Available online at www.sciencedirect.

com

ScienceDirect
Energy Procedia 75 (2015) 1529 1535

The 7th International Conference on Applied Energy ICAE2015

Efficiency improvement of induction motor variable speed

drive using a hybrid fuzzy-fuzzy controller
Muawia A. Magzoub*, Nordin B. Saad, Rosdiazli B. Ibrahim
Universiti Teknologi PETRONAS, Department of Electrical and Electronics Engineering, 32610 Bandar Sri Iskandar, Malaysia

Abstract

Induction motor (IM) variable speed drive efficiency is essential for a few reasons as energy conservation, economic
saving and lessening of ecological contamination. This research represents a study of the efficiency improvement for
the developed hybrid fuzzy-fuzzy controller (HFFC) scheme to gain control over the speed of an induction motors
variable speed drive (VSD). In order to overcome drawback of field oriented control (FOC) method, the principle of
HFFC is based on set of rules to control speed of a rotor by utilizing fuzzy frequency controller during the accelerate-
decelerate stage. Alternatively, a fuzzy stator current magnitude controller is used during steady-state stage. The two
aspects (current and frequency) of FOC are engaged to design a scalar controller. The performance of the controller is
observed by conducting a series of tests, and it can be concluded that the controller is efficient, reliable and
insensitive towards the parameter variation in the system and motor robustness to load and noise disturbances.

2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
2015 The Authors. Published by Elsevier Ltd.
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Selection and/or
Peer-review peer-reviewof
under responsibility under responsibility
Applied of ICAE
Energy Innovation Institute

Keywords: Indirect field-oriented control (IFOC); Hybrid fuzzy-fuzzy control (HFFC); Disturbances; Efficiency improvement.

1. Introduction
Induction motor VSD efficiency is essential for energy conservation, economic saving and lessening of
ecological contamination [1]. During the last forty years the induction motors have been largely utilized in
the applications that use variable speed. In industry, the term workhorse is used to refer to the induction
motor [2,3]. The FOC or the vector control was considered as the most significant inventions in the AC
motor drives [3]. Also, Fuzzy Logic was presented in 1965 as a novel kind of mathematical set
approached by Zadah [4]. As the continuous improvement on the control aspects of variable speed drive
(VSD), several research studies exist that are based on the control techniques and commercially available
tools which yield a high degree of performance and reliability. For example in [5] the PLC based hybrid-

* Corresponding author. Tel.: +6-011-16480787; +6-05-3687835; fax: +6-05-3657443.

E-mail address: mawkafi11@yahoo.com (M. Magzoub), nordiss@petronas.com.my (N. Saad).

1876-6102 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of Applied Energy Innovation Institute
doi:10.1016/j.egypro.2015.07.309
1530 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535

fuzzy control for PWM-driven VSD was examined that depends upon the s-domain transfer function in a
scientifically presented model of an original plant, by keeping the V/f ratio at a constant value. However
in [5], the optimizations of the controller's performance, against the parameter variation, and external
disturbances were not fully considered. Consequently, the disadvantages of FOC method and the results
gained from the simulation have been overcome by an implementation of the two stage controllers in [6
8], though all the practical implementations were quite satisfactory. Moreover, the satisfactory results
have been gained by applying suitable controller algorithms on controlling the speed of an IM [9,10]. The
primary emphasis of this study is on the implementation of a fuzzy current amplitude controller on the
induction motor model, which makes this work unique. This controller possesses the same supply features
as FOC [6] and is insensitive to the parameter variation of the motor, with system robustness to noise and
load disturbances is one of the advantages of this controller. Due to the fact that it provides better
performance, the fuzzy current amplitude controller has been selected.

Nomenclature
d- and q-axis stator current modules, respectively and expressed in a stationary reference frame
Magnetizing inductance
Self-inductance of the rotor and stator respectively
The resistance of a rotor and stator phase winding respectively
Load torque and Electromagnetic torque replicated on the motor shaft respectively
d- and q-axis stator flux components, respectively and expressed in a stationary reference frame
d- and q-axis rotor flux components, respectively and expressed in a stationary reference frame
Mechanical and electrical angular rotor speed respectively
Synchronous speed or dominant frequency
Number of pairs of poles, the inertia of the rotor , and the damping constant respectively

2. Mathematical Modeling
The equations (1)-(3) provide the state-space model of an induction motor in a stationary frame with a
controlled stator current [11,12].

(1)

(2)

(3)

The two features for the FOC that have been used in this study are shown in Eq. (1) to (3). The first
aspect is that the supply frequency changes with the speed of the rotor, [11], is given by Eq. (4).

where, (4)

 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535 1531

If ( ) is kept constant throughout the acceleration-deceleration stage, then ( ) is also constant and
from Eq. (4) as ( ) changes during accelerate-decelerate stage, then () should vary. So that Eq. (4) is
satisfied for the first feature. The Eq. (5) proves the second feature as follows:

where,
and, (5)



The Eq. (5) will be constant if the torque command ( ) is constant, which satisfies the second feature.
Fig. 1(a) shows that a speed response may be divided into two stages. For the HFFC, Table 2 shows the
relationship between the inputs and outputs. The related parameters of IM are follows:

3. Design of Controller

3.1. Fuzzy current amplitude controller

In the stage of accelerate-decelerate, the stator current magnitude is regulated as the system is driven
by the maximum permissible values of an inverter. During the final steady-state period, the speed of the
rotor is controlled by adjusting magnitude of the stator current, while the supply frequency is kept
constant. Following equations in [6,11] a relationship between the torque-current in the presence of a
constant supply frequency can be stated as follows:
 
(6)
 
The values for the current amplitude are depicted as in Fig. 1 (a) and (b).
1

Speed
0.8
Speed (rad/sec)

Reference Inference Defuzzifi-

Fuzzification o/p
0.6 Speed Engine cation
Error
0.4 Fuzzy Current
Fuzzy Slip
Frequency Controller Amplitude Controller
0.2
Knowledge
Base
0
0 5 10 15 20 25 30 35 40
Acceleration Period Steady-State Period Time

Fig. 1. (a) Speed response stages; (b) A general block diagram of FLC

Fig. 1(b) demonstrates the general structure of the FLC, a combination of knowledge base,
fuzzification, defuzzification and inference engine. A speed error can be computed by comparing the
reference speed and the speed signal feedback. The fuzzy knowledge base consists of membership
functions of the inputs of fuzzy controller including the speed reference, change of error and current
amplitude / slip frequency outputs.

3.2. Membership functions

The outputs are defined by a set of nine fuzzy membership function (MF) which are outlined as follows:
Z: Zero, PS: Positive small, PM: Positive medium, PB: Positive big, NS: Negative small, NM: Negative
medium, NB: Negative big, PBB: Positive big big, NBB: Negative big big. The inputs and outputs
include the membership functions as illustrated in Fig. 2 (a), (b) and (c). The Eq. (5) representing the
1532 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535

samples of current amplitude of the two stages are shown in Table 3. The fuzzy inputs can be plotted to
produce the required output via the rules, as shown in Table 4.

Table 2. HFFC relationship

Supply frequency Current amplitude Rotor speed Control Objective

Acceleration Change Constant Change Speed change
Steady-state Constant Change Constant Reduce Oscillation
Degree of membership

Degree of membership
NB NM Z PS PM PB NBB NBNM NS Z PS PM PB

Degree of membership
NS NB Z PB PBB
1 1 1
0.8 0.8 0.8
0.6 0.6 0.6
0.4 0.4 0.4
0.2 0.2 0.2
0 0 0
-150 -100 -50 0 50 100 150 -300 -200 -100
'Z
0 100 200 300 -15 -10 -5 f 0 5 10 15
Z m A,Zr
m

Fig. 2. Membership function of (a) Speed reference; (b) Speed error (c) current amplitude / slip frequency

3.3. Fuzzy-frequency controller

A fuzzy frequency control is presented by the frequency aspect of the field orientation principle. At the
steady state phase, the torque command is a smaller value, whereas, the torque command becomes a
larger value during the accelerate-decelerate stage. The speed reference and rotor speed represent these
values [7,11]. Eq. (7) represents the reference and speed error from the inputs of the fuzzy slip control.
The samples of the slip frequency of the two stages can be obtained by the Eq. (7), which is shown in
Table 3. The following relations show a slip frequency at a steady-state.

 


(7)



So that the slip frequency can be written as,

(8)

Table 3. Speeds, current amplitude, slip frequency and fuzzy linguistic values

Stages
Deceleration - -50.54 -16.80 NBB
Steady-state -120 -15.07 -3.6328 NB
-80 -12.79 -2.42192 NM
-40 -11.214 -1.21096 NS
0 0 0 Z
40 11.214 1.21096 PS
80 12.79 2.42192 PM
120 15.07 3.6328 PB
Acceleration - 50.54 16.80 PBB
 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535 1533

4. Outcomes and analysis

A combination of the fuzzy frequency controller and fuzzy current amplitude controller forms a HFFC.
This controller provides similar supply frequency as FOC and is insensitive to the parameter variation for
the motor and system robustness to noise and load disturbances, which are the advantages of this
controller.

Table 4. Rule matrix for fuzzy current amplitude / fuzzy slip frequency controller

Speed Reference
Speed Error NB NM NS Z PS PM PB
NB NBB NBB NBB NBB NBB NBB NBB
Z NB NM NS Z PS PM PB
PB PBB PBB PBB PBB PBB PBB PBB

The model of HFFC for an induction motor is produced using Matlab/Simulink, is shown in the Fig. 3
(a) and (b).

Fig. 3. (a) Simulink diagram of the HFFC; (b) The model diagram of the HFFC

5. Simulation Results
A new controller is compared with the field-oriented controller by carrying out a simulation of an
indirect rotor flux field-oriented controller. The simulation outcomes of the HFFC are presented in Fig. 4
(a). The two stage control results in faster speed as compare to the other prevalent controllers. The mutual
inductance and the rotor resistance are expected to be changed to and respectively to
demonstrate the insensitivity of the hybrid fuzzy-fuzzy controller to the variation of motor parameters
(see Fig. 4 (b)). Notably, the speed response to the current noise and with the measured speed illustrates
that the hybrid fuzzy-fuzzy controller possesses a decent disturbance rejection (see Fig. 4 (c)).
150 150 150
Hybrid fuzzy-fuzzy controller HFFC with Rr and Lm
Hybrid fuzzy-PI controller Distributed random noises
100 Indirect field-oriented controller 100 HFFC with 3Rr and 0.8Lm 100
for speed sensor and input current
Speed (rad/s)

Speed (rad/s)
Speed (rad/s)

50 50 50

0 0 0

-50 -50 -50

-100 -100 -100

-150 -150 -150

0 5 10 15 20 0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (s) Time (s) Time (s)

Fig. 4. (a) Speed response of the HFFC; (b) With parameters variation; (c) With noise
1534 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535

Furthermore, the study on the impact of magnetic saturation of the induction motor on the controller
performance, in the induction motor model has also been conducted. Figs. 5 (a) and (b) demonstrate the
simulation results of the torque and rotor speed responses.
150 400 500
HFFC without magnetic saturation HFFC without magnetic saturation HFFC without load changes
HFFC with magnetic saturation 400
100 HFFC with magnetic saturation 300 HFFC with load changes
Speed (rad/s)

300

Torque (N.m)

Torque (N.m)
200
50 200

100
100
0 0
0
-100
-50
-100 -200

-300
-100
-200
-400

-150 -300 -500

0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

Time (s) Time (s) Time (s)

Fig. 5. (a) With the effect of magnetic saturation; (b) Torque with the effect of magnetic saturation; (c) With load changes

Fig. 5 (c) illustrates the torque response of the fuzzy-fuzzy control system with load torque variation.
The aforementioned simulation outcomes demonstrate that the larger changes can be accommodated in
load torque by the fuzzy-fuzzy controller. The minimization of current losses which qualitatively shown
in the results contribute to energy efficient system.

6. Conclusions
This research work represents a study on the efficiency improvement of the developed hybrid fuzzy-
fuzzy controller (HFFC) scheme to gain control over the speed of an induction motor (IM). Henceforth,
from the exploitation of the two features of the field-oriented control, the fuzzy-fuzzy controller has been
found to be more efficient than a scalar controller. One of the main benefits of this controller is the supply
of similar frequency and FOC is insensitive to the parameter variation of the motor and robust to noise
and load disturbances. This study yields a standard, assessment and examination of the three controllers
(HFFC, HFPIC and IFOC) under the dynamic conditions. The further work to be considered includes the
advancement in the production and augmentation of the controllers to improve the IM-VSD performance.

Acknowledgements

The authors acknowledge the supports from the Universiti Teknologi PETRONAS through the award of
the graduate assistantship scheme and URIF.

References

[1] L. Rames, S. P. Chowdhury, S. Chowdhury, A. K. Saha, Y. H. Song. Efficiency optimization of induction motor using a
fuzzy logic based optimum flux search controller. International conf. on Power Electronics, Drives and Energy Systems 2006, p. 1-6
[2] J. Bocker, S. Math. State of the Art of Induction Motor Control. IEEE Int. Electr. Mach. Drives Conf. 2007, p. 14591464
[3] M. A. Magzoub, R. B. Ibrahim, N. B. Saad. Analysis and Modeling of Indirect Field-Oriented Control for PWM-driven
Induction Motor Drives. IEEE Conf. Clean Energy Technol. 2013, p. 488493
[4] M. A. Magzoub, R. B. Ibrahim, N. B. Saad. An intelligent speed controller for indirect field-oriented controlled induction
motor drives. 2013 IEEE Conf. Clean Energy Technol. 2013, p. 327331
[5] N. Saad, M. Arrofiq. A PLC-based modified-fuzzy controller for PWM-driven induction motor drive with constant V/Hz
ratio control. Robot. Comput. Integr. Manuf. 2012, 28:95112.
[6] K.Shi, T.Chan, Wong. Hybrid Fuzzy Two-stage Controller for an Induction Motor. IEEE Int. Conf. Syst. 1998, p. 18981903
 Muawia A. Magzoub et al. / Energy Procedia 75 (2015) 1529 1535 1535

[7] T. F. Chan, K. L. Shi, S. L. Ho, Y. K. Wong. An Improved Two-stage Control Scheme for an Induction Motor. IEEE Int.
Conf. Power Electron. Drive Syst. 1999, p. 405410
[8] Y. K. Wong, T. F. Chan, K. L. Shi. A Novel Hybrid Fuzzy /PI Two-stage Controller for an Induction Motor Drive. IEEE Int.
Electr. Mach. Drives Conf. 2001, p. 415421
[9] Asija, Divya. Speed Control of Induction Motor Using Fuzzy-PI Controller. 2nd Int. Conf. Mech. Electron. Eng. (ICMEE)
2010, p. 460463
[10] A. Rathinam, N. Tiwary, S. Ajitha. Design of Hybrid Fuzzy-PI controller for speed control of Brush less DC Motor. Int.
Conf. Electron. Commun. Instrum. (ICECI) 2014, p. 14
[11] Andrzej M. Trzynadlowski. The Field Orientation Principle in Control of Induction Motors. Media New York: Springer
Science+Business; 1994.
[12] B. K. Bose. Modern power electronics and AC drives. 2002.

Biography
Muawia Abdel Kafi Magzoub received the B.Sc degree in Electrical Engineering
from Al-Zaim Al-Azhari University, Khartoum, Sudan in 2005 and Masters degree in
Electronics Engineering from Sudan University of Science & Technology, Khartoum,
Sudan in 2008. He worked as a lecturer at Al-Jraif Sharq Technical College,
Khartoum, Sudan. Currently, he is a graduate assistant and pursuing a Ph.D degree in
Electrical & Electronics Engineering at Universiti Teknologi PETRONAS, Malaysia. His main
research areas are in the hybrid-energy systems, power electronics and drives control and drives
applications.

Nordin Saad received the B.Sc degree in Electrical Engineering from Kansas State
University, USA in 1984, Masters degree in Power Electronics Engineering from
Loughborough University, UK, in 1992 and Ph.D degree in Control Engineering from
the University of Sheffield, UK, in 2003. He is currently an Associate Professor at
Universiti Teknologi PETRONAS, Malaysia. His main research areas are in the
hybrid-energy systems, power electronics and drives control, fuzzy/expert systems,
smart sensors and field intelligence, and networked/wireless control.

Rosdiazli Ibrahim received the B.Sc degree in Electronic/Computer from Universiti

Pertanian Malaysia, in 1996, Masters degree in Automation & Control Engineering
from University of Newcastle, UK, and Ph.D degree in Electrical & Electronic
Engineering from the University of Glasgow, UK, in 2001 and 2008 respectively. He
is currently an Associate Professor at Universiti Teknologi PETRONAS, Malaysia.
His main research areas are in the hybrid-energy systems, automation & process
control, and wireless control.