Speed Control of BLDC Motor

Aim:
To study the open loop and closed loop speed control methods of a BLDC motor
Apparatus Required:
1.
2.
3.
4.

BLDC motor
DSP 2812
IPM (intelligent power module)
Hall sensor signal conditioner
5. Connectors
BLDC Motor Operation:
A permanent magnet AC motor, which has a trapezoidal back-emf, is referred to as
brushless DC motor (BLDC). The BLDC drive system is based on the feedback of the rotor
system at fixed points for communication of the phase currents. The BLDC motor requires quasirectangular shaped currents to be fed into the machine. Alternatively, the voltage may be applied
to the motor every 120 degrees, with current limit to hold the current within motor capabilities.
Because the phase currents are excited in synchronism with constant part of the back-emf,
constant torque is generated.
The electromagnetic torque of the BLDC motor is related to the product of a phase, back
emf and current. The back-emf in each phase are trapezoidal in shape and are 120 degrees
electrical phase shifted with respect to each other. A rectangular current pulse is injected into
each phase, so that current coincides with back-emf waveform hence the motor develops almost
constant torque.
Hall effect sensor provides the information needed to synchronize the motor excitation
with rotor position in order to produce constant torque. It detects the change in magnitude field.
The rotor magnets are used as triggers to hall sensor. A signal conditioning circuit integrated
within the hall switch provides a TTL compatible pulse with sharp edges.Three hall-effect
sensors placed at 120 degree apart are mounted on the stator frame. The three hall sensor digital
signals are used to sense the rotor position.

The functional block diagram, circuit diagram and the waveforms are as follows,

Block diagram of the BLDC Drive:

Circuit Diagram:
Three Phase Inverter

Typical Waveforms of a BLDC Motor

DSP TMS320F2812
Micro-2812 is a 16-bit (data lines) fixed point DSP trainer, based on Texas instruments
TMS320F2812 DSP Processor. This trainer enables the user to learn the basics of digital signal
processing & digital control along with basic DSP functions like filtering, PWM generation,
calculation of spectral characteristics of input analog signals. The trainer helps to perform real
time implementation of very complex algorithms, such as adaptive control, vector control, etc.,
The TMS320F2812 contains a C28xx DSP core along with useful peripherals such as ADC
Timer, PWM Generation are integrated onto a single piece of silicon. The Micro-2812 trainer
can be operated in two modes. In the mode:1 (serial mode) the trainer is configured to
communicate with the PC through serial port. In the mode:2 (stand alone mode), the user can
interact with the trainer through the IBM PC keyboard and 16 2 LCD display. From the DSP
processor, eight PWM waveforms (outputs) can be generated simultaneously by each event
manager, three independent pairs (six outputs) by the three full-compare units with
programmable dead bands, and two independent PWMs by the GP-timer compares
PWM Generation:
The PWM switching signals of the inverter switches are obtained by comparing a DC
reference signal with a fixed frequency triangular carrier wave. The DC reference will regulate
the average voltage applied to the motor by changing the duty ratio of the PWM signals to
control the speed of the motor.

Open loop speed control:

Connection Procedure:
1. Connect the U,V, W terminals of the IPM (intelligent power module) to motor input
2. Hall sensor is to find the position of the rotor, the sensor output which is given through
34 pin FRC cable one end to the DSP 2812 capture peripheral and other end to IPM gate
input peripheral
3. Connect the serial port of computer to serial port of DSP 2812 for communication
4. Connect the feedback terminals of IPM to A/D peripherals of DSP processor

Experimental procedure:
1. Open the Vi BLDC_2812 software,select the port and baud rate and click on connect
button to connect the trainer with PC
2. Select open loop control option and download the source code and execute the program
3. Select CW/CCW/Brake, the screen displays the speed plot along with the speed display
4. Change the set speed of the motor and observe the change in duty cycle of the Pulse
Width Modulation signal, Hall Sensor signals and phase current waveforms
5. Tabulate the duty cycle of the PWM signal for speed 1000, 2000 and 3000 RPM

Sl. No.

Ton

Toff

PWM Duty Cycle

Speed in RPM

Closed loop speed control:

1. Select the closed loop control option from the BLDC GUI window
2. Set the speed 2000 RPM, then execute the program
3. Apply the belt load to BLDC drives, then note down the current waveforms and observe
whether the actual speed and set speed of the motor are same
Block diagram of the closed loop speed control of BLDC drive and the typical experimental
waveforms are shown in the following figures.

Set speed

Actual speed
Block Diagram for Closed loop Speed control

Experimental Waveforms :
Terminal Voltage, Back-EMF, Switching Signals and Phase Current waveforms of Phase A

CLOSED LOOP CONTROL OF DC SERVO MOTOR

AIM
To study the Torque Speed characteristics of DC servo motor while loading in open loop
and maintain constant specified speed even under loaded condition in closed loop.
EQUIPMENTS REQUIRED
1. DC Servo Motor.
2. Control Circuitry.
3. CRO, DMM
SPECIFICATIONS:
1. Input to the DC servo motor control unit is 230V 10%, 50Hz, AC, single phase.
2. DC Power supply to the motor is 12V, by a PWM power converter.
3. DC Motor: 12V, Permanent Magnet DC motor
Max. Current : 1.5Amp.
Max Torque : 1.5 Kg-cm
Max Speed : 1500 rpm at rated voltage (12V) and current (1.5A)
4. Optical speed sensor for sensing speed: 800 pulse / 100 revolution
5. One 3 Digit display of set speed / actual speed:
6. Armature resistance Ra = 1.2 ohm
7. Armature inductance La = 2.3 mH
8. Back emf constant Kb = 5.66 V/Krpm
9. Torque constant Kt = 5.54 Ncm/A
10. Damping constant(eata) = 0.3 Ncm/Krpm
11. Moment of inertia J = 0.39 Kg cm2
12. Viscous coefficient of friction B = 1.5 N cm
Theory
In control systems a servo motor is used to convert the final control element into mechanical
displacement, velocity, torque etc. as the desired output. Servomotors can be either DC or AC.
The commonly used servomotors are separately excited DC motors and squirrel cage or drag-cup
type induction motors. Important requirements of servo motor are low moment of inertia of the
rotor, linear T-N characteristic with negative slope, and capacity to withstand frequent starting
and stopping. DC servomotor speed control is similar to that of DC shunt motor.
The DC servo motor speed control system consists of the following,
1. Regulated DC Power supply which supplies to the control circuits, power amplifier and
the chopper.
2. MOSFET based single quadrant chopper (PWM Power Converter), through which the
armature voltage is controlled.
3. Speed sensor and Speed feedback circuitry for measurement of speed and closed loop
control of the motor.
4. Speed Sensor - Optical sensor is provided to sense the speed.
5. Speed controller - Either proportional (P) or Proportional plus Integral (PI) controller can
be selected.
The system / plant to be controlled is the DC motor. The objective is to vary the speed

through a reference setting.

s
The simplest conntrol system
m is representted as shownn in fig.

T reference speed is compared with

The
w
the actuual speed of
o the motorr sensed thrrough
optical sppeed sensor. The error is processedd through thhe speed conntroller. The speed contrroller
sets the required voltage to be applied to the
t motor. Although
A
thhe system would achievve the
m
presents very low impedance to
t the
desired speed, it has a drawback. The armatture of the motor
v
Un
nder steady state condittion most off the appliedd voltage is balanced by the
applied voltage.
back emff and only th
he remainderr drives the armature
a
circcuit. Howevver during thhe transient, there
is a mism
match betw
ween the appplied voltage and the back
b
emf ass the speed changes sloowly.
Therefore excessive current mayy be drawn frrom the convverter.
T power am
The
mplifier in thhe DC motorr servo controoller is a DC
C-to-DC convverter. The DC
D to
DC convverter used iss a single quaadrant powerr MOSFET based
b
choppper. The circuuit diagram of
o the
chopper is
i shown in fig. The outpput voltage is
i shown in fig.
f

The averrage output DC

D voltage of
o the chopper is given by
b
TON - ON
N period of th
he chopper
T- Periodd of the outpu
ut waveform
m
Vdc- DC input voltag
ge to chopperr
D - Dutyy cycle ratio
The contrrol circuit forr the chopperr consists of a Ramp geneerator, a com
mparator, optoo isolator andd a
driver. Thhe block diag
gram of the control
c
circuuit is shown in
i fig.

The inputs to the comparator are Ramp signal and Control voltage signal Vc. The output of the
comparator goes high whenever V C is greater than the ramp signal. By varying the control
voltage VC , the duty cycle ratio D = T ON /T and hence the output voltage of the amplifier is
controlled. ThecontrolvoltageVCtothecomparatoristheoutputofthecontroller.Thecontroller
adjuststhecontrolvoltagedependingontheoutputoftheerroramplifier.
DynamicmodelingofDCservomotor

The DC motor can be modeled as a linear system, if the magnetic saturation is neglected
and the field flux is assumed to be constant. For this purpose, a permanent magnet DC motor is
used. Here the flux is produced by the permanent magnets which are constant.
The DC motor can be represented by the equivalent circuit shown below. The armature resistance
and inductance are represented as lumped parameters as R and L. The field current is assumed to
be constant. This sets the constant flux in the machine.

Ra - Armature resistance (ohms)

La - Armature inductance (Henrys)
Va - Voltage applied to the armature (volts)
Ia - Armature current (Amps.)
eb - back emf (volts)
if - field current (amps) - Assumed as constant for wound field motor.
- angular speed of the motor in Rad/sec.
N - angular speed of the motor in RPM
J - Equivalent moment of inertia of the motor and load (kg-m2)
B - Equivalent viscous friction coefficient of the motor and the load (Nm/rad/sec)
The equations governing the behaviour of the motor are given below.
The electromagnetic torque developed by the motor is
Te = k1 kf if ia
-------- (1)
If the flux is assumed to be constant
Te = kt ia N.m
Where kt = k1 kf if , Torque constant N.m / amp
The back emf developed is
eb = kb
where kb - back emf constant volts / rad / sec.
The differential equation governing the armature circuit is
La (dia / dt) + Ra ia + eb = Va

-------- (2)

-------- (3)

-------- (4)

The differential equation governing the mechanical system comprising armature and load is

J (d / dt) + B + TL = Te
where TL = Load torque . N.m

-------- (5)

In the closed loop control system block diagram, the amplifier is represented as the gain G, which
is constant. The output of the chopper will be maximum, when the control voltage V C equals
the
peak value of the Ramp V pst , since the MOSFET will be ON for the whole period and V O = V
dc i.e. when the duty cycle ratio is one. The output voltage varies linearly with the control voltage
VC as shown below.
.
=
=
Where G - Gain the power amplifier
Vpst - peak value of the Ramp (Saw tooth)
VC
- Control voltage

In the DC Motor servo controller,

24 ,
10
PROCEDURE:
Open loop speed control
1. Before Switching ON the unit,
a. EXT/INT switch should be in INT mode.
b. Integral open/close switch in open (OL) mode.
c. Signal conditioner switch in open (OL) mode.
d. Interface the motor supply sensor with module.
2. Initially, pulse ON/OFF switch should be in OFF mode.
3. Set the proportional gain k p at minimum.
4. Switch ON the unit, and keep the pulse ON/OFF to ON mode.
5. Run the motor at 1500 rpm by suitably adjusting the Vref and Kp. Note down the armature
voltage (Va) armature current (Ia) and Speed (N).
6. Apply load by brake magnet close to the disc. Apply the load in steps such a way that the
current is increased by 0.25A in each step. Note the armature current, voltage and speed of
the each step. Tabulate the readings.
7. It may be noticed that the motor armature current may not be increased when the speed
drops below a certain value. This is because the speed is low the eddy current induced in
the disc becomes less, which reduces the load torque.
8. Decrease the load and reduce the gain to minimum.
9. Switch OFF the power supply.
Calculate the torque using T = Kt Ia
Plot the Speed Vs Torque and Speed vs armature voltage characteristics.
Closed loop speed control
1. Before Switch ON the unit,
a) EXT/INT switch should be in INT mode.
b) Integral open/close switches in open (CL) mode.
c) Signal conditioner switch in open (CL) mode.
d) Interface the motor supply sensor with module.
2. Initially, pulse ON/OFF switch should be in OFF module.
3. Set the proportional gain k p at minimum.

4. Switch ON the unit, and keep the pulse ON/OFF to ON mode.

5. Set the speed at 1500 rpm by suitably adjusting the Vref and Kp. Note down the armature
voltage (Va) armature current (Ia) and Speed (N).
6. Apply load by brake magnet close to the disc. Apply the load in steps such a way that the
current is increased by 0.25A in each step. Note the armature current, voltage and speed of
the each step. Tabulate the readings.
7. It may be noticed that the speed maintains constant for increasing load current.
8. Decrease the load and reduce the gain to minimum.
9. Switch OFF the power supply.
10. Calculate the torque as T = Kt Ia
TABULATION:
Sl .No

RESULT

Va(V)

Ia(Amps)

N (rpm)

T = kt Ia( Nm)

Study of Four Quadrant Operation of DC Drive

Aim:
To study the four quadrant operation of separately excited DC drive.
Apparatus required:
PEC 16HV3 Module
VPET -106A Module
Separately Excited DC machine

Block Diagram of a typical DC Drive:

Fig. 1: Block Diagram of the DC Drive

Theory:
A typical block diagram of a DC chopper drive is shown in Fig.1, which can operate in all four quadrants
of the V0 and I0 plane as shown in Fig. 2 i.e. the output voltage and current can be controlled both in
magnitude and direction. Therefore the power flow can be in either direction.
1st Quadrant: In the first quadrant, switch T1 and T2 are switched on, the power flows from source to
load and is positive, i.e. both voltage and current are positive as indicated in four quadrant diagram. This
mode of operation is known as Forward motoring.

2nd Quadrant:
After switching off T1 and T2, before switching on the T3 and T4, the diodes D3 and D4 conducts, and
during this period the power flow is from load to source. In this case, the voltage is negative and current is
positive and hence power is negative as indicated in the four quadrant diagram. This mode of operation is
known as Regenerative braking.
3rd Quadrant:
In the third quadrant, switch T3 and T4 are switched ON, then both voltage and current are negative,
therefore the power flow is positive, but in reverse direction and the power flows from source to load, this
mode of operation is known as Reverse motoring.
4th Quadrant:
In the fourth quadrant, the switch T3 and T4 are switched off, the diode D1 and D2 conducts, the power
flows from load to source. In this case, the voltage is positive and current is negative and hence power is
negative as indicated in four quadrant diagram. This mode of operation is known as Regenerative braking.
Four quadrant operation of DC Motor:

T1 & T2 ON

D3 & D4 ON

Regenerative Braking

T3 & T4 ON

2nd

1st

3rd

4th

Reverse Motoring

Forward Motoring

Regenerative Braking D1 & D2 ON

Fig. 2: Four Quadrant Operation Diagram

Chopper circuit diagram for four quadrant operation:

Fig. 3: Chopper circuit diagram for four Quadrant operation

Procedure:

Connect the power module and controller module to AC supply mains

Connect the PWM output of the controller module to the PWM input of the power module
using pulse cable
Connect the armature and field circuit terminals of the DC motor to the DC motor power
module kit
Connect the motor feedback cable to the motor feedback input of the controller module

Selection of switch and potentiometer position:

1) First select the switch S2 at SCM speed control mode, then select switch S1 at open loop
2) Initially, keep the armature pot is minimum and pulse release switch S3 at ON position, unless the
program will not execute
3) Keep the field pot in the minimum position, and reset the controller module using switch S4
4) Now the following panels are shown in Fig. below
I.
II.

Forward
Reverse

Select the forward option using I quadrant, after that, the following display as shown below

D.C drive (CW)

D.C.Y field = 60%
D.C.Y .Armature=50%
Actual speed = 0
Vary the armature duty cycle pot, so that the motor runs in selected direction and at a speed corresponds
to the duty cycle.
D.C drive (CW)
D.C.Y field = 80%
D.C.Y .Armature=56%
Actual speed = 2

In the open loop condition, keep the motor runs at 1500 RPM condition and gradually vary the load
Select the reverse option using a II quadrant switch, now the display will be
D.C drive (CCW)
D.C.Y field = 60%
D.C.Y .Armature=50%
Actual speed = 0

Closed Loop control of DC drive:

For closed loop operation, select the forward motoring option using I quadrant switch, then enter the PI
controller parameters Kp and Ki values (For example Kp as 0.02 and Ki value as 0)
Set the speed for example 600 RPM and load the machine, verify whether the set speed and actual speed
of the motor are same.
Select the reverse motoring option using III quadrant switch and follow the same procedure as mentioned
above.

Conclusions:

Study of Half Bridge and Full Bridge Inverter

Aim:
To study the half bridge and full bridge square wave inverter operation with R and R-L load
Apparatus Required:
Power MOSFETs - IRF740
Driver ICs IR2110
Capacitors - 1000 f, 25V
Resistor - 150, 3W
Inductor
Theory:
A single phase full bridge inverter shown in Fig. 4 consists of four switching devices T1, T2, T3, T4
and the four inverse parallel diodes D1, D2, D3, D4. The diodes are essential to conduct the reactive
current, to feedback the stored energy in the inductor to the DC source. These diodes are known as
feedback diodes. The switching devices may be any one of the full controlled power switching devices
like MOSFET.
Square wave switching of single phase Full Bridge inverter
For square wave operation, the switches, T1, T4 and T3, T2 are operated as two pairs with a duty cycle
ratio of 0.5. Each of the switches is ON for one half cycle (180 degree) of the desired output frequency.
This results in an output voltage waveform as shown in Fig. 5. The voltages VAO and VBO are the
potentials of the point A and B with respect to the fictitious midpoint O, respectively. The capacitance
C must be sufficiently large to assume that the potential at point O remains essentially constant with
respect to the negative dc bus N.
The load voltage

VAB = VAO -VBO

The voltage and current waveforms show that the full bridge inverter operates in all the four quadrants
of the Vo-Io plane. When the load is inductive the load current cannot change instantaneously with the
output voltage. i.e., if T1 and T2 are turned off at at, t = T/2, the load current would continue to flow
through D3, the DC source and D4. Similarly, when the devices T3 and T4 are turned off t = T, the load
current flows through D1 the DC source and D2.
The RMS Value of the output voltage is
T/2
Vo = [(2/T) Vs/2 dt]1/2 = Vs
0
Fourier series representation of instantaneous output voltage, Vo (t)

Vo (t) = (4A / n) sin nWt

n =1, 3, 5.

A = Vs

Full Bridge Inverter

= Vs / 2

Half bridge Inverter

The rms value of the fundamental component (n =1) is

V1 = 4 A/ (2 ) = 0.9 Vs
The instantaneous load current with inductive load is

io(t) = (4A / n (R2 + (nwL)2) sin (nwt-n)

n =1, 3, 5.
n = tan-1 (nwL/R)
w = fundamental frequency
For square wave operation the output voltage magnitude can be controlled by controlling the
input dc voltage and output frequency is controlled by varying the switching frequency of the inverter
switches. The advantage of the square wave operation is that each inverter switch changes its state only
twice per cycle, which is important at very high power levels when the power switching devices have
slower turn-on and turn-off speeds.
One of the serious disadvantages of the square wave operation is that the inverter is not capable
of regulating the output voltage magnitude. Therefore, the DC input voltage Vs must be adjusted in
order to control the magnitude of inverter output voltage. Also the output load voltage is square wave; it
contains much of the harmonic components, which is undesirable for most of the applications.

Circuit Diagram: Half Bridge Inverter

T1
C1,
1000f

Vdc

P1

Load

P2

C2,
1000f,

T2

Fig. 1 Circuit Diagram of Half Bridge Inverter

Typical waveforms of Half Bridge Inverter (R Load):

P1
Vdc

T1

T2
T/2

P2

T1
T

Vdc/2

Vo

VVdc/
dc/
2
dc/2
T/2

T/2

- Vdc/2

Io
Vdc/2R
- Vdc/2R

Fig. 2 - Typical waveforms of Half Bridge Invertert (Resistive Load)

Typical waveforms of Half Bridge Inverter (R-L Load)
Vdc

P2

T1

T2
T/2

T1
T

Vdc/2

Vo

VVdc/
dc/
dc/22
T/2

- Vdc/2

Io
T
T/2

Fig. 3 - Typical waveforms of Half Bridge Inverter (R-L Load)

Circuit Diagram: Full Bridge Inverter

D1

D3

T1

T3

0
VS

A
D4

Load

D2
T4

T2

Fig. 4 Circuit Diagram of Full Bridge Inverter

Typical waveforms Full Bridge Inverter (R-Load):

VAO Vs/2

T1

T4

-Vs/2

T1
T

VBO
Vs/2

T2

T3

T2

-Vs/2

VAB = VAO - VBO

Vs
T/2

- Vs

IL
Vs/R

-Vs/R

Fig. 5 - Typical waveforms of Full Bridge Inverter (Resistive Load)

Typical waveforms Full Bridge Inverter (R-L Load):

VAO

Vs/2

T1

T4

T1

-Vs/2

VBO

Vs/2

t
T2

T3

T2

-Vs/2

VAB = VAO - VBO

Vs
T/2

T
t

- Vs

IL

T1,T2

T3,T4

t
D1,D2

D3,D4

Fig. 6 - Typical waveforms of Full Bridge Inverter (R-L Load)

Speed control of 3-phase induction motor using V/F Control

Aim:
To study the speed control of a 3-phase induction motor by V/F technique in open loop and closed loop.
Apparatus required:
1.
2.
3.
4.

Chopper inverter/PWM controller

Power module
3-phase Induction motor
Patch chords

Circuit diagram: Three Phase Inverter

Fig. 1
Theory of V/F Control:
The AC induction motor is a workhorse of an adjustable speed drive systems. The most popular type is
the 3-phase, squirrel-cage AC induction motor. It is maintenance-free, lower noise and efficient motor.
The stator is supplied by a balanced 3-phase AC power source. The synchronous speed ns of the motor is
given by Equation (1)

ns = 120f s / p . (1)

Where, fs is the synchronous stator frequency in Hz, and p is the number of stator poles. The load torque
is produced by slip frequency. The motor speed is characterized by a slip s, given by the Equation (2).
The relation between fs, s and p is given in Equation (3)

s = ( ns - nr ) / ns = nsl / ns .... (2)

nr = 120f s 1 s / p

. (3)

Where, nr is the rotor mechanical speed and nsl is the slip speed, both in rpm.
Principle of Volts per Hertz (V/F) Control
Changing the supply frequency or the number of poles as given by the Equation (1) can vary speed of an
induction motor. Changing the number poles is cumbersome procedure and hence it is not in practice.
Changing the supply frequency is the best way to vary the speed but as per the Equations (5) and (7)
changing the frequency alone will affect the air-gap flux, which ultimately affects the torque production
capability.
Volt per Hertz control methods is the most popular method of Scalar Control; it controls the
magnitude of the variable like frequency, voltage or current. The purpose of the volt per hertz control
scheme is to maintain the air-gap flux of AC Induction motor constant in order to achieve higher run-time
efficiency and also to maintain the torque at all speeds. In steady state operation the machine air-gap flux
is approximately related to the ratio V/fs, where V is the amplitude of motor phase voltage and fs is the
synchronous electrical frequency applied to the motor. The base point of the motor defines the
characteristic as shown in Figure 8. Below the base point the motor operates at optimum excitation
because of the constant V/f ratio. Above this point the motor operates under-excited because of the DCBus voltage limit. A simple close-loop volts/hertz speed control for an induction motor is the control
technique targeted for low performance drives. This basic scheme is unsatisfactory for more demanding
applications where speed precision is required.
Since the development of power-electronics and microcontrollers a new way of controlling the motorspeed has been introduced. A three-phase inverter topology is shown in Figure 9. This topology can be
used for changing the frequency and / or the amplitude voltage applied to the motor 3-phase stator
windings. With this controllable frequency and voltage it is possible to achieve a high efficient speedcontroller for induction motor. One thing to consider is the torque on the shaft. If the voltage applied to

the motor changes, the frequency also has to change to ensure sufficient torque on the shaft. Looking at
the torque, expressed from the power (P) and the speed the following equations are derived:
Power P 2 .nr T / 60
Torque T

P * 9.55 * 3.VI . cos * p * 9.55

=
. (4)
nr
120. f s 1 s
V
fs

. (5)

E = 4.44 f s m

.. (6)

= k*

m = k * E / fs

. (7)

Equation (7) implies that if the ratio between the applied stator voltage and the frequency are kept
constant the torque also stays constant. These terms are the ones used to implement the speed controller
for the induction machine.

Fig. 2 Volts Frequency Relation of V/F control

To ensure maximum torque capability at all time it is therefore necessary to maintain the
magnetic flux at its rated value at any frequency. The flux can be maintained constant at its rated value by
maintaining the ratio E / f s constant. At high speed, where the induced back-EMF is large, the drop
across the stator impedance is negligibly small. Therefore E / f s is maintained constant by maintaining
V/f constant. However at low speed, the back-EMF is low and also the drop is significant. Thus the flux is
reduced below rated torque, capability is also reduced. The performance at low speed can be improved by

boosting the voltage at low frequency as shown in Fig. 2. Three induction motor is fed from a three phase
PWM inverter whose switching is controlled by V/F technique as shown in Fig. 3.

Block diagram of V/F control:

3-ph Induction Motor

Fig. 3
Connection procedure:
1.
2.
3.
4.

Connect 1 AC input supply to the power module

Connect PWM output from the controller module to the power module
Connect the R, Y, B terminals of the AC motor to their respective terminals of the power module
Connect the motor speed feedback cable to the controller unit

Experiment procedure:
1. Switch on the power ON/OFF switch in the IGBT based power module and the controller module
2. Switch ON the MCB in the power Module
3. Vary the VARIAC from minimum to maximum position and supply AC voltage gradually to the
power module
For open loop:
1.
2.
3.
4.
5.

Using decrement/increment key select the drive DC-AC inverter

Switch on the PWM pulse
Vary the frequency
Observe the motor speed by varying input frequency
Tabulate the observed readings

Tabular column:
S.no

Frequency, Hz

Modulation index (ma)

Actual speed, rpm

For closed loop:

Select the Closed loop option.
1.
2.
3.
4.

Enter the desired Kp and Ki values.

Set a desired speed.
Observe the actual speed of the motor by increasing the load
Tabulate the observed readings

Tabular column:
S.no

Conclusions:

Kp

Ki

Set Speed, rpm

Actual speed, rpm

Study of PWM Inverter

Aim:
To study the operation of sinusoidal pulse width modulation (SPWM) switching single phase PWM
inverter.
Apparatus Required:
1.
2.
3.
4.
5.
6.
7.

Single phase PWM Inverter Control Module

MOSFET power module
DSO
R - L load
9 pin cable
Power chord
Patch chords

Circuit diagram:

Fig -1
Pulse Width Modulation (PWM) techniques:

1.
2.

Sinusoidal PWM
Trapezoidal PWM

Sinusoidal Pulse Width Modulation:

The switching sequence for the inverter switches is obtained by comparing a sinusoidal reference
signal, of adjustable amplitude and frequency with a fixed frequency triangular carrier wave. The
sinusoidal reference frequency decides the fundamental frequency of the inverter output voltage and
is also called as modulating frequency. The inverter output voltage will contain fundamental
frequency voltage component and voltage components at harmonic frequencies of reference signal.

Sine Triangular PWM Generation

Waveforms of Sinusoidal Pulse Width Modulation (Unipolar Voltage Switching)

In Unipolar voltage switching, two reference sinusoidal waveforms with 180 degrees phase shift are
compared with high frequency triangular wave as shown in the Figure below to generate PWM signals.

Figure: Typical Unipolar Voltage Switching Waveforms

Output voltage Amplitude (Fundamental):
Vo,1 = Ma * Vdc
Vdc - Input DC voltage
Amplitude Modulation ratio:
Ma = Ar / Ac
Ar - Reference Sine wave Amplitude
Ac - Carrier wave Amplitude
Frequency Modulation ratio:
Mf = f c / f r
fc - Carrier wave frequency
fr - Reference wave frequency

Connection Procedure:
1.
2.
3.
4.
5.

Connect P1 of 24V DC input +ve terminal to P2 of Mosfet.

Connect P8 of 24V DC input -ve terminal to P9 of Mosfet.
Connect P4 to P7 of mosfet.
Connect the 9-pin connector of inverter control module to that of power module.
Connect the external load between P4 and P6.

Experiment Procedure:
1. Switch on the Inverter control module and MOSFET power module & reset it initially.
2. Set the reference sine wave using reference wave selection switch and set its amplitude and
frequency.
3. Set the PWM pulse amplitude and frequency of carrier wave.
4. Switch on the SPDT switch to release PWM pulse to the power module.
5. Check the test waveform in every test points using DSO.
6. Connect the R-load first and observe the output AC voltage.
7. Then connect the inductive load in series with the resistive load.
8. An output AC voltage obtained across the load is observed.
9. Also, observe the output voltage harmonic spectrum using FFT mode in DSO
10. Calculate the amplitude of the output voltage.

Tabular column:
Sl. No.

Sine wave
Amplitude (V)
Ar

Conculsions:

Carrier wave
Amplitude (V)
Ac

Modulation index
(Ma)

Measured output Vo,1 (V)