International Journal of Power Electronics and Drive System (IJPEDS)

Vol. 14, No. 1, March 2023, pp. 89∼99

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v14.i1.pp89-99 ❒ 89

Memoryless radial basis function neural network based

proportional integral controller for PMSM drives
Md. Alamgir Hossain, Md. Shahjahan
Department of Electrical and Electronic Engineering, Khulna University of Engineering and Technology, Khulna, Bangladesh

Article Info ABSTRACT

Article history: This research paper presents the memoryless radial basis function neural net-
work (RBFNN) dependent proportional integral (PI) controller for permanent
Received Jul 25, 2022
magnet synchronous motor (PMSM) drives. The proposed RBFNN is mem-
Revised Nov 1, 2022 oryless adaptation scheme since the algorithm neither use the past samples nor
Accepted Nov 13, 2022 retain the previous adaptation direction and hence the observations are used only
once. Firstly, mathematical model for PMSM drive is explained and then struc-
Keywords: ture of RBFNN controller is formulated. RBFNN consists of single input, a
hidden layer with five neurons, a single output layer that are used to track the
Neural network speed of the machine. The Jacobian matrix obtained from RBFNN is used to
PMSM drive adjust the gain of the speed and applied to PI controller. The performance of the
RBFNN PI based vector controller with and without RBFNN are compared through the
Speed controller simulation by using MATLAB/Simulink environment. The simulations show
Vector control that the proposed RBFNN outperform the existing PI based control method and
enhances the speed tracking of PMSM drives.

This is an open access article under the CC BY-SA license.

Corresponding Author:
Md. Alamgir Hossain
Department of Electrical and Electronic Engineering, Khulna University of Engineering and Technology
Khulna-9203, Bangladesh
Email: [email protected]

1. INTRODUCTION
Permanent magnet synchronous motors (PMSM) drives became one of the vital components for large-
scale industrial automation, wind power generation, and autonomous vehicles. due to its compact size, high
power to weight ratio, large torque to inertia ratio, maintenance-free feature as well as the advancement of
power electronics based control strategy [1]-[3]. Besides, compared to the induction machine PMSM has the
high efficiency due to absence of rotor loss [4]. However, PMSM itself is non-linear multi-variable system and
the performance of this machine suffers due to variations of parameter and hence the control system is affected.
So, design a high-efficient, fast responsive, and robust controller against the motor parameter fluctuations is
the key research area of the researchers around the globe. A typical PMSM machine has a three phase stator
and rotor having surface mounted magnets (surface-PMSM) or magnet inside the rotor body (interior PMSM),
and an interior-PMSM is shown in Figure 1. But, the unpredictable machine parameter, for example non-linear
dynamic and outer load interference of PMSM degrade the performance of this drive and PMSM became the
key research area of the academician and researchers. The conventional proportional integral (PI), proportional
integral derivative (PID), and adaptive PID controller for electric motor control have numerous applications
in industrial process due to its simplicity and easy to implement [5]-[8] and still popular in actual PMSM
system. But, this controller is only applicable for linear system model from where the system parameters may
be obtained easily. Though, the conventional PID control method attracted the controller market for PMSM

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90 ❒ ISSN: 2088-8694

for the simplicity, but this strategy is not suitable to encounter the external torque variation and structural
perturbations during the operation. Various methods have been listed in the literature so far to mitigate these
limitations of the drives to swap PID controller.
Hence, depending upon the characteristics model of PMSM, various new control methods has been
addressed in the research literature. A non-linear and the sliding mode of control [9]-[14] have been investi-
gated to address the position and controlling the speed of PMSM. Due to robustness to external load variations
and fast response to dynamic system, the sliding mode control (SMC) has been gaining the scope in speed
control of PMSM drives. But, this method still is affected by the parameter variation as well as chattering
issues. In the literature, researchers have proposed different model predictive control (MPC) [15]-[19] based
on various model parameter estimation algorithms. The MPC control method is entirely dependent on the
known/estimated parameter from the model, and this unknown parameters are estimated with the help of suit-
able algorithm that results calculation complexity and uncertainty. In [15], overmodulation is used and the
major limitations of the overmodulation are harmonic current insertion to the system and smooth transfer of
control region from linear to overmodulation region. The adaptive H∞ controller has been exploited for the
control of PMSM in [20]. In addition to nonlinear control and methods stated above different artificial intel-
ligent speed control methods are also available. For example, the artificial intelligence based expert system,
fuzzy logic controller as well as neural networks [21], [22] have been also applied in drive systems. To regulate
the gain of a controller, Brock et al. [23] used fuzzy logic system based sliding mode control of speed and
position for PMSM drives. Nonetheless, there are some controller parameters consisting uncertainty and can
be adjusted empirically that will consume more time and may not be optimal for constant error with different
speed conditions.
Radial basis function neural network (RBFNN) is one of various neural network methods that has
been studied thoroughly and applied to control many drive systems in recent year [24]-[26]. RBFNN evinces
its innate characteristics of simple architecture, fast learning rate, and have better approximation abilities. But,
a few attention is exerted to control the speed of PMSM by using this robust neural network algorithm [27], [28]
and hence an in depth research is required to exploit the feature of RBFNN. From this inspiration, a memoryless
RBFNN speed control method for PMSM is developed in this paper.

Quadrature Magnetic Axis

bs Magnetic Axis
a's
cs bs Direct Magnetic Axis
N

S as Magnetic Axis
b's
Air gap
c's Permanent
as Magnet Rotor
cs Magnetic Axis

Figure 1. Field orientation of PMSM

This research paper is structured in section-wise order: dynamic mathematical system model of
PMSM and conventional vector control strategy are discussed in second section. In section 3, the structure
of RBFNN is throughly explained by exploiting the functional block diagram. Section four is based on simu-
lation results and discussion, and the conclusion is addressed in the last section.

2. DYNAMIC SYSTEM MODEL OF PMSM

PMSM is one kind of synchronous machine without the need of DC supply for its excitation. Instead,
permanent magnet in rotor supplies required excitation or field flux that concentrates to only one axis. The
machine model used in this research is a three phase motor, hence it has three phase windings inside the stator
only and the permanent magnets mounted in the rotor. As stated, regular synchronous motor needs both AC
and DC supplies for its operation, but PMSM requires only AC and it is one of the greatest advantages for the

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Int J Pow Elec & Dri Syst ISSN: 2088-8694 ❒ 91

preference of PMSM.The dynamic model obtained in stator frame is inappropriate as the stator inductances are
the function of rotor position. So, the PMSM dynamic model can be derived by using only one set of two stator
windings with the help of dq axes principle. Hence, for proper analysis, stator windings of constant inductances
are the primary concern, and this can be obtained by using generalized winding transformation theory. In this
case, a fictitious set of dq witdings are introduced in the rotor that rotates at the electrical speed of the rotor.
Clearly, th inductance of these dq windings will be constant as these rotate with the same speed of the rotor.
Based on observation and using the graphical projection, these two-phase model will be used to derive three-
phase machine model with the help of transformation, and this is possible to extend the model to an n-phase
machine. The three-phase machine parameters, i.e voltage, currents, and flux linkage will be derived with the
help of two-phase quantities.
The differential equations of PMSM are nonlinear. Normally the drive system might have the variables
of DC quantities to use the hidden feature of linear control methodology for stability analysis and controller
design, but actual quantities are sinusoidal though. Therefore, the system is linearized by perturbing the equa-
tions of the machine with a steady-state point and the resulting equations are small-signal system of equations.
These type of small-signal system can be obtained with the help of reference axes rotating the synchronous
speed. As the reference speed is similar to the sinusoidal supply angular speed, the difference in speed among
them will be zero. So, sinusoid will be act as a DC signal with respect to reference frame. Now, it will be
easy to deduce a small-signal equations excluding the nonlinear equations around the operating point that is
described by only DC value. The three-phase stator currents are given by:

ias = is sin(ωr t + δ) (1)

2π
ibs = is sin(ωr t + δ − ) (2)
3
2π
ics = is sin(ωr t + δ + ) (3)
3
where, δ is the torque angle, and the rotor as well as its field travel at the speed of ωr electrical radian/second.
The stator currents in q-axis and d-axis into rotor reference are received by using the propoer transformation
method. Assume that the turns number, N1 and current magnitude are equal of every 3-phases. Then for the
shake of equal mmf, for two-phase system the number of turns per phase will be 3N1 /2. The mmfs of q- and
d-axes are obtained by calculating that of three phases along with the qd-axes where q-axis lags a-axis by θr .
The stator currents in fictitious qd-axes are calculated by (4), where the transformation matrix given
by (5).
   
iqs ias
 ids  = [T ]  ibs  (4)
i0 ics

2π 2π
 
cosωr t cos(ωr t − 3 ) cos(ωr t + 3 )
2 2π 2π
T = sinωr t sin(ωr t − 3 ) sin(ωr t + 3 )
 (5)
3 1 1 1
2 2 2

It is noted that the zero sequence current, i0 , does not have any contribution to the resultant magnetic field.
Three-phase current from two-phase stator currents are obtained with the help of inverse transformation
matrix as:
   
ias iqs
 ibs  = [T ]−1  ids  (6)
ics i0

where:
 
cosωr t sinωr t 1
[T ]−1 =  cos(ωr t − 2π 2π
3 ) sin(ωr t − 3 ) 1
 (7)
2π 2π
cos(ωr t + 3 ) sin(ωr t + 3 ) 1

Memoryless radial basis function neural network based ... (Md. Alamgir Hossain)
92 ❒ ISSN: 2088-8694

Similarly, q- and d-axes voltages in stator frame may be calculated by (8).

 
  vas
vqs
= [T ]  vbs  (8)
vds
vcs

The relation between stationary current of q- and d-axes and rotor reference frame current rotating at an elec-
trical speed ωr is given by (9).
 r    
iqs cosθr −sinθr iqs
= (9)
irds sinθr cosθr ids

Similarly, the relation between stationary q- and d-axis voltage and reference voltage in rotor that is rotating at
an electrical speed ωr is given by (10).
 r    
vqs cosθr −sinθr vqs
r = (10)
vds sinθr cosθr vds

The PMSM equivalent circuit can be obtained by using stator equations and is depicted in Figure 2.

(a) (b)

Figure 2. PMSM equivalent circuit without core loss (a) q-axis circuit and (b) d-axis circuit

The voltages developed in rotor reference neglecting the core losses can be derived as in [7] and
given by:

r
dirqs
vqs = Rs irqs + Lq + ωr Ld irds + ωr λaf (11)
dt
r dir
vds = Rs irds + Ld ds − ωr Lq irqs (12)
dt
where, ωr λaf is back emf; vqr s and vdr s are the stator voltages, and irq s and ird s are the stator currents in q-
and d-axes, respectively, in rotor reference frame; Rs is the stator winding resistance; Lq and Ld are the q and,
d-sxis inductance of the stator winding with respect to rotor position; and λa f is flux resulted from linking of
rotor magnets and stator.
Inserting the values of stator current from (1) to (3) in (4), with respect to rotor reference, the stator
currents can be obtained as (13).
 r     
iqs sinδ iT
= is = (13)
irds cosδ if

From (13) it is obvious that stator current has two components, if and iT , along d-and q-axis, respectively.
Among them, only if has the contribution for producing field flux, because rest of the flux is supplied by the
rotor magnets and can be considered as the equivalent source of current. Another component of these currents,
iT , that develops torque resulting from the linkage with rotor flux may also be called as torque producing
component of currents. The angular speed of the rotor w.r.t. stator reference can be obtained as (14).

θ̇ = ωr (14)

The rotor position as well as speed define the mechanical dynamics of a machine that are deduced
by the electromagnetic torque. This torque is calculated from the matrix of the machine considering other

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Int J Pow Elec & Dri Syst ISSN: 2088-8694 ❒ 93

important parameters, such as mechanical power,copper loss, magnetic energy storage. Besides, it is fact that
there is no resulting power component for reference and in steady state condition the change in stored magnetic
energy will be equal to zero. Therefore, the power output only be the difference among the input power and
copper losses in steady state condition. The equation for input voltage of the PMSM is given by (15).

di
V = Ri + L + Gωr i (15)
dt
The equation for instantaneous input power can be expressed as:

Pi = it V = it Ri + it Lpi + it Gωr i (16)

di
where, it Ri and it L dt depict the copper loss and stored magnetic energy, respectively. The remaining compo-
nent of power is developed in the air-gap and denoted by the term it Gωr i that is associated with speed of the
rotor and known as air-gap power. Therefore, this air-gap power can also be calculated from the input power,
the product of q-and d-axis stator current and voltage. For a symmetrical 3-ϕ system there is no zero sequence
current, and hence power responsible for this current will be zero, hence input power can then be expressed
by (17).
3 r r r r

Pi = vqs iqs + vds ids (17)
2
Three-phase power is derived from two-phase (qd) PMSM. So, for power equivalence, the factor 3/2
is multiplied. Using the value of d-and q-axis voltage and current, the input power will be:
3
Pi = [Rs [(irqs )2 + (irds )2 ] + {Lq irqs pirqs + Ld irds pirds }
2
+ωr {λaf + (Ld − Lq )irds }irqs ] (18)

the third term of (18) is the desired power from air-gap and this is also equal the product of speed of rotor in
radian/second and Te is electromagnetic torque . The equation for electromagnetic torque is then calculated as:
3
ωm Te = Pa = ωr [λaf + (Ld − Lq )irds ] irqs
2
3P
⇒ Te = [λaf + (Ld − Lq )irds ]irqs (19)
22
where, ωm = 2ωr /P is mechanical speed in rad/s, and P indicates the pole numbers. Using the values of
q-and d-axis currents from (13), by using the is and δ, the Te can be obtained as:

3P 1
Te = [λaf is sinδ + (Ld − Lq )i2s sin2δ] (20)
4 2
The first part of (20) is obviously the synchronous torque that is developed due to the linkage of
permanent magnetic field to the stator current. The remaining part clearly depicts the torque produced from the
variation of the reluctance and hence also known as reluctance torque. The important fact from this equation
is control variables are magnitude of is and δ while rotor flux linkage and machine inductance are being
constant. Meanwhile, including load fluctuations and parameter uncertainty the electromechanical dynamic
motion equation for PMSM is:

dωm
Te = J + Tl + Bωm (21)
dt
where, ωm , J, and B are the mechanical speed of the rotor, combined inertia of load and machine, and friction
coefficient respectively.

3. STRUCTURE OF CONTROLLER
The combined control structure discussed in this paper is shown in Figure 3. To obtain a speed-control
system of PMSM drives, a outer feedback is used to the core torque-control system, also known as vector

Memoryless radial basis function neural network based ... (Md. Alamgir Hossain)
94 ❒ ISSN: 2088-8694

controller, in addition with RBFNN and PI controller. The measured speed ωr is used as the input to RBFNN
to nullify the error between measured and reference speeds . The error speed, resulted from the difference of
reference and RBFNN estimated speed, is passed through the conventional PI controller that produce reference
electromagnetic torque Te∗ , for the vector controller and the change in torque inside the machine is used to
minimize the speed error. If the error in speed is increased or decreased, the torque increases and decreases,
respectively.

PI Controller Vector Controller


T *
X
Te* Current i
ias*
+ Sator Inverter
r_ref -
0
* and torque cureents ibs* with
r* m
PMSM
angle synthesizer current
Kf
calculator δ* θs ics*
0
+
control
+
RBFNN ibs ics
r
Position
r
Signal Transducer
Conditioner

Figure 3. Overall control diagram

3.1. RBFNN controller

A 1 : 5 : 1 structured RBFNN, shown in Figure 4 is used for controlling the speed of PMSM and
hence the overall control diagram is depicted in Figure 3. The output of the RBF controller is:
m
X
ωr∗ (k) = hj (k)ψj (k) + b(k) (22)
j=1

where m is the hidden layer neural nets, ψj is the weight value of net j, hj is the Gaussian function output.
In RBF, the measured speed, ωr is used as input, and h = [h1 ........, hj ], and hj is derived from a set of basis
function given by:
 ||ω − c ||2 
r j
hj = exp − (23)
2ζ 2
where j = 1, ....., m. bj > 0, cj = [cj1 , ...., cjn , ....., cjm ] and ζ is the variance that modulate the region of
similarity and the weight vector, Ψ = [ψ1 , ψ2 ......., ψj ]T . The the tracking error is given by:
ωerror (k) = ωr−ref (k) − ωr∗ (k) (24)

h1

1
h2
2

r
3 r

*
h3 +
+

4
h4
5
bias, b -
+ r_ref
Update
h5
and b error

Figure 4. RBFNN controller

The cost function used here is given by (25).

1
E(k) = ωerror (k)2 (25)
2
The learning algorithm based on steepest descent method is written as:
δE(k) δω ∗ (k)
∆ψj (k) = −γ = γωerror (k) r hj (26)
δψ δu(k)
ψj (k) = ψj (k − 1) + ∆ψj (k) + ϵ∆ψj (k) (27)

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Int J Pow Elec & Dri Syst ISSN: 2088-8694 ❒ 95

where, γ is learning rate, ϵ is momentum factor, γ ∈ [0, 1], and ϵ ∈ [0ζ, 1]. For the same reason, we can get:

δE(k) δωr∗ (k) δu(k) δωr∗ ||ωr − cij ||2

∆ζj (k) = −γ = γωerror (k) = γωerror (k) ψj hj (28)
δζj δu(k) δζj δu(k) ζj3
ζj (k) = ζj (k − 1) + γ∆ζj (k) + ϵ(ζj (k − 1) − ζj (k − 2) (29)

δy(k)
where, δu(k) is Jacobian, that gives the sensitivity of the system. Jacobian value can be derived from the the
δy(k)
sign of δu(k) .

δE(k) δω ∗ (k) δu(k) δω ∗ (k) ωri − cij

∆cij (k) = −γ = γωerror (k) r = γec(k) r ψj hj (30)
δcij δu(k) δcij δu(k) ζj2
cij (k) = cij (k − 1) + γ∆cij (k) + ϵ(cij (k − 1) − cij (k − 2) (31)

4. RESULTS AND DISCUSSION

To validate the proposed algorithm, several computer simulations were performed in Matlab, and
for simplicity following assumptions are taken into consideration: (i) magnetic circuit saturation is neglected,
(ii) eddy current as well as hysteresis current losses are not regarded, and (iii) sinusoidal magnetic filed is
considered. Moreover, the inertia constant and friction coefficients, J and B, respectively are considered as
uncertain. The uncertain may include discrepant in production, complex working environment, change in
temperature and mechanical wear as well. The vector control of PMSM is analogous to that for induction
motors. This method splits the torque and flux channels exploiting its stator excitation inputs. In this section,
the proposed control method applied to PMSM is simulated by using MATLAB environment to verify the
performance. In the simulations, the important machine parameters used are listed in Table 1.

Table 1. Parameters for simulations

Machine parameters Value
Resistance of stator winding 1.4
Number of poles 6
Inertia constant, J 0.0012
Friction constant, B 0.01
d-axis inductance 0.0056
q-axis inductance 0.009
Rotor flux in Wb 0.1546

To present a clear picture for the algorithm and steps of simulations, it is necessary to mention all
the variables and/or parameters. Besides, the parameters above mentioned in Table 1, the other parameters are
as follows: DC link voltage, vdc = 285 V, reference speed, ωref = 400 rad/sec, PWM switching frequency,
fs = 20 kHz, base torque, Tb = 5.5631 N-m, base current, Ib = 12 A, base speed, ωb = 628.6 rad/sec, base
voltage, Vb = 97.138 V, d-axis current, ifref = −1e−16 A, load torque, Tl = 0.25 ∗ Tb N-m. The potential
performance for the offered speed control method is illustrated by the computer simulations obtained from both
constant and variable speeds. The steps for simulation using Matlab code is presented in Algorithm 1. Firstly,
the constant speed of 400 rad/sec is considered as the target speed of the machine shown in Figure 5, and then
a variable step of speed shown in Figure 6 is used to observe the accuracy of the control system. The proposed
control method is RBFNN based PI controller. For the performance comparison, PI based vector control
algorithm is applied first and then RBFNN is superimposed. The speed and torque performances of the PMSM
are observed with and without the application of RBFNN. In this case the RBFNN is a memoryless adaptation
scheme since the algorithm neither use the past sample nor retain the previous adaptation direction. Hence
the observations are used only once, extra memory is not required for storing trained samples. To perform the
simulation using RBFNN, the used values of the parameters were the mean value, c=ωref ∗ [−3, −2, −1, 1, 2],
the variance, ζ=2, the learning rate of 0.001, random bias, b, and five random variable values for initial weight
vector, ψ.

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96 ❒ ISSN: 2088-8694

Algorithm 1 Simulation steps and procedure for speed control of PMSM using RBFNN
1: System Initialize with dt = 1e−6 , tf = 0.1, m = 1, z = 1, Kpi = 10, Kp = 2, Ki = 1
2: while (t < tf ) do
3: Define variable speed if necessary
4: Speed error ωerr = ωref − ωr
5: Speed PI controller y = y + ωerr ∗ dt
6: Torque limiter, T eref = Kp ∗ ωerr + Ki ∗ y
7: if T eref > 2 ∗ Tb , T eref = 2 ∗ Tb then
8: else
9: if T eref < −2 ∗ Tb , T eref = −2 ∗ Tb then
10: Calculate it ref using (19) and is ref using (13)
11: if it ref ≥ 0, δref = π/2 then
12: else
13: if it ref < 0, δref = −π/2 then
14: Calculate phase current using (1-3)
15: Generate PWM signal
16: if uax = Kp i ∗ (iasref − ias) > 0, uax = 1 then ▷ Repeat for b and c phases
17: else
18: if uax < −1, uax = −1 then
19: if ts > 1/fs then
20: uax1 = uax, ubx1 = ubx, ucx1 = ucx, ts = 0
21: if uax1 ≥ ramps, vao = vdc/2 then ▷ Repeat for b and c phases
22: else
23: if uax1 < ramps, vao = −vdc/2 then
24: Compute voltages vab = vao − vbo and vas = (vab − vca)/3 ▷ Repeat for b and c phases
25: Compute vqs and vds using (8)
26: Calculate dirqs and dirds using Eq.(11-12)
q
27: Update iqs and ids , then obtain is = i2qs + i2ds
28: Calculate torque angle using (13) and torque using (19)
29: Obtain differential speed dω from (21)
30: Update speed ωr = ωr + dω ▷ Reference speed to RBFNN
31: for i ← 0 : length(c)
 do 
||ωr −ci ||2
32: hi = exp − 2ζ 2

33: RBFNN output speed ωr∗ = ψ ∗ h′ + b

34: Speed error werr = wref − ωr∗
35: Update ψ using (27) and c using (31)
36: Calculate dθr using (14) and update θr
37: Calculate Phase current using (6)
38: Define ramps = sign*(2/(1/(2*fc )))*dt+ramps
39: if ramps > 1, sign = −1 then
40: else
41: if ramps < −1, sign = 1 then
42: t = t + dt, ts = ts + dt
43: if z > 16 then
44: count t
45: ωrm (m) = ωr /ωb
46: m = m + 1, z = 1
47: z =z+1
return ωrm

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Int J Pow Elec & Dri Syst ISSN: 2088-8694 ❒ 97

The Figure 5(a) depicts the speed tracing process of the system using PI based vector control method
with and without RBFNN. The dashed line (–) represents the target speed, the dash-dotted line(-.-) depicts the
simulated speed without RBFNN and the solid line(-) indicates the tracing speed by using the proposed RBFNN
based PI controller. The motor is in rest at the beginning due to motor inertia and PI based vector control
method traces the target speed linearly where the settle time is around 0.0189 second whereas if RBFNN is
applied, there is a transient in tracing the reference speed. The time required to cope up with the target speed
is around 0.006 second. Though, it is apparent that the without RBFNN, the method traces the target speed
but there is an obvious difference between target and estimated speed that is figured out in the zoom section in
Figure 5(a). On the other hand, in the zoom view it is observed that the proposed algorithm perfectly estimated
the reference speed. The effect of this speed tracking is observed in the torque performance of the machine
shown in Figure 5(b). Without RBFNN, the machine maintains its predefined threshold torque until the rotor
reaches the reference speed and even after that there still a considerable amount constant torque is available due
to the difference between target and estimated speed. This problem is solved by using RBFNN and the residual
torque is minimized.
At the same time, the reference phase current shows a fluctuation during the speed mismatch at the
beginning and for simplicity the curves for phase current obtained from the offered method is illustrated in
Figure 5(c). The phase currents resume normal values after the motor running at the steady state speed for the
application of proposed method. The the d-q axes currents are presented in Figure 5(d) during the proposed
method of speed control, the contribution of d-axis current is zero as shown in Figure 5(d) and hence in this
case electromagnetic torque Te become proportional to iq , refer to equation (19), which is similar for DC motor
with independent field excitation. From the dq-axes current it is obvious that at starting q-axis current increases
and then fluctuate around a small positive current due to stator resistance.

12
PI
400
10 Proposed
400.5
300 8
Speed

Torque

400 6
200
0.02 0.025 4
100 2
Target
Estimated-Vector 0
0
Estimated-Proposed
-2
0 0.01 0.02 0.03 0.04 0.05 0 0.01 0.02 0.03 0.04 0.05
Time in second Time in second
(a) (b)

20 20
phase a d-axis current
Reference Phase Currents

phase b q-axis current-PI

phase c 15 q-axis current-Proposed
10
dq-axes curents

10
0
5

-10
0

-20 -5
0 0.01 0.02 0.03 0.04 0.05 0 0.01 0.02 0.03 0.04 0.05
Time in second Time in second
(c) (d)

Figure 5. Performance measurements (a) speed, (b) torque response, (c) reference phase currents, and (d) d-q
axes currents

To uphold the precision of the suggested method for the multiple ramps in speed, variable speed is
used as a target speed. In this case, three reference speeds are used, from 400 to 500 and then to 300 rad/sec
as shown in Figure 6(a). The curves from simulations depict that the presented control method outcompetes
the existing PI based vector control system and RBFNN based method estimates the speed very fast as well

Memoryless radial basis function neural network based ... (Md. Alamgir Hossain)
98 ❒ ISSN: 2088-8694

as precisely even there is a step change in speed. Likewise, the torque reduces to its normal value when the
rotor speed traces the command speed to equalize the load and friction torque as shown in Figure 6(b). So, in
a nutshell, it can said that the proposed RBFNN based PI vector control system for controlling the speed of
PMSM exhibits remarkable stability of the system as well as persistent in performance for a large speed range.

600 15

10
400
5

Torque
Speed

200 0

-5
0 Target
Estimated-PI -10 PI
Estimated-Proposed Proposed
-200 -15
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time in second Time in second

(a) (b)

Figure 6. Performance measurements for different speed target (a) response to a ramp in speed and (b)
developed torque for different speeds

5. CONCLUSION
The inertia uncertainty and the friction coefficient result deficient system steadiness and substantial
swing in speed of PMSM. By this research, a robust speed controlling algorithm is investigated and imple-
mented in Matlab simulation environment. Firstly, considering the uncertainty parameters and variation of
load, dynamic system equations of PMSM is derived. Then, a memoryless RBFNN-based PI speed controller
for PMSM drives is proposed that is easy to implement but robust against speed fluctuations. For auto ad-
justment of control gain in PI, the control law for RBFNN is proposed by using the gradient decent algorithm
to achieve an adequate system stability, and powerful anti-swing performance within the defined speed span.
Simulation results for different speeds depict that the RBFNN based PI controller successfully track the new
speed very fast whereas, only PI controller slowly follow the target speed and can not perfectly reach the target
speed. Therefore, the suggested control method provide guarantee of the accurate as well as fast tracking of
speed. This presented method may be exploited to different control system having complex load disturbances
and parameter uncertainty.

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BIOGRAPHIES OF AUTHORS

Md. Alamgir Hossain is pursuing Ph.D. from the Department of Electrical and Electronic
Engineering, Khulna University of Engineering & Technology (KUET), Bangladesh from where he
obtained his Bachelor of Science in Electrical and Electronic Engineering Degree in 2007. He ob-
tained Master of Engineering Degree from Osaka Prefecture University, Japan in 2012. His research
interest includes artificial intelligence, machine learning, electrical drives systems, energy internet in
microgrid. Further info is available on his homepage: http://www.kuet.ac.bd/eee/alamgir. He can be
contacted at email: [email protected].

Md. Shahjahan received B.Sc. in Electrical and Electronic Engineering from Bangladesh
Institute of Technology, M.Eng. and D.Eng. from University of Fukui, Japan, degree in 1996, 2003,
and 2006, respectively. Presently he a Professor of Electrical and Electronic Engineering department
of Khulna University of Engineering and Technology, Bangladesh. His research interest are artificial
neural network, machine learning, data mining, biomedical signal processing. He is a member of
IEEE. He has published more than 80 international conference and reputed journal papers. Further
info is available on his homepage: http://www.kuet.ac.bd/eee/jahan. He can be contacted at email:
[email protected].

Memoryless radial basis function neural network based ... (Md. Alamgir Hossain)