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Energy Procedia 74 (2015) 575 – 586

Speed control of doubly fed induction motor

S. Lekhchinea*, T. Bahib, I. Aadliab , Z. Layateb, H. Bouzeriac
a*
Department of Electrical Engineering, 20 August 1955-Skikda University,Skikda 21000, Algeria
b
LASA and LEE, Badji Mokhtar University , BP 12, Annaba 23000, Algeria
c
Department of Electrical Engineering, Hadj Lakhdar University, Batna 05000, Algeria

Abstract

In this work the performance comparison study of the proportional integral and fuzzy logic speed controllers
which used for the speed control of doubly fed induction machine is presented. For a long time, electromechanical
systems used the squirrel-cage induction motors, as main actuators, however, doubly fed induction motors, present
of estimable advantages at variable speed drive. From that, the performances of conventional speed controllers are
sensitive to parameter variations of the motor. So, in this paper, the analyze of performances of speed fuzzy logic
controller is presented. The simulation results showed that the fuzzy logic controller ensure the best dynamic
performances in rotor resistance and load variations.
© 2015
© 2015TheTheAuthors.
Authors.Published
Publishedby by
Elsevier Ltd.Ltd.
Elsevier This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the Euro-Mediterranean Institute for Sustainable Development (EUMISD).
Peer-review under responsibility of the Euro-Mediterranean Institute for Sustainable Development (EUMISD)
Keywords: Doubly fed induction machine; variable speed; performances, fuzzy logic controller; simulation.

1. Introduction

The electric motors of industrial systems operate generally at variable speed. Since, the induction motors are often
used because they are unquestionably an advantage over to the machine the DC machine [1, 2]. But, the coupling
between the flux and torque of IM present a serious problem for its control. For this purpose, the vector control
theory [3] has long since been applied successfully for three phase induction motors. However, the performances of
the speed control are sensitizes at motor parameters variations [4, 5].

* Corresponding author. Tel.: +213-0781-66-24-27.

E-mail address: slekhchine@yahoo.fr

1876-6102 © 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4 .0/).
Peer-review under responsibility of the Euro-Mediterranean Institute for Sustainable Development (EUMISD)
doi:10.1016/j.egypro.2015.07.758
576 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

Consequently, it is interesting to use the modern control techniques more towards for the high power in the
energy renewable applications. Notably, fuzzy logic aims to study and representation of imprecise knowledge and
approximate reasoning [6].
The description of imprecise or uncertain situations may contain the fuzzy expressions such as: big, medium,
small, etc…These «linguistic" expressions are subject to membership functions [7-8]. Currently, fuzzy logic is used
in many fields, such as, management, medicine and control systems. It is also used to match the degree of truth to a
variable that can be linguistic. This scaling in the membership of an element has a situation that allows the modeling
of man observation expressed in linguistic form [9, 10]. She allows you to translate a control strategy of a qualified
set of easily interpretable linguistic rules and to treat linguistic variables whose values are sentences in natural
language [11, 12].
In this works, doubly fed induction motor (DFIM) is used because he offers the opportunity to modulate power
flow into and out the rotor winding in order to have, at the same time, a variable speed in the characterized super-
synchronous or sub-synchronous modes in motor or in generator regimes [13-15]. The DFIM can be controlled from
the stator or rotor by various possible combinations and the strategy of the flux orientation can to transform the non
linear and coupled DFIM-mathematical model to a linear model leading to one attractive solution as well as under
generating or motoring operations [15-17].
The paper is organized as follows. In section 2, modelling of doubly fed induction motor, the field oriented
control and inverter are developed. The methodology approaches of the conventional and fuzzy logic controllers are
presented, in section 3. The simulation results and their discussion are presented in section 4. Finally, conclusion is
presented in last section.

2. Modeling system

An easy way to comply with the conference paper formatting requirements is to use this document as a template
and simply type your text into it.

2.1. DFIM model

The structure of DFIM is very complex. Therefore, in order to develop a model, it is necessary to consider the
following simplifying assumptions [16, 19]: the machine is symmetrical with constant air gap ; the magnetic circuit
is not saturated and it is perfectly laminated, with the result that the iron losses and hysteresis are negligible and only
the windings are driven by currents; the mmf created in one phase of stator and rotor are sinusoidal distributions
along the gap. By this means, the DFIM state equations [20, 21] are described as follow:
.
­.
° x Ax  Bu
® (1)
°̄ y Cx

With,


x >ids iqs idr iqr @T is the state vector ;

u >Vds Vqs Vdr Vqr @ T is input vector.

 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586 577

Where,

ª  Rs (1  V )Z  Z s Rr Lm LmZ º
« VLs V VLs Lr VLs »
« »
« (1  V )Z  Z s  Rs LmZ Rr Lm »
« V VLs VLs Lr VLs Lr » (2)
A « RL  Lm Z  Rs VZ s  Z »
« s m »
« VLs Lr VLr VLs V »
« LmZ R s Lm Z  VZ s  Rs »
« »
¬« VLr VLs Lr V VLs ¼»

ª 1  Lm º
« VL 0 0 »
« s VLs Lr »
« 0 1  Lm » (3)
0
« VLs VLs Lr »
B « L 1 »
« m
0 0 »
« VLs Lr VLr »
« Lm 1 »
« 0 0 »
¬ VLs Lr VLr ¼
ª1 0 0 0º
«0 1 0 0»»
C « (4)
«0 0 1 0»
« »
¬0 0 0 1¼
The dynamical equation and electromegnetical torque are given by (5) and (6), respectively:

d:
J Tem  Tl  k f : (5)
dt
Tem p.Lm (iqs .idr  ids .iqr )
(6)

The vector control aimed to ensure control decoupled of the flow and torque [3]. In the synchronous reference
frame whose axis d is aligned with the rotor flux vector Φ dr= Φ*and Φqr= 0. Fig. 1 shows the vector representation
of vector control.

q d
)r )rd
is
Rotor axis
Ts
isq isd Tr
T Stator axis

0
Fig. 1. Rotor orientation
578 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

) qr Lr iqr  Lm (iqs  iqr ) 0

(7)
So
Lmiqs
iqr (8)
Lr  Lm

And,

d) dr
) dr ) *r , 0 (9)
dt
Rr iqs
Zs  Zr
( Lr  Lm )ids (10)
However, using the torque equation can be expressed as:

Te K m ) dr iqr (11)

Where Km is torque constant.

So, if the rotor flux ) dr ) *r is considered as constant, the quadrature stator current component (iqs)
control the torque and the rotor flux can be controlled with direct component of stator current (ids).
The dynamical equation is given by:

J d kf
Zr K) dr iqr  Tl  Zr (12)
p dt p
Thus, the transfer function will be expressed by the speed:
K m ) * iqr ( P) Tl ( P)
wr ( P)  (13)
Kf J Kf J
 P  P
p p p p
The block diagram of the speed loop regulation is in Fig. 2:

Tl

Zr* ,qr* 1
Zr
Speed -
+- Ke + Kf J
Controller
7em* p +pP

Fig. 2. Speed loop

 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586 579

2.2. Inverter model

The inverter is composed of six (6) switches supposed idealized. A KiK function that links between the sizes of
input and output is defined for each switch.
Expressions of currents and voltages are written as following:

­
° I IK K IK I IK
® (14)
°̄V IK (1  K IK )V IK
With, KiK= 0 if the switch is open and KiK = 1 if he is closed.

I  ^a, b, c`, k  ^p, n`

Ilk: Load phase current and lk: Supply voltage.

Table 1. Inverter Output Voltages

Sequence Ki1 Ki2 Ci Vi0
1 0 1 -1 -Udc/2
2 1 0 1 +Udc/2

Where the structure of the two levels inverter is represented in Fig. 3.

Ka1 D1 Kb1 D2 Kc1 D3

Udc /2 isa

Udc
isb

isc

Udc /2
Ka2 D4 Kb2 D5 Kc2 D6

Fig. 3. Structure of the two levels inverter

The functions of cell connections must satisfy the following condition: Fip+Fin=1. The functions relating to each
of these connections are:

ªVab º ª 1  1 0 º ª Fap º
«V » V « 0 « »
« bc » pn « 1  1»» « Fbp » (15)
«¬Vca »¼ «¬ 1 0 1 »¼ «¬ Fcp »¼

And,

ªVa º ª 2  1  1º ª Fap º
«V » « »
V pn «« 1 2  1»» « Fbp »
1
(16)
« b» 3
«¬Vc »¼ «¬ 1  1 2 »¼ «¬ Fcp »¼
580 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

The PWM triangular-sinusoidal strategy is to compare two signals. The first signal is a sine wave where its
frequency is the frequency of output desired, it is usually called the reference wave. The second signal is a triangular
carrier frequency which must be enough large from the frequency of the sinusoid.

Fap 1 if Vm ! V p and Vm ! 0 (17)

Fan 1 if Vm  V p and Vm  0 (18)

3. Speed Controllers

3.1. PI conventional controller

The classic numerical Proportional and Integral ( PI) regulator is well suited to regulating the speed Ω  , to the
 
desired values Ω* as it is able to reach constant reference, by correctly both the P term K p   and I term K i 
winches are respectively responsible for error e  sensibility and for the steady state error. The dynamic model of
speed induction motor drive with PI is significantly simplified, and can be reasonably represented by the bloc
diagram shown in Fig. 4.

Fig. 4. Speed control loop with PI controller

Lm *
With, K e p. .M r .
Lr
Where the speed controller is a proportional integral (PI), the proportional action (P) ensures the performance
criteria required by speed loop. So the integral action (I) cancel the error in study state. By neglecting, the load
torque (Tl=0), the transfer function is [22, 23].

K PZ1
P 1
Zr K iZ 1
Z r* Kf
K PZ1 
J p
.P 2  P 1 . (19)
p.K iZ1 K iZ1

Where:

K pZ1 K pZ K e , K iZ1 K iZ K e and K e K m )*

 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586 581

By identification with the canonical form:

Zr 1
G(s)
Z r* 1 2 2[
P  P 1
Zn2 Zn
(20)
We obtained:

­ JZ n2
° K iZ
° p.K e
°
° § k ·
® ¨ 2[ K iZ  f ¸
°K ¨ p ¸ 1
° P: ¨ Zn ¸K
° ¨ ¸ e
° ¨ ¸
¯ © ¹

We chose the coefficients for [ 1 and response time (Trep=20ms) at 5%.

3.2. Fuzzy logic controller

In this section, we focus on the application of fuzzy logic for adjusting the speed of DFIM. Fig. 5 shows the block
diagram of a fuzzy logic controller (FLC).

e Fuzzy control
Ge
rules 'u
Wrréf+ Fuzzification Defuzzification G'u ʃ
- Computation of
'e
'e G'e Inférence
Wr

DFIM

Fig. 5. Scheme of speed control using FLC

The FLC is made up of parameters such as rule base database membership functions, input and factor scaling
output (SF). SF is a very important parameter because it is directly related to the stability control system etc ... [24-
27]. For this study, the membership functions of the error, the error and variation of the output are shown by Fig 6.

NB NM NS EZ PS PM PB

-1 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 1

e , 'e et 'u
Fig. 6. membership functions of "e", "de" and “du”

The linguistic variables are identified by symbols: NB: Negative Big , NM: Negative Medium, NS: Negative Small,
EZ: About Zero; PS: Positive Small, PM: Positive Medium, PG: Positive Big .
582 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

The fuzzy rules define the controller output based on input [28]. The "Table2" presents the rules adopted in this
work.

Table1. Matrix Inference

de e NB NM NS EZ PS PM PB
NB NB NB NB NB NM NS EZ
NM NB NB NB NM NS EZ PS
NS NB NB NM NS ZE PS PM
ZE NB NM NS EZ PS PM PB
PS NM NS EZ PS PM PB PB
PM NS EZ PS PM PB PB PB
PB EZ PS PM PB PB PB PB

4. Simulation results

The proposed FLC controller for the DFIM drive is tested under Matlab/Simulink. The scheme system represented
on Fig. 7 consists of the following elements: three-phase DFIM, two voltage-source inverters.
Zr* 7e* 1 ,qr*
+
-
FLC Km )dr
+
- Vd-q*
,qr
Zr
PI ,dr* Vabc*
+
- Decoupling
and
,dr Current
PWM
DFIM
,qs* regulation
-Lr +
-
Vd-q*
LM

,qs
)dr*
1 ,ds +
*
Field Vabc*
weakeping LM -

,ds

Fig. 7. Scheme of control

The structure of Fig. 7 has been programmed, using the environment MatLab Simulink, in the aim to carry out
comparative analysis of the performance of the PI conventional and fuzzy logic speed controllers. Therefore, the
motor is simulated starting followed for reversing the direction of rotation at time 4s. As shown in the Figures 8.a
and 8.b , for each rotation, the motor is subjected to constraint for load variation and motor resistance.

Figure 9 shows the evolution of input and output of the FLC, the speed, electromagnetic torque and flux components
are represented respectivly by figures 10, 11, 12 and 13. Each of them, represents of zooms on moments of
constraint changes. We note that, the performance provided by a fuzzy controller is better in response time and
rejection of the load disturbance. Moreover, the electromagnetic torque (Fig. 11) and the flux ploted on figures 12
and 13 , show that thanks to the fuzzy logic controller the decoupling between the torque and flux is maintained
despites changes considered.
 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586 583

10

8
Load torque

0 1 2 3 4 5 6 7 8
Time(s)

2.8 Rr=Rn+50%Rn

2.6
Rotor resistance

2.4

2.2

1.8
Rr=Rn
1.6
0 1 2 3 4 5 6 7 8
Time(s)

Fig. 8. Load and resistance variations

Fig. 9. Input and output fuzzy logic controller

584 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

200

195

190

185

180
0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55

300
Motor speed with PI
Reference speed
200 Motor speed with FLC
Motor speed (rad/s)

100

-100

-200

-300
0 1 2 3 4 5 6 7 8
Time(s)

210

205

200

195

190

1.5 2 2.5 3

Fig. 10. Speed motor

20
10
15 8
6
10
4
5 2

0 0

0 0.05 0.1 0.15 0.2 0.25 0.3 1.6 1.8 2 2.2 2.4 2.6

30
Load torque

20 Motor torque with FLC

Motor torque (N.m)

Motor torque with PI

10

-10

-20

-30
0 1 2 3 4 5 6 7 8
Time(s)

Fig. 11. Electromagnetic torque

 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586 585

1.5

1 phird with FLC

phird with PI

1.202

1.201

1.2
0.5 1.199

1.198

1.197

1.196

1.195
1.45 1.5 1.55 1.6 1.65

0
0 1 2 3 4 5 6 7 8
Time(s)

Fig. 12. Components d and q direct flux

0.3
Phirq with FLC
0.25 Phirq with PI
0.015
0.2 0.01
0.005
0
0.15 -0.005
-0.01
-0.015
0.1 -0.02

1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6

0.05

-0.05

-0.1
0 1 2 3 4 5 6 7 8

Fig. 13. Components d and q indirect flux

586 S. Lekhchine et al. / Energy Procedia 74 (2015) 575 – 586

5. Conclusion

This work exposed a study which aimed to investigate the improvement obtained using fuzzy logic controller of the
doubly feed induction motor drive. The results show the proposed controller which offers regulated responses in
terms of fast tracking, small overshoot, and zero steady-state errors with good obtained control performance related
to robustness and adaptability. Another important advantage of the proposed intelligent controller is its easy
relatively to tune the gain parameters of the controllers effectively and efficiently for high-performance. So, the
intelligent technique can be easily adopted for industrial applications.

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