SPEEDAM 2006
International Symposium on Power Electronics,
Electrical Drives, Automation and Motion
Optimized Neural Network Speed Control of
Induction Motor using Genetic Algorithm
W.S.Oh *, K.M.Cho*, S.Kim*, and H.J.Kim**
* Yuhan College (Korea)
** Hanyang University (Korea)
Abstract-G For the high performance drives of induction
motor, recurrent artificial neural network (RNN) based self
tuning speed controller is proposed. RNN provides a
nonlinear modeling of motor drive system and could give
the information of the load variation, system noise and
parameter variation of induction motor to the controller
through the on-line estimated weights of corresponding
RNN. Self tuning controller can change gains of the
controller according to system conditions. The gains are
composed of the weights of RNN. For the on-line estimation
of the weights of RNN, extended kalman filter (EKF)
algorithm should be used. In order to design EKF with
optimal constants, simple genetic algorithm is proposed.
Genetic algorithm can follow the optimal estimation
constants without trial and error efforts.
The availability of the proposed controller is verified
through the MATLAB and Simulink simulation with the
comparison of conventional controller. The simulation
results show a significant enhancement in shortening
development time and improving system performance over
a traditional manually tuned EKF estimation algorithm
based neural network controller.
Index Terms—neural network, induction motor speed
control, genetic algorithm, extended kalman filter
I. INTRODUCTION
In recent years artificial neural network (ANN) has
gained a wide attention in control
applications.[1][2][3][4] The ANN provides a nonlinear
modeling of motor drive system without any knowledge
of predetermined model and thus makes the drive system
robust to noise, parameter variations, load changes. The
concept of model reference adaptive control is used in
training ANN to achieve trajectory control of induction
motor. Most of the ANN based adaptive control
approaches use off-line system identification. Because of
this separation, it is impossible to effectively cope with
the system parameters that are changed dynamically
during operation. This makes the tuning of the respective
controller parameters difficult. Thus, an on-line learning
process is desirable.[5] EKF algorithm has shown
significant merits for training both feedforward and
recurrent neural networks. The training algorithm based
on the EKF is shown to require significantly smaller
training data than the pure gradient descent algorithms
[2][4] and is simpler than gradient descent algorithms
1-4244-0194-1/06/$20.00 ©2006 IEEE
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although it requires the same derivative information. The
EKF does not require batch processing of data and
therefore it is very suitable for on line training. But
according to parameters that are needed in using EKF, the
performance of EKF is varied. So it takes a time
consuming effort to find good parameters. In order to
design EKF with optimal constants, simple genetic
algorithm is proposed. Genetic algorithm is well
established techniques which have recently found
extensive application in an intelligent way to find values
close to the global optimum. Genetic algorithm (GA) can
follow the optimal estimation constants without trial and
error efforts.
The availability of the proposed controller is verified
through the MATLAB and Simulink simulation with the
comparison of conventional controller. The simulation
results show a significant enhancement in shortening
development time and improving system performance
over a traditional manually tuned EKF estimation
algorithm based neural network controller. Experimental
results are under test.
II. NEURAL NETWORK SPEED CONTROLLER
A. Self tuning controller
In order to design speed controller of the induction
motor, we define the following performance index.[1]
[ ]
J (u , k ) = y ( k + d ) − y ref ( k + d ) + ρ u [Ru ( k ) ]
2 2
(1)
+ ρ v [v e ( k + d ) ]
2
y (k ) is the output value and u (k ) is the input value.
y ref (k ) is the desired reference trace. ρ u , ρ v are the
weighting factor used to adjust the tradeoff between
control signal and accuracy of system response. If the
derivative of J (u , k ) with respect to the control signal
u (k ) at the time k is equal to zero, the control signal is
obtained.
B. Recurrent Recursive Neural Network Model
The dynamic system representation capabilities of
RNNs have been shown to be considerably greater than
those of purely static networks.[2][5] Fig.1 shows the
general architecture of RNN, where Z −1 indicates one
sampling time delay. u M (k ) is the network input,
and Y N ( k + 1) is the output of the network and is
produced one step ahead at the discrete time (k+1).
WN ( N + M ) (k ) are weights of the network.
We can design an induction motor model which has
one input u1 ( k ) which is current I qs (k ) and two
output Y1 (k ) and Y2 ( k ) . Y2 (k ) is the speed output of the
induction motor.

C. Design of Induction Motor Speed Control System

We could show that the speed output model of the Fig. 1 Basic structure of RNN model
induction motor is a function of speed and input like
Eq.(2).
III. GENETIC ALGORITHM
y2 (k +1) = f [y2 (k), y2 (k −1), u(k), u(k −1)] (2)

To minimize the performance index J (u, k ) of Eq.(1), In order to design EKF with optimal constants, simple
genetic algorithm (GA) is proposed in this paper. Fig.2
The control input is shown like Eq.(3) at sampling time k. shows the flowchart of GA [10]. In this paper, the
crossover possibility is 0.85 and the mutation possibility
1
u(k ) =
b0
[
a1 y2 (k ) + a2 y2 (k − 1) + a0 yref ( k + 1) + b1u (k − 1) + b2ve (k ) ] is 0.002. The generation number is 100 and the
individuals in generation are 20. The individual bit length
(3) is 24 bit which represents 8 bit normalization factors for
Where, a 0 , a1 , b0 , b1 , b2 is constant composed of S (k ) , 8 bit normalization factors for η (k ) and 8 bit
weights of the neural network. normalization factors for Q(k ) . The composition equation
Using EKF algorithm, we could get the weighting
and fitness value in ref.[10] are used for composition of
matrix W . Then, we have control input value u (k )
proposed GA.
through Eq.(3) that is composed of weighting values.
u (k ) is the torque current component of induction motor, Start
I qs (k ) .
Gen =0
.
D. Extended Kalman Filter Initialization

In this paper, we use EKF algorithm to train weights of Reproduction

neural network. It is good for on-line learning [2][4]. But
EKF has constants S (k ),η (k ), Q(k ) that are weighting Crossover &
Gen=Gen+1
Mutation
matrix, learning parameter and covariance matrix Fitness
respectively. These constants are chosen by user with trial evaluation
and error method. The performance of the controller No
End ?
depends on the values of constants. Yes
Result

End
G
G
Fig. 2 Flowchart of genetic algorithmG

IV. SIMULATION RESULTS

In order to verify the validity of the proposed GA

based neural network controller, several simulations are
carried out using MATLAB and Simulink software. Fig.3
shows the block diagram of proposed control system. In

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RNN, the weights of the neuron are calculated using EKF
algorithm and go to the Self Tuning Neural Network
Controller to tune its gains. Simulations are focused on
the facts whether the proposed GA based Neural Network
(NN) algorithm is better than normal NN algorithm or not.
For the comparison, simulations of the speed response are
performed in case of the speed command variation, the
load variation of induction motor. Specifications of motor
are 1hp, 230V, 4 pole. The sampling time of the
controller is 100 μ sec .
Fig.4, 5 show speed response waveforms in case of
load variation using a normal NN speed controller where
EKF gains are designed arbitrary and proposed GA based
NN speed controller respectively. The command speed is
180rad/sec that is increased from zero speed and the
50% disturbance load of the rated torque is applied at
7sec. Fig.6,7 show speed response waveforms with
applying full load. In all point of view such as variable
speed characteristics and speed recovery time, proposed
GA based NN controller is better than normal NN Fig.5 Speed response I of NN with genetic algorithm (50% load)
controller. We can observe that proposed controller is
more robust to the inertia variation.

G
Fig. 3 Block diagram of proposed control system Fig. 6 Speed response II of NN controller with arbitrary
G constants(full load)
G

Fig. 4 Speed response I of NN controller with arbitrary Fig.7 Speed response II of NN with genetic algorithm(full load)
constants(50% load)

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 V. CONCLUSION

In this paper, a GA based neural network controller for

induction motor drives was presented. The structure of
proposed controller is based on the self tuning controller
that can tune its control gain to be autonomous according
to system parameter variations. A RNN induction motor
model is used to identify the variation of induction motor
system. EKF algorithm is used for the training of the
weights of RNN that represent parameter variations.
Genetic algorithm is used for EKF constants to be
optimal. The designed controller also can compensate for
uncertainties of nonlinear induction motor control system
since the real output values are directly used for
parameter identification and tuning. Simulation results
using MATLAB verify the effectiveness of proposed
controller.

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