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Integral Backstepping Design Based on Vector Control of an Induction

Motor
Yesma Bendaha*a, Benyounes Mazarib

*
Yesma Bendaha. Phone +21373450892
a
university of science and technology Mohamed boudiaf, oran, algeria, bendahay@yahoo.fr
b
university of science and technology Mohamed boudiaf, oran, algeria, mazari_dz@yahoo.fr

Abstract

For a robust control with high performances of the induction motor we appealed, a powerful tool which is the nonlinear
back stepping control. We adapted this command to keep the same overall structure of the vector control, and preserving the
two internal loops of regulation of the currents. Two versions of this command have been proposed; classical and integral
back stepping). The back stepping control is robust against parametric variation especially rotor resistance variations. How-
ever, the algorithm of this technology presents a proportional-derivative structure, causing oscillations on the rotor flux and
the torque, at long run it can affect the process functioning. Proportional-derivative structure seems to be the weak link in
this method; the solution is introducing an action integral to the control algorithm. Simulation results with Matlab / Sim-
ulink-have confirmed the effectiveness of the proposed method.

Key words: Induction motor (IM), vector control, standard backstepping control, integral backstepping action.

antee good performances while ensuring a regulation and a

1. Introduction limitation of the currents.

The backstepping technique is part of the new advances

in the control of nonlinear systems [1], [2], [3], [4], [5]. It
offers a systematic method of synthesis for a class of non-
linear dynamical systems with a triangular shape. This
technique is based on two approaches. The first aims at
linearizing the system to be controlled, in order to benefit
from the techniques devoted to the linear systems. The se-
cond approach is to find a control Lyapunov function guar-
anteeing some performance for the loop system closed.
Such functions can be very difficult to find for high order
nonlinear system. The technique of the backstepping
makes it possible to reduce this complexity advantageous-
ly.
The stability analysis in the context of Backstepping is
based on the Lyapunov methods which constitute a very
powerful tool to test and find sufficient conditions at the
stability of the dynamic systems, without having to solve
explicitly the differential equations describing them.

2. Application of backstepping control to an IM

In this part, we present a new approach to backstepping

control applied to the asynchronous machine. This ap-
proach is so designed to keep the same general structure of
a flux vector control, as shown in figure 1 in order to guar- Fig. 1. Block diagram of the backstepping control of an IM

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2.1. Design of a Standard backstepping isd isq

fc isq prd pisd Lm
rd
Under the assumptions of the linearity of the magnetic
f1 J f2
circuit, and by neglecting the losses iron, the nonlinear , 2
r i pi L isq
model of order five of the asynchronous machine, is ex- sd r sq m
r
pressed in the fixed reference frame (,) in the form of the
system of equations(1).
1
Cr 21 0
1 11 J , 2 0
d fc Cr 12 22
dt J rd isq J J 0
x1
dr L i This implies that the application of backstepping control
dt r m sd is divided into several steps. In each step, an extended
disq isd isq 1
Lyapunov function is combined to ensure the stability of
isq prd pisd Lm u sq the whole system:
dt rd Ls (1)
x2 Step1: Computation of the reference stator currents
2
disd isq 1
isd r pisq Lm u sd
dt r Ls As the speed and the rotor flux are our control variables,
the first step consists in identifying the errors e11 and e12,
Where: which represent respectively, the error between the actual
speed and the reference speed, and the error between the
i d rotor flux and its reference:
x , x 2 sq , x x
r
1
isd dt e *
e y * y 11
(3)
The state variables are respectively the d-axe and the q- 1 e *
axe stator currents ( i sd , i sq ), the rotor fluxes ( rd , rq ) 12 rd rd
and the rotor speed . The stator voltages ( u sd , u sq ) are ( )* denotes control value
considered as control variables. Cr, external torque dis- The dynamics of the error are:
turbance,
fc is viscous friction and iron-loss coefficient, and J; is e y * y y * x
total mass of the moving element 1 1
With the constants defined as: y * f
1
x b x x
1 1 1 2

1
x , t
1 (4)
3 pLm R L2 R L2r Rs Lm * C
, r , m r , e i r
2 JL r Lr Ls L2r Ls Lr rd sq
11 J J
e * L i
12
Where: rd m sd
Rs, Rr are respectively stator and rotor resistance per
phase, Ls, Lr, Lm are respectively stator, rotor and magnet- Our objectives require, the two errors e11 and e12 con-
izing inductance per phase, is leakage coefficient verge to zero, and the current must be regulated and lim-
Model (1) is more suited to the application of the back- ited, we can satisfy these two conditions by choosing isq
stepping control. and isd as virtual drives in equation (3) and use them to
The basic idea of the backstepping technique is to recur- control e1. For this, the following candidate Lyapunov
sively choose some appropriate state functions such as vir- function uses:
tual control inputs for first order subsystems of the overall
1 T
system. This implies that the application of backstepping is V e e 0 (5)
divided into several steps. In each step, an extended Lya-
1 2 1 1
punov function is combined to ensure the stability of the Now, we differentiate Eq. (5), we got;
whole system, equation (2).
V1 e1T e1 e1T y * f1x1 b1x1 x2 1x1, t
x1 f1x1 b1x1 x2 1x1, t

x2 f 2 x1, x2 b2 x1, x2 u 2 x1, x2 , t * C (6)

yx
(2) e rd isq r e rd * L i
rd m sd
1
11
J J 12

Where: To insure the negative definiteness of V1 0 , we sug-

gest the following equality:
1
0
y* f1x1 b1x1x2 1x1, t k1e1 c1signe1
vsd
rd
y x1 , u vsq , b1 J
0
, b2 Ls 1
(7)
0
r 0 Lm Ls

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k 0
Where: k1 11 are positive constants determined by 1 * 1 rd k e * Cr f 1 v
0 k12 e21 k e
rd 11 11 2 11 11 q
J Ls
sq
(14)
rd
the dynamics of the closed loop system, and c1 0 .
e22
1
Lm

k12e12 rd f d
1
Ls
vsd
From equation (7), we deduce:
Then, by substituting e11 , e12 by their expressions giv-
x2 x*2 b 1x1 y * f1x1 k1e1 c1sign e1 1x1, t (8) en in Equation (11) and r by its expression in model (1),
1
we have:
Then the virtual stabilizing functions are selected as fol- 1
lows:
e q v sq
21 Ls
1
(15)
J * Cr
e d v
i* k e 22 L s sd
sq rd J

11 11
x*
2 * 1 (9)
i * With:
sd
L k e
m 12 12 rd
rd

d2
x x
The virtual control x*2 in the equation (9) is chosen as dt 2
reference for the step 2.

Step2: Computation of the reference stator voltages d

Lm
k 12
k 12
e12 Lme 22 rd* 2rd 2 Lmisd f d
The new objectives of regulation are now isq, isd so k 11 R r
once again the regulation errors are defined as follows: q
rd
k e rd e 2
Lm isd rd k e * C r
J

11 11 21 11 11
rd

J C 1 *
k e * r isq fq
* e21 i*sq isq rd 11 11 J rd
e2 x2 x2 (10)
e22 i*sd isd 1 k e * i
L 12 12 rd rd sd
One can notice that Equ.(15) include the system inputs:
m the stator voltage. These could be found out through the
From equation (4), isd and isq are drawn, and replaced in- definition of new Lyapunov function based on the errors of
to the equation (10), we obtain: the speed, of the rotor flux and of stator currents.
We extend the Lyapunov function in Eq. (5) to include
rd the variable e2

e k e e
11 11 11 J 21 (11)

e k e Lm e 1 T 1 (16)
12 12 12 22 V2 e1 e1 e2T e2
2 2
The dynamics of the error e2:
The control law is deduced from the derivative of V2:
e2 x*2 f 2 x1, x2 b2 x1, x2 u 2 x1, x2 , t (12)
V2 e1T e1 eT
2 e2
Applied to motor we obtain: k1e1T e1 e1T c1sign e1 1x1, t (17)
eT *
di* disq di* 2 b1 x1 e2 x 2 f 2 x1, x2 b2 x1, x2 u 2 x1, x2 , t
sq sq 1
e 21 fq v
dt dt dt Ls sq The process terminates when the final external control is
(13)
di* *
sd disd disd f 1 v reached, so the control law is:
e d
22 dt dt dt Ls sd

1 2 2

2 1 2 1 1 11

u b21 x , x x* f x , x b x e k e c sign e
12 12 2 12
(18)
With:
2
i sq
f d i sd rd pi sq Lm Applied to motor we obtain:
rd
i sd i sq
V 2 e 11 k 11 e 11 rd e 21 e 12 k 12 e 12 Lm e 22
f q i sq p rd pi sd Lm
rd
e 21 q
1
v sq e 22 d
1
v sd
L s L s (19)
Differentiating Equation (9) and substituting in Equa- k 11 e 2 k 12 e 2 k 21 e 2 k 22 e 2
11 12 21 22
tion (13), we obtain:
1 1
e 21 rd e 11 k 21 e 21 q v sq e 22 Lm e 12 k 22 e 22 d v sd
Ls Ls

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k 0 d C
Where: k 2 21 are positive constants determined rd i sq r
0 k 22 dt J J
d rd
by the dynamics of the closed loop system, and c 2 0 . rd Lm i sd
dt
di sd
k 0 e21 id
k 2 21 , e2 , dt
(23)
0 k 22 e22 di sq
iq
Then the control laws are: dt
did d i sq2
isd rd pisq Lm wd
v*
sq Ls rd e11 k 21e 21 q dt dt rd
(20) di sq d i sd i sq
sd Ls Lm e12 k 22 e 22 d
v* i sq p rd pi sd Lm wq
dt dt rd
Substituting the expressions of the equation (19) into d s i sq
equation (14) yields: p L m
dt rd
e21 rd e11 k 21e21
(21) The application of the backstepping to this new model
e22 Lm e12 k 22e22 allows the calculation of the intermediate drives wq and
wd, given by:
Equation (11) and equation (15) can be writing as:
e
e (22) wq
d
dt

rd e11 k21e21 q k31e31 e21
(24)
Where the dynamic matrix A is: wd
d
dt

Lme12 k22e22 q k32e32 e22
k11 0 rd 0
Easy integration of equation (24) makes it possible to
0 k12 0 Lm return to V*sq and v*sd, The final control law can be found

rd 0 k21 0 as;

0 Lm 0 k22
v*sq Ls wq dt Ls rd e11 k 21 e 21 q k 31 e 31 dt e 21 dt
2.2. Backstepping with integral action
v*sq 0 Ls k 31 e 31 dt e 31 dt
(25)
From the expression of the control law, equation (20), it
v*sd Ls wd dt Ls Lme12 k 22 e 22 d k 32 e 31 dt e 22 dt
can clearly see that the structure generated by the control-
v*sd 0 Ls k 32 e 32 dt e 22 dt
ler of the conventional version consisting of backstepping
is made up of an action proportional, to which is added an With:
derived action on the errors. Such structure makes the sys-
tem sensitive to measurement noise. e * i
iq
31 q
The absence of integrator also causes the appearance of
a constant static error, caused mainly by the disturbance. rd e k e q
11 21 21
The solution to this problem is to design a new version * i (26)
e id d
of backstepping with an integral action [6], [7]. This 32
amounts to introduce integrators in the model of the asyn- Lme12 k e q
22 22
chronous machine and proceed to application of the con-
ventional method of backstepping on this new model. Where:
The integral action will be transferred automatically
from the model to the control law. That will make it possi-
k 0
ble to the controller to eliminate the external disturbances k3 31 are positive constants determined by the
at the entry and / or exit of the motor. 0 k32
The introduction of integrators in the model will in- dynamics of the closed loop system, and v*sq0, v*sd0 are
crease the model (1) of two states. commands of classical backstepping
By deriving once the equations (3) and (4) in the model
(1), and by introducing new state variables iq and i d , the 3. Simulation results and interpretations
new increased model is obtained:
We present in this section the simulation results of the
proposed control strategy applied to an induction motor.
The motor parameters are summarized in table.1.

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Table 1. Parameters of the induction motor

Rs 4.850 P 1,5kw fc 0

Rr 3.805 IN 6.5A p 2

Ls 0.274H VN 220V f 50 Hz
Lr 0.274H N 149rad/s
Lm 0.258H J 0.031kg/m2

The parameters of the standard backstepping control are

chosen as fellow: k11 = 520, k12 = 400, k21 = 900, k22 = 100
We have made some scenarios of functioning to charac-
terise and improve the performances of the control struc-
ture.
To test the tracking speed of the machine by considering
the nominal conditions without parameters variations. The
reference speed trajectory is chosen as level equal to
100rad / s. The flux reference is set to 1wb. A constant
torque load of 10 Nm is applied between t = 1s and t = 2s.
The machine signals responses are illustrated by fig. (2)
From the results, we can see that the performance is satis-
factory.
Fig. 3. Errors e1 and e2 estimates.
A second scenario co test the sensitivity of control
structure performances consists to change on rotor re-
sistance trajectory without adaptation.
The test of robustness to the variation of the rotor re-
sistance, illustrated in Figure 4, has shown a very satisfac-
tory performance. When a load is applied at t = 1 s, the
flux was not affected by the variation of Rr
We can therefore determine that the backstepping con-
trol is a robust control to the variations in rotor resistance.

Fig. 2. Performances of classical backstepping on IM Fig. 4. Test of robustness against rotor resistance variation

Speed rapidly converges to its reference with good dis-
turbance rejection. We also note that we have a good de-
coupling, since the flux perfectly follows his reference
1Wb. Note however, oscillations on the electromagnetic
torque.
The estimates errors shown in fig.3 tend to zero.
Figure 5 shows a comparison between conventional
backstepping control and backstepping with integral action
for a trapezoidal speed profile control.
We took k31= 1000 and k32 = 900.
The choice of the gains kij was made by the "Try & Er-
rors" method

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 CONFIDENTIAL. Limited circulation. For review only

Thse de doctorat, Universit de Reims Champagne, Ardenne,

1er Avril 2010.
[6] Fateh Mehazzem, Contribution la commande dun moteur
asynchrone destin la traction lectrique, thse de doctorat,
universit Paris-Est, ESIEE, Paris, 2010.
[7] Cheng-Kai Lin and Li-Chen Fu Passivity-Based Adaptive
Backstepping PI Sliding- Mode Position Control for Synchro-
nous Reluctance Motor Drives, Proceedings of 2011 8th
Asian Control Conference (ASCC) Kaohsiung, Taiwan, May
15-18, 2011.

Fig. 5. Comparison between conventional backstepping and

backstepping with an integral action.

We note that the backstepping paces with Integral Ac-

tion have fewer oscillations than the classic version back-
stepping. This improvement manifests itself at the speed of
signal quality (smaller band width), and also at the almost
total rejection of the disturbance. The introduced into the
backstepping basic integral action has reduced the oscilla-
tions.

4. Conclusion

In this paper, an integral backstepping control of induc-

tion motor drives was presented. Global asymptotic stabil-
ity was achieved via the Lyapunov stability analysis.
The proposed method consolidates of advantage the ro-
bustness of standard backstepping control and the ad-
vantage of the integral action in eliminating oscillations.
The obtained results show that the backstepping nonlin-
ear control is robust against parametric variations. The
main contributions of the paper have been validated by
simulation.

References
[1] F-J. Lin, P-H0 Shen, Adaptive backstepping sliding mode
control for linear induction motor drives, IEE, Proc-Electr.
Power Appl., Vol.149, No.3, May, 2002
[2] Shun-Sheng Ke, Jung-Shan Lin, Sensorless speed tracking
control with backstepping design scheme for permanent mag-
net synchronous motors, IEEE, Conference on Control Ap-
plications, Toronto, Canada, August 28-31, 2005.
[3] Faa-Jeng Lin, Chih-Kai Chang, and Po-Kai Huang, FPGA-
Based Adaptive Backstepping Sliding-Mode Control for Line-
ar Induction Motor Drive, IEEE, Transaction on power Elec-
tronics, Vol. 22, No. 4, July 2007.
[4] Guan Lirong, Yang Junyou, Permanent Magnet Linear Syn-
chronous Motor Drive Using Adaptive Backstepping Sliding
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Electrical Engineering, DOI 10.1109/ICCEE.2008.170
[5] Nabil Ezziani, Commande adaptative floue backstepping
dune machine asynchrone avec et sans capteur mcanique,

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