Digital Implementation of Speed regulation for PMSM using GA

Content 1. Abstract 2. Introduction 3. Proposed system 4. Various control techniques 5. Literature sur ey !. "o#t$are description %. &loc' dia(ram ). Ad anta(es *. +e#erences

ABSTRACT: ,i(ital control technolo(y has rapidly been de eloped #or po$er electronics and electrical dri es- and it has been the impetus to the $idespread use o# a permanent ma(net synchronous motor in many industrial applications such as chip mount machines- semiconductor production machines- hi(h. resolution computeri/ed numerically controlled machine tools- robotics- and hard dis' dri es. A P0"0 has lo$ noise- lo$ inertia- hi(h torque.to.current ratio- hi(h e#1ciency- robustness- and lo$ maintenance cost. 2e propose a (enetic al(orithm 34A5 based speed re(ulator system #or a permanent. ma(net synchronous motor. &y usin( the 4A the motor acceleration obser er as $ell as a speed re(ulator is desi(ned. In terms o# linear matri6 inequalities- su#1cient conditions #or the e6istence o# the re(ulator and obser er are deri ed.

INTRODUCTION

! G"N"RA# 7he de elopment and a ailability o# ery hi(h.ener(y density permanent ma(net materials has contributed to an increased use o# the permanent ma(net synchronous motor 3P0"05 in hi(h per#ormance applications. 8i(h.speed electric machines are o# interest as direct dri es #or hi(h.speed millin( machines- compressors and pumps- yieldin( a hi(h output po$er at rather small machine dimensions. 7he hi(h.speed P0"0 3permanent ma(net "ynchronous motor5 $ith sinusoidal currents is the best choice #or hi(h.speed operation because o# the hi(h e##iciency- lo$ torque ripple- lo$ noise- and e6cellent control per#ormance. 7he P0"0 eliminates rotational co((in( torque due to permanent ma(net pre#erred positions- decreases core loss and thus increases e##iciency- pro ider9 e6cellent torque.to olume and po$er.to olume ratiosand has a linear current ersus torque relation. In the P0"0- in order to ibration- the current (enerate smooth torque and thus reduce noise and

2a e#orm should match the shape o# the motor electromoti e #orce 3em#5.

!$ OB%"CTI&" 7he ob:ecti e o# the pro:ect is to dri e the permanent ma(net synchronous motor by three phase sinusoidal stator currents. 7he trape/oidal current dri e systems are popular because o# the "implicity ;# their control circuits but su##er #rom a torque ripple problem durin( commutation. 7rape/oidal commutation is inadequate to pro ide smooth and precise motor control o# P0"0- particularly at lo$ speeds. "inusoidal commutation sol es this problem. In order to (enerate smooth "inusoidal current $a e#orm- hi(h resolution rotor position #eedbac' is required. 7his hi(h resolution rotor position is typically pro ided by an Incremental encoder or resol er attached to the sha#t o# the motor. 8all sensors $hich are installed in the stator by the motor manu#acturer are o#ten used. 8all sensors require little olume in comparison to the resol er or <ncoder- but pro ide lo$.resolution rotor an(le #eedbac' . usually != electrical de(rees resolution. 7he use o# 8all sensors $ith these P0"0 results in a torque ripple and ibration $hose #requency is +P0 dependent. "inusoidal commutation results in smoothness o# control that is (enerally unachie able $ith trape/oidal commutation.

!' #IT"RATUR" SUR&"(

1.Appli)ation Note *+,-* ./No01$--*2 from N"C ele)troni)s presents a 3. phase permanent ma(net synchronous motor control so#t$are de eloped #or ><C ).bit microcontroller uP,%)?=%14 $ith sinusoidal $a e#orm. 7he %)?=%14 microcontroller #acilitates a dedicated peripheral #or 3.phase motor control- enablin( easier motor dri e $ith AC induction motors and@or permanent ma(net ,C@AC motors 3&L,C@P0AC5.

2. Dal (! O3m4 %ae 5! Par6 / 7772 from &irginia Pol8te)3ni) Institute and State Uni0ersit8 presents analy/es and compares arious di##erent schemes o# electronic commutation and current control. "tartin( #rom a simple !.step dri e $ithout current control- discussion $ill include bus current control- sinusoidal commutation- phase current control- and synchronous re(ulator. +elati e ad anta(es o# arious commutation techniques and current control schemes $ith respect to dynamic per#ormance and steady.state torque output are discussed. Practically used current sensors- topolo(ies- circuit desi(n and di(ital control implementation are also presented.

3. Appli)ation Note 9'. .4 Sinusoidal Commutation of Brus3less Motors :8 Galil Motion Control4 In) includes a complete discussion o# brushless motors. Part one is de oted to an in.depth re ie$ o# both brush. and brushless

motor theory. Part 7$o relates brushless commutation usin( a 4alil 0otion Controller. application. Part 7hree includes some real.$orld cases o# brushless motor e6amples- includin( tips and tric's to ma6imi/e the per#ormance o# a brushless

4. Sali3 :aris o;tur64/D"C1$--<24 Amodellin(- simulation and analysis o# lo$. cost direct torque control o# pmsm usin( hall.e##ect sensorsBthesis #ocuses on the de elopment o# a no el ,irect 7orque Control 3,7C5 scheme #or permanent ma(net 3P05 synchronous motors 3sur#ace and interior types5 in the constant torque re(ion $ith the help o# cost.e##ecti e hall.e##ect sensors. 7his method requires no ,C.lin' sensin(- $hich is a mandatory matter in the con entional ,7C dri es- there#ore it reduces the cost o# a con entional ,7C o# a permanent ma(net 3P05 synchronous motor and also remo es common problems includin(9 resistance chan(e e##ect- lo$ speed and inte(ration dri#t. 5. Bat;el4 T!D!= #ee4 >!(/ 7772 ha e e6plains An implementation #or

sinusoidal current control o# a slot less Permanent 0a(net "ynchronous 0otor 3P0"05 $ith discrete 8all sensor position #eedbac' is presented. 7o estimate the rotor position o# the spotless P0"0- a #lu6 estimation technique is used that ta'es ad anta(e o# the slot less machineCs characteristically lo$ inductance to limit #lu6 estimation error. 7he rotor position is estimated usin( a re#erence model and the measured phase currents and olta(es.

!. ?ou %i:in4 @u (ongAiang4 5u %ian3ui and ?3u 5ongBei/$--$2 ha e e6plains A no el rotor position detectin( method o# P0 3permanent ma(net5 synchronous motor is presented in this paper usin( a discrete 8all sensor mounted on the stator. 8i(h. precision rotor poison si(nal can be obtained throu(h proper processin( althou(h a discrete 8all sensor only (i e the rou(h

position in#ormation $ith the resolution o# *= electrical de(rees. 7he con ersion and compensation o# the rotor position si(nal based on Phase Loc'ed Loop 3PLL5 are analy/ed.

*! A:u1Ru:4 5!= Oi6onomou4 N. presents Controlled ac dri es $ithout speed sensors o# the motor sha#t are in increasin( demand. <liminatin( the speed sensor increases the reliability o# the o erall system and reduces its cost. 7he proposed method employs electrical quantities- the stator current and stator olta(e space ectors- as input si(nals in a closed.loop obser er to estimate the rotor speed. 7he sensor less obser er is built around the #undamental model o# the ac machine9 the redundancy o# di##erent structures is e6ploited to endorse the system robustness. Issues o# concern are dri#t in the si(nals o# the input channels o# the obser er- de iation o# machine parameters #rom their nominal alues- and operation at ery lo$ stator #requency. 7he per#ormance o# the o erall control system is e aluated at steady.state and dynamic operatin( conditions. &oth simulation and e6perimental results are pro ided to support the reliability o# the proposed sensor less obser er.

5ARDCAR" AND SO,TCAR" R"DUIR"M"NTS 5ARDCAR" US"D P0"0 0;7;+ "I>4L< P8.+<C7I?I<+ 78+<< P8A"< I>V<+7<+ PI C;>7+;LL<+ 0;7;+ ,+IV<+ <>C;,<+

SO,TCAR" US"D 0A7LA& "I0DLI>E 4enetic Al(orithm Implementation in 0A7LA&

"@ISTING S(ST"M: ADAPTI&" CONTRO# SC5"M" ,OR MOTORS 7he ?ollo$in( are the Adapti e Control "cheme used #or "peed +e(ulation ! Model Referen)ing Adapti0e Control /MRAC2 0+AC is a controller that can modi#y its beha iour in response to the chan(es in dynamics o# the processes and the disturbances actin( on the process. "lidin( 0ode Control techniques $! Self1Tuning Regulator /STR2 7he (ain schedulin( and 0+A" are called direct methods- because the ad:ustment rule tells directly ho$ the controller parameters should be updated. A di##erence scheme is obtained i# the estimates o# the process parameters are updated and the controller parameters are obtained #rom the solution o# a desi(n problem usin( the estimated parameters. '! Gain s)3eduling S)3eme /GS2 4ain schedulin( is an adapti e control strate(y- $here the (ain o# the system is determined and based on its alue the controller parameters are chan(ed. 7his approach is called (ain schedulin( because the scheme $as ori(inally used to measure the (ain and then chan(e- that is- schedule the controller to compensate #or chan(es in the process (ain.

DraB:a)6s of t3e S8stem It is an open.loop adaptation scheme- $ith no real learnin( or intelli(ence 7he desi(n required #or its implementation is enormous It is 8ard to Implement #or Certain 0otors PROPOS"D S(ST"M:

Digital Implementation of Speed regulation for PMSM using GA

7he proposed 4A speed controller is robust because it does not depend on load torque ariations. It is also pro ed that the speed error o# the closed.loop system con er(es to /ero. Via simulation and e6perimental results- it $as clearly pro en that the proposed method (i es ery remar'able speed control per#ormance under model parameter and load torque ariations. 7he 4A has #ound application in the area o# the automatic tunin( process #or con entional and intelli(ent controllers. "ame research has been conducted usin( (enetic al(orithms to help online or o## line control systems. It has primarily been utili/ed as an o##.line technique #or per#ormin( a directed search #or the optimal solution to a problem. In this paper- the 4A is used on.line in real.time controller implementation to adapti ely search throu(h a population o# Controllers and determine the member most #it to be implemented o er a (i en samplin( period

Ad0antages of GA :ased Speed Control Concept o# ?le6ibility and <asy Implementation 0odular- separate #rom application

 "upports multi.ob:ecti e optimi/ation <asy to e6ploit pre ious or alternate solutions ?le6ible buildin( bloc's #or hybrid applications.

B#OC> DIAGRAM:

B#OC> DIAGRAM "@P#ANATION: In the abo e bloc' dia(ram $e can #ind recti#ier $hich $ill con ert sin(le phase AC to ,C. 7he ,C is (i en as input to the in erter le(. 7he ,C is con erted into to three phase $a e#orm suitable #or P0"0 usin( 4A technique. 7he controller (enerates (atin( si(nal $hich used to control the "olid state de ices.

 7he speed #eedbac' is (i en to the controller i.e is compared $ith the required speed depends on the di##erence alue P20 3(atin(5 si(nals are (enerated.

MOD"#ING O, PMSM DRI&" S(ST"M 7he con#i(uration o# P0"0 dri e system is (i en in ?i(. 7he dri e system are composed o# speed controller 34enetic PI or con entional PI5- a current re(ulator- a hysteresis band current controller- a three phase P20 in erter and a position encoder B#OC> DIAGRAM

F is rotor position- r G actual speed and H - H - Ha b c i i i re#erence phase currents. G e speed error is di##erence bet$een H rG re#erence speed and r G actual speed. Dsin( G e speed error- the speed controller (enerates I H called as re#erence current or control current. <qui alent circuit o# P0"0 and three phase #ull brid(e in erter are (i en in and in a b c v, v, v are the phase olta(es- a b c e, e, e are the bac' <m#Bs- s R is the stator $indin( resistance- s L is the synchronous inductance and a b c i , i , i are the phase currents- dc V is ,C lin' olta(e and dc i is ,C lin' current. Dsin( this equi alent circuit- the model o# motor is obtained

"Eui0alent Cir)uit of PMSM

G"N"TIC A#GORIT5MS

7he synthesis o# a control system includes both the controller selection and the ad:ustment o# its parameters. In some cases- the type o# controller mi(ht be con entional PI. In this case- the tunin( problem must be satis#actorily sol ed. 7o impro e limitations o# con entional PI controller especially $hen applied to hi(h order systems- $e propose 4enetic PI controller #or the &,C0. 7he structures o# the proposed controller $ere moti ated by the problems o# con entional PI controllers that they (enerally (i e ine itable o ershoot $hen one tries to reduce rise time o# response especially $hen a system o# order hi(her than one is under consideration. "ince the undesirable characteristics o# the con entional PI controller are caused by inte(ratin( operation o# the controller- e en thou(h the inte(rator itsel# is introduced to o ercome steady state error in response- $e propose 4enetic PI controller that clear out inte(rated quantities accordin( to situation. 7he 4enetic PI (i es reduced rise time as $ell as small o ershoot. 7his initial tunin( has been tested #or the system and a qualitati e tunin( has also been established.

Need ,or Geneti) Algorit3m 7his paper in esti(ates the use o# (enetic al(orithm 34A5 #or tunin( the (ains o# the con entional PI. "uch problems are ery hard in (eneral- and 4A o##ers a use#ul and success#ul alternati e to e6istin( techniques. 7hus 4enetic Al(orithm has made possible the establishment o# intelli(ent control. 4A is a (roup o#

methods $hich sol e problems usin( al(orithms inspired by the processes o# neo.,ar$inian e olutionary theory. In a 4A- the per#ormance o# a set o# candidate solutions to a problem 3called IchromosomesC5 are e aluated and ordered- then ne$ candidate solutions are produced by selectin( candidates as IparentsC and applyin( mutation or crosso er operators $hich combine bits o# t$o parents to produce one or International JII. 7he ne$ set o# candidates is then e aluated- and this cycle continues until an adequate solution is #ound. A 4A can be seen as an unusual 'ind o# search strate(y. In a 4A- there is a set o# candidate solutions to a problem9 typically this set is initially #illed $ith random possible solutions- not necessarily all distinct. <ach candidate is typically 3thou(h not in all 4As5 an ordered #i6ed.len(th array o# alues 3called IallelesC5 #or attributes 3I(enesC5. <ach (ene is re(arded as atomic in $hat #ollo$s9 the set o# alleles #or that (ene is the set o# alues that the (ene can possibly ta'e. 7hus- in buildin( a 4A #or a speci#ic problem the #irst tas' is to decide ho$ to represent possible solutions. Assumin( $e ha e thus decided on such a representation- a 4A usually proceeds in the #ollo$in( $ayK

Initiali;ation: A set o# candidate solutions is randomly (enerated. ?or e6amplei# the problem is to ma6imi/e a #unction o# 6- y and / then the initial step may be to (enerate a collection o# random triples 36i-yi-/i5 i# that is the chosen representation. ! "0aluation! Dsin( some prede#ined problem.speci#ic measure o# #itness- $e e aluate e ery member o# the current set as to ho$ (ood a solution to the problem it is. 7he measure is called the candidateCs #itness- and the idea is that #itter candidates are in some $ay closer to bein( one o# the solutions bein( sou(ht. 8o$e er- 4As

do not require that #itness is a per#ect measure o# quality9 they can to some modest e6tent tolerate a #itness measure in $hich the #itter o# some pairs o# candidates is also the poorer as a solution.

$! Sele)tion! "elect pairs o# candidate solutions #rom the current (eneration to be used #or breedin(. 7his may be done entirely randomly- or stochastically based on #itness or in other $ays 3but usually based on #itness- such that #itter indi iduals ha e more chance o# bein( chosen5. '! Breeding! Produce ne$ indi iduals by usin( (enetic operators on the indi iduals chosen in the selection step. 7here are t$o main 'inds o# operatorsK Recombination: A ne$ indi idual is produced by recombinin( #eatures o# a pair o# IparentC solutions. MutationK A ne$ indi idual is produced by sli(htly alterin( an e6istin( one 7he idea o# recombination is that use#ul components o# the members o# a breedin( pair may combine success#ully to produce an indi idual better than both parents9 i# the o## sprin( is poor it $ill :ust ha e lo$er chance o# selection later on. In any e ent- #eatures o# the parents appear in di##erent combinations in the o##sprin(. 0utation- on the other hand- ser es to allo$ local hill.climbin(as $ell introduce ariation $hich cannot be introduced by recombination. .! Population update

7he set is altered- typically by choosin( to remo e some or all o# the indi iduals in the e6istin( (eneration 3usually be(innin( $ith the least #it5 and replacin( these $ith indi iduals produced in the breedin( step. 7he ne$ population thus Produced becomes the current (eneration. 7he 4A is an optimi/ation routine based on the principles o# ,ar$inian 7heory and natural (enetics. "ince the inception o# the 4A concept by 8olland in 1*%5 it has been use#ul in sol in( a $ide ariety o# problem. In the use o# the 4Athere are t$o important aspects9 Chromosome codin( ,e#inin( the e aluation criteria 7he 4A per#orms a parallel search o# a parameter space by usin( (enetic operators to manipulate a set o# encoded chromosome $hich represents system parameters. 7he operation o# the 4A chan(es sli(htly dependin( on the base o# the numbers to apply the (enetic operators 3crossover, mutation, reproduction, elitism5. In the 4enetic PI controller tunin(- each chromosome has a (enes as a possible proportional and inte(ral (ain alues. Chromosome #itness is e ol ed durin( e olution usin( the inte(ral $ith respect to time o# the absolute speed error International JII.

T5" G"N"TIC A#GORIT5M ,OR T5" PMSM

7he 4enetic PI controller #or the P0"0 dri es is sho$n in ?i( the 4A uses the principles o# e olution and (enetics to select and adapt the controller parameters 3Kp and Ki5. 7he controller parameters are coded by decimal numbers in chromosome. 7he candidate controllers o# the 4enetic PI controller are de#ined

as members o# the population. ,urin( time step- each member o# the population is e aluated on ho$ $ell it minimi/es the I7A<. ?or each member o# the population- the 4A computes the speed error 3 G e 5 and chan(e in the speed error 3 G ce 5. 7he output ariable o# controller is chan(e in the re#erence current 33k) iL5. 7he G e and G ce are de#ined asK e ( k ) G* G( k ) G M N - 3!5 ce ( k ) M e ( k ) N e ( k O 1) 2here G H is the re#erence speed. Also- 3k) and. 3k O 1) denote actual and pre ious alues- respecti ely. In this application- #eedbac' si(nals are the position and the phase currents a,b,c ,d i and the position si(nal is used to calculate the speed. 7he s$itchin( si(nal (enerator is used to control turn.on an(le on- turn.o## an(le o##- and pulse $idth modulation duty cycle 7he steps #or speed control are summari/ed as #ollo$sK a5 Sample the speed si nal o! the "#S# b) $alculate the speed error and chan e in speed error% c) $hose the number o! di its to represent each controller parameter Kp and Ki% $hose crossover probabilit& (pc) and mutation probabilit& (pm) d) 'enerate an initial population o! Kp and Ki ains ((e make a random selection) Initiali)e sample time * and set time t% e) 'enerate +i(k), !or each population member $i, i,1,-,%%%n usin the conventional "I control la(s%( i( k ) K %e ( k ) K %e ( k )%* p . i . + , / ) !) 0ssi n !itness to each element o! the population $i- i,1, -, 1, n- " 2 (k) 1 G M )

(5 Produce the ne6t (eneration usin( 4A operators and let t3 ,t/* (o to step 3d5 h5 7he ma6imally #it $i becomes $* and send the chan(e o# control action 3i*(k)5 to control the dri e. 2here i* ( k ) is the in#erred chan(e o# re#erence current by the controller At the kth samplin( time and de#ined as i* ( k ) M i* ( k O 1)OLi( k ) 3115 2here- i* ( k O 1) is the pre ious re#erence current GA Based PI for PMSM Dri0es

COMPON"NTS US"D ! P"RMAN"NT MAGN"T S(NC5RONOUS MOTOR $! CONSTRUCTION A permanent ma(net synchronous motor 3P0"05 is a motor that uses permanent ma(nets to produce the air (ap ma(netic #ield rather than usin( electroma(nets. 7hese motors ha e si(ni#icant ad anta(es- attractin( the interest o# researchers and industry #or use in many Applications.

$! ! STATOR

?i(.2.1 stator

7he stator dia(ram o# P0"0 is sho$n in the abo e #i(ure. 7hree $indin(s A&- C are placed in 12= de(ree electrically in the stator. 7hree 8all <##ect sensors are placed in 12= de(ree mechanically on the case as sho$n in the ?i( 2.1

$! !$ ROTOR

?i(.2.2 ,i##erent arran(ements o# ma(nets in a rotor 7he rotor is made o# permanent ma(net and can ary #rom t$o to ei(ht pole pairs $ith alternate >orth 3>5 and "outh 3"5 poles. &ased on the required ma(netic #ield density in the rotor- the proper ma(netic material is chosen to ma'e the rotor. ?errite ma(nets are traditionally used to ma'e permanent ma(nets. As the technolo(y ad ances- rare earth alloy ma(nets are (ainin( popularity. 7he #errite ma(nets are less e6pensi e but they ha e the disad anta(e o# lo$ #lu6 density #or a (i en olume. In contrast- the alloy material has hi(h ma(netic density per olume and enables the rotor to compress #urther #or the same torque. Also- these alloy ma(nets impro e the si/e.to.$ei(ht ratio and (i e hi(her torque #or the same si/e motor usin( #errite

ma(nets. >eodymium 3>d5- "amarium Cobalt 3"mCo5 and the alloy o# >eodymium- ?errite and &oron 3>d?e&5 are some e6amples o# rare earth alloy ma(nets. Continuous research is (oin( on to impro e the #lu6 density to compress the rotor #urther. Abo e ?i(.2.2 sho$s the cross sections o# di##erent arran(ements o# ma(nets in a rotor. +ecent a ailability o# hi(h ener(y.density permanent ma(net 3P05 materials at competiti e prices- continuin( brea'throu(hs and reduction in cost o# po$er#ul #ast di(ital si(nal processors 3,"Ps5 and micro.controllers combined $ith the remar'able ad ances in semiconductor s$itches and modern control technolo(ies ha e opened up ne$ possibilities #or permanent ma(net brushless motor dri es in order to meet competiti e $orld$ide mar'et demands. $!$ ,"ATUR"S O, PMSM 1. 8i(h e##iciency 2. 8i(h torque to inertia ratio 3. 8i(h torque to inertia ratio 4. 8i(h torque to olume ratio 5. 8i(h air (ap #lu6 density !. 8i(h po$er #actor %. 8i(h acceleration and deceleration rates ). Lo$er maintenance cost *. "implicity and ru((edness 1=. Compact structure 11. Linear response in the e##ecti e input olta(e

Permanent ma(nets that pro ide a constant ma(netic #ield on the rotor #ollo$ the rotatin( stator ma(netic #ield at a constant speed. 7his speed is dependent on the applied #requency and pole number o# the motor. "ince the s$itchin( #requency is deri ed #rom the rotor- the motor cannot lose its synchronism. 7he current is al$ays s$itched be#ore the permanent ma(nets catch up9 there#ore the speed o# the motor is directly proportional to the current s$itchin( rate. +ecent de elopments in the area o# semiconductor s$itches and cost.e##ecti e ,"Ps and micro.processors ha e opened a ne$ era #or the ad:ustable speed motor dri es. "uch ad ances in the motor related sub.areas ha e helped the #ield o# motor dri es by replacin( complicated hard$are structures $ith so#t$are based control al(orithms. 7he result is considerable impro ement in cost $hile pro idin( better per#ormance o# the o erall dri e system. 7he synchronous motor is a constant.speed motor $hich al$ays rotates at synchronous speed dependin( on the #requency o# the supply olta(e and the number o# poles. 7he permanent ma(net synchronous motor is a 'ind o# synchronous motor i# its electrically e6cited #ield $indin(s are replaced by permanent ma(nets $hich pro ide a constant rotor ma(netic #ield. $!' AD&ANTAG" O, PMSM O&"R CON&"NTIONA#

S(NC5RONOUS MOTOR 1. <limination o# slip.rin(s and e6tra ,C olta(e supply. 2. >o rotor copper losses (enerated in the #ield $indin(s o# $ound.#ield synchronous motor. 3. 8i(her e##iciency because o# #e$er losses.

4. "ince there is no circuit creatin( heat on the rotor- coolin( o# the motor :ust throu(h the stator in $hich the copper and iron loses are obser ed is more easily achie ed. +eduction o# machine si/e because o# hi(h e##iciency 5. ,i##erent si/e and di##erent arran(ements o# permanent ma(nets on the rotor $ill lead to ha e $ide ariety o# machine characteristics. $!. ROTOR POSITION "STIMATION M"T5ODS 7he stator $indin(s are ener(i/ed sequentially by the P20 in erter $ith the re#erence o# rotor position- It is important to 'no$ the rotor position in order to understand $hich $indin( $ill be ener(i/ed #ollo$in( the ener(i/in( sequence. 7$o ma:or methods are used to estimate the rotor position- one is by usin( the sensors li'e 1.8all e##ect sensor- 2.<ncoders-3. +esol ers and the second is sensor less method. $!.! 5A## ",,"CT S"NSOR

?i(.2.3 8all <##ect "ensor I# an electric current carryin( conductor is 'ept in a ma(netic #ield- the ma(netic #ield e6erts a trans erse #orce on the mo in( char(e carriers $hich tends to push them to one side o# the conductor. 7his is most e ident in a thin #lat conductor. A build.up o# char(e at the sides o# the conductors $ill balance this ma(netic in#luence- producin( a measurable olta(e bet$een the t$o sides

o# the conductor. 7he presence o# this measurable trans erse olta(e is called the 8all <##ect a#ter <. 8. 8all $ho disco ered it in1)%*.

?i(.2.4 8all <##ect "ensor ;utput "i(nal +otor position is sensed usin( 8all <##ect sensors embedded into the stator P0"0 ha e three 8all sensors embedded into the stator on the non.dri in( end o# the motor. 2hene er the rotor ma(netic poles pass near the 8all sensorsthey (i e a hi(h or lo$ si(nal- indicatin( the > or " pole is passin( near the sensors. &ased on the combination o# these three 8all sensor si(nals- the e6act sequence o# commutation can be determined. 8all sensor and its output si(nals are sho$n in ?i(.2.3 and 2.4 respecti ely $!.!$ "NCOD"RS

?i(.2.5 ;ptical Interrupter

?i(.2.! "lotted ,isc

An encoder is a rotary de ice that outputs di(ital pulses in response to incremental an(ular motion. <ncoders ha e many uses in positionin( applications. ?or e6ample- a rotary encoder attached to a ,C motor can be used to 'eep trac' o# the number o# re olutions the motor has rotated #rom its initial position. ;ne o# the simplest applications o# rotary encoders is the mechanical computer mouse. A mechanical mouse has 2 rotary encodersK ;ne #or J position and one #or P position. As the mouse mo es- each encoder outputs square $a e pulses. 7he number o# pulses indicate ho$ #ar the mouse has mo ed in J or P direction. <ncoders are also used in Computer >umerical Control 3 C>C 5 systems to accurately position the J.P table. A rotary encoder typically has 2 outputs. 7hese outputs emit si(nals that are *= de(rees out o# phase $ith respect to each other. 7he output si(nals may be square $a e or sine $a e. "ine $a e outputs are typically used in hi(her resolution encoder applications. ;ptical Interrupter and "lotted ,isc are sho$n in?i(2.5 and2.5 respecti ely

T5R"" P5AS" IN&"RT"R

7hree.phase in erters are used #or ariable.#requency dri e applications and #or hi(h po$er applications such as 8V,C po$er transmission. A basic three. phase in erter consists o# three sin(le.phase in erter s$itches each connected to one o# the three load terminals. ?or the most basic control scheme- the operation o# the three s$itches is coordinated so that one s$itch operates at each != de(ree point o# the #undamental output $a e#orm. 7his creates a line.to.line output $a e#orm that has si6 steps. 7he si6.step $a e#orm has a /ero. olta(e step bet$een the positi e and ne(ati e sections o# the square.$a e such that the harmonics that are multiples o# three are eliminated as described abo e. 2hen carrier.based P20 techniques are applied to si6.step $a e#orms- the basic o erall shape- or envelope- o# the $a e#orm is retained so that the 3rd harmonic and its multiples are cancelled. 7o construct in erters $ith hi(her po$er ratin(s- t$o si6.step three.phase in erters can be connected in parallel #or a hi(her current ratin( or in series #or a hi(her olta(e ratin(. In either case- the output $a e#orms are phase shi#ted to obtain a 12.step $a e#orm. I# additional in erters are combined- an 1).step in erter is obtained $ith three in erters etc. Althou(h in erters are usually combined #or the purpose o# achie in( increased olta(e or current ratin(s- the quality o# the $a e#orm is impro ed as $ell.

Rectifier and inverter pulse numbers

+ecti#ier circuits are o#ten classi#ied by the number o# current pulses that #lo$ to the ,C side o# the recti#ier per cycle o# AC input olta(e. A sin(le.phase hal#.$a e recti#ier is a one.pulse circuit and a sin(le.phase #ull.$a e recti#ier is a t$o.pulse circuit. A three.phase hal#.$a e recti#ier is a three.pulse circuit and a three.phase #ull.$a e recti#ier is a si6.pulse circuit. 2ith three.phase recti#iers- t$o or more recti#iers are sometimes connected in series or parallel to obtain hi(her olta(e or current ratin(s. 7he recti#ier inputs are supplied #rom special trans#ormers that pro ide phase shi#ted outputs. 7his has the e##ect o# phase multiplication. "i6 phases are obtained #rom t$o trans#ormers- t$el e phases #rom three trans#ormers and so on. 7he associated recti#ier circuits are 12.pulse recti#iers- 1).pulse recti#iers etc. 2hen controlled recti#ier circuits are operated in the in ersion mode- they $ould be classi#ied by pulse number also. +ecti#ier circuits that ha e a hi(her pulse number ha e reduced harmonic content in the AC input current and reduced ripple in the ,C output olta(e. In the in ersion mode- circuits that ha e a hi(her pulse number ha e lo$er harmonic content in the AC output olta(e $a e#orm.

PI CONTRO##"R 1 Proportional F Integral Controllers Proportional O Inte(ral 3PI5 controllers $ere de eloped because o# the desirable property that systems $ith open loop trans#er #unctions o# type 1 or abo e ha e /ero steady state error $ith respect to a step input.

7unin( PI Controllers 4eneral approach to tunin(K 1. Initially ha e no inte(ral (ain 37I lar(e5 2. Increase EP until (et satis#actory response 3. "tart to add in inte(ral 3decreasin( 7I5 until the steady state error is remo ed in satis#actory time 3may need to reduce EP i# the combination becomes oscillatory5

Anti1Bindup in I F PI )ontrollers Dnder some operatin( conditions non.linearity in the plant or controller can stop an Inte(ral controller #rom remo in( the steady state error. I# the Inte(rator output is not limited- then durin( this time the total o# the inte(rated 3summed5 error QEIe3t5dtR $ill continue to build. ;nce the restrictions are #inally remo ed- problems can arise because this built up Sener(yT must be remo ed be#ore the inte(ral control can act normallyU this can ta'e a lon( time. 7o a oid this- anti.$indup circuits are added that place limits on the inte(ral total. 7hese limits are usually placed on the summed output o# the PVI controller as $ell

MOTOR DRI&"R

7he 0otor ,ri er is the Inte(rated Part $ith 0otor Po$er and Control Components. 7he ,ri er Controls the 0otor ,ri e accordin( to the input command #rom 0otor Controller and po$er Circuit. In the abo e dia(ram ,+V)3=1 is an <6ample o# motor ,ri e Components.

SIMU#ATION <! INTRODUCTION >e$ desi(ns o# po$er electronics systems are the norm due to ne$ applications and lac' o# standardi/ation in speci#ications is because o# aryin( customer demands. Accurate simulation is necessary to minimi/e costly repetitions o# desi(ns and bread boardin( and hence reduce the o erall cost and the concept.to.production time. 7here are many bene#its o# simulation in the desi(n process- some o# them are listed belo$ hereK

 "imulation is $ell suited #or educational purpose. It is an e##icient $ay #or desi(ner to Learn ho$ a circuit and its control $or'in(. It is normally much cheaper to do a thorou(h analysis than to build the actual circuit in $hich component stresses are measured. A simulation can disco er the possible problems and determine optimal parameters- increasin( the possibility o# (ettin( the prototype >e$ circuit concepts and parameter ariation 3includin( tolerances on

components5 are easily tested. Chan(es in the circuit topolo(y are implemented at no cost. 7here is no need #or components to be a ailable on short notice. "imulated $a e#orms at di##erent places in the circuit are easily monitored $ithout the hindrance o# measurement noise. As s$itchin( #requencies increases- the problem o# laboratory measurements becomes increasin(ly di##icult. 7hus- simulations may become more accurate than measurement ,estructi e tests that cannot be done in the lab- either because o# sa#ety or because o# costs in ol ed- can easily be simulated. +esponse to #aults and abnormal conditions can also be thorou(hly analy/ed. 7he so#t$are tool used #or the simulation studies is 0A7LA&@"I0DLI>E. <!$ MAT#AB 0A7LA& is a hi(h per#ormance lan(ua(e #or technical computin(. It inte(rates computationisuali/ation- and pro(rammin( in an easy to use en ironment $here problems and solutions are e6pressed in #amiliar mathematical notation. 7ypical uses include 0ath and computation al(orithm de elopment ,ata acquisition modellin( simulation and prototypin( data

analysis e6ploration and

isuali/ation scienti#ic and en(ineerin( (raphics

application de elopment includin( (raphical user inter#ace buildin(.

0A7LA& is an interacti e system $hose basic data element is an array that does not require dimensionin(. 7his allo$s you to sol e many technical computin( problems- especially those $ith matri6 and ector #ormulations- in a #raction o# the time it $ould ta'e to $rite a pro(ram in a scalar non.interacti e lan(ua(e such as C or ?;+7+A>. 0A7LA& has e ol ed o er a period o# years $ith input #rom the users. In industry- 0A7LA& is the tool o# choice #or hi(h.producti ity research- de elopment and analysis. 0A7LA& #eatures a #amily o# add.on application.speci#ic solutions called toolbo6es. Very important to most users o# 0A7LA&- toolbo6es allo$ you to learn and apply speciali/ed technolo(y. 7oolbo6es are comprehensi e collections o# 0A7LA& #unctions that e6tend the 0A7LA& en ironment to sol e particular classes o# problems. Areas in $hich toolbo6es are a ailable include si(nal processin(- control systems- neural net$or's- #u//y lo(ic$a elets- simulation and many others. 7he 0A7LA& ersion used is %.).=. "imPo$er "ystems toolbo6 is mainly used. <!' SIMPOC"RS(ST"MS "im Po$er "ystems e6tends "imulin' $ith tools #or modellin( and simulatin( basic electrical circuits and detailed electrical po$er systems. 7hese tools let one model the (eneration- transmission- distribution- and consumption o# electrical po$er- as $ell as its con ersion into mechanical po$er. "im Po$er "ystems is $ell suited to the de elopment o# comple6- sel#.contained po$er systems- such as those in automobiles- aircra#t- manu#acturin( plants- and po$er utility applications.

"im Po$er "ystems operates in the "imulin' en ironment. 7he libraries contain models o# typical po$er equipment such as trans#ormers- linesmachines- and po$er electronics. 7he "im Po$er "ystems main library- po$er lib- or(ani/es its bloc's into libraries accordin( to their beha iour. 7he po$er lib library $indo$ displays the bloc' library icons and names. ,ouble.clic' a library icon to open the library and access the bloc's. 7he main "im Po$er "ystems po$er lib library $indo$ also contains the Po$er (ui bloc' that opens a (raphical user inter#ace #or the steady.state analysis o# electrical circuits. "teps in ol ed in the simulation are as #ollo$s1. 2. 3. "tart 0A7LA&- by double clic'in( on the 0A7LA& icon In the 0A7LA&- clic' the "imulin' icon "elect >e$ #rom the ?ile menu $hich creates a ne$ $or'space $here the &loc' dia(ram o# the system $ill be created 4. Connect all the components as per the circuit dia(ram usin( the "imulin'

bro$ser 5. !. "elect the simulation parameters and set the start time and stop time "tart the simulation and ie$ the $a e#orms at the respecti e scope

"7A+7I>4 0A7LA& ;n 2indo$s plat#orms- start 0A7LA& by double.clic'in( the 0A7LA& shortcut icon on your 2indo$s des'top. ;n D>IJ plat#orms- start 0A7LA& by typin( matlab at the operatin( system prompt. Pou can customi/e 0A7LA& startup. ?or e6ample- you can chan(e the directory in $hich 0A7LA& starts or automatically e6ecute 0A7LA& statements in a script #ile named startup menu.

0A7LA& ,<"E7;P 2hen you start 0A7LA&- the 0A7LA& des'top appears- containin( tools 3(raphical user inter#aces5 #or mana(in( #iles- ariables- and applications associated $ith 0A7LA&. 7he #ollo$in( illustration sho$s the de#ault des'top. Pou can customi/e the arran(ement o# tools and documents to suit your needs. ?or more in#ormation about the des'top tools- see ,es'top 7ools and ,e elopment <n ironment.

Ad0antage of GA :ased Speed Control ,i(ital speed control It response sudden chan(es in load and it commanded speed V"I method is used Pro6imity sensor is used CONC#USIONS In this paper- a 4enetic al(orithm based PI speed controller #or P0"0 dri e system is presented. 0athematical model o# a P0"0 #ed by three phase in erter is reali/ed- 4enetic PI speed controller #or speed control o# P0"0 are desi(ned. 7he 4enetic PI and con entional PI controller are desi(ned and simulated indi idually and results are (i en. ?rom the simulation results- it is clear that the desi(ned the 4enetic PI controller has better speed response than con entional PI controller

+<?<+<>C<K W1X W1X P. Vas- Vector $ontrol o! 0$ #achines. Clarendon Press- ;6#ord Dni ersity Press 3;6#ord W<n(landX- >e$ Por'5 1**=. W2X Y. 8olt/- Z"ensorless Control o# Induction 0achines[2ith or 2ithout "i(nal In:ection\-Z *rans% on Industrial 2lectronics- . 53- no. 1- 2==!. W3X 8. Abu.+ub- >. ;i'onomou- T"ensorless ;bser er "ystem #or Induction 0otor Control-T in 14th I222 "o(er 2lectronics Specialists $on!erence, "2S$ -556. 15.1* Yune 2==)- +hodes- 4reece. W4X 8. Abu.+ub- Y. 8olt/- Z"ensorless Control "ystem o# Induction 0otor $ith closed Loop ?lu6 ;bser er-Z the ;##ice o# 7echnolo(y Commerciali/ation- 7e6as AV0 Dni ersity- D"A- re#erence o# the inno ation 7A0D" 2*21. W5X 8. Abu.+ub- Y. 4u/i]s'i- Y. +odri(ue/- +. Eennel- P. Cort^s P.SPredicti e current controller #or sensorless induction motor dri e-T in I2227I$I* -515 International $on!erence on Industrial *echnolo &14.1% 0arch 2=1=- Vi_a del 0ar- Chile. W!X 8. Abu.+ub- Y. 4u/ins'i- `. Er/emins'i- SAd anced Current +e(ulated P20 In erter $ith "impli#ied Load 0odel-T 2lectric "o(er $omponents and S&stems a Yournal by published by 7aylor V ?rancis% Volume 32- >umber 1=@;ctober 2==4. W%X Y. "alomb'i- 0. 8in''anen- Y. Luomi- S"ensorless ector control o# an induction motor #ed by a P20 in erter throu(h an output LC #ilter-T I222 *rans% on Industrial 2lectronics- ol. 12!.,- no. 4- Apr. 2==!. W)X Y. 4u/ins'i- S"ensorless AC dri e control $ith LC #ilter-T in 11th 2uropean $on!erence on "o(er 2lectronics and 0pplications 2"2 -554. ).1= "eptember 2==*r. &arcelona- "pain. W*X 7. Lac/yns'i- A. 0ertens- SPredicti e "tator Current Control #or 0edium Volta(e ,ri es 2ith LC ?ilters-T I222 *ransactions on "o(er 2lectronics- ol. 24- no. 11- >o ember 2==*. W1=X Y. 4u/ins'i- 8. Abu.+ub- S+obust "ensorless Control "ystem $ith 0ultiscalar 0odel o# Induction 0otor. International Con#erence on Po$er <lectronics-T in Intelli ent #otions and "o(er 8ualit& "$I# -55-. 14.1! 0ay 2==2. >urember(- 4ermany. W11X &. E. &ose- #odern "o(er 2lectronics and 0$ $ontrol, P7+- 2==2. W12X I. &oldea- 0. Codruta Paicu- 4. ,. Andreescu- SActi e ?lu6 Concept #or 0otion."ensorless Dni#ied AC ,ri es-T I222 *ransactions on "o(er 2lectronics- ol. 23- no. 5- "eptember 2==) W13X 7.0. 2olban'- 0. A. Vo(elsber(er- 0. +iepler- SIdenti#ication and compensation o# in erter dead.time e##ect on /ero speed sensorless control o# AC machines based on olta(e pulse in:ection-T in I222 "o(er 2lectronics Specialists $on!erence- P<"C 2==). W14X ". 0. 4adoue- ,. 4iaouris- Y.2. ?inch- S"ensorless Control o#

Induction 0otor ,ri es at Very Lo$ and `ero "peeds Dsin( >eural >et$or' ?lu6 ;bser ers-T I222 *ransactions on Industrial 2lectronics- ol. 5!- no. )- 2==*. W15X C. Lascu- I. &oldea- ?. &laab:er(- SA Class o# "peed."ensorless "lidin(.0ode ;bser ers #or 8i(h.Per#ormance Induction 0otor ,ri es-T I222 *ransactions on Industrial 2lectronics- . 5!@*- 2==*. W1!X Poun(."u E$on- Yeon(.8um Lee- "an(.8o 0oon- &yun(.Ei E$onChan(.8o Choi- Yul.Ei "eo'- S"tandstill Parameter Identi#ication o# Vector.Controlled Induction 0otors Dsin( the ?requency Characteristics o# +otor &ars-T I222 *ransactions on Industr& 0pplications- ol. 45- no. 5- 2==*.