Journal Européen des Systèmes Automatisés

Vol. 56, No. 1, February, 2023, pp. 11-19

Journal homepage: http://iieta.org/journals/jesa

Efficient Rectified Stator Currents Hysteresis Control of the Induction Motor Drive and
Flux Optimization Using Fuzzy Logic
Sonia Hamdouche1*, Said Drid1,2
1
LSP-IE Laboratory, Electrical Engineering Department, University of Batna 2, Avenue M. Boukhlouf, Batna 05000, Algeria
2
Higher National School of Renewable Energy, Environment and Sustainable Development, Constantine road, Fesdis, Batna
05078, Algeria

Corresponding Author Email: [email protected]

https://doi.org/10.18280/jesa.560102 ABSTRACT

Received: 26 November 2022 The induction machine (IM) is a nonlinear, multivariable, strongly coupled system.
Accepted: 4 January 2023 Therefore, it is necessary to achieve a decoupling between flux and torque. The vector
control technique is the one that gives better performance. To have high dynamic responses
Keywords: and better torque control, the machine must be supplied with sinusoidal currents. The
loss minimization, efficiency machine, present work contributes to improving the efficiency of a flux-oriented indirect control
optimal rotor flux, hysteresis inverter (IFOC) of an induction motor associated with a new hysteresis inverter. The Induction
motors have good efficiencies when operating at full load. However, at lower than rated
loads, which is a condition that many machines experience for significant portion of their
service life, the efficiency is greatly reduced. To improve the efficiency of the existing
motor it is important to regulate the flux of the motor in the desired operating range. This
paper proposes the analytical approach of minimizing copper losses for an induction motor
and energy efficient control strategy based on fuzzy logic using Matlab / Simulink®. This
parameter is used to determine an optimal rotor flux reference it has the goal of maximizing
the efficiency for each given load torque. The proposed fuzzy controller adjusts the
electromagnetic torque, to give the optimized flux by minimizing losses.

1. INTRODUCTION In the context of electric traction, the energy efficiency of

the entire traction chain is essential. Indeed, asynchronous
Currently, the research scientific around the world are motors (our choice of study) that are included in this chain of
engaged for the environment and energy conservation. The traction have a good performance at the nominal point which
interest in the various problems posed firstly, push states to degrades quickly outside this point of operation.
remodel their Energy and Environmental strategies, and The efficiency of the induction motor can be improved by
secondly to put the inventors and the manufacturers of an optimal control of flux allowing the minimization of the
electrical systems in front of an important challenge which is machine losses. The induction motor losses can be classified
Clean Energy. into four types: Electrical losses, Magnetic losses, Mechanical
The electrical energy is placed in the category of clean losses, and supplementary losses. The effort is carried on the
energy during its use but sometimes it's not suitable during its reduction of Electrical losses because they represent between
production. Moreover, energy demand and the cost of its 55% and 60% total losses of the machine and they are
production and its operation are constantly increasing. This controllable. Many studies have identified several possible
leads us to improving the efficiency of systems producing or methods of minimizing machine losses [2, 3].
consuming electrical energy [1]. Several studies have participated improving the efficiency
Improving the efficiency of this large energy consumer will of asynchronous machines based on flux regulation because
necessarily lead to significant savings in energy and money. asynchronous motors operate at nominal flux even at low load
Opting for an electric vehicle, it means choose an ecological by varying the load torque. Drid et al. [2] told about how to
automobile and less polluting in the use and also more silent maximize engine efficiency for each value of load torque by
to contribute for reducing disturbance noise… and improve genetic algorithm.
our health grace to the absence of CO2 emissions. A loss model-based energy efficient control strategy for the
Nowadays, a serious problem is mentioned by the industry, IM using an optimal rotor flux reference has been
namely the high energy consumption in the face of accomplished by [3] which is determined using two advanced
increasingly limited energy sources. Several strategies and particle swarm optimization (PSO) algorithms, known as the
measures have been suggested to remedy this consumption dynamic particle swarm optimization (Dynamic PSO) and the
which is growing [1]. chaos particle swarm optimization (Chaos PSO) algorithms.
Among these solutions, we can cite the reduction of electric The control schemes used in industry operate at constant
energy consumption starting from the engines which generally flux at its nominal value. In this case, the engine operates at
constitute a large part of the high energy consumption rated speed [4, 5], the increased losses lead to excessive
equipment in the industry. consumption of electrical energy, due to the reduced load [6,

11
7]. The vector control consists to keep the vector components
Adjusting the flux level of the motor using the IM loss of rotor flux as given in equation (1) and as illustrated on
model taking into account the variation of the parameters of Figure 1 [18].
the induction machine [8, 9], a genetic algorithm [10, 11] and
a particle swarm [12] allowed the determination of the
rd = r

optimum flux level for efficient energy control using IM. Loss  (1)
model. rq = 0

If a losses model of the induction motor is available [13-15],
the optimal flux by minimizing the losses can be calculated
analytically. Although this method is characterized by its
simplicity, the engine information must be known precisely.
The efficiency of the machine can be optimized, by finding
the optimal values of the voltage and frequency of the drives
based on the minimization of the induction motor losses. Many
researches algorithms have been used. For induction motor
efficiency optimization include Genetic Algorithm [8, 9], PSO,
used to find the optimum values of the excitation voltage and
frequency [10].
Improving efficiency by optimizing the waveforms
provided by the inverter. Several strategies have been reported
in the literature to reduce MI losses. Some algorithms use
current [11], voltage [9], rotor flux [12] and other parameters.
At this point, we have studied the inverter machine Figure 1. Rotor flux orientation principle
association, where we use two types of inverter control, PWM
and a new technique rectified currents hysteresis. However, The computation of the orientation angle is done the
this technique offers lower switching frequencies compared to equations given by (2) [18].
PWM, giving us a non-rippled efficiency.
The induction machine (IM) is a nonlinear, multivariable,  M
strongly coupled system. Therefore, it is necessary to achieve sl = T  I sq
a decoupling between flux and torque. The vector control 

r r

technique is the one that gives better performance. To have s = sl + p . (2)

s =  s dt
high dynamic responses and better torque control, the machine
must be supplied with sinusoidal currents. However, some of
these techniques deliver high switching frequencies and 

hysteresis band overshoots, and others have the disadvantage
of phase current drift with respect to its reference [16-19]. As a result of this orientation the flux and the torque will be
In this work, we present a new hysteresis technique that decoupled equation (3) [18].
provides a significant reduction in switching frequency and
hysteresis band overshoots as well as the elimination of phase  M
current drift from their references. r = T s + 1 I sd
 r
Also we will propose a strategy Minimizing copper loss of  (3)
the asynchronous machine by generating the optimal flux C = p M  I
Based on fuzzy logic. 

e
Lr
r sq

This paper is organized into five sections. The mathematical

model of IM and the principal of the inverter control with We notice the rotor flux depends on the direct component
rectified currents hysteresis are introduced in section 2. In of the stator current and the torque depends on quadratic
section 3, Analytical development of the optimal flux that component.
ensures minimal losses is presented. Section 4 concerns flux Stator, flux and speed control:
optimization based on fuzzy logic. Finally, section 5 the The dynamics of stator currents rotor flux and mechanical
simulation results are exposed and comparative illustration speed are represented by (3), (4) and (6) respectively. Than the
shows the performance of efficiency with flux optimization. control of theses state variables is essay by using the
placement poles technique [16-18].

2. FLUX VECTOR ORIENTATION CONTROL  1

I sd =  L s + R (V sd − ed )
The vector control of the induction motor was invented by  s s
professor HASSE and professor BLASCHKE form university  (4)
I = 1
of Brunswick in 1968 [16, 17]. The main idea is to have the (V − e )
induction motor behavior be similar to that of a DC motor.  sq
 Ls s + R s sq q
Because it is well known that the induction motor model is
nolinear and strongly coupled (Flux-torque) unlike to the DC where electrical coupling terms are given as follows:
motor.

12
  M d r well as in steady state, Figure 5 and 6. The paramertes of IM
ed = L dt −  Ls s I sq are giveen in the appendix, Table 5. However, we notice the
 r (5) torque presents same oscillations due to the switching
e =   I +  L  I frequency, Figure 7. Also there is a distortion the current stator,
 q r s sq s s sq Figures 8, 9, 10.

The mechanical equation is:

1
= (C e −C r ) (6)
J s+f
The flux orientation vector control requires knowledge of
the rotor module of the rotor flux. To do this, we can estimate
the flux using the rotor equation (7) expressed in the stator
reference frame, as shown on Figure 2 [18].
Figure 4. Vector control Block diagram of the induction
 M 1 d r
0 = − T I s + T r + dt + p ..r 
motor using SPWM
 r r

 M 1 d
0 = − I s  + r + s  − p ..r (7)
 Tr Tr dt

r = r + r 
2 2

Figure 5. Speed response versus time

Figure 2. Rotor flux estimation

Sinusoidal PWM strategy

The SPWM is the widely strategy used to control the
inverter. It consists to compart the reference voltage (low
frequency) with the triangular carrier signal (high-frequency),
Figure 3.

Figure 6. Rotor flux response versus time

Figure 3. SPWM

Figure 4 presents the general diagram of the oriented vector Figure 7. Torque response versus time
for the induction motor. Also the Speed, Rotor flux, stator
current control loops and the flux orientation blocks are
presented.
To test the vector control, some simulations have been done
to control the speed at 157rd/s. After stating the motor without
load, a torque load 20Nm is applied at 0.5s. The flux rotor is
maintained to 1web.

Simulation and results

The results show the performance of the vector control to
tracking speed and flux to their references in transient state as Figure 8. Phase (A) stator current response versus time

13
 (i=ire-i) is located in sector 2, the referential (2 2) is
considered the current error vector is therefore decomposed
into two components ii and i serving as input signals of
the hysteresis controllers. The output signals (h and h)
determine the switches state [19].
The synoptic diagram of this technique is mentioned in the
Figure 12.

Figure 9. Zoom of Phase (A) stator current (unloaded motor)

Figure 12. Block diagram of the control system by rectified

currents

Figure 10. Zoom of Phase (A) stator current (Loaded motor • From the information on the voltages control, the block
20Nm) "S" performs the identification of the sector by detecting the
zero crossing of the stator voltages and giving the.
Our objective is to have torque reponse and currents not • Binary vector V whose expression is the following [19]:
rippled, which gives us a good efficiency of the machine, the
method used is to replace the PWM with rectified hysteresis V 1  1 + sgn(U 12ref ) 
regulators, this method has given us a great improvement in   1
V = V 2 =  1 + sgn(U 23ref ) 
 (8)
the levels currents, torque and speed. 2
V 3 1 + sgn(U 12ref −U 23ref )

3. HYSTERESIS CONTROL SYSTEM • The rectified current error vectors ir and ir are
obtained from Information available at the input of the "RC"
This technique is derived from the principle hysteresis block which is V and I as shown in Figure 2 The vectors ir
control, where the currents of the three phases of the machine and ir are defined by the following expressions and
are rectified before being controlled by the hysteresis mentioned in Table 1 [19]:
comparator, allows operation at low switching frequency.
The principle of this method consists to define in the stator
reference plan (, ), eight voltage vectors Ui (i=0-7)
i r = rT i 
 (9)
i r  = r i 
corresponding to the possible positions of the inverter switches, T
these vectors define in their turn six sectors, Figure 11.

With

i −i 2 
i  = i 1 i 2  ; i  = 1  1
T
;
i 3 2 −i 3 
0 1 −1 1 0 −1
r =  V ; r =  V
1 0 −1 0 1 −1
Table 1. Definition the control variables

Sector N° V1 V2 V3 ii ii

1 1 1 0 (i1 − i3)/ 3 -i2
2 0 1 0 (i2 − i3)/ 3 i1
Figure 11. Illustration of rectified stator current 3 0 1 1 (i2 − i1)/ 3 -i3

In the middle of each sector we create a new variable

4 0 0 1 (i3 − i1)/ 3 i2
reference plan i i (i=1, 6). For example, according to the 5 1 0 1 (i3 − i2)/ 3 -i1
reference voltage position, when the stator current error vector 6 1 0 0 (i1 − i2)/ 3 i3

14
 • The vectors ir and ir are the input variables of two
hysteresis comparators. At the output of these comparators two
bands are delivered h along axis  and h along axis.
• The switching states of the inverter switches Sa, Sb and Sc
are obtained from Table 2 as a function of the values V, h and
h [19].
The switching sequences (Table2) Ui (i=0-7), depend on
(h, h) the output of hysteresis controllers of ii and ii.

Table 2. Switching sequences

Figure 16. Torque response versus time
(h, h)
Sector N° 00 01 10 11
1 U7 U0 U2 U1
2 U0 U7 U3 U2
3 U7 U0 U4 U3
4 U0 U7 U5 U4
5 U7 U0 U6 U5
6 U0 U7 U1 U6

Figure 17. Phase (A) stator current response versus time

Figure 13. Vector control Block diagram of the induction

motor using RSCHC

The simulations of the Vector control using RSCHC (Figure

13) is done with the same condition as with SPWM. Figure 18. Zoom of Phase (A) stator current (unloaded
Simulation and results motor)
The results are organized as follow:

Figure 19. Zoom of Phase (A) stator current (Loaded motor

Figure 14. Speed response versus time 20Nm)

The results show the performance of the vector control to

tracking speed and flux to their references in dynamics as well
as in steady state, Figure 14 and 15. However, we notice that
the torque oscillations (Figure 16) are reduced compared with
Figure 7. Also we can obseve that the stator current is sinsoidal,
Figures 17, 18, 19.
With SPWM the switching frequency is fixed thus and the
distribution of the harmonics cannot be changed, in order to
allow efficient operation of the motor operating at variable
speed.
Figure 15. Rotor flux response versus time

15
4. METHODS OF COPER LOSS REDUCTION the variation of the parameters of these systems as well as the
quality of the measurable variables. In order to provide a
We have chosen a simplified loss model which takes solution to these problems, a new control strategy based on
account only the copper losses. The joule losses of the "Fuzzy logic theory" has been developed the origin of the
induction motor are divided into two: the stator joule losses development of this theory was process control based on the
and the rotor joule losses. So the sum of the two losses gives expertise of the operator [19, 20]. In a control loop, human
us [20-24]: reacts like nonlinear robust controller whose parameters vary
during the time. This control strategy «Human" needs to know
Pj = R s (I sd2 + I sq2 ) + R r (I rd2 + I rq2 ) process to order fuzzy controllers can be seen as a case of
(10)
expert control characterized by the use of a mechanism
representing the judgment of the human being [19, 24].
In the steady state, the first equation of (3) can be written:

 6. DESIGN OF THE FUZZY CONTROLLER

I sd = (11)
M
The proposed diagram Figure 20, explains the input and
Due to its no accessibility, the rotor current is expressed as output variables used for optimization system.
a function of the stator current as follows: The input variables are the torque component Ce and its
variation ΔC, the output is the Flux component φopt which has
the goal of minimizing the copper losses [23, 24]. The Control
 r M
I rd = L − L I sd
rules are summarized in Table 3.
 r r
 (12) Table 3. Fuzzy rules
I = − M I
 rd Lr
sq

Ce
NH NM NS ZE PS PM PH
The second equation of (3) can be written: ∆Ce
N N N NS ZE PS PS P
Ce ZE N N NS ZE PS P P
I sq = P N NS NS ZE PS P P
M (13)
p 
Lr r

By remplacing (11), (12) and (13) in (10), we obtain:

C e2
Pj = K  + K 22
(14)
1 r
r2
Rs 2
where, K 1 = 2
and K = R s Lr + R r .
2
M p M 2 p2
2

We obtain a loss equation as a function of the IM parameters,

the electromagnetic torque and the rotor flux. The resolution
of equation (14) allows us to obtain the optimum flux which
ensures minimum losses. To solve this equation, derivative Figure 20. Membership functions for proposed scheme
action equation (15), it is also called the sensitivity of the input
power [20-24]: As well as the simulation block diagram of this technique
which is shown by the Figure 21:
dPj C2
= 2K 1r − 2r K 2 e4 (15)
d r r

Finally, the minimization of stator and rotor losses is

obtained from the optimized rotor flux r_opt:

 K 2  14
r _ opt =   Ce (16)
 K1 

5. FUZZY LOGIC

Most complex industrial systems are difficult to control

automatically. These problems are due to nonlinearity and to Figure 21. Flux optimization scheme

16
 Figure 26. Rotor flux response versus time
Figure 22. Block diagram of proposed control scheme

To test the efficiency of the proposed scheme (Figures 21,

22), simulations have been done to control the speed at 157rd/s.
The induction motor is started with 1Nm, after thad a torque
load is changed to 7Nm at 0.5s (see Figure 23). The flux is
generated by a fuzzy optimiser according the torque laod in
order to reduce the losses. The results are compared to the
thoses were the flux is maintained to 1web, Figures 24, 25, 26
27, 28, 29, 30 and 31.

Figure 27. Rotor flux response versus time

Figure 23. Torque profile

Figure 28. Phase a stator current response versus time

7. RESULTS AND DISCUSSION

Figure 24. Speed response versus time Figure 29. Phase (A) stator current response versus time

Figure 25. Torque response versus time Figure 30. Zoom of Phase (A) stator current (without
optimization)

17
 8. CONCLUSIONS

In this paper, a rotor flux oriented vector control of the

induction motor is presented. The motor is supplied through
two level inverter using a new technique of rectified hysteresis
current control. This technique is based on the hysteresis
control principle, where the currents of the three phases of the
machine are rectified before being controlled by the hysteresis
comparator, allows a low switching frequency operation.
Also, an analytical approach is exposed to minimizing the
Figure 31. Zoom of Phase (A) stator current (with copper losses of the induction motor. This approach has been
optimization) addressed and applied to improve the effectiveness of
induction motor using a fuzzy logic. The strategy adopted
The simulation which gives an optimized efficiency based consists to adjust the rotor flux according the value of the load
on the fuzzy logic is performed using Matlab/Simulink®; the torque to reduce the stator current, thus the optimizing
parameters of the machine used are given in appendix Table 5. Efficiency.
And the results of the simulation are given in figures below. The results show the utility of efficiency optimization used
We start with the evaluation of the efficiency as a function fuzzy logic, when the machine is associated with rectified
of the load torque for different loads Figure 32 clearly shows currents hysteresis control and confirm largely the
the performance efficiency with flux optimization based on effectiveness of the proposed control scheme.
fuzzy logic compared to the efficiency without optimization. Future research will be oriented towards the implementation
of the proposed control on an electric vehicle.

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