown in Figure 7. The Zeigler-Nichols method is used in
12
this paper for tuning the PI controller. To study the
11
performance of the 3-phase IM, two performance indices, i.e.
Torque (Nm)

10 rotor speed and electromagnetic torque are used. In order to

(b) 9
achieve the actual IM speed, feedback is used and it is
compared to the IM reference speed. The error is produced by
8
the obtained difference of the two and the error is processed in
7
a conventional PI controller which reduces it. The same
6 reference step speed and load torque is used for the traditional
5 PI controller. The SIMULINK diagram of the simplified
0 0.5 1 1.5
Time (sec) Fuzzy-PI controller using SC is given in Figure 9. The error
signal and the change of error are the input of an intelligent
Fig. 6. The open loop IM speed control: (a) rotor speed, (b)
electromagnetic torque. controller. The Fuzzy-PI controller produces the controlled
output signal and provides it to the V/F control.

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Fig. 7. The SIMULINK model of the conventional PI controller based IM speed control.

1750
Here, the frequency varying device is the SVPWM
generator which uses the SVPWM technique to produce firing
1700
pulses to the inverter and hence the frequency of the supply is
1650
changed w.r.t the voltage of the IM. Using the SVPWM
1600
method, the MOSFET inverter converts the DC supply voltage
Speed (rev/min)

1550 into variable AC. From Figure 8, it is clear that the

(a) 1500 conventional PI controller reaches the final speed of 1300rpm.
1450 From Figure 10, it is clear that the optimal Fuzzy-PI controller
1400 also achieves the final speed of 1300rpm but with less settling
1350
time and without overshoot compared with a conventional PI
1300
controller and also better electromagnetic torque response is
obtained. When compared with the existing literature, the
1250
0 0.5
Time (sec)
1 1.5 proposed simplified Fuzzy-PI controller uses the least number
of fuzzy rules. The proposed intelligent controller employs a
14 trial and error approach to minimize the fuzzy rules while
13
achieving better IM speed control performance. Figure 11
depicts the speed response of the IM with step speed reference
12
with both controllers and constant V/F control. The
11
performance analysis of both controllers and without any
Torque (Nm)

10 controller at a constant reference speed is given in Table II.

(b) 9
TABLE II. PERFORMANCE ANALYSIS
8

7
Settling Overshoot Load
time (sec) (%) (Nm)
6 Conventional PI
1.440 0.307
5 controller
0 0.5 1 1.5
Optimal Fuzzy-PI
Time (sec) 0.980 0 11.9
controller
Fig. 8. The simulation results for conventional PI controller based IM Does not
Without controller ----
speed control: (a) rotor speed, (b) electromagnetic torque. settle

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Fig. 9. The SIMULINK diagram of the optimal Fuzzy-PI controller based IM speed control.

1750
response of the simplified-rule set Fuzzy-PI controller surpass
1700
the ones of the open loop constant V/F control and the
1650
traditional PI controller. The optimal Fuzzy-PI controller fully
1600
eradicates the overshoot of the conventional PI controller and
the settling time is much smaller than that of the traditional PI
Speed (rev/min)

1550

1500
controller.
(a)
1450

1400

1350

1300

1250
0 0.5 1 1.5
Time (sec)

14

13

12

11
Torque (Nm)

10

(b) 9

5
0 0.5 1 1.5
Time (sec)

Fig. 10. The simulation results for the optimal Fuzzy-PI controller based
IM speed control: (a) rotor speed, (b) electromagnetic torque.
Fig. 11. Speed response of the 3-phase IM with step speed reference with
VI. CONCLUSION an initial value of 1725rpm and final speed reference of 1300rpm at 0.1s and
11.9Nm load with optimal Fuzzy-PI controller, conventional PI controller, and
To reduce the computation load, the need of memory space, without controller.
and to enable more easy hardware implementation an optimal
Fuzzy-PI controller using SC is successfully developed and ACKNOWLEDGEMENT
simulated in this paper. The proposed optimal Fuzzy-PI
controller uses a minimum number of fuzzy rules. The This research was funded by the Quaid-e-Awam University
simulation results show that the performance and speed of Engineering, Science and Technology, Nawabshah, Sindh,
Pakistan.

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