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Embedded DSP-Based Compact Fuzzy System and Its Application for Induction-Motor V /f Speed Control
Marcelo Suetake, Ivan N. da Silva, Member, IEEE, and Alessandro Goedtel
AbstractThis paper presents a compact embedded fuzzy system for three-phase induction-motor scalar speed control. The control strategy consists in keeping constant the voltagefrequency ratio of the induction-motor supply source. A fuzzy-control system is built on a digital signal processor, which uses speed error and speed-error variation to change both the fundamental voltage amplitude and frequency of a sinusoidal pulsewidth modulation inverter. An alternative optimized method for embedded fuzzy-system design is also proposed. The controller performance, in relation to reference and load-torque variations, is evaluated by experimental results. A comparative analysis with conventional proportionalintegral controller is also achieved. Index TermsDigital signal processors (DSPs), fuzzy control, induction motors, real-time systems.

I. I NTRODUCTION HREE-PHASE INDUCTION MOTORS (TIMs) are widely applied in several industrial sectors. The extensive use of this motor is frequently associated with its simple and rugged structure, adaptation to several load situations, and lowcost acquisition and maintenance [1][3]. Several studies have been carried out in the eld of vector control system due to its better dynamic response [4][11]. However, scalar control [12][14] presents a simple structure characterized by low steady-state error. Therefore, the constant voltagefrequency (V /f ) scalar control system is considered in this paper due to its wide application in industrial elds. Proportionalintegral (PI) control methodology is commonly applied in constant V /f control strategy for induction motors [15], [16], [29]. However, in addition to the fact that a mathematical model is desirable for a systematic controller design with conventional methods, the difculty of identifying the precise parameters for a complex nonlinear and time-varying behavior of real plants may render, in some cases, its netuning procedure very time-consuming, even if the empirical methods are used [17]. Furthermore, the combination with

Manuscript received May 30, 2008; revised March 27, 2009 and July 22, 2009; accepted March 9, 2010. Date of publication April 12, 2010; date of current version February 11, 2011. M. Suetake and I. N. da Silva are with the Department of Electrical Engineering, University of So Paulo, USP/EESC/SEL, So Carlos-SP 13566590, Brazil (e-mail: mclsuetake@usp.br; insilva@sc.usp.br). A. Goedtel is with the Federal Technological University of Paran, Cornlio Procpio-PR 86300-000, Brazil (e-mail: agoedtel@utfpr.edu.br). Digital Object Identier 10.1109/TIE.2010.2047822

online system identication and adaptive control techniques may also be taken into account for a good level of efciency when the conventional methods are sensitive to the parameter variations inherent in the real plant operations. Conversely, fuzzy-based control methodology has the ability to cope with system nonlinearity, and its control performance is less affected by system parameter variations. Moreover, fuzzy techniques utilize a linguistic rule base that is designed by taking advantage of system qualitative aspects and expert knowledge [13], [14], [18], [25], [26]. These features dispense the need for a precise mathematical model of the plant, making the system design simpler to implement, even when the empirical methodology is applied for ne-tuning procedure. In relation to fuzzy techniques for induction-motor control, several approaches have been studied recently. However, most published experimental results [13], [14], [18], [19] were obtained from where the fuzzy inference process was executed by personal computer (PC). In [18], in spite of both the conventional PI control system and the pulsewidth modulation (PWM) signal to drive the inverter being embedded in a digital-signal peripheral interface controller, the fuzzy approach to adjusting the controller gain was carried out on a PC platform. Unlike the PC platform, the hardware involved in embedded systems usually presents low computing power and limited memory space, since the aim is to carry out a particular realtime task with low-cost devices. Thus, different techniques have to be applied in order to build with limited hardware the same system implemented in a PC platform. Furthermore, the system still depends on real-time requirements and features of the hardware utilized. Generally, an embedded system may be implemented in microcontroller and digital signal processor (DSP), or in eldprogrammable gate array (FPGA) [20], [27]. An integrated circuit dedicated to a particular application can also be used. In [21], a dedicated chip was developed to achieve the fuzzy inference process by real-time online context switching. In [22], a self-tuning neuro-fuzzy controller was fully developed in DSP. However, its algorithm was implemented with Matlab/Simulink and a real-time toolbox, whereas the DSP code program was generated by using control-desk software. Therefore, no code optimization technique was achieved. Another fully embedded fuzzy system was applied in [23] in order to adjust the PI parameters of a direct torque control of the induction motor. In [24], a hardware solution for an embedded neural network with a proportional-integral-derivative (PID)

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Fig. 1.

Fuzzy-control system block diagram.

controller is also presented. Here, the authors combined DSP with FPGA in order to distribute the control algorithm tasks. This paper, therefore, proposes an alternative method for simplifying a general-purpose embedded fuzzy-logic algorithm so that it can be built in hardware with reduced memory space and low computational power. The proposed method takes into account the advantages related to the symmetrical feature of the fuzzy membership function in order to store its minimum part in a vector table. From a simple and quick indexation calculus, the entire membership function with all linguistic terms can be restored. This procedure signicantly reduces the memory space required for a membership function. The proposed method was applied to embed a fuzzy-control algorithm in a DSP for realtime V /f induction-motor speed control. Moreover, this paper also discusses performance analysis of the proposed fuzzy-control system in relation to load-torque and reference-speed variations. Comparative analysis with a PI and PID controller dynamic performance is also taken into account with the aim of validating the compact fuzzy controller. Performance evaluation was carried out through experimental tests. The fuzzy-control algorithm was implemented into a Texas Instruments TMS320F2812 DSP. The device was responsible for measuring the TIM shaft angular speed with an optical encoder, achieving the fuzzy-control algorithm, and nally generating the sinusoidal-modulated PWM signal in order to turn on six insulated-gate bipolar transistors (IGBTs) of a threephase inverter. This paper is organized as follows. In Section II, the aspects of the fuzzy-control system structure and the principal elements of the test bench are presented. In Section III, the proposed simplied embedded fuzzy system is described. In Section IV, the experimental results of the fuzzy speed-control performance as well as a comparative analysis with conventional PI are discussed. Finally, in Section V, the main conclusions are outlined. II. F UZZY V /f S PEED -C ONTROL S YSTEM S TRUCTURE The speed control of the induction motor was carried out by maintaining constant the voltagefrequency ratio in order to avoid the air-gap ux variations. If the supply voltage is varied without frequency adjustment, the induction motor can operate in the ux saturation region or with a weakened eld. The block diagram of the proposed fuzzy-control system is shown in Fig. 1.

Fig. 2. Test-bench structure.

The pulses generated by an optical encoder were provided to a Texas Instruments TMS320F2812 DSP, which computes the angular speed from frequency measurement. The speed signal of the induction motor was compared with the speed reference (Ref ), providing the inputs of the fuzzy controller with the speed error (er (k)) and speed error variation (der (k)). This last signal was acquired by computing the difference in speederror value between two sample intervals. In order to reduce memory requirements, both linguistic variables were quantied to a common discourse universe so that they could share the same membership functions. The fuzzy-system algorithm processes the inputs according to the linguistic rule database and provides the sinusoidal PWM fundamental frequency variation (df (k)) in its output. Afterward, this signal is added to the last frequency value (f (k 1)), resulting in the actual fundamental-frequency reference. The generation logic of PWM signals, which turns on the six IGBTs, was also built on the DSP. The TIM was supplied by a PWM inverter with a fundamental frequency and equivalent voltage, such that the V /f ratio was kept constant. The embedded fuzzy system was developed taking into account the memory reduction and code optimization for a xed-point DSP. The test bench is basically composed of a TIM, a direct current (dc) generator, a torque meter, and an optical incremental encoder with 2000 pulses per revolution. Fig. 2 shows the test bench structure. The proposed fuzzy-control system was built into the Texas Instruments DSP (TMS320F2812), whose main features

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Fig. 3. Sinusoidal PWM signal generation.

consist of a high 150-MHz clock frequency, 16 PWM channels, 12 A/D converters, and a quadrature encoder pulse (QEP) used for encoder applications such as speed measuring. A dc generator of 2 kW was used to impose load torque on the induction-motor rotor shaft, which is adjusted by an autotransformer connected to its eld winding source voltage supply. The TIM used in this work was a WEG standard line induction motor with four poles, N-type, 1.0 hp, 60 Hz, 220/380 V, and 4.1-N m nominal torque. A Semikron three-phase inverter was used to drive the induction motor, which was connected in delta conguration. The switching frequency was set to 10 kHz. Although the DSP includes a high Flash memory space of 128 kB, the proposed method seeks to minimize both computational effort and memory requirements in order to achieve lowcost microcontroller applications. The QEP unit counts the pulses generated by the optical encoder and stores them into its internal counter, from which the speed is determined by the following expression: k = xk xk1 t 1 4R 60 (r/min) (1)

of the DSP (CMPR). Therefore, while the T1CNT value is less than one CMPR, the output is activated at a high level. The technique used to generate the PWM signals is achieved during the CPU interruption routine, which is triggered when T1CNT matches the CMPR value. As shown in Fig. 3, the algorithm determines the new CMPR value proportional to the sinusoidal reference amplitude for the next period. The sinusoidal reference signal was stored in the DSP memory space as a lookup table structure. As it is proportional to the induction-motor supply voltage, the V /f ratio is obtained by controlling its amplitude and frequency. III. E MBEDDED F UZZY S YSTEM The embedded fuzzy system proposed in this paper was designed to reduce memory-space requirements and computational effort for real-time applications. However, these variables are frequently inversely related. For a real-time hardware application, which requires minimal computational costs, a possible solution is to store a matrix of inputoutput relation in memory space as a lookup table structure. There would then be no need to carry out any computation involved in a fuzzy inference system, since it could be achieved by means of simple table indexing. However, this method would demand a large memory space that could increase project costs. On the other hand, in an application where a minimal memory requirement is desired, the whole fuzzy inference process can be calculated online, avoiding storing membership functions in memory. Nevertheless, computational cost could still increase and real-time performance could deteriorate. As a result, in many applications, it is recommended that memory requirements and computational effort be traded off, in order to achieve the best structure-satisfying requisites, i.e., project costs and real-time performance for a particular application. In order to design a simplied embedded fuzzy inference system for the V /f induction-motor control, the triangular and symmetrical membership functions shown in Fig. 4 were used.

where k is the angular speed in revolutions per minute (r/min); xk is the counter value at the instant k; t is a predened time interval value; and R is the encoder resolution (2000 pulses per revolution), which is multiplied by four as a result of the QEP unit properties of the DSP. In this paper, the value t was dened as 20 ms. Thus, the control action of the fuzzy system was carried out at 20-ms intervals. The sinusoidal PWM signal, which is responsible for driving the IGBTs of the three-phase inverter, was generated by setting some internal registers of the event manager peripheral DSP. A triangular carrier is dened by a DSP timer, whose counter (T1CNT) is increased according to the internal oscillator frequency. This counter is reset when it matches the T1PR register value, which denes the carrier frequency. In this paper, the PWM switching frequency was set to 10 kHz. The PWM duty cycle is then determined from the value of the compare register

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Fig. 4.

Membership functions of the fuzzy-control system.

Fig. 5.

Normalization of the discourse universe.

All the linguistic variables of the fuzzy-control system (speed error, speed-error variation, and frequency variation) were scaled into a common discourse universe with values between [1, 1]. As a consequence, it was possible to map all the variables simultaneously with a unique set of membership functions. The linguistic terms are described as follows: NL is Negative and Large; NM is Negative and Medium; NS is Negative and Small; ZZ is Zero; PS is Positive and Small; PM is Positive and Medium; and PL is Positive and Large. The discourse universe of the speed-error linguistic variable was designed for the [200, 200] r/min interval. It was therefore normalized to [1, 1] by dividing the speed-error signal before the fuzzication process, as shown in Fig. 5. The speed-error variation linguistic variable was adjusted to a discourse universe of [150, 150] r/min, which was divided by 150 to take the signal into the [1, 1] interval. In a similar way, the frequency variation output linguistic variable with a [1, 1]-Hz interval was multiplied by three to take it to the [3, 3]-Hz interval. Should the input value be higher (in the module) than the discourse universe, it will be saturated to the inferior or superior bounds, i.e., 1 or 1. In order to make the dynamic response faster, the following criterion has been established: If the error between the reference speed and motor speed is greater than the discourse universe, set the reference-speed frequency value (i.e., from revolutions per minute to hertz) to the supply voltage frequency. Therefore, the fuzzy controller will only act when the error is less than its discourse universe, being responsible for a ne adjustment of error. The strategies adopted in this paper seek to take advantage of these characteristics, in order to model a simplied and fast

control system so that it could be fully embedded in a low-cost microprocessor. The interval values of the discourse universe were determined from plant behavior analysis achieved by means of successive experimental test, which enabled the relevant information extraction for the fuzzy system. The speed-error variation linguistic variable gain was rst tuned in accordance with the TIM nominal dynamic response. From experimental results, the TIM started within about 200 ms, achieving around 1800 r/min at nominal voltage (220 V) and frequency (60 Hz). Since the control action is taken every 20 ms, the maximum speed variation is then expected to be 180 r/min for nominal/frequency ratio. This information was used for the initial setup value denition. The speed-error linguistic variable was rst set in accordance with the qualitative aspects of the plant, whose gain value is intuitive to setup. For example, a 200- or 300-r/min gain would provide [50, 50] or [75, 75] r/min for the ZZ linguistic term range, which is a reasonable value to be considered as a low-speed error. Finally, the frequency-variation linguistic variable was also set taking into account its qualitative aspects. When the gain value is set to 1 Hz, the fuzzy-system output will vary the supply voltage fundamental frequency to produce the maximum range of [0.5 Hz (30 r/min), 0.5 Hz (30 r/min)] in the two-pole TIM speed variation every 20 ms. Note that this parameter is related to the controller dynamic response and speed oscillations around the reference set point. The higher the value, the faster the controller response will be; however, more oscillations or possible overshoot will tend to appear in the TIM speed. It is also relevant to mention that all information acquired for fuzzy-controller parameter tuning was based on intuitive and qualitative aspects, instead of precise quantitative values. In this way, the ability of the fuzzy controller to deal with inaccurate information simplies the tuning procedure. By means of successive experimental tests, ne tuning of the initial fuzzycontroller parameters was achieved for better results. As the TMS320F2812 DSP is a xed-point microprocessor, the embedded fuzzy system was designed with 16- and 32-b integer variables. The discourse universe, limited to the [1, 1] interval, therefore, had to be translated to the [0, 4096] interval, represented by integer-type values. The type conversion from oating-point to xed-point format in order to convert the [1, 1] interval into the [0, 4096] discourse universe was achieved by means of the following expression: xinteger = 4096 (xoat + 1)/2 (2)

where xoat is the value dened in a oating-point format and xinteger is the converted value in a xed-point format to be used in the embedded fuzzy inference system. On the other hand, the use of symmetrical and triangular membership functions for all input and output linguistic variables made it possible for only one discrete linear ramp function to be stored in the memory space, composed of a vector of 512 positions with values varying from 0 to 1000. These

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TABLE I FUZZY CONTROL SYSTEM RULE DATABASE

Fig. 6. Determination of parallel membership value to the discrete vector.

Fig. 7.

Determination of antiparallel membership value for the discrete vector.

In Fig. 8, it can be observed that the linguistic terms NL and PL consist of trapezoidal functions. Since the top base is a constant value equal to 1000, the following conditional test was applied: if x1 is less than 512 or more than 3584, then u(x) = 1000. It should be noted that the index calculation described in (3) and (4) consists of simple instructions of addition and subtraction, which can be easily achieved by microprocessors. Fuzzy rules can be implemented based on expert knowledge of the control process, which is treated linguistically in an ifthen structure. As a consequence, it dispenses with the detailed or precise knowledge of the mathematical model that represents the control plant. The rules were based on the studies conducted in [14], whose rst three fuzzy rules are represented as follows: If (speed error is NL) and (speed-error variation is NL) Then (frequency variation is NL)

Fig. 8. Determination of fuzzy set active line.

If (speed error is NM) and (speed-error variation is NL) Then (frequency variation is NL) If (speed error is PM) and (speed-error variation is NL) Then (frequency variation is NS) The knowledge database of all fuzzy rules is described in Table I. The Mamdani operator, shown in Fig. 9, was chosen due to its computational simplicity. In this generic example, two fuzzy rules activated by the linguistic variable speed error (er ) and speed-error variation (der ) are illustrated. For Rule 1, the linguistic terms activated by er and der are NL and NS, respectively. The membership values associated with er and der are represented by R1 (er ) and R1 (der ). The Mamdani implication method achieves the minimum between membership values of each term in order to obtain the active output region associated with Rule 1 (NL), as shown in Fig. 9. As the speed error (der ) activates two linguistic terms, there are, then, two activated rules. Rule 2 consists of linguistic terms NL and NM for er and der , respectively. Likewise, the processes described in the previous paragraph, the active region (NM) for Rule 2, is highlighted in bold in Fig. 9. After determining the active regions of all rules activated by input variables er and der , the aggregation operation was carried out. As a result, a union of all individual contributions of each active rule was achieved, according to Fig. 10.

values have been dened taking into account the best precision/complexity ratio. From this linear function, it is possible to determine any other parallel or antiparallel line belonging to the membership function, as shown in Fig. 6. Consider an arbitrary value x1 spotted in the [d, d + 511] interval. The membership value can be obtained by accessing the vector index, which is calculated by a simple subtraction of x1 from d, as shown in the following expression: ind = x1 d. (3)

Likewise, it is possible to determine the membership value of the antiparallel linear function, as described in Fig. 7. Thus, consider an arbitrary value of x1 situated in the [d, d + 511] interval. The vector index computation, which returns the value equal to the membership value of the displaced antiparallel line, can be achieved through the following: ind = (d + 511) x1 . (4)

From (3) and (4), it is possible to obtain the membership value of any linguistic variable by means of a simple index computation, as shown in Fig. 8.

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Fig. 9.

Mamdani implication method for two activated rules.

Fig. 10. Aggregation and defuzzication operation.

The output value (f ), which represents the fundamental frequency of the induction-motor supply voltage, was obtained by the following:
N

(dfk ) dfk (5) (dfk )

f =

k=1 N k=1

where dfk is the discrete value of df and (dfk ) is the degree of membership associated with each dfk belonging to the activated region. The frequency variation was then converted from xedpoint to oating-point format by means of the following expression: xoat = 2 xinteger 1. 4096 (6)

since all membership functions are calculated by indexation from a single vector stored in memory. The only additional memory space requirement consists of encoding the logic to identify the membership terms activated by the line x1 (Fig. 8). The storage of this code is insignicant in comparison with the remaining fuzzy structure. Nevertheless, more memory space is required for the storage of the table of rules, since it increases according to the number of linguistic terms. On the other hand, this property is inherent to any fuzzy system, unless unnecessary rules are discarded.

IV. E XPERIMENTAL R ESULTS Although the sinusoidal PWM strategy reduces the induction-motor harmonic current, the rms value is decreased signicantly. From the experimental measurements, it was observed that, when the inverter was supplied with a 220-Vrms line voltage, which provided 310 Vdc in the capacitor lter bus, the induction-motor rms voltage was reduced to 190 Vrms in 60 Hz. The V /f ratio was not readjusted for low-speed operations. The induction motor operation was therefore limited to between 20% and 90% of its nominal speed. The performance of the proposed fuzzy-control method was evaluated by the following experiments: 1) reference step variation; 2) reference ramp variation; and nally, 3) load-torque step application to the motor shaft. Comparative analyses with the PI and PID controllers were also carried out.

The technique proposed for simplifying the embedded fuzzy system is useful for applications that do not require an asymmetrical membership function. Moreover, it can be generalized to a symmetrical Gaussian membership function, without any additional computational costs, by storing half of its curve in a vector table. Note that the Gaussian function requires many more instructions to be processed than in the case of linear functions in conventional methods, due to its exponential calculus. Another advantage of the proposed method relies on its capacity to expand the number of linguistic terms of each variable,

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The reference discrete PI and PID controllers were implemented in DSP according to the following expressions: f (k) f (k 1) = q0 er (k) + q1 er (k 1) + q2 er (k 2) TD q0 = Kp 1 + T0 T0 TD q1 = Kp 1 + 2 T0 TI TD q2 = Kp T0 (7) (8) (9) (10)

where Kp is the proportional gain, Ti is the integration time Td is the derivative time, and T0 is the sample time (20 ms). The PI controller parameters were set to Kp = 0.001, Ti = 0.002, and Td = 0, whereas the PID controller parameters were adjusted to Kp = 0.020, Ti = 0.031, and Td = 0.001. Since the motor mechanical dynamics predominates over electrical dynamics, the mechanical equation alone was taken into account for the PI and PID parameter tuning procedures. Therefore, the dynamics of control plant, i.e., the speed response of the motor to the voltage/frequency step input, had been approximated by using the Matlab system identication toolbox, and the PI and PID gains were then tuned using the Root Locus technique. Afterward, ne tuning was achieved empirically by means of successive experimental tests. A. Reference Step Response In this experimental test, the induction motor was started with a reference speed of 900 r/min. After 1.5 s, it was altered to 1600 r/min instantaneously. Reference step-down performance can also be analyzed at 3.0 s. The load torque applied to the induction-motor rotor shaft varies from approximately 2.3 N m when the speed is 900 r/min to 4.0 N m at 1600 r/min. These variations occur by virtue of the torque produced by the dc generator being linear to the rotor shaft speed. The fuzzy-controller response related to the reference stepup and down variation is shown in Fig. 11. The inductionmotor speed value was acquired at each 20-ms interval. The error between the TIM rotor speed and the reference speed is shown in Fig. 12. The horizontal lines refer to the centers of linguistic terms representing the top values related to the triangular trapezoidal membership functions, whose rst and last horizontal line refer to the discourse universe bounds. In Fig. 12, the speed ripples presented magnitudes of less than 10 r/min (peak to peak) in both the reference step-up and the second reference step-down. In Fig. 13, the supply voltage frequency of TIM is shown. It should be noted that there is a sudden increase in the frequency value (about 20 Hz) at the instant of step-up and step-down events. However, the proposed fuzzy controller was able to change at maximum 3 Hz per time interval. Hence, the following criterion has been established in order to make the dynamic response faster: If the error between reference speed and motor speed is greater than the discourse universe, set the reference speed frequency value (i.e., from revolutions per minute to hertz) to the supply-voltage frequency. This

Fig. 11.

Fuzzy-controller response related to reference step variation.

Fig. 12.

Fuzzy-controller speed error.

Fig. 13.

Supply-voltage frequency applied to TIM.

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Fig. 14. Fuzzy-controller response related to reference-ramp variation. Fig. 16. Supply-voltage frequency applied to TIM.

Fig. 15. Fuzzy-controller speed error.

technique takes advantage of the induction-motor properties, in which mechanical speed is close to the supply-voltage frequency divided by the number of pole pairs. In this case, the fuzzy controller will only act when the error is less than its discourse universe, being responsible for a ne adjustment of error. For comparative purposes, even though it is a mere complementary (redundant) procedure, both PI and PID controllers were adjusted taking into account such criterion. B. Reference-Ramp Response In this experiment, the induction motor was started with a ramp reference speed increased from 900 to 1600 r/min in 1.5 s, and then decreased to 900 r/min at 3 s. The load torque applied to the induction-motor shaft varies linearly from 2.3 N m at 900 r/min to 4 N m at 1600 r/min. Fig. 14 shows the fuzzycontroller performance related to the reference-ramp response. The error between the TIM rotor speed and the reference speed is detailed in Fig. 15. Throughout the reference ramp, the

Fig. 17. Load torque applied to the induction motor.

speed error achieved by the fuzzy controller was approximately 20 r/min. In Fig. 16, the supply-voltage frequency of TIM is shown. C. Torque Step Variations The experiment shown in Fig. 17 was achieved by starting the TIM with a reference speed of 1400 r/min. After several seconds, a load torque was applied manually by varying an autotransformer (connected to the input dc generator eldwinding voltage supply) from 0.5 to 4.5 N m. Fig. 17 shows the load torque applied to the induction motor. The fuzzy-controller response in relation to the load torque applied to the rotor shaft is shown in Fig. 18. Note that the motor tended to reduce its velocity when load torque is applied. However, the embedded fuzzy system was able to correct the error by increasing the frequency. The detailed graph of the

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Fig. 18. Fuzzy-controller response in relation to load-torque variation.

Fig. 20.

Supply-voltage frequency applied to TIM.

Fig. 19. Fuzzy-controller speed error.

speed-error performance is shown in Fig. 19. Throughout the experiment, the speed error achieved by the fuzzy controller was less than 10 r/min. Fig. 20 shows the supply voltage frequency of TIM. D. Comparative Analyses With Conventional PI and PID Controllers In this section, comparative analyses with conventional PI and PID controllers are carried out in order to validate the proposed fuzzy controller. Therefore, step reference, ramp reference, and load-torque variation experiments were carried out for the performance analyses. Fig. 21 shows the speed response in each controller. According to the results, the fuzzy controller and PID controller eliminated the overshoot and ripple in relation to the speed response of the PI controller. It should be mentioned that when the PI gains were adjusted to the best performance in the step-up and step-down

Fig. 21. Fuzzy and PI controller response related to the reference step variations.

reference experiments (fast response and low overshoot), their response performance deteriorated in the ramp reference variations (higher reference error). The PI controller gain parameters were therefore adjusted empirically so that they could produce a good performance in both experiments. The load torque applied to the induction-motor rotor shaft varies from approximately 2.3 N m when the speed is 900 r/min to 4.0 N m at 1600 r/min. The fuzzy, PI, and PID controller performances in relation to the reference-ramp variations are shown in Fig. 22. It should be noted that all results reect a similar performance. Therefore, in order to evaluate with precise numbers, the mean relative error and standard deviation with respect to reference speed were calculated, as shown in Table II. For the step reference experiment, PID is better than the proposed controller. However, with the ramp reference, the fuzzy controller shows less error than the PID controller.

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Fig. 22. Fuzzy and PI controller response related to the reference-ramp variations. TABLE II COMPARATIVE TABLE SHOWING CONTROLLER PERFORMANCES

equal for all experiments. Therefore, there is no comparative table with precise numbers, but it was possible to observe that all controllers are able to correct the speed error from loadtorque variations. Finally, concerning practical implementations, the main advantage of the PI and PID controllers is that they are simpler to implement, faster to execute, and they require less memory than fuzzy controller. On the other hand, the fuzzy controller has the advantage of being simpler to be tuned (designed), as its parameters are dened taking into account intuitive aspects and qualitative knowledge from engineering experts, which are expressed by means of linguistic rules which suggest initial gain parameters in order to produce good responses. Hence, the structure prototyping of the fuzzy controller is more readily customizable in intuitive design terms, dispensing with the need for a precise mathematical model of the plant. Additionally, they are cheaper to develop and to adjust (with equivalent performance) than the PID controller, and they also cover a wider range of operating conditions (i.e., they are more robust) [28]. V. C ONCLUSION The experimental results conrmed that the performance of fuzzy-control system is satisfactory, incrementing robustness in relation to load-torque variations while achieving the reference speed. Thus, the proposed fuzzy-control system is an acceptable alternative method for V /f common control applications, where a high dynamic and precise response is not required. The comparative analysis with conventional PI controllers demonstrated that the proposed method achieved better results by suppressing speed overshoot and ripple. Regarding the PID controller, the fuzzy system presented similar behavior. The proposed embedded fuzzy system has a simplied architecture which reduces memory-space requirements. Although it implies an additional computational cost, this does not compromise the practical performance in a V /f control system. The total memory space allocated for the whole embedded fuzzy-control system was estimated to be approximately 6 kB 16. Furthermore, the same methodology can be applied to the symmetrical Gaussian membership function with a similar computational effort, being ideal for applications with smoother fuzzy surface decisions. Moreover, since the proposed method determines membership functions by indexation, it enables larger quantities of linguistic terms to be constructed.

Fig. 23. Fuzzy and PI controller response related to the load-torque step variations.

R EFERENCES
[1] A. Goedtel, I. N. da Silva, and P. J. A. Serni, Load torque identication in induction motor using neural networks technique, Elect. Power Syst. Res., vol. 77, no. 1, pp. 3545, Jan. 2007. [2] B. Lu, T. G. Habetler, and R. G. Harley, A survey of efciency-estimation methods for in-service induction motors, IEEE Trans. Ind. Appl., vol. 42, no. 4, pp. 924933, Jul./Aug. 2006. [3] D. Shi, P. J. Unsworth, and R. X. Gao, Sensorless speed measurement of induction motor using Hilbert transform and interpolated fast Fourier transform, IEEE Trans. Instrum. Meas., vol. 55, no. 1, pp. 290299, Feb. 2006. [4] S. Maiti, C. Chakraborty, Y. Hori, and M. C. Ta, Model reference adaptive controller-based rotor resistance and speed estimation techniques for vector controlled induction motor drive utilizing reactive power, IEEE Trans. Ind. Electron., vol. 55, no. 2, pp. 594601, 2008.

The experiment shown in Fig. 23 was carried out starting the TIM at a reference speed of 1400 r/min. After several seconds, a load torque was manually applied, by varying an autotransformer connected to a dc generator eld winding from 0.5 to 4.5 N m. All the controllers achieved an appropriate speed response. In order to carry out this experiment, the load torque was changed manually by varying the dc motor eld voltage. However, at the instant of torque application, its time periods and nal values are not exactly

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Marcelo Suetake was born in Rinpolis, Brazil, in 1981. He received the B.S. degree in electrical engineering from the So Paulo State University (UNESP), So Paulo, Brazil, in 2005 and the M.Sc. degree in electrical engineering from the University of So Paulo (USP), So Paulo, in 2008, where he is currently working toward the Ph.D. degree in electrical engineering. His research interests are within the elds of intelligent systems, embedded systems, electrical machinery, power electronics, and system identication and control.

Ivan Nunes da Silva (M98) was born in So Jos do Rio Preto, Brazil, in 1967. He received the B.S. degrees in computer science and electrical engineering from the Federal University of Uberlndia, Uberlndia, Brazil, in 1991 and 1992, respectively, and the M.Sc. and Ph.D. degrees in electrical engineering from the State University of Campinas (UNICAMP), So Paulo, Brazil, in 1995 and 1997, respectively. Currently, he is an Associate Professor with the University of So Paulo (USP), So Paulo. His research interests are within the elds of power system automation, fuzzy inference systems, articial neural networks, and electrical machinery. He has published more than 250 papers in congress proceedings, international journals, and book chapters. He is an Associate Editor of the Journal of Control & Automation (Brazil).

Alessandro Goedtel was born in Arroio do Meio, Brazil, in 1972. He received the B.S. degree in electrical engineering from the Federal University of Rio Grande do Sul, Porto Alegre, Brazil, in 1997, the M.Sc. degree in industrial engineering from the So Paulo State University (UNESP), So Paulo, Brazil, in 2003, and the Ph.D. degree in electrical engineering from the University of So Paulo (USP), So Paulo, in 2007. Currently, he is an Assistant Professor with the Federal Technological University of Paran, Cornlio Procpio, Brazil. His research interests are within the elds of electrical machinery, intelligent systems, and power electronics.