2014 International Conference on Control, Instrumentation, Energy & Communication

301

Dynamic Simulation of Induction Motor Drive Using

Artificial Intelligent Controller
P. M. Menghal
Faculty of Degree Engineering,
Military College of Electronics &
Mechanical Engineering,
Secunderabad, 500 015
Research Scholar, EEE Dept., JNTU,
Anantapur-515002,
Andhra Pradesh, India
prashant_menghal@ yahoo.co.in

Dr. A. Jaya Laxmi

N. Mukhesh

Professor, Dept. of EEE,

Jawaharlal Nehru Technological
University, College of Engineering,
Kukatpally, Hyderabad-500085,
Andhra Pradesh, India
ajl1994@yahoo.co.in

Research Scholar, Dept. of E &C,

Jawaharlal Nehru Technological
University, College of Engineering,
Kukatpally, Hyderabad-500085,
Andhra Pradesh, India
mukhesh437@gmail.com

Abstract In industries, more than 85 % of the motors are

Induction Motors, because of the low maintenance and
robustness. Maximum torque and efficiency is obtained by the
speed control of induction motor. Using Artificial Intelligence
(AI) techniques, particularly the neural networks, performance
& operation of induction motor drives is improved. This paper
presents dynamic simulation of induction motor drive using
neuro controller. The integrated environment allows users to
compare simulation results between conventional, Fuzzy and
Neural network controller (NNW).The performance of fuzzy
logic and artificial neural network based controller's are
compared with that of the conventional proportional integral
controller. The dynamic Modelling and Simulation of Induction
motor is done using MATLAB/SIMULINK and the dynamic
performance of induction motor drive has been analyzed for
artificial intelligent controller.

Keywords- Neuro Network(NNW), PI Controller, Fuzzy Logic

Controller(FLC), Sugeno Fuzzy Controller

I.

over fuzzy controller. Sugeno fuzzy controller is used to train

the fuzzy system with two inputs and one output [10-13].The
performance of fuzzy logic and artificial neural network based
controllers is compared with that of the conventional
proportional integral controller.
II.

DYNAMIC MODELING & SIMULATION OF

INDUCTION MOTOR DRIVE

The induction motors dynamic behavior can be expressed by

voltage and torque which are time varying. The differential
equations that belong to dynamic analysis of induction motor
are so sophisticated. Then with the change of variables the
complexity of these equations decrease through movement
from poly phase winding to two phase winding (q-d). In other
words, the stator and rotor variables like voltage, current and
flux linkages of an induction machine are transferred to
another reference model which remains stationary [1-6].

INTRODUCTION

Three phase Induction Motor have wide applications in

electrical machines. About half of the electrical energy
generated in a developed country is ultimately consumed by
electric motors, of which over 90 % are induction motors. For
a relatively long period, induction motors have mainly been
deployed in constant-speed motor drives for general purpose
applications. In about the same period, there were also
advances in control methods and Artificial Intelligence (AI)
techniques. Artificial Intelligent techniques mean use of expert
system, fuzzy logic, neural networks and genetic algorithm.
Researchers soon realized that the performance of induction
motor drives can be enhanced by adopting artificialintelligence-based methods. The Artificial Intelligence (AI)
techniques, such as Expert System (ES), Fuzzy Logic (FL),
Artificial Neural Network (ANN or NNW), and Genetic
Algorithm (GA) have recently been applied widely in control
of induction motor drives. Among all the branches of AI, the
NNW seems to have greater impact on power electronics &
motor drives area that is evident by the publications in the
literature. This paper tends to show Neuro controller has edge

978-1-4799-2044-0/14/$31.002014IEEE

Fig. 1 d q Model of Induction Motor.

In Fig.1 stator inductance is the sum of the stator leakage

inductance and magnetizing inductance (Lls = Ls + Lm), and
the rotor inductance is the sum of the rotor leakage inductance
and magnetizing inductance (Llr = Lr + Lm). From the
equivalent circuit of the induction motor in d-q frame, the
model equations are derived. The flux linkages can be
achieved as:



 



2014 International Conference on Control, Instrumentation, Energy & Communication







302

In order to obtain the stator and rotor currents of induction

motor in two phases, Inverse park transformation is applied in
the last stage [6].




 








By substituting the values of flux linkages in the above
equations, the following current equations are obtained as:













Where mq and md are the flux linkages over Lm in the q and

d axes. The flux equations are written as follows:
  



  






 

In the above equations, the speed r is related to the torque by

the following mechanical dynamic equation as:

  



Then r is achievable from above equation, where:
p: number of poles.
J: moment of inertia (kg/m2).
In the previous section, dynamic model of an induction motor
is expressed. The model constructed according to the
equations has been simulated by using MATLAB/SIMULINK
as shown in Fig. 2 in conventional mode of operation of
induction motor. A 3 phase source is applied to conventional
model of an induction motor and the equations are given by:
   

   

   

By using Parks Transformation, voltages are transformed to

two phase in the d-q axes, and are applied to induction motor.

Fig. 2 Simulated Induction Motor Model in Conventional Mode.

III.

FUZZY LOGIC CONTROLLER

The speed of induction motor is adjusted by the fuzzy

controller. In Table-I, the fuzzy rules decision implemented
into the controller are given. The conventional simulated
induction motor model as shown in Fig. 2 is modified by
adding Fuzzy controller and is shown in Fig. 3. Speed output
terminal of induction motor is applied as an input to fuzzy
controller, and in the initial start of induction motor the error
is maximum, so according to fuzzy rules FC produces a crisp
value. Then this value will change the frequency of sine wave
in the speed controller. The sine wave is then compared with
triangular waveform to generate the firing signals of IGBTs in
the PWM inverters. The frequency of these firing signals also
gradually changes, thus increasing the frequency of applied
voltage to Induction Motor [12]. As discussed earlier, the crisp
value obtained from Fuzzy Logic Controller is used to change
the frequency of gating signals of PWM inverter. Thus the
output AC signals obtained will be variable frequency sine
waves. The sine wave is generated with amplitude, phase and
frequency which are supplied through a GUI. Then the clock
signal which is sampling time of simulation is divided by crisp
value which is obtained from FLC. So by placing three sine
waves with different phases, one can compare them with
triangular waveform and generate necessary gating signals of
PWM inverter. So at the first sampling point the speed is zero
and error is maximum.

Fig. 3 Fuzzy Control Induction Motor Model.

2014 International Conference on Control, Instrumentation, Energy & Communication

Then whatever the speed rises, the error willl decrease, and the
crisp value obtained from FLC will increase. So, the frequency
of sine wave will decrease which will causee IGBTs switched
ON and OFF faster. It will increase the AC supply frequency,
and the motor will speed up. The inputs to thhese blocks are the
gating signals which are produced in speedd controller block.
The firing signals are applied to IGBT gatess that will turn ON
and OFF the IGBTs. The flow chart of sim
mulation of fuzzy
logic controller is shown in Fig. 4.

303

last one contains one neuron to give the command variation

(S(K)). The aim of the prooposed NNC is to compute the
command variation based onn the future output variation
(ANN(K+1)). Hence, with thiis structure, a predictive control
with integrator has been reaalised. At time k, the neural
network computes the commannd variation based on the output
at time (k+1), while the later isnt defined at this time. In this
case, it is assumed that ANN
N(K+1) ANN(K).The control
law is deduced using the recurrrent equation given by,
S(K) = S(K-1) + G(S(K))
(
(16)
It can be seen that the d axis and
a q axis voltage equations are
coupled by the terms dE and qE . These terms are considered as
disturbances and are cancelled by using the proposed
decoupling method. If the decooupling method is implemented,
the flux component equations become
b
dr = G(s)vds
(17)
(18)
qr = G(s)vqs

Fig. 5 Neural netw

work speed controller.

P
Fig. 4 Flow Chart of Fuzzy Simulation Process.
ECISION
TABLE I. MODIFIED FUZZY RULE DE

Large values of may acceelerate the ANN learning and

consequently fast convergencee but may cause oscillations in
the network output, whereass low values will cause slow
convergence. Therefore, the value of has to be chosen
carefully to avoid instability. The proposed neural network
controller is shown in Fig. 6.

PB

NB
ZZ

NS
NS

ZZ
NS

PS
NB

PB
NB

PS

PS

ZZ

NS

NS

NB

ZZ

PS

PS

ZZ

NS

NS

NS

PB

PS

PS

ZZ

NS

NB

PB

PB

PS

PS

ZZ

IV.

NEURO CONTROLL
LER

The most important feature of Artificial Neural Networks

(ANN) is its ability to learn and improve itts operation using
neural network training [7-8]. Fig.5 deppicts the network
structure of the NNC, which indicates that the
t neural network
has three layered network structure. The firrst is formed with
five neuron inputs (ANN(K+1)), (ANN(K
K)), ANN, S(K-1),
(S(K-2)). The second layer consists of five
f
neurons. The

Fig. 6 Neuro control of induction motor drive.

2014 International Conference on Control, Instrumentation, Energy & Communication

SIMULATION RESULTS & DISCUSSION

100
80

T o rq u e i n N m

60
40
20
0
-20
-40
-60
-200

200

400

600

800
Speed in RPM

1000

1200

1400

1600

1800

Fig.7 (c) Torque Speed Characteristics with Neuro Controller.

Torque response of Conventional Controller
20

15

Torque

10

-5

500

1000

1500

Time

Fig. 8 (a) Torque Response of Conventional Controller.

Torque response of Fuzzy Controller
140
120
100
80
60
T orq u e

Modeling and simulation of Induction motor in conventional,

fuzzy and adaptive neuro fuzzy are done on
MATLAB/SIMULINK. A complete simulation model for
inverter fed induction motor drive incorporating the proposed
FLC, adaptive neuro fuzzy controller and Neuro controller has
been developed. The dynamic performance of the proposed
FLC, with adaptive neuro fuzzy and neuro controller based
induction motor drive is investigated. The proposed neuro
controller proved to be more superior as compared to adaptive
by comparing the response of conventional, with FLC,
Adaptive neuro fuzzy speed controller based IM drive. The
results of simulation for induction motor with its
characteristics are listed in Appendix 'A'. Fig.7, 8 and 9 show
the torquespeed characteristics, torque and speed responses
of conventional, FLC and neuro controller respectively. It
appears the rise time drastically decreases when neuro
controller is added to simulation model and both the results
are taken in same period of time. In neural network based
simulation, it is apparent from the simulation results shown in
Fig. 7(b) and Fig. 7 (c), torque-speed characteristic converges
to zero in less duration of time when compared with
conventional Controller and FLC, which is shown in Fig. 7(a)
and Fig 7(b). Neuro controller has no overshoot and settles
faster in comparison with FLC and conventional controller. It
is also noted that there is no steady-state error in the speed
response during the operation when neuro controller is
activated. In conventional controller, oscillations occur,
whereas in neuro controller and FLC, no oscillations occur in
the torque response before it finally settles down as shown in
Fig. 8. Good torque response is obtained with Neuro controller
as compared to conventional, and FLC at all time instants and
speed response is better than conventional controllers and FLC
controller. There is a negligible ripple in speed response with
neuro fuzzy controller in comparison with conventional
controller, FLC and adaptive neuro controller under dynamic
conditions which are shown in Fig.8. With the neuro
controller, speed reaches its steady state value faster as
compared to Conventional and FLC controller. Fig. 10 shows
the stator currents and rotor currents of 3 different controllers
under dynamic conditions. The speed comparison between the
three artificial intelligent controllers is given in Table-II.

Torque-Speed Characteristics with Neuro Controller

120

40
20
0
-20
-40
-60

0.5

1.5
Time

2.5

3
x 10

Fig. 8(b) Torque Response of Fuzzy Controller.

Torque Characteristics with Neuro Controller

120
100
80
60
T o r q u e in N m

V.

304

40
20
0
-20
-40
-60

0.5

1.5
Time in Sec

2.5

3
5

x 10

Fig. 8(c) Torque Response of neuro controller.

1800
1600
1400

Torque-Speed Characteristic s with Conventional Controller

1200
SPEED

20

15

10

1000
800

Torque

600
400

200
0

0
0
-5
0

200

400

600

800

1000

1200

1400

1600

1.5

Time

2.5
x 10

Speed response of Fuzzy Controller

Torque-Speed Characteristics with Fuzzy Controller

1800

140

1600

120

1400

100

Torque

Fig. 9 (a) Speed Response of Conventional Controller.

Fig. 7 (a) Torque Speed Characteristics with Conventional Controller.

80

1200

60

1000

40

800

20

600

400
200

-20

-40
-60
-200

0.5

1800

Speed

-200
0

200

400

600

800
Speed

1000

1200

1400

1600

1800

Fig.7 (b) Torque Speed Characteristics with Fuzzy Controller.

0.5

1.5
Time

2.5

Fig. 9 (b) Speed Response of Fuzzy Controller.

3
x 10

2014 International Conference on Control, Instrumentation, Energy & Communication

TABLE II. SPEED COMPARISON BETWEEN CONVENTIONAL, FC

AND NN
Speed
in
Speed in FLC
Speed
in
Speed
conventional
based
ANN
simulation
controller
Simulation (rpm)
(rpm)
based
Time
simulation
line
(rpm)
0.5
65
400
410

Speed Charcteristics with Neuro Controller

1800
1600
1400

S peed

1200
1000
800
600
400
200
0

6
Time

10

12
4

x 10

Fig. 9(c) Speed Response of Neuro Controller.

Stator & Rotor Currents

150

150

800

915

240

1680

1710

580

1710

1710

1460

1710

1710

10

1640

1710

1710

100

50

-50

-100
0

0.5

1.5

APPENDIX 'A'
The following parameters of the induction motor are chosen
for the simulation studies:
V = 220
f = 60
HP = 3
Rs = 0.435
Rr = 0.816
Xls = 0.754
Xlr = 0.754 Xm = 26.13
p=4
J = 0.089
rpm = 1710

2.5

TIME

x 10

Fig. 10(a) Stator & Rotor Currents of Conventional Controller.

Current responses with Fuzzy Controller
300

200

Stator & Rotor Currents

100

-100

REFERENCE

-200

[1]

-300

-400

0.5

1.5
Time

2.5

3
5

x 10

Fig. 10(b) Stator & Rotor Currents of Fuzzy Controller.

Current response with Neuro Controller

[2]
[3]

300

200

Stator & Rotor Current

305

[4]

100

[5]

-100

[6]

-200

-300

10

12

Time

14
4

x 10

Fig. 10(c) Stator & Rotor Currents of Neuro Controller.

VI.

[7]

CONCLUSION

In this paper, comparison of simulation results of the induction

motor are presented with different types of controller such as
conventional, fuzzy control and neuro controller. From the
speed waveforms, it is observed that with neuro controller the
rise time decreases drastically, in the manner which the
frequency of sine waves are changing according to the
percentage of error from favorite speed. The frequency of
these firing signals also gradually changes, thus increasing the
frequency of applied voltage to Induction Motor. According to
the direct relation of induction motor speed and frequency of
supplied voltage, the speed will also increase. With results
obtained from simulation, it is clear that for the same
operation condition of induction motor, fuzzy controller has
better performance than the conventional controller. By
comparing neuro controller with FLC model, it is apparent
that by adding learning algorithm to the control system will
decrease the rising time more than expectation and it proves
neuro controller has better dynamic performance as compared
to FLC and conventional controller.

[8]
[9]

[10]
[11]
[12]
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