Robust and Efficient Control of an Induction Machine

for an Electric Vehicle

Arbin Ebrahim and Dr. Gregory Murphy

University of Alabama

Outline

Project Objectives
What is Adaptive Control?
Definition of Adaptive Backstepping
Advantages of Using a Adaptive Backstepping Controller
Problem Formulation
Design Procedures
Project Work Summary

Project Objectives

Robust and efficient control of an induction motor for an electric vehicle

Track the speed of an induction motor to a desired reference trajectory under timevarying load torque for an electric vehicle

Robust control of an electric vehicle induction motor under varying changes in the
motor parameters.

What is an Adaptive Controller?

Learning Mechanisms
(Parameter Adaptation)

Coordination
Mechanisms
Robust
Feedback
r (t)

Adjustable
Model Compensation

x
Plant

To invent, design and build systems capable of controlling unknown plants or

adapting to unpredictable changes in the environment

What is Backstepping?
x= f x +

=u

V = 1 x2
2

des = x , V 0

f (x)

z = - des
u

Va = 1 x 2 + 1 z 2
2
2

u = c x

Va

V,Va = Lyapunov Functions

x, = State Variables
z = Virtual State
(x) = Virtual Control
u = plant input

f ' (x)

Backstepping is to design a controller for a system recursively by considering some of the

state variables as Virtual Controls and designing for them intermediate control laws

Advantages of Adaptive Backstepping

Controller Design Procedure

Both the stability properties and control law can be ensured in this same step

The Control Law can be obtained in steps no greater than the order of the system

In adaptive backstepping unknown plant parameters can be easily dealt with to

design control laws

Observers can be easily incorporated in the design procedure to perform observer

backstepping

Problem Formulation
Flux
Command

+-

ids

Vds

Flux
Controller

ref

iqs

ref

Vqs

Speed
Controller

+Speed
Command

ids
iqs

= Speed component of the Stator Current

*

Vds , Vqs =

Voltages in the rotating stator frame

= Measured Speed of the Motor

= Estimated Flux of the motor

i a , ib , i c

= Measured Stator Currents

Va , Vb , Vc =

Vqs

Va
Space
Vector
Modulation

Applied three phase stator voltages

Vb

Power
Stage

Vc

sin

ia
ib
ic

= Flux component of the Stator Current

*

Rotating
Stator
Frame to
Stationary
Stator Frame
Conversion

cos

Where
*

Vds

Flux
Estimator

IM

Time
varying Load
Torque

Design Procedure

Modeling-:
The equations representing the dynamics of motion of the Induction Motor is
derived in the three phase, stationary and rotating stator frame co-ordinates and
analyzed for the application of Adaptive Backstepping procedure.

Controller Design-:
Flux Controller-:
An Observer Backstepping Flux Controller is designed using flux observers to make
the estimated flux track a desired reference trajectory to ensure that sufficient torque
is delivered to Load
Speed Controller-:
An Adaptive Backstepping Speed Controller is designed to make the measured
speed of the motor track a desired reference trajectory under varying Load Torque
Conditions

Simulation-:
The adaptive controllers designed are simulated in the Simulink environment to
verify the results

Design ProcedureContinued

Hardware Implementation-:
The Adaptive Controllers developed are verified in real time using an Induction
Motor tied to a varying load. The results are observed and conclusions made

Project Work Summary

Model the Induction Motor in the stationary and rotating stator frames so that Vector
Control can be applied to develop a speed controller as well as a flux contoller

Apply adaptive backstepping procedure to develop a speed controller for the motor
speed to track a desired reference speed under time varying load conditions

Design flux observers to estimate the flux and design an observer based
backstepping controller for the flux to track a desired reference trajectory so that
sufficient torque can be supplied to the Load

Develop a modular design in Simulink environment for the motor models, observer
models, controller models, and etc for simulation

Implement real-time controller application to an Induction Motor for verifying and

comparing the simulation results to the real-time results; to make conclusions and
recommendations on future research