ABSTRACT

The control of induction motors are very important in the field of

motor drives. The motor has two control possibility one is scalar control and
another one is vector control. The vector control of induction motor is to
decouple the flux and torque. The control of the motor depends on the
measurement of the current and voltage. Speed control of induction motor has
done with Matlab/Simulink software and the test results are presented. In the
Hardware part, implementing the open loop control of the induction motor
with the FPGA control. The system consists of six bidirectional switches. The
pulses are generated by the controller and changing the frequency the speed
is changed. The control strategy is implemented by using FPGA in Hardware
part. Using this technique the inverter will be controlled and the voltage is
controlled by the frequency with the use of spartan 3AN FPGA kit.

CHAPTER 1
INTRODUCTION
The AC induction motor is a rotating electric machine to operate from a 3-phase source of
alternating voltage is designed. Inverter is a source which is normally used for variable speed
drives, that uses power switches to produce approximately sinusoidal voltages and currents of
controllable magnitude and frequency.
The Adjustable Speed Drives (ADS) are commonly used in industry. In most drives AC
motors are applied. The standard in those drives are Induction Motors (IM) and recently
Permanent Magnet Synchronous Motors (PMSM) are offered. Variable speed drives are widely
used in application such as pumps, fans, elevators, electrical vehicles, ventilation and airconditioning (HVAC), robotics, wind generation systems, ship propulsion, etc.
Although various induction motor control techniques such as variable voltage variable
frequency (VVVF) are in practice today, but the most popular control technique is by generating
variable frequency supply, which has constant voltage to frequency ratio. This technique is
popularly known as VF control. Generally used for open-loop systems, VF control is used for a
large number of applications where the basic need is to vary the motor speed and control the
motor efficiently.
The AC induction motor is the workhorse of industrial and residential motor applications
due to its simple construction and durability. These motors have no brushes to wear out or
magnets to add to the cost. The rotor assembly is a simple steel cage. ACIMs are designed to
operate at a constant input voltage and frequency, but you can effectively control an ACIM in
variable speed application if the frequency of the motor input voltage is varied. If the motor is
not mechanically overloaded, the motor will operate at a speed that is roughly proportional to the
input frequency. If decrease the frequency of the drive voltage, need to decrease the amplitude by
a proportional amount. Otherwise, the motor will consume excessive current at low input
frequencies. This control method is called V/F method
The high-performance frequency controlled PWM inverter fed IM drive should be
characterized by:

Constant switching frequency,

uni-polar voltage PWM,
Low flux and torque ripple,
four-quadrant operation,
These features depend on the applied control strategy. The main goal of the chosen control
method is to provide the best possible parameters of drive. Vector control group includes not
only control of the voltage amplitude and frequency, like in the scalar control methods, but also
the instantaneous position of the voltage, current and flux vectors .There by improvement in the
dynamic behavior of the drive.
Todays FPGA based, PWM-output, variable frequency drives provide the user with a
tremendous variety of features and functions which allow accurate control and monitoring in
nearly every 3-phase motor application. A fundamental advantage of an ac drive is that it
provides virtually infinite speed control of the standard induction motors.
The Spartan-3AN Stick Board provides a powerful, self-contained development platform
for designs targeting the new Spartan-3AN FPGA from Xilinx. It features a 50K gate Spartan3AN, on-board I/O devices, and 1Mb Internal flash memory, making it the perfect platform to
experiment with any new design.
Field Programmable Gate Arrays (FPGA) is a Higher density programmable device and is
used to integrate large amounts of logic in a single IC. Implementation on FPGA is one of the
method to handle the real time requirements and disadvantages of conventional
microcontroller. By using FPGA made faster and efficient solution to controller. It involves the
logic based PWM method to control the speed of three phase induction motor.

CHAPTER 2
LITERATURE SURVEY

1. P. Menghal and A. Laxmi.

These authors presents With the improvement in the technology of Microprocessor and Power
Electronics, Induction motor drives with digital control have become more popular. Artificial
intelligent controller (AIC) could be the best candidate for Induction Motor control. Over the last
two decades researchers have been working to apply AIC for induction motor drives. This is
because that AIC possesses advantages as compared to the conventional PI, PID and their
adaptive versions. The main advantages are that the designs of these controllers do not depend on
accurate system mathematical model and their performances are robust. In recent years, scientists
and researchers have acquired significant development on various sorts of control theories and
methods. Among these control technologies, intelligent control methods, which are generally
regarded as the aggregation of Fuzzy Logic Control, Neural Network Control, Genetic
Algorithm, and Expert System, have exhibited particular superiorities. The artificial neural
network controller introduced to the system for keeping the motor speed to be constant when the
load varies. The speed control scheme of vector controlle d induction motor drive involves
decoupling of the speed and ref speed into torque and flux producing components. The
performance of artificial neural network based controller's is compared with that of the
conventional proportional integral controller. The dynamic modeling of Induction motor is
done and the performance of the Induction motor drive has been analyzed for constant and
variable loads. By using neuro controller the transient response of induction machine has been
improved greatly and the dynamic response of the same has been made faster.

1. M. Mohamadian, E. Nowicki, F. Ashrafzadeh, A. Chu, R. Sachdeva, and E. Evanik.

These authors presents an artificial neural network controller is experimentally implemented on
the Texas Instruments TMS320C30 digital signal processor (DSP). The controller emulates
indirect field-oriented control for an induction motor, generating direct and quadrature current

command signals in the stationary frame. In this way, the neural network performs the critical
functions of slip estimation and matrix rotation internally. There are five input signals to the
neural network controller, namely, a shaft speed signal, the synchronous frame present and
delayed values of the quadrature axis stator current, as well as two neural network output
signals fed back after a delay of one sample period. The proposed three-layer neural network
controller contains only 17 neurons in an attempt to minimize computational requirements of
the digital signal processor. This allows DSP resources to be used for other control purposes
and system functions. For experimental investigation, a sampling period of 1 ms is employed.
Operating at 33.3 MHz (16.7 MIPS), the digital signal processor is able to perform all neural
network calculations in a total time of only 280 s or only 4700 machine instructions.
Torque pulsations are initially observed, but are reduced by iterative re-training of the neural
network using experimental data. The resulting motor speed step response (for several forward
and reverse step commands) quickly tracks the expected response, with negligible error under
steady-state conditions.

2. V. Panchade, R. Chile, and B. Patre.

These authors presents a state of the art review of control and estimation methods for
induction motor (IM) based on conventional approaches, sliding mode control (SMC) and
sensorless SMC i s presented. The objective of this survey paper is to summarize the different
control approaches for IMs including field oriented control (FOC), direct torque control (DTC),
speed observer, observer based flux estimation, sliding mode (SM) flux and speed observer,
current regulation by SMC, sensorless SMC, etc. The applications of SMC to IMs has been
widespread in recent years. The increasing interest in SMC is because of its interesting features
such as invariance, robustness, order reduction and control chattering. Particularly robustness of
SM approach with respect to parameter variations and external disturbance is vital for the
control system. The review covers the sensorless SMC schemes by integrating controller and
observer design to guarantee convergence of the estimates to the real states. It also covers the
chattering problems, encountered often in SMC area dealt by using an asymptotic observer.

4. B. Castillo-Toledo, S. Di Gennaro, A. G. Loukianov, and J. Rivera.

These authors presents a controller for induction motors is proposed. A continuous feedback is
first applied to obtain a discrete-time model in closed form. Then, on the basis of these exact
sampled dynamics, a discrete-time controller ensuring speed and flux modulus reference tracking
is determined, making use of the sliding mode technique. The resulting controller is hence
hybrid, in the sense that it contains both continuous and discrete-time terms. It is shown how to
implement such a hybrid controller using the so-called exponential holder, which is the only
device to be implemented analogically, together with an analog integrator. Moreover, a
discrete-time reduced-order observer is designed for rotor fluxes and load torque estimation. The
performance of the proposed controller is finally studied by simulation and experimental tests.
5. C. Castaneda, A. G. Loukianov, E. N. Sanchez, and B. Castillo-Toledo.
An adaptive discrete-time tracking controller for a direct current motor with controlled
excitation flux is presented. A recurrent neural network is used to identify the plant
model; this neural identifier is trained with an extended Kalman filter algorithm. Then, the
discrete-time block-control and sliding-mode techniques are used to develop the trajectory
tracking. This paper also includes the respective stability analysis for the whole closed-loop
system. The effectiveness of the proposed control scheme is verified via real- time
implementation.

6. A. Y. Alanis, E. N. Sanchez, A. G. Loukianov, and M. Perez-Cisneros.

These authors presents deals with real-time adaptive tracking for discrete-time induction motors
in the presence of bounded disturbances. A high-order neural-network structure is used to
identify the plant model, and based on this model, a discrete-time control law is derived which
combines discrete-time block-control and sliding-mode techniques. This paper also includes the
respective stability analysis for the whole system with a strategy to avoid adaptive weight zerocrossing. The scheme is implemented in real time using a three- phase induction motor.
7. A. Y. Alanis, E. N. Sanchez, and A. G. Loukianov.

These authors presents the design of an adaptive controller based on the block control technique,
and a new neural observer for a class of MIMO discrete-time nonlinear systems. The observer
is based on a recurrent high-order neural network (RHONN), which estimates the state
vectors of the unknown plant dynamics. The learning algorithm for the RHONN is based on an
extended Kalman filter (EKF). This paper also includes the respective stability analysis, using
the Lyapunov approach, for the whole system, which includes the nonlinear plant, the neural
observer trained with the EKF and the block controller. Applicability of the proposed scheme
is illustrated via simulation for a discrete-time nonlinear model of an electric induction motor.
8. M. P. Kazmierkowski and M. A. Dzieniakowski.
These authors presents a review of recently used current regulation techniques for Voltage
Sourced Pulse WidthModulated (VS-PWM) inverters. A variety of techniques, different in
concept, are described , as follows: On-Off hysteresis free running and fued frequency regulators
(phase independent, look-up table based, space vector based), linear regulators (carrier based,
working in stationary and rotating coordinates, PI and state feedback), predictive (minimum and
constant switching frequency) and dead beat regulators. Also, nowadays trends in the current
regulations - neural networks and fuzzy logic based regulators - are presented Some oscillograms
which illustrate properties of the presented regulator groups are shown. The references include
96 actual papers and conference contributions.

9. Ying-Yu Tzou and Hau- Jean Hsu.

These authors presents a new circuit realization of the space-vector pulse-width modulation
(SVPWM) strategy. An SVPWM control integrated circuit (IC) has been developed using the
state-of-the-art field-programmable gate array (FPGA) technology.The proposed SVPWM
control scheme can be realized using only a single FPGA (XC4010) from Xilinx, Inc. The output
fundamental frequency can be adjusted from 0.094 to 1500 Hz.The pulse-width modulation
(PWM) switching frequency can be set from 381 Hz to 48.84 kHz. The delay time for the PWM
gating signals is adjustable. This SVPWM IC can also be included in the digital current control

loop for stator current regulation. The designed SVPWM IC can be incorporated with a digital
signal processor (DSP) to provide a simple and effective solution for high-performance ac drives.
Simulation and experimental results are given to verify the implemented SVPWM control IC.
10. G. Thomas M. Jahns and Edward L. Owen.
These authors represents there is broad recognition of the huge strides taken in the development
of modern ac adjustable-speed drives since the introduction of the thyristor in 1957, far fewer
engineers in the power electronics profession today are aware of the key engineering
developments in this field that preceded the solid-state era. The purpose of this paper is to review
major milestones that set the stage for the development of todays ac drives, including sufficient
details to acquaint readers with their basic principles, strengths, and limitations. Attention will be
devoted to the continuum of this development history and the many direct echoes of
developments from the first half of the 1900s that we take for granted in todays ac drives. In
addition, the spirited competition between electromechanical and electronic ac drive solutions
that dominated engineering attention during the early part of the century will be reviewed,
highlighting the complicated interrelationship between electric machines and drive electronics
that persists today.
11. Anand Sathyan, Nikola Milivojevic, Young-Joo Lee, Mahesh Krishnamurthy, and Ali
Emadi.
These authors presents Development of advanced motor drives has yielded increases in
efficiency and reliability. Residential and commercial appliances such as refrigerators and air
conditioning systems use conventional motor drive technology. The machines found in these
applications are characterized by low efficiency and high maintenance. A brushless dc (BLDC)
motor drive is characterized by higher efficiency, lower maintenance, and higher cost. In a
market driven by profit margins, the appliance industry is reluctant to replace the conventional
motor drives with the advanced motor drives (BLDC) due to their higher cost. Therefore, it is
necessary to have a low-cost but effective BLDC motor controller. This paper lays the
groundwork for the development of a new low-cost IC for control of BLDC motors. A simple
novel digital pulse width modulation control has been implemented for a trapezoidal BLDC

motor drive system. Due to the simplistic nature of this control, it has the potential to be
implemented in a low-cost applicationspecific integrated circuit. The novel controller is modeled
and verified using simulations. Experimental verification is carried out using field-programmable
gate arrays to validate the claims presented.

12. Tole Sutikno, Nik Rumzi Nik Idris, Auzani Jidin, and Marcian N. Cirstea.
These authors presents a novel direct torque control (DTC) approach for induction machines,
based on an improved torque and stator flux estimator and its implementation using field
programmable gate arrays (FPGA). The DTC performance is significantly improved by the use
of FPGA, which can execute the DTC algorithm at higher sampling frequency. This leads to the
reduction of the torque ripple and improved flux and torque estimations. The main achievements
are: 1) calculating a discrete integration operation of stator flux using backward Euler approach;
2) modifying a so called nonrestoring method in calculating the complicated square root
operation in stator flux estimator; 3) introducing a new flux sector determinationmethod; 4)
increasing the sampling frequency to 200 kHz such that the digital computation will perform
similar to that of the analog operation; and 5) using twos complement fixed-point format
approach to minimize calculation errors and the hardware resource usage in all operations. The
design was achieved in VHDL, based on a MATLAB/Simulink simulation model. The
Hardware-in-the-Loop method is used to verify the functionality of the FPGA estimator. The
simulation results are validated experimentally. Thus, it is demonstrated that FPGA
implementation of DTC drives can achieve excellent performance at high sampling frequency.
13. Alessandro Cilardo.
These authors presents Field programmable gate array (FPGA) devices are increasingly being
deployed in industrial environments, making reconfigurable hardware testing and reliability an
active area of investigation. While FPGA devices can be tested exhaustively, the so-called
application-dependent test (ADT) has emerged as an effective approach ensuring reduced testing
efforts and improving the manufacturing yield since it can selectively exclude a subset of faults

not affecting a given design. In addition to manufacturing, ADT can be used online, providing a
solution for fast runtime fault detection and diagnostics. This paper identifies a number of issues
in existing ADT techniques which limit their applicability and proposes new approaches
improving the range of covered faults, with special emphasis on feedback bridging faults, as well
as new algorithms for generating ADT test configurations. Furthermore, the work introduces a
software environment addressing the current lack of tools, either academic or commercial,
supporting ADT techniques. The architecture of the environment is highly modular and
extensively based on a plug-in approach. To demonstrate the potential of the toolset, we
developed a complete suite of plug-ins, based on both state-of-the-art ADT techniques and the
novel approaches introduced here. The experimental results presented at the end of the paper
confirm the impact of the proposed techniques.

14. M. Nasir Uddin, Tawfik S. Radwan and M. Azizur Rahman.

These authors presents a novel speed control scheme of an induction motor (IM) using fuzzylogic control. The fuzzy-logic controller (FLC) is based on the indirect vector control. The fuzzylogic speed controller is employed in the outer loop. Thecomplete vector control scheme of the
IM drive incorporating the FLC is experimentally implemented using a digital signal processor
board DS-1102 for the laboratory 1-hp squirrel-cage IM. The performances of the proposed FLCbased IM drive are investigated and compared to those obtained from the conventional
proportional-integral (PI) controller-based drive both theoretically and experimentally at
different dynamic operating conditions such as sudden change in command speed, step change in
load, etc. The comparative experimental results show that the FLC is more robust and, hence,
found to be a suitable replacement of the conventional PI controller for the high-performance
industrial drive applications.

15. Bhim Singh, B.P. Singh, and Sanjeet Dwivedi.

These authors presents a Digital Signal Processor (DSP) based implementation of a Hybrid of
Fuzzy Logic Controller (FLC) and Proportional-Integral (PI) speed controller for Vector
Controlled (VC) Permanent Magnet Synchronous Motor (PMSM) Drive. The fuzzy membership
function is used for the hybrid combination of these two FLC and PI speed controllers in such a
way that during the time of dynamic conditions such as starting, the degree of belonging for FLC
speed controller is higher than the PI controller and near the set point the degree of belonging of
PI controller is having higher weightage. The simulation model of the PMSM drive system is
developed in MATLAB environment with simulink and PSB oolboxes to analyze the
performance of the proposed drive system. The hybrid speed controller is found suitable for
Vector Controlled PMSM drive in giving the high level of performance while maintaining the
excellent response at the time of starting, speed reversal, load perturbation and steady-state
operation of the drive.

16. W.P. Hew, C. P. Ooi. And N. A. Rahim.

These authors proposes the circuit realization of Space Vector Modulation (SVM) algorithm
using a single Altera Flex 10k chip (EPFlOK70RC240-4). An SVM integrated circuit (IC) has
been designed and developed to improve the vector control of the three-phase voltage source
inverter (VSI). The design of SVM IC is downloaded to the Altera UP2 Board and tested with
the inverter circuit to drive a 3-phase induction motor. The experimental results for 33Hz and
50Hz fundamental frequency and inverter switching frequency of 8.19 kHz are recorded.

CHAPTER 3
DESCRIPTION ON FPGA CONTROLLER

In this project the speed of the induction motor is controlled by varying stator
frequency and voltage using FPGA programming. FPGA is a new platform for motor control
application, and it gives excellent performance at mathematical calculation. The AC induction
motor is a relatively simple, inexpensive, and rugged device which requires little maintenance.
However, the induction motor is virtually a fixed speed device when operated from a constant
frequency source. Since some applications require a fairly wide range of operating speeds, DC
machines were often required. With the advent of power electronics, devices have become
available that allow induction machines to be operated over a range of speeds. It is now
frequently possible to buy an induction machine with an electronic drive for about the same price
as a comparable DC machine. Furthermore, variable speed induction motors can also be used to
drive pumps or fans more economically than the mechanical means which are often used to
provide variable flow.
Todays FPGA based, PWM-output, variable frequency drives provide the user with a
tremendous variety of features and functions which allow accurate control and monitoring in
nearly every 3-phase motor application. A fundamental advantage of an ac drive is that it
provides virtually infinite speed control of the standard induction motors.
FPGA:The Spartan-3AN Stick Board provides a powerful, self-contained development
platform for designs targeting the new Spartan-3AN FPGA from Xilinx. It features a 50K gate
Spartan-3AN, on-board I/O devices,and 1Mb Internal flash memory, making it the perfect
platform to experiment with any new design.
The Spartan3AN FPGA Stick Board kit includes a USB/ JTAG programming and
debugging chain. Additionally, there are two possible way for programming download and
debugging through USB as well as JTAG header. a mini USB cable, which is used to download
the program from PC into FPGA. For this purpose the cable directly connected to USB port of
the PC and another way is the JTAG cable connects directly to the parallel port of a PC and to a
standard 6-pin JTAG programming header in the kit that can program a devices that have a JTAG
voltage of 1.8v or greater.

3.1 Methodology
The speed control of the induction motor with FPGA implementation is developed.
When the Induction motors connected to the main supply, it runs at their rated speed.
Therefore to vary the rotor speed of I.M

variable frequency drive is required. In the

methodology, it cannot be considered as a suitable design solution for cost sensitive or

industrial applications. Field Programmable Gate Arrays (FPGA)

is a Higher density

programmable device and is used to integrate large amounts of logic in a single IC.
Implementation on FPGA is one of the method to handle the real time requirements and
disadvantages of conventional microcontroller. By using FPGA made faster and efficient
solution to controller. It involves the logic based PWM method to control the speed of three
phase induction motor.The matlab based speed control simulation is developed and checked
for the performance improvements. As well as hardware part by using FPGA has done.

CHAPTER 4
DYNAMIC MODELING & SIMULATION OF THE INDUCTION MOTOR DRIVE
Dynamic behaviour of induction motor can be expressed by voltage and torque which are
time varying. The differential equation that belongs to dynamic analysis of induction motor
are so sophisticated. Then with the change of variables, the complexity of these equations can
be decreased through movement from poly phase winding to two phase winding(q-d). In
other words, the stator and rotor variables like voltage, current and flux linkages of an
induction machine are transferred to another reference model which remains stationary.
The AC induction motor model is given by the space vector form of the voltage equations.
The system model defined in the stationary ,-coordinate system attached to the stator is
expressed by the following equations. Ideally, the motor model is symmetrical, with a linear
magnetic circuit characteristic.

The stator & rotor voltage differential equations:

us =R s i s +

dt s

(1)

us =Rs i s +

dt s

(2)

ur =0=R r i r +

d
+
dt r r

(3)

ur =0=Rr i r +

d
r
dt r

(4)

Electromagnetic torque expressed by utilizing space vector quantities:

3
T e= P p ( s i s s i s )
2

(5)

where:
, = Stator orthogonal coordinate system
u s,, ur, = Stator and Rotor voltages [V]
is,, ir, = Stator and Rotor currents [A]
s,, r, = Stator and Rotor magnetic fluxes [Vs]
Rs, Rr = Stator and Rotor phase resistance [Ohm]
/ s = Electrical rotor speed / synchronous speed [rad/s]
pp = Number of pole pairs
Te = electromagnetic torque [Nm]
After transformation into d-q coordinates the motor model follows:
usd =Rs i sd +

d
s sd
dt sd

usq=R s i sq +

d
s sq
dt sq

( s) rq
d
urd =0=Rr i rd + rd
dt

(6)

(7)

(8)


( s) rd
d
urq =0=Rr i rq + rq
dt
3
T e= P p ( sd i sq sq i sd)
2

(9)

(10)

4.1.Equivalent circuit
The Induction motor is normally modeled as Equivalent circuit. The figure 4.1(a) &
4.1(b) shows the typical equivalent circuits.

Fig 4.1 (a) and 4.1(b) Equivalent circuit of IM.

4.2 AC Motors
An AC motor is an electric motors that is driven by an alternating current. It consists of
two basic parts, an outside stationary stator having coils supplied with alternating current to

produce a rotating magnetic field, and an inside rotor attached to the output shaft that is given
a torque by the rotating field.
There are two recognized broad classes of AC electrical rotating machine, synchronouns
motor(SM) which rotates exactly at the supply frequency or a submultiple of the supply
frequency. The magnetic field on the rotor either generated by current delivered throgh slip
rings or by a permanent magnet.
The second is the asynchronous or induction (IM), which runs slightly slower than the
supply frequency. The magnetic field on the rotor of this motor is created by an induced
current.
A third class is introduced here for clarity, the Electronically Commutated Machine
(ECM). Such ECM machines have electronic commutation or switching as an inherent part of
the operation. This is different to electronically producing a variable frequency sine wave
supply, say by pulse width modulation (PWM), and using this instead of mains excitation.
The AC induction motor is a rotating electric machine, which is designed to operate
from a 3-phase source of alternating voltage. The source is usually an inverter and is used for
variable speed drives, that uses power switches to produce approximately sinusoidal voltages
and currents for magnitude and frequency control.

Fig 4.2. 3-phase AC Induction motor

A cross-section of a two-pole induction motor is shown in figure. Slots in the inner

periphery of the stator accommodate 3-phase winding a,b,c. The turns in each winding are
distributed so that a current in a stator winding produces an approximately sinusoidallydistributed flux density around the periphery of the air gap. When three currents that are
sinusoidally varying in time, but displaced in phase by 120 from each other, flow through
the three symmetrically-placed windings, a radially-directed air gap flux density is produced
that is also sinusoidally distributed around the gap and rotates at an angular velocity equal to
the angular frequency, s, of the stator currents.
The most common type of induction motor has a squirrel cage rotor in which
aluminum conductors or bars are cast into slots in the outer periphery of the rotor. These
conductors or bars are shorted together at both ends of the rotor by cast aluminum end rings,
which also can be shaped to act as fans. In larger induction motors, copper or copper-alloy
bars are used to fabricate the rotor cage winding.

CHAPTER 5
SPEED CONTROL OF INDUCTION MOTOR

5.1 Necessity of speed control

Every day engineers design products that employ induction motors. Speed control of 3phase induction motors is desirable in most motor control applications since it not only
provides variable speed but also reduces energy consumption and audible noise. Controlling
the speed has many advantages, such as power efficiency, reduced audible noise and better
control over the applications. The speed control of induction motor is more important to
achieve maximum torque and efficiency.
AC Induction motors are being applied today in a wider range of applications requiring
variable speed. Generally, variable speed drives for induction motor require both wide
operating range of speed and fast torque response, regardless of load variations. This leads to
more advanced control methods to meet the real demand.
Difficulties using conventional methods of speed control:
1. It depends on the accuracy of the mathematical model of the system.

2. The expected performance is not met due to the load disturbance, motor saturation and
thermal variations.
3. Classical linear control shows good performance only at one operating speed.
4. The coefficients must be chosen properly for acceptable results, whereas choosing the
proper coefficient with varying parameters like set point is very difficult.
To implement conventional control. The model of the controlled system must be known. The
usual method of computation of mathematical model of a system is difficult. When there are
system parameter variations or environmental disturbance, the behaviour of the system is not
satisfactory. The classical controller designed for high performance increases the complexity
of the design and hence the cost.

5.2 Speed Control Ttechniques

In the past, DC motors were used extensively in areas where variable-speed operations
were required. DC motors have certain disadvantages, however, which are due to the
existance of the commutator and the brushes which makes the motor more bulky, costly and
heavy. They are also robust and immune to heavy loading . the speed of the induction motor
has to be controlled and so different types of controllers are used to obtain the desired speed.
Various speed control techniques implemented by modern-age variable frequency drive are
mainly classified in the following three categories.
1. Scalar Control (V/f Control),
2. Vector Control (Indirect Torque Control)
3. Direct Torque Control(DTC)
The aim is to control the Speed & Torque of the induction motor using vector control
technique. The dynamic modelling of induction motor is done in the SIMULINK using the
necessary equations. The Vector control of the induction motor is also modelled in the
SIMULINK using the necessary equations. FPGA is implemented in the system for the better
control of the induction motor.

5.2.1 Scalar Control ( V / f control)

Whenever for three phase induction motor, three phase supply is given rotating magnetic
field is produced which rotates at synchronous speed given by ,
Ns = 120f/P
In three phase induction motor emf is induced by induction similar to that of transformer
which is given by ,
E or V = 4.44K.T.f or = V/4.44KTf
Where K is the winding constant, T is the number of turns per phase and f is frequency. Now
synchronous speed changes if we change frequency but with decrease in frequency flux will
increase and this change in value of flux causes saturation of rotor and stator cores which will
further cause increase in no load current of the motor . So,maintaining of flux is important,
constant and it is possible in the case of voltage change. i.e if we decrease frequency flux
increases but at the same time if we decrease voltage flux will also decease causing no
change in flux and hence it remains constant. So, here we are keeping the ratio of V/ f as
constant. Hence its name is V/ f method. For the speed control of three phase induction
motor by V/ f method supply variable voltage and frequency we need to supply by using
converter and inverter set which is obtained.

5.3 Vector Control (Indirect Torque Control) of AC induction machine

In AC induction motors vector control technique is most popular method. In reference
frames, the electromagnetic torque of the smooth-air-gap machine expression is similar to the
torque of the separately excited DC machine. Induction machines case, the control is
performed in the reference frame (d-q) attached to the rotor flux space vector. So the
implementation of vector control requires information on the modulus and the space angle of
the rotor flux space vector. The stator currents of the induction machine are separated into
flux- and torque-producing components by transformation to the d-q coordinate system,
whose direct axis (d) is aligned with the rotor flux space vector. It means that the q-axis
component of the rotor flux space vector is always zero:
rq = 0

and

d/dtrq = 0

----- (1)

The rotor flux space vector calculation and transformation to the d-q coordinate system
require the high computational power of a microcontroller; a digital signal processor is
suitable for this task.

5.4 PWM Control

In this method, a fixed dc input voltage is given to the inverter and a controlled ac
output voltage is obtained by adjusting the on and off periods of the inverter components.
Inverter employing PWM principle are called PWM Inverters. PWM techniques are
characterized by constant amplitude pulses. The width of these pulses is modulated to obtain
inverter output voltage control and to reduce its harmonic content. The advantages possessed
by PWM technique are the output voltage control with this method, lower order harmonics
can be eliminated or minimized along with its output voltage control. As higher order
harmonics can be filtered easily, the filtering requirements are minimized. The main
disadvantage of this method is that the SCRs are expensive as they must possess low turn on
and turn off times. This is the most popular method of controlling the output voltage of an
inverter in industrial applications.

5.4.1. Types of PWM Techniques

There are several types of PWM techniques Sinusoidal PWM (SPWM), selected
harmonics eliminations (SHE) PWM, Minimum ripple current PWM, Space vector PWM,
Hysteresis band current control PWM (HBPWM), Sinusoidal PWM with instantaneous
current control, Sigma-delta modulation. The hysteresis band current control PWM has been
used because of its simple implementation, fast transient response, direct limiting of device
peak current and practical insensitivity of dc link voltage ripple that permits a lower filter
capacitor.

Fig 5.1. Pulse Width Modultion

CHAPTER 6
BLOCK DIAGRAM DESCRIPTION OF THE HARDWARE MODEL
Figure 6 represents the block diagram of hardware model, it consists of various blocks,
same of these blocks are as explained below.
Generating the square wave pulses using the Spartan 3AN FPGA kit, then connected to
the driver circuit and though this circuit, input is given to the three phase inverter. By using
single phase supply(auto transformer) given to the rectifiers as it coverts AC voltage to DC
voltage. Hence the DC voltage is connected to the inverter circuit. From the inverter circuit
connected to the 3 phase induction motor terminals to measure the various speed.

Fig 6 .Block diagram of Hardware Implementation.

6.1 Power Supply

All electronic circuits works only in low DC voltage, so a power supply unit is required
to provide the appropriate voltage supply for their proper functioning. This power supply
unit consists of transformer, rectifier, filter and regulator. AC voltage of typically 230V RMS
is connected to a transformer which step down the voltage to the desired AC voltage.

Fig 6.1.1 General Block of Power Supply Unit

Single phase AC supply is given to bridge rectifier. It converts AC into DC. The paper
introduces the operation of power supply circuits built using filters, rectifiers, and then
voltage regulators. Starting with an AC voltage, a steady DC voltage is obtained by rectifying
the AC voltage, then filtering to a DC level, and finally, regulating to obtain a desired fixed
DC voltage.

6.1.1 Transformer

A transformer is a static device in which electric power in one circuit is transferred

into electric power of same frequency in another circuit .It can raise or lower the voltage in
the circuit, but with a corresponding decrease or increase in current. It works with the
principle of mutual induction. In this project a step-down transformer is used to provide
necessary supply of 12 V for the electronic circuits.

6.1.2 Rectifier
A rectifier is an electrical device composed of one or more diodes that converts
alternating current (AC) to direct current (DC). Here in this project rectifier is used to get dc
for inverter circuit.Converter is a device which convert AC to DC since high voltage dc
supply is required at the input of the inverter.
In the bridge rectifier the diodes may be of variable types like 1N4001, 1N4003,
1N4004, 1N4005, IN4007 etc can be used. But in this project 1N4007 is used because it can
withstand up to 1000V.

6.1.3 Filters
In order to obtain a dc voltage of 0 Hz, a low pass capacitive filter circuit is used where a
capacitor is connected at the rectifier output and a DC voltage without ripples is obtained across
it. The filtered waveform is essentially a DC voltage with negligible ripples and it is ultimately
fed to the load.

6.1.4 Regulators
The filtered output voltage from the capacitor is finally regulated. The voltage regulator
is a device, which maintains the output voltage constant irrespective of the change in supply
variations, load variations and temperature changes. Here a fixed voltage regulator namely
LM7805 is used.The IC LM7805 is a +5V regulator which is used for microcontroller.

6.2 Spartan 3AN FPGA

Some of the important features of spartan 3AN FPGA is as given below.

8-Nos. General purpose point LEDs

8-Nos of DIP switches (Digital inputs)
2-Nos of Push Button
USB port
PTB Connector
Communication protocols
Full Duplex UART (USB) and UART (RS 232)

Other Features:

1Mb Internal flash.

50 MHz crystal oscillator clock source.
USB/JTAG Interface Connector for parallel programming Spartan3AN FPGA.
USB/UART interface.
RS 232 interface.

The Spartan-3AN Stick Board provides a powerful, self-contained development

platform for designs targeting the new Spartan-3AN FPGA from Xilinx. It features a 50K
gate Spartan-3AN, on-board I/O devices, and 1Mb Internal flash memory, making it the
perfect platform to experiment with any new design.
The FPGA has good processing speed

than the other controllers. Here we are using

SPARTAN 3AN stick board kit for the proposed model. The FPGA will give the appropriate
pulses to control the power in the inverter output. . It is very easy to make the pulses
compared to other controllers.
In the FPGA board operating voltage of 3.3V is possible with the pulses..

Fig. 6.2.1 Spartan 3AN stick Board Components placement

6.3 Three phase inverter

A power inverter is a device which converts DC current supply into AC supply in the
form of sinewaves. The DC and AC converters more commonly known as inverteres,
depending on the type of supply source and the related topology of the power circuit, are
classified as voltage source inverters (VSIs) and current source inverters (CSIs).

Inverter converts DC power to AC power, usually at a controlled frequency and

voltage and this power used for supplying power to an AC motor.

These work by controlling a switching device like an IGBT, MOSFET or Bipolar
transistor with an oscillator so that the control device is switched on and off between

conducting and not conducting.

The three phase MOSFET inverter uses the DC voltage supplied from the three phase
bridge and the gate drive signals to produce a balanced three phase sinusoidal output

which drives the induction motor.

The metal-oxide semiconductor field effect transistor (MOSFET) is a transistor used

for amplifying or switching electronic signals.

Although the MOSFET is a four terminal device with source (S) , gate (G), Drain (D),
and body (B) terminals, the body (or subtrate) of the MOSFET often is connected to
the source terminal, making it a three-terminal device like other field effect
transistors. Because these two terminals are normally connected to each other (short

circuited) internally, only three terminals appear in electrical.

Whereas MOSFETs are used for low-current and high frequency switching.
The MOSFET used here is IRFP250N, the gate signal provide by driver circuit, six
MOSFET are included in three phase inverter to drive AC motor.

Fig 6.3.1 Hardware representation of 3-phase inverter ,FPGA kit with driver
circuit.
6.3.1 Features of IRFP250N MOSFET

Advanced process technology.

Dynamic dv/dt Rating.
175 C operating Temperature.
Fast switching.
Fully Avalanche Rated.
Ease of paralleling.
Simple Drive Requirements.
Description.

6.3.2 Advantages of MOSFET

It is used for voltage control.
It provides fast switching.
Ease of paralleling and temperature stability of the electrical parameters.

100 OHM

MCT2E

6.4 Driver circuit (Ir2110/Ir2113 High and Low side Driver).

1000 mF/25 A

1K

GROUND

The main purpose of driver circuit is to enhance the swithching voltage for the

MOSFET or any switching device. And also we have to isolate the power circuit .
The IR2110/IR2113 are high voltage, high speed power MOSFET and IGBT drivers
with independent high and low side referenced output channels. Proprietary HVIC and latch

330 OHM

100 OHM

immune CMOS 1technologies

enable ruggedized monolithic construction. Logic inputs are
K
compatible with standard CMOS
or LSTTL output , down to 3.3V
22 K
100 OHM logic. The output drivers
feature a high pulse current buffer stage designed for minimum driver cross conduction.

100 OHM

Propagation delays are matched to simplify use in high frequency applications. The floating

channel can be used to drive an N-channel power MOSFET or IGBT in the high side
configuration which operates upto 500 or 600 volts.

MCT2E

330 OHM

1000 mF/25 A

1K

GROUND

100 OHM

1K

22 K

100 OHM
100 OHM

MCT2E

330 OHM
6.4.1 Features

1000 mF/25 A

1K

GROUND

Fig 6.4.1 Driver circuit

1K

100 OHM

22 K

100 OHM
100 OHM

Floating channel designed for bootstrip operation, fully operational to 500V or 600V.
Tolerant to negative transient voltage dv/dt immune
Gate drive supply range from 10 to 20v under voltage lockout for botrh channels.
3.3V logic compatible.
Separate logic supply range from 3.3V to 200V logic and power ground 5V offset.

Driver circuit components

Diode (IN4007), Capacitors (1000F/50V,1000F/25V), Optocoupler (MCT2E), Transistors
(2n2222,CK100), Resistors (1k,100), Transformers(230V/12V).

6.4.2 Optocoupler (MCT2E)

Optocoupler or optoisolator is a combination of light source and light detector in the
same package as shown. They are used to couple signal from one point to the other optically,
by providing a complete electrical isolation between them. This kind of isolation is provided
between a low control circuit and high power output circuit, to protect the control circuit.
Compatible with standard TTL integrated circuits, Gallium Arsenide Diode Infrared Source
Optically Coupled to a silicon npn Phototransistor, high Direct current Transfer Ratio, base
lead provided for Conventional Transistor Biasing, High voltage Electrical Isolation. 1.5-KV,
or 3.55-KV rating, Plastic Dual - In Line Package, High speed Switching: tr = 5s, tf = 5 s
Typical Designed to be Interchangeable with General Instruments MCT2 and MCT2E.
MCT2E is the optocoupler which will be connected to the buffer CD4050
which send pulse signals of 5 v from microcontroller to the driver circuit.MCT2E is the
device which isolates the power circuit with the circuit.After it gets the signal from there
circuit it will get enhanced using the 2N2222 transistor to higher level of voltage after this the
voltage get regulated by the use of darlington pair.The darlington is made of 2N2222(NPN)
and SK100 (PNP) transistor.

Fig 6.4.2 Opto coupler schematic diagram

6.4.3 Applications

AC to DC converters used for DC motor speed control.

High power choppers.
High power inverters.

6.4.4Buffer IC (HCF4050BE)
MCT2E which is the optocoupler will be connected to the buffer HCF4050BE which
send pulse signals of 5v from FPGA to the driver circui.

Description
The HCF4050BE is an high speed CMOS HEX BUFFER fabricted with silicon gate
C2MOS technology. The internal circuit is composed of 3 stages, which enables high noise
immunity and a stable output. Input protection circuits are different from those of the high
speed CMOS ICS. The VCC side diodes are designed to allow logic-level conversion from
high level voltages (upto 13v) to low level voltages.

CHAPTER 7
EXPERIMENTAL SET UP OF HARDWARE MODEL

Fig 7. Circuit of hardware model

7.1 Components for Experimental Set up

Three phase Inverter ( MOSFET)

Induction motor
SPARTAN 3AN FPGA kit (xilinx software, FPGA progarmmer)
Control unit ( AC power supply)
Driver circuit
Buffer circuit (BC)
Rectifier
capacitor
CRO (cathode ray oscilloscope), probes.

7.2 Details of Hardware Circuit

The circuit consists of the following components:

Power supply Unit of step down transformers (230/12 V, 500mA), bridge

Rectifiers( IN4007), filter (Capacitor) and Regulator (7805), Driver circuit consist of LED
Transistor,

Optocoupler

(MCT2E),

NPN

Transistor

(2N222),

Capacitor

(1000F/50V,1000F/25V), Resistor(1k, 100) and one buffer IC (HCF450BE), 3 phase

inverter using 6 MOSFET, Spartan 3AN FPGA stick board. 3 different frequencies of 50 Hz,
40 Hz, and 60 Hz using through FPGA kit, Induction mptor 0.5 HP.

7.3 Working of Hardware Model

In this project the three phase inverter fed induction motor with FPGA controller is
presented. The FPGA controller has more advantages than the other controllers. The FPGA
has good processing speed than the other controllers. Here using the SPARTAN 3AN stick
board kit for the proposed model. The FPGA will give the appropriate pulses to control the
power in the inverter output. It is very easy to make the pulses compared to other controllers.
The ordinary one twenty degree mode of conduction is used to control the induction motor.
Generating the pulses with only 3.3V as it is the operating voltage of the FPGA board.
The MOSFET cannot able to switch in that low voltage. The voltage amplitude should be
increased. There is a need of another circuit to amplify the voltage amplitude. And also if the
MOSFET is connected to the FPGA directly, the circuit will give more current which will
damage the MOSFET. Hence the circuit should be isolated.
The driver circuit should be used to isolate and also for amplitude modulation. Using
(transistor-transistor logic)TTL as driver. The TTL is the configuration of the transistor pair
which will be useful for amplification and logical operations. This circuit has
230V/12V,500mA transformer and a half bridge rectifier circuit for giving the collector
voltage.
This will be transferred to the output of the TTL logic which will give 9-12V of the
output pulses and an opto coupler is also used for isolation purpose. The system is fully
isolated and it is safe from the high current, and opto coupler has only the light connection.
Main circuit consists of six MOSFETs and all the MOSFET can able to withstand high
current. These MOSFETs are driven by the TTL circuit and controlled by FPGA board. The
pulses for different frequencies are given as program and the DIP switches are enabled. For

different DIP switches different frequencies we can get. So if the frequency is changed the
speed will be changed correspondingly. So the open loop control has done Using the FPGA.

CHAPTER 8
SIMULATION MODEL

A speed control of Induction motor drive has been simulated using Matlab/Simulink.
From the figure 8. The required speed of the motor is set using Wref. The measured
speed is taken out from the motor . To calculate torque we need to compare both the speed.
The proportional torque is given to the Iqs calculation, here Iqs is direct axis current, to
Calculate the reference value of theta. The torque and flux are calculated using measured
current, measured current is converted to Id, Iq measurement [ABC-DQ] from that Id will
produced flux(phi r), so using Iq,Phi r, and measured speed will produces. This is used for the
calculation of Id,Iq to Iabc, Iabc transformation, theta is the angular Wref( frequency) is
given to the speed control, where the motor current is measured, and compared in the speed
controller, there by Iabc and Iqs is compared, pulses are genreated, pulses are given to the
inverter which will drive the motor.
The MATLAB/SIMULINK model for swicthing logic is developed. The transient
performance of the developed model has been tested. The model is run for typical contitions
of reference speed and applied torque value.

Fig 8. Simulation Model of vector control I.M

CHAPTER 9
RESULTS AND DISCUSSION
9.1 Simulation Results and Discussion
9.1.1 Simulation Results
A vector control algorithm of induction motor drive has been simulated using
Matlab/Simulink. Figure 8. depicts the complete Simulation model of speed control scheme
of Induction Motor with 50HP, 460V, 60Hz, 1780 rpm, 3-phase induction motor is used for
the simulation.
Simulation study of the vector controlled induction motor drive is performed to obtain the
physical behaviour of the drive. The optimisation algorithm is adopted for flux vector
generation and the speed control is achieved through the use of vector controller.
The following waveforms represents the Fig 9.1.1 Inverter DC input, Fig 9.1.2.-Inverter gate
pulses, Fig 9.1.3 voltage vab, Fig 9.1.4- current Iabc, Fig 9.1.5 speed characteristics and FIG
9.1.6 Torque characteristics by using simulation study.

Figure

9. 1.1- Inverter DC input

Fig 9.1.1 shows inverter DC input in y-axis and time in sec in X- axis.
Single-phase AC supply is giving from the auto transformer ,which is connected to the
rectifiers in which it will converts as DC. The obtained DC supply is given to the inveter
inputs.
Inverter Gate pulses:

Fig 9.1. Switching pulses fed to the 3-phase inverter.

Fig 9.1.2 Represents In Y-axis voltage in V and X-axis time in sec.

Inverter gives gate pulses to the motor through PWM to get theta value then the
output of the rotor to view the output parameters such as vab,Iabc,speed and torque . In Y-axis
voltage in Vand in X-axis time in sec, Y-axis current in A and X-axis time in sec, Y-axis speed
in rad/sec and X-axis time in sec, Y-axis torque in Nm and X-axis time in sec respectively,
shows the settling time on the rotor speed is less. And distortion of torque is less, hence the
performance is improved.

Voltage:

9.1.3 voltage Vab

From the figure 9.1.3. the waveform represents In Y-axis voltage in Vand in X-axis time in
sec, From the figure 9.1.4 The waveform represents in Y-axis current in A and X-axis time in
sec respectively.

Stator current:

Fig 9.1.4- current Iabc.

Speed characteristics

Fig 9.1.5 Speed characteristics curve

Inverter gives gate pulses to the motor through PWM to get theta value then the
output of the rotor to view the output parameters such as vab,Iabc,speed and torque . In Y-axis

voltage in Vand in X-axis time in sec, Y-axis current in A and X-axis time in sec, Y-axis speed
in rad/sec and X-axis time in sec, Y-axis torque in Nm and X-axis time in sec respectively.
From the figure 9.1.5. The above waveform speed has high intial value, then decreases and
remains constant. Settling time on the rotor speed is less, and distortion of torque is less,
hence the performance is improved.

Torque characteristics

Fig 9.1.6 Torque characteristics

From The fig 9.1.6 the system is improved as well as torque ripples are reduced
correspondingly. This state that the transient performance is improved.

9.2 Experimental Results and Discussion

To generating the pulses ,square wave program is to be executed by using xilinx
software. Then dump this program to the spartan 3AN FPGA kit by using Fpga programmer
(sw.bit).There are 6 switches namely S1, S2, S3, S4, S5, S6 using in 3-phase inverter circuit.
From FPGA kit we are getting 50Mhz, T = 1/f = 1 /50 Mhz = 20 ns.
If we want to generate 50 HZ means T = 1 /f = 1 /50 hz = 20 ms.
After every square wave count value will be one. Positive edge clock is given to the first
wave , which increment the count value based on the count it will take ON Time and OFF
Time.
Normally 3 different frequencies of 50hz, 40 hz, and for 60 hz we are measuring the speed.
Each frequency can be changed by using switches s1, s2 and s3 to get 50 hz, 40 hz and 60 hz
respectively. Measure the square waves of different frequencies in CRO. For all the three
Frequencies FPGA output will be 3V.
The three different Frequencies of 50hz, 40 hz, and 60 hz waveforms are as shown in below .

Fig 9.2.1 For 50 hz square wave pulse

Fig 9.2.2 For 40 hz sqaure wave pulse

Fig 9.2.3 For 60 hz Square wave pulse

In our experimental hardware part we are generating square wave pulses, and these
pulses can be given to the Inverter circuit,through which it is connected to the oscilloscope
there by we can measure the waveforms of different frequencies. From the driver circuit input
is connected to the DC regulator and it is connected to the motor terminals. There we wil get
the output parameters of the motor.By changing the frequencies measure the speed for each
50 hz , 40 hz, and 60 hz .
For 50 hz frequency we wil going to get the standard speed of motor.
For 40 Hz, if we decrease the frequency than the standard frequency motor speed will
increase.
For 60 hz ,if we increase the frequency the motor speed will decrease.
In Our hardware

circuit By using FPGA we are controlling the speed by changing

frequencies.In this hardware part we are using 0.5 HP Induction motor .By using auto
tranformer upto 60volts we can apply the voltage.

CHAPTER 10
CONCLUSION

The Matlab based simulation is developed for a 3 phase vector controlled I.M drives

has been analyzed.

The overall system performance studied through simulation results.
Dynamic response of Steady state speed of the I.M. is achieved through controlling

the vector.
In Hardware part FPGA based, PWM-output, variable frequency drives provide the
user with a tremendous variety of features and functions which allow accurate control
and monitoring in nearly every 3-phase motor application effective methods.
Many schemes have been proposed for the control of induction motor drives,

among

which the field oriented control or vector control, has been accepted as one of the

most effective methods.

Future Scope
FPGA is used in producing the required switching signal in efficient manner. The FPGA
provides a digital control for the induction motor. The digital control system provides a speed
control and soft starting technique for the induction motor.
And also FPGA is an front design tool for making Ics. We can do other efficient
modulation techniques also for controlling the induction motor because of fast response in it.
And it can be made as a single IC to do the other operations.
This can be made as a comertial product in the real world for controlling the motor in
some industries like leather shop, mechanical machines, and also for traction.

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