International Journal of Pure and Applied Mathematics

Volume 119 No. 17 2018, 1677-1685

ISSN: 1314-3395 (on-line version)
url: http://www.acadpubl.eu/hub/
Special Issue
http://www.acadpubl.eu/hub/

Design of Closed Loop Controller for PWM AC Chopper fed Capacitor

Run Induction Motor Drive Using Bacterial Foraging Optimization
N.Muralia,* and Dr.V.Balajib
a
Research Scholar, Electrical Electronics Engineering Department, SCSVMV University, Kanchipuram, India.
b
Professor, Department of Electrical and Electrical Engineering, Saveetha School of Engineering,Saveetha
Institute of Medical and Technical Science

Abstract. Capacitor run induction motor supplied from PWM AC chopper has unique features in domestic and industrial
applications. It is a non-linear device and the linearized incremental model unveils different functional points at different
load conditions leads to parameter variations. The design of PID controller by particle swarm optimization does not give
acceptable performance for deviation in speed changes under wide variation in load. The proposed bacteria foraging optimi-
zation technique is envisaged for optimal closed loop control of capacitor run induction motor. This paper improves the
transient response parameters under closed loop control. It is found that maximum overshoot and settling time is improved
with the proposed algorithm. The experimental results are obtained using field programmable gate array with different load
values. The simulations and hardware results are obtained for 1 HP capacitor run induction motor.

Keywords: Capacitor run induction motor, AC chopper, intelligent controller design, field programmable gate array, settling
time.

1. Introduction fewer losses. This study was focused with

Capacitor run induction motor is widely used in
domestic and industrial applications. It has inherent
characteristics of good starting torque and improved
power factor while in operation. The problem of
centrifugal switch is avoided and the corresponding
losses are overwhelmed. The operation of capacitor
run induction is explained exemplarily with effect of
AC voltage controllers by Fuchs .E.F et al [1] and
Lipo.T.A [2]. The speed of capacitor run induction
motor is devised by using triac control.
The triac connected in main winding results better
compared to auxiliary winding by Sundareswaran. K
[3]. The topology of AC voltage controller is
improved to enhance the effective operation of
capacitor run induction motor. With the advent of
pulse width modulation technique it epitomizes in
the research area power electronics and drives. The
phase control shows superior compared to single
pulse width modulation technique. This leads to
advent of multiple pulse width modulation method
for performance enhancement of capacitor run
induction motor by Sundareswaran.K et al [4]. The
capacitor run induction motor is fed with inverter
driven with variable capacitor. The simulation anal-
ysis of variation in capacitor exhibits maximum
torque operation by Vishal verma et al [5].
The application of single phase induction motor is
pumping system using solar energy by kameshwara
rao P et al [6] translates the effectiveness of motor
in real time applications. The performance parame-
ter for capacitor run induction motor is delivering
maximum efficiency for effective operation with
*
Corresponding author. E-mail: muralibeee@gmail.com
optimization algorithm for triac controlled single
phase induction motor by Mademlis.C et al [7].
The variable speed of single phase induction mo-
tor drive is studied for improving the efficiency
comparison of simulation and experimental hard-
ware by Bijan Zahedi [8]. The variable speed of
induction motor is exhibited using vector control
method. The loss minimization algorithm is framed
for optimum flux level for obtaining the efficiency
of induction motor by closed loop control mecha-
nisms by Nasir Uddin.M et al [9].
The capacitor run induction motor power quality
improvement is exhibited by reduction in harmonics
by optimizing inverter switching angles. In this
study the analysis and comparisons are delivered
using simulation by Mahdi Salman Alshamasin [11].
The performance enhancement of single phase in-
duction motor is ensured by optimizing the efficien-
cy for different load conditions. In this study the
efficiency is improved using particle swarm optimi-
zation compared evolutionary algorithm and work
was emulated using simulation analysis by
Subramanian.S et al [12].
The speed control of induction motor is utilized
by non-conventional energy sources by using dc to
dc converter and inverter control using voltage hertz
principle. From this method the efficiency is
improved and energy savings is quantitatively
improved but closed loop controller is not
investigated for the speed control by Saravana Ilan-
go.G and Rajasekar.N [13].
The optimal design of capacitor impulses the
importance for single phase induction motor. The

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International Journal of Pure and Applied Mathematics Special Issue

starting toque signifies the importance in proper Tem  f (V ,  )

design of capacitor. The design of capacitor for
(1)
effective operation at all load conditions is studied
Where Tem is the electromagnetic torque, V is the
using finite element method by Wang.X.D et al
motor phase voltage and ω is motor speed in radians
[14].
per second.
The speed control of induction motor is achieved
The voltage is varied for different duty cycles by
inverter and control mechanism is achieved by fuzzy
pulse width modulation AC chopper. Hence the
logic along with PID controller. The main objective
electromagnetic torque equation can be written as
of the paper is to reduce steady state error and
hardware is realized using microcontroller by Tem  f ( D,  )
Uidin.M.N etal [15]. The efficiency of induction (2)
motor is reduced due to the presence of permanent where D is the duty cycle of the PWM AC chopper.
capacitor and it is enhanced by utilizing the inverter Assuming small perturbations on each variable from
fed motor by Asghari.S and Fallah.E [16]. equation 2. The induction motor drive is a fifth or-
The closed loop speed control of fan filter unit der transfer function and it is reduced to linear first
inherently improves its performance when compared order model by Taylor series. The linear first order
to open loop control. The hardware is realized using equation is given in equation 3. Henceforth the
digital signal processor for controlling the speed of momentary process is pronounced by the equation
single phase induction motor by Yiwang Wang [17]. given below [22].
The closed loop control of induction motor is
realized using simplified model instead of fifth order Tem  K D * D  KW *  (3)
d-q axis model of induction motor. The working of
where
controller is exhibited with operating points
illustrated by Sundareswaran.K [18]. Tem
This paper is structured as follows: Section 2 KD  at ω = constant
presents the materials and methods employed in this
D
(4)
work. Section 3 describes the optimal controller
design. Section 4 discusses the results obtained from Tem
experiment and Section 5 concludes this paper. KW  at Duty ratio = constant

2. Materials and methods (5)
From the basics of machines theory the
This section introduces the modeling of capacitor load torque equation can be illustrated by the com-
run induction motor and determining of the con- bination of moment of inertia, viscous friction and
stants KD and KW from the torque speed characteris- the motor torque. The equation is given below
tics of induction motor. where J is the moment of inertia, B is the viscous
friction and TL is the load torque.
2.1. Modeling of capacitor run induction motor

The electromagnetic torque developed by variable

voltage controller for induction motor written as in
[21]
functional point and is shown in figure 1. The
d
J  B  Tem  TL (6) different values of KD and KW are listed in table 1
dt for different functional points. From the table of
different values of KD and KW it is observed that the
The operation of capacitor run induction motor by
particular functional point is valid for its certain
PWM AC chopper is taken into consideration with
operation. For different conditions the particular
steady state value. The speed torque characteristics
functional point is not suitable and requires different
are emulated for different duty ratio of chopper. The
functional point. The value of KD varies at larger
base angular speed of 150 radians per second and
value while the values of KW variations are of lesser
duty ration of 0.8 is selected as base functional
value. The closed-loop controller of small signal
points of the motor. From these values the constants
model of capacitor run induction motor is shown in
KD and KW are calculated for different set of func-
figure 2. The particular functional point and the
tional points of motor. The disturbance load torque
corresponding constants KD and KW are implement-
is selected as 1 Nm at 0.5 seconds. The steady
ed using PID controller.
state speed torque characteristic is drawn for one

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International Journal of Pure and Applied Mathematics
Figure 1.Determination of KD and KW by steady state
characteristics of PWM chopper fed induction motor drive
Figure 2. PID controller of capacitor induction motor
Figure 3. Speed response with functional point
Table 1 Different functional point
S.No Duty ω KD
Special Issue
ratio
1 0.70 144.8 10.75 -0.206
2 0.74 146.4 11.5 -0.191
3 0.78 148.6 19.25 -0.239
The reference speed  * in the block diagram is
presumed to be zero as shown in figure 2. From the
block diagram, transfer function is derived along
with the disturbance load torque of 1 Nm is shown
in equation 7.
 S
 2
TL S ( K D * K d  J )  S ( B  K D * K p  KW )  K D * K i
(7)
where Kp is proportional gain , Ki is integral gain,
and Kd is the derivative gain. The induction motor
drive response is done simulation for a unit step in-
put at t=0. The load torque disturbance of 1 Nm is
applied at t =0.5 seconds. The simulation of drive is
done for a particular functional point and the
corresponding values of KD and KW are taken into
account. The speed responses for a particular
functional point of the capacitor run induction mo-
tor. is shown in figure 3. It is inferred that transient
response is gratified for a particular function point
and the corresponding values KD and KW. For other
functional points it does not assure satisfactorily
performance.
3. Controller design using optimization technique
3.1. Particle swarm optimization
Particle swarm optimization has been proposed
by Ebherhart and Kennedy in 1995. The basic algo-
rithm is resemblance of bird flock movement by
kennedy et.al [20]. The searching behavior of food
and finding the best source location is the nature’s
creativity. The birds will transmit the information to
other birds and reach the optimum location of food
source. The bird is moving from one place to another
is the solution swarm and converges to optimist solu-
tion. The best solution is achieved by the co-
operation of individual swarm. The main objective of
particle swarm optimization is to find minimum
of a function .After every iteration the fitness of ob-
jective function is determined for convergence. The
algorithm steps are given as follows
Step 1: Initialize the parameters with positions and
velocities in random of search space. Initialize Pbest
and Gbest.
Step 2: The velocity and particle are updated using
the below equation for every iteration
Viqt 1  W * Viqt  C1 * rand1 * ( Pbest
t
 X iqt )
 C2 * rand 2 * (Gbest
t
 X iqt )
Kw (8)
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International Journal of Pure and Applied Mathematics Special Issue

Where Viq and Xiq are velocities and particles of q 3.2. Bacteria foraging optimization
dimension in seach space, C1 and C2 are accelerating
constants, W is the inertia factor, Pbest is best Bacteria foraging optimization proposed first by
individual in search space, Gbest is the best swarm Passino and the basic idea for evolution of nature
group in the search space, rand1 and rand2 are ran- inspired algorithm is based of E.coli bacterium by
dom numbers ranging from [0,1]. passino [21]. The E.coli is available in human
Step 3: The particle position is updated by using the intestines and growth depends on the nutrients
below equation availability. The bacterium dies at ominous
t 1 t 1 environment. The bacterium has the property of
 X iq  Viq
t
X iq swim or tumbling depending on the environment
(9) conditions. Presence of good environment with
t 1 available nutrients leads to the bacterium swim
Where X iq is new position in clockwise direction. The length of bacteria in-
creases under nominal condition and it split into two
t asexually. Under ominous environment the bacteria
X iq is previous position tumbles and rotate in anti-clockwise direction. The
t 1 movement of each bacterium depends upon the
Viq is the velocity coordinate of the search space. Initially the coordi-
nate of bacterium is chosen randomly, when the nu-
The particle position is entitled to check the trients available in the bacterium forage to a new
violations for quicker convergence of the solution. position and the objective function is minimized.
For an inequality constraints the particle position are This ultimate effect causes the set of bacteria to lo-
equated to maximum value when it exceeds and cate the best position and optimum solution is
minimum value when value is below minimum. achieved.
t 1 t 1 In this paper the performance of capacitor run
X iq  X iq if X iq  Viq  X iq
min t min
(10) induction motor drive is enumerated by the design of
controller gains utilizing optimization techniques.
t 1 t 1
X iq  X iq if X iq  Viq  X iq
max t max The objective function is chosen depending on the
(11 performance parameters of the response. The
) performance parameters are the settling time and
min max peak overshoot specified by ts and Mp respectively.
X iq , X iq is the minimum and maximum The objective function is written as
position of the particle in the search space.
Step 4: The particle position is updated and com-
pared with the best positions of local and global F ( )  (1  Mp) * (1  ts ) (14)
values.
For Pbest and Gbest values Subject to φmin ≤ φ ≤ φmax
where φ is the set that contains controller gains of
t 1 t 1
X iq if G( X iq )  G( Pbest iq )
t Kp, Ki and Kd.
(12 The bacterial foraging optimization technique is
) described below. The motile bacteria such as E.coli
drive themselves by using flagella. The flagella ro-
t 1 t 1
X iq if G( X iq )  G(Gbest iq )
t tate either in clockwise direction or anti clockwise
(13) direction depending on the environment. There are
four different process for the bacteria foraging
Where G(X) is the objective function entitled to optimization they are chemotaxis, reproduction,
be minimized. When the current position has elimination and dispersal. In the chemotaxis process
best values compared to Pbest and Gbest then the in random direction a unit walk represents a tumble
present location is set to corresponding values for operation and with same direction of last step is run
optimum solution in the search space.
operation. The chemotaxis process is to provide
Step 5: The optimization algorithm process com-
proper local search for minimizing the objective
pletes when the solution is converged with good
function. In reproduction process the healthy and
fitness value. The objective function is minimized
for different iterations and the Pbest and Gbest val- non-healthy bacteria are arranged in particular order.
ues are the solutions from the search space. The healthy bacteria split asexually in to two and
maintain the search space constant. The unhealthy
bacteria cannot survive and it will die. In
reproduction process convergence rate is faster to
avoid local minima. In a particular case when the

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International Journal of Pure and Applied Mathematics
objective function is not converged the reason is due
to some bacteria has struck in local minima. This set
of bacteria is eliminated in the present environment.
In the dispersion process the probability of bacteria
are killed and new set of bacteria are added in the
search space till the solution is converged.
The term Q(i,j,k,l) term represents the total core
of the algorithm where i embodies the number of
bacteria, j embodies the chemotactic loop, k
embodies the reproduction loop and finally l
embodies the elimination and dispersal event. The
parameters which are required for searching the
optimum gains are proportional, integral and
derivative gains.
The bacteria foraging algorithm is presented below
Step 1 : Elimination and dispersal loop l = l + 1
Step 2: Reproduction loop l = l+1
Step 3: Chemotaxis loop j = j+1
For i=1,2…number of bacteria, a chemotaxis step
for ith bacterium. Calculate fitness function
F(i,j,k,l).Save this value in Flast= F(i,j,k,l) so that we
can find better fitness cost. In tumble operation it
generate a direction vector Δ(i) which denotes unit
values in random direction from negative to
positive [-1,1] and L(i) specifies the step length. The
movement of bacterium is achieved by the following
equation 8.
(i)
Q(i, j  1, k , l )  Q(i, j, k , l )  L(i)
 (i) (i)
T
Now calculate the fitness function F(i,j,k,l). for
swim operation initialize swim length and if swim
length is less than the limits of swim length. When
bacterium swimming better then let swim length =
swim length +1, if F(i,j,k,l) < Flast then Flast= F(i,j,k,l),
so that movement of bacteria in same direction given
by equation 8. Else, let swim length = limits of
swim length, go to the next bacterium and compute
the fitness function.
Step 4: if j < number of chemotactic step , then go to
step 3 as chemotaxis step is not complete
Step 5: in reproduction with the present values of k,
l for each value of i=1,2…number of bacteria,
calculate global fitness function. In this higher cost
function bacteria will die and lower cost function
will grow and it split in to two asexually. This keeps
the search space constant.
Step 6: if k< number of reproductive steps, go to
step 2 and restart the chemotaxis process
Step 7: elimination and dispersal process, by
eliminating the bacterium and disperse the remain-
ing bacteria in a random location. When l < number
of elimination and dispersal go to step 2 or when the
objective function converges it comes an end. The
optimum controller gains are obtained by this
method.
Special Issue
4. Experimental results and discussion
The bacteria foraging optimization algorithm was
instigated by using MATLAB software. The param-
eters taken are enumerated below.
Dimension of search space: 6
Number of bacteria: 20
Number of chemotactic steps: 10
Limits of length of swim: 4
Number of reproductive steps: 4
Number of elimination and dispersal steps:2
Probability of elimination: 0.75
The optimal Parameters of particle swarm
optimization techniques are given below.
Population size = 50
Number of iterations = 100
c1, c2 = 2
w is varied from 1.4 to 0.4.
Maximum velocity Vmax is limited to 10% of the
dynamic range of the variables on each dimension.
The simulation result using matlab Simulink and
hardware by field programmable gate array are
compared for the main aim is to minimize the
objective function and the result is converged at
optimal time. The optimum values of different
controller gains are obtained by the simulation. The
inference is that initially bacterium is at random
locations and all the bacteria converge to a specified
(15)
location to get global optimum solution. The
optimum values of controller gains by bacteria
foraging optimization algorithm are Kp = 1.05, Ki =
90 and Kd = 0.00013 respectively. The response of
motor is illustrated by step input at two different
time intervals. The time intervals are applied at t=0
and t=0.5 seconds. At time t=0 seconds for a step
input of per unit speed of 1 is applied and at t=0.5
seconds for a step input of 1 N-m is applied as the
disturbance torque. The optimum values of control-
ler gains by particle swarm optimization algorithm
are Kp = 1.76, Ki = 21 and Kd = 0.0001 respective-
ly. The waveform obtained for particle swarm
optimization by using simulation and experimental
results are shown in figure. The waveform of bacte-
ria foraging optimization controller by using simula-
tion and experimental results are shown in figure.
It is inferred that particle swarm optimization has
peak overshoot of 1.02 % while bacteria foraging
optimization has 1.05 %. After transient state
conventional controller takes 0.1 seconds to reach
steady state and proposed controller reach in
0.04seconds. When load of 0.5 N is applied, the
conventional controller drops to 25% to regain to
original position compared to proposed controller
drops to 22 %. When load is applied the speed
response regains and settles at 0.35 seconds by
conventional controller compared to 0.05 seconds by
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International Journal of Pure and Applied Mathematics Special Issue

proposed controller. The proposed bacteria foraging

optimization presents a better compared to
conventional particle swarm optimization controller
under dynamic load conditions.
Change in Speed respinse in per unit
Change in Speed respinse in per unit

1.0

0.8
0 2 4 6 8 10
Time (Seconds)

Figure 6. BFO Speed response by simulation

Figure 4. PSO speed response by simulation

Figure 5. PSO speed response by hardware

Figure 7. BFO Speed response by hardware

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International Journal of Pure and Applied Mathematics
Figure 8. FPGA program using Xilinx software
Figure 9. Experimental setup of FPGA controlled capacitor
run
induction motor
The field programmable gate array is embedded
software which is useful in many power electronics
fed electric drive applications for faster control and
optimum performance. Xilinx is a software pack-
age in which the control program is executed. The
program is written using the platform of very high
speed integrated circuit hardware description
language simply called as VHDL. The major merits
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Special Issue
of FPGA controllers are high speed processing and
program can be reprogrammed and embedded in the
chip. The experimental set up is configured using
FPGA control of closed loop capacitor run induction
motor implementing optimal PID controller. The
program is shown in figure 8. The speed response of
capacitor run induction motor is done by simulation
using matlab Simulink and hardware using field
programmable gate array. The waveforms show that
the simulation and hardware result are compatible to
each other. The experimental setup is shown in fig-
ure 9 in which the capacitor run induction motor is
coupled with mechanical load.
5. Conclusion
The modeling of capacitor run induction
motor is derived from the fifth order d-q axis
transfer function. The order of the induction is
fifth order and a simplified second order function
is obtained by using functional points. The
performance parameters are settling and peak
overshoot are taken into considerations for
superlative dynamic performance. The optimal
speed response is obtained using particle swarm
optimization and bacteria foraging optimization
algorithm. PID controller design of bacteria
foraging optimization is enhanced compared to
particle swarm optimization technique for the
speed response of different functional point. The
capacitor run induction motor drive is
experimentally demonstrated using field
programmable gate array and compared with the
matlab simulation. The further improvement can
be obtained by model predictive control of
online tuning of controller gains.
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