In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
1, Mar
ch 20
19,
p
p.
117~
1
2
7
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
1.pp
1
17-
12
7
117
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Performance evaluation of a hybr
id fuzzy logic con
t
ro
ller based
on genetic algorithm for three
phase ind
uction mo
t
or d
rive
Ah
me
d
J. Ali
1
, Ziyad
K
.
Farej
2
,
N
a
s
h
wan
S
.
S
u
l
t
a
n
3
1,
3
D
e
p
a
rtm
e
n
t
of P
o
w
e
r Techn
i
ch
al E
ngineeri
n
g
, N
orth
ern T
echn
i
chal
Unive
rs
ity
,
Ira
q
2
Dep
a
rt
m
e
nt
o
f o
f
B
iom
e
di
cal Eng
in
eeri
n
g
,
No
r
th
ern T
echni
chal
Un
ivers
i
t
y
,
Iraq
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
c
e
i
v
e
d
Au
g
2
9
,
2
018
Re
vise
d N
ov
7
, 2018
A
c
c
e
pte
d
D
ec 18,
2
0
1
8
It
i
s
known
t
h
at
c
ont
r
olling
the
s
p
eed
o
f
a
t
h
ree
pha
s
e
I
n
ducti
on
Motor
(I
M)
under
diff
erent
operati
ng
c
o
nditio
ns
i
s
an
i
mpo
r
t
a
nt
t
ask
and
t
his
can
b
e
accom
p
lis
hed
t
h
ro
ugh
t
he
p
ro
ces
s
of
c
on
tro
lli
ng
t
h
e
app
lied
v
o
l
ta
ge
o
n
its
st
ato
r
c
ircuit.
Con
v
en
tio
nal
Prop
ort
i
on
al-
Integ
r
al-
D
i
f
f
e
reant
iona
l
(P
ID)
con
t
ro
ller
t
ak
es
l
o
n
g
t
i
m
e
i
n
s
e
lecti
n
g
t
h
e
error
si
gna
l
gain
v
alu
e
s
.
I
n
t
h
is
p
a
pe
r
a
hy
b
r
id
F
uz
z
y
L
og
ic
C
o
n
t
ro
lle
r
(
F
L
C)
w
it
h
Ge
ne
tic
A
lg
or
i
t
h
m
(G
A
)
is
p
roposed
t
o
reduce
th
e
sel
ected
tim
e
f
o
r
th
e
o
p
t
i
mized
e
rro
r
s
ig
na
l
ga
in
val
u
es
a
nd
a
s
a
res
u
l
t
i
nhan
ces
t
he
c
o
n
t
r
oll
e
r
an
d
sy
st
em
p
erf
o
rm
an
ce.
T
h
e
pro
p
o
s
ed
c
on
trol
ler
F
L
w
it
h
GA
i
s
d
esign
e
d,
m
od
e
l
ed
a
nd
sim
u
la
t
ed
u
si
ng
M
A
TLAB/
s
o
f
tw
are
un
der
d
i
fferen
t
l
oad
to
rque
m
oto
r
o
perating
co
nd
it
io
n
.
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e
s
i
m
u
lati
on
res
u
l
t
s
h
o
ws
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a
t
t
he
c
lo
sed
l
o
o
p
s
yst
e
m
p
e
rf
o
r
m
a
n
ce
ef
fici
ency
u
nder
th
e
cont
rol
l
er
h
as
a
m
axi
m
um
v
alu
e
o
f
95.
92%
.
In
t
erm
s
o
f
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fici
ency
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n
d
a
t
referen
ce
sp
eed
s
i
g
n
a
l
o
f
146
.53
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sec,
t
hi
s
s
y
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e
m
perf
o
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man
ce
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h
o
ws
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n
h
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cemen
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of
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n
d
0
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w
it
h
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t
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l
o
s
e
d
l
o
o
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s
ys
tem
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f
f
i
c
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en
cy
p
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rm
an
ce
of
t
he
P
ID
,
F
L
,
and
PI
D
with
G
A
cont
ro
l
l
ers
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p
ecti
v
e
l
y.
A
lso
t
h
e
sim
u
la
t
i
o
n
r
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l
t
o
f
t
h
e
w
e
l
l
des
i
g
n
ed
a
nd
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fficien
t
GA
i
n
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ng
up
t
h
e
p
ro
cess
of
s
electi
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g
t
h
e
g
a
i
n
val
u
es
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m
a
k
e
s
t
h
e
sy
st
em
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o
h
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ve
a
n
e
f
f
i
cien
cy
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m
p
ro
vem
e
nt
o
f
1
4
.
42
%
w
i
th
resp
ect t
o t
h
e o
p
en
lo
o
p
sy
s
t
em
p
erf
o
rm
an
ce.
K
eyw
ord
s
:
Fuz
z
y lo
g
i
c
co
ntr
o
l
l
e
r
G
e
ne
tic
al
gori
t
h
m
Ind
u
ct
i
on m
o
to
r
PID
c
o
ntro
ller
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
Ahm
e
d J.
A
li,
D
e
pa
rtme
nt
o
f
P
o
w
e
r Te
chn
i
c
h
al
E
ng
i
n
ee
ri
n
g
,
N
o
rther
n
Tec
h
n
i
c
ha
l U
n
i
v
er
si
ty,
Ira
q.
Em
ail:
ahm
e
de
m
71@
gma
i
l
.
com
1.
I
N
TR
OD
U
C
TI
O
N
Thr
ee-
phase
i
nduc
tio
n
mo
tor
s
h
ave
a
w
i
de
i
n
d
u
str
i
al
a
pp
lica
t
i
o
n
s
du
e
t
o
t
he
i
r
a
bil
i
t
y
f
or
w
or
k
i
n
g
un
der di
ffe
re
nt
e
n
v
ir
onme
n
t
a
l
o
p
er
at
i
o
n co
n
d
i
tio
ns.
A
l
s
o
t
he
a
t
trac
tive
fe
atures
(
s
u
c
h
a
s
hig
h
reli
ab
i
lit
y,
w
id
e
ra
n
g
e
o
f
sp
eed
v
ari
a
tion
,
l
ow
m
a
i
n
t
en
an
ce
re
q
u
i
r
e
m
e
n
t
s
a
nd
l
o
w
c
o
s
t
)
of
t
h
e
se
m
o
t
ors
ma
ke
t
he
m
the
preferr
e
d
ch
oi
ce
f
or
c
us
t
o
m
e
r
s
.
D
i
ffere
n
t
m
e
th
o
d
s
ha
ve
b
e
e
n
pro
p
o
sed
t
o
c
ontro
l
m
oto
r
s
peed
acc
ord
i
n
g
t
o
its ap
p
l
i
c
a
t
i
o
n impor
t
a
nce
.
O
ne
o
f
t
h
ese
si
m
ple an
d
c
o
m
m
on
m
e
t
h
o
d
i
s
t
o
c
ha
nge
t
he numbe
r o
f
s
ta
t
o
r po
l
e
s,
so
t
ha
t spe
e
d
va
l
ue ca
n
be doub
le
d,
(
i
n
an i
n
c
r
e
a
sing or dec
r
e
a
sin
g
m
atter
)
.
For
the ap
pl
ic
ati
o
ns t
ha
t
r
e
q
u
ire a
wide
r
an
ge
o
f
spee
d
fa
ct
or
v
aria
ti
o
n
,
the
app
lie
d
v
o
l
t
a
g
e
and
f
re
que
n
c
y
can
b
e
co
n
s
i
d
ere
d
a
n
e
fficie
n
t
me
tho
d
.
D
i
ffer
e
nt
t
y
p
es
o
f
c
l
a
s
sic
a
l
c
o
n
tr
o
l
l
e
r
had
bee
n
r
e
c
yc
l
e
d
t
o
a
d
ju
st
t
he
I
M
spee
d.
P
ID
c
ontro
l
l
e
r
i
s
c
o
n
s
i
d
e
r
e
d
o
n
e
o
f
t
h
e
m
o
s
t
c
o
n
v
e
n
t
i
o
n
t
e
c
h
n
i
q
u
e
t
h
a
t
h
a
d
b
e
e
n
u
s
e
d
t
o
c
o
v
e
r
t
h
e
s
p
e
e
d
o
f
t
h
e
m
o
t
o
r
s
d
u
e
t
o
i
t
s
s
i
m
pl
e
st
ruct
u
r
e
a
s
w
e
l
l
as
t
h
e
e
asy
un
d
e
rst
a
nd
ab
l
e
a
ct
i
o
n
of
i
t
s
p
a
r
amet
ers
(Pr
o
po
rtio
n
a
l
,
i
n
t
eg
ral
and
der
i
va
t
i
ve)
.
The
f
i
e
l
d-
orie
nte
d
c
o
n
tro
l
l
e
r
(F
O
C
)
is
a
c
omm
on
me
tho
d
o
pera
te
d
t
o
c
o
nt
rol
t
h
e
spe
e
d
of
t
he
in
duc
t
i
on
m
o
tor
,
w
her
e
t
he
m
otor
b
e
h
a
v
e
s
l
i
k
e
a
dc
m
otor.
A
cla
ssica
l
P
I
contro
l
l
er
(
th
a
t
i
s
fixe
d
i
n
t
he
forw
a
r
d
pa
t
h
f
or
t
rac
k
i
ng
t
h
e
m
o
t
o
r
spe
e
d
v
ariat
i
o
n
an
d
g
a
i
n
v
a
l
u
es
s
e
l
ec
ti
o
n
)
is
time
c
ons
umi
ng.
T
o
overc
ome
th
is
p
r
o
b
l
e
m
a
n
d
i
n
orde
r
to
o
b
t
ain
the
be
st
g
a
i
n
va
lu
e
,
t
he
P
I
contro
l
l
ed
g
e
n
et
ic
a
l
g
ori
t
h
m
h
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
11
7 –
12
7
11
8
b
e
en
u
sed
to
g
en
e
r
at
e
t
h
e
p
a
ramet
e
rs
o
f
t
h
e
PI
c
o
n
t
rol
l
e
r,
a
s
a
r
esul
t
t
h
e
t
i
m
e
require
d
to
s
elect
t
he
c
o
n
t
rol
l
er
gai
n
v
a
l
ue
s
is
r
e
duce
d
[
1]
.Th
e
m
ot
or
s
pee
d
c
a
n
a
ls
o
b
e
c
on
t
r
o
l
l
ed
b
y
v
a
rying
t
h
e
sta
t
or
v
ol
t
a
ge
w
h
e
re
t
he
deve
l
op t
o
r
que
i
s
di
r
e
c
t
l
y
p
r
o
por
t
i
o
n
al to
th
e
square
o
f th
e
ap
p
l
i
e
d
v
o
lta
g
e
.
The
vo
lta
ge source
i
n
v
er
t
e
r
(VS
I)
norm
a
l
l
y
use
d
t
o
var
y
t
he
s
up
p
lie
d
v
o
l
t
a
g
e
of
t
he
i
n
d
u
c
tio
n
m
o
t
or,
w
h
e
r
ea
s
F
L
C
h
a
d
be
en
i
ntr
o
d
u
c
e
d
t
o
enha
nc
e
the
sy
stem
per
form
ance
ba
s
e
d
on
dire
ct t
orqu
e
an
d
fl
u
x
co
nt
rol
met
h
od
s [2
].
The
m
a
i
n
p
ro
blem
f
or
c
o
n
tr
ol
l
i
n
g
the
spe
e
d
of
I
M
i
s
n
on
l
i
near
i
t
y
be
hav
i
or
o
f
flu
x
d
ue
t
o
c
o
re
sat
u
rati
o
n
a
t
hi
gh
ma
g
n
e
tiza
t
i
on
c
u
rre
nt
s
pe
cial
l
y
a
t
s
t
art
i
n
g
or
d
uri
ng
he
a
v
y
mo
t
o
r
loa
d
i
n
g.
A
d
ire
c
t
tor
que
con
t
ro
l
m
e
t
h
od
(
D
T
C)
w
i
t
h
F
L
C
ha
s bee
n
c
on
s
i
der
e
d to im
p
rove
t
h
e
per
f
orm
a
nce
of
m
otor
o
per
a
t
i
o
n
.
A
dua
l
F
L
C
a
r
e
u
s
e
d
t
o
g
e
t
a
c
c
u
r
a
t
e
p
e
r
f
o
r
m
a
n
c
e
f
o
r
t
h
e
d
e
v
e
l
o
p
t
o
r
q
u
e
a
n
d
mot
o
r
sp
eed
.
A
c
l
a
ssi
c
a
l
PI
c
o
n
t
ro
ll
er
had
be
en
u
se
d
t
o
r
ed
uce
t
h
e
ge
nera
te
d
ri
pp
le
s
w
i
t
h
t
he
d
e
v
e
l
o
p
t
o
rque
a
nd
m
ot
or
s
pee
d
b
eca
use
of
i
nve
r
t
er
harm
on
ics
[3].
A
quan
t
um
l
i
g
h
tin
g
sear
ch
a
lg
ori
t
hm
(
Q
L
S
A
)
w
i
th
part
i
c
le
s
w
a
r
m
optim
iza
tio
n
(PSO)
had
bee
n
s
t
u
d
i
ed
i
n
co
nj
u
n
ct
ion
w
ith
b
ac
ktra
c
k
in
g
sea
r
ch
a
l
g
ori
t
hm
(
B
S
A
)
to
o
b
t
a
i
n
t
h
e
o
p
t
i
m
a
l
va
l
u
es
f
or
t
he
con
v
e
n
t
i
ona
l
P
I
a
nd
P
I
D
c
ontr
o
ller
s
.
The
o
p
t
i
m
i
ze
d
ga
in
v
a
l
ue
s
are
u
s
ed
t
o
i
m
p
r
ov
e
t
h
e
i
ndu
c
t
io
n
mo
t
o
r
spee
d
c
o
nt
r
o
l
pe
rfor
ma
nce
[
4
].
A
mong
the
di
ffere
n
t
m
e
t
h
o
d
s
w
h
ic
h
ar
e
used
t
o
c
ont
rol
t
h
e
s
p
ee
d
of
t
h
e
in
duc
t
i
on
m
ot
or,
th
e
v/
f
m
e
t
h
o
d
w
a
s
c
on
si
dere
d
the
pr
efe
rred
on
e
o
v
e
r
o
t
h
ers
beca
use
of
its
a
bil
i
t
y
t
o
va
r
y
the
m
o
t
o
r
s
p
e
e
d
over
w
i
de
r
a
nge
c
ompar
e
d
w
ith
o
ther
t
y
p
e
s.
A
s
i
n
us
oi
d
a
l
P
u
lse-W
i
dt
h
M
o
d
u
l
a
t
i
o
n
(P
WM)
tech
n
i
q
u
e
w
a
s
use
d
t
o
fee
d
t
he
V
S
I
.
D
u
e
t
o
t
he
i
r
s
im
ple
struc
t
u
re
,
the
P
I
a
nd
F
L
c
on
t
r
o
l
le
rs
w
e
r
e
u
s
ed
t
o
in
ves
tiga
t
e
t
h
e
op
e
r
a
t
i
o
n pe
rfo
r
m
a
nc
e of the
I
M i
n
ope
n l
o
o
p
sy
st
e
m
a
nd
cl
ose
d
lo
o
p
sys
te
m
[5]
.
The
P
I
D
con
t
rol
l
e
r
h
a
d
b
e
e
n
used
t
o
r
e
duce
t
h
e
e
f
fe
ct
o
f
t
h
e
di
st
urbanc
e
ass
o
cia
t
e
d
w
it
h
con
v
e
n
t
i
ona
l
c
o
n
t
ro
lle
r.
A
lso
the
s
p
ee
d
o
f
a
t
hre
e
p
hase
I
M
w
a
s
c
on
tro
lle
d
thr
oug
h
a
ve
c
t
o
r
c
o
n
t
r
o
l
ba
se
d
o
n
FL
t
ec
hni
qu
e
.
T
h
e
o
b
t
ain
e
d
re
sul
t
s
sho
w
t
he
f
uz
zy
l
og
i
c
c
o
n
t
r
ol
l
e
r
abi
l
ity
t
o
ov
e
r
co
me
t
h
e
p
ro
bl
e
m
s
wh
i
c
h
occ
u
r
w
i
t
h
t
h
e
c
la
ss
ica
l
P
I
D
c
on
t
r
o
ller
[6]
.
N
eura
l
n
e
tw
ork
co
n
troller
(NNC)
have
a
w
ide
range
of
app
l
ica
t
i
o
ns
i
n
the
fie
l
d
o
f
e
le
ctric
m
achi
n
e
'
s
spe
e
d
c
o
n
t
ro
l.
The
op
e
r
ati
o
n
of
t
he
I
M
is
s
tu
di
ed
u
nde
r
the
e
f
f
e
c
t
o
f
e
x
t
e
rn
al
d
i
s
tu
rb
an
c
e
,
t
h
e
mo
d
e
l
ex
pl
ai
ns
t
h
e
s
t
a
b
i
li
t
y
w
h
e
n
t
h
e
f
e
e
d-f
o
rw
ar
d
neuro
c
ontr
o
l
l
er
i
s
use
d
.
Then
a
n
e
u
ro-fuz
z
y
c
ontr
o
ller
is
i
n
t
r
o
duce
d
t
o
i
m
p
l
e
m
ent
a
vec
t
or
c
on
tro
l
led
f
o
r
the
t
h
r
ee
p
h
as
e
IM.
Th
e
re
su
lt
s
show t
h
e
f
l
e
x
i
bi
lity
o
f
t
h
e n
e
u
r
o
-
f
u
zzy
con
t
r
ol
l
e
r
in c
ompa
riso
n
w
ith
o
the
r
s [
7
].
F
L
C
ha
d
bee
n
used
t
o
c
o
ntro
l
the
o
p
e
r
at
i
on
of
a
3
-
Φ
I
M,
t
hr
oug
h
t
h
e
se
l
ecti
o
n
o
f
t
he
d
ut
y
c
y
cle
fo
r
t
h
e
P
W
M
.
T
h
e
o
u
t
p
u
t
p
e
r
f
o
r
m
a
n
c
e
o
f
t
h
e
I
M
w
i
t
h
t
h
e
F
L
c
o
n
t
r
o
l
l
e
r
ha
s
bee
n
i
nv
est
i
ga
te
d
un
de
r
th
e
di
st
urba
nce of t
he
a
pp
l
i
ed
e
xt
er
na
l
l
o
ad
torq
u
e
[8]
.
F
u
zz
y log
ic
co
n
t
rol
l
er als
o use
d
w
i
t
h a su
dde
n
c
h
an
ges
i
n
loa
d
o
r
spee
d
con
d
iti
on
s.
A
lt
ho
u
gh
sca
l
er
a
nd
vec
t
o
r
c
o
n
t
rol
me
t
hods
h
a
v
e
bee
n
u
se
d
t
o
a
d
j
ust
t
h
e
s
p
ee
d
o
f
ma
chine,
v
e
c
t
or
c
o
n
t
r
o
l
m
e
t
h
o
d
(
w
h
ic
h
c
o
ns
ist
o
f
d
ire
c
t
an
d
in
d
irec
t
fie
ld-orie
n
te
d
te
chn
i
que)
has
be
e
n
w
i
de
ly
u
se
d
by
m
a
ny
a
u
th
ors
as
a
n
adva
nce
d
m
e
t
hod
t
o
o
bt
ain
a
n
ac
cura
t
e
c
on
t
r
ol
f
or
t
he
s
peed
o
f
t
h
e
moto
r
and
m
i
ni
m
i
ze
t
h
e
IM
p
erfor
m
ance
e
rr
or
[
9]
.
An
e
xp
eriment
a
l
real
t
im
e
con
t
rol
is
c
o
n
sid
e
red
in
t
he
p
rocess
of
m
o
d
e
lin
g
,
s
i
m
u
l
a
t
in
g
an
d im
pl
e
m
enti
ng
th
e
s
tru
c
t
u
re
o
f
an
I
M
sy
stem [10
]
.
D
u
e
t
o
its
g
o
o
d
qua
l
ity
o
u
t
p
u
t
vol
ta
ge
a
n
d
c
us
tomiz
e
d
f
as
t
sw
it
c
h
in
g
five
s
ta
ge
N
P
C
inv
e
r
ter
is
u
se
d
by [11]
t
o dr
iv
e
the
i
n
d
u
c
t
i
o
n
m
o
tor us
i
ng f
i
e
l
d
orie
nta
t
io
n co
nt
rol
st
rat
e
gy
. Th
i
s st
ra
t
e
gy
i
s u
s
e
d
t
o
overc
o
m
e
t
h
e
d
r
a
w
b
ack
s
(f
as
t
swit
c
h
i
ng
l
o
ss
es
a
n
d
hi
gh
l
ev
el
h
a
r
mo
ni
c
wi
t
h
d
i
s
t
o
rt
e
d
out
put
volt
a
ge
)
o
f
t
h
e
c
o
n
t
ro
ll
ed
tw
o
le
vel
i
n
v
e
r
t
er.
T
he
a
u
t
hors
in
[
1
2
]
ha
ve
s
ug
g
e
s
t
a
new
str
a
te
g
y
b
a
s
ed
o
n
the
ar
ti
fi
cia
l
n
eur
a
l
n
e
twor
k
wi
t
h
d
i
re
c
t
t
o
r
qu
e
co
nt
rol
t
o
reduc
e
t
h
e
ef
fe
ct
o
f
t
h
e
p
r
o
b
l
e
m
(
h
ig
h
cur
r
en
t,flux
a
n
d
tor
q
u
e
r
ip
ple
as
w
e
l
l
as
f
lu
x
con
t
ro
l
a
t
v
er
y
l
o
w
spe
e
d)
w
hic
h
p
r
e
sen
t
i
n
t
h
e
c
o
n
v
e
n
t
i
ona
l
d
i
rec
t
t
or
que
c
on
tro
l
.
In
r
efe
r
enc
e
[
1
3
]
a
pred
ic
at
ive
m
o
del
r
e
fe
re
nc
e a
d
ap
t
i
ve sys
tem
(
P
MRA
s
)
r
o
t
o
r
spee
d
obser
v
e
r i
s
pro
po
sed
to pro
duc
e t
h
e motor
pos
it
io
n
mor
e
a
c
c
ura
t
e
an
d
m
i
nim
i
z
e
s
t
h
e
tu
nin
g
e
rror
of
s
pe
ed
si
gn
al
.
Th
e
re
sul
t
of
t
h
i
s
ob
s
e
rv
e
r
i
s
c
o
nfi
r
me
d
by
s
i
m
u
l
at
io
n
and
sho
w
e
d
a
g
ood
d
yn
a
m
i
c
p
e
r
f
o
rman
c
e
i
n
te
rm
s
of
r
otor
s
peed
a
n
d
p
osit
io
n
a
t
low an
d
ze
ro spee
d
s.
D
i
ffer
e
n
t
s
t
r
a
t
e
gie
s
f
or
s
pee
d
c
o
n
t
rol
of
t
h
r
e
e
pha
se
I
M
ha
ve
b
e
e
n
u
se
d
d
e
pe
nd
i
ng
o
n
t
he
r
eq
uired
a
p
p
l
i
c
a
t
i
o
n
.
F
i
r
s
t
a
c
l
a
s
s
i
c
a
l
m
e
t
h
o
d
s
a
r
e
u
s
e
d
t
o
c
o
n
t
r
o
l
t
h
e
ro
t
a
ti
on
o
f
t
h
e
mo
to
r
f
o
r
ap
pli
c
at
ion
t
h
at
r
eq
ui
re
sma
l
l
de
gr
ee
o
f
a
ccur
a
te
r
o
t
at
io
n.
V
ol
tage
a
nd
fre
que
nc
y
c
o
n
t
ro
l
(
V
/
f
)
i
s
c
o
n
s
i
d
e
r
e
d
t
h
e
m
o
s
t
c
o
m
m
o
n
u
s
e
d
me
tho
d
i
n th
is
f
ie
l
d
t
o ad
j
u
st
t
he
d
y
n
am
ic pe
r
for
m
a
n
ce of
t
he
m
ot
o
r
a
n
d
als
o t
h
e bes
t
w
a
y
t
o o
b
t
ai
n a u
n
i
f
orm
fl
u
x
d
uri
ng
th
e
oper
a
ti
on.
F
or
i
nd
us
tria
l
a
p
p
lic
at
io
n
w
h
e
r
e
the
c
ha
n
g
e
o
f
s
pee
d
a
n
d
t
orq
u
e
is
a
n
impor
tan
t
fa
ct
or,
i
t
i
s
ve
ry
n
e
cessar
y
t
o
have
a
n
e
f
fic
i
e
n
t
a
nd
a
c
c
u
r
a
te
c
o
n
t
r
o
ller
.
N
o
w
d
ays
ine
l
ega
n
t
tech
n
i
q
u
e
s
li
ke
fuz
z
y
,
ne
ural
a
nd
g
e
n
e
t
i
c
m
e
t
ho
do
l
o
g
y
a
r
e
u
se
d
t
o
o
b
t
a
i
n
a
be
tt
e
r
c
o
n
tr
ol
ler
per
f
or
ma
nce
t
o
c
o
n
t
r
ol
t
he
elec
tr
ic
m
ach
i
n
es.
In
t
h
i
s
p
a
per
t
h
e
sp
eed
o
f
t
h
e
IM
i
s
co
nt
rol
l
e
d
b
y
v
a
r
y
i
n
g
t
h
e
s
t
a
t
o
r
v
o
l
t
a
g
e
.
A
a
3
-
p
h
a
s
e
v
o
l
t
a
g
e
s
o
u
r
c
e
i
n
v
e
r
t
e
r
(
V
S
I
)
w
i
t
h
(
S
P
W
M
)
i
s
u
s
e
d
t
o
c
o
n
t
r
o
l
t
h
e
mot
o
r
s
u
pply
vo
lt
ag
e
b
y
c
o
n
t
rol
l
i
ng
t
h
e
app
l
ied
f
i
r
i
n
g
a
ng
le
t
o
t
h
e
p
o
w
e
r
electro
ni
c
dev
i
ce
s.
T
he
w
idth
o
f
t
r
ig
ge
ri
ng
p
ul
se
s
on
t
h
e
d
riv
e
c
i
r
c
u
it
a
re
tu
ne
d
based
o
n
t
h
e
d
i
ffe
renc
e
be
tw
e
e
n
t
h
e
re
fer
e
nce
a
n
d
o
u
t
p
ut
s
i
g
n
a
l
s
.
T
h
e
e
r
r
o
r
s
i
g
n
a
l
h
a
s
b
e
e
n
f
e
d
t
o
t
h
e
in
put
s of t
he
d
esigne
d P
I
D a
nd F
L
contro
ll
ers
w
i
t
h
G
A
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Perf
orm
a
nc
e eval
u
at
ion o
f
a hyb
r
i
d
f
u
zzy lo
gic co
n
t
r
o
l
l
er
base
d
o
n
ge
net
i
c
al
g
o
r
i
t
h
m
… (Ahm
e
d
J.
Ali)
11
9
2.
MODELING OF THR
E
E-PHASE IND
U
CT
ION M
O
TOR
Tw
o
t
y
pes
(
e
l
ectr
i
c
a
l
a
nd
m
echa
n
ica
l
)
o
f
e
qua
t
i
o
n
s
are
i
n
vo
l
v
ed
i
n
the
m
odel
i
ng
pr
oc
e
sses
o
f
t
h
e
three
p
h
ase
I
M
.
The
el
ectr
i
c
a
l
(1)-
(6)
re
prese
n
t
t
h
e
mode
lin
g
o
f
r
e
l
a
t
i
o
n
b
e
t
w
e
e
n
t
h
e
e
l
e
c
t
r
i
c
a
l
s
t
a
t
o
r
para
me
ters
,
r
otor
p
ar
am
eters
and
t
h
e
m
u
t
u
a
l
e
ffec
t
be
tween
t
he
m
,
w
h
e
re
as
(
7)
c
la
rify
t
he
m
ode
lin
g
of
t
he
deve
l
ope
d
elec
t
r
ica
l
tor
que
re
l
at
ion
s
h
i
p.
V
i
r
j
w
φ
(1
)
V
i
r
j
w
w
φ
(2
)
φ
L
i
L
i
(3
)
φ
L
i
L
i
(4
)
L
L
L
(5
)
L
L
L
(6
)
T
T
J
(7
)
wher
e:
V
s
,
is
a
nd
rs
r
epr
e
sen
t
t
he
s
ta
tor
vol
tage
,
c
u
r
r
ent
a
nd
re
si
sta
n
c
e
re
sp
ect
i
v
el
y
.
V
r
,i
r
a
nd
rr
represent
the
rotor
vo
lta
ge,
curr
ent
a
n
d
re
sis
t
a
n
ce
r
espec
t
i
v
e
l
y.
L
s
L
l
s,
L
r
Llr
an
d
Lm
a
re
t
he
s
t
a
to
r
,
r
oto
r
a
nd
mutu
a
l
in
duc
ta
nce
s
re
s
pe
ct
i
v
e
l
y. J is
t
h
e a
l
l
mom
e
n
t
of iner
t
i
a
of
t
h
e
rotor an
d
l
oa
d, P
i
s t
h
e
num
ber of po
l
e
pai
r
s,
TL
is
t
he loa
d
t
o
rq
ue.
The
para
me
ters of t
h
e
IM that ha
ve
b
ee
n
sim
u
l
at
e
d
in
c
u
rren
t
p
ap
er ar
e
g
i
v
en
in
Tabl
e 1
.
Tab
l
e
1.
T
he pa
r
am
ete
r
s of
t
hr
ee
phase
i
n
duc
tio
n
motor
pa
ram
e
t
e
rs
v
a
l
u
e
s
pa
r
a
m
e
te
rs
v
a
l
u
e
s
P
in
[
K
W]
4
.
028
L
r
[
H
]
0
.
0058
4
V[
V
]
2
2
0
L
m
[
H
]
0
.
1722
f [Hz
]
5
0
R
s
[Ω]
1
.4
0
5
L
s
[H]
0
.
0058
4
R
r
[Ω]
1
.3
9
5
co
s
ɸ
n
0
.
8
J
n
[
kg.
m
2
]
0
.
065
F
c
[N.m
.
s
/
r
d]
0
.
0029
8
P
4
3.
SPWM
M
ET
HOD
P
W
M
met
h
ods
h
a
v
e
usu
a
ll
y
u
s
ed
i
n
vol
t
a
g
e
s
ou
rc
e
an
d
cu
rren
t
s
ou
rc
e
inve
rter
t
o
fed
A
C
m
ot
or
dri
v
es.
In
t
h
i
s
w
o
r
k
,
a
si
nu
so
ida
l
p
u
l
se
w
i
d
th
m
od
ula
t
i
o
n
(S
P
W
M
)
tec
h
n
i
que
h
as
b
e
e
n
s
elec
ted
to
g
en
er
at
e
t
h
e
s
w
it
ch
ing
si
gn
al
s..
Th
is
m
e
t
hod
i
s
u
s
ed
i
n
many
t
yp
e
s
o
f
in
du
str
i
al
a
p
p
lica
t
i
ons. Wh
i
l
e
t
he
c
ontro
l v
a
riet
y
for
its
m
o
d
u
l
a
t
i
o
n
i
n
de
x
is
m
ode
ra
tel
y
f
ine
,
SPWM
is
a
m
odes
t
m
eth
o
d
a
nd
ha
s
w
e
ll
t
ra
ns
i
e
n
t
r
esp
ons
e.
A
hi
gh-
fre
q
uenc
y
tria
n
g
le
c
a
rrier
s
ig
na
l
i
s
c
om
par
e
d
w
ith
a
t
hre
e
p
h
a
se
s
i
n
u
s
oid
a
l
si
gn
al
f
ro
m
suppl
y
fre
que
nc
ies
a
s
e
xp
ose
d
i
n
F
i
g
u
re
1
.The
p
ow
e
r
p
la
ns
i
n
sep
a
r
a
tel
y
ph
a
s
e
a
r
e
ex
c
h
an
g
e
d
o
n
at
t
h
e
c
onnec
t
i
on
po
int
s
o
f
the
s
i
ne
w
ave
a
nd
tr
ian
g
l
e
w
a
ve.
T
h
e
mod
u
l
at
i
o
n
i
n
de
x
w
h
i
ch
i
s
g
i
v
e
n
by
t
he
r
ati
o
o
f
t
h
e
c
a
r
r
i
er
am
plit
ud
e
to
s
inus
o
i
dal si
g
n
al
a
mplit
u
d
e is u
se
d
t
o
dec
ide
t
h
e
val
u
e
of the
outp
u
t v
o
l
t
a
ge
.
Mi=
(
8
)
Where
Ae
is th
e
carrier
a
m
p
lit
ude
a
n
d
A
ris
th
e sin
u
so
ida
l
s
igna
l
am
pl
itu
de
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
11
7 –
12
7
12
0
F
i
gure
1.
S
P
W
M w
a
ve form
4.
T
H
E PID
CO
NTROLLER
A
c
onve
nti
o
n
P
ID
c
on
tro
ller
pla
y
s
an
i
m
p
or
tan
t
r
ole
in
v
ar
i
o
us
c
o
nt
rol
pro
c
e
sse
s.
I
t
i
s
m
a
i
n
l
y
u
s
ed
to
r
ed
uc
e
or
e
l
i
mina
te
t
he
s
t
e
ady-s
t
ate
error
of
t
he
s
ys
tem
re
s
ponse
an
d
a
s
a
r
e
s
ult
i
t
i
mpr
o
ves
t
h
e
dy
n
a
m
i
c
beha
v
i
or
o
f
th
e
system
.
S
o
t
he
p
ro
por
ti
ona
l
p
a
rt
o
f
t
h
e
co
ntr
o
l
ler
e
nha
nc
e
s
t
he
t
r
a
nsie
n
t
s
tep
r
e
sp
onse
of
t
he
sy
st
em
(ri
si
ng
t
i
m
e,
s
t
ead
y
stat
e
erro
r),
t
h
e
d
e
riv
a
tiv
e
p
a
r
t
o
f
the
c
o
ntro
l
l
er
i
n
c
re
ases
a
l
im
i
t
e
d
z
ero
t
o
t
h
e
ope
n
-
lo
o
p
p
l
a
nt
t
r
a
ns
fe
r
fu
nct
i
on
a
n
d
imp
r
oves
t
h
e
trans
i
en
t
resp
on
se(
overs
ho
o
t
,
risi
ng
t
i
m
e
,
se
ttl
i
n
g
tim
e
and
pea
k
t
ime
)
.
While
t
he
i
nte
g
ral
part
a
d
d
s
a
p
o
l
e
a
t
t
he
o
r
i
g
in,
w
h
ic
h
ad
d
one
t
o
the
s
ys
t
e
m
t
ype
a
n
d
t
hus
the
s
t
e
a
d
y
-sta
t
e
e
r
r
or
f
or
a
s
te
p
i
n
pu
t
f
unc
t
i
o
n
w
il
l
be
r
e
duce
d
t
o
z
e
r
o.
T
he
g
e
n
era
l
f
or
mula
f
or
t
h
e
P
I
D
con
t
ro
l
l
er
i
s
defi
ne
d
as:
P
I
D
=
K
P
+
K
I
/
S
+
K
D
S
(
9
)
w
h
er
e
t
h
e
c
o
n
t
rol pa
ram
e
te
rs K
P
,
K
I and K
D
a
re the
p
r
opor
tio
na
l
f
a
c
t
o
r,
t
h
e
i
n
t
eg
ral
f
act
o
r
a
nd
t
h
e
d
eri
v
at
iv
e
fa
ct
or c
orre
spo
n
d
i
ng
ly.
The
bl
ock
dia
g
r
a
m
of
P
I
D
c
ont
r
o
ller
as
show
n in F
igur
e 2.
F
i
g
u
r
e
2
. The
bl
o
c
k
d
i
a
gram
of P
I
D c
ont
r
o
ll
er
D
i
ffere
n
t
m
e
t
h
ods
h
a
v
e
be
e
n
u
se
d
to
c
a
l
c
u
la
te
t
he
c
o
n
tr
ol
le
r
pa
ram
e
ter
s
l
i
k
e
trial
an
d
er
ror
m
e
th
od,
Zie
g
ler-
N
i
ch
o
l
s
me
th
o
d
a
nd
ano
t
h
er
m
odern
a
lg
ori
t
hm
s [1]
,
[
14]
.
5.
DESIGN OF
FU
Z
Z
Y LO
GIC C
O
NTROLLER (FLC)
I
n
t
h
i
s
paper
the
fuzz
y
log
i
c
c
ontro
l
l
er
(
FLC)
i
s
car
efu
l
l
y
d
es
i
g
n
e
d
wi
t
h
t
wo
i
np
ut
s
an
d
o
n
e
o
utp
u
t
.
The err
o
r
e
(
t) and c
h
a
n
ge o
f e
r
r
o
r
∆e
(t) are
consi
d
er
ed as i
n
pu
t
s
i
gna
l t
o
t
h
i
s
F
L
C.
T
he
o
u
t
p
u
t
s
i
g
na
l
has been
f
e
e
d
t
o
th
e
3-p
h
a
se
V
SI
t
o
c
o
n
t
ro
l
th
e
ap
pli
e
d
volt
a
g
e
t
o
t
h
e
I
M
te
r
m
inals.
T
he
l
i
n
gu
ist
i
c
vari
able
s
(N,
N
B,
NS
,
Z
,P
,
P
S
,
P
B
)
a
nd
the
fuzz
y
ru
les
ar
e
def
i
n
e
d
a
n
d
s
u
mm
a
rized
i
n
Ta
ble
2.
T
h
e
t
r
i
a
ngu
la
r
m
e
m
b
e
r
shi
p
f
u
n
c
ti
on
s
a
r
e
cho
s
en
t
o
rep
r
e
s
ent
t
h
e
in
put
(
erro
r
a
n
d
ch
a
n
g
e
in
e
rr
or
s
ig
nal
s
)
for
th
is
f
uz
zy
l
og
i
c
con
t
ro
l
l
er.
A
n
appr
opria
te
sca
l
e
ra
nges (
-
100
to 10
0
for
e(t) a
nd
-50 to 50
for ∆
e
(t))
a
r
e
sel
ected.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Perf
orm
a
nc
e eval
u
at
ion o
f
a hyb
r
i
d
f
u
zzy lo
gic co
n
t
r
o
l
l
er
base
d
o
n
ge
net
i
c
al
g
o
r
i
t
h
m
… (Ahm
e
d
J.
Ali)
12
1
Ta
bl
e
.
2
. Fu
z
zy
l
ogi
c
co
nt
rol
l
e
r
r
u
l
e b
a
se
e/
∆
e
N
B
N
NS
Z
E
PS
P
P
B
NB
N
B
N
B
N
B
NB
N
N
S
Z
E
N
NB
N
B
NB
N
N
S
ZE
P
S
N
S
N
B
NB
N
N
S
ZE
P
S
P
ZE
N
B
N
NS
Z
E
PS
P
P
B
PS
N
N
S
Z
E
PS
P
PB
P
B
P
N
S
Z
E
P
S
P
P
B
PB
P
B
PB
Z
E
PS
P
P
B
P
B
P
B
P
B
Z
=z
e
r
o
, N
=
n
ag
et
i
v
e,
N
B
=
n
ag
eti
v
e
b
i
g
, NS
=
n
ag
e
t
i
v
e
s
m
al
l
P =
posi
tive, PB
= posi
tive
big, P
S =
positive
s
m
a
ll
6.
GENETIC
ALGOR
ITHM (GA
)
G
e
net
i
c
al
g
o
rit
h
m
ha
s
a
w
i
d
e
a
pp
li
cat
i
on
in
c
o
n
t
r
ol
p
r
o
c
e
ss
bec
au
se
o
f
its
a
bi
lit
y
t
o
w
or
k
as
a
n
op
tim
iza
t
i
o
n
t
o
ol
i
nstea
d
of t
h
e
c
o
n
v
e
n
t
i
ona
l
con
t
ro
l
t
y
pe.
G
A
tec
h
niq
u
e
is
c
on
side
red
as
a
n
ada
p
ti
ve
m
e
t
ho
d
for
se
arc
h
i
ng
the
so
lut
i
on
of
d
i
ffic
u
l
t
p
r
o
b
l
e
m
s
w
h
ere
it
can
b
e
c
o
mb
i
n
e
d
w
ith
o
t
h
er
i
nt
ell
i
gen
t
m
et
ho
ds.
It
con
s
is
t
s
o
f
m
a
ny
s
ol
u
tio
n
s
t
e
p
s
l
i
k
e
,
I
n
itia
l
po
p
u
l
a
t
i
o
n
,
C
r
o
s
s
over
,
S
elec
tio
n,
M
u
t
a
t
i
o
n,
F
i
t
ne
ss
fu
nc
t
i
o
n
a
n
d
St
o
ppi
ng
c
ri
t
e
ri
a
[1
],
[
15
].
D
u
e
t
o
th
e
d
r
awb
a
ck
(
l
ong
ti
me
t
o
se
lec
t
t
he
g
a
i
n
va
l
u
es)
o
f
c
onve
nti
ona
l
met
h
od
s,
GA
h
a
s
b
e
en
e
ffe
ct
iv
el
y
u
s
ed
t
o
d
e
t
e
rmi
n
e
t
h
e
con
t
rol
l
er
p
ar
a
m
eters
va
lue
.
GA
is
u
se
d
i
n
t
he
curr
ent
w
o
r
k
t
o
se
lec
t
t
he
o
p
t
im
ized
(
error
and
c
h
ange
o
f
err
o
r
)
gain
v
a
l
ue
s
of
t
he
f
uz
zy
l
o
g
i
c
c
o
n
t
r
oller
.
Tab
l
e
3 show
s
the
se
lec
t
e
d
va
l
ue
o
f
the
par
a
m
e
ters
t
ha
t ar
e u
s
e
d
i
n
thi
s
GA.
Tab
l
e 3.
Ge
n
etic a
lgor
it
hm
pa
r
am
eter
s
Pa
r
a
m
e
te
rs
V
a
l
ue
s
Nu
m
b
e
r
o
f
string
(
p
opul
a
tion)
4
0
N
u
m
b
e
r
o
f
ge
n
e
r
a
t
i
ons
5
0
P
r
oba
bilit
y of c
rossove
r
(P
c
)
1.
0
Proba
bili
ty
of
m
u
ta
tion (P
m
)
0.
0
1
7.
HYB
R
ID
C
ONT
R
OLLER DES
I
G
N
Th
e
c
l
assi
ca
l
t
r
y
an
d
e
r
ro
r
met
h
od
(wh
i
ch
i
s
a
p
pl
i
e
d
to
s
e
l
ect
t
he
p
a
r
am
eter
v
alues
of
t
he
P
ID
con
t
ro
l
l
er
a
nd
F
L
c
ontr
o
l
l
e
r
g
ai
ns)
re
quir
e
s
a
lo
ng
c
omp
u
t
a
ti
o
n
tim
e
an
d
c
a
nn
o
t
p
r
o
duc
e
the
op
t
i
m
a
l
re
sults
.
The
ge
ne
t
i
c
o
p
t
im
iz
at
i
on
a
l
go
rit
h
m
c
a
n
be
d
e
s
i
gne
d
a
nd
progra
m
e
d
t
o
g
e
t
a
n
o
p
t
im
al
c
o
n
tr
ol
ler
pa
ram
e
te
rs.
Th
is
a
lg
or
ithm
c
a
n
be
u
se
d
t
o
s
ear
ch
t
he
b
es
t
P
I
D
a
nd
F
L
c
on
tro
l
l
er
p
a
r
am
eter
s
ga
in
v
a
l
ue
,
wh
ich
lea
d
s
t
o
a
bet
t
er
p
e
r
for
m
a
n
ce
c
o
nt
r
o
l
s
y
s
t
em
a
n
d
e
li
m
i
na
te
t
he
l
o
n
g
c
om
p
u
t
a
t
i
o
n
t
i
me
f
or
g
a
i
ns
d
e
t
erm
i
na
t
i
o
n
.
The
op
tim
iza
t
i
o
n
g
e
net
i
c
a
l
go
r
i
t
h
m
is
p
ro
gram
ed
u
si
n
g
M
A
T
L
A
B
so
ftw
a
re
p
ac
kage.
T
h
e
s
t
eps
of
i
m
p
lem
e
nt
in
g
the h
y
b
ri
d
alg
o
r
ithm
of P
ID
w
i
t
h F
L
c
ont
r
o
ll
er
are
e
xpla
i
ne
d by
t
he f
l
o
w
c
hart
s
h
o
w
n
i
n
F
i
gure
3
.
F
i
gure
3
. F
low
c
ha
rt of h
y
b
ri
d
contr
o
l
l
ers
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
11
7 –
12
7
12
2
8.
SIMU
L
A
TION
R
ES
ULT
S
AN
D
ANALYS
I
S OF
T
HE PROPO
S
E
D HYBRI
D
CONTRO
L
SY
S
T
E
M
Base
d
on
M
A
TLA
B/S
i
m
u
lin
k
s
o
ftw
a
re
a
3
-p
hase
I
M
dr
ive
n
b
y
V
S
I
ha
s
be
e
n
m
odele
d
a
n
d
si
m
u
late
d
as
s
how
n
i
n
F
ig
ure
4
.
T
w
o
t
ype
s
P
I
D
a
n
d
F
L
o
f
c
l
ass
i
c
a
l
c
o
n
t
r
o
l
l
e
r
h
a
v
e
b
e
e
n
u
s
e
d
i
n
t
h
e
f
e
e
d
-
bac
k
l
oop
to
a
dj
us
t
t
h
e
d
yna
m
i
c
pe
rfor
m
a
n
ce
para
me
t
e
rs
(
deve
lo
p
t
or
qu
e
and
r
o
tor
s
p
eed)
of
t
he
i
n
d
u
c
t
io
n
mo
t
o
r.
A
g
e
n
et
i
c
a
lg
o
r
i
t
h
m
has
b
een
i
n
t
rodu
c
e
d
to
s
p
eed
u
p
th
e
ga
in
s
e
l
ect
i
o
n
pr
oc
ess
e
s
an
d
i
m
pro
v
e
t
he
beha
v
i
or
o
f
t
h
e
con
v
e
n
t
i
ona
l
P
I
D
contro
l
l
e
r
a
s
w
e
l
l
a
s
adj
u
s
tin
g
t
h
e
ga
in
s
at
F
L
c
o
n
t
r
o
l
l
er
i
np
u
t
.
The
in
duc
t
i
on
mo
t
o
r
has
been
s
i
m
ula
t
e
d
u
n
d
er
n
o
l
o
a
d
a
n
d
t
he
n
d
i
ffe
re
n
t
l
oa
d
tor
que
v
a
l
ue
s
have
b
e
e
n
a
p
p
l
i
e
d
on
the s
h
a
f
t of
t
he
teste
d
motor.
F
i
gure
.4.
Three
phase
I
M fe
d
by V
S
I
syste
m
b
l
o
c
k
d
iagra
m
The
o
p
e
n
l
o
o
p
s
i
m
u
l
at
i
on
r
e
s
u
l
t
s
of
t
he
d
e
v
elo
p
e
d
t
orq
u
e,
s
t
a
t
o
r
and
rotor
currents
and
m
o
tor
s
p
eed
are
show
n
in
F
ig
ures
5
-6
f
or
(
TL=
0
,
5
and
15
N
m
)
at
t
he
tim
e
(
0,
1
an
d
2
sec
o
nd)
r
espe
ctive
l
y,
t
hese
s
how
the
dyna
mic
c
h
ara
c
teris
t
i
c
o
f
the
tes
t
e
d
m
otor
u
nder
t
h
is
l
oa
d
i
n
g
c
ri
teri
a.
U
nder
close
d
l
oo
p,
t
he
d
i
f
fe
rent
betw
ee
n
the
actua
l
m
o
tor
sp
ee
d
sign
a
l
a
nd
r
e
f
e
r
ence
s
peed
s
i
gna
l
is
f
e
d
t
o
t
h
e
i
n
p
u
t
of
t
he
c
la
ssic
a
l
P
ID
con
t
ro
l
l
er.
The
err
o
r
signa
l
h
a
s
bee
n
p
ro
c
e
s
s
ed
by
the
c
o
n
t
ro
ll
er
a
nd
use
d
a
s
a
c
o
n
t
ro
l
signa
l
to
d
ec
i
d
e
th
e
am
plit
ud
e
a
n
d
inte
rva
l
s
of
t
he
P
WM
o
u
t
pu
t
.
T
he
r
efe
r
enc
e
spee
d
are
sele
c
t
e
d
t
o
be
e
q
u
a
l
to
1
04.
6
6
,
1
25.
5
6
and
14
6.
53
rad/
sec.
F
igure
s
7
-8
s
how
,
t
h
e
motor
spe
e
d
,
s
ta
t
o
r
c
urr
e
nt
,
r
o
t
o
r
curr
ent
an
d
e
l
e
c
tr
om
agne
t
i
c
tor
que
u
nder
t
h
e
effect
o
f
the
c
onve
nti
ona
l
con
t
ro
l
l
er.
F
o
r
t
h
e
s
ame
ab
ov
e
l
o
a
d
i
n
g
co
ndi
t
i
o
n
s
a
n
d
a
t
t
he
s
a
m
e
ti
m
e
i
n
t
e
r
va
ls,
F
i
gur
es
9
-
10
show
t
he
s
im
u
l
a
t
i
o
n
resul
t
s
i
m
pr
ov
em
en
t
in
t
he
p
e
r
form
an
c
e
o
f
t
h
e
I
M
under
the
effec
t
o
f
the
pro
pose
d
i
nt
e
lli
ge
nt
F
L
c
o
n
t
r
o
ller
.
F
inal
ly
i
n
or
der
t
o
r
e
duce
t
h
e
c
o
mputa
t
io
n
t
i
me
o
f
t
h
e
con
t
ro
l
l
er
g
ai
n
s
a
nd
t
o
g
e
t
t
h
e
o
p
tima
l
g
ai
n
val
u
es
o
f
t
h
e
c
l
a
s
s
i
ca
l
P
I
D
and
F
L
C
a
ge
ne
t
i
c
a
lg
ori
t
hm
h
a
s
b
e
e
n
use
d
.
F
i
gur
es
1
1
-
12
a
nd
F
i
gur
e
s
1
3-1
4
c
lar
i
f
y
t
he
i
m
p
r
o
ve
m
e
nt
i
n
system
p
erform
ance
d
ue
t
o
the
a
p
pli
c
a
tio
n
of
G
A
w
ith t
he
contro
ller
s
P
ID
and
F
L
respe
cti
v
e
l
y.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Perf
orm
a
nc
e eval
u
at
ion o
f
a hyb
r
i
d
f
u
zzy lo
gic co
n
t
r
o
l
l
er
base
d
o
n
ge
net
i
c
al
g
o
r
i
t
h
m
… (Ahm
e
d
J.
Ali)
12
3
F
i
gure
5
.
O
pe
n
loo
p
s
pee
d
r
espo
ne
u
nder
vario
u
s l
o
a
d
t
orq
u
e
F
i
gure
6
. O
pen
loo
p
sta
t
o
r,
rot
or
c
urr
e
nt a
nd
elec
tr
oma
gne
t
i
c
t
orq
u
e
F
i
gure
7
.
S
pee
d
re
s
po
ne
s w
i
t
h
P
ID
c
ont
r
o
l
l
er
F
i
gure
8
. S
tato
r, rotor
c
urr
e
nt
s
and
elec
t
r
oma
gne
t
i
c
t
o
rque
w
it
h
P
I
D
control
l
er
and
refere
nce
spee
d
14
6.5
3
r
ad/se
c
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
11
7 –
12
7
12
4
F
i
gure
9
. S
pee
d
re
s
po
n
e
s w
i
t
h
F
L contro
ll
er
F
i
gure
1
0
. S
tator, rotor
c
urre
n
t
s
an
d e
l
ectr
o
m
a
gne
tic
t
orque
w
i
th F
L cont
r
o
l
l
er and ref
er
ence speed
14
6.5
3
r
ad/sec
F
i
g
u
r
e
1
1
. S
pe
ed
r
e
s
po
ne
s
w
i
t
h
h
y
b
i
r
d P
I
D
/
G
A
c
ont
r
o
l
l
er
F
i
gure
1
2
.
S
tator,
rotor
c
urr
e
n
t
s
an
d
elec
t
r
oma
g
n
e
t
i
c
t
o
rque
w
i
th
h
y
b
i
r
d
P
ID
/G
A
c
ont
r
o
ll
er
and
refere
nce
spee
d
14
6.5
3
r
ad/se
c
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Perf
orm
a
nc
e eval
u
at
ion o
f
a hyb
r
i
d
f
u
zzy lo
gic co
n
t
r
o
l
l
er
base
d
o
n
ge
net
i
c
al
g
o
r
i
t
h
m
… (Ahm
e
d
J.
Ali)
12
5
F
i
g
u
r
e
13.
S
pe
ed r
espo
nes w
i
th h
y
b
ir
d F
L
/G
A
c
ont
r
o
ller
F
i
gure
1
4
.
S
t
a
t
or
, Rot
or Curre
nt
s
and
elec
tro
m
agne
tic
t
orq
u
e
w
i
th
h
y
b
ird
F
L
/G
A
Co
ntr
o
l
l
er
a
nd
refere
nce
spee
d
14
6.5
3
r
ad/se
c
A
pe
rfor
ma
nce
c
o
mpa
r
isi
o
n
am
ong
the
re
su
l
t
s
o
f
o
p
e
n
l
o
op
s
ystem
,
c
l
ose
d
l
oo
p
sys
t
e
m
u
n
d
e
r
P
I
D
,
F
L
,
hybri
d
P
ID
/G
A
a
nd
hy
b
r
id
F
l
/
G
A
c
ont
rol
l
er
s
are
sho
w
n
i
n
T
ab
l
e
4
.
Th
e
th
eo
rti
c
a
l
t
o
r
qu
e
f
r
o
m
(
7
)
a
nd
si
m
u
late
d
tor
q
ue
a
re
c
om
paris
i
o
n
o
f
ope
n
l
o
o
p
s
ys
tem
,
c
l
o
se
d
lo
o
p
s
ys
t
e
m
un
der
h
y
b
rid
F
l
/
G
A
co
ntr
o
l
l
ers
are
show
n
i
n
T
a
b
le
s
5
a
n
d
6.
T
he
o
bta
i
ned
s
i
m
u
la
t
i
o
n
r
e
s
u
lts
s
h
ow
t
ha
t
th
e
F
L
b
a
s
e
d
G
A
con
t
ro
lle
r
gi
ve
s
t
h
e
bes
t
sys
tem
per
f
orm
a
nc
e in c
ompa
ris
on w
i
t
h
ot
h
er
c
on
tro
l
l
e
rs.
Tab
l
e
4. The
phase
i
nd
uc
ti
on
motor
com
p
ara
tive
re
su
l
t
s a
t
1
46.5
3 r
a
d/sec
D
e
si
gn
e
d
/ sy
st
e
m
S
te
a
d
y
st
a
t
e e
r
r
o
r
(
e
ss)
[%] w
h
e
n
T
L
=
15Nm
P
eak
Ov
e
r
shoot
(
p.
o.s
)
[%
]
S
e
tll
ing ti
me
(tss)
[
s]
R
i
sing
tim
e
(t
r
)
[s
]
De
l
a
y time
(td)
[
s]
Sy
st
e
m
ef
f
i
ci
n
c
y
[
%
]
Ope
n
l
oop
sy
st
e
m
at
d
u
t
y
cy
cl
e o
f
c
onve
r
t
e
r
=
50%
11.
2
0
00
.
5
6
00.
385
00.
226
81.
5
C
l
os
e
loop
sy
st
e
m
wi
th
P
ID
0.
24
0
.
6
1
5
00.285
00.
238
00.
140
5
95.
25
C
l
os
e
loop
sy
st
e
m
wit
h
F
L
0.
134
0
.
07
00.284
00.
239
00.
142
95.
43
C
l
os
e
loop
sy
st
e
m
with Hy
b
r
i
d
P
I
D/GA
0.
007
0
.
27
00.278
00.
227
00.
133
95.
87
C
l
os
e
loop
sy
st
e
m
wi
th Hy
b
rid FL
/GA
0.
006
0
.
0
0
8
00.275
00.
226
00.
138
95.
92
Ta
b
l
e 5.
A
b
rief
c
om
paris
on b
e
t
w
een
t
he
ore
t
i
c
a
l
a
nd
sim
u
l
a
te
d t
or
que
at
di
ffere
nt
ope
ra
ti
o
n
con
d
i
t
i
on
s
for
op
e
n
lo
o
p
sys
tem
T
i
m
e
(s)
S
te
a
d
y
st
a
t
e
sp
ee
d
(ra
d/s)
A
p
pl
ie
d
torque
[N.m
]
T
h
e
o
r
e
t
i
cal
d
e
v
elo
p
e
d
t
o
r
q
u
e
[N
.m
]
S
i
m
u
l
a
t
e
d
d
e
v
e
lope
d
tor
que
[N.m
]
0.
8
157
0
0
0
.
147
1.
5
152
5
5
5
.
113
2.
5
136
1
5
1
5
1
5.
120
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
11
7 –
12
7
12
6
Tab
l
e
6. A
brief com
par
i
s
on
b
e
tw
ee
n t
h
eore
t
i
ca
l and
s
i
m
u
la
t
e
d
t
or
que
a
t
di
ffere
n
t
o
p
era
tio
n
con
d
iti
o
n
s
for
w
ith FL
/
G
A
T
i
m
e
(s)
S
te
a
d
y
st
a
t
e
sp
ee
d
(ra
d/s)
A
p
pl
ie
d
torque
[N.m
]
T
h
e
o
r
e
t
i
cal
d
e
v
elo
p
e
d
t
o
r
q
u
e
[N
.m
]
S
i
m
u
l
a
t
e
d
d
e
v
e
lope
d
tor
que
[N.m
]
0.
8
157
0
0
0
.
183
1.
5
152
5
5
5
.
126
2.
5
136
1
5
1
5
1
5.
132
Also
f
rom
t
h
e
Ta
b
l
e
5,
o
ne
c
an
c
o
n
cl
u
d
e
t
h
at
t
he
p
e
rfor
m
anc
e
o
f
t
he
ope
n
l
o
op
s
y
s
t
e
m
has
hig
h
v
a
lu
e
s
o
f
st
eady
st
at
e
ti
me,
st
at
e
st
ea
dy
e
rror,
d
e
l
a
y
t
i
m
e
an
d
r
i
s
in
g
t
i
m
e
v
a
l
ue
s.
T
he
c
l
o
se
d
l
o
op
sys
t
e
m
w
i
t
h
F
L
o
r
P
I
D
c
ontr
o
ller
ha
s
a
bet
t
er
p
er
form
anc
e
c
om
pare
d
w
ith
ope
n
l
o
op
s
y
s
t
em
.
A
l
so
i
n
c
o
mpa
r
ison
w
i
th
t
h
e
ot
her c
o
n
t
ro
l
l
e
r
s
th
e ob
ta
ine
d
r
esu
l
t
s
show
t
hat
the
h
y
b
ri
d F
L
wit
h
GA c
o
ntr
o
l
l
er has t
he
bes
t im
pro
v
e
m
ent i
n
the s
y
stem
pe
rform
anc
e
.
9.
CONCL
U
S
ION
Thr
ee-
phase
i
n
v
erter
ha
ve
b
e
e
n
u
se
d
t
o
c
on
ver
t
D
C
v
o
l
t
a
g
e
t
o
a
n
A
C
vo
l
t
age
a
n
d
u
s
e
d
t
o
dri
v
e
a
3
-
pha
se
I
M.
T
h
e
F
L
a
n
d
P
I
D
co
ntr
o
l
l
ers
a
r
e
de
s
i
gne
d
a
n
d
the
i
r
ga
i
n
v
a
l
u
e
s
c
om
pu
t
e
d
us
i
n
g
try
an
d
er
ror
me
tho
d
w
h
ile
t
he
g
e
n
et
ic
a
lg
o
r
it
hm
i
s
in
tro
duc
e
d
t
o
c
o
m
p
u
t
e
the
c
la
ssica
l
P
ID
a
nd
t
h
e
pr
op
os
e
d
F
L
con
t
ro
l
l
ers
ga
i
n
v
a
l
ue
s,
t
he
o
u
t
p
u
t
o
f
F
L
c
o
ntr
o
l
l
e
r
i
s
use
d
t
o
d
e
c
i
de
t
he
v
a
l
ue
o
f
the
P
W
M
m
o
d
u
l
a
t
i
o
n
i
nde
x
and
c
o
n
t
rol
th
e
oper
a
t
i
on
of
t
he
t
hr
ee
pha
s
e
i
n
v
erte
r
ga
t
e
s
as
d
rive
f
or
t
he
I
M
t
o
i
m
p
rove
its
p
erfor
m
ance
.
D
i
ffe
re
nt
c
o
n
t
r
ol
ler
(F
L,
P
ID
,
P
I
D
/
G
A
and
the
pr
op
ose
d
F
L/G
A
)
t
ec
h
n
iq
ue
s
are
use
d
t
o
c
o
ntro
l
t
h
e
s
y
s
t
em
ou
tpu
t
s
pee
d
r
e
s
p
onse
a
n
d
e
nha
nce
i
t
s
perf
orm
a
nce
.
T
hes
e
t
ec
hn
i
ques
for
co
ntro
l
l
ers
are
modele
d
a
n
d
t
h
e
si
m
u
late
d
u
nde
r
d
i
ffere
n
t
o
p
e
r
ati
n
g
co
n
d
i
tio
ns
f
or
o
pen
l
o
op
a
n
d
c
l
ose
d
l
o
o
p
s
ys
tem
s
T
he
s
i
m
u
l
a
t
i
o
n
r
e
sul
t
s
show
t
hat
t
h
e
pro
p
o
s
ed
F
L
/
G
A
has
the
b
e
st
e
ffic
i
enc
y
(
95.
9
2
%)
p
erf
o
rm
ance
w
i
t
h
an
i
m
p
ro
ve
me
nt
o
f
14.4
2
%
w
i
t
h
r
espec
t
t
o
the
o
p
en
l
o
o
p
s
y
s
te
m
per
f
orm
a
nc
e.
A
lso
t
h
e
p
rop
o
se
d
co
n
t
ro
lle
r
show
s
a
n
e
nha
n
c
e
efficie
n
c
y
g
a
i
n
s
o
f
0
.6
7%
,
0.
49
%
a
n
d
0.0
5
%
w
i
t
h
re
spe
c
t
t
o
the
P
I
D
F
L
and
PI
D/
GA
res
p
ect
iv
e
l
y
.
R
esul
t
s
show
c
l
e
arly
i
m
p
rovem
e
n
t
i
n
t
h
e
o
p
e
r
at
io
n
o
f
t
he
i
nd
uc
t
i
o
n
m
oto
r
w
i
th
a
h
yb
r
i
d
FL
/G
A
al
g
o
ri
th
m
co
n
t
ro
l
tech
n
i
q
u
e.
T
he
s
im
u
l
a
tio
n
re
sults
s
how
goa
l
c
ons
ist
o
r
y
w
it
h
the
t
he
oret
ica
l
r
e
s
u
lts
a
c
c
o
rd
in
g
to
t
he
ma
them
at
ical
f
orm
u
la
i
n
(7)
w
h
ic
h
desc
ri
be
b
e
h
a
v
i
o
r
of
t
h
e
d
e
v
e
lo
p
tor
que
w
ith
t
he
d
iffe
rent
a
pp
l
i
ed
t
or
qu
e
of
d
ifferent ti
m
es.
REFE
RENCES
[1]
M
’
ham
e
d
Cheb
re,
A
b
d
e
lk
a
d
er
M
ero
u
f
e
l,
Y
esse
m
a
B
end
a
ha,
"
S
p
eed
C
o
ntro
l
of
I
nd
uc
tion
Mo
to
r
Usin
g
Ge
n
e
tic
Al
go
rithm
-
bas
e
d
P
I
C
o
n
troll
e
r,
"
Act
a
P
o
l
y
techn
i
ca
Hu
ng
ari
c
a Jo
ur
na
l
,
v
o
l
.
8
,
p
p.
141
-153
,
2
01
1.
[2]
A.
L
okriti
,
Y
.
Zid
a
n
i
a
nd
S
.
Doubab
i
,
"F
uzzy
l
og
i
c
c
ont
rol
co
nt
rib
u
t
i
on
to
t
he
d
i
r
ect
t
o
r
qu
e
an
d
flu
x
c
on
trol
o
f
an
in
du
ctio
n
m
achine,
"
2
0
1
1
Int
e
rn
at
ion
a
l
Conferen
ce on M
u
lti
m
edi
a
Compu
t
i
n
g
and
Systems
,
Ou
arzaz
ate,
p
p
. 1-6
,
20
11
.
[3]
M
.
M
ou
s
t
a
f
a
Ha
s
s
an
a
n
d
M
.
M
a
hm
o
ud
Ism
a
il,
"
Us
in
g
f
u
zzy
l
ogic
al
gori
t
hm
f
o
r
i
m
p
ro
vem
e
nt
o
f
DT
C
t
h
ree
lev
e
l
in
verter
p
erf
o
rmance
cons
id
erin
g
satu
rated
m
o
d
e
l
of
i
ndu
cti
o
n
m
oto
r
,
"
8th
I
E
E
E
Sy
mp
os
iu
m
o
n
Dia
g
n
o
s
tic
s
f
o
r
El
ectr
i
cal M
a
c
hines
,
Po
wer E
l
ectron
i
cs
&
Drives
,
Bo
log
n
a,
p
p
.
503-5
1
0
,
2
0
1
1
.
[4]
J.
A
.
Ali,
M
.
A.
H
an
nan
an
d
A
.
M
o
h
am
ed
,
"
O
pt
imized
s
p
e
e
d
c
on
tro
ller
f
o
r
i
nduct
i
on
m
o
t
or
d
rive
u
s
i
n
g
q
u
a
nt
um
li
ghtning
s
earch
a
l
g
o
r
ithm
,
"
201
6
IEEE
Intern
at
io
nal Co
nf
eren
ce
on
Po
wer
a
n
d
E
n
erg
y
(
P
ECon
)
,
M
e
l
a
k
a
,
pp
.
5
11-5
1
6
,
2
0
1
6.
[5]
P
.
M
.M
en
ghal
a
,
A
Jay
a
L
ax
mib
,
"
F
u
zzy
B
ase
d
R
eal
T
im
e
Co
ntro
l
o
f
I
n
duc
tio
n
Moto
r
Dri
v
e,
"
In
ter
nat
io
nal
Con
f
eren
ce on
Com
p
u
t
atio
nal
M
o
d
e
li
ng
an
d
S
ecurity
,
p
p
. 2
28
-23
5
, 2
01
6.
[6]
H.S
a
t
h
ish
kum
ar,
S
.
S.P
a
t
h
asarat
h
y
,
"A
n
o
v
el
f
uzzy
l
og
ic
c
o
n
t
r
oll
e
r
f
or
v
e
c
t
o
r
c
o
n
trol
le
d
in
du
c
t
i
o
n
motor
d
r
iv
e
,
"
20
17
In
tern
a
t
io
n
a
l Co
n
f
eren
ce
on
Alt
ern
a
tive E
n
er
gy
in
Devel
op
in
g
Coun
tries
a
n
d
Em
ergin
g
Econ
om
ies
,
Ban
kok
,
pp
.
6
86-6
9
1
,
2
0
1
7.
[7]
H.S
a
t
h
ish
kum
ar,
S
.
S.P
a
t
h
asarat
h
y
,
"A
n
o
v
el
f
uzzy
l
og
ic
c
o
n
t
r
oll
e
r
f
or
v
e
c
t
o
r
c
o
n
trol
le
d
in
du
c
t
i
o
n
motor
d
r
iv
e
,
"
20
17
In
tern
a
t
io
n
a
l Co
n
f
eren
ce
on
Alt
ern
a
tive E
n
er
gy
in
Devel
op
in
g
Co
un
tries
a
n
d
Em
ergin
g
Econ
om
ies
,
Ban
kok
,
pp
.
6
98-7
0
3
,
2
0
1
7.
[8]
Su
dh
e
e
r
H
,
Ko
da
d
S.F,
S
a
r
v
e
sh
B
,
"
I
m
p
ro
ve
m
e
nt
i
n
d
i
re
c
t
t
o
r
q
u
e
cont
rol
o
f
i
ndu
ctio
n
m
o
t
o
r
fo
r
wi
de
r
ange
o
f
sp
eed o
perati
on
us
i
n
g
f
u
zzy l
og
ic,"
Jo
urn
a
l
o
f
E
l
ectr
i
ca
l S
y
st
em
a
n
d
Inf
o
rm
atio
n
T
ech
no
log
y
, pp
.
1-1
6
, 2
01
7.
[9]
M
.
A
.
H
annan
,
J
am
al
A
.
A
l
i
b
,
Azah
M
o
h
am
ed
c
,
A
in
i
Hussa
i
n
,
"Op
tim
ization
t
echn
i
qu
es
t
o
en
han
ce
t
h
e
perf
o
r
m
a
n
ce
of
i
n
duct
i
o
n
m
o
t
or
d
ri
ves
:
A
r
ev
iew,
"
Ren
e
wab
l
e an
d Su
st
ai
nable Energ
y
Reviews
,
v
o
l.
8
1,
p
.
16
11
-
16
26
,
2
0
1
8
.
[10]
A.
H
am
ed
a
nd
A
.
H
azza
b
,
"
M
odel
i
n
g
a
nd
R
eal-T
im
e
Simu
lati
on
o
f
I
nd
u
c
t
i
o
n
M
ot
or
Usin
g
R
T
-
LAB,
"
Int
e
rna
t
i
o
n
a
l
Jo
u
r
n
a
l of Po
wer
E
l
ectr
onics an
d
D
r
i
ve System (
I
JPED
S
)
,
vol.
9
,
pp.
147
6-1
4
8
5
,
201
8.
Evaluation Warning : The document was created with Spire.PDF for Python.