International Journal of Computer Applications (0975 – 8887)

Volume 151 – No.7, October 2016

Speed Control of Induction Motor using PI and

V/F
Scalar Vector Controllers

36

ABSTRACT
In this paper, Induction
Motors (IM) are widely
used in the industrial
application due to a high
power/weight ratio, high
reliability and low cost. A
Space Vector PWM
(SVPWM) is utilized for
PWM controlling scheme.
The performance of both
the speed and torque is
promoted by a modified PI
controller and V/F scalar
control. A scalar control is
a simple method and it's
operated to control the
magnitude of the control
quantities in constant speed
application. V/F scalar
control has been
implemented and
compared with the PI
controller. The simulation
results showed that Indirect
Field oriented control
(IFOC) induction motor
drive employ decoupling of
the stator current
components which
produces torque and flux.
The complete
mathematical model of the
system is described and
simulated in
MATLAB/SIMULINK.
The simulation results
provides a smooth speed
response and high
performance under various
dynamic operations.
Keywords
Induction motor,
SVPWM, PI-
Controller, V/F
ABBREVIATIONS
: the d and q axis
components of the stator
current q : the d
and q axis component of the
rotor current
, : the d and q
axis components of the
stator fluxes
: the d and q
axis components of the
rotor fluxes , :
the d and q axis
components of the stator
voltage.
International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
: main objective of this
the stator control method is, as in
separately exited DC
and rotor
resistances
machines, to independently
control the torque and flux;
. r: this is done by choosing a
the rotor d-q rotating reference
speed frame synchronously with
the rotor flux space vector
P: the
[4]. A voltage source
number of pole pairs
inverter (VSI) should have
N a stiff voltage source at the
the number of
input, that is, its Thevenin
turns impedance should ideally
the magnetic
be zero. Thus, a large
flux-linkage in capacitor can be connected
the stator
at the input if the voltage
Air gap source is not stiff. (VSI)
flux-linkage consist of power bridge
K the devices with three output
constant of coil legs, each consisting of
The two power switches and
induced voltage in the two freewheeling diodes,
stator, m: the inverter is supplied
the total motor and from DC voltage source
load inertia TL, b: (either battery or diode-
the load torque and the based bridge rectifier) via
friction Coefficient.
LC or C filter [5]. The
: the Space Vector Pulse Width
stator inductances. Modulation (SVPWM)
method is an advanced,
r: the rotor
computationintensive
inductances. PWM method and possibly
Lm: the the best among all the
mutual Inductance. PWM techniques for
variable frequency drive
1. INTRODUCTI application. It exhibits the
ON feature of good dc-bus
Three phase induction voltage utilization and Low
motors are the most widely total harmonic distortion
used for industrial control (THD) compared to other
and automation. They are PWM methods. SVPWM
often called the workhorse is more suitable for digital
of the motion industries implementation and can
due to their robustness, increase the obtainable
reliability, less maximum output voltage
maintenance and of high with maximum line voltage
durability [1]. Control approaching 70.7% of the
Techniques of Induction DC link voltage in the
Motor (IM) are Variable linear modulation range
[6]. SVPWM is adopted in
frequency control
this paper for PWM
techniques of IM can be
divided into two major controlling scheme. In
addition, a comparative
types: scalar control, vector
control methods. Scalar study of the speed control
of induction motor using
control or as it is called
V/F control. The structure V/F scalar vector and PI
controllers is illustrated.
is very simple and it is
normally used without The induction motor drive
can be controlled to obtain
speed feedback. However,
this controller doesn’t better performance by
achieve a good accuracy in many methods as scalar
both speed and torque controller (V/F) and vector
responses, mainly due to controller (Field oriented
the fact that the stator flux control and direct torque
and the torque are not control) by using PI,
directly controlled [3]. The intelligent controller, etc.
2016
In this section, a historical
review of previous studies
related to controlling the
induction motor controller
is introduced. Pabitra
Kumar Behera et.al,
2014[7] presents a design
and implementation of
scalar control of induction
motor. This method leads
to be able to adjust the
speed of the motor by
control the frequency and
amplitude of the stator
voltage of induction motor,
the ratio of V/F is constant.
It is also presents a
comparative study of open
loop and close loop V/F
control induction motor.
The V/F control is based
on advent of stator voltage
derivatives. From
experiment and results we
shown that the closed loop
V/F control gives better
response and better result
as compared to open loop
V/F control of induction
motor. Jay R. Patel, S.R.
Vyas, 2014[1] proposed a
Variable Voltage-Variable
Frequency (V/F) base
torque-speed control of
three phase induction
motor fed by a PWM
Voltage Source Inverter
will be simulated. The
PWM method, which
involves the modulation of
conventional sinusoidal
reference signal and a
triangular carrier to
produce pulse width
modulated output signals,
which are applied to Power
Electronic Switches of a 2-
Level Voltage Source
Inverter, driving a Three
Phase Induction Motor,
shall be used. The
performance analysis of
three phase induction
motor fed by PWM voltage
source inverter in terms of
phase current of inverter,
rotor and stator current,
speed, and electromagnetic
torque developed of
inverter is simulated.
Simulation results illustrate
the performance and
effectiveness of constant
V/F Induction Motor drive.
The actual speed follows
the reference speed and
change in the speed from
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 International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016

high to low and low to high of an induction Motor. developed by writing

makes change in the Amongst the various PWM differential equations for
……
voltage and current profile techniques, the sinusoidal voltage and torque. For
…... .
accordingly. Devraj Jee, PWM is good enough and Dynamic analysis, poly
(2)
Nikhar Patel, 2013[8] most popular that provides phase windings are
presents the need of Speed Smooth changeover of V/F, transformed into two phase
Control in Induction four quadrant operation, windings (q-d) quantities
Motors. V/F Control has harmonic elimination, in [10]. The following ….
proven to be the most both closed and open loop equivalent circuit in Fig. ……..
versatile. The overall applications. G. (1) Is used to simulate a (3)
scheme of implementing KOHLRUSZ, D. FODOR, three-phase, P-pole,
V/F control has been 2011[10] there are two symmetrical induction
presented. One of the basic control methods are motor in the dq reference ………….
requirements of this compared: scalar control …. (4)
frame. Where =
scheme is the PWM and vector control, both LIs=Ls-Lr LIr=Lr-Lm
Inverter. In this, PWM control methods have Rs =0. Rr

Inverters have been advantages and ℷ The fluxes are

modeled and their outputs disadvantages. Scalar Iqs combined withIqr the rℷ r
fed to the Induction Motor control is a cheap, well- ℷq
AC

Vqs Lm currents according to

ℷqr
drives. The uncontrolled implementable method.
the following
transient and steady state Because of these
expressions
response of the induction advantages and its
motor has been obtained simplicity, many (a) q-circuit
LIs=Ls-Lr LIr=Lr-Lm
and analyzed. A MATLAB applications operate with Rs Rr
….. (5)
code was developed to this control technique in
successfully implement the industry. On the other ℷ
Ids r ℷqr
open loop V/F Control on a hand, it is not satisfactory Idr -

ℷd AC

PWMInverter fed 3-phase for the control of drives Vds Lm ℷdr

…. (6) +

Induction Motor, and the with dynamic behavior,

Torque was found to be since it gives slow
constant for various rotor response to transients. This (b) d-circuit
speeds. It was observed is because the V/f Constant
… (7)
that using a Closed-Loop method controls the Figure (1) induction
scheme with a Proportional magnitude of voltages and mot
Controller gave a very frequency instead of or
superior way of controlling controlling the phase and equi … (8)
the speed of an Induction magnitude of currents. It is vale
motor while maintaining a a low-performance, but nt The development of
constant maximum torque. stable control technique. circ torque is by the
Riya Elizabeth Jose, The field oriented control uit interaction of air gap
Maheswaran K., 2015 [9] method controls the a) qs flux and rotor
proposed the V/F ratio that currents so it operates with circ current [11] and
kept constant which in turn fast responses. This uit [12]. Therefore, the
maintains the magnetizing method satisfies the and torque can be
flux constant so that the requirements of dynamic b) ds generally expressed
maximum torque remains drives, where fast response circ in the vector form
unchanged .Z- Source is necessary. It is an uit as:
inverter overcomes the excellent control method to [11]
shoot through short circuit handle transients. Its ……………………
problem of VSI. But ZSI disadvantage is complexity, The dynamic
……..… (9)
has certain disadvantages and the high price of the machine model in
which were overcome by driver circuit. stationary frame can
be derived simply by …
switched boost inverter to Nevertheless, it is a high- ………………
modified pulse width performance control substituting ωe=0.
The corresponding ……………... (10)
modulation technique technique. Both techniques
switched boost inverter are applicable over the stationary frame
(SBI) to drive a three phase nominal speed at the equations are given
as ……………….....
induction motor. It is often expense of torque (11)
required to control the
output voltage of inverter 2. MATHEMATI 3. SIMULATION
for the constant …
CAL MODEL … OF
voltage/frequency (V/F)
control of an induction OF …. INDUCTION
Motor. PWM (Pulse Width INDUCTION … MOTOR
Modulation) based firing ….
MOTOR (1)
The inputs of a squirrel
of inverter provides the cage induction machine are
The dynamic model of
best constant V/F control the threephase voltages,
induction motor can be
38

their fundamental
frequency, and the load
torque. The outputs, on the
other hand, are the three
phase currents, the
electrical torque, and the
rotor speed, the induction
machine model will have
blocks transforming the
three-phase voltages to the
d-q frame and the d-q
currents back to three-
phase[12]. The block (
to ) transforms three
phase voltage into two
phase stationary reference
frame voltages . The
simulation of the IM
mathematical model is
shown in Fig. (2), which
consists of the main
blocks: abc to dq block, D-
axis circuit block, Q-axis
circuit block, dq to abc
current block, speed
determination block and
the torque determination
block.
Figure (2) IM dynamic
model Simulink circuit
To transfer the 2-axis
stationary current frame (
) to threephase
stationary current frame (
), using inverse
transformation equation
(12) [12].
…………..
… (12)
4. SPEED
CONTROLLE
R disadvantages of changing
In this section, two types
of controllers were used,
to enhance the FOC and
International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016
scalar vector system for of induced voltage the of the open-loop
controlling the speed of V/Hz constant control control method is
IM, these controllers are: gives constant flux in the that this technique
stator (Eq. 13). does not control the
1. V/F
torque, so the
constant desired torque is
2. Conventio …………
…… (13) only accessible at the
nal PI controller nominal operating
(trial and error point. If the load
tuning) The torque–speed
torque changes, the
equation of
speed of the motor
4.1 Scalar Control induction motors
will change [7, 14].
(Eq. 14) can be used
(V/F) to determine the
V/F is the most common 4.1.2 Open loop V/F
voltage–torque
speed control of an control
induction motor. The The open loop V/F
torque developed by the control of an
induction motor is directly ………… induction motor is
proportional to the V/F ……. (14) the most common
ratio. The voltage and method of speed
frequency are tried to 4.1.1 Closed Loop V/F control because of its
vary, keeping their ratio simplicity and these
Control
constant, then the torque types of motors are
The basis of constant
produced by induction widely used in
V/F speed control of
motor will remain industry. This type of
induction motor is to
constant for all the speed motor control has
apply a variable
range [14]. In addition, some advantages are
magnitude and
V/F is the simplest low cost, simplicity
variable frequency
controller. It assumes a voltage to the motor and immunity to
constant relation between (Fig. (3)). both the errors of feedback
voltage and frequency and voltage source signals
it is normally used without inverter and current .Traditionally,
speed feedback. However, source inverters are induction motors
this controller doesn’t used in adjustable have been used with
achieve a good accuracy speed ac drives. The open loop 50Hz
in both speed and torque following block power supplies for
responses, mainly due to diagram shows the constant speed
the fact that the stator flux closed loop V/F applications. For
and the torque are not adjustable speed
directly controlled [4]. control using a VSI. drive applications,
The scalar control method frequency control is
is based on varying two natural, however,
parameters voltage is required to
simultaneously. The speed be proportional to
can be varied by frequency so that the
increasing or decreasing stator flux remains
the supply frequency, but
constant
this results in change of
remains constant [7].
impedances. The change
Block diagram of the
of impedances eventuates
open loop V/F
the increase or decrease of
control for an IM as
current. If the current is Fig. (3) Closed-loop shown in Fig. (4).
small, the torque of motor
V/Hz constant
decreases. If the frequency
control
decreases or the voltage
increases, the coils can be The closed-loop
burned or saturation can method offers a
occur in the iron of coils. more precise
To avoid these problems, solution to
it is necessary to vary the controlling the speed
frequency and the voltage
at the same time. In this
than the open-loop
method.
way, the occurring Furthermore, the
closed-loop
frequency and voltage can technique controls
be compensated. the torque, too. A
According to the equation major disadvantage
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 International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016

Fig (14) open loop with the slip speed. The vector position θe. 5. SIMULATION
constant V/F speed control equation which The Calculated by
control [14] PI controller involves is AND RESULTS
= =
Some problems
given as
……
5.1 Simulation
encountered in the ……… (19) Results for open
……………..
operation of this open loop
(15) The conventional PI loop V/F
drive ,these problem are The responses of the
controller is one of
The speed of the motor speed and torque for
Similarly the flux the most common
cannot be controlled , V/F at constant load
producing current approaches for speed
because the rotor speed and different speed
component , is control in industrial
will be slightly less than conditions have been
obtained from the stator electrical drives in
the synchronous speed and studied where the
flux linkage reference general, because of
that in this scheme the ratio of V/F is
value and is given by the its simplicity, and
stator frequency and hence 4.44(Constant ratio).
following the clear relationship
the synchronous speed is Fig. (6) Showed
………….. existing between its
the only control variable. Simulink model for
(16) parameters and the
The effect of the above can
system response VF as following:
make the stator currents
The rotor flux is directly specifications. It also
exceed the rated current by
proportional to current improves the
a large amount. Then the
in steady state dynamic response of
slip speed cannot be
the system and
maintained, due to the
reduces or eliminates
difference between the ;
the steady state error
synchronous speed and the
For the given flux and the error
electrical rotor speed
level, the required sensibility. This is
[7].
torque achieved by
providing a
4.2 Vector proportional gain (
Controllers … ) for theFigure (6) Simulink block of open loop constant
error
The field oriented control … input term with an V/F speed control
is one of the most prevalent … integral component
control methods that are correction ( ) Case 1
utilized to improve the ( 1. At rate load
dynamic performance of a 1 condition TL=(0,1)
three-phase induction 7 ………….. at time(0,0.5s) N.m
because the FOC manner (20) and speed nr =1500
)
includes making the Where, u (t) is the rpm at moment of
induction motor behave output of the PI inertai
similar to a DC motor. The From the q current controller and e (t) is (J=0.001kg.m), the
FOC is good and robust components and slip gain, the error signal speed reached to
control in transient and it is the slip speed reffrence speed in
based on mathematical The conventional PI 0.35s. Due to the
Relation is obtained
abstraction .stator currents controller fixed gain load torque applied,
as
of the induction machine may perform well the speed decrease to
are separated into flux-and under some 1207 rpm at 0.5 s
torque producing …………… operating conditions and no overshoot in
components by utilizing ……. (18) but not all. The the speed response,
transformation to the d-q conventional PI Figures (7), and (8)
coordinate system, whose controller block show the torque and
direct axis (d) is aligned Where is the rotor model is given in speed response. Fig.
with the rotor flux space time constant, Fig. (5) [3, 6]. (13) shows that the
vector. It means that the q- calculated by starting torque is
axis component of the rotor high reach to 3N.m.
flux space vector is always then the current
zero [14, 15]. In the indirect field equal to 1.6 amp and
oriented control increamnt after
, applied load as
is achieved from
The speed error, with the
calculated slip angle shown in figure (9)
together with the
help of a Conventional PI Figure (5)
feedback rotor speed
controller, is converted into Conventiona
based on motor
a torque controlling current l PI
parameters , is
Component , of the integrated to obtain controller
stator current. This current the stator reference
component is used to flux linkage space
regulate the torque along

40
 International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016

(11) show that the Figure (11): Figure

starting torque is Electromagnetic (13)
high reach to 2.5N.m torque response Speed
less than case 1. respons
when change the e
speed ,the response
take more time to
reach for reffrence
speed and the torque
also change due to
speed change or
change input volatge
and after that back to
Figure zero and the current
(7) is stay without
Speed change as shown in
respon fig.(12)
se
Figure
(12) the
current Figure
response (14)
B-at TL=1N.m, in Torque
figure (13) shown the respons
speed response from e
this figure, it can be
seen that the rotor
speed cannot reach to
the required speed due
to the load condition
.figure (14) show that
the torque has
normally dynamic
Figure performance under
Figure (8): (10): these changes and the
Electromagneti Speed current keep without
c torque respons change under varies as
response e shown in fig(15)

Figure
(15)
Current
respons
e

5.2 Simulation
Results for PI
controller
Time (seconds)
The simulation
circuit of INFOC
Figure with PI controller is
(9) shown in Fig. (16). A
Current trial and error
respons method is used for
e tuning the
2. Figures (10) and conventional PI
(11) show the speed controller. The
and torque responses obtained gains are k
p and Ki.
of IM when the
speed is varied from
1000 to 1500 rpm at
time .5sec
A-at No load
Condition . In figure
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 International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016

Figure (17): Figure (20) speed Figure (23) Torque

Speed response response response
(1 Nm at 5 sec)
6. CONCLUSION
It can be concluded
that the two control
methods scalar
control and vector
control have
Figure (16) the advantages and
simulation circuit disadvantages.
with PI controller Scalar control is a
low cost method,
Case 2: simple and immunity
to errors of feedback
1-In this case the signals, open loop
speed reference deals with constant
of IM is 1500 speed applications,
rpm and rated many applications in
Figure (18)
load condition is the industry operate
Electromagnetic
changed in steps with this control
torque response (1N.m Figure
from (0-1) N.m technique .The IFOC
at 5s) (21)
at time 0.5s and induction motor
torque
J=0.001 Kg.m drive involves
respons
.in Figures (17), decoupling of the
e
(18) shows that stator current
rotor speed B-at TL=1N.m When the components which
follows the speed is varied from 1000
to 1500 at time 0.5s .the produces torque and
reference speed flux. It can be
under different speed response has small
overshot after applied load controlled by using a
torque loads. PI speed control. It
compared with previous
And starting improves the
case as shown in figure
torque is less (22).The torque response is dynamic response of
than VF this not effect with applied load the system and
means that the as figure (23). reduces the steady
controller is state error, the error
robust and good sensibility, high
dynamic Figure performance and
response. In (19) the smooth speed
figure (19) current response. The
explain the response simulation results
current response showed that a good
2- When the
is equal to 5 dynamic
speed is change
Amp and no performance can be
from 1000 up
change under obtained from the PI
to 1500 rpm at
different load. controller compared
t=0.5 sec
with the V/F.
A. No-load torque .the
current is same as
previous case without 7. APPENDIX
change. In Figures (20, Figure (22) speed Table 1. Parameter
21) show the responses response of IM
for the speed, torque
stator inductance (Ls)

rotor inductance (Lr)

Magnetizing (LM)

stator resistance Rs

rotor resistance Rr

moment of inertia J

No .of pole P

Speed Ns

Power watt

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 International Journal of Computer Applications (0975 – 8887) Volume 151 – No.7, October
2016

2011 Sona College [12] Burak

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