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MICROCONTROLLER BASED SPEED CONTROL OF

INDUCTION MOTOR USING V/F CONTROL

submitted in partial fulfillment of the requirements for the award of


Bachelor of Engineering
In
ELECTRICAL AND ELECTRONICS ENGINEERING
BY
SIDHARTHA SHANKAR RAY

2914233

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

SATHYABAMA UNIVERSITY
(Established under Section 3 of UGC Act 1956)

JEPPIAAR NAGAR, OLD MAMALLAPURAM ROAD


CHENNAI 600119

APRIL 2013
SATHYABAMA UNIVERSITY
(Established Under section 3 of the UGC Act, 1956)
Accredited with B++ Grade by NAAC
JEPPIAAR NAGAR, CHENNAI - 600 119

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING


BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work of Mr. SIDHARTHA SHANKAR
RAY ( Reg.No 2914233) who carried out the project entitled “MICROCONTROLLER BASED
SPEED CONTROL OF INDUCTION MOTOR USING V/F CONTROL” under our supervision
from NOVEMBER 2012 to March 2013.

INTERNAL GUIDE

Mr.S.JAYAPRAKASH

HEAD OF THE DEPARTMENT


Dr.V. SIVACHIDAMBARAMNATHAN

Submitted for Viva voce Examination held on

INTERNAL EXAMINER EXTERNAL EXAMINER


CONTENTS

CHAPTER-1
1.1 Introduction...................................................................................1
1.1.1 General..................................................................................1
1.1.2 Overview Of The Thesis........................................................1
1.1.3 Objective Of The Thesis........................................................1
1.1.4 Organisation Of The Thesis...................................................2
CHAPTER-2

AIM AND SCOPE OF THE PRESENT INVESTIGATION..................3

2.1 Objective.......................................................................................3

2.2 Basis Of Im Control.......................................................................3

2.3 Variable Frequency Drives (Vfd) Basics......................................5

2.3.1 Components Of Vfd’s Are......................................................5

2.4 Pi Control......................................................................................6

2.4.1 The Process To Control.........................................................6

2.4.2 Pi Control- Definition..............................................................7

2.4.3 Simulink Model Of The Pi-Algorithm......................................9

2.4.4 Output....................................................................................10

2.5 Spm, Based Igbt Power Module..................................................11

2.6 Fsbb20ch60 - Smart Power Module.............................................11

2.6.1 General Description...............................................................11


2.7 Time Charts Of Spm Protective Functions...................................13

2.8 Speed Torque Characteristics Of Induction.................................14

2.9 V/F Control Theory.......................................................................15

2.10 Scalar Control Of Induction Motor..........................................15

CHAPTER-3

EXPERIMENTAL METHODS AND ALGORITHM USED......................17

3.1 General............................................................................................17

3.2 Open And Closed Loop Control....................................................17

3.2.1 Open Loop Control.............................................................17

3.2.1.1 Block Diagram Of Open Loop Control............................18

3.2.1.2 Execution Of Open Loop Control.....................................19

3.2.1.3 Simulation Results Of Open Loop V/F Control.................19

3.2.2 Closed Loop Control.................................................................21

3.2.2.1 Block Diagram Of Closed Loop Control.............................22

3.2.2.2 Execution Of Closed Loop Control.....................................23

3.2.2.3 Simulation Results Of Closed Loop V/F Control................23

3.3. Hardware Implementation...............................................................24

3.3.1 Block Diagram Of Hardware Implementation............................24

3.3.1.1 Rectifier Unit........................................................................25


3.3.1.2 Pwm-Voltage Source Inverter.............................................25
3.3.1.3 Driver Circuit........................................................................27
3.3.1.4 Voltage Regulation Circuit...................................................27

3.3.1.5 Microcontroller.....................................................................27

3.3.2 Hardware Circuit Diagram.............................................................28

3.3.2.1 Layout Diagram Of The Components Of Hardware................29

3.3.2.2 Driver Circuit............................................................................30

3.3.2.3 Working Of Driver Circuit..........................................................31

3.3.2.3.1 And Gate..........................................................................31

3.3.2.3.2 Optoisolator.....................................................................31

3.3.2.3.3 Not Gate..........................................................................31

3.3.2.3.4 Pwmis Signal...................................................................31

3.3.2.3.5 Phase Output...................................................................31

3.3 Smart Power Module Circuit................................................................32

3.3.1 Working Of Smart Power Module..................................................33

3.3.1.1 Fsbb20ch60 Module................................................................33

3.3.1.2 Protection Circuit.....................................................................33

3.4 Microcontroller Circuit..........................................................................34

3.4.1 Microcontroller Pin Configuration...................................................36

3.5 Functional Circuit Of Flip Flop............................................................38

CHAPTER -4

RESULTS AND DISCUSSION, PERFORMANCE ANALYSIS..................40


4.1general.................................................................................................40

4.2 Open Loop Control Results.................................................................40

4.2.1 Tabulation For Open Loop Control..............................................40

4.2.2 Graphs For The Results Of Open Loop Control...........................41

4.2.3 Simulation Results For Open Loop Control...................................43

4.3 Results Of Closed Loop Control.........................................................44

4.3.1:Tabulation For Closed Loop Control............................................44

4.3.2 Graphs For The Results Of Closed Loop Control........................45

4.3.3 Tabulation For Finding The V/F Ratio..........................................45

4.3.4 Simulation Results Of Closed Loop Control.................................47

4.4 Performance Analysis.........................................................................48

4.4.1 To Drive The Motor........................................................................48

4.4.2 Operation Of The Entire Hardware...............................................49

4.4.3 Oscilloscope Results.....................................................................51

4.4.4 Hardware.....................................................................................52

4.5 Advantages.......................................................................................... 53

4.6 Application............................................................................................54

CHAPTER-5

SUMMARY AND CONCLUSION...............................................................55

5.1 Summary.............................................................................................55

5.2 Conclusion............................................................................................56
LIST OF FIGURES

S.NO. DESCRIPTION PAGE NO.

Figure 2.1 Graph Showing V/F Control 4

Figure 2.2 VARIABLE FREQUENCY DRIVE 5

Figure 2.3 House Model With PI-Controller 6

Figure 2.4 BLOCK DIAGRAM OF PI CONTROLLER 8

Figure 2.5 GRAPH OF PI CONTROLLER 8

Figure 2.6 PI-Controller 9

Figure 2.7 Saturation Block To Constrain The Heat Output 9

Figure 2.8 Output 10

Figure 2.9 General View Of Spm Module 11


Figure 2.10 Spm (Top View) 12
Figure 2.11 Spm (Side View) 12

Figure 2.12 Under Voltage-Low Side 13

Figure 2.13 Under Voltage Protection-High Side 13

Figure 2.14. Speed Torque Characteristics Of Induction Motor 14

Figure 2.15. Speed Torque Characteristics With V/F Control 15


Figure 3.1 Block Diagram Of Open Loop 18
Figure 3.2 Output Speed Wave Form 19

Figure 3.3 Output Gate Pulses 20

Figure 3.4 Output Line Voltage Waveform 21

Figure.3.5 Block Diagram Of Closed Loop Control 22

Figure 3.6 Output Speed Waveform 23

Figure 3.7 Output Line Voltage Waveform 23

Figure 3.8 Block Diagram Of Hardware Implementation 24

Figure 3.9 Diagram Of Rectifier Unit 25


Figure 3.10 Circuit Diagram Of PWM-Voltage Source Inverter Circuit 26

Figure 3.11 Hardware Circuit Diagram 28

Figure 3.12 Layout Diagram Of Component Of Hard Ware 29

Figure 3.13 Circuit Diagram Of Driver Circuit 30

Figure 3.14: Circuit Diagram Of Smart Power Module 32

Figure 3.15 Pin Configuration Of Microcontroller 34

Figure 3.16 Connection Of Microcontroller Circuit 35

Figure 3.17 Microcontroller DSPIC30F4011 37

Figure 3.18 Diagram Of Functional Circuit Of Flip Flop 38

Figure 4.1: Frequency Vs. Modulation Index Graph 41

Figure 4.2: Actual Speed Vs Modulation Index Graph 42

Figure 4.3: Actual Speed Vs Frequency Graph 42

Figure 4.4: Open Loop Input Voltage And Time 43


Figure 4.5: Open Loop Input DC Voltage And Current 43

Figure 4.6: Actual Rotor Speed And Time 44

Figure 4.7: Set Speed And Actual Speed Graph 45

Figure 4.8: Voltage Vs Frequency Graph 46

Figure 4.9: Input Voltage Vs. Time 47

Figure 4.10: Set Speed/Voltage Speed Vs. Time Period 47

Figure 4.11 Operational Block Diagram To Drive The Motor 48

Figure 4.12 Operational Block Diagram Of The Hardware 49

Figure 4.13 CRO Output Of PWM Pulse. 51

Figure 4.14 CRO Output Of The Dc Voltage Applied To The Motor 51

Figure 4.15 CRO Output Of The Motor Current Waveform 52

Figure 4.16 Hardware Model 52

Figure 4.17 Connected Model Of Hardware 53


TABULAR INDEX

SL NO. DESCRIPTION PAGE NO.

TABLE 2.1 Comparison between proposed and existing method 16

TABLE 4.1 Tabulation for open loop control 40

TABLE 4.2 Tabulation for closed loop control 44

TABLE 4.3 Finding the V/F ratio 45


ABSTRACT:

An induction motor can run only at its rated speed when it is connected
directly to the main supply. This is felt the most in applications where inp ut
power is directly proportional to the cube of motor speed. So we can reduce
the speed of the motor upto 20% and save the power upto 50%. As the
semiconductor fabrication technology has advanced than previous both the
size and price have gone than before. Due to this the usage of motor has
already been reduced where as it can be replaced by VFD(variable frequency
drive). The VFD not only controls the motor speed, but can improve the
motor's dynamic and steady state characteristics as well. In addition, th e
VFD can reduce the system’s average energy consumption.

Generally we use open loop control for controlling the speed of a motor but
for VF controlling we use the closed loop control. It is also simple to
implement and cost effective. The on-chip hardware PW M modules, making
them on-chip hardware PWM modules, making them suitable for 3 -phase
motor control applications.

VF CONTROL:

The base speed of the induction motor is directly proportional to the supply
frequency and the number of poles of the motor. Since the number of poles is
fixed by design, the best way to vary the speed of the induction motor is by
varying the supply frequency. The torque is directly proportional to the ratio
of the applied voltage and the frequency. This is exactly what V F control tries
to achieve.
ACKNOWLEDGEMENT

The satisfaction and elation that accompany the successful completion of


any task would be incomplete without the mention of the people who have
made it a possibility. It is my great privilege to express my gratitude and
respect to all those who have guided me and inspired me during the course of
the project work.

First and foremost, I would express my sincere gratitude to our beloved


Chancellor Col. Dr. JEPPIAAR, M.A., B.L., Ph.D., and also thanks to our
Directors Dr. MARIE JOHNSON, B.E., M.B.A., M.Phil., Ph.D and
Dr. MARIAZEENA JOHNSON, B.E., M.B.A., M.Phil., Ph.D for providing me
the necessary facilities for the completion of my project. Also, I acknowledge
our Vice Chancellor Dr. B.SHEELA RANI, M.S (By Research)., Ph.D. for her
constant support and endorsement.

I also like to express my gratitude to Mrs. G. R. P. LAKSHMI Head of the


Department (Administrative and Research) of Electrical and Electronics
Engineering and Dr. V. SIVACHIDAMBARANATHAN Head of the Department
(Academics) of Electrical and Electronics Engineering, Sathyabama University
for having been a constant source of support and encouragement for the
completion of the project.

I would also like to express my sincere thanks to my internal guide of the


project Mr.S.JAYAPRAKASH for his constant guidance and supervision during
the period of my project work and for providing me the necessary facilities for
the completion of my project.
DECLARATION

I SIDHARTHA SHANKAR RAY hereby declare that the project titled “MICROCONTROLLER
BASED SPEED CONTROL OF INDUCTION MOTOR USING V/F CONTROL”was done by me
under the guidance of Mr.S.JAYAPRAKASH is submitted in partial fulfillment of the
requirements for the award of the degree in BACHELOR OF ENGINEERING.

DATE:

PLACE: SIGNATURE OF THE CANDIDATE


CHAPTER-1

1.1 INTRODUCTION

1.1.1 GENERAL
Industrial drive applications are generally classified into constant speed and variable
speed drives.Traditionally AC machines have been used in constant speed ap-
plications,whereas DC machines were preferred for variable speed drives. DC
machines have the disadvantages of higher cost and maintenance problems with
commutators and brushes. Commutators and brushes do not permit a machine to
operate in dirty and explosive environment. An AC machine overcomes the drawback of
DC machines. Although currently, the majority of variable speed drive applications use
DC machines, they are progressively being replaced by AC drives. While there are
different methods of speed control of induction motor,Variable Voltage Variable
Frequency (VVVF) or V/F is the most common method of speed control. This method is
most suitable for applications without position control requirements or the need for high
accuracy of speed control. Examples of these applications include heating, air
conditioning, fans and blowers.

1.1.2 OVERVIEW OF THE THESIS


First, implementation of open loop and closed loop V/F control of induction motor has
been done using MATLAB Simulink toolbox and corresponding waveforms are
analyzed.
Finally, hardware implementation for open loop V/F control of three phase induction
motor is carried out and waveforms are analyzed. A comparison is made between
software implementation and hardware implementation.

1.1.3 OBJECTIVE OF THE THESIS


To control the speed of three phase induction motor using V/F control stregery.
1
1.1.4 ORGANISATION OF THE THESIS
This thesis is organized into five chapters including introduction, brief description of the
thesis and also it deals with the objective and Organisation of the thesis. Chapter 2
deals with the discussion in detail about basics theory of V/F control stregery of
induction motor. Chapter 3 deals with simulation and results of V/F control of induction
motor.

2
CHAPTER-2

AIM AND SCOPE OF THE PRESENT INVESTIGATION:

2.1 OBJECTIVE:

 To control the speed of an induction motor by varying frequency as well as


voltage.
 To develop SPWM with V/F Control techniques in dspic microcontroller (pwm
controller).
 To develop SPM Based Voltage source inverter Power circuit (driver).
 To develop Bi directional Speed control algorithm , PI Closed Loop control &
braking operation in microcontroller.

2.2 BASIS OF IM CONTROL :

Synchronous Speed (Ns) = 120 x F/P

F = rated frequency of the motor

P = number of poles in the motor

The base speed of the induction motor is directly proportional to the supply frequency
and the number of poles of the motor. Since the number of poles is fixed by design, the
best way to vary the speed of the induction motor is by varying the supply frequency.

By varying the supply frequency alone is not suitable for speed variation efficiently –
why-

Stator Voltage (V) ∝ [Stator Flux(φ)] x [Angular Velocity (ω)]

V ∝ φ x 2πf

φ ∝ V/f

3
The torque developed by the motor is directly proportional to the magnetic fields
produced by the stator. So, the voltage applied to the stator is directly proportional to
the product of stator flux and angular velocity. This makes the flux produced by the
stator proportional to the ratio of applied voltage and frequency of supply. By varying the
frequency, the speed of the motor can be varied. Therefore, by varying the voltage and
frequency by the same ratio, flux and hence, the torque can be kept constant
throughout the speed range.

Fig
2.1: Graph showing V/F Control
4

2.3 VARIABLE FREQUENCY DRIVES (VFD) BASICS:

2.3.1 Components of VFD’s are :-

1. SPWM Controller
2. Analogue
3. Digital
4. Digital –Re configurable
5. POWER Circuit
6. AC-DC Rectifier
7. DC-AC Inverter
8. Motor
FIG 2.2: VARIABLE FREQUENCY DRIVE

2.4 PI CONTROL :

 Basic proportional and integral feedback control (PI)


 How to tune the PI-controller

2.4.1 THE PROCESS TO CONTROL :

The model used in b) P-control will be used again. The only thing to be changed, is the
content of the controller block i.e. the block "Controller - PI-controller" see figure 1
below.
Fig 2.3: House model with PI-controller

2.4.2 PI CONTROL- DEFINITION:

The definition af proportional feed back control is still

where
e ="error"
KP = Proportional gain

The definition of the integral feed back is

where KI is the integration gain factor.

In the PI controller we have a combination of P and I control, ie.:


where

τI ="Integrationtime"[s]
τN = "Reset time" [s]

NB: There is - in the real life - some confusion in the use of these two definitions.

FIG 2.4: BLOCK DIAGRAM OF PI CONTROLLER


FIG 2.5: GRAPH OF PI CONTROLLER

2.4.3 SIMULINK MODEL OF THE PI-ALGORITHM:


Figure 2.6: PI-controller

If the error is negative (t > tset) then u would be negative and the radiator heat negative!
Which is not possible, therefore we have included a "Saturation" block in the actuator
block, see figure 3. The settings of this block is Max = Q_R and Min = 0.

Figure 2.7: Saturation block to constrain the heat output

9
2.4.4 OUTPUT:

Running the model - with almost arbitrary PI-parameters - gives this output:

Figure 2.8: Output

This is the the steady-state "off-set" is almost zero! Which is the main benefit of the
ingetration part of the PI-controller.
10

2.5 SPM, BASED IGBT POWER MODULE:

 Specification
 FSBB20ch60b
 3phase,200v
 1.8amp
 3 phase source case induction motor

2.6 FSBB20CH60 - Smart Power Module:

2.6.1 General Description:

It is an advanced smart power module (SPMTM) that Fairchildhas newly developed and
designed to provide very compactand high performance ac motor drives mainly
targeting lowpowerinverter-driven application like air conditioner and washing machine.
It combines optimized circuit protection and drivematched to low-loss IGBTs. System
reliability is furtherenhanced by the integrated under-voltage lock-out and
shortcircuitprotection. The high speed built-in HVIC provides optocoupler-less single-
supply IGBT gate driving capability that furtherreduce the overall size of the inverter
system design. Eachphase current of inverter can be monitored separately due tothe
divided negative dc terminals.
Fig 2.9 GENERAL VIEW OF SPM MODULE

11

FIG 2.10 SPM (TOP VIEW)

FIG 2.11 SPM (SIDE VIEW)


12

2.7 TIME CHARTS OF SPM PROTECTIVE FUNCTIONS:

FIG.2.12 UNDER VOLTAGE-LOW SIDE


FIG.2.13 UNDER VOLTAGE PROTECTION-HIGH SIDE

13

2.8 SPEED TORQUE CHARACTERISTICS OF INDUCTION:


Fig 2.14. Speed Torque Characteristics of Induction Motor

The x-axis shows slip speed, the y-axis shows torque and current, the characteristics
shown in Fig 2.1 are drawn with rated voltage and frequency suppliedto the stator.
During startup the motor typically draws up to seven times the ratedcurrent. This high
current is result losses in the stator and rotor windings, and lossesin the bearings due to
the friction.At startup the motor delivers 1.5 times the rated torque of the motor. This
starting torque is also called locked rotor torque .As the speed increases, the
currentdrawn by the motor reduces slightly. At the base speed the motor draws the
rated current and delivers the rated torque .At base speed if the load on the motor shaft
is increased beyond its ratedtorque, the speed starts dropping and slip increases.
The disadvantages like motor draws high current during start up, torqueis highly non
linear as speed varies. These drawbacks can be overcome by using V/F control.

14
2.9 V/F CONTROL THEORY:

Fig.2.15. Speed Torque Characteristics With V/F Control

The base speed of the induction motor is directly proportional to the supply frequency
and the number of poles of the motor. Since the number of poles is fixed by design, the
best way to vary the speed of the induction motor is by varying the supply frequency.
The torque developed by the induction motors is directly proportional to the ratio of the
applied voltage and the frequency of supply. By varying the voltage and the frequency,
but keeping their ratio constant, throughout the speed range. This exactly what v/f
control tries to achieve.

2.10 SCALAR CONTROL OF INDUCTION MOTOR:


The following are the scalar control techniques of an induction motor are given.
(1) Voltage/frequency (V/F) control
(2) Stator current and slip frequency control

Scalar control, as the name indicates, is due to magnitude variation of control variables
only and disregards the coupling effect in the machine. For example, the voltage of a
machine can be controlled to control the flux, and frequency or slip can be controlled to
control the torque. However, flux and torque are also the function of frequency and
voltage, respectively.

15
TABLE 2.1 COMPARISON BETWEEN PROPOSED AND EXISTING METHOD

16
CHAPTER-3

EXPERIMENTAL METHODS AND ALGORITHM USED

3.1 GENERAL:

The V/F is simulated on MATLAB/Simulink software. The actual system


can be simulated with a high degree of accuracy in this package. It provides a user
interactive platform and wide variety of numerical algorithm. This Chapter discusses the
realization of V/F control using Simulink block. Matlab (Matrix laboratory) is an
interactive software system for numerical computations and graphics. As the name
suggests, Matlab is especially designed for matrix computations: solving systems of
linear equations, computing eigenvalues and eigenvectors, factoring matrices, and so
forth. Matlab is designed to solve problems numerically, that is, in finite-precision
arithmetic.

3.2 OPEN AND CLOSED LOOP CONTROL:

The experiment is conducted into two main steps.

They are-

1. Open loop control and


2. Closed loop control.

3.2.1 Open loop control:

The open loop control consists of –


a) MOSFET inverter,
b) IGBT module,
c) LCD screen,
d) 3 phase AC motor.

The operation of an ac induction motor is governed by two principles:


1. Base speed is directly proportional to the frequency of the alternating current
applied to the stator and the number of poles of the motor.
2. Torque is directly proportional to the ratio of applied voltage and frequency of
the applied ac current.

The Figure shows the simulation diagram of open loop V/F control of
three-phase induction motor. It consists DC source, three -phase PWM inverter and
three phase induction motor. Dc source is connected to the dc side of the converter.
In this reference speed is set. From that reference speed frequency is determined
using the formula . V/F function block determines the amplitude corresponding to that
frequency. This frequency and amplitude are used to update the PWM duty cycle.
MOSFET based converter gives the supply of the induction motor. Connecting the
scope through bus selector shows speed of the induction motor.
3.2.1.1 Block diagram of open loop control:
Fig.3.1: Block diagram of open loop control

3.2.1.2 Execution of open loop control:

The open loop control is executed into the following steps –

I. The 220V is applied to a MOSFET inverter where the DC voltage is converted


into 3 phase AC voltage.
II. 3 phase AC voltage is applied to the motor through current sensors.
III. The current input applied to the motor is measured through the current sensors.
IV. The carrier signal is applied to the IGBT module.
V. The desired modulation index and frequency input is given to the microcontroller
and further applied to PWM module.
VI. Finally the six PWM wave is generated and drive the motor.
3.2.1.3 Simulation results of open loop v/f control:

The Figure shows the simulated speed waveform of open loop V/F
control of three-phase induction motor. Reference speed is set at 1460 RPM. Speed
reaches the steady state at 0.3 second.

Fig.3.2: Output Speed waveform

The Figure shows the gate pulses for PWM inverter consists of three

legs, one for each phase. The gating signals for the three phase inverters have a phase
difference of 120°. The first pulse is given to the positive switch of phase A, the pulse is
given to the positive switch of phase B the third to the positive switch of
phase C.
Fig. 3.3: Output Gate Pulses
Fig. 3.4: Output line voltage waveform

The Figure shows the simulated line-to-line voltage waveform of open loop V/F control
of three-phase induction motor. It is observed that the voltage waveform is almost
sinusoidal.

3.2.2 Closed loop control:

The closed loop control consists of –


a) MOSFET inverter,
b) IGBT module,
c) PI controller and
d) 3 Phase AC motor.

It consists DC source, three -phase PWM inverter and three phase induction motor as
open loop in addition to that it has PI controller,limiter. Connecting the scope through
bus selector .Now the simulation circuit is run with closed loop control shows speed of
the induction motor.
3.2.2.1 Block diagram of closed loop control:

Fig.3.5:Block diagram of closed loop control


3.2.2.2 Execution of closed loop control:

I. The execution of closed loop control is executed very similar to the open loop
control.
II. In extra the PI controller is added here for controlling the error wave.

3.2.2.3 Simulation results of closed loop v/f control:

The Figure shows the simulated speed waveform of closed loop V/F
control of three-phase induction motor. Reference speed is set at 1460 RPM. It
reaches the steady state at 0.1 second.

Fig.3.6: Output Speed waveform

The Figure shows the simulated line-to-line voltage waveform of closed loop V/F control
of three-phase induction motor. It is observed that the voltage waveform is almost
sinusoidal.

Fig. 3.7: Output line voltage waveform


3.3. HARDWARE IMPLEMENTATION:

The V/F control of three-phase induction motor is implemented in hardware and


the gating pulses for the inverter fed motor are generated through the DSPIC
Microcontroller. The main controlling unit of the project is the microcontroller.

3.3.1. Block diagram of hardware implementation:

Fig.3.8: Block diagram of hardware implementation


Figure shows the block diagram of hardware implementation. It consists of voltage
source from the rectifier supply, three-phase inverter and with AC motor load. The
rectifier rectifies AC voltage to DC voltage. In this bridge rectifier is used. This rectified
output DC voltage fed to the three-phase inverter main circuit. The inverter main circuit
consists of six switches. Gating signals are generated from the PWM. This signals fed
to the MOSFET Gate terminals. Depends upon the Gating signal inverter operates, this
output fed to the AC load or motor.

3.3.1.1 Rectifier Unit:


The single-phase ac supply is given to Diode Bridge. The output of rectifier is dc.
The filter capacitor (1000 μF) is connected across the rectifier output.

Fig.3.9: Rectifier Unit


3.3.1.2 PWM-Voltage Source Inverter:
The Fig 5.3 shows PWM-voltage source inverter circuit diagram.Inverters are
employed to get a variable frequency as supply from a dc supply. For the control of ac
motor, voltage should also be controlled along with frequency.Variation in output voltage
can be achieved by varying the input dc voltage. Output voltage and current have
stepped waveform. Consequently they have substantial amount of harmonics. Variable
frequency and variable voltage ac is directly obtained from fixed voltage dc when the
inverter is controlled by pulse width modulation the pwm control also reduces harmonics
in the output voltage and also it eliminates the following draw back of 6-step inverter
drives like the motor losses increases at all speeds causing derating of motor, torque
pulsation at low speeds.

Fig.3.10: Circuit Diagram of PWM-Voltage Source Inverter Circuit Diagram

In this method, several pulses per half cycle are used as in case of multiple pulse width
modulation. Instead of maintaining the width of all pulses the same as in the case of
multiple pulse modulation, the width of each pulses is varied proportional to the
amplitude of a sine wave evaluated at the center of the same pulses. By comparing a
sinusoidal reference signal with a triangular carrier wave frequency, fc, the gating signal
are generated.
The PWM control has the following advantages,
(1) The output voltage control can be obtained without any additional components
(2) With this type of control, lower order harmonics can be eliminated of minimized
along with its output voltage control. The filtering requirements are minimized
as higher order harmonics can be filtered easily.
3.3.1.3 Driver circuit:

The driver circuit is the circuit which controls the PWM waves and
thereby controls the speed of the motor. The driver circuits of AND gates, optoisolators,
camparators, not gates, Smart Power Module (SPM), current sensors etc.

3.3.1.4 Voltage regulation circuit or power circuit:

This circuit takes the input power and gives the required power after
regulating this. This circuit regulates the voltage and gives the output of 5V which is the
operating voltage for the microcontroller.

The another 18V input is regulated by an another voltage regulation


circuit which consists of a IC7815. It gives the output of 15V which is the operating
voltage of the driver circuit.

3.3.1.5 Microcontroller:

Microcontroller DCPIC30F4011 is used here. This microcontroller


operates at 5V and 10KHZ. An oscillator is attached with the micro controller to
generate 10KHZ. The microcontroller generates the 6 PWM pulses which directly goes
to the driver circuit.

Below all the driver circuit, Smart Power Module (SPM) and
microcontroller is discussed elaborately with their full circuit diagram.
3.3.2 Hardware circuit diagram:

Fig.3.11: Hardware Circuit diagram


This is the full circuit diagram the entire circuit. Here all the units such as
microcontroller, SPM, Driver circuit, protection circuit connection is shown as the actual
hardware model.

3.3.2.1 Layout diagram of the components of hardware:

Fig. 3.12: Layout diagram of the components of hardware


3.3.2.2 Driver circuit:
Fig.3.13: Circuit diagram of driver circuit

3.3.2.3 Working of Driver circuit:

3.3.2.3.1 AND gate:

Each PWM pulse is passed through an U1 4081 AND gate. The PWM signal
and the signal C1 (current from the capacitor which is connected through 5V) is applied
to the AND gate and the output of the AND gate is fed to the optoisolator.

3.3.2.3.2 OPTOISOLATOR:

This isolator isolates the high voltage and low voltage sides of the driver
circuit. It also filters the signals. 6 PWM pulses are obtained from the 6 isolators as
shown in the above diagram.

3.3.2.3.3 NOT gate:

The output signals of the optocoupler is given to the NOT gate to invert the
signal. Actually when the signal is passed through the optocoupler it gets inverted. So,
again it has to be inverted which is done by the NOT gate.

3.3.2.3.4 PWMIS signal:

Here an extra PWM i.e. PWMIS is also used to stimulate all the pulses so
that we get a constant flow of PWM pulses. PWMIS signal stimulates all the PWM
waves to keep a constant value of them.

3.3.2.3.5 Phase output:

Thus from 6 PWM waves we get 3 couples of signal.

 They are as RTOP, RBOT, YTOP, YBOT, BTOP and BBOT.


 Now these 6 signals goes to the Smart Power Module (SPM) FSBB20CH60
module.

3.3 Smart Power Module circuit:


Fig.3.14: Circuit diagram of smart power module

3.3.1 Working of smart power module:

3.3.1.1 FSBB20CH60 module:

It is a 27 pin module. All the signals like RTOP, RBOT, YTOP,


YBOT, BTOP, BBOT is given to the module. Finally the 3 phase signal ( R, Y, B) is
obtained as output from the module. This 3 phase signal is then directly fed to the 3
phase induction motor.

I. All the signals (RTOP, RBOT etc.) are fed to the FSBB20CH60 module.
II. There is a current resistance (IRES) signal which is also fed to the
FSBB20CH60 module.
III. Finally the output (three phase signals- R, Y, B) are obtained through three
INOUT devices.
IV. There are a few diodes and capacitors are connected with the SPM module for
filtering the signal.
V. A protection circuit is also included to process the higher values without affecting
the circuit.

3.3.1.2 Protection circuit:

The protection circuit consists of a comparators which are used to detects


that high voltage is coming. So, the comparator does not allow the high voltage value
through the circuit.

 Each comparator is fed from a 15V source.


 When any fluctuation or disturbance is appeared, the protection circuit responds
and protect the main SPM as well as the driver circuit.

3.4 Microcontroller circuit:


Fig.3.15: Pin configuration of microcontroller circuit
Fig.3.16: Connection of microcontroller circuit
3.4.1 Microcontroller pin configuration:

 PIN 1 -Reset

 PIN 2-4 -Analog to digital converter

 PIN 11 -Voltage Source

 PIN 8-10 -K4,K3,K2 Signal

 PIN 12,20 -Gnd

 PIN 13,14 - Crystal Oscillator

 PIN 17 - K1 signal

 PIN 22-30 -LCD

 PIN 33-38 -PWM signals.

 Here, the pin configuration of the DSPIC microcontroller has been


given. There all the functions of the pins are internally configured.

 There is a crystal oscillator connected with the microcontroller.

 The signal K1 is given to the pin 17.

 The signal K2,K3 and K4 is given to the pin 8 to 10.


Fig.3.17: Microcontroller DSPIC30F4011
3.5 Functional circuit of flip-flop:

Fig.3.18: Diagram of functional circuit of flip flop


 The functional circuit is shown in the above diagram. For protecting the entire
hardware a protection circuit is developed which flip flops and optoisolator and a
few diodes and resistors.
 If any sudden high voltage is raised due to any disturbances in supply voltages
then the protection circuit operates and it doesn’t allow the high voltage to the
circuit. Thus it prevents the circuit.
 At normal condition the regular pulse or low current comes at the pin 7 of the
first flip flop.
 Then the output Q bar is high and the output signal Q is given as signal F1.
 This output Q bar goes to the optoisolator.
 At the optoisolator the high pulse signal is converted to the low pulse signal
SHUTDOWN1.
 Then the low pulse signal SHUTDOWN1 is applied to the pin 7 of the second
flip-flop.
 So, the output Q bar of the second flip-flop is high which is represented as signal
C1 and it is applied to the AND gate and the other output is given as F2.
 When any disturbance or high voltage is appeared as COM1 at the pin 7 of the
first flip- flop.
 So, the output Q bar is low which goes to the optoisolator.
 After passing though the optoisolator it becomes high pulse signal. This is
referred as SHUTDOWN1.
 Now this signal SHUTDOWN1 is applied to the pin7 of the second flip-flop.
 Now the output Q bar is low pulse signal. This gives the input of the AND gate
C1.
 As the output Q bar is low C1 applied to AND gate is zero.
 So, as per the operation of the AND gate the output is also zero. So, the driver
circuit as well as the motor remains inactive and the entire hardware is very
much safe.
CHAPTER- 4

RESULTS AND DISCUSSION, PERFORMANCE ANALYSIS

4.1 GENERAL:

To analyze the speeds of the motor and to control the speeds a few
readings are taken both in open loop and closed loop control. Simulation has become a
very powerful tool on the industry application as well as in academics, nowadays. It is
now essential for an electrical engineer to understand the concept of simulation and
learn its use in various applications. Simulation is one of the best ways to study the
system or circuit behavior without damaging it .The tools for doing the simulation in
various fields are available in the market for engineering professionals. Many industries
are spending a considerable amount of time and money in doing simulation before
manufacturing their product. In most of the research and development (R&D) work, the
simulation plays a very important role. Without simulation it is quiet impossible to
proceed further deails.

4.2 OPEN LOOP CONTROL RESULTS:

4.2.1 Tabulation for open loop control:

DC Volt = 200V (constant)

Serial Modulation Set frequency Actual Speed


Number Index (M.I) (HZ) (RPM)
1 0.95 50 1462

2 0.77 40 1186

3 0.57 30 883

4 0.38 20 590

5 0.70 10 305

Table 4.1: Tabulation for Open loop control


So, in open loop arrangement the modulation index is increased gradually
from 0 to 1 and the frequency is decreased from 50 to 10 HZ. So, according to that the
speed is varied.

4.2.2 Graphs for the results of open loop control:

Fig 4.1: Frequency vs. Modulation Index graph

 The frequency is varied from 0 to 50 HZ and the modulation index is


varied from 0 to 1.

 So, here both the frequency and modulation Index is increased and
the graph comes linearly.
Fig 4.2: Actual speed vs Modulation Index graph

 When the modulation index is plotted with the actual speed


primarily the graph becomes in a curve.
 At higher values the graph remains almost linear.
 The modulation index is varied from 0 to 1 and the speed is
varied upto 1450 rpm ( asynchronous speed).
Fig 4.3: Actual speed vs frequency graph

4.2.3 Simulation results for open loop control:

Fig 4.4:Open loop input voltage and time

Fig 4.5:Open loop input DC voltage and current


Fig 4.6: Actual rotor speed and time

4.3 RESULTS OF CLOSED LOOP CONTROL:

4.3.1:Tabulation for closed loop control:

Kp =0.1, Ki=0.02, DC Volt = 200V (constant)

Serial Set Speed Actual Speed


Number (RPM) (RPM)
1 350 350
2 550 550
3 950 950
4 1250 1250
5 1450 1450

Table 4.2: Closed loop control


4.3.2 Graphs for the results of closed loop control:

Fig 4.7: Set speed and Actual speed graph

Here the Kp and Ki value is kept constant. The Kp and Ki values are 0.1 and 0.02
respectively. The dc voltage is also kept as constant at 200V.

Here the values of actual speed are accurately same as the set
speed due the operation of closed loop.

4.3.3 Tabulation for finding the V/F ratio:

Serial Voltage Frequency


Number (Volt) (HZ) V/F ratio
1 13.6 10 1.36
2 29 20 1.45
3 42 30 1.40
4 54 40 1.08
5 63 50 1.26

Table 4.3: Finding the V/F ratio


Fig 4.8: Voltage vs Frequency graph

Here the values of the voltages are increased gradually.

Also the frequency values are increased from 0 to 50.Finally the V/F ratio is determined.

So, the mean value of V/F ratio is –

(1.36+1.45+1.40+1.08+1.26)/5 = 1.31
4.3.4 Simulation results of closed loop control:

Fig 4.9:Input voltage vs. time

Fig 4.10: Set speed/voltage speed vs. time period


4.4 PERFORMANCE ANALYSIS:

4.4.1 To drive the motor:

Fig 4.11 Operational block diagram to drive the motor

I. To analyze the full operation of the hardware the driving of the motor must to be
understood well first.
II. The above block diagram explains the operation of driving the motor.
III. The input supply is applied to the autotransformer. The autotransformer is the
device which takes the input supply and give as the output voltage as the wish of
the operator. So we can vary the output voltage of the autotransformer as our
wish. That is the reason it is called variac otherwise.
IV. Now, we can gradually increase the output voltage of the autotransformer which
is applied to IGBT power module and thereby goes to the motor.
V. We can keep the output voltage at any values like 100V, 150V etc. But here we
are keeping the output voltage in such a value that it produces 200V after
converted to dc.
VI. The isolation transformer connected with the autotransformer is used to isolate
VII. The high disturbance from the current.

VIII. The single phase bridge rectifier is connected with the isolation transformer.

IX. So, the output of the isolation transformer is converted to DC voltage by the
single phase bridge rectifier.

X. Now, the converted voltage is constant 200V. This is applied to the smart power
module which is also consists of the IGBT devices.

XI. Now, finally the output current from the SPM is applied to the motor to run the
motor and also to control the speed of the motor.

XII. The current is applied to the motor through the current sensors for getting the
current readings of the current waves.

XIII. Fig- shows the current waveform which is given to the motor.

4.4.2 Operation of the entire hardware:


Fig 4.12 Operational block diagram of the hardware

I. The operating voltage of the microcontroller is 5V, which is supplied from the input
voltage source. That voltage is regulated by a voltage regulation circuit.
II. Here we are using 3 switches for the entire operation.
a) Increment switch,
b) Decrement switch and
c) Reset switch.
III. The increment and decrement switch is for increasing and decreasing the values of
the frequency, modulation index, set speeds etc.
IV. Now, the microcontroller DSPIC30F4011 is operated at 5V and it generates 6 PWM
pulses.
V. This PWM pulses directly goes to the 3 phase inverter module (smart power
module- SPM) and thereby applied to the motor.
VI. Now, if the modulation index is varied the ON time and OFF time of the PWM pulses
are also varied.
VII. But if the frequency is varied then also the speed of the motor is varied.
VIII. So, by varying the modulation index and the frequency the PWM pulses are varied
and thereby the speed of the motor is varied.
IX. A LCD display is given where the inputs and the outputs are visualized.
X. From table no. 4.1 we can see that in open loop the frequency can be varied by
using the increment or decrement switches and the DC voltage is kept constant at
200V. So, with that the modulation index is also varied and as the result the actual
motor speed is varied.
XI. From table no. 4.2 we can see that in closed loop the set frequency we are giving is
the same what we are getting as motor actual speed.
XII. From table no. 4.3 we can see that by changing both the voltage and the frequency
the speed of the motor is varied. So, the V/F ratio drives the motor speed. The mean
value of the V/F ratios we taken over the operation is 1.31.

4.4.3 Oscilloscope results:

4.13 CRO output of PWM pulse.


4.14 CRO output of the dc voltage applied to the motor

4.15 CRO output of the motor current waveform

 The PWM wave is obtained by connecting the CRO probes to optoisolator


terminal and supply terminal.
 The motor current waveform is obtained by connecting the CRO probes
to the current sensor pins.

4.4.4 Hardware:

Fig 4.16 Hardware model

Fig 4.17 Connected model of Hardware


These are the actual hardware model which we have prepared. The induction motor
whose speed we have to control is connected with it and the speed control is done by
this hardware.

4.5 ADVANTAGES:

 Easy programming,

 Soft hardware control,

 Rugged,

 less power required,

 Multiple duty cycle generator,

 Multiple Conversion Sequencing Options,

 Wide operating voltage range (2.5V to 5.5V),

 Bidirectional operation.

4.6 APPLICATION:

 From small appliances to the largest of mine mill drivers and compressors

 Centrifugal pump

 Fixed speed and variable speed electric motor

 Global market penetration

 Home appliances applications like air conditioner and washing machine.


Chapter – 5

SUMMARY AND CONCLUSIONS


5.1 SUMMARY:

This chapter describes the hardware implementation of the V/F control of an induction
motor using microcontroller.It includes the development of hardware for microcontroller
circuit, SPWM pulses generation, optocoupler circuit was explained. For SPWM pulses,
the sine wave is generated from PIC microcontroller (DSPIC30F4011) and ramp wave
is generated through ramp generator The output of the controller is given to the
optocoupler circuit which is used for protection and isolation purpose, in case of
commutation failure and short circuit due to the improper trigger. From the optocoupler
circuit the pulses are given to the appropriate switches of the MOSFETs inverter fed
induction motor.
The use of a Variable Speed Drive for a speed control application usually offers an
energy efficient and environmentally friendly solution. The best opportunities for
energy savings, with subsequent economic savings, arise through the laws which
govern the operation of centrifugal fans and pumps. Simple and straight forward VSD’s,
such as the PWM inverter drives, are available for applications where the speed control
accuracy is not critical. This compact inverter had its hardware reduced to a minimum
through the use of bridge inverter. The variable speed drive with variable frequency
control method will offer new, low-cost solutions for light commercial and consumer
applications. The frequency range of the constructed circuit is 10 Hz to 50 Hz at
constant voltage for changing the speed of induction motor between theoretical limits of
300 rpm to 1460 rpm if 50 Hz, single-phase AC
motors are used.
The speed of a 3-phase induction motor in open loop and closed loop, supply voltage
and frequency need to be varied with constant ratio to each other. A low cost solution
of this control can be implemented in a DSPIC microcontroller. This requires six PWMs
to control a 3-phase inverter bridge. Many DSPICmicro microcontrollers have two
hardware PWMs.
5.2 CONCLUSION:
The speed of three-phase induction motor is being controlled by varying supply voltage
and frequency with constant (V/F) ratio. It is simple, economic to easier to design and
implement in open loop. But the drawbacks of open loop is it doesn’t correct the change
in output also it doesn’t reach the steady state quickly.
These drawbacks can be overcome by modifying an open loop into a closed loop
system. In this project only open loop was implemented in hardware.The project can be
extended in future to control the speed of induction motor in closed loop.

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