Robust Backstepping Control of Induction Motor

Drives Using Artificial Neural Networks

*
J. Soltani , R. Yazdanpanah**
Electrical and Computer Engineering, Isfshan University of Technology, Isfahan, Iran
*
j1234sm@cc.iut.ac.ir
**
rezayazdanpanah@gmail.com

Abstract-- In this paper, using the three-phase Induction feedback nonlinear systems. This method has been
Motor(IM) fifth order model in a stationary two axis applied to a single arm robot[5] and to a rotor-flux Field
reference frame whit stator current and rotor flux as state Oriented Control (FOC) IM drive[6].
variables, a conventional backstepping controller is One may note that the FOC methods are in fact a type
designed first for speed and rotor flux control of an IM of partial feedback linearization control technique in
drive. Then in order to make the control system stable and which the zero dynamic stability can not be proved. As a
robust against the parameter uncertainties as well as the result, it is not guaranteed that system model would be
unknown load torque, in the next stage the backstepping robust to parameters variation. In addition in these control
controller is combined with an Artificial Neural Network
methods, the field orientation can be achieved only in the
system steady state conditions.
(ANN). It will be shown that the proposed composite
To overcome the above problems, in this paper, using
controller is capable of compensating the parameters
the fifth order model of IM in a fixed stator reference
variations and rejecting the external load torque
frame, based on control theory described in [4], a
disturbance. The overall system stability is proved by
composite nonlinear controller is designed that makes the
Lyapunov theory. It is also shown that the method of ANN IM drive system control robust and stable against the
training, guarantees the boundedness of errors and ANN parameter uncertainties and external load torque. In this
weighs. The validity and effectiveness of the controller is control approach, a two level SVPWM inverter feeds the
verified by computer simulation. IM drive.
Keywords- backstepping; induction motor; ANN; nonlinear
systems; robust II. IM MODEL
The IM fifth order model in fixed two axis reference
I. INTRODUCTION frame with rotor fluxes and stator currents as state
variables [7] is given as
In the recent two decades, nonlinear control methods
such as input-output feedback linearization and Sliding- dω 3n p M T
Mode (SM) control have been applied to the IM drive. = (ψ ra isb −ψ rb isa ) − l (1)
dt 2 JLr J
Specially in these years, in the field of adaptive and
robust control, there has been a tremendous amount of dψ ra R Rr
= − r ψ ra − n p ωψ rb + Misa (2)
activity on a special control scheme known as dt Lr Lr
“backstepping” [1],[2],[3]. A major problem of dψ rb R R
backstepping control approach is that certain function = − r ψ rb + n p ωψ ra + r Misb (3)
dt Lr Lr
must be “linear in the unknown system parameters” and
some very tedious analysis is needed to determine a disa MRr np M
“regression matrix” [3]. It must be noted that in adaptive = ψ ra + ωψ rb
dt σ Ls Lr 2 σ Ls Lr
backstepping control, problem of finding regression (4)
matrix is more difficult in comparison with conventional  M 2 R + L 2 R  1
r r s
backstepping method. −  isa + u
 σ Ls Lr
2
 σ Ls sa
To overcome the above problem, in [4], a combination
of the backstepping control with ANN has been proposed.
disb MRr np M
According to this method, in the process of backstepping = ψ rb − ωψ ra
controller design, two ANN are used to estimate a dt σ Ls Lr 2 σ Ls Lr
nonlinear function. Therefore no need to find the (5)
 M 2 R + L 2 R  1
regression matrix for on-line estimation of unknown − r r s
 isb + u
parameters.  σ Ls Lr
2
 σ Ls sb
In [4], using the ANN, the theory of robust
backstepping control has been presented for strictly

1-4244-0449-5/06/$20.00 ©2006 IEEE IPEMC 2006

 where isa , isb ,ψ ra ,ψ rb , usa , usb are the stator currents, Then
rotor fluxes and stator voltages, respectively. Subscripts  −T L L
i 
a, b indicate a vector components in the fixed stator  l r − J r ωr 
i  M M 
reference frame. Subscripts r , s indicate rotor and stator D1 e = F1 + G1i , F1 =  i 
components. ω is rotor angular mechanical speed and  − 2 (ψ 2 ) − 2 Lr ψ r ψ r 
 M r Rr M
r r
 
σ = 1 − M 2 /( Ls Lr ) . (9)
 Lr 
Ls , Lr are per-phase stator and rotor spatial  −3n p 3n p   J 0 
ψ rb ψ ra  M
inductances, respectively. M is per phase magnetizing G1 =  2 2 ,D =  
  1  Lr 
inductance. n p is number of pole pairs. Rs , Rr are stator  2ψ ra 2ψ rb   0
 Rr M 
and rotor resistances, respectively.

It is clear that G1 is known and invertible. By treating

III. ROBUST BACKSTEPPING CONTROL
i as a fictitious input, a controller for the ideal i is
A. ANN Basics
Define W as the collection of ANN weighs, then the
designed as
∧
net output is [4] i = G1−1[− F 1 − K1e] , K1 > 0 (10)
y = W T φ ( x) (6) ∧
n where K1 a design parameter and F1 the estimate of
Let S be a compact simply connected set of , with
n m F1 which will be estimated in the next section with a two
map f : S → , define C ( s ) the functional space
layer ANN. Substituting (10) into (9) gives
such that f is continuous. A general nonlinear function i ∧ −
m D1 e = F1 − F1 − K1e + G1η , η = i − i (11)
f ( x) ∈ C (S ) , x(t ) ∈ S can be approximated by a
In the second step, the control u (usa , usb ) are obtained
neural network as
(7) in such a way that η in equation (11), becomes as small
f ( x) = W T φ ( x ) + ε ( x)
as possible. Differentiating η with respect to time, yields
with ε ( x ) a ANN functional reconstruction error
i
vector and φ ( x ) is sigmoid activation function. D2 η = F2 + G2 u (12)
where
B. Robust Backstepping Control of IM Using ANN usa  1 0 1 0 
Using the well known fifth order IM model in a stator u =   , G2 =   , D2 = σ Ls  
two axis reference frame where the rotor fluxes and stator usb  0 1 0 1 
currents are assumed as state variables [7], the robust i −1 ∧
i
∧ (13)
−1
nonlinear controller is designed in the following way. F2 = ... + D2{G1 ( F1 + K1e) + G F1 1
Dividing the above IM model into two nonlinear sub- ∧
systems, where isa , isb are the outputs for the first sub- + G1−1K1 D1−1 ( F1 − F1 − K1e + G1η )}
system which are simultaneously assumed the fictitious To make η as small as possible, the following control
inputs of the second sub-system.
is chosen
Assume that:
∧
Assumption 1: The reference trajectories ω r and ψ rr u = G2−1[− F2 − K 2η − G1T e] (14)
are differentiable and bounded. ∧
Assumption 2: The load torque is an unknown constant In (14), F2 is an estimate of F2 that like the first
and resistances, inductances and moment of inertia are step, a two layer ANN is used to estimate it. In addition a
unknown and bounded. term −G1T e is added in (14) which is necessary to cancel
In the first step of the controller design, isa , isb are
the effect of G1η in (11).
assumed as fictitious controls for the second sub-system.
Combining (12) and (14), gives
The main objective is to obtain these controls so that the
i ∧
desired rotor speed and rotor flux amplitude signals are D2 η = F2 − F2 − K 2η − G1T e (15)
perfectly tracked in spite of machine parameters and
external load torque uncertainties. Considering ω r and C. F1 , F2 Approximation Using ANN
ψ rr as references for ω and ψ r , tracking error equations In this section, functions F1 , F2 are approximated by
are two two-layer ANN. In adaptive backstepping control, it
e1 = ω − ω r is assumed that functions F1 , F2 are linear in term of
(8) known regression matrices, however in ANN method,
e2 = ψ ra 2 + ψ rb2 −ψ rr 2 = ψ r 2 −ψ rr 2
there is no limitation for these functions. Using ANNs
approximation property, F1 , F2 as outputs of two two- η (t ), e(t ) are UUB. ANN updated weights are bounded.
layer ANN with constant weights Wi , is assumed to be The errors η (t ), e(t ) can be kept as small as desired by
as follows increasing gains Ki . Proof of this theory can be find in
F1 = W1T φ1 + ε1 , ε1 < ε1N = cte [4].
(16) Note 1: Small tracking error bounds may be achieved
F2 = W2T φ2 + ε 2 , ε 2 < ε 2 N = cte by selecting large control gain K . The parameter kω
where φ1 , φ2 provide suitable basis functions. From offers a design tradeoff between the relative eventual
(16), one can find that net reconstruction error ε i ( x) is magnitudes of ζ and Z , a smaller kω yields a
F
bounded by a known constant ε iN .
Assumption 3: The ideal weighs are bounded by smaller ζ and a larger Z , and vice versa.
F
known positive values so that ∧
W1 ≤ W1M , W2 ≤ W2 M (17) Note 2 : If W i (0) are taken as zeroes the linear
F F
proportional control term − K ζ stabilizes the system on
Or equivalently:
Z F ≤ Z M , Z = diag {W1 , W2 } (18) an interim basis.

i i
The actual inputs to ANN1 are ψ r , ωr ,ψ rr ,ψ rr and IV. SYSTEM SIMULATION
i Based on proposed control strategy described in
actual inputs to ANN2 are ω , ω r , ω r ,ψ r ,ψ rr ,ψ ra ,ψ rb previous section, the block diagram of IM drive control is
i shown in Fig. 1.
,ψ rr , isa , isb , e1 , e2 . A C ++ computer program was developed for system
On line ANN approximation of F1 is simulation. In this program, the nonlinear equations are
solved based on static forth order Range-Kutta method.
∧ ∧
(19) The proposed control method, is tested for a three-phase
F1 = W1T φ1 IM with parameters shown in Table (1). In this
Then error dynamic equation of (11) becomes simulation, the controller gains are obtained by trial and
i T error method which are given as
D1 e = W1 φ1 − K1e + G1η + ε1 (20)
∧
K1 = diag{1525,1550} , K2 = diag{5000,1550}
where W1 = W1 − W1 . Similarly, approximation of F2
is assumes as kω = 1 , Γi = 10I
∧ ∧
F2 = W2T φ2 (21) Table 1 : IM PARAMETERS
Then error dynamic (15) will be Rs = 0.18Ω
Stator resistance
i T
D2 η = W2 φ2 − K 2η − G1T e + ε 2 (22) Rotor resistance Rr = 0.15Ω
Note that there is a term G1η in (20) and a term Rotor nominal flux linkage ψ rr = 1.3Wb.turns
−G1T e in (22). This means there are couplings between Number of pole pairs np = 1
the error dynamics (20) and (22). Ls = 0.0699H
Stator inductance
Rotor inductance Lr = 0.0699H
D. Updating ANNs Weights
In this part, the stability of proposed controller, is Mutual inductance M = 0.068H
proved based on Lyapunov stability theory. This analysis Nominal rotor speed ω r = 220rad / s
shows that tracking errors and updated weighs are
Uniformly Ultimately Bounded (UUB). Moment of inertia J = .0586kgm2

Theory : Let the desired trajectories ω r ,ψ rr be

Simulation results shown in Fig. 2 , are obtained in the
bounded. Take the control input (14) with weigh updates
case of an exponential reference flux rising up from zero
be provided by
i
to 1.3W .T at t = 0s , down to 0.8W .T at t = 3s with a
∧ ∧ time constant of τ = 0.05s , an exponential reference
W 1 = Γ1φ1eT − kω Γ1 ζ W 1 speed from zero to 220rad / s at t = 0.3s , rising up to
(23)
i
∧ ∧ 350rad / s at t = 3s with a time constant of τ = 0.1s , a
W 2 = Γ 2φ2 eT − kω Γ 2 ζ W 2 step load torque disturbance from zero to 40 N .m. at
t = 2s and motor electromechanical parameters assumed
with any constant matrices Γ1 = Γ1T > 0, Γ2 = ΓT2 > 0 to be twice their nominal values at t = 1s . In addition, the
and scalar positive constant kω . Then the errors
steady state tracking errors e2 , e1 are also shown in this 1.3W .t at t = 0s , down to 0.8W .t at t = 2 s and rising up
figure. to 1.3W .t at t = 3.5s , a step up load torque from zero to
Fig. 3 shows the simulation results obtained for an 40 N .m at t = 1s is shown in Fig. 4. In addition the IM
exponential reference flux rising up from zero to 1.3W .t speed control is obtained for an exponential reference
at t = 0s and an exponential reference speed rising up flux rising up from zero to 1.3W .t at t = 0s and an
from zero to 220rad / s at t = 0.3s , a load torque exponential reference speed from zero to 220rad / s at
profile which is also shown in Fig.3 and motor t = 0.3s , down to −220rad / s at t = 2 s , rising up to
electromechanical parameters assumed to be twice their 220rad / s at t = 3.5s , a step load torque from zero to
nominal values at t = 0s . 40 N .m. at t = 1s is shown in Fig. 5. In flux and speed
The IM rotor flux control is obtained for an exponential control performance, motor electromechanical parameters
reference speed rising up from zero to 220rad / s at assumed to be twice their nominal values at t = 0s .
t = 0.3s and an exponential flux reference from zero to

i i F1

η − K1
F2
−K 2 system
ω ,ψ
r r
r
e1 , e2 u states
−G1T

Fig. 1 : The overall block diagram of IM drive control

350 1.3 1
ω ( rad / s )

ψ r (W .t )

220 0.5
0.8
e1 ( rad / s)

0
0

-100 0 -0.5
0 1 2
sec. 3 4 5 0 1 2
sec. 3 4 5

100 100 -1
50 50 -1.5
isb ( A)

0 1 2 3 4 5
isa ( A)

0 0 sec.
-50 -50
0.01
e2 ((W .t )2 )

-100 -100
0 1 2
sec. 3 4 5 0 1 2
sec. 3 4 5

600 500 0
400
usa (V )

200
usb (V )

0 0 -0.01
-200
-400
-600
1.9 1.95 2 2.05 2.1
-500
1.9 1.95 2 2.05 2.1
-0.02
sec. sec. 0 1 2 3
sec.
4 5

Fig. 2 : IM performance using robust backstepping controller

 ω ( rad / s )

Tl ( N .m)
ψ r (W .t )
∧
sec. sec. sec.
Fig. 3 : IM torque control
ω (rad / s )

Tl ( N .m)
ψ r (W .t )
∧

sec. sec. sec.

Fig. 4 : IM flux control

Tl ( N .m)
ω (rad / s)

ψ r (W .t )
∧

sec. sec. sec.

Fig. 5 : IM speed control

Systems,” IEEE Trans. Automat. Contr., vol. 36, pp. 1241–1253,

CONCLUSIONS
In this paper, a composite nonlinear controller has been
proposed for the IM rotor flux and speed tracking control.
The nonlinear controller is designed based on the IM fifth
order model in a fixed two axis reference frame,
combining the backstepping control and ANN. The
overall stability of this controller is proved by Lyapunov
theory. Computer simulation results obtained, confirm the
effectiveness and validity of the proposed controller.
These results also confirm that the drive system control is
robust and stable against the parameters uncertainties and
unknown load torque disturbance.
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[4] C. M. Kwan, F. L. Lewis, “Robust Backstepping Control of
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Design of Adaptive Controllers for Feedback Linearizable