CENTRE FOR NEWFOUNDLAND STUDIES
1 TOTAL OF 10 P,&GES ONLY I
MAY BE XEROXED I I
(Wilhout Author'. Psrmiuicm1
SPEED CONTROL OF HIGH PERFOR.MANCE PERMANENT MAGNET MOTORS
St. .lulln'r X c w b ~ ~ ~ ~ d l i ~ s c I I:i%ili~<li~
Abstract
T i i s thals presents a novel tcchniqae of spccd roittn,: br pt.relam#nal (llhl]
moton. Robus1 and precise specd eotltroi is of r n t i r u l ihlllaorlnlrc i n 1l8r I~ i g l i 1~t.1.- formsnce drive npplicationr. Usavoidnblc system clisiarI,;t!~~.~~r, rurh .IS lp.tr;trtn.~~.r wriationa, rilcets o f sudden load impact und olhur ryrtc,s~ ctoisrs .~n. I~.IIIIVI.II ivy dl.- velaping on-line rclf tuning artilicinl neural sc~twork control rtnnr.l~~n-i I r r 1~1,111 l'bl dc and PM brushlegs synchronous nlotor drivcr. 'l'ilc ncsvly cleviarl ;~rtiliri.~l ~t<.imr;li
network mntrollers are capable of ovcrcon~ing thc lirni!i~l.iosr or sa,<1~.1 ~ i c ~ p ~ ~ ~ ~ ~ l ~ ~ , ~ l convontianal fixed gain and exisling adaplive spccd con~rnl1c.r~.
Utilizing the concepts of inverse motor ciyr~uznirr .u~ci ~trrn-li~lri~r b ; ~ l cIs;br;a.~.t,r islics, artificial ncurai network based mntiollera arc derigsc,cl or, 1.h~: Ihuin I,( f<r?d.
forward neural nolworks. Thc lranrienl and ciynar~~ir bcd~nuion o f l l ~ ~ ! prnl~o*vrl ~ l r i a : systems are improwd by incorporalirlg a trtbiquc fcntun, ,,r a<liqrlive 1k~;si)ittp I.;LLI.
wldch aids the on-line robust speed control avcr n w t l r opc:rding rattp<:. 'I'LI: ~~ai,il.
i t y of the proposed syalems has been ensured by r ~.umbi~~;~liot> ofolf-ling? nrld ~,tt-lisv trainings of the artificial neural nclworkn.
As an integral par1 of this work, cllorts have ibccr~ ciin!ctod nt llne rcnl-tirnc! ill)- plementation of the artificial neural network baeci I'M rnoror (irivc: systenlr 1wio8g n disilal signal pmccsror (DSP) controller hoard-I1S1102. A sow cirr:uil l<>pohrfiy
I#;,\ 111,1111 d,.w.lop<,d in order frr Ir.i.cs fhr. conlpc>ratinn burden o i the DSP con~rollci l ~ t l r n l br 1111. i~ill,l<.tr~r.sl;~ticlri o i Om I'XI lbiurblu~r iynrltronoor !notor rlrivc system.
,\ r.ri<,r rji I,,rrr Ihta 1hv1.11 cnrrivd out ~ r . i l i ~ IhnLll I'M c l ~ and l'!.! ryncltionoas motors ill c l i c l v r 10 1~v8bl%ti~lo rilr, pr~rinnnascrs o i lllr artili~inl ~lcaral nct~voik llased cirirr ry,tt.ltlr. 'i'llr. I.d,oi;blury Ic,\l. n,s~tltr vai>dalr. tllc it.asibiii1.y of Llie artificial ncllrill i ~ r , l l ~ ~ ~ i k ill ill$ iarlal>tivo COIILIOIII.T 111 I ~ L C l~iglt pcrbnnanrc driver.
1 wo~lld lib. 1 0 I:XPIPJS III~ S~IICI.ICI~ f i ~ a l i t l ~ d ~ 11111 .tl>prvc.ii~iiurl 1 0 1 1 1 ~ 1'1.0 lrrsor Sl. .\rislnr Rabrnas lor llir g~ticl,ttuc,. rtclricv .IIIII t . ~ ~ c ~ n l n t g c . ~ i o ~ ~ ~ ~ ~ I I ~ ~ s ) ~ I ~ ~ I ~ o s I I lily pmgrum. \ly *isccirrl rl!e~rhs lo ('simcli,,a ih!lc~r~talic,i~al lll.\~q.l~,l,~lll~~~l .\*Q.~~(.F (CIDI\) lor spon%orix~,g 1,111. \IIIN/CllJr\/HII' lplnjl.rt wl~irl, lpll>~ldl.ll lll,. 111)1,118
lctltily 10 I~UTSIIC 111y ~ W ~ I I & L C l t l l l y at \1~111<1ridl. I ~ ~ l ~ l t l Ilk? f 0 .I~~LII~II~~I~~IIR.
llle nssistnncr lrom IJr. .I.E. Quaicor , & l ~ c l 1)". Il. .lrv,,r~try;~. 111c IIIG.II~III.I, LII ~ I I Y sllpcrvisory costm~tlce lor h e i r ~ u r ~ . h ~ l rolnnncml. ;awl rinqp.llil,lw.
I sroald lib l o crtl:ncl my npprrcinlios l o 111.. Svltool #,I l:vittl\ti~~v SIII~~IX. ,111 lnculty ancl atall nnlemherr especinlly l.lic C-C,\I< r l a l l nlc.~ttlr.,\ ila,cl .IISCI ;,I1 6.11111v gradua1e sludeidr. I sincerely acknowiedgc Lllc iah,rllu,l.,. ,c.<<.i,~t.,l rr<,,,, I , , l ~ > , < , l < ~ ~ lerhnolog~rlr blr. Ridlard Na$vrnan. Mr. Ilos (:uy, \It.. I)wm!li, . I I ~ I I I ~ ~ ~ ~ I ~ imd LIL 'Torn Pike.
I'innlly I cxprenr my sin~crc apprc~ial.i<,n 11) 8 1 t ~ ~ i h , l i ~ r l > i m ~ i ~ , ~ u r rli~ttp,1111.1 N o I ~ L as iL* o ~ ~ l c r ranlily lllcmben illll~ rril.,,dl ,v~II~,,,,I ,,.IIII,{. Illl,llllr~
.,,,,I
I.lllOllrilRc..mcni i t an,,lrl !,"I. have bccn po.~ihlc lo coin,,lc.ll. Llllh $"~,ik. I ,v<II,III Ilk<. I,, (ll.llil.tL~.
tlly t l l e ~ i ~ to my parcnta.
Contents
Acknowledgement C o n t e n t s
List of Figures x
List of Tables xviii
I Introd~netion 1
I I IKlrctrir: Molar Drives . .
. . .
.. .
. .. . . . . . . . . . . . . . . .
1 1.2 Itevivw o I B~vsl~leso Pi4 Molar D i v e Systems.. . . .
6 1.2.1 Uruahlcas PM motor molor drive. with PI or PID contrallcrs.
7 1.2.2 Brurl~less PM motor drive. with adaptivecontroile~. . . . .
I4 1.2.:1 Brushless PM motor drives with artificial Meiligence controllen 17 l.:l I'roblen~ Idcnlilication and Purpose of the Work. . . . . . . .
20 2 Vector Control of Brushless P M Synchronous Motor D r i v e 24 2.1 Iln~al~lesa PM Syschmnaus Motor Equation.. . .
25 2.1.1 Bmsltlers PLl gnchronoul motor dynamicequations. . .
262.2 \icier Conlral of lllr 1Inal~b~ss I'll SyscIlmcio~8s \I*ltcx
. . . .
:I0 2.3 lmplcmelltntio~~ Stratqy lor tllr f i r t o r (\bslnrl Scl8rsr b r !llr I l r ~ t s l ~ .lcss 1'11 Syncl~ionous Slotor
. . .
:!I 2.3.1 Dcrign of a prcudo rlc.riratin, lg~~~llrz>c.k (I'I)I') t?pt, rl~<*.li ~ r , r ,l r 0 l I ~ l
. . .
:Xi. . .
2.3.2 Curre111 ro~ltrol scllelllc lor !ll~. adt.tgc. roltwc, icn,l.l.~t.r :xi 2.3.3 llyslercsis cllrrcnl co~~troller
. . .
:I$2.3.1 Simulation and c x p r r i ~ ~ ~ e n t n l rrw!&lln or t l ~ r l>y*tl.nrir ct~rn.a~l co!llrollcr with
R-L
1.oncl. . .
.I1 2.4 Computer Simtilation n l lLt. Collvc.lll b~nal (1'I)I' IYIW) Sprc.,l ( ' I , ~ I -Lmller Babed Bllrrhlcas I'M Sytlcllrosot18 Molor Ilrisr,.
. . .
622.5 Real-time lrnplcmentation or lhc Co~,vcntion,~l Sp~:c,cl l*lntn,llt~r l1,1*~.tI Brushless PM Synchronous blotor Ilrivc
. . .
5.1 2.6 Results and Disc!lssions. . .
51;2.7 Concluding Romarka
. . .
lii 3 A r t i f i c i a l N e u r a l Network Based H i g h Performance M o t o r Drives OH 3.1 Capabilities and Advontagc~ a l Neurni Nel.worka. . .
Ii!) 3.2 Descriptions of Mortly Usod ANNs irt Orivc 'Tccllscrlnl;y. . .
7113.2.1 Wed forward neural nctwork~
. . .
713.3 General Description of an ANN
. . .
723.3.1 Back-propagalion slgorilhm lor t l ~ c ANN
. . .
75 3.4 ANN lor an Inlerior-type Brushlow I'M Syst:lbmrno~cn MoLor I)riuc: ..
III 3.5 Concludinb h a r k 8. . .
X:l 4 A r t i f i c i a l N e u r a l N e t w o r k Baaed PM D C M o t o r Drive 844.1 ilrirr i)ncnption 01 the I'M DC iviotor
nri* . . .
83.1.2 DC >lolor DrivcSyrtcm Dyt~arnics
. . .
86 4.3 A X N Slntctlrrc far the i'W D C blalor Drive. . .
89. . . .
4.3.1 Of-linc training lor the initial sel of weighls and hiares 91 4.4 Ilval-limt: Adaptive S p e d Control lhrotrgh On-line Tuning or the ANY 92 ,1.4.i Adaptive learning ralc lor on-line wcighlr and biases updating 96 4.1.2 ModiSed r\NN rtntct~lrc willl onhancd stability
. . .
96 .I. 4.3 I. ahorstory implementation. . .
D6 1.5 i(eralla and Discus~ionr. . .
102.
1.6 Conrl>~ding lhrnnrka. . .
1215 A r t i f i c i a l N e u r a l N e t w o r k Based Brushless P M Synchronous M o t o r
D r i v e 123
5.1 lttvcrse Dynami- or the Brushless PW Syncltronour Motors
. . .
124 5.2 ANN Slruclure for the Brushlns PM Syncl~ronous Motor Drive. . .
1285.9 Of-line Training lor Initial Weights and Biaaa
. . .
130 6.4 Rcal-timc A N N Based Brushless PM Synchronous Motor Drive. . . .
132 6.6 Sitnulalion o l the A N N Based Pbl Synchronous blolor Drive. . .
135 6.6 Conciuding Remarks. . .
1486 L a b o r a t o ~ y I m p l e m e n t a t i o n of t h e A N N Based Bru8hle.is P M Syn-
chronous M o t o r Drive System 148
6.1 Cctlernl Deacriplion of the Laboratory Setup
. . .
1506.2 Ilarchvsm ln~plementatiin
. . .
150 6.3 Sollsnm for the Real Time implementation of the ANN Based Brurh-loss Pbl Symchmnour Motor D ~ i w
. . .
151G.3.l Peripheral initmliz;~liot~
. . .
151i 6.3.2 lnlerrupt service roatitn~5.. . .
1,;s 6.4 Experin~cntnl R e ~ u l l. . .
13s 6.5 Concluding Rrmnrkr. . .
l i : l7 S u m m a r y a n d Conclusions 17.1
7.1 Major Cor~lrihulioz~s of lhc 'l'l~crir
. . .
lii. . .
7.2 Conclusions li!l
. . .
i.3 R l u r e Scopeof Work. 180
References I 8 1
Appendices
A PM Synchronous Motor Data
B PM DC Motor Data
C Analog Interface C i r c u i t C.1 Daeriptbn
. . .
D S I M U L I N K Subsystems 109
D.1 Subsystems ol SlMULlNK hyslercris ctlrrenl mntn>llcr
. . .
lC1!l D.2 subsystem^ of the SIMULINK brurlllcss I'M ry~lcl~ronvt~s ss,tor c l r i a. . .
with the PDI speed controller U12
List of Figures
I I (:l;,sriliv;~tior~ ofirnslnlras PM !notor drives; (a) based on cngc winding;
. . . .
(1. ) l...n.~I ",I cotltrol ..cthad~ 5
. . .
I.? <:tndrd rdaeme of u hr~~shlcsr Pb1 ullc motor 7
. . .
1.3 Vvctor mrltrol rchernc of n brushless P M synchronous motor 8
?.I b1.loclr.l or lhc briwhlcsr pcrmuneut magncl synchranou~ molor: (o) d
. . . .
axis (18) q.,uis
. . .
2.2 lllork ~liagram for il vector-conlrolled P.ClSM drive
2.5 'l'lte rir~gpiiRed apecd control block diagram of PMSM drive
. . . . .
2.J I ~ o l o - ~ c r o plots (a) inpat: u;. output: u. (b) inpul: TL. ostput: u. 2.5 Ss~all signal bchnvior o f l l l e simplified contml syslcm: (a) Au. due l o
. . . .
,
usit rtcp chnnge of u; (Ir) due to unit atep change of TL;. . .
2.6 Cttrrcnl controlled voltngc source inverter with
R-L
load 2.7 (&) lr~vertcr valtnge p h m r (b) Switching current waveform. . .
2.3 (a) llyslrresis current controller rchemc (b) Waveform ofa typical hys- t c r a i r rllrrent mntroll n.
. . .
. . .
2.11 SlblULINti block diagram for hyslemis current mnlrolled VSI 2.10 Scl>nnalic diagram of the digital currod controlled VSI
. . .
2.11 Plow chart of lllc nrl.lil,,,. i,l,pl<.ll,nll.,,,c>,, 111 ,I,<. I>\.~l<."~..i. <.,I1 I,.,,, controller with 1l.l. load
. . .
l.V! Flow rllnrt oithmx ]pl~m"l lP\V11 s~guals g n ~ . ~ r i l ! ~ c , ~ ~
. . .
2.13 Current responses o i i h r Ihyrlrrcwis rarlnl! 1-01itrol1t~ .lt 1111. a.i,.n.,l.c lreqttency 60 Ilr: ( I ) Simalnlioc! ny,otlscs for pl,.~n. '.I' ,ttu1 pll.lht. '1,' (11) Correspondisg exprrimnc.sl.il ~c.rpollnr
. . .
2.14 Cllricnt mponacs of the Ilyrtrrrsis c.ntrnt~ ~r,i~l~ollc.r
.,I
!la. n.A.~~.~ac~.frequrncy 60 Ilz: (a) Sinl~~lnlion rrspotnu.r lor pl~;ln, '.I' ;,irl lpl#,ln. ' c ' (b) Correspoding cnperin~cnttd irspoear.
. . .
2.15 Ctirrent rcsponsrs or thr I ~ y r l c ~ r n i s rllrn,sl ~r,otmll~.r a1 llic ~c,b,n~lr~.
r ~ c q ~ e n a 30 LIZ: (a) Silrt~tli~tior~ rmpl,l~st~
r~
I~II.II. llllc~ l,~l.lll. .I.(h) Corresponding crprrir~~entttl respo~~r~.;
. . .
2.16 Current rnponres of tllc IlysLcrerir olrn,sl nn>Ln,llc.r .dl IIN. n,b,nmc.t, lrcquency 30 Hz: (a) Simtrlatiou~ responses lor lpl~;lu. '8%' > t ~ \ c l (~l~its<, 'I.'
. . .
(b) corresponding exprrirnmntal rriporcwr2.17 Current mspanres of the lhyrlcrcsil cllrmnl mlttrollc~ .rl &la! n.6.rc.sc.t.
frequency 5 Hz: (a) Simulalio~~ rnponrc.r for phitxr. '.t'scrl ]pb,bsv 'I,' (b) Corresponding expcrimcnW nslmnst*
. . .
2.18 Current raponso. of the hysc:rrsis -14rn:nl r.or~lmlIvr ;,I. t,l~t! ~.vi<.n,,~<c frequency 5 Hz (a) Sirn~llalinn r e ~ p n ~ t s ~ ~ ~ lor plli~\t. '.L' ,11111 ~ p l n i ~ 'I. ' (b) Corresponding expcr1mt:ntt.. 1 napoz~rc:r
. . .
2.19 SMULINI< brushloss Phl lry!~chrorio~ts ~ r ~ o l o r ~ l r i w ; v y a l v n ~ tmoc1r.l will,
. . .
lhe PDF typo speed controller
2.20 Flow chart of the rollwatc used lor 1181: n,nl-tirnr: irn~~Ic~rnc:t~l;~lim of 1.111.
PDF based brushless PM syncl~roi~oirs n~otor rlrivr:
. . .
221 I i c x ~ ~ l t r of tile I'DI: lypc sped ror~tmller Irased bro5hieis P>l syn-
<-lhm!~c~sx r,x,1or clcivo (a) Sirnulation spccei rr-ponse at no load r i t h w; = lflll0 rpn! (1,) Concrponding experirnenlnl spced response
. .
. 57.
. ,2.22 Ilc.rslts 01 tl8e PI)V lype spocd mnlroller baaed b ~ u s h l u r P41 syn- ri~roltoux ~mcilor driuc (a) Simulation current rcsponse at no load wilh w; = 1800 ipnl (b) Corre~pot!ding experimental eurrcnl response
. .
58 2.23 R<-18111x of lilt. PDF Lypr ~ ~ r r r d canlmller lbared brtnhiersPM
syn-t:lhm!~nllr motor drive (a) Simtllntion rpecd response at rated Inad with u:= 1800 (h) Corre~ponding enpcrimental speed response
. . .
592.24 IL.mllts of lhc I'DP type speed conlrollcr based brurhless PM ryn- uhrcr~~oitr tnotor drivc (a) Simulation c~nrret~t response at rated load will, w: = lXO0 rptn (b) Corrnponding rrperimcntal current response 60 2.25 Itrrults of Ihc PDP typo speed conlmllcr bascd brurhless PM syn-
chra,oaa motor drivc (a) Simulation speed reaponse at rated load with btep change i n speed (b) Corresponding experimental speed response 61 2.26 llntnlts 01 lbo I'DF lype speed ronlroller based brushleer P Y syn-
cbmsous motor dr:vc (a) Simulalion current re~ponlc at raled load
\vitib alcp cl>imge in speed (b) Corresponding experimental current re-
~ p o s r c
. . . . . . . . . . . . . . . . . . . . . . . . . .
62 2.27 I l e s ~ l t s 01 lhc PDF type spced canlroller based brushlessPM
syn.chionoas motor drive (a) Simulation speed reponse at rated speed wilh step chnnge in load (b) Corresponding experimental speed re.
spoansr
. . . . . . . . . . . . . . . . . . . . . . . . . . .
632.28 Rcsulls of the PDF type r p m l ~conlmllrr bnsnl bnahlt.ir I'M .;yt!- chrnnous malor d r i w (a) Sin~~llatit>n ntrn.ta rc,spor~sr 881 r;llt,~l xp..~.~l
with 8tep ehnngc in lonrl (I,) Currcrl,oslit$g ~ ~ r ~ , ~ ~ t i ~ ~ ~ ~ ~ ~ ~ l , ~ l c.tnrn,sl n,.
spansc
. . .
11.13.1 r\ feed forsnrd nnlral set%vork
. . .
ill 3.2 t ,\ ..,,c.,. l ,,.c. ..t,wrk.. . .
i l 3.3 h neuron model. . .
i:l 3.1hi^^^
reprnentntianor
~ t i ~ ~ t i ~ , ~ r,lllr~iollr. . .
;.I.!.I The PM dc motor drivc nnorlci
. . .
$1;,1.2 ANN structure without local lecdhnck for l.Ia: I'bl tic. ~t~olclr t i r i a
. .
!I11 .1.3 R I O C ~ diagramor
ANN cnntro~~r:r I,;L*NI I'M d~ lnO~ol C I ~ ~ V ~ .. . . .
!).I ,&.,I Rcal-time opcrationnl llow cl~nrl for wcights a d Ihitsxr.8 ~ul~,l~tittg wil11adaptive learning rate
. . .
I171.5 Modieed ANN structure with fccdhack loop
. . .
!IX ,1.6 Schematic diagram of ANN coutmllor hnrrd I'M dl: !soI.or drivv syrl~vn !ill ,I.i Experimental set-ap or thc PM dc motor drivc. . .
1011 ,1.8 Experimental resullr of the 1'1 conlmllor baael I'M clc: rlrivv systvrnwith change i n miewnec sped at nl loacl; (a) rpucd (I,) c.~lrrn~t
. . .
IOli '1.9 Experimental result6 or the ANN eontrollcr b m d I'M cir d r i v s r y ~ l ~ ~ m with change i n refcrcnce s p d a1 so bad; (a) spc<?rl (11) ~:~lrn.,#l. . .
1117~1.10 Experimental r e s l t s of the 1'1 contmller harwl
I'M
dc drivr. sydc:rs with change in rererence $pen1 ul full I d ; (n) spc:rrl (1)) <:llrn:lll.. .
ill8 '1 11 Experimental n l u l t a of the ANN coorroilcr Im~ed I'M d c rlrivr: ry.itcrnwith change i n rcfcrence s p m l al hill Imd; (a) rpcrxl (18) <:!trralt
. . .
10'1,!.I2 lixpr:rirncntal rr(ultr of lhe PI cantrollor baaed P M dc drive aystem
. . .
with slrp chitr~gc in lorrl (a) speed (h) cuimnt
4.13 Rxperin>c~~lal r ~ i 8 t l t ~ of tlte I\NN rontroller Ihnsed Pbl dc drive system will) step cltangc in louk (a) rpeod (1,) c~lrrcnl
. . .
eI.I.1 llxprrin>rntrl result* of tlte 1'1 cantmller based Phl dc drive syslen, 9vilb cllnngu i n ihcrtia J. -t 25, a1 no load; (a) spmd (b) current
.
,!.I6 Exlrcritner~lill rrsslls of llle ANN conlraller based Ph.1 dc drivesysiem svitlm cbnlgc in inc:rlia 5.
-
25, at no load; (a) speed ( b ) current.
,I.lii I!xpr.rimenl~l rosults of llie 1'1 controller based P M de drive system tvillt chaogo i n ihcrtin .I, + 25, at lull load; (a) speed (b) currcnt ,].I7 lixperirncnlsl rea>8lls of the I\NN cor~tmllcr bnsed PM dc drivcsyslcm
with cl~angc i n inertin .I,
-
25, at full l o d ; (a) speed (b) curmnt.
,!.I8 I(rpcrimen1al rcslllta or the I'I controller bared P M dc drive system with cltangc i n armature resistance R
-
2R, at no load: (a) speed (b) currcnt. . .
,I.l!l l3xpc.rimcntal rosulb of the ANN controller based Pbl ddc drive system with change i n armature rcaistance R. -t 2 5 at no load; (a) speed (h) carrent
. . .
.1.20 Rxpcritncnlal results of the P I controller based PM dc drive system rni1.l~ cllangc i n n r m s l ~ ~ r c rcaiatancc
R -
ZR at full load; (a) speed(b) earrent
. . .
,121 Rxtrerimcnrnl ren."lts of the ANN controller b a d P M dc drive system will) rbaegc i n a~mnture resialanee R.
-
2R s l full load; (a) aped (1.) ct>rren1. . .
5.1 I\NN rtruclure for the brushless P M synchronous Molor
. . .
1203.2 Block diagram of the p m p o r d r\NN b a r d brt!rl~lrrr I'bl xysrlnn,nl,ta
!notor drivc
. . .
3.3 Sitnulation mrtrlts of tllc :\XN based hrushlrrr I'll ryrlcltn,soas slotl,r drive st no load with iciercnce sprerl 1800 r p s ~ : ( 8 ) sp.,c,ci n.spojiu. (I,) current response
. . .
5.4 Si!nulation results o i tho ANN b w d hrl~rltlcrs I'M rynrltroltotlx #notar drive at rated load with relcrcnn: speed IS00 rprn: (a) ~ p ~ m r l n.rponrc.
(h) currcnt response
. . .
5.5 Sinnulation results o l t h e ANN b a d lhntsl,lrsr Pbl rynrhrurtour tmiotor drive nt no load r i t h rcfcrcacr r p n d ?:I!) rpn?; (a) slru.,I n,rpasst, (I,) currcnt rerp0n.c.
. . .
5.6 Simulation results of the ANN hwcd Ihn1xltl~.~a I'M i l . y ~ ~ c i ~ r u s ~ t ~ x tuator d i v e at ratcd load with rclrrenco spcnl 259 rpsl; (a) rlxcrl rc.xp~~m~r (b) carrent response
. . .
5.7 Simulation m a l t s o i l l l o ANN bascd b r a s h l ~ ~ I'M ryschrnno~~r ~n>sl<,r drive d no load with change in rcferencc s p e d (a) n p ~ ~ : < l rcspoomw (I,) current rerponre
. . .
5.8 Simulation results of the ANN based br~lrhlcrr I'M syncbrnc~oas rnslor drive at rated load with change in rclercncc spcucl (a) xpcr:rl n:rp,ns:
(6) eurient regposse
. . .
5.9 Simulation m u l l s of the ANN based bnshlrs. I'M s y ~ ~ c h r o ~ ~ e e ~ !sal,er drive at rated rpwd with sudden laacl iinpacl (a) sprcrl rc!q,ourc! (I>)
. . .
current response.
6.11 si~rt!~lnlion results orthe ANN hascd brushlcrs PSI synchronous motor clrive at 710 load with ~ h a n g ~ in inertia .I
-
2J (a) rerponsc (I,)'
"'""1 ra3,'o"sc. . .
6.1 i Sirnlllation reslrlts o l l h e ANN hnsed brushless
PM
synchronol~a rnolor clrivc ill ratwl load with change i n inertia J -r 2 J (a) speed response (11) currcnl mponsc. . .
5.12 Sitsald.ios results o l tho ANN lbascd brushless P M synchronatrs motor clrivc at 11" lond with change in stator resistance R
-
211 (a) .peedresponse (h) ct!trcnt response
. . .
5.13 Sim~tlation results of thc ANN bared brushless PW rynchronour niotor clrivc ill rated load with change in R -t 2R (a) speed wsponr (h) C""""1 re.9pansc.
. . .
6.1 Bxperimcnlol s t - u p of the brushless Pb1 synrhronous motor drive
. .
0.2 Schcxnatic o l the hnrdware implementnlion
. . .
0.3 Block rlingram ol DS-1102 controller board
. . .
0.4 l3lioa chart o l the software used for the real-lime implemenlation of the r\NN hnsed brushless PM synchronot~s motor drive
. . .
0.5 Exl,crimcntal rcs~dtsof the ANN bared brushless PM synchronous mo- lor drivc at no load rritll reference speed 1800 rpm; (a) sped response (h) currcnt rnponae
. . .
0.1 Expcrlmental r n u l t r o l l h e ANN based brushless PM synchronous mo- tor drivc at rated load with reference specd 1310 rpm; (a) rpmd re-
. . .
SVOIIIF (I,) current response
..
6 . i Experimental rcsulls o f thc r\NN Lased Ihntrltlr*~ I'\l ryclrltrolalllr rlitl- tor drive at no load \\.illl rcfcrence r p r r d 239 i p n ~ : (.I) .pled rv-ps,llsr (11) current rcrponse
. . .
6.8 Experimental results o f tlmc~\NN Imwd br11.bin3 I'M r2.~~rhm1,s~a nr,- lor drive at ratcrl load wit!! reh:rcsrcsprrcl 23!1 rpal; (a) slr<r.d n . s l , ~ r . (b) current respanre
. . .
G.9 Experimental r a u l l r o f the h N N basmi bntsltlcrs I'M ryerlln,rloar IULO- tor drive at rro load with rllanga in n;feronro spc,crl (;l) rl,c.cd w r l m ~ l r . (h) currenl respanso
. . .
6.10 Experimednl results o f tile AVN lmsvd l~n~rhless I'M sytlc,hn,so>tr IIIII- toi drive at r n t n l load with d~angcie rcfcrrnccripwcl (;I) rl,c.trl rrsl~lnn.
(b) cllrrenl rcjpor,re
. . .
6.11 Experimental results o l t h r r\NN hnrcd hnxrhlc%s I'M r y i ~ c l ~ m ~ ~ o ! # s 8x10- tor drive at iiltcd speed wit!, s~rddct~ lonrl itnpnel (a) rpc:<:tl n,sponn,
. . .
(h) current mpdnsc
6.12 Experimenlal resultsaf ther\NN bawd hnehla* I'M ryncltn>n<r>lr no.
lor drive at no load w i t h change i n ittortia ,I
-
2.1 (;L) ~ ~ > s c ! ~ l nsl,onn:(b) current response
. . .
6.13 Experimental results o f tho ANN basrd I h n ~ ~ b L r v ~ I'M s y u c h n ~ r ~ o ~ ~ n l l o - lordriveat raledload with dlangcin iktorlin J
-
2 5 (;L) lpcrrl n,rpor#se (b) current mponse. . .
6.14 Experimental rwvlts o f the ANN harcd bntrhlms I'M sy,tcl~rot~cr~lr !un- lor drive at no load w i t h ehangc i n stator rc*irlnnw 1)
-
21L (a) sp#,t.,l esponse (h) currenl response. . .
6.15 I(xpeiimentn1 rrrcllt,r nllhc ANN based hnahless PY synchronous mo.
tnr drive .t ratcd load with d a o r in R
-
2 1 (a) speed raponse (h).:~lrrrnt rmposro.
. . .
I i O(:.I sine alld corillc function generators
. . .
195 (:!2 Annlog circuit lor thc thrce-phase rck,rcnce carrents generation. . .
196 (:.:I Cirrlril lllyoll~ lor the splitting PWM signals betwcen upper and lowerlrrllli~tors or P1,arc a
. . .
197<:..I Conltnataling pulsc generating circilit
. . .
198List of Tables
2.1 Logic operalion of VSI under tnlireul rootrol
.I.I Initial weigills and hiams of thc ANN for l'hl r t drtvc,.
. . . .
..
41.2 Updated weights asd hinscq wilh s t e l rllasgc cui load
. . . . . . .
4.3 Updated $vcights and blase* wilh J..
-
2.1, at no lo;ul. .
.. . . . .
4.4 Updated weights and bias- will> .I..
-
2J,, a1 fall load. . . .
,I.6 Updatod wights and Ihiaes >vitb R. -1 2R. a1 11" loiul
.
..
.. .
. . .1.6 Updnled wdglils and biascs will, R. -211. a1 lull loall. . . . . . .
S.1 Initial set of rveightr rind hiall;? for ANN turrrl it, b r ~ ~ ~ b l c : ~ ~ I)M xy18- rhronous motor drivc
. .
.. . . . . . . . . . . . . . . .
.. . . . . .
Chapter 1 Introduction
1.1 Electric Motor Drives
ISleclric rnncl~i!tcs, w i l l their f i c l e n l capabilities of mnvcrting mechanical energy l o alcu.lri~rl, play an in~pnrtnnt mle i n tiledevelopment olmodern lmhnoiogy From the stnnll lhoo~sel~olcl appliance* t o w t industrial planls. electric motors havebeen playing their crucial mics for ,many ycnrs. Dircct current (dc), induction and synchronous are t h a ll~rcc imic alntric maci~ines that serve illdustrial needs. With the day t o day I.c~r:ltaologicnl~Ivsnccmcnt, thcnpplicalion demand oftheelectric motorsincreases in n vvrsnlile tnmsner. Reccnt dcwlopmentr i n magnetic materiala, semiconductor and
~nicmrroccaaor lcchnologies haw l e d to a revolulionary advancement on the design and control n l electric machine. A s a result of intensive research, new machines, such ar brual~loss dc ~nnchines, switclmd reluclnnce machines, permanent magnet (I'M) nynchm81oas sarhines lhave come into the piclure ul modern technology [I].
r\ppli=atia, nrensol variablespeedand high performance motor drive
(HPD)
lbwe brnt primarily dominnled b y rclstively expensive d c molors for tile last few decades brcatsc they arc easy to contml due to the dccoupled nature of the field and armaturemagnctornotiw forces (hIA18). hlorrorrr, tiley rns h r r o ~ ~ l m l l c d i g r i m p b nrnt m l l ~ ~ t ~ deviccs,such ns nc-dcordc-dc m ~ l r r r t r r r . Iiow.vc.r. rc,rlais lis~i~.ttiarttr .la a~roc.i,~tnl w i t h de motors. such as t l i r inck or mbtrrtr~rrr iaid o ~ r ~ r l e a i ~rilp;d,ilil.y, ~ni;rro\v rrrug.
of speed operations, and frequet~t s~aiintmnsrr rt,qairnt>n>t ~ l u c l o Ihr~trh-gnlr , I L ~ cornmutaton. Neverthrlcrs, pennancnl tnagnrl (I'M) ric tnmtuo; ~ l c n r witll. . ~ l t r s - tion, due to their compact rirc and rttggccl rtn~rtanc, ih ~ l i r i r lac: is t~,clcivtta drirt.
applications. The main ndvs>tnge or i'U dc n~utora aver mna.~>tioiael win,-ao~~ncl cxcitnl dc molars is that the fortnor rloca not swd r r l r a ]po\vrr stopply for 11.. lic.Ll excitation. rather, eltcitalion is aclbievcd by Ibigi! w~ct.gy prnt~;tsrsl magra.t ~mnl~~ri;ds.
Recently introduced modern powrr electmnic dcvicra, lhkc brcrk/br,ort ck-tic. ~.or~vt~rt- ers, pmvide an exeilcnt opportunity of aaing I'M clc swtr,rri if, llr fmr r~tt;ulr;a~l, operation. Newly developed light \wight POIYPI iatntplifiers nm: ids, ihc,inl: %wu.d i n mil- ical applications, zuch as guiclcd m a n i p ~ ~ i n t i o t ~ r nncl mbotic.~, t.oyalitc~r ai1.L I'M 111. motors where accuracy, weigh1 and slrc arc of paramount isq>orl;~src,.
However, the shortcomings of dc rnotnrr hnvc enrnl$ntgvd n,svnrcbrr. tcr iin<l ;,I- lernativc means of using them i n high performn~~cr variairlc sptwri o[,cralious wls,n reliability and maintenance free operations are of prime cutno!rn. Couridcndrla irl.l*.!\- l i o n has been directed towards tho development of ilc trlolor l r i v < r , suclt it* ik~rl,~rtiot~, wire-!mend synchronous or PM brushlcsr motor drive< it, the i~n:i~1 o l vnrirl~lc rprv,cl operalion.
AC m o t o n are usually found suitable lor cot~stnl~l ape:<] oper;klic,r#s. III~I, nrr,st development or power eleclmnics and vary large *cnlc i t r g m l n r l (VI.SI) <:in.uit$, i~cld the efficient uu of microprocossors ilavo made :;lo tune of ;rr rnotorx is ~norlc,nt v;vii~lrlr!
speed drive sydcrns pm8ible. Applications of vertar control trxhniqlln, irl parliool;~r, offer an excelicnt opportunity of using nc motors i n nlrrdcrrl vt~rLi,le rpc?r,rl , I r i s
yyrtena
el.
As~nraq Llte ar: rnolors >used i t , drwc technology, the induction motors, parlicslarly, lilr: rqr!irn!l cngc type rrr ronsidcred ns tllc workhome i n thc industry bbecactse of I l l r i r rl#ggedncsr, rcliahility, t.ftiooscy and low cart. Hut Il>erc are ~ o n l e limitations
;uiroci.t.c.d ~ iII,C ~inriuction h which discallrnge their in high
l.errormance
v;~ri;d>la rprccl drivo applications. Onc of tile drawbacks of induction motors is that lhay always opcmtc at a lagging power factor because of the fact that thcir rotor l l r ~ l ~ l t:xcilatiorlr are wlpplicd fmrn the rlntor aide. Yorcover, due to F R slip power Icnscs, I.bc rlrivc syrtcm i r not N clficienl as expected. Additional power iorres and m n p ? pcllralion cltlc l o higher hnrmonics originating from the power m n v r r t c r ~ are dso co~widcred to LC tndor problems i n thoinverter-led induction motor d r i v n . Since inciurl.ion motor8 always r u ~ at lower speeds lhan thcnynchronour speed, thecontrol e l thrrc !notors is rathcr conlplex. The rcal.lime implementation of the induction lr~otor drive rcquircs riopl~islicnled modeling and cstimal~on o l mnchine parameters
~ v i l h ~ o m ~ w h a t cotnpbx eontml circuitry.
'She syschrosoalr motor is ailering a serious challenge to the induction malor i n Ihc varivhic rpccd application domain. The main ndvantnge of synchronous tnotors nvw iadaalion t!xllors is thcir irltrinsic ability t o eliminate rotor 12R slip power loss esci l o sllpply tho rcactiw current. Bowever, the wire-tvound excited synchronous lntolors h-. .-me inherent disadvantage+, such s the requirement of extra power n~pl,ly, slip rings and 1,rurh-gears n l the rotor t o prnvidc field excitalion.
W i t h the d v c n t of lhish energy permanent magnets like samarium cobalt, tlmdymisnl-horo!~-imn, el.., tho drive technology has cnlcred inlo a new era ofbrush- ic\*r Pbl nxrlor drivca. Rom &he operational point of view, brushlcss PM motors are ryta'lmronoas emtotors. The trlnin advantageous feature associated with these kinds of
rnolorr is that tile magncriratial~ Is proridcrl froln p ~ n n a o e t l ~ I~I.I,~ICI T I ~ I I ~ ~ . \ \ i i t l ~ brushlcss P b l motors, i t ir porsiblr to nrhierc Isotor p r r b r t t > a ~ ~ c w tl,;lt ran rt>rl,.ar thecon\.entiolal de, indnctios, wirr-\vollnd ercilrrl r ~ ~ ~ r h r u ~ ~ o u r ~ t ~ > l o n . \Fith n , r p t ~ ~ to power density, torque l o incrlin ratio and c.liiricncy, lbrial~lt~s.*~ I'hi trnltois .~n. st!.
perior Lo thc convcnliot!al nc molorr. ilcnce. ~lcpc,adit~g 01, I h r .rplrlic.alio~~, t.ltc.n. ;mv.
m m y ik~stnnccs where bru~hlwa Pbl motors arc lrrclcmi~lr. 'I'ha l ~ ~ t r i c ~.lassilir:to i i ~ of Ihruahlcss Pbl motors is sixown in Figs. I.l(n) nnd (b). i'igarc 1.1 (a) t h r clarri-
Bcalion o l the brusille~s synchronous tmolor aceonling lo lllr ihrrrliou of ~ l ~ ~ ~ c l u v t i ~ ~ ~ ~ cage winding lor starling the molar. I f the rotor is pmvi<lt,d will) ~.ilpc w i v x l i t ~ ~ , i t ir
known as the cage type. The nthcr lylrc is ktlorn 1110 cilgc,lmr iht.ratw 1 1 1 ~ c-.tg, -"inding can he dirpenrecl ~ i t h for this care. 'rt,. cage lyllc I,~,.I,I,.~. I'AI ttr,tol.r
;,,,.
capable of starting with rated supply voltage nnci frqaol~cy. Ihl,rnllxr 6111. rlrtnr r , ~ g . winding provides thestarting torque. Also an ihmvrrter ran bc: II*I.II IU r w ~ i l c i l g v IY~I.
hrurilless PM motor with vnriablc voll;lge and frcclaency ill olrr:!~ bop. '1'11~ c.it~q.l<w bnlshless P M motors are u$unlly dnv~.s w i t h lhr help of nu iitvc.rtc.r. 'Ib in~i~ii~tilitt the aynchronirim, proper contml stralcgy ia npplicxl. Dc!pcnclisg lul~oa ~ h c : crlll~.rr,lliq topology, the hrurhlesr PM synchronous motor r ~ n i~r c1;rnilieci illlo 1.wcr as shown i n Fig, 1.1 (h); (i) the rwtangslar wnw k d xyscbrono~t~ solon wiliril ;an also known as brushless PY dc motor and (ii) till: ri!~ttroi,lal w;ta: fcrl S ~ ~ I I ~ ~ F O ~ ~ C ~ ~ M motors which are also known as h r l w l ~ l r ~ s I'M ~ynchror~oos ~uot,ors. In ~JI,: I',nt~vr category, a discrete parition lecdbnck signal is !crud evvry fill c,ba,lric;ll ~ l v g a r . ~ . 'I'lr induced hack emf is trapezoidal in shapc. Conn:r~~rcntly, t.hc cttrrcait, i r n!quircal IL, be held constant for at least 120' in order t o gcncmtv a ripplc.lrcv; torclsm<,. Sitmca llr.
motor emf is ideally sln~rsoidnl in the latter catqory, i t a a w rnntimm~os rr,Lo? positietl feedback t o farce the rinusoirlal-shaprd cclrrenl ihto line s101,ur is orcler to pt<,clt#<r:
F~gure 1 1 Classrficah of bmshless PM motor &w, (a) based on cage m d m g , (b) bared on mntml methoda
conetant and smooth torque Cenwalk the pulse mdth modulatxon (PWM) contml a t r s t w la adopted by
unns
s kyat-s or a r m p current c o n t m k for the brushless PM synchronoue motor drivesThe bmhleas PM synchmnous or brushlesa PM dc motor can further be catego- r da s (I) anth sauxrr and (u) sensarlss, b m h h PM motors with m r a uae nxchamcal Be-n, such an Aall&sta sensors, a h l n t e a ~ncrrmental mcoders and r m l v n s Sensorless b r u s h h PM motora use
some
form of rotor pwtson detntlon scheme, such as o h - or computetlon t d m q u e using stator quantrtles It noteworthy that dtfficulty eaats m ~mplementmq the rnsorlesa ad- m brushlessPhl rynchronot~x m o ~ o r r bccaarc ~ L r y rnrloirr . l l r ~ ~ o r t r n n ~ i ~ ~ t ~ u , ~ r ~ z o r ~ l i t n ~ itthln~q.tti~,lt.
Thtls considerable clforls arc lhcisg lendc 1,s n o ~ s r ~ ~ l , ~ ~ r ol ~~,nnrrl~c.rr l o nn.rccm>r I h i r d~ffieolty.
'L'he brushlcss P>l slator may also 1)- rlarrifircl it, l h n r t y l ~ , r [:I]: 111~ lirrl ir 1111.
sarhce mounts1 type where the magneta itrc 1,1nc<~I 011 1111. 5ctr6c.1. 01 111~. roto~.: 111,.
second is l h e inlcrior magnet type i s which 1.11~ alagsvtr .IW I,~oricvl r i l h ~ r t..~<li,~lly 181
cirel!mferentially inside the roror cow: the t h i n l is tin. irtx.1 tgpv srl>t.n. 11,~ r,!;gcbl.lr are inrcl within thc rotor core.
1.2 Review of Brushless PM Motor Drive Sys- tems
Brushl~rs P41 rnolorr arc now asential i n the rrlodenl rlrivt, lt.1.111111lo~y MmIt.r.tlt. 1.1 high
pcrrormnscr
drive .y.~.ms are hcing ,lovisrcl vari,,llr kilslrThese coittrallcrb include conventional Bxed gain typw, r u r l ;as ~ ~ n ~ l r c ~ r l i ~ ~ r ~ ~ ~ l - i ~ ~ I ~ ~ I : r ~ : ~ l (PI), proportional-integral-deeiv~livc (PlD) ,or p r n t d r r - ~ i ~ ~ r i v ; ~ I , i i i ~ ~ r ~ ~ ~ ~ ~ l l l l ; a k (Pill');
adaptive controllers, such aa mod01 relcrcncc adaplivc cr,ntrnllt,r lMllA(:), rli<lir~f:
mode controller ( S M C ) , variable struclnre ont troller (VSC), e.ll l\tnir#g n ~ 8 l l i t l u r
(STR);
modern controllers, s~rch as arlificinl rlelrrxl sc.trvl,rk. [,wry Ihgic: u r 111~1r0.luzsy mntrollerr. A review of thc liternlureof Irntslllr~m I'M ~ ! ~ o l o i ~ l r i n ~ r sitln v;triwlr type. ofcontmllcrs is given i n the following rcdirrllr.
1.2.1 Brushless PM motor motor drives with PI or PID controllers
Researehers continue their efforts on the development of a highly efficient drtve system with the brushless PM dc motors W-[19]. An electronically cornmutated polyphase
F i e
1 2: Control scheme of a brushless PM dc mototsynchronous motor with aurfmmounted permanent magnet is known an the brushless PM dc motor. Fig.1.2 shows a emtrol scheme for a bruahless PM dc drive. Since the induced ph- wltagea of the machine are trapezoidal in shape, it can be shown that a six-step line c u m t in p b e with the induced voltage will maintain a constant torque. A Hd-&ect or optical encoder properly aligned on the shaft with mpect to the poles gmeratea three phase 180" square pulses, whieh are shaped to six-rtep wavea by the decoder. The speed loop generates the current commaod signals. The current contml loops generate the voltage command, which is puke width modulated
F~gure 1 3. Vector mntml scheme of a brushleas PM synchmnous motor
(PWM) by a h s h frequency c=mm wave
Because of the s~mphwty of the rnachlne, the posd~on -8or m the contml elec tronxca & the brushlas PM dc dnve popular m ~ndustrlal motion control system H o w , the dnve has s pulaat~ng torque problem due to the rmsmatch of ~ r r e n t swkdung lustants and the &no back emf
[%I,
[21] Hmce, attentton a berng fomed on the vector contml of smnwtdally fed hmshleaa PM synchmnous motmsIn
the dnn system cornpnstng hmshlem PM synchmnous motor, the knverter can synthea~ae sine vave hne nment Conquently, the pulsabng toque IS greatly reduced The &ect of armstun reactton m a surface munted PM motor bang negllgthle, the stator Nmnt phasor can be pos~troned orthogonal to the m a p t Sux wlth the hel,, of e.poatt*on senam or ualng any senmrless dgonthm Tbs a essent~dly done by &or eoatml t h p w whrch pmvrde m u n u m amlahlc torque It la m d o g o u ~ to the cane of s b p l e d sepmately exated dc motor Fig 1 3 showa a closed loop speed contml scheme using such a v d o ~ contml t&qw Smce the w e n t w e t rotor pmdea the rur gap Sux, the stator doea not supply any reactlve NrrentMimy I<I.~L~c~II:~ castis,ie their r:florts on thu dev~loprncnt o l a lhighly cfirieixl I'M s y ~ t r l ~ r o n o ~ ~ s !riator adrive p ] - [ 3 8 ] . L l ~ j o r lpoit~tr or the works on brnshlcsa PA,!
rysvhro!#oia !notors p2]-[a81 am briefly s~tinlnarlred bclos.
(Illln;l~la nr~rl Sla!norl 1221 IIW pmposed a vrctor control slrafcgy o l the I'LI r y i ~ r l t m ~ t o ~ ~ a !n>otor in which pnilion lcnlback control is rcllievd by sensing the rotcrr f,olition illlg~e llsillg a sensor 'TIIC is pcrro.lned
roc
tllc torque;~>1,1 rolbll.i>tlt, lrowrr rnodcs, 113 order l o obtain a stable ajrcralion, a is suggested 1.0 n.rscra: tbc: damper sindiug il the drive system is operated by a voltage source igivc.rt,.r. 1.t.irmcit~r r l nl. 1231 have can>parcd the lperlormanceof rynchmnour motors imrl itwl~lctiar motor3 incorporating microproo:rson. 'rltey lhrve proposed thc vector r o t ~ l m l 5lrillrgy of ac rnotars i n a vyncl~roc~ously rotating fmme. Quadrature u i s (q- xi*) c.llrn.nt I h hcen idonlifid as r control parameter up to the base speed and nltcr
!hat ns nd~liliannl segative direct nxia (d-axis) current is nugge3tcd t o overcome the
~ i ~ 01 tllc ~ ~nlnxilnllm i ~ ~tsrminal ~ 0 1 t ~ g ~ t i ~ ~ ~
or
the invertcr. : i ~ ~rensars ~ hhave ~ ~ i ~ ~ ~ I>C.IYI mn.it.d 10 IICLCCI. the rot07 position i n this scheme, A P M synchronous motor driw ry*lem will! rcgmcrntivc braking fenlums has been preswnted by Murly[XI.
A lour~ ~ ~ ~ n c l n ~ ~ l ope ratio^^ with fastar response characlcrist~cs Is obtained i n this work. Tho propcnvd tc:<,bsiqao dcn>onslrntes a
PWM
operation and regenerative braking netion susi~>p l.lw snnio i n n r t c r circa it^, r\nalyticd expressions are derived and experimcnlal rrs\dtr are prmcnted lor both the opun loop and clared loop casos. The rpoed error il lrd t o n P I coutroller used i n the elowd loop mntml scheme which sets the current litttil or l l w I'WM circuit. Change of logic signals at the laraard/reverse input of the I<I'BOhl ; ~ ~ ~ l o s ~ a t i c a l l y puts tllc motor first into the wgr~erative braking till the ~ e r o rl,<v~l ix ;atlnlnnc~l. and t l ~ e n accelerater is the reverse direction and brings the motor t o Iln ramu rrbrence rpcrd ih? tlie opposite dirrrtion. bleshat and Pemn [25] haveproposed a design philowphy lor n ~ ~ ~ i r m p r a r c ~ ~ s u r . l ~ ~ ~ s ~ ~ ~ l ijlrrit<.r lor vn.tcrr mtbtnrl of the carrent. in the br!~rl!lcss Pbl r y t ~ r l ~ r o s u ~ a 8tnlur. I'hv opt ih~~t~rt, I ~ w ~ ~ G . rott~rcd in, wl>icl d-&XIS current IS lorrcd l a rsro i s .~pplicxl ill tllir IcIIc.~~~.. Il~.-sll,lllill~ 1111, phase ctrrrent is dnl!e lor any speed i h i onlcr t o sblsis ILc. ril,l,lc.-rnv tonjmtv. Si~a.v lhc gcuernled cwrent i n cnch svitxiing laps tllc mmse~nd r~trrc.rlt. !la. plu>n, ;wtxIe.
advancing tnethod is used to ovcrcontc 11tc prulrlc~,~~. I1ril>g liar lurcli~r cc,io~ndlinl:
technique, an adjustable *pwd control atralegy br as ish.rior pc.rtt>at~rst tm~txtn.~
( I P Y ) ,ynchmnaus rnotor drive Itas been pmpobc~rl Ihy .Idbur cL ,,I. p1il. 11) lhir work, the basis 01 torque carltroi is as II'LI motor i.; acbivn.rl Iry I h r ~uti(.l~ti~~itu>
01 the stator plnnse excitation with rcspcct to t l ~ r rotor a! all litl~t.a. 'I'11t. III.C,I,OX<YI closed loop regulation o i the motor pharr aurrc,str providrr; ;L tmtrulr .~<l3ic.villg inatantaneotrs toque control ail,h [I'M aynrhmr~onr stator.
T ~ C
pcrrormasces
01 the drivel ry.t.oms l~ircll.rn~ .bas n.: c.r,.t~~~c.,,lrn,,,,
LIII.point of view 01 output torquo. Ilowovcr, aillro thcgrin c",,sl.;l,,lr or tl,c 1'1 <<,,,ln,lb.rr are lixed i n thou: schemcs, a wide rangc o l vnrinblc s p ~ ~ a l ~ o p c r r l i o ~ is 8A. lerr*iblc~.
Lloreowr, parameter variations or oxtrcme load c~nrarsiu~~s rlligltl. rnlibk~ 1111. driv,.
system unstable.
Kume and lwane [27] lhavc prmcnte$ n vc:ctor roulrol t~.rht.bl~it: or ;r 2.1 lroL:
synchronous motor with a constant ~ a i n PI controllc~r. 'This rc11r:slc. srvn*shtlly rql- crates the motor nt low speeds. Thc: psrlorn~anc.~ or 11,~: dria: sy.;t<:ts is ;lllvt~rn:ly allccted by the non-linearity 01 the lond rlue ro the 1ia.d 6;~is 1'1 l o ~ ~ t . m l l ~ ~ r . 'I'IIv authors have suggested an adaptive s p d conlrollcr to ovewome l.l~c> prublc~s~. I'ill.~y and Krishnan [28] have o f i r e d n dotniled model involving itn;dy*is ;o#d ait~mrlnlioi~
of a drive system lor a vector contmllcd I'M aynrbronarr motor snht>lg 8% \lillr:.spi~ca:
model. The driwsystern is dosigncd l o r n lixnl r p r ~ : d or 1750 rpril. ,\ I'll) lypc:rl~tv:,l
~ , ~ ~ ~ ~ n , I l , ~ r has hc:os uro<l ik, this work. Unnover, lhc performance 01 the drive has llllt b11c.11 r h ~ t r i ~ ~ ~ s l c d f u d 18w.r n wide railgo o l sprrds. R~rli~ermorc, the pcriormance GI tllo rlrivc *yrlc!n~ is pixrnir~cter rr,nritivc: lhcca8t.e of Lhc nrc of n PID rontrollcr.
'Tl~e rrrrlc! nralbon 12'11 Ihavc pn:scnlacl anollier popci which deals with the design of rl,,.~lcl o,ntrollc,n lor r 1high.perforntasrc I'M rynchmnour motor drive. The nutham
~ural 1.11~ lit~exr rnod<,l of lhc P k l ryncl>ronot~r motor to design lhe sped controller wl,irl, i 5 pyc.udo typr, A eomplctc. matrol ryrtrm with tilc P# mator is siml~lnted b r n widc: r m y . 01 ~ ~ r n d ~ ~ ~ r n t , i ~ n s . It, is vcll known lhal with a linear model, i t is w r y clillic.atlt l o prr*lict acr~mmtcly thc pcrformana: 01 the machine in real time,
~p;irrin~l.rly ill low spc,crls. Burc i301 proposed a high performance inverter-fed IPbl syrlrhrono~mr rtlotnr clrim nyslcm i n which n c l n s d loop lorguc control i s implemented
~ v i l h u reedhark torqnc: rrtimarion 'She contml strategy t a k a into account the effects slmt~~rat,ias, son.lisearity and temperature variations. The drive ryalem is designed l o work i s the conslant Ilorqac region as wcil as i n the eonst,anl power region where thr [lux weakcrning mclhod is u r d . The perlormanee of the drive system has not 1hcr.n invcstigaal lor varinhlc speeds. Pillay E L al, 1311 have propoaed a digital signal ipn,rrxxor (DSI') h a d hyrtcmin c~nnenl carltrol scheme which ip implemented using TMS :12lllil7/C17 and TiMS J20ElS/CL5 processors. For tho relatively slower rpecd c.cnll.rol loop, n P I mntmllcr i r uaed l a obtain the peak valueof the current mmmand.
I!xlrcrin~cnlal rcst~lls have illaslraled the eflmlivcnesn 01 the current controller. The rjn~:d responses at various operating conditions are not pmvided i n this work. bfoio- n n ~ . using look-up lnble far gcncrating the reference currents mighl not be suitable su<Ic,r aiclc rang.-olopcraling condilions. Morimato rl ol. 1321 h a w proposed a high pt~rbnunacc servo drive system of a salient pole P M synchronous motor wing the wrtor rontml twliniqae. I)et~mgnetiznlion and magnetic saturation are taken inlo
account in this work. T i ~ c P I type r p n d ron!roii~r is a*ni icr oi,~.tut Il,r g<..~k r.li~jt. af the rcleccncc current. Using n look-up table and tilis prsk vnlva~. the clvrin,tl OIPI NMX>I~II~
phnrc angic of the carrent ia rlxown l o ol>lritt ti,? t n a r i l n ~ n torgut: wit lht,u~ taakilx the d-axis current zcro. l'hc rxperimuntnl rrsulln rlt<nv 11ls1, ~ h r ptol~~al~cl &in. rys.
tcm is ntorc cllicient lilnn thc coevcmtio~~nl m e ~ l ~ c n . titt: 81-.tris n.lvn~rtcl. VN~.<WII is set l o .em. The same authors
['$:$I
lh~ve ~prn;>o*vd osollx.r n v t o r ~ r ~ l t l r o i II.~II.III$, of a PM synchronous motor osltng thm: t y p n of I:~CR.I,I p l ~ n r ronlroi , ~ l ~ l ~ r o , ~ ~ ~ l t ~ ~ r . (a) ir = 0, (b)COJI
= 1 and (c) constilsl llur-liskag. cx,~tlrui tclrrlloci. 'l'llr sl>l,l.cl controller used i n this schemc is again r P I typr, r\ bok-11jr rid,lr is 1usc.1 ~cr oi,~;~iu 1i1v reference currenls lor tho eonlrol schcns. i n lhis \vurk, il i r argta,rl I ~ I . L ~ i ~ i x i ~ tunlw:is achievable r i t h a u l the pmblcrn of dcmilgnc~lia~tios lor titr i., = I1 1,ll.rrc votdml metl>od, but tho invcrter capacity nccda t o I>? incrunrc.ci lc,r ;L s x l i ~ ~ ~ ~ l ~ o L . tu~;~(lnist,.
The card = I method gives I n s lorquc par tmil current alal illix n,l~lta i c t ss~~-lit~v.sr torque characteristics. Ilorcvor, this method III~Y I><: tlsvd 101 wtwtittml SI~I.I.CI $riv(.
since the invcrter cnpneity need not bc "cry largo, The: rolwlil!~l lltrx linkagr cosl.n~l nppmach is suilablo lor an IPM synchronous !motor bcrnwr: i t pnai<irs ;dlscml listrs torque characteristics and the required invcrtcr rapacity is rlnnll. A l t h n ~ t g l ~ sli~gtr.tir.
saturation or demagnetizing ellects arc n>inin>ir*ul in this work I,y 1111, l~lar;l rc,t,lnll
tecllnique, the problem of thc nrlvcrre cllccts of 1.Lc r ~ n s - l i r ~ ~ n r i l y rllrl ~ u s ~ ~ n . ~ l i r ~ ; ~ i ~ l ~ ~ load excursions remains skill l o he s o l w l .
M m t of the works di~cussed so far on lho PM rynchrom~rr motor r l r i a ibn. 1,;~c.rI on the veclor control technique of s r p w d mngc u;r l o LIE I,w v;d~sc:. IC,n~rrc.lr,rs 1341-1381 are also working on the PM sytrcl!rottolts rnotnr drivc whirl# van ol,c,r~lc. rlu,a.
lhc base s p r d . Generally t,he Rcld wcakcning tcvhniq~~e ir applivd Inr c ~ x l c ~ ! ~ ~ l i s l : Ihr.
speed range of the Pbl motors.
Ilnrc nut4 Szcrwr~y (:I411 hnvc s o ~ k n d on n mlcropioccssor based control of nn inte- rior lyrm I'M syr#~.hrono>lr rnutor. T h ~ s drivesystem ~ncludrs a constant torque reglon xv~lli Ichv rgcr~d opernliou ;vld field wcukcning constant pmvcr region at high speells.
'I'III: ~ l r i v a ryl;lc:~n is dnigsed wilh ono outer tarquc control loop lor specific npplirn- tioss like alr,clric a:hicle propalsion. Ocncral application is not p o ~ i b l e with sacli
;Irlriw drivo risc.~? tlbc pmition and rpccd control loops arc absent. Conlidoring the r.~~llri~iotl a C I ~~ , ~ ~ ~ t . t ~ ~ , ~ ~ . ~.IUI,IIS ~ ~jab] hb5 pmposcda vector m a t e w crf 1111. flux wr,nkenir~g olrrntion lor tllo II'M rynchronous motor drivc system over
~,xtt,sdr.<l r p r r d rangc. In lhir llau weakening method, direct u i a rotor current is ohl~inocl lrnm tltc nvnilal,lu phase currents of the motor m d the d-axis relcrence
~ l > r r n ~ t , l'he error is paswcl through R P I ~onlroller. Morimoto el el. (313) have pro- 1x>w~1 r contml rchcmc asisg a flrx-wcakming approaclt to run the PlCl rttotnr # n b o ~ llle bnse speed. Closed loop ronlral for direct axis stator current i n l h r rolnr nclcrrrice frame in used l a oppose tho main flux produced by the P M mlor.
'l'hc ~ollerts of Ipamsletcr cl>ungn are studied. Bile$vski el "1. 1371 have inwtignled a n,,~lrol rlratcgy of the I'M synchronoas malor above the base speed using the field weilkesieg Icebniq!~~. A Ihnx observer based rtrntegy is propo~ed to maintain syn-
?hronisrn. r\s IPW rnnrhine is suggested for this kind of operation. Thc system ha.
hcnt rmlhcd i s rral lilinle. Ilowevrc. there is s limitation on the operating range o l lhe $rive. Uarirnoto PI 01. 1381 have proposed a field weakening technique for the PM x y ~ ~ r l ~ r o s o a r #molar by considering the ellect of magnetic saturation. I\ cornpenrating trc.llsique based on thc cnlculaled ~ l u e o f L, from the detected q a x i r current is used i n Illis c.wmtrnl rlmlegy. 'The d-axis currcnl command is generated with the ealeulated L,, lo lnullify tllc f l l c ~ l . of ratnration.
Is 11lcsu work8 on the field tvcakening technique, the effects of parameter variations
llile l o noise, tcmpernlarc, elc. arc tlat ronrirlrml. Llonrm,r. 1111. la1.1rr1r1t.r I., it8 1Ito h c t ~ s l ~ l c s ~ I'XI s y r ~ c h ~ o ~ ~ o ~ ~ s rnotoc ~tt~l>ctl~13 "11 the l k > , ~ ~ i , ~ l ~ t ~ l i ~ ~ ~ l IS, tlw d r w s?s$a.m, 'This cITwL is also $not ~nken illto r r n n ~ t ~ . 'I'hrirbrr. 1111. ~ l r i r r rystrolr I I I : , ~ st1lh.r rmm thr prohlcm of instability tnnlrrs ronw nclalllin. w l a . ~ ~ is iitmrllonl~l.ll.
The conventianal P I mcl PID ro!~tinlln.s Ihr\r, 1lcr.s ~ t x c ~ l i n Ila. I , t ~ ~ r l # l t v r 1'11 rllror>oi~r motor drive. Ilowrvcr, tltcscc.c~nlmlh~ru , ~ n r c ~ ~ s i l i r r 1c1 ~p;>l;l~tr,~c.r v.~ri;>lion*
and load dirtarhmccr. 'TI. pcrfann;~ncu vwicr ~ ~ ~ i f l ~ ol~.re!ilig ~..tetlitiottx, .III~ it ix rlillicult l o tulle lhc controller gain both us.lier and oClit>r. Inrnsn.cl ~>n,~l~a.riri!y nnd improved product quality clcmand l-t r~.spona. a i ~ l a l , a r i l t l l l ~ ~ r r - i s ~ t ~ ~ ~ ~ i ~ i \ ~ l ~ n,.
b a i t d r i w system. The conventiorlnl linlar ~.or~tn>l t ~ c l ~ t ~ i ~ l u ~ . rile 110 lot~gvr ~ . ~ t . i d y the stringon1 mquircmentn placed on Iligh-p<.rfon~~a~t,<; d r i w ;qrplic~alir~~~s. 'l'i~vn.fcm..
tlnere lliu been mccnt intcrcrt i n applying nlnclcrlt rantrnl ~l,+.uric.r to ~lrivc. ryrt~.,rtr.
'The availability of relalively incrpenrivc n l ~ d p o w c r l ~ ~ l digit;~l ri&n;d ~prc~c.~~r;rom 11;~s sti~nulalrrl increased interclt i n applying nclnlllivc o r ~ ~ ~ . m i l c ~ n to c,lc,clrir ~nlcslor ( I r i s systems.
1.2.2
Brushless PM motor drives with adaptive controllers
I" raent years, researchers hawe hrenrocurisg
tls!ir ilt~cllllil,ll 1111 LIII: iqll,ii(.i~tillll~r
hrurhleaa PM motors i n high-pcrforrna~>ce drive syrlwxa. ma.b ali n,l,olicr, s#ttrl~i$r,- twls, aem-space actuations and nato-motivcs with ~<lnplive c.os1rollt.m wl#ic.l# ~ua!
prccisc control technique. to ;lchien fast lrnnsicnt nsposrc,, lmr;~rnc!ter itaer~r~tivily and high adaplnhility l o "an-linear load vnrinlioer.
In a model rcfecencc n d ~ p t i v o curltrol (LlllAC) 1c:clinhluc~. 1 . 1 ~ n.*la,sr. is L,rr<,,l l o track rllc o u t p ~ l l o f a rclrrcnce model irrcspwliw u l 1,be ,lrivr p;~ritr!w.t#,r vi~riil- lions. An MRAC syslcrn wilh a P I co~~troller is lhaod on ns on.Iine %:awl, $ l r n c , ~ y
'l'be ,rriii,,lctcr~ of thv 1'1 controllor mn he ndnptcd t o compensate lor the system prr;or~c?tc!r varial,iot~a ro lllirt tllc syrtcm tracks tltc relerenco model. The controller [mfihmol<?r* ;rn: unrifxl Iby ~ r h l and crror ro Lhut the error betwen actual and desired r c a p o t ~ w rnnaninn hrltrndod wilhin a Ilystercsis hand. The rclcreneo model i s deter- ,,>incr~ tllo I,U~S
or
pnr.mctc. 01 the drive -cystcm-
thst tho eontra~loop cilll l,~lylirn~~y trrlck LI,C
rvrerescc
CI,O~ =i. 139) have proposed a vcc.tor r.ol>lrol ~ra<ilios servo o i lltc lbrurl~lc~s FY syncllronour motor using the .MI<AC.
'TI!.. i!mrler Ihop ir 1111: 1'1 contmllcr and tlm otlter loop i s thc bIRAC. This generates c l i ~ r o s t i s ~ ~ o ~ ~ r cot~trnl ihllruls whici~ cause chattering. Rut this chattering is rolspc?!llit~lcd Ihy 118. ~lrady-stale error gait, componcnl or the P I controller.
Ilr~smahcrs HOJ-kIR] lhave rcported the application of sliding mode cor~trol (SWC) trr v;siidllr structure enttlml (VSC) i s synchronous mol,or drive systems. I n the SYC, tlm drivc: is lorcod l o lollow r prrdclincd trsjwtory i n the pllare plnne irrupective of clriv~: 1,nrnnlelcr vnriatiass. 'I'hir in a c h i e v ~ l by n set of switching contml schcmer.
N;unudati and Sen la101 lnnvc pmpored an adaptive contralkr b a e d rliding mode ap.
~pmadn lor tho vcctor control operation of a synchronous motor. The drive system
~.omlrrirm n p l ~ r s c mntrolled chopper and a GTO inverter to provide llte torquecom-
~cn1(?111 cltrra111, The complcro schenle is proposed lor a position servo drive. Control
<.quntiona :&re derived for the SMC in order to oblaln parameter and load torque dir- I?lrbanrc inse~~ritivlly. Cnnsoli nnrl ,\ntonio 1111 have presented the simulation of a
%r,rtor n.lacme of urn I P M synchrono~m rnotor over the base speed employing the field wcakctning lecltnique and sliding rnodc rcgulalor for the torque contml. Sliding mode r t r a l q y ia ~ l ~ ~ v e l o p a l ~nnthematically tJi-.( into account the effect of constant accel- c.nlicm. ~1>11*1artt S I B C C ~ anti constant decclcmlion. The chaltcring pmblem is reduced 1,). ros~idcriag tbc rltnnging band-width. Using PM syaclaonour motor i n brurhless
dc ,motor operation, ill, adnptirc r o n ~ r o l SCIICIIIC lhss IICII pnipt~.itv1 by ('IIIIII 1.1 01.
1.121. This scheme ura su i m p r o ~ n l rariablc~ rtral-tun. m ~ t t r u l (VSV) ilpprcr,rl> imtl,,- gralcd with a sliding ~nodc obsermr to es.prrnm. l h r pn,hlt,tlls the. r.~,tn.c.t~liot,.tl VSC, s!~clt as rcachins problem, cltatl~~citxg ~~~~~1 ~ t c ~ ~ ~ a l ? - s t t ~ ! t ~ <,rrcn clt!c, t ~ ) the, Ii>nilt, nwitching. Ghribi rud 1.c-llsy [I:l] hnvc propar,d e srl>vor>c. nf v;tri;nl,lc. r;l,l.tvi I'll synchmnour motor drirn wllich cnml,iir~~s f\vo r.ut~tmll~~n: IIII. lirrt is ,la. rlll,l,cl 0,.
lroller inserled i n the oalet-loop: mil tltc sccnt~rl is 11s~ ~rlrrnmt mstmll~.r ~vl~s~.lt is inserted i n the inncr loop. T l t e r p e d contrullrr for t.hislirl~t.n~c. lhir 11lr r.h;~rnr.!c.rirc~~.$
of the reference modd and o p t i t n t ~ ~ n speed co~tlrollc~r. 'l'lr rltrn.ilt ro#ttrc>ll~r ir rll~.
prediclive type which is !used to ohlain tltc in~provr,cl nrh~lst 11c.rs ilgilizllt arty CII~IB~II i n the rystcm paramrler.
Thcrc are nonw othcr typcs of adaptive rot~lnrllpr drivc,. n.portvcl whil-ln .LW I,-uI
on self-tuning dapliue control techr~iqtre~ 1.1'11, kl61. h Ilw.rc: r ~ ~ ~ ~ l l ~ ~ ~ l l s , 111~ (.O~~I.~C~IIPI parameters are tuned l o ndapt to lltc clrivc pnrrrncl.rr variat.iotn~. 'I'hc. iclc.~it.iliri~li~,tt block tracks the cllangm i s system pnralautcrs. Tllr infunl>;ltiolt is I I ~ X : ~ LO t r ~ > r l ~ ~ t v 1 1 ~ ~ contmllcr parameters lhrougll Lhceontrollcr aclaplatios Ingt~itr;~slt~c it c l ~ i n r l vlou.~l.
loop performance. Sepc and Laog [+I] have? ],ropon?rl a,, .alapliv~~rpsr~cl ~orll.n,llvr br the
PM
rynchronour motor drivesystem which is very similar Ic, l l ~ e rc.ll-t,o!~illg n.nll- Intor. 11 cslimates the mechanical parnmelors or thc! nnlor. 'l'la. ~ " i l i ~ ~ ~ i ~ t i ~ , ~ ~ is I~:~sI,II on the fact lhat the pmposed algorilhtn rrrleaigr~a lhe p i n nl lla: ~.n!ttn~llt~r it, n.itl lime. Theinner loopollhe drivc.yrtenl consirlr ofthc? tselcrr, i r ~ w r l r r , clzrn,r~l, rfrtr:,l controller and stat~filter. The slowcr oortcr loop cotlrisls <of 1.111, p;~r;trnc,lc,r c.+li~ni~l.ur and the control algorithm for tho conlrallc!r. It, ;am nchplin! ..sslnll rrllc.t~tc.. 15trlas8l~l and Ghnndkly 1451 haw clewlopod as 0~1itniirnI discrot<: %#!lf.Ll>!#i~!& rt:&ulill~r lly 11%- ing generalized control rtructurc. The r ~ t l l a r r haw lltrt<,d tint: n+lalator prrrn,,.l~.r*Ihy r ~ ~ i n i n ~ i z i r # g r slc.rcly-stale rluadratic criterion. One advanrage of this algorithm i$ r h ~ t hy spr~:ilying ortly tlne onlcr or rtnrctaro, the cxisting fixed paramctcr or the l i x c ~ l rtn., , ontmllm can ha t~lnod.
A roriolrs rlrnwbark of the nrlaptive controllers ir the comptttationsl burden w- rlllircrl Tor the real tinkc pnnmrtcr idcnlilicntion. 'Tho other problem is the sensitivity
,,r
tilc ?iy3tt:ln to rlulncricxi prrrision: .,,d llle ohserv~tilln noise which tendr to~ut~clc,siralrly e* llle n a m h ~ r of t l i r sybtnm rtatc variables incrcare. In addition, most of I.ll<: ;lclal,liw! cot~lmllcrr hnvc the prohlems of ieaching, chattering and steady state
~ r r o r s rluo 10 tllu finite switching.
1.2.3 Brushless P M motor drives with artificial intelligence controllers
'I'hr rontml nl8yslems with tunknown and/or nonlinrsr dynamics, rnch as tho bnmh- Ihrr rynrhror>ous motor clrive, presents real challenges. Over the last t\vo decades.
ros.rirlrr.thlc cllorla lhave hccn made is developing self-optimizing and adaptive ms- trollers for systems with tluknown paranleters and nonlinearities. The basic idea was
~nurtsally to estimate the parameters of a lincarircd model or the system and to ,USE Ihc tnodel lor updating thr parameters of tho contmller. Recent solutions for lin- car time: invariant nynlems with anknown parameter variations inwlve the reedback lisu.rrizntion tucLniquc i n combination with other m u l l s of the adaptive nonlinear coslrol thmry. But otle o f the main rocxising points orthis rosearch waa to deal with li~!citr variations of unknown prrameters l o known nonlisearitios.
Ntrarrl Networks on tllc other llnnd do nal need any infmrmation about the syr- lvsl !>oslisrarilie~. Currently significant eflorts are being made on the use of artificial intclligourc i n motor control tecllnology [13j-1151, 1461-1621, hrtificiai intelligence in-
vo1l.e~ programming a cotnpulo. ro llral il car8 slirnir larra.rn tlrinkit~g. !.lir(,b,iling
thr inhercnt non.iinear input and onjrpul rt~;~ppisg pnq,,.ny or tla. artilirial I ~ ~ ~ ~ ~ ; , I netrvoiks (ANNr), some mnlmllers nw I h r i s ~ clraiglied atal ibltlllcn>nltnI ill clr tll,,cer
drive systcms with lllc aim of ahvevi~tg llir cl!;lrrrlrrirlirr of achptiur ~ \ n d r o l l ~ ~ n . 150)-[bJ]. Since human thiukitlg ia n l t ~ n 911alitidi%~. in\.olring ikiv.w, r u ~ . i ~ ;IS "i.ll~g~~c.".
"rmni17 or "rncdium". hwny logic innd
fimv
1 1. t11~1)rit-x Ihilv~ iai.i~ III.I~II d ~ . ~ . l ~ , ~ ~ ~ . ~ l for computers to qualify and objectit~cly evalut~tc lia, n s b j ~ ~ ~ t i a . i~tnbigtcity <of ihntwi~r?thinking. These days some work on lhc dc nmntc~r cvl~troi is 11x0 I,c,illg rnsrilyl nlL~
#!sing the fwzy control nppmach [jill, F61.
Although some rescsrch 156)-1611 hils alreiuly 1 n ~ t riorird out taisl: ,\NN ~.~.rll.
niquw on the control of induction motors, rrscnrchrra havt; jlal, r t t s l c ~ l La.urigg 1.1ic.ir attention on the use of ncllral net!vork [I3]-[Ib) or ftrmy logic. [li'] ill 1hnlrIMc.s~ I'M nlotoi drive syatcms.
Ellharkawi and Ei.Snyerl 113) havc propwerl il ncaral t~rlwcrrk Ixaerl 1r111111.1~1 01 the brtahless dc motor. In lhir work, a malti-laycr ANN ~nslrolic.r is irt~l,lt~~lll.llllyl incorporating a model rcfereno: adnplivc conlrallcr. The! inp~1.r of tlr. ANN ;an 1i8r cntirnnled s p a d from lhc relccencc madcl and t i n ~ r c.osx<v:i>livr. si~anplt. of i~~l.t$,d speeds. r\ hnck-propagation algorithm ir ~uaed to lrain ISs selwr,rk. l'llis svcrrk is bas4 on the olFline trnined ANN slruclurc. I)ae to lila al>xr.rmrr. crl the. prnvirio~t c>f on-line tuning of weight. and biaw. thewccd control i s nu1 "cry pn~.irr :,11,1 I.~IIII mi01 wry useful lor difemnl conditions particularly in ruts ollcmcl ~.hnnp.v, clisl~~rlii~,lws and parameter ~ ~ i ~ t i ~ n ~ . I" the work
or
bllls~i~e~,I.
lI~~~~l,r ~ I I Y I . ily III,,II~..I CI.
11.11,
a fuzzy intcirerenccr is W~LI, PI c,,,,~co~I,:~I,,
tase 11,~: PL~,,,,r
1.1,~.conlrollcr to overcame the dirlurhanccs from ionrl ihortin, m ~ ~ r . l ~ i ~ t ~ i t : ; ~ l vihrilticrt~ n l d time delays inride the control. Tlw memhenl,ip k s d i h r nn! p!st:mlcri (iosu 1.111.
