Induction Motor Speed Control using

Fuzzy Logic Controller

Abstract—Because of the low maintenance and robustness

induction motors have many applications in the industries. The
speed
control of induction motor is more important to achieve
maximum
torque and efficiency. Various speed control techniques like,
Direct
Torque Control, Sensorless Vector Control and Field Oriented
Control are discussed in this paper. Soft computing technique –
Fuzzy logic is applied in this paper for the speed control of
induction
motor to achieve maximum torque with minimum loss. The
fuzzy
logic controller is implemented using the Field Oriented Control
technique as it provides better control of motor torque with high
dynamic performance. The motor model is designed and
membership functions are chosen according to the parameters of
the
motor model. The simulated design is tested using various tool
boxes
in MATLAB. The result concludes that the efficiency and
reliability
of the proposed speed controller is good.
Keywords—Induction motor, Field Oriented Control, Fuzzy
logic
controller, Maximum torque, Membership function.
I. INTRODUCTION

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C Induction motors are being applied today to a wider
range of applications requiring variable speed. Generally,
variable speed drives for Induction Motor (IM) require both
wide operating range of speed and fast torque response,
regardless of load variations. This leads to more advanced
control methods to meet the real demand. The conventional
control methods have the following difficulties
1. It depends on the accuracy of the mathematical model
of the systems
2. The expected performance is not met due to the load
disturbance, motor saturation and thermal variations
3. Classical linear control shows good performance only
at one operating speed
4. The coefficients must be chosen properly for
acceptable results, whereas choosing the proper
coefficient with varying parameters like set point is
very difficult
To implement conventional control, the model of the
controlled system must be known. The usual method of
computation of mathematical model of a system is difficult.
When there are system parameter variations or environmental
disturbance, the behavior of the system is not satisfactory.
Usually classical control is used in electrical motor drives. The
classical controller designed for high performance increases
the complexity of the design and hence the cost.
V. Chitra is with Department of Electrical Technology,
Menschen für
Menschen, Ethiopia.
R. S. Prabhakar is with Department of Computer Science & IT,
Haramaya
University, Ethiopia.

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Advanced control based on artificial intelligence technique
is called intelligent control. Every system with artificial
intelligence is called self-organizing system. On the 80th
decade the production of electronic circuits and
microprocessors with high computation ability and operating
speed has grown very fast. The high power, high speed and
low cost modern processors like DSP, FPGA and ASIC IC’s
along with power technique switches like IGBT made the
intelligent control to be used widely in electrical drives.
Intelligent control, act better than conventional adaptive
controls. Artificial intelligent techniques divide two groups:
hard computation and soft computation [14]. Expert system
belongs to hard computation which has been the first artificial
intelligent technique. In recent two decades, soft computation
is used widely in electrical drives. They are,
1. Artificial Neural Network (ANN)
2. Fuzzy Logic Set (FLS)
3. Fuzzy-Neural Network (FNN)
4. Genetic Algorithm Based system (GAB)
5. Genetic Algorithm Assisted system (GAA)
Neural networks and fuzzy logic technique are quite
different, and yet with unique capabilities useful in
information processing by specifying mathematical
relationships among numerous variables in a complex system,
performing mappings with degree of imprecision, control of
nonlinear system to a degree not possible with conventional
linear systems.
Fuzzy logic is a technique to embody human-like thinking
into a control system. A fuzzy controller can be designed to
emulate human deductive thinking, that is, the process people
use to infer conclusions from what they know. Fuzzy control

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has been primarily applied to the control of processes through
fuzzy linguistic descriptions. Fuzzy control system consists of
four blocks as shown in Fig. 1.
This paper deals about the sandwich of artificial intelligence
technique particularly fuzzy logic in the speed control of
Induction motor. Various control techniques are discussed in
Section II. The Section III describes the block diagram of 3Φ
IM drive along with fuzzy controller. Section IV describes the
implementation of maximum torque generation under field
oriented control using fuzzy logic controller. Simulation
results are given to demonstrate the advantage of proposed
scheme is described in Section V. Conclusion and reference
studies are mentioned in the last section.

Due to advances in power electronic switches and

microprocessors, variable speed drive system using various
control technique have been widely used in many applications,
namely Field oriented control or vector control, Direct torque
control, Sensorless vector control.
A. Direct Toque Control
The Direct Torque Control (DTC) scheme is very simple.
In its basic configuration it consists of DTC controller, torque
and flux calculator and VSI. In principle, the DTC method
selects one of the inverter’s six voltage vectors and two zero
vectors in order to keep the stator flux and torque within a
hysteresis band around the demand flux and torque
magnitudes. The torque produced by the induction motor can
be expressed as shown below
λ λ sinα
T=P
This shows the torque produced is dependent on the stator flux

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magnitude, rotor flux magnitude and the phase angle between
the stator and rotor flux vectors. The induction motor stator
equation is given by
V=d−
λ
Can be approximated as shown below over a short time period
if the stator resistance is ignored, then
Δλs = Vs .Δt
This means that the applied voltage vector as shown in the
Fig. 2 determines the change in the stator flux vector as shown
in Fig. 3. If a voltage vector is applied that changes the stator
flux to increase the phase angle between the stator flux and
rotor flux vectors, then the torque produced will increase. Two
problems are usually associated with DTC drives which are
based on hysteresis comparators are: Fuzzy steps for generating torque
Step 1: Calculate X, Y, Z, X’, Z’ and α.

i. Variable switching frequency due to hysteresis

comparators used for the torque and flux estimators
ii. Inaccurate stator flux estimations which can degrade
the drive performance
Some schemes have managed to maintain an average constant
switching frequency by utilizing apace vector modulation,
predictive control, and dead beat control. All of these
techniques increase the complexity of the drive systems.

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B. Sensorless Vector Control
The sensorless control method is valid for both high and
low speed range. Using the traditional method, the stator
terminal voltages and currents estimate the rotor angular
speed, slip angular speed and the rotor flux. In this case,
around zero speed, the slip angular velocity estimation
becomes impossible since division by zero takes place.
Another strategy is, as short sampling time is assumed, we
could solve the linearized differential equations, then get an
algebraic equation for the estimation of rotor parameters. The
problem of achieving high dynamic performance in AC motor
drives without the need for a shaft position/speed sensor has
been under study widely.
Fig. 2 Applied Voltage Vector

Fig. 3 Stator Flux Vector

The advantages of speed sensorless operation of the drives
are lower cost, reduced size of the drive machines, elimination
of the sensor cable and increased capability. The zero rotor
speed problem persisting in the sensorless speed control

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scheme was resolved sacrificing the dynamic and steady state
performance.
C. Field Oriented Control
Field oriented control (FOC) technique is intended to
control the motor flux, and thereby be able to decompose the
AC motor current into “flux producing” and “torque
producing” components. These current components can be
treated separately, and then recombined to create the actual
motor phase currents. This gives a solution to the boost
adjustment problem, and also provides much better control of
the motor torque, which allows higher dynamic performance.
Some approaches which yield the maximum torque have
been published. Xu and Novotny [3] insisted that a method
which set the stator flux reference inversely proportional to the
rotor speed should produce more output torque than a
conventional method, which set the rotor flux reference
inversely proportional to the rotor speed. However, in their
Input Output

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Motor test results: Any induction motor can be used to
show the performance of the proposed speed controller. Fig. 8
shows the simulation results of the torque, rotor speed and flux
and energy loss obtained using MATLAB optimization
toolbox. Since the rotor flux is maintained at a high level in
the steady state, it can be seen that total energy loss maintains
the constant level after the reference speed is achieved

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. CONCLUSION
The proposed speed controller gives maximum torque over
the entire speed range. In the steady state, the efficiency of the
induction motor is increased. The validity of the proposed
controller is confirmed through the simulation results. To
implement it in the laboratory various parameters like rotor
flux, rotor current and operating points, rotor parameter tuning
are to be estimated. The proposed speed control system can be
useful for the variable speed drive system.

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