ISSN 2319-8885

Vol.04,Issue.19,
June-2015,
Pages:3584-3589
www.ijsetr.com

Improved Scalar Controlled Induction Motor using PID Controller and

Fuzzy PID Controller
B. SUDHAKAR REDDY1, HUSSAIN SHAIK2, D. SRINIVAS3
1
PG Scholar, Dept of EEE, VJIT Engineering College, Telangana, India, E-mail: [email protected].
2
Associate Professor, Dept of EEE, VJIT Engineering College, Telangana, India, E-mail: [email protected].
3
Associate Professor, Dept of EEE, VJIT Engineering College, Telangana, India, E-mail: [email protected].

Abstract: Induction motors have many applications in industry because of their low maintenance and robustness. The speed
control of induction motor is more important to achieve maximum torque and efficiency. In recent years, the control of the
induction motor drive is an active research area for engineers. Fuzzy logic controllers (FLC‟s) have the following advantages over
the conventional controllers: they are cheaper to develop, they cover a wider range of operating conditions, and they are more
readily customizable in natural language terms. A self-organizing fuzzy controller can automatically refine an initial approximate
set of fuzzy rules. Application of PI-type fuzzy controller increases the quality factor. Fuzzy logic provides a certain level of
artificial intelligence to the conventional PID controllers. Fuzzy PID controllers have self-tuning ability and on-line adaptation to
nonlinear, time varying, and uncertain systems Fuzzy PID controllers provide a promising option for industrial applications with
many desirable features. In this paper the performance of a scalar V/F controlled induction motor drive is evaluated using
conventional PID controller and fuzzy PID controller and the results are compared. In this paper speed control of the three level
and five levels with induction motor drive can be implemented using Matlab/Simulink software.

Keywords: Induction Motor, PID Controller, Fuzzy Logic Based PID Controller, Membership Function.

I. INTRODUCTION Performance, vector control is also known as decoupling,

Induction motors has many application in industry orthogonal, or transvector control. The vector control and the
because of their low maintenance and robustness. The speed corresponding feedback signal processing, particularly for
control of induction motor is more important to achieve modern sensorless vector control, are complex and the use of
maximum torque and efficiency. In recent years, the control powerful microcomputer or DSP is necessary. Because of
of the induction motor drive is an active research area for major advantages of vector control, this method of control
engineers. And the technology has further advances in this will oust scalar control, and will be accepted as the industry-
field. Generally, the control and estimation of ac drives ware standard control for ac drives. PI controllers are widely used
significantly more complex than that of dc drives, and this in different industries for control of different plants and have
complexity increases to a large extent if the high a reasonable performance. This performance, however, may
performances are demanded. The need of variable frequency, not be desirable for some applications such as ac drive
machine parameter variations, and the difficulties of control. Therefore it is essential to use a more advance
processing feedback signals in the presence of harmonics controller in these cases. PI controller can never achieve
create this complexity. In most of industrial drive control perfect control, that is, keep the speed of induction motor
applications, the standard method to control squirrel cage continuously at the desired set point value in the presence of
induction motors is based on the field-oriented or vector disturbance or set point changes. Therefore, we need an
control principle in order to achieve the best dynamic advance control technique such as fuzzy logic controller for
behavior. There are essentially two general methods of vector this goal. Nowadays, fuzzy systems are applied in wide range
control. One called the direct or feedback method, and the of academic and industrial fields such as modeling and
other, the indirect or feed forward method. Indirect vector control, signal possessing, medicine, and etc. An important
controlled (IVC) induction motor (IM) drives used in high Fuzzy Logic application is finding a new solution for control
performance systems is very popular in industrial problems that will be discuses later. The present paper
applications due to their relative simple configuration, as discusses a Fuzzy Logic Based Intelligent controller. A
compared to the direct method which requires flux and torque Fuzzy Logic Controller (FLC) does not need complex
estimator. The primary advantages of indirect vector control mathematical algorithms and is based on the IF_THEN
are the decoupling of torque and flux characteristics and easy linguistic rules (Rajesh Kumar et al, 2008).
implementation.

Copyright @ 2015 IJSETR. All rights reserved.

 B. SUDHAKAR REDDY, HUSSAIN SHAIK, D. SRINIVAS
II. INDUCTION MOTOR MODELLING Where: as V, bs V and cs V are the phase voltages T 1 to T6:
So to reduce the complexity of the modeling the three phase switching states of the sine switches which can either be 1 if
quantities converted to two phase system. The modified the switch is on or 0 if the switch is off. dc V: DC supply
voltage equations [10] for the rotor and stator on the voltage.
synchronously rotating reference frame are as follows:- IV. THE CONTROL METHOD
The control method used in this is scalar control. Due to its
simplicity and cost effectiveness it is widely applicable for
(1) industrial usage. As in scalar control, only the magnitude of
the variable is controlled so it is easy to design. Here the
(2) control method is Volt/Hz [12] control. In this method both
supply voltage and frequency are controlled for speeds below
base speed. Above the synchronous speed control the voltage
(3) cannot be increase above the rated so only frequency is to be
varying in that case. After getting the reference angular
electrical speed ωe * the voltage reference is calculated
(4) keeping the flux (ψ) constant i.e. keeping V/F ratio constant.
The above flux linkage in a synchronous rotating frame can So for this control a source is required which can supply both
be expressed as variable frequency and voltage. Therefore a pulse width
modulated (PWM) inverter [11] is used as a source. The
(5) control structure is given in fig.2.

(6)

(7)

(8)
The electromagnetic torque of the Induction motor is
given as:

(9)
And the torque balance equation of the motor is

(10)
III. INVERTER MODEL
The PWM inverter [11] can supply power at variable
frequency and voltage as well as shown in Fig.1.
Fig.2. Block diagram for scalar speed control of induction
motor.

A. PID Controller Design

The output of a conventional PID controller is given by
the following equation

(14)
Where e is the error given as e=wm*-wm. wm*and wimbling
the reference speed and actual speed respectively. kp, k i, kd
are the proportional gain, integral gain, derivative gain
respectively. In this paper no special method is adopted for
Fig.1. Inverter Model. the tuning of the controller. The gains are tuned manually by
trial and error method to give near optimum results.
The modeling equation of the VSI can be written as
B. Fuzzy Logic Controller
The design of fuzzy logic controller described in 3 steps.
(11)  Fuzzification
 Rule Base
(12)  Defuzzification

In the fuzzification step the error and change in error

(13) signals are normalized to values which lie in between -1 to 1.

International Journal of Scientific Engineering and Technology Research

Volume.04, IssueNo.19, June-2015, Pages: 3584-3589
 Improved Scalar Controlled Induction Motor using PID Controller and Fuzzy PID Controller
Then the normalized inputs and outputs are described by based controller. The simulation process done under two
different membership functions. The membership functions different conditions those are
for the inputs and outputs are given in figure below. The  Step change in load torque at constant reference speed.
triangular and trapezoidal membership functions make the  Step change in reference speed command with constant
calculations easier and controller to be simple. The load torque.
membership function given in the fig.3. The rule base is
made as per the table (I).[2],[3],[6] In the first case step change in load torque is given at 6
second in which the torque changes from 0N-m to 5 N-m
maintaining the constant reference speed of 1200 rpm.

Fig.3. Membership Function.

TABLE I:

Fig.5. Matlab/Simulink Diagram For Scalar Speed

Control Of Induction Motor With Pid And Three Level
Inverter.

The defuzzification method is adopted in this work is of

centroid type.

C. Design of PID Type FLC

The PID type FLC is a combination of both PD and PI
type FLC. The complete structure of PID type FLC is given
in the fig.4 below. The output of a PID type FLC is the sum
of both the PD and PI output. The output side has two scaling
factors „K0PI‟ and „K0PD‟for PI and PD type FLC
respectively.
(a)

Fig.4. Block diagram of fuzzy logic controller.

V. MATLAB/SIMULINK RESULTS
The simulation of speed control of induction motor is done
using Matlab and various results are obtained as shown in
Figs.5 to 11. First the simulation of motor is done using
conventional PID controller and then by the fuzzy logic (b)
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.19, June-2015, Pages: 3584-3589
 B. SUDHAKAR REDDY, HUSSAIN SHAIK, D. SRINIVAS

(a)
(c)

(b)
(d)
Fig.6. Simulation result of IM using PID controller
withstep change in Speed (a) speed (b) frequency (c)
Torque(d) voltage.

(c)

(d)
Fig.8. Simulation result of IM using fuzzy PID controller
with step change in Torque (a) speed (b) Torque (c)
frequency (d) voltage.
Fig.7. FFT analysis for inverter voltage.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.19, June-2015, Pages: 3584-3589
 Improved Scalar Controlled Induction Motor using PID Controller and Fuzzy PID Controller

(c)

Fig.9.Matlab/Simulink Diagram for Scalar Speed Control

of Induction Motor With fuzzy And five Level Inverter.

(d)
Fig.10. Simulation result of IM using fuzzy PID controller
with step change in Torque (a) speed (b) Torque (c)
frequency (d) voltage.

(a)

(b) Fig.11. FFT analysis for inverter voltage.

International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.19, June-2015, Pages: 3584-3589
 B. SUDHAKAR REDDY, HUSSAIN SHAIK, D. SRINIVAS
VI. CONCLUSION Author’s Profile:
In this paper we found that conventional PID has more Name: B.Sudhakar Reddy,
settling time than fuzzy PID controller, so fuzzy PID Qualification: M.Tech (PEED), VJIT
controller makes the system faster. The maximum overshoot Engineering College, India.
also in the conventional PID controller is found more than Email:[email protected].
fuzzy PID controller. Again the variation in the system
parameters due to load disturbances is also less with fuzzy
PID controller, which proves that the fuzzy PID controller is
more robust than the conventional PID controller. So it can
be concluded that the fuzzy PID controller improves the
system performance and is better suited for high performance
drives. Name:Hussain Shaik,
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International Journal of Scientific Engineering and Technology Research

Volume.04, IssueNo.19, June-2015, Pages: 3584-3589