Energy Conversion and Management 50 (2009) 786–791

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Energy Conversion and Management

journal homepage: www.elsevier.com/locate/enconman

Modeling and control of V/f controlled induction motor

using genetic-ANFIS algorithm
Seydi Vakkas Ustun a,1, Metin Demirtas b,*
a
Vocational High School, Adiyaman University, Adiyaman/Turkey
b
Electrical & Electronics Engineering Department, Balikesir University, Balikesir/Turkey

a r t i c l e i n f o a b s t r a c t

Article history: This paper deals with modeling and performance analysis of the voltage/frequency (V/f) control of induc-
Received 18 June 2007 tion motor drives. The V/f control, which realizes a low cost and simple design, is advantageous in the
Received in revised form 26 February 2008 middle to high-speed range. Its torque response depends on the electrical time constant of the motor
Accepted 20 September 2008
and adjustments of the control parameters are not need. Therefore, V/f control of induction motor is car-
Available online 29 November 2008
ried out. Space vector pulse width modulation is used for controlling the motor because of including min-
imum harmonics according to the other PWM techniques.
Keywords:
Proportional Integral (PI) controller is used to control speed of induction motor. In this work, optimi-
ANFIS
Genetic
zation of PI coefficients is carried out by Ziegler-Nichols model and Genetic-Adaptive Neuro-Fuzzy Infer-
Induction motor ence System (ANFIS) model. These controllers are applied to drive system with 0.55 kW induction motor.
Optimization A digital signal processor controller (dsPIC30F6010) is used to carry out control applications. The pro-
DSP posed method is compared Ziegler-Nichols model. Experimental results show the effectiveness of the
proposed control method.
Ó 2008 Elsevier Ltd. All rights reserved.

1. Introduction
The benefits of squirrel-cage induction motors – high robust-
ness and low maintenance – make it widely used through various
industrial modern processes, with growing economical and per-
forming demands.
The V/f control, which realizes a low cost and simple design, is
advantageous in the middle to high-speed range. Its torque re-
sponse depends on the electrical time constant of the motor and
adjustments of the control parameters are not need. V/f control
is the best choice for simple variable speed applications like fans,
pumps and it is control more effective in the high-speed range [1].
It is obvious that the use of proportional integral derivative PID
control has a long history in control engineering and is acceptable
for most of real applications because of its simplicity in architec-
ture, even though a great number of advanced control techniques
have been exhibited successively. The key of designing a PID con-
troller is to determine three PID control gains, i.e., proportional
gain Kp, integral gain Ki, and derivative gain Kd. For a single-in-
put–single-output system, the tuning methods of Cohen-Coon
and Ziegler-Nichols models are frequently used to find these gains
[2].
* Corresponding author. Tel.: +90 266 6121194; fax: +90 266 6121257.
E-mail addresses: svustun@hotmail.com (S.V. Ustun), mdtas@balikesir.edu.tr (M.
Demirtas).
1
Tel.: +90 416 2232125; fax: +90 416 2232129.
The motor control issues are traditionally handled by fixed gain
PI and PID controllers. However, the fixed gain controllers are very
sensitivity to parameter variations, load disturbances, etc. So, the
controller parameters have to be continually adapted. The problem
can be solved by several adaptive control techniques such as model
reference adaptive control [3], sliding mode control [4], variable
structure control [5] and self tuning PI controllers [6]. The design
of all of the above controllers depends on the exact system math-
ematical model. However, it is often difficult to develop an accu-
rate system mathematical model due to unknown load variation,
unknown and unavoidable parameter variations due to saturation,
temperature variations and system disturbances [7].
In high performance applications, it is useful automatically ex-
tract the complex relations that represent the drive behavior. The
use of learning through example algorithms can be a powerful toll
for automatic modeling variable speed drives [8].
PI controller is unquestionably the most commonly used con-
trol algorithm the process control industry [9]. The main reason
is its relatively simple structure, which can be easily understood
and implemented in practice, and that many sophisticated control
strategies, such as model predictive control, are based on it. In spite
of its wide spread use there exists no generally accepted design
method for the controller [10].
System model is necessary for tuning controller coefficients in
an appropriate manner (e.g., percent overshoot, settling time).
Because of neglecting some parameters, the mathematical
model cannot represent the physical system exactly in most

0196-8904/$ - see front matter Ó 2008 Elsevier Ltd. All rights reserved.
doi:10.1016/j.enconman.2008.09.032
 S.V. Ustun, M. Demirtas / Energy Conversion and Management 50 (2009) 786–791 787

applications. That’s why, controller coefficients cannot be tuned
appropriately.
Many of the recent developed computer control techniques are
grouped into a research area called Intelligent Control, that result
from the integration of Fuzzy Logic techniques within automatic
control systems. The problem with Fuzzy Logic comes when trying
to determine the membership functions and the rules for which a
specialist is needed. To solve that problem Neural Networks are
used and the Adaptive Neuro-Fuzzy Inference System (ANFIS) de-
sign technique has a lot of sense [11].
The tuning of electric drive controller is a complex problem due
to the many non-linearities of the machines, power converter and
controller. Artificial intelligence consists of two major branches
such as the study of ANNs and expert systems. Recently, there
has been a substantial increase in the interest on ANNs. ANNs have
been successfully used in modeling complex physical phenomena
in various fields [12].
The ANFIS can help us find the mapping relation between the
input and output data through hybrid learning to determine the
optimal distribution of membership functions [13]. Therefore,
system model can be obtained by using the ANFIS methods. AN-
FIS uses neural networks to tune a Fuzzy Logic Sugeno model
type controller [14]. To obtain the membership functions and
the rules it presents hybrid learning with back propagation algo-
rithm to tune them and the least-squares method to identify
them.
Matlab ANFIS editor toolbox is used for training the ANFIS. The
ANFIS input used with 3 triangle membership function, looking for
a linear membership function at the output, an error tolerance
equals to zero and only 2 epochs are needed.
In the 1950s and 1960s, computer scientists were toying with
the idea that evolution could be used as a model for optimization
in engineering problems. The main idea is to evolve a solution
using operators inspired by genetic variation and natural selection.
A Genetic Algorithm (GA) for optimization is different from ‘‘clas-
sical’’ optimization methods in several ways: random versus deter-
ministic operation, population versus single best solution and
selecting solutions via ‘‘survival of the fittest’’ [15]. In this paper,
a simple GA is used for optimization process.
The paper is organized in the following manner. In Section 2,
ANFIS architecture is presented. In Section 3, experimental setup
is given. Section 4 illustrates modeling of the induction motor
using ANFIS. In Section 5, optimization process of PI coefficients
using GA is explained. Results and discussion are given in Section
7. Finally, conclusion is presented in last section.
2. ANFIS architecture
ANFIS constitutes an appropriate combination of neural and
fuzzy systems. This hybrid combination enables to deal with both
the verbal and the numeric power of intelligent systems. As is
known from the theory of fuzzy systems, different fuzzification
and defuzzification mechanisms with different rule base structures
can propose various solutions to a given task [16]. This paper con-
siders the ANFIS structure with first-order Sugeno model contain-
ing 49 rules. Triangular membership functions with product
inference rule are used at the fuzzification level. The fuzzifier out-
puts the firing strength for each rule. The vector of firing strengths
is normalized. The resulting vector is defuzzified by utilising the
first-order Sugeno model. The procedure is explained briefly in
the following for the type-3 fuzzy reasoning and the corresponding
ANFlS architecture shown in Figs. 1 and 2, respectively.
Five layers are used to construct this inference system. Each
layer contains several nodes described by the node function. Adap-
tive nodes, denoted by squares, represent the parameter sets that
are adjustable in these nodes, whereas fixed nodes, denoted by cir-
cles, represent the parameter sets that are fixed in the system. The
output data from the nodes in the previous layers will be the input
in the present layer [2].
Consider a first-order Sugeno model fuzzy inference system
which contains two rules
Rule 1: If X is A1 and Y is B1, then f1 = p1x + q1y + r1.
Rule 2: If X is A2 and Y is B2, then f2 = p2x + q2y + r2.
Fig. 1 illustrates graphically the fuzzy reasoning mechanism to
derive an output f from a given input vector [x, y]. The firing
strengths w1 and w2 are usually obtained as the product of the
membership grades in the premise part, and the output f is the
weighted average of each rule’s output. More explicitly, the output
f can be expressed as
w1 f1 þ w2 f2
f ¼ ; or
w1 þ w2
l ðxÞlB1 ðyÞðp1 x þ q1 y þ r1 Þ þ lA2 ðxÞlB2 ðyÞðp2 x þ q2 y þ r2 Þ
f ¼ A1
lA1 ðxÞlB1 ðyÞ þ lA2 ðxÞlB2 ðyÞ
ð1Þ
The Sugeno model fuzzy is well-suited for adaptive network based
learning introduced below.
To facilitate the learning (or adapting) of the Sugeno model fuz-
zy, it is convenient to put the fuzzy model into the framework of
adaptive networks that can compute gradient vectors systemati-
cally. The resultant network architecture, as shown in Fig. 2, is
called ANFIS. Nodes within a layer of ANFIS perform similar tasks
that are specified by their node functions, as described below (note
that Oji denotes the output of the ith node in layer j.)
2.1. Layer 1:
Each node in this layer generates membership grades of a lin-
guistic label. For instance, the node functions of the ith node might
be
1
O1i ¼ lAi ðxÞ ¼   bi ð2Þ
2
xci
1þ ai
where x is the input to node i, and Ai is the linguistic label (small,
large, etc.) associated with this node function. In other words, Oji
is the membership function of Ai and it specifies the degree to which
the given x satisfies the quantifier Ai. {ai, bi, ci} is the parameter set
that changes the shapes of the MF. Parameters in this layer are
referred to as the premise parameters. lA(x) is chosen to be triangu-
lar-shaped with the maximum equal to 1 and minimum equal to
0.
2.2. Layer 2:
Every node in this layer calculates the firing strength of each
rule via multiplication:
O2i ¼ wi ¼ lAi ðxÞlBi ðyÞ; i ¼ 1; 2 ð3Þ
2.3. Layer 3:
The ith node of this layer calculates the ratio of the ith rule’s fir-
ing strength to the sum of all rule’s firing strengths:
wi
O3i ¼ wi ¼ ; i ¼ 1; 2 ð4Þ
w1 þ w2
Outputs of this layer are known as normalized firing strengths.
788 S.V. Ustun, M. Demirtas / Energy Conversion and Management 50 (2009) 786–791
Fig. 1. ANFIS with type-3 fuzzy reasoning.
Fig. 2. ANFIS architecture for two rules.
2.4. Layer 4:
Every node i in this layer is a square node with a node function
O4i ¼ wi fi ¼ wi ðpi x þ qi y þ ri Þ
where wi is the output of layer 3, and {pi, i, ri} is the parameter set. A
parameter in this layer is known as consequent parameter.
2.5. Layer 5:
The single node in this layer computes the overall outputs as
the summation of all incoming signals, i.e.,
X P
wf
O5i ¼ overall output ¼ w f ¼ Pi i i
i i i
i wi
Therefore, the ANFIS output is clearly a linear function of the adjust-
able defuzzifier parameters.
3. Experimental setup
The experimental setup consisted of a motor and generator that
is connected to it by a connecting element. The motor used is a
0.55 kW, 1.34 A, 50 Hz, Cosu = 0.84, three phase squirrel-cage
induction motor. The processor used in this work is a 7.38 MHz
dsPIC30F6010 Digital Signal Processor Controller (DSP Controller).
The processor communicated with the PC via USB port. The block
diagram of this application circuit is shown in Fig. 3. The stator
voltage and frequency are adjusted using a Space Vector Pulse
Width Modulation (SVPWM) technique.
Error is calculated from difference between reference speed and
actual speed taken from incremental encoder. Then, PI generates
new control data according to this error. Amplitude and speed
values are generated using the control data compared with V/f rate.
ð5Þ Required values for PWM output of the DSP controller are
calculated by using two values (amplitude and speed) and SVPWM
technique. PWM time base is 200 millisecond (ms) for this
application. The control loop is carried out once during each ten
PWM time base. Dead time is formed by the controller. The value
of dead time determined by a register is taken 7 milliseconds.
The DSP controller program for the control process is written in
dsPIC30F6010 assembly language and C30 language. Controlling
and compiling process are performed by a compiler program. The
experimental setup is shown in Fig. 4.
ð6Þ
4. Modeling of the induction motor using the ANFIS
ANFIS is a fuzzy system and used in classification, modeling and
control problems. It is based on Takagi and Sugeno model fuzzy if-
then rules representation [17], which is different from commonly
used fuzzy logic controllers [17,18]. The consequent part of the rule
is a function of input variables. The system considered in this paper
has two inputs (Kp and Ki) and the fitness value is the only output.
Kp and Ki are proportional and integral coefficients of the proposed
controller, respectively. The inference mechanism of ANFIS is
mathematically expressed by the set of the rules.
In this study, ANFIS outputs are obtained by using maximum
overshoot (Mo) and settling time (Ts) in fitness function in Eq.
(7). The rules and adjusting of the membership function parame-
ters are performed by applying Kp–Ki pairs to ANFIS input and
 S.V. Ustun, M. Demirtas / Energy Conversion and Management 50 (2009) 786–791 789

Fig. 3. The block diagram of the application circuit.

0,002 Actual output

ANFIS output
0,0016

Fitness values
0,0012

0,0008

0,0004

0
1 4 7 10 13 16 19 22 25 28 31 34
Number of reference sets

Fig. 5. The change in the actual system output and ANFIS model output.

Fig. 4. The experimental setup.

the formed membership functions. Output parameter variable fit-

ness function is estimated accurately.
obtaining fitness function using Mo and Ts values. After training
The ANFIS model follows the system output, with a small error
process finished, Kp–Ki pairs is given to ANFIS input and fitness
that arises from differences between experimental conditions and
function is produced.
the model of the non-linear system. It shows that the ANFIS model
The fuzzy rules are determined from fitness function, f, in Eq.
created for the system models it successfully.
(7).
1 5. Optimization of PI coefficients using GA
f¼ ð7Þ
ðMo þ 2  Ts þ 1Þ
The obtained value from Eq. (7) is taken as an ANFIS output. Data GAs are based on an analogy to the genetic code in our own
used for ANFIS model are given in Table 1. The obtained results DNA (deoxyribonucleic acid) structure, where its coded chromo-
are shown in Fig. 5. As shown in Fig. 5, there are small differences some is composed of many genes [19,20]. GA approach involves
between the actual values and ANFIS output values. This also shows a population of individuals represented by strings of characters
that the ANFIS model approach for modeling the nonlinear system or digits. Each string is, however, coded with a search point in
is very good. the hyper search-space. From the evolutionary theory, only the
Input parameter variables in Table 1 are used for training in AN- most suited individuals in the population are likely to survive
FIS. The output parameter variable is accurately estimated from and generate off-spring that passes their genetic material to the
next generation.
GA is a search mechanism based on the principle of natural
selection and population genetics that are transformed by three
Table 1
genetic operators: selection, crossover and mutation. Each string
Data used for the ANFIS model
(chromosome) is a possible solution to the problem being opti-
Data set Kp Ki f = 1/(1 + Mo(rpm) + 2*Ts(ms)) mized and each bit (or group of bits) represents a value or some
1 3.19 0.97 0.000639 variable of the problem (gene). These solutions are classified by
2 3.19 1.1 0.000796 an evaluation function, giving better values, or fitness, to better
3 3.38 0.85 0.001725 solutions. Each solution must be evaluated by the fitness function
4 3.38 0.80 0.001725
5 3.58 0.44 0.001733
to produce a value [21].
6 3.77 0.48 0.001758 Different crossover and mutation rates are used for processing
7 3.77 0.024 0.001704 of optimization of genetic algorithms. Ten of the fitness values ob-
8 3.77 0.006 0.001566 tained, listed from the largest fitness value to the smallest, and the
9 4.94 0.049 0.001673
fitness values of the members of the first generation are shown in
10 4.94 0.012 0.001732
Table 2. The flow chart of the GA is shown in Fig. 6.
35 6.5 1.26 0.000654
A PI controller with the transfer function Gc ðsÞ ¼ kp þ ksi is em-
36 6.5 1.1 0.000644
ployed to control the process.
790 S.V. Ustun, M. Demirtas / Energy Conversion and Management 50 (2009) 786–791

Table 2
Fitness values of the members, and GA parameters in the first generation  Population Size: 30
Parameter Value  Number of generations: 60
Fitness of member 1 0.001791  Crossover rate: 0.80
Fitness of member 2 0.001730  Mutation rate: 0.20
Fitness of member 3 0.001721  Chromosome length: 30 bits (15 bits for Kp and 15 bits for Ki).
Fitness of member 4 0.001658
Fitness of member 5 0.001582
Fitness of member 6 0.001469
Fitness of member 7 0.001455 6. Results and discussion
Fitness of member 8 0.001383
Fitness of member 9 0.001223
The experimental setup is consisted of induction motor, power
Fitness of member 10 0.001200
module and load (generator). Mathematical modeling of this sys-
tem is very complex and can not represent the physical system ex-
actly because the system is nonlinear and depends on a lot of
parameters. Some parameters are often neglected in similar appli-
cations. In this study, it is not necessary the mathematical model of
the system. The whole system (induction motor, power module
and load) is modeled using MATLAB ANFIS editor toolbox. The AN-
FIS model is systematically constructed from the input–output
data.
During this work the only first 36 samples of data are used to
model the system. The system is worked at 1000 rpm as open-loop
control. The controller is applied to the system for 2000 rpm while
the induction motor is working at 1000 rpm. That is, the controllers
is switching-on while speed is increased from 1000 rpm to
2000 rpm. To show the validation of the proposed method, speed
responses are demonstrated for different Kp and Ki pairs in Figs.
7–9. Kp and Ki pairs are randomly selected and applied to the
system.
In Fig. 7, the rotor speed cannot reach the reference speed for
Kp = 3.35 and Ki = 0.88. This is not good result. As shown in Fig. 8,
the rotor speed is over the reference speed for Kp = 3.35 and
Ki = 0.88. This is not also good result.

2500

2000
speed(RPM)

1500
Fig. 6. The flow chart of the GA.
1000

500
The optimum values for the Kp and Ki pairs are obtained using a
computer program written in C++ language for the GA. This process 0
executes with three different operators at bit level. 30 of the Kp and 0 500 1000 1500 2000
Ki pairs are determined at random. Kp and Ki pairs consisted of millisecond
15 bits and 15 bits, respectively. These Kp and Ki pairs are entered
Fig. 7. Speed of the rotor for Kp = 3.35 and Ki = 0.88.
to ANFIS model as input. The fitness values are obtained from the
ANFIS output. These values are then used as the fitness function.
The one-point crossover method is used on the crossover oper-
ator. Mutual parameters of two random members on the crossover 2500
are divided into two parts and their positions are changed. A ran-
2000
dom bit of a random number on the mutation process is changed
0 to 1 and 1 to 0. For the optimization process, mutation rate is in-
speed(RPM)

1500
creased when converge occurs in 5–10 generation. Therefore, early
converge is prevented, and in addition, members that have high fit-
1000
ness values are obtained.
The range of Kp and Ki values chosen lay between (3–6.5) and 500
(0.1–1.1), respectively. The fitness function is defined as
1 0
f ¼ 0 500 1000 1500 2000
ðMo þ 2 Ts þ 1Þ
millisecond
In this algorithm, the genetic algorithm parameters are selected for
the training cycles are: Fig. 8. Speed of the rotor for Kp = 4.05 and Ki = 0.18.
 S.V. Ustun, M. Demirtas / Energy Conversion and Management 50 (2009) 786–791
2500
2000
speed(RPM)
1500
1000
500
0
0 500 1000 1500
millisecond
Fig. 9. Speed of the rotor for Kp = 4.93 and Ki = 0.44.
2500
Ziegler-Nichols model
2000
speed(RPM)
1500
ANFIS-Genetics model
1000
500
0 mode control, IEEE Conf Rec IECON’92; 1992. p. 60–6.
0 500 1000 1500
millisecond
Fig. 10. The speed response for optimal Kp and Ki.
In Fig. 9, the settling time is too much for Kp = 4.93 and Ki = 0.44.
This is not good result because there is overshoot.
The obtained results show that the optimum PI coefficients
must be finding for eliminating overshoot and the steady state er-
ror at the reference speed. The best solution for the rotor speed is
the optimum PI coefficients. Therefore, the optimum PI coefficients
are found by Ziegler-Nichols and Genetic-ANFIS models.
The experimental setup is worked for Ziegler-Nichols model
and Genetic-ANFIS model. In this study, the optimum PI coeffi-
cients by using Ziegler-Nichols model are found to be: Kp = 5.45,
Ki = 0.66. The optimum PI coefficients by using the Genetic-ANFIS
model are found to be: Kp = 3.66, Ki = 0.02 (generation number:
20). Optimal fitness value is not change after generation 20. There-
fore, optimal Kp and Ki values are taken for generation number 20.
The responses of the system for these values of Kp and Ki are
shown in Fig. 10 for comparing two models. The overshot at Zie-
gler-Nichols model is too over according to Genetic-ANFIS model.
The settling time is shorter and the maximum overshoot is mini-
mized for the optimum values according to the other Kp and Ki
pairs, as shown in Figs. 7–9. The proposed method is a good control
system.
7. Conclusion
This paper describes and compares the Genetic-ANFIS model
and Ziegler-Nichols model. Actual system (motor and controller)
is modeled using ANFIS. It is also determined that the maximum
791
overshoot and settling time are very small if the system is con-
trolled by control parameters obtained from the optimization pro-
cess which uses GA.
The experimental results show that the ANFIS is able to produce
accurate dynamic models of process response directly from I/O
data (I: Kp–Ki, O: f (Mo,Ts)), and GA is suitable for optimization of
controller coefficients by the performance criteria considered.
This process can be also applied for nonlinear systems con-
trolled by PD and PID controller, or a number of applications such
a machine tool, robotics and servo drives.
2000
Acknowledgment
The project is supported by TUBITAK (The Scientific & Techno-
logical Research Council of Turkey). The authors would like to
acknowledge the financial support provides by TUBITAK.
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