IRJET- Speed Control of Induction Motor using Hybrid PID Fuzzy Controller

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 10 | Oct 2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 1432
Speed Control of Induction Motor using Hybrid PID Fuzzy Controller
Farzana Anjum1, Navnidhi Sharma2
1,2Department of Electrical Engineering, E-Max School of Engineering and Applied Research, Kalpi-Naraingarh
Road, VilageGola, Maulana, Ambala-Haryana, India
------------------------------------------------------------------------***-------------------------------------------------------------------------
Abstract - Fuzzy Logic Controller are evaluated asoneofthe
best controller to the servo motors due to its lesscomplexity
in the mechanism and did not include any of the
mathematical models. The purpose of this study is to
regulate the change in induction motor speed by enhancing
the traditional technique by using the BAT optimization
algorithm for the selection of parameter of Ki and Kp for PI
controller. The reason behind choosing the .bat paradigm
has several merits, and the most important benefit is that is
offers very rapid convergence at a very starting stage
through switching from exploration to exploitation. For
applications as a rapid resolution is required then this
prepares it an effective paradigm.
Keywords— BAT, PID, Fuzzy Logic, Derivative Control,
Proportional Control Integral Control.
1. INTRODUCTION
For the control method engineering and position control
various controlmethodsalgorithmsarebeenexecutedthese
days. Through utilizing the diverse sort of automatic
procedure we can design the position control by using the
digital servomotor. On the contrary, in the mechanism the
nonlinearities did not occur that are load effect that shows
adverse effects to the mechanism performance. For the
generalized applicationsthegenerallytheelectrical motoris
used whereas for other specific task different electrical
motors were used.
Among increasing no temperature these motor can also
implement to accomplish the dynamic need of the
mechanisms. Therefore as choosing the electric motor it is
very significant to establish the load characteristics. Forthe
mechanism whereas choosing these motortheotherfactors
like mission goals, availability of power and cost is also
considered. As employed experimentally, the entire
knowledge about the uncertainties are very hard to fetch
out. In servo motors to present position control various
researches has been proposed. To handle the uncertainties
the fuzzy logics are considered one of the important
methods which are desirable over PID controllers
particularly in servo motors [1].
1.1 Induction Motor
In several domestic utilizationsthesemotorfindsitslocation
with more than 85% of industrial motorsamonginitssingle-
phase formation. A continuous speed motor among shunt
feature noticeably speed drops that is less from the total
percentage from no load to the full load. Therefore
previously, in continuous speed applications these motors
are used significantly. Dissimilar to the motors based on
Direct Current the conventional mechanisms have been
implemented to control the speed. These conventional
mechanisms are costly or very ineffective. Nevertheless, in
the dangerous and polluted atmospheres the incidence of
commutate and brushes in the latter that attain recurrent
maintenance construct dc motor drives not proper for
utilization. Alternatively, owing to the easy, rough,
inexpensive, shorter and consequently lighterbuildofdrives
for induction motors that is specifically squirrel-cage type,
they are intended for blowers, tractionetc.despitesearching
inflexible competition from dc drives.
2. PID CONTROLLER
PID controller is generally termed as Proportional-Integral-
Derivative controllers. Mostly three control parametersthat
need to be adjusting in obtaining an output. Output i.e.
obtained by combining the all the parameters i.e. integral,
proportional and Derivative. The main areas of using this
controller are the education and industrial sections.Figure2
depicts the block diagram for a PID controller.
These PID controllers have application in almost every area
but these two fields majorly contribute to all otherareasand
almost all controllers are used in theseareas.PIDcontrollers
must be tuned to provide the installation of the controllers.
Thus tuning is performedon thedynamicperformanceofthe
scheme [15].
In the figure three control parameters are depicted that are
used to get the output, where first parameter is Proportional
control which increases gain. The second parameter is
integral control which leads to the reduction of steady state
error. And the last one is Derivative control which improves
transient response [11]. Input is taken from the world and
produces output to the world.
Figure1: Conventional PID Controller system design [15]

PID controller as an equation:-.
u (t)= Kp[e(t) + 1/Ti dt` + Td(de(t)/dt)] +b…(1)
Where, u defines the control signal, e shows the subtraction
of the current value to the set point, kp is the gain for a
proportional controller, ti integral controller scales through
this parameter, td i.e. derivative controller that can scale
through this parameter, t defined the total time taken by the
error measurement, b defines the set point of the given or
taken signal which is also considered as bias or offset value.
Collaborated with three parameters given, PID can be
referred as transfer function in MATLAB defined below:
We can define the Transfer function of the controller as
follows:
C(s) = Kp(1 + τds + 1/τis)………………………………………..(2)
Where Kp shows proportional gain, τd describes Derivative
time and τi defines integral time.
Proportional term of the controller shows proportional of
the generated error and can be written as follows:
Pout = Kp e (t)……………………………… (3)
Proportional control value depends upon the error rate
demonstrate that higher the error, higher the proportional
control as explained in the equation above. Thus it can be
concluded that proportional control brings the systematfast
set point [12]. Alternatively,as the mechanismattainstheset
point then it generates error based on the steady state that
directs to an overshoot. There is another possibility of
increasing the gain of the proportion but that makes the
system unstable.
+
r (s) - e(s) c(s)
Figure 2: Proportional control
Proportional control as depicted in figure 2, canexpressedas
closed loop transfer function like:
……………….(4)
Where =
Step input r(s) =
c(s) = or c(t)= ( (5)
From above given equation (4), it is declared that:
(1) Factor can be used for improving time which
means that time constant can be decreased by this.
(2) Difference between desired response and output
response steady state offset is
A (1- ) = (6)
Fundamental portion of the controller influence with the
variations of the error on time given as:
Iout= Ki T……………………………………. (7)
It helps in eliminating the problem of proportional term
which wassteady stateerror but it has a disadvantagetooi.e.
it affects the stability of the system. Thus it can be concluded
that most of the portion depends on the error’s pass values
[13].
r(s) e(s) c(s)
+ -
Figure 3: Integral control action
Above figure 3 obtain following equation as:
= (8)
Where step input r(s) =
e(s) = = (9)
= s se(s) =0……….(10)
Unlike other terms Derivative control is relative to the rate
at which error is changed and defined as per the equation
below:
Dout= Kdd/dt e (t)………… (11)
The above equationhelpsinestimatingtheforthcomingerror
which leads to correction speed reduction or enhancement.
This term helps in taking decision soon which provides
detection of any changes on the error and system remains
stable. This term is very sensitive to disturbances. If there is
no change in the error then derivative influence will not be
generated.
Transfer function of PD controller expressed as:
C(s) = Kp (1+τds)…………….(12)
Derivative controller cannot be used alone due to its some
drawbacks thus Proportional Derivative controller has been
used to provide stability to the closed loop system. To prove
this fact process transfer function can be explained as [14]
P(s)=
Therefore resultant transfer function of the closed loop is
given as:
K/
1+τs
Kp K/ 1+τs

= (13)
Where p=0 represents characteristics
equation which will provide stable closed loop response.
In this research paper, controller based on fuzzylogic isused
for controlling a plant with the help of human knowledge
with linguistic variables. The main benefits of using this
system are good popularization and high fault tolerance. It
canalso apply to non linear systems due towhichitisfamous
for years [20].
Controller +
r(s) - e(s) c(s)
Figure 4: Control action with a higher order process [20]
With the use of P and P-D controller step response will be
compared as depicted in figure 4.
Figure5: Fuzzy based PID controller system design
Controller’s performance can be improved by using the the
hybrid fuzzy controller i.e. combination of P and ID
controller depicted in figure 5 where proportional term is
replaced with incremental FL controller and integral as well
as the derivative term will remain same [15].
Ti (Ki)= KPi ui(k) + KIiTei(k)-
KDi ……..(14)
From above equation, ui (k)showsoutputofincremental FL
controller.
3. PROBLEM FORMULATION
In the projected mechanism the fuzzy logic among the
traditional controllers are incorporated and the vector
control mechanism was utilized. In order to enhance the
speed response of the three-phaseinductionmotorthefuzzy
logic controller with the old PI controllers is used
collaboratively. Where the PI controller utilizes the
parameter such as Kp and Ki. These parameters selection is
done on behalf of hit and trail method and when these
parameters meet any variations in their values, the whole
controller gets affected in that condition. Therefore, in that
condition the induction motor speed can be altered.Sothere
is a need to develop such a system that can handle the
induction motor speed in each and every case.
4. PROPOSED WORK
As defined in above section that in order to regulate the
induction motor speed, various authors conduct various
study by using different type of controllers such as PI, PID
controllers, arduino controllers and controllers based on
fuzzy logic. The controller based on the fuzzy logic are
evaluated as appropriate controller to the servo motors due
to its less complexity in the mechanism and did not include
any of the mathematical models The purpose of this study is
to control the variations in speed of the induction motor by
enhancing the traditional technique by using the BAT
optimization algorithm to select the parameter of Kp and Ki
for PI controller. The reason behind choosing the bat
paradigm has several merits, and main benefit is that it can
offer very rapid convergence at a very startingstagethrough
switching from exploration to exploitation. For applications
as a quick resolution is required then this prepares it an
effective paradigm.
5. RESULTS
The Figure 6 shows the proposed Simulink model. Initially a
constant along with the reference speed are given to the
speed controller that is utilized to regulate the reference
speed. PID controller is used for controlling the speed. After
that a space vector modulator is used to modulatethespeed.
The output of space vector machine is given to the gate
whose outcomes are further offered to the SI units of
Asynchronous Machine. The output obtained from the
machine is then offered totheSubsystem.ThespeedofRotor
and the Torque obtained from the Subsystem are provided
to the Scope 1.
Figure 6 Simulink model of the proposed work
Kp

Figure 7 Output of PID model (Traditional mechanism)
The graph of Figure 7 shows the traditional mechanism
Output in which the speed of Rotor and the torque is
represented in the graph. In this graph fluctuations are
shown in the rotor speed.
Figure 8 Output of Bat-PID model (Proposed mechanism)
The graph of Figure 8 shows the Output of the Proposed
mechanism in which the Rotor speed and the torque is
shown. Here in this graph it is shown that the variations in
the speed of rotor that is less when compared to the
traditional mechanism and the torque has alsolessvariation
in this output. Therefore the proposed model has very less
settling time.
Figure 9 Fitness values of the proposed model.
The graph of Figure 9 depicts the Fitness values of the
planned model. The number of iterations is shown on the x-
axis and it ranges from 0 to 30. The fitness values are shown
over the y-axis that ranges from 5000 to 7500. From this
graph the best fitness value is attained.
Figure 10 Rise Time of the proposed model.
The graph of Figure 10 shows the Rise Time of the proposed
model to the conventional model. The Rise of the proposed
model that is of Bat-PID is shown in yellow color andtherise
time of the conventional model that is PID is shown in the
Blue color. The Rise time ranges from 0 to 4000 and shown
on the y-axis. Here the Rise time of the proposed model is
less comparative to the traditional mechanism.
Figure 11 Settling Time of the proposed model.
The graph of Figure 11 depicts the Settling Time of the
proposed model to the conventional model.Thesettlingtime
of the model should always be less to make the model

efficient. The settling time of the proposed model is shown
on the y axis and ranges from 0 to 9x 104. Therefore the
settling time of the proposed model is less than the
conventional model.
Figure 12 Overshoot of the proposed model.
The graph of Figure 12 shows the Overshootoftheproposed
model. The overshoot of the proposed model that is Bat-PID
is slightly less comparative to the traditional method that is
PID. The overshoot is shown on the y-axis and ranges from0
to 8. The Bat-PID is shown in the yellow color in graph
whereas the PID is shown in the blue color.
The conventional control such as the proportional-integral
(PI), and proportional-integral-derivative (PID) controllers
have been used together among vector control components
for the induction motors speed control from step by step.
However, for controlling the speed of a three-phase squirrel
cage induction motor (SCIM) the hybrid control mechanism
was utilized in the conventional mechanism. The fuzzy logic
controllers are evaluated as the most suitable controller to
the servo motors as this is the less complex mechanism and
did not include any of the mathematical models.Inthiswork
the variations in speed of the induction motor arecontrolled
by enhancing the traditional technique by using the BAT
optimization algorithm to select theKp andKi parametersfor
PI controller.
As the projected mechanism is veryeffectivebutinfuturefor
the induction motor speed control at another level the
hybridization of the Neuro-Fuzzy paradigm with the PID
controllers can be utilized.
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6. CONCLUSIONS

IRJET- Speed Control of Induction Motor using Hybrid PID Fuzzy Controller

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IRJET- Speed Control of Induction Motor using Hybrid PID Fuzzy Controller