Industrial Power System Control

Instructor: Tran Quang Tho, PhD

HO CHI MINH CITY UNIVERSITY OF

TECHNOLOGY AND EDUCATION

FACULTY FOR HIGH QUALITY TRAINING

REPORT OF

INDUSTRIAL POWER SYSTEM CONTROL

MIDTERM REPORT

Student(s): Sơn Hoàng Dũng (ID: 19142017)

Trần Gia Huy (ID: 19142057)

Instructor: Quang-Tho Tran, Ph. D

Ho Chi Minh city,

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Industrial Power System Control
Instructor: Tran Quang Tho, PhD
REPORT OF CHAPTER 1: DETAILED MODEL OF A 100-kW GRID-
CONNECTED PV ARRAY
LIST OF FIGURES
Figure 1: Detailed Model of a 100-kW Grid-Connected PV Array.........................................
Figure 2: PV array with boost converter..................................................................................
Figure 3: Output voltage, current and power at different temperature.....................................
Figure 4: PV scope..................................................................................................................
Figure 5: VSC scope................................................................................................................
Figure 6: P_B1.........................................................................................................................
Figure 7: Vab_scope................................................................................................................
Figure 8: Grid..........................................................................................................................

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Industrial Power System Control
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Figure 1: Detailed Model of a 100-kW Grid-Connected PV Array

1. Description: This example shows a detailed model of a 100-kW array connected

to a 25-kV grid via a DC-DC boost converter and a three-phase three-level VSC.
2. The detailed model contains the following components:
 PV array:  Delivering a maximum of 100 kW at 1000 W/m^2 sun irradiance
 DC-DC boost converter: PV array output given as input to the dc-dc boost
converter it should be step-up the voltage and step down the current (273 V DC
at maximum power) to 500 V DC.
 MPPT controller:
_ Solar radiation and temperature are changes continuously throughout the day
with climate changing conditions. Under these conditions, the maximum power
point of the PV array changes continuously and hence MPPT technique is used
to maintain the PV array’s operating point at its maximum power point .The
MPPT technique that generates the control signal which feeds the boost
converter.
_ Switching duty cycle is optimized by a MPPT controller that uses the
'Incremental Conductance + Integral Regulator' technique. This MPPT system

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Instructor: Tran Quang Tho, PhD
automatically varies the duty cycle in order to generate the required voltage to
extract maximum power
 3-level 3-phase VSC: The VSC converts the 500 V DC link voltage to 260 V AC
and keeps unity power factor
 10-kvar capacitor bank: filtering harmonics produced by VSC
 100-kVA 260V/25kV three-phase coupling transformer: Change the ratio of
voltage to current delivered from a voltage source to meet the characteristics of
the loa

PV panel parameters:
 PV arrays 100 kW use SunPower 330 model (SPR-305E-WHT-D). Arrays
include 66 series and 5 models connected in series (66 * 5 * 305,2 W = 100,7
kW).
 Number of series-connected cells: 96
 Open-circuit voltage: Voc= 64.2 V
 Short-circuit current: Isc = 5.96 A
 Voltage and current at maximum power: Vmp =54.7 V, Imp= 5.58 A

MPPT controller
Solar radiation and temperature are changes continuously throughout the day
with climate changing conditions. Under these conditions, the maximum power point of
the PV array changes continuously and hence MPPT technique is used to maintain the
PV array’s operating point at its MPP .The MPPT technique that generates the control
signal which feeds the boost converter. Perturb and observe (P&O) technique is
presented in this paper. It is the most widely used technique to track the maximum
power from the array. P&O technique operates by regularly Perturbing that is
incrementing or decrementing the PV module terminal voltage or current and compares
the output power of PV array with that of the preceding perturbation cycle. If the PV
array output power is changes due to its operating voltage changes, the control system
moves the PV array operating point in that direction and or else the operating point is
stimulated in the reverse direction.

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Instructor: Tran Quang Tho, PhD

Figure 2: PV array with boost converter

PV array output given as input to the dc-dc boost converter it should be step-up
the voltage and step down the current. A Boost converter is used implement the
maximum power point tracking and the boost and control the output voltage of the PV
array .In maximum power transfer theory, the maximum power is being transfer from
source to load when the load is matching that source impedance is equal to the load
impedance by adjusting the duty cycle of the DC-DC boost converter. The duty cycle
can be defined as the ratio between the switch on time of switch to the total switching
period. With continues varying climate changing conditions the duty cycle of the DC-
DC boost converter has to be adjusted to extract maximum power from PV array .Boost
converter have more advantageous its simplicity, low cost, and high efficiency and high
reliability with respect to remaining configurations. In boost converter circuit is
developed using MATLAB software where diode D is used to protect the PV array
against negative current. Capacitor C is placed here to limit the high frequency
harmonics .

Transformer:
Transformers consist of two coils primary coil and secondary coil. The Primary
coil of the transformer receives energy from the AC source; secondary coil receives
energy from the primary winding and delivers it to the load and Transformers are either
step-up this means it delivers high voltage to the load or step down this means it
delivers lower voltage to the load according to the turns ratio can be defined as the
number of turns of the secondary to the primary The main function of transformer is

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change the ratio of voltage to current delivered from a voltage source to meet the
characteristics of the load, in this case keeping the power constant.

Figure 4: VSC scope

Figure 3: Output voltage, current and power at different temperature

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Figure 5: PV scope
Industrial Power System Control
Instructor: Tran Quang Tho, PhD

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Industrial Power System Control
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Figure 8: Grid

DESCRIPTION
From the interval t=0 to t=0.05 waveforms the PV panel voltage (V mean PV in PV
scope) will depend on the Open Circuit Voc voltage (Nseries*Voc=5*64.2=371V) due to the
pulse supplied to the Boost unit and the pulse from the BLOCKED VSC control block
(passing through the X block). The three level bridge block acts as a filter diode and the
voltage charged to the L block is above 500V (Vab_VSC scope).
At the time t = 0.05 pulses from the boost and VSC controller are issued, the
waveform Vab_VSC Vdc is specified as 500V
The steady state is t = 0.25s at this time the waveform of V mean PV (PV scope) = (1 -
Duty cycle) * Vdc = (1-0.5) * 500 = 250V and the waveform of Pmean PV is almost 100kW

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Industrial Power System Control
Instructor: Tran Quang Tho, PhD
At the time t = 0.4s MPPT is turned on. The MPPT regulator starts regulating the PV
voltage by changing the Duty cycle to reach maximum power. P mean maximum power
waveform (100.5kW) is achieved when the task cycle is D = 0.48 before reduction.
At t = 0.6 seconds, the Pmean mean voltage waveform of PV = 274 V (N ser * Vmp =
5 * 54.7 = 273.5 V).
From t = 0.6 seconds to t = 1.1 seconds, solar radiation was sloped down from 1000
W/m^2 to 250 W/m^2. MPPT continues to monitor to adjust the duty cycle so that pmean
power always reaches maximum
At t = 1.2 s when the radiation has dropped to 250 W/m^2, the duty period is D =
0.461. Pv Vmean voltage and power = 268 V and P mean = 24.3 kW. At this point, the MMPT
controller continues to monitor and change the duty cycle so that the power is always
maximum during this radiation change.
From t = 1.2 seconds to t = 2.5 seconds solar radiation is restored back to 1000 W / m
^ 2. to observe the impact of an increase in temperature. When the temperature rises from 25
degrees Celsius to 50 degrees Celsius, the array output power decreases from 100.7 kW to 93
kW.

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Industrial Power System Control
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REPORT OF CHAPTER 2: TRANSFER FUNCTION

CONTENTS
CHAPTER 1: OVERVIEW..............................................................................................
I. Description................................................................................................................
CHAPTER 2: LAPLACE TRANSFORM........................................................................
I. Laplace transform....................................................................................................
II. Laplace transform of some basic functions............................................................
1. Unit pulse function.......................................................................................15
2. Unit step function.........................................................................................15
3. RAMP function............................................................................................16
4. Exponential function....................................................................................16
CHAPTER 3: TRANSFER FUNCTION..........................................................................
I. Definition..................................................................................................................
II. Derivation of transfer function................................................................................
III. Communication functions of corrections................................................................
1. Passive correction........................................................................................18
a. 1st order integral..........................................................................................18
b. 1st order differential stage............................................................................19
c. Lagging........................................................................................................20
d. Leading........................................................................................................20
2. Active correction..........................................................................................21
a. Scale stitching..............................................................................................21
b. PI ratio integral............................................................................................22
c. Scale differential..........................................................................................22
d. PID ratio micro-analysis..............................................................................23
CHAPTER 4: SIMULINK AND RESULT......................................................................

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I. Passive correction simulink.....................................................................................
a. 1st order integral simulink...........................................................................24
b. 1st order differential stage Simulink............................................................25
c. Lagging Simulink.........................................................................................26
d. Leading Simulink.........................................................................................27
II. Active correction Simulink simulink......................................................................
a. Scale stitching..............................................................................................28
b. PI ratio integral............................................................................................29
c. Scale differential..........................................................................................30
d. PID ratio micro-analysis..............................................................................31
REFERENCE.....................................................................................................................

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LIST OF FIGURES
Figure 1: Unit pulse function................................................................................................
Figure 2: Unit step function..................................................................................................
Figure 3: Unit function.........................................................................................................
Figure 4: Exponential function.............................................................................................
Figure 5: Input and output signals of the automatic system..................................................
Figure 6: 1st order integral circuit........................................................................................
Figure 7: 1st order differential stage circuit..........................................................................
Figure 8: Lagging circuit......................................................................................................
Figure 9: Leading circuit......................................................................................................
Figure 10: Scale stitching circuit..........................................................................................
Figure 11: PI ratio integral circuit........................................................................................
Figure 12: Scale differential circuit......................................................................................
Figure 13: PID ratio micro-analysis circuit..........................................................................
Figure 14: 1st order integral model......................................................................................
Figure 15:Error of 1st order integral model.........................................................................
Figure 16:1st order differential stage model.........................................................................
Figure 17: error of 1st order differential stage model...........................................................
Figure 18: Lagging model....................................................................................................
Figure 19: Error of lagging model........................................................................................
Figure 20: Leading model....................................................................................................
Figure 21: Error of leading model........................................................................................
Figure 22: Scale stitching model..........................................................................................
Figure 23: Error of scale stitching model.............................................................................
Figure 24: PI ratio integral model........................................................................................
Figure 25: Error of PI ratio integral model...........................................................................
Figure 26: Scale differential model......................................................................................
Figure 27: Error of Scale differential model.........................................................................
Figure 28: PID ratio micro-analysis model..........................................................................
Figure 29:Error of PID ratio micro-analysis model.............................................................

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Industrial Power System Control
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CHAPTER 1: OVERVIEW
I. Description
The subjects of research of control theory are very diverse and have different
physical natures such as engine control systems, thermal furnaces, aircraft, scientific
reactions ... Therefore, it is necessary to have a basis for analyzing and designing
control systems of different physical nature, the basis of which is mathematics. The
general relationship between the signal and the output signal of a linear system can be
represented by high-order differential equations. Surveying systems based on high-
order differential equations is often difficult. There are two methods of describing
automatic system mathematics that make it easier to survey the system: the transfer
function method and the state space method. The conveyor function method converts
differential equation relations into algebraic fractional relations by Laplace
transformation.

CHAPTER 2: LAPLACE TRANSFORM

I. Laplace transform
Given that f(t) is a definite function for all t ≥ 0, the Laplace transform of f(t) is:

(2.1)
While: s – is the complex variable
L – is the Laplace transform operator
F(s) – is the effect of the function f(t) via the Laplace transform
The Laplace transform exists when the integral in the definition expression (2.1)
converges.

II. Laplace transform of some basic functions

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Industrial Power System Control
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When surveying the automated system, it is common to put signals in as basic
signals. For example, to survey the control system to stabilize the input signal selected
as the hiccup function, to survey the control system to monitor the input signal selected
as the slope function, many impacts on the system can be described by the dirac
function. The output signal of the automatic system also takes the form of a
combination of basic signals such as hiccups, exponentials, sine functions,... Therefore,
in this section we consider the Laplace transform of basic functions for use in system
analysis and design in the following chapters.
1. Unit pulse function
The unit pulse function is often used to describe noise acting on the system

Figure 9: Unit pulse function

f(t) = 0 if t 0, f(t) = if t = 0 thỏa

By definition:

(2.2)
2. Unit step function

Figure 10: Unit step function

In stabilization control systems, the input signal takes the form of a unit function
u(t) = 1 if t ≥ 0, u(t) = 0 if t = 0
By definition:
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(2.3)
3. RAMP function

Figure 11: Unit function

The unit slope function is often used as an input signal to survey the tracking
control system.
r(t) = t.u(t) if t ≥ 0, u(t) = 0 if t < 0
By definition:

(2.4)
4. Exponential function

Figure 12: Exponential function

Figure 1: Exponential

f(t) = e-αt. u(t) = e-αt if t ≥ 0, f(t) = e-αt .u(t) = 0 if t < 0

By definition:

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(2.5)
The section above just presented the Laplace transform of basic functions.

CHAPTER 3: TRANSFER FUNCTION

I. Definition

Figure 13: Input and output signals of the automatic system

The transmission function of a system is the ratio between the Laplace transform
of the output signal and the Laplace transform of the output signal when the first
condition is zero.
In the above system, the input is x (t) and the output is y(t). After taking Laplace
Transform of the whole system, x(t) becomes X(s), y(t) becomes Y(s) we consider all
the initial conditions are zero.
II. Derivation of transfer function
As we have seen in previous chapters, the input/output dynamics of a linear
system has two components: the initial condition response and the forced response. In
addition, we can speak of the transient properties of the system and its steady state
response to an input. The transfer function focuses on the steady state response due to a
given input, and provides a mapping between inputs and their corresponding outputs. In
this section, we will derive the transfer function in terms of the “exponential response”
of a linear system.
Laplace Transforms Transfer functions are typically introduced using Laplace
transforms and in this section we derive the transfer function using this formalism. We
assume basic familiarity with Laplace transforms; students who are not familiar with
them can safely skip this section. Traditionally, Laplace transforms were also used to

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compute responses of linear system to different stimuli. Today we can easily generate
the responses using computers. Only a few elementary properties are needed for basic
control applications. There is, however, a beautiful theory for Laplace transforms that
makes it possible to use many powerful tools of the theory of functions of a complex
variable to get deep insights into the behavior of systems.

III. Communication functions of corrections

In the automatic system the main voice commands are simple controllers used to
transform the communication function of the system for the purpose of increasing
stability, improving response and minimizing the effect of noise on the quality of the
system. Often the corrective slogans are electrical circuits. There are two types of
correction circuits, passive correction circuits and active correction circuits. Passive
calibration circuits do not have amplifiers, the gain of these circuits is usually less than
or equal to 1. In contrast, positively calibrated circuits have amplification stages, the
gain of these circuits is usually greater than 1.
1. Passive correction
a. 1st order integral

Figure 14: 1st order integral circuit

The relationship between current and voltage on the capacitor C:

(3.1)
According to Kirchoff's law we have:

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 => (3.2)
Equation (1.2) is the differential equation describing the first-order integral. Assuming
the first condition is zero, the two-sided Laplace transform we get:

=>
Let T = RC, the transmission function of the first-order integral is rewritten:

b. 1st order differential stage

Figure 15: 1st order differential stage circuit

 First-order differential:

(3.3)

 While:

T = RC =>

 Substituting the values R and C into the expression we get:

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c. Lagging

Figure 16: Lagging circuit

 Early phase stitching:

(3.4)

 While: ; ; ;
 Substituting values for (1.4) we get:

(3.5)

 Substituting R and C values respectively (1.5)

d. Leading

Figure 17: Leading circuit

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 Phase delay stitching:

(3.6)

 While: ; ; ;
 Substituting values for (1.6) we get:

(3.7)

 Substituting R and C values respectively (1.7)

2. Active correction
a. Scale stitching

Figure 18: Schematic diagram of a stable amplifier based on negative feedback around
an operational amplifier

 Scale stitching:

(3.9)
 Substituting the corresponding R value into the expression (1.9) we get:

b. PI ratio integral

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Figure 19: PI ratio integral circuit

 Transmission function of PI ratio integral:

(3.10)

 While: ;
 The relationship in the time domain between the output signal and the input
signal of the PI stage is:

 Replace Kp and KI into the expression (1.10):

(3.11)
 Replace the corresponding R value in the expression (1.11)

c. Scale differential

Figure 20: Scale differential circuit

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 Transmission function of PD stitch:

(3.12)

 While: ;
 The relationship between the output signal and the input signal of the PD stage
in the time domain is:

 Replace Kp and KI into the expression (1.12) we get:

d. PID ratio micro-analysis

Figure 21: PID ratio micro-analysis circuit

 Transmission function of PD stitch:

(3.13)

 While: ; ;

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 The relationship between the output signal and the input signal of the PD stage
in the time domain is:

 Replace KP, KI, and KD into the expression (1.12):

CHAPTER 4: SIMULINK AND RESULT

I. Passive correction simulink

a. 1st order integral simulink

Figure 22: 1st order integral model

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Figure 23:Error of 1st order integral model

b. 1st order differential stage Simulink

Figure 24:1st order differential stage model

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Figure 25: error of 1st order differential stage model

c. Lagging Simulink

Figure 26: Lagging model

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Figure 27: Error of lagging model

d. Leading Simulink

Figure 28: Leading model

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Figure 29: Error of leading model

II. Active correction Simulink simulink

a. Scale stitching

Figure 30: Scale stitching model

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Figure 31: Error of scale stitching model

b. PI ratio integral

Figure 32: PI ratio integral model

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Figure 33: Error of PI ratio integral model

c. Scale differential

Figure 34: Scale differential model

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Figure 35: Error of Scale differential model

d. PID ratio micro-analysis

Figure 36: PID ratio micro-analysis model

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Industrial Power System Control
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Figure 37:Error of PID ratio micro-analysis model

REFERENCE
[1] Lý thuyết điều khiển tự động - Nguyen Phuong Ha, Huynh Thai Hoang
[2] Transfer function of switching converter.
[3] Transfer Function Techniques and Fault Location (Mechanical Engineering
Research Studies – J. Hywel Williams.
[4] Analysis and Design of Control Systems Using Matlab – Rao V. Dukkipati.

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Industrial Power System Control
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REPORT OF ON DC MODEL
CONTENTS
CHAPTER 1: INTRODUCTION.....................................................................................
I. Structure of DC motor................................................................................................
II. Principle of operation.................................................................................................
III. Characteristic equation DC motor..............................................................................
IV. Method control speed of DC motor............................................................................
V. Purpose.......................................................................................................................
CHAPTER 2: MODELING OF DC MOTOR IN MATLAB.........................................
I. Calculation.................................................................................................................
II. DC motor model.........................................................................................................
1.RESULT AND DISCUSSION........................................................................................
REFERENCES...................................................................................................................

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LIST OF FIGURES

Figure 1: force acting on the wireframe...........................................................................36

Figure 2: Equivalent circuit of a d.c. motor......................................................................37
Figure 3: Block diagram of an armature current controlled dc motor..............................39
Figure 4: Block diagram of an armature current controlled dc motor in matlab...............40
Figure 5: DC motor model in matlab...............................................................................41
Figure 6: scope of electrical torque and speed..................................................................41

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Industrial Power System Control
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CHAPTER 1: INTRODUCTION

I. Structure of DC motor
The motor consists of a stator and a rotor. The stator is a steel core assembled
from leaves electrical engineering steel, the inside has a slot to place the field winding.
The rotor is the core. The steel is assembled from electrical engineering steel sheet, the
outside is slotted to place the wrapping response. DC power is supplied to the armature
through a switching system to current reversal is called brush and commutator.
II. Principle of operation
When direct current is applied to the field winding If, in the stator a magnetic
flux has is generated direction in the direction of the S pole (South) to the N pole
(North). Now, if for current DC to the armature winding through the commutator brush.
The current Ia in the windings on the right half of the rotor has an inward direction, the
left half rotor has an output direction. Under the effect of magnetic flux, a force F has
the direction follow the left-hand rule and rotate the rotor wireframe. Therefore, to the
rotor wireframe When rotating continuously, the direction of current in the wire frame
needs to be changed by the commutator brush mechanism when the wire frame is in the
vertical position as shown in. Because the wire frame is fixed in the rotor steel core
should cause the whole rotor to rotate around its axis.

Figure 38: force acting on the wireframe

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Industrial Power System Control
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Figure 39: Equivalent circuit of a d.c. motor

III. Characteristic equation DC motor

Equation excitation current:

(3.1)
Equation voltage:

(3.2)
Equation power:

(3.3)
Equation armature electromotive force:

(3.4)
Equation moment motor:

(3.5)

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IV. Method control speed of DC motor

 Change armature voltage
 Change armature resistor
 Change magnetic flux

V. Purpose
In this simulation, we model a DC motor and look at the current and rotational
motion at the motor output. The speed of DC motor is directly proportional to armature
voltage and inversely proportional to flux in field widing. In armature controlled DC
motor the desired speed is obtained by varying the armature voltage. This speed control
system is an electro-mechanical control system. We will discuss transfer function of
armature controlled dc motor.

CHAPTER 2: MODELING OF DC MOTOR IN MATLAB

I. Calculation
the Equation voltage

(3.6)

Equation moment

(3.7)

Laplace equation (1.1) and (1.2)

(3.8)

(3.9)

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Industrial Power System Control
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with Electrical time constant

with Mechanical time constant

Figure 40: Block diagram of an armature current controlled dc motor

La, Ra: armature inductance and resistance respectively

Va, Ia: armature voltage and current respectively
If: field current
Vb: back emf
J, B: motor inertia and friction coefficient

W, : motor angle and speed

II. DC motor model

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Figure 41: Block diagram of an armature current controlled dc motor in matlab

The input of the motor is voltage Vt, load moment TL, friction loss Tf, output is
speed, moment, current.
Parameters setting
Quantities Value
Vt 240 (V)
Ra 1.086 (Ω)
La 0.01216 (H)
B 0.003406
J 0.04251 (kgm2)
Ia 39.37 (A)
Tn 42.37 (Nm)
Tf 1.076 (Nm)
TL 40.7 (Nm)

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Figure 42: DC motor model in matlab

1. RESULT AND DISCUSSION

Figure 43: scope of electrical torque and speed

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Industrial Power System Control
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Based on the DC motor model to get parameters, the power supply for the fixed
excitation 300V, the power supply for the armature voltage 240V, adjust the slide gain
to adjust the load torque so that the rated speed is correct, then measure it. get the rated
current and electromagnetic torque, then invert the magnetic flux and use it in your
mathematical model.

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REFERENCES

[1] T. Q. Thọ, Giáo trình Truyền động Điện Tự động, TP HỒ CHÍ MINH, 2020.

[2] A. A. MASOUD, M. ABU-ALI and A. A. AL-SHAIKHI, "Experimental

Determination of an Extended DC Servo-Motor State Space Model: An
Undergraduate Experiment," December 2020.

[3] S. A. a. D. S. Radojka Krneta, "Recursive Least Squares Method in Parameters,"

December 2005.

[4] W. P. Aung, "Analysis on Modeling and Simulink of DC," World Academy of

Science, Engineering and Technology, 2007.

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REPORT ON THREE PHASE INDUCTION MOTOR MODEL

CONTENTS

CHAPTER 1: OVERVIEW.................................................................................................
1.1 INTRODUCTION.....................................................................................................
CHAPTER 2: 3 PHASE MOTOR MODEL.........................................................................
2.1. SYSTEM PRINCIPLE............................................................................................
2.2. 1-PHASE THA WORLD DIAGRAM....................................................................
2.3. CONTROL SPEED OF THREE PHASE INDUCTION MOTOR......................
CHAPTER 3: RESULT AND DISCUSSTION...................................................................
3.1. PARAMETERS SETTING.....................................................................................
3.2. RESULT AND DISCUSSIONS...............................................................................

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LIST OF FIGURES
Figure 1: Schematic diagram of 3 phase motor model built......................................................................
Figure 2: Diagram of the principle of magnetic flux, speed and torque....................................................
Figure 3: Abc coordinate system and dq rotational coordinate system.....................................................
Figure 4: Diagram of q-axis replacement..................................................................................................
Figure 5: D-axis replacement scheme.......................................................................................................
Figure 6: 3 phase induction motor model.................................................................................................
Figure 7: MATLAB function....................................................................................................................
Figure 8: Three-Phase V-I Measurement Vp_Iabc...................................................................................
Figure 9: Motor parameters......................................................................................................................
Figure 10: Result when initial condition of discrete-time integrator is 157.16.........................................
Figure 11: Result when initial condition of discrete-time integrator is 0.................................................
Figure 12: Iabc current..............................................................................................................................

CHAPTER 1: OVERVIEW
1.1 INTRODUCTION
An induction motor or asynchronous motor is an AC electric motor in which
the electric current in the rotor needed to produce torque is obtained by electromagnetic
induction from the magnetic field of the stator winding. An induction motor can

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therefore be made without electrical connections to the rotor. [a] An induction motor's
rotor can be either wound type or squirrel-cage type.
Three-phase squirrel-cage induction motors are widely used as industrial drives
because they are self-starting, reliable and economical. Single-phase induction motors
are used extensively for smaller loads, such as household appliances like fans. Although
traditionally used in fixed-speed service, induction motors are increasingly being used
with variable-frequency drives (VFD) in variable-speed service. VFDs offer especially
important energy savings opportunities for existing and prospective induction motors in
variable-torque centrifugal fan, pump and compressor load applications. Squirrel-cage
induction motors are very widely used in both fixed-speed and variable-frequency drive
applications.

CHAPTER 2: 3 PHASE MOTOR MODEL

2.1. SYSTEM PRINCIPLE

In this report, presents the basic principle of a speed-adjusted motor model using a 3-
phase pressure power inverse. The model of the 3-phase asynchronous motor in this
section uses a transitional model or also a dynamic model. This model has a higher
complexity, however, it also gives greater accuracy than the model established in the
previous sections.

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Figure 44: Diagram of the principle of magnetic flux, speed and torque

Based on the diagram of the principle of magnetic flux (Figure a) and the
calculation of speed and moment (Figure b) the coefficients in the above figure are
determined as follows:

 Mutual inductance: (2.1)

 Electromagnetic time constant from stator coil wire: (2.2)

 Electromagnetic time constant from rotor rolling wire: (2.3)

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Figure 45: Schematic diagram of 3 phase motor model built

(2.4)
While:

_ (2.5)
_ (2.6)

_ (2.7)

(2.8)
While:

_ Rotor flux: (2.9)

_ Stator flux: (2.10)

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_ τs: Electromagnetic time constant from stator coil wire
_ τr: Electromagnetic time constant from rotor rolling wire

2.2. 1-PHASE THA WORLD DIAGRAM

The transient model of a 3-phase asynchronous motor is represented in the abc

coordinate system and converted to the dq coordinate system.

Figure 46: Abc coordinate system and dq rotational coordinate system

Representation of quantities in complex coordinate systems φB

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Figure 47: Diagram of q-axis replacement

Figure 48: D-axis replacement scheme

 Stator voltage equation:

(2.13)

(2.14)

 Rotor voltage equation:

(2.15)

(2.16)

 Equation of mechanical quantities:

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(2.17)

(2.18)

(2.19)

ωs Reference frame angle velocity

ωr Electric angular velocity
Ls=Lls+Lm Inductance stator
L’r=L’lr+Lm Rotor inductance to stator
Ψqs=Lsiqs+Lmi’qr Magnetic flux q-axis stator
Ψds=Lsids+Lmi’dr D-axis stator flux
Ψ’qs=L’ri’qr+Lmiqs Q-axis rotor flux
Ψqs=L’ri’dr+Lmids D-axis rotor flux
J Moment of inertia
B Sticky friction coefficient
θm Rotor angle position
ωm Rotor angular velocity
Te Electromagnetic torque
TL Load torque

Table 2.1
2.3. CONTROL SPEED OF THREE PHASE INDUCTION MOTOR
The use of 3-phase asynchronous motors in systems with speed adjustment is
increasingly popular, as control devices are increasingly developed in terms of control
techniques and cheap in cost. The reasonable investment in control equipment will
bring significant efficiency. the speed adjustment methods are as follows

 Rotor side adjustment: add and adjust rotor resistance (rotor resistance is
almost unused). In addition, there are other adjustment methods such as: rotor pressure
pump, sliding power, etc. These methods apply only to winding wire rotor motors

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 Stator side adjustment: add resistance or resistance to the stator, stator
voltage, power frequency to the stator. Since the range of speed adjustment when
adding resistance and stator resistance as well as stator voltage regulation is quite
narrow when loading constants, these methods are rarely used

Figure 49: 3 phase induction motor model

After completing the induction motor model with 3 inputs including input
voltage (Vs), Load Torque (TL), Moment of inertia (J) and 3 outputs alpha beta current
(Imeas2), speed and moment and use the 3 phase induction motor model which has in
SIMULINK to compare. When using the 3 phase induction motor included in the
library we need to plug in the same input voltage (Vs) to see if the torque, speed and
response current are the same or not. The 3-phase abc current needs to be converted to
alpha beta current (Imeas1) for comparison

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CHAPTER 3: RESULT AND DISCUSSTION

3.1. PARAMETERS SETTING

3.1.1

Figure 50: MATLAB function

function Vs = fcn(ts,bd,tg)

Va=bd*sin(2*pi*ts*tg);
Vb=bd*sin(2*pi*ts*tg-2*pi/3);
Vc=bd*sin(2*pi*ts*tg+2*pi/3);
Vs=[Va,Vb,Vc];

While: _ Va is the phase a voltage

_ Vb is the phase b voltage
_ Vc is the phase c voltage

3.1.2

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Figure 51: Three-Phase V-I Measurement Vp_Iabc

 Voltage measurement: Phase to ground

 Signal label: Vp, Iabc

3.1.3

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PARAMETER SETTINGS OF THE MOTOR

Figure 52: Motor parameters

 Ts = 4e-5: Sampling time of MPC

 J = 0.0343; Lm = 0.1241; Ls = 3e-3+Lm; Lr = 3e-3+Lm
 Rs = 0.7384; Rr = 0.7402
 Tos = Ls/Rs; tor = Lr/Rr; sigma = 1-(((Lm)^2)/(Lr*Ls))
 Kr = Lm/Lr; r_sigma = Rs+kr^2*Rr; t_sigma = sigma*Ls/r_sigma

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3.2. RESULT AND DISCUSSIONS

Figure 53: Result when initial condition of discrete-time integrator is 0

Figure 54: Result when initial condition of discrete-time integrator is 157.16

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_ The speed (rad/s) of library model will start from 150 (rad/s) since this is the
rated speed that are set up, while the speed (rad/s) of built model will start from 0 since
we set up the initial condition of discrete-time integrator is 0.
_ According to the step block parameters, from 0 to 0.2 the speed will run down
because the input voltage is 0. From 0.2 to 1 the input voltage will supply to the motor
and the speed will increase.
_ From 0 to 0.2, the torque of built motor is 0 since the input voltage is 0 the
engine donot have excitation so torque is 0.
_ After changing the initial condition. The speed and torque of built model are fit
with library model and the error numbers are trivial.

Figure 55: Iabc current

REFERENCES
[1] T.Q.Thọ, Giáo Trình Truyền Động Điện Tự Động, TP HCM, 2020

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REPORT ON SPEED CONTROL OF THREE PHASE MOTOR USING FOC

CONTENTS
CHAPTER 1: THREE-PHASE INVERSE......................................................................
I. INTRODUCTION....................................................................................................
II. THREE PHASE INVERTER..................................................................................
CHAPTER 2: 3 PHASE MOTOR MODEL.....................................................................
 SOME NOTATION CONVENTIONS USED FOR INDUCTION MOTOR
CONTROL......................................................................................................................
a) Form and position of indicators:...................................................................................
b) Three-phase asynchronous motor quantities:................................................................
c) Parameters of induction motor:....................................................................................
d) Further definition parameters:......................................................................................
CHAPTER 3: FIELD ORIENTED CONTROL..............................................................
I. PID CONTROL........................................................................................................
II. PID CORRECTION PROCEDURE......................................................................
a. Proportional gain........................................................................................................
b. Integral gain................................................................................................................
c. Derivative gain............................................................................................................
III. FIELD ORIENTED CONTROL............................................................................
IV. EVALUATION OF THE RESPONSE OF THE FOC CONTROL
ALGORITHM.................................................................................................................

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CHAPTER 4: MODEL OF 3-PHASE INDUCTION MOTOR......................................
I. PARAMETERS SETTING.....................................................................................
II. MODEL OF SPEED CONTROL 3-PHASE USING FOC...................................
III. SIMULINK...............................................................................................................
IV. CONCLUSION.........................................................................................................
REFERENCES...................................................................................................................

LIST OF FIGURES
Figure 1: Stator currents in the d, q rotating reference frame........................................63
Figure 2: Equilibrium three-phase inverse scheme of 6 S1→S6 keys...........................64
Figure 3: S1, S3, S6 ON, and S2, S4, S5 OFF keys (state 110).....................................64
Figure 4: The component voltages correspond to 5 states.............................................65
Figure 5: Induction motor model...................................................................................65
Figure 6: Equivalent circuit of Induction Motor............................................................66
Figure 7: PID Control....................................................................................................68
Figure 8: block diagram of vector control technique.....................................................70
Figure 10: Model of 3-phase induction motor...............................................................72
Figure 11: Squirrel-cage preset model...........................................................................72
Figure 12: SVPWM Generator......................................................................................73
Figure 13: Discrete PID controller................................................................................73
Figure 14: Discrete Transfer function (Filter)................................................................74
Figure 15: Uniform Random Number...........................................................................74
Figure 16: Pulse active block.........................................................................................75
Figure 17: Current Measurement...................................................................................75
Figure 18: Use PID control to calculate Id_ref..............................................................76
Figure 19: theta calculation...........................................................................................76
Figure 20: PID controller...............................................................................................77
Figure 21: Speed and Torque before changing the value of PID...................................78

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Figure 22: dq scope.......................................................................................................78
Figure 23: Torque and speed after changing the value of PID controller......................79

CHAPTER 1: THREE-PHASE INVERSE

I. INTRODUCTION
Field oriented control or offers more precise control of ac motors compared to
scalar control. FOC is therefore used in high performance drives where oscillations in
air gap flux linkages are intolerable, e.g. robotic actuators, centrifuges etc. In Field
oriented control method, the components of the motor stator currents are represented by
two orthogonal components in a rotating reference frame. In a special reference frame,
the expression for the electromagnetic torque of the smooth-air-gap machine is similar
to the expression for the torque of the separately excited DC machine. The control is
normally performed in a reference frame aligned to the rotor flux space vector.
The field oriented algorithm controls the components of the motor stator
currents, represented by a vector, in a rotating reference frame d, q aligned with the
rotor flux and perpendicular directions. The Clarke transformation converts three-phase
currents ia, ib and ic into two-phase orthogonal stator currents: ia and ib. These two
currents in the fixed coordinate stator phase are transformed to the id and iq currents
components in the d, q reference frame using Park transformation.
The stator variables are translated into a flux model which is compared with a
required reference values and then is tuned by PI controllers. After a back
transformation from field to stator coordinates, the output voltage will be impressed to
the machine with Pulse Width Modulation (PWM) technique

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Figure 56: Stator currents in the d, q rotating reference frame

Where:
_ ia, ib, ic: three phase stator currents
_ id: direct current
_ Iq: quadranture current
_ iα, iβ: Two-phase orthogonal current
_ θ: The phase frame rotation angle

II. THREE PHASE INVERTER

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R S S S
1 3 5

Ud A
B moto
c C r

S S S S
7 2 4 6

n n

Figure 57: Equilibrium three-phase inverse scheme of 6 S1→S6 keys

Figure 58: S1, S3, S6 ON, and S2, S4, S5 OFF keys (state 110).

By controlling the switching of the switching state, the keys of the inverse unit
easily control the reversible, fast and slow "rotating" voltage space vector. Then the
inverse output voltage form is in the form of 6 steps (six steps).

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Figure 59: The component voltages correspond to 5 states

CHAPTER 2: 3 PHASE MOTOR MODEL

 SOME NOTATION CONVENTIONS USED FOR INDUCTION

MOTOR CONTROL

Figure 60: Induction motor model

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Figure 61: Equivalent circuit of Induction Motor

a) Form and position of indicators:

 Small indicator upper right corner:
_ s: quantity observed on the stator reference system (αβ coordinate
system).
_ f: quantity observed on magnetic flux reference system (dq coordinate
system).
_ r: the quantity observed on the rotor coordinate system with the real axis
being the axis of the rotor
_ e: estimated value
b) Three-phase asynchronous motor quantities:
_u: Voltage (V)
_ v: Current (A)
_ ψ: Flux (Wb)
_ Te: electromagnetic torque (N.m).
_ TL: Load torque (resistance torque) (also denoted MT) (Nm).
_ ω: angular speed of the rotor relative to the stator (rad/s).
_ ωa: angular speed of any coordinate system (arbitrary) (rad/s).
_ ωs: tốc độ góc của từ thông stator so với stator (ωs = ω + ωsl) (rad/s).
_ ωr: angular speed of rotor flux relative to stator (ωr ≈ ωs) (rad/s).
_ ωsl: angular speed of rotor flux relative to rotor (sliding speed) (rad/s).
_ θ: angle of rotor shaft (A phase winding) in the coordinate system αβ
(rad).
_ θs: the angle of the d-axis (any rotational coordinate system) in the αβ
coordinate system (rad).
_ θr: the angle of the d-axis (any rotational coordinate system) relative to
the rotor axis (rad)

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_ φs: angle of magnetic flux stator in αβ coordinate system (rad).
_ φr: angle of magnetic flux in αβ coordinate system (rad)
_ φre: angle of estimated flux in αβ coordinate system (rad).
_ ϕ: phase angle between voltage to current
c) Parameters of induction motor:
_ Rs: phase winding resistance of the stator (Ω).
_ Rr: rotor resistor converted to stator (Ω)
_ Lm: support between stator and rotor (H)
_ Lσs: dissipation resistance of stator coils (H).
_ Lσr: dissipation resistance of rotor coils converted to stator (H).
_ p: number of double poles of the engine
_ J: mechanical inertial torque (Kg.m2)
d) Further definition parameters:
_Ls: Lm + Lσs: Stator inductance
_ Lr = Lm + Lσr: Rotor inductance

CHAPTER 3: FIELD ORIENTED CONTROL

I. PID CONTROL

Figure 62: PID Control

Differential equations describing PID correction:

(3.1)
KP: proportional suture coefficient.

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KI: integral stitching factor.
KD: differential suture coefficient

II. PID CORRECTION PROCEDURE

Scaling (P) amplification correction is introduced into the system to reduce
established errors, with inputs varying with hiccups causing overrides and in some
cases unacceptable for dynamical circuits.
Scaling (P) amplification correction is introduced into the system to reduce
established errors, with inputs varying with hiccups causing overrides and in some
cases unacceptable for dynamical circuits.
The presence of differential scaling (PD) reduces leaps and bounds, responds
less undulatingly, and the system responds faster.
The micro-fractional correction (PID) stage combines the advantages of PD and
PI stitching, capable of increasing phase reserve at cutting frequency, phase reduction.
The presence of PID can lead to fluctuations in the system due to the transition response
being overrun by the dirac function δ(t). PID calibrators are widely used in the
industrial field in the form of control devices or software algorithms.
a. Proportional gain
When Kp increase:
_ Reduced set error
_ Overshoot increase
_ Time faster
b. Integral gain
When Ki increase:
_ Static deviation decreases
_ Slow response
c. Derivative gain
When Kd increases:
_ Overshoot decrease
_ Fast respond
_ Fluctuate decrease
III. FIELD ORIENTED CONTROL

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The structure of the Field Oriented Control (FOC) system in three-phase
asynchronous motor control is shown in the following figure:

Figure 63: block diagram of vector control technique

IV. EVALUATION OF THE RESPONSE OF THE FOC CONTROL

ALGORITHM
 Stability system.
 Set error of small speed, set error of large magnetic flux.
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 The response time of the system is relatively fast.
 The load torque does not have much impact on the response of the
speed, and the response. of magnetic flux.
 Response quality degrades when interference affects the next
feedback signal.
 The system is easily unstable when there is a model error or is
affected by interference.
 Large starting current compared to working current; the starting
current increases when there is a model error.

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CHAPTER 4: MODEL OF 3-PHASE INDUCTION MOTOR

Figure 64: Model of 3-phase induction motor

I. PARAMETERS SETTING
1.

Figure 65: Squirrel-cage preset model

_ Nominal power (W): 50HP (37kW)

_ Voltage (line-line) (V): 400V

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_ Frequency (Hz): 50Hz
_ Stator resistance and inductance [Rs(ohm) Lls(H)]: [0.08233 0.000724]
_ Rotor resistance and inductance[Rr’(ohm) Llr’(H)]: [0.0503 0.000724]
_ Mutual inductance Lm (H): 0.02711
2.

Figure 66: SVPWM Generator

_ PWM frequency (Hz): 5e3 Hz

_ Sample time: 2e-5
_ Data type of input
3.

Figure 67: Discrete PID controller

In this model we use 3 Discrete PID controller:

_ Discrete PID controller 1
+ Proportional (P): 30*0.1
+ Integral (I): 300

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_ Discrete PID controller 2 and 3:
+ Proportional (P): 10
+ Integral (I): 30
4.

Figure 68: Discrete Transfer function (Filter)

_ Numerator: numdisc
_ Denominator: dendisc
_ Sample time: 2e-5
5.

Figure 69: Uniform Random Number

_ Minimum: 0.3
_ Maximum: 1.1
_ Seed: 6
_ Sample time: 2

II. MODEL OF SPEED CONTROL 3-PHASE USING FOC

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Figure 70: Pulse active block

The Vd and Vq voltages will be converted from dq voltage to alpha beta along
with theta deflection angle then use Field Oriented Control (FOC) method with a
switching frequency of 5e3 Hz to create a pulse for the induction motor.

Figure 71: Current Measurement

The three-phase motor current in the Iabc stator must switch to the d q form and
there must be a theta deflection angle passing through abc to dq block to get the id and
iq currents.

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Figure 72: Use PID control to calculate Id_ref

Putting the subtractive speed for the measured speed is called the speed error
passing through the PID controller which will adjust the error towards zero and will
calculate the value of torque. After having Torque and magnetic flux, we will calculate
the current Id. After having the current Id_ref minus for Id continues to pass through
the PID controller to bring the error towards 0.
Formula for calculating Id_ref to enter into the FNC block:

(4.1)
While:
_ Te: Torque
_ ψr: Rotor flux

Figure 73: theta calculation

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We use the Fnc function along with the input Id and Phi_rotor to calculate Wr
then plus Wmeas to get dtheta/dt then through the Discrete Time integrator block to get
theta angle and use the mod function purpose when it reaches 2*pi then reset to theta
not too large.

Figure 74: PID controller

To calculate Iq, we use rated flux divided by 1/Lm to calculate Iq_ref subtract
for Iq current and go through the PI controller to reduce error.

III. SIMULINK

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Figure 75: Speed and Torque before changing the value of PID

_ Based on Fig 21, the response speed is at a relatively good level. Response time
between 0.3 – 0.5s has been established.
_ Torque's overshoot is very large, leading to a large current and affecting the engine,
component failure and poor control quality.

Figure 76: dq scope

Based on Fig 22, we see that the high d component is caused by the FIG 18 PID
controller. Meanwhile, the value of the PID Controller is influenced by the I_ref and we

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need to control the I_ref so that the amplitude is not greater than 2.5 times the rated
current and will improve the overshoot.
To control the I_ref will control the value of the controller with two input values,
Wref and Wmeas.

Figure 77: Torque and speed after changing the value of PID controller

After changing the value of the PID controller, the setup time will not be set
immediately, but it will take nearly 1 second to establish. However, the overshoot will
be low but will ensure no overshoot.
IV. CONCLUSION
Fast response of vector control makes it better than other method of speed control of
induction motor, by using this method we attain maximum response in minimum time.
The response is fast, accurate and give a good result for variable speed of induction
motor. Here the induction motor speed control is discussed using PI controller in the
field oriented coordinates. The method uses a Proportional Integral controller to adjust
the motor speed based on speed errors, and draws the motor speed quickly to reference
speed. The simulation results show good performance of the designed controller that
has very low overshoot.

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REFERENCES
[1] T.Q.Thọ, Giáo Trình Truyền Động Điện Tự Động, TP HCM, 2020
[2] Sandeep Goyat 1, Rajesh Kr.Ahuja ” Speed control of Induction motor using vector
or
Field oriented control” International Journal
[3] Gauri V. Deshpande and S.S.Sankeshwari” Speed control of Induction Motors using
hybrid PI plus FUZZY controller” International Journal of Advances in Engineering
Technology, Nov. 2013.

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REPORT OF GENETIC ALGORITHM

CONTENTS
CHAPTER 1: INTRODUCTION.................................................................................82
CHAPTER 2: THEORY................................................................................................83
I. Method Field Oriented Control (FOC).......................................................................
CHAPTER 3: GA INTRODUCTION..........................................................................84
I. Objective....................................................................................................................
CHAPTER 4: GENETIC ALGORITHM....................................................................84
I. Introduction................................................................................................................
II. Characteristics of Genetic Algorithm.........................................................................
III. Population Size..........................................................................................................
IV. Reproduction..............................................................................................................
V. Crossover...................................................................................................................
VI. Mutation.....................................................................................................................
CHAPTER 5: DESIGN MODEL..................................................................................89
I. DESIGN TUNING PID-GA......................................................................................
II. Model GA using MATLAB.......................................................................................
CHAPTER 6: RESULT AND DISCUSSION..............................................................91
I. Result simulation model in MATLAB.......................................................................
II. Discussion..................................................................................................................
CHAPTER 7: CONCLUSION......................................................................................94
REFERENCES...............................................................................................................95

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LIST OF FIGURES
Figure 1: Basic structure of GA.......................................................................................83
Figure 2: Depiction of roulette wheel selection................................................................86
Figure 3:Illustration of Crossover....................................................................................87
Figure 4: Illustration of Multi-Point Crossover................................................................88
Figure 5: Illustration of Mutation Operation....................................................................88
Figure 6: Model of GA.....................................................................................................90
Figure 7: ω value after using genetic algorithm method...................................................91
Figure 8: : Speed and Torque value..................................................................................92
Figure 9: dq scope............................................................................................................93
Figure 10: Three phase current off stator Iabc....................................................................94

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CHAPTER 1: INTRODUCTION

The magnetic flux orientation control (FOC) method is commonly used with
high efficiency in motor control because the flux and moment can be controlled
independently. FOC is a method of controlling stator flow mainly based on amplitude
and phase angle and characterized by vectors. This control is basically based on the
reference of time and speed on the d–q axis system, which is an invariant axis system.
This reference is intended to direct the survey of asynchronous engines into the survey
of dc engines. However, because the dynamic system of ac motors has many uncertain
parameters, the control of the motor according to traditional methods with sensors or
without sensors does not ensure quality when there is a large change in load. In this
case adaptive control methods [1], PID control methods in combination with neural
networks, genetic algorithms (GA_PID) or swarm algorithms (PSO_PID) are optimal
control methods.
The Gientic algorithm (GA) introduced by Holland in 1975 is an algorithm that
seeks the optimal solution on the principle of adapting the evolution and genetic laws of
organisms in nature. The mathematical essence of GA is a probabilistic search
algorithm. The GA algorithm can successfully solve many problems in many fields,
especially the problem of parameter optimization, the GA algorithm is an appropriate
choice.

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CHAPTER 2: THEORY

I. Method Field Oriented Control (FOC)

The structure of the rotor flux directional control system in three-phase
asynchronous motor control is presented as shown in Figure 1. By describing the
components of the three-phase asynchronous motor on the rotor magnetic flux
coordinate system (d, q), the stator flow vector will divide into two components i sd and
isq, the isd component controls the rotor flux and the isq component controls the rotation
moment.

Figure 78: Basic structure of GA

On the coordinate system (d ( q) the isd line is considered the control quantity for
magnetic flux, however between the two quantities exists the first-order delay with the
time constant Tr.

(2.1)

From the measured value we calculate the angle

(2.2)

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(2.3)

(2.4)

CHAPTER 3: GA INTRODUCTION
I. Objective
What is Genetic Algorithm? Genetic Algorithm or in short GA is a stochastic
algorithm based on principles of natural selection and genetics. Genetic Algorithms
(GAs) are a stochastic global search method that mimics the process of natural
evolution. Genetic Algorithms have been shown to be capable of locating high
performance areas in complex domains without experiencing the difficulties associated
with high dimensionality or false optima as may occur with gradient decent techniques.
Using genetic algorithms to perform the tuning of the controller will result in the
optimum controller being evaluated for the system every time.

CHAPTER 4: GENETIC ALGORITHM

I. Introduction
Genetic Algorithms (GA’s) are a stochastic global search method that mimics
the process of natural evolution. It is one of the methods used for optimization. John
Holland formally introduced this method in the United States in the 1970 at the
University of Michigan. The continuing performance improvements of computational
systems has made them attractive for some types of optimization. The genetic algorithm
starts with no knowledge of the correct solution and depends entirely on responses from
its environment and evolution operators such as reproduction, crossover and mutation
to arrive at the best solution. By starting at several independent points and searching in
parallel, the algorithm avoids local minima and converging to sub optimal solutions. In
this way, GAs have been shown to be capable of locating high performance areas in
complex domains without experiencing the difficulties associated with high
dimensionality, as may occur with gradient decent techniques or methods that rely on
derivative information.
II. Characteristics of Genetic Algorithm

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Genetic Algorithms are search and optimization techniques inspired by two
biological principles namely the process of “natural selection” and the mechanics of
“natural genetics”. GAs manipulates not just one potential solution to a problem but a
collection of potential solutions. This is known as population. The potential solution in
the population is called “chromosomes”. These chromosomes are the encoded
representations of all the parameters of the solution. Each chromosome is compared to
other chromosomes in the population and awarded fitness rating that indicates how
successful this chromosome to the latter. To encode better solutions, the GA will use
“genetic operators” or “evolution operators” such as crossover and mutation for the
creation of new chromosomes from the existing ones in the population. This is achieved
by either merging the existing ones in the population or by modifying an existing
chromosome. The selection mechanism for parent chromosomes takes the fitness of the
parent into account. This will ensure that the better solution will have a higher chance
to procreate and donate their beneficial characteristic to their offspring. A genetic
algorithm is typically initialized with a random population consisting of between 20-
100. individuals. This population or also known as mating pool is usually represented
by a real-valued number or a binary string called a chromosome. For illustrative
purposes, the rest of this section represents each chromosome as a binary string. How
well an individual performs a task is measured and assessed by the objective function.
The objective function assigns each individual a corresponding number called its
fitness. The fitness of each chromosome is assessed and a survival of the fittest strategy
is applied. In this project, the magnitude of the error will be used to assess the fitness of
each chromosome. There are three main stages of a genetic algorithm, these are known
as reproduction, crossover and mutation. This will be explained in details in the
following section.
III. Population Size

Determining the number of population is the one of the important step in GA.
There are many research papers that dwell in the subject. Many theories have been
documented and experiments recorded [7]. However, the matter of the fact is that more
and more theories and experiments are conducted and tested and there is no fast and
thumb rule with regards to which is the best method to adopt. For a long time, the
decision on the population size is based on trial and error [6]. In this project the
approach in determining the population is rather unscientific. From my reading of
various papers, it suggested that the safe population size is from 30 to 100. In this
project an initial population of 20 were used and the result observed. The result was not

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promising. Hence an initiative of 40, 60, 80 and 90 sizing of population were
experimented. It was observed that the population of 80 seems to be a good guess.
Population of 90 and above does not result in any further optimization.

IV. Reproduction

During the reproduction phase the fitness value of each chromosome is assessed.
This value is used in the selection process to provide bias towards fitter individuals. Just
like in natural evolution, a fit chromosome has a higher probability of being selected for
reproduction. An example of a common selection technique is the ‘Roulette Wheel’
selection method as shown in Figure 2. Each individual in the population is allocated a
section of a roulette wheel. The size of the section is proportional to the fitness of the
individual. A pointer is spun and the individual to whom it points is selected. This
continues until the selection criterion has been met. The probability of an individual
being selected is thus related to its fitness, ensuring that fitter individuals are more
likely to leave offspring. Multiple copies of the same string may be selected for
reproduction and the fitter strings should begin to dominate. However, for the situation
illustrated in Figure 8, it is not implausible for the weakest string (01001) to dominate
the selection process.

Figure 79: Depiction of roulette wheel selection

There are a number of other selection methods available and it is up to the user
to select the appropriate one for each process. All selection methods are based on the
same principal that is giving fitter chromosomes a larger probability of selection.

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V. Crossover
There are a number of other selection methods available and it is up to the user
to select the appropriate one for each process. All selection methods are based on the
same principal that is giving fitter chromosomes a larger probability of selection.
There are two stages involved in single point crossover:
1. Members of the newly reproduced strings in the mating pool are
‘mated’ (paired) at random.
2. Each pair of strings undergoes a crossover as follows: An integer k is
randomly selected between one and the length of the string less one, [l,L-l].
Swapping all the characters between positions k+1 and L inclusively creates
two new strings.
Example: If the strings lOOOO and OlllO are selected for crossover and the
value of k is randomly set to 3 then the newly created strings will be lOOlO and OllOO
as shown in Figure 2.

Figure 80:Illustration of Crossover

More complex crossover techniques exist in the form of Multi-point and

Uniform Crossover Algorithms. In Multi-point crossover, it is an extension of the single
point crossover algorithm and operates on the principle that the parts of a chromosome
that contribute most to its fitness might not be adjacent. There are three main stages
involved in a Multi-point crossover.
1. Members of the newly reproduced strings in the mating pool are ‘mated’
(paired) at random.

2. Multiple positions are selected randomly with no duplicates and sorted

into ascending order.
3. The bits between successive crossover points are exchanged to produce
new offspring.

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Example: If the string lllll and OOOOO were selected for crossover and the
multipoint crossover positions were selected to be 2 and 4 then the newly created
strings will be llOOl and OOllO as shown in Figure 3.

Figure 81: Illustration of Multi-Point Crossover

VI. Mutation
Using selection and crossover on their own will generate a large amount of
different strings. However, there are two main problems with this:
1. Depending on the initial population chosen, there may not be
enough diversity in the initial strings to ensure the Genetic Algorithm searches
the entire problem space.
2. The Genetic Algorithm may converge on sub-optimum strings due
to a bad choice of initial population.
These problems may be overcome by the introduction of a mutation operator into
the Genetic Algorithm. Mutation is the occasional random alteration of a value of a
string position. It is considered a background operator in the genetic algorithm The
probability of mutation is normally low because a high mutation rate would destroy fit
strings and degenerate the genetic algorithm into a random search.
Mutation probability values of around 0.1% or 0.01% are common, these values
55 represent the probability that a certain string will be selected for mutation i.e. for a
probability of 0.1%; one string in one thousand will be selected for mutation. Once a
string is selected for mutation, a randomly chosen element of the string is changed or
‘mutated’. For example, if the GA chooses bit position 4 for
Mutation in the binary string lOOOO, the resulting string is lOOlO as the fourth
bit in the string is flipped as shown in Figure 4.

Figure 82: Illustration of Mutation Operation

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CHAPTER 5: DESIGN MODEL

I. DESIGN TUNING PID-GA

PID control system consists of three ways such as P (proportional), D
(Derivative), and I (Integral),which each parameter has advantages and disadvantages.
In the implementation of each way can work alone or combined. In the design of PID
control system needs to be done is to set the parameters P, I, and D in order to the
response of the output signal of system against certain entries as desired. PID control
will correct error between the output with the input or settting point by caculating and
give correction output. In general , the PID controller has form of equation.

(3.1)
If equation (17) is converted to be PID controller transfer function, so that it will
become equation (18)

(3.2)
Plant in model PID-AG apply a simple equation. It consists of an actuator and
transfer function. Relation mechanic speed and torque of induction motor without load
can be used a transfer function passing Laplace transform. It is noticed by equation
(20).

(3.3)

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Table 1: Parameter genetic algorithm

Parameters Values
Population size
Maximum generation
Selection method
Crossover percentage
Extra range factor for crossover
Mutation percentage
Mutation rate

II. Model GA using MATLAB

Figure 83: Model of GA

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CHAPTER 6: RESULT AND DISCUSSION

I. Result simulation model in MATLAB

Figure 84: ω value after using genetic algorithm method

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Instructor: Tran Quang Tho, PhD

Figure 85: : Speed and Torque value

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Figure 86: dq scope

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Figure 87: Three phase current off stator Iabc

II. Discussion
The results showed that the GA method's speed response was good, the error set,
the GA method's jump was small, and the results also showed that the GA method gave
a low GA rate.

CHAPTER 7: CONCLUSION
The method of optimizing PID set parameters when using genetic algorithms has shown
advantages such as:

 Responds to ridiculously low overshoot.

 Fast response time, motor quickly returned to established state.
 Especially when using the speed estimation method to recover further
during the control process, the GA method helps to select the Kp and Ki
parameters of the speed regulator in the most optimal way so that the error
between meeting the desired output and the estimated output is the smallest..

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 The GA algorithm offers a set of Kp and Ki parameters suitable for
different levels of speed and load moment. This results in increased efficiency
when driving the engine in various speed and load zones within the allowable
power range..
 During the operation of the engine, at times of load changes, the jump as
well as the steep drop in quantities is negligible.

REFERENCES
[1] Nguyễn Thị Phương Hà, Lý thuyết điều khiển hiện đại, NXB Đại học Quốc gia Tp.
Hồ Chí Minh, 2010.
[2] Huỳnh Thái Hoàng, Hệ thống điều khiển thông minh, NXB Đại học Quốc gia Tp.
Hồ Chí Minh, 2006.
[3] Nguyễn Văn Nhờ, Cơ sở truyền động điện, NXB Đại học Quốc gia Tp. Hồ Chí
Minh, 2003.
[4] Nguyễn Phùng Quang, Truyền động điện thông minh, NXB Khoa học và Kỹ thuật,
2004.
[5] Ogata, Katsuhiko, Modern Control Engineering Fifth Edition. Prentice Hall
International,Inc. 2010.
[6] P. C. Crause, O. Wasynczuk , S. D. Sudhoff , Analysis of Electric Machinery and
Drive Systems second edition . IEEE Wiley Press. 2001.
[7] M.K Hassan, N.A.M Azubir, Nizam.H.M.I, S.F Toha, and B.S.K.K Ibrahim,
“Optimal Design of Electric Power Assisted Steering System (EPAS) Using GA-PID
Method”, International Symposium on Robotic and Intelligent Sensors 2012, Vol.
41,pp.614-621, 2012.
[8] Avneesh Mittal, Avinashi Kapoor, T.K. Saxena,” Genetic Algorithm Based Tuning
of Fixed Bias PID Controller for Nonlinear Constant Temperature Water Bath under
Load Disturbances”, Journal Automation & System Engineering, Vol.6-3.pp. 96-109,
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