International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN

INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING

0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME
& TECHNOLOGY (IJEET)
ISSN 0976 – 6545(Print)
ISSN 0976 – 6553(Online)
Volume 3, Issue 3, October - December (2012), pp. 222-233
IJEET
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SPEED CONTROL OF ASYNCHRONOUS MOTOR USING SPACE

VECTOR PWM TECHNIQUE
VISHAL RATHORE 1, Dr. MANISHA DUBEY 2
1
(ELECTRAL& ELECTRONIC, TRUBA/ RGPV, BHOPAL, INDIA,
vishalrathore01@gmail.com)
2
(ELECTRICAL, MANIT/ MANIT, T.T.NAGAR BHOPAL (M.P), INDIA,
md_mact@yahoo.com)

ABSTRACT

This paper presents the Space Vector Pulse Width Modulation (SVPWM) approaches
to the problem of speed and torque control of induction motor and induction motor parameter
adaptation. Such problems are commonly encountered in electric drives and many
applications such as robotics, electric vehicles, and so on. The specific contributions of the
paper are new Space Vector Pulse Width Modulation technique flux/speed observer is
developed by delicately introducing some auxiliary variables ( as inverter output voltage,
current, torque and speed of induction motor) and a design parameter. Combining the Space
Vector Pulse Width Modulation torque controller, it is thoroughly analyzed the convergence
of the flux/speed observer and the asymptotic stability of the close loop system. Then the
robustness of the proposed Space Vector Pulse Width Modulation observer/controller scheme
is effectively demonstrated by considering the effect of the variation of the rotor resistance,
the stator resistance and the load torque. The SVPWM approach for the speed and torque
control of induction motor is compared with PI and PID controller connected in the feed
forward path of the system .The results are compared on the basis of time response
specification like (Rise time (tr), Peak time (tp), Settling time (ts), Maximum overshoot
(%MP) ).

Keywords: Induction Motor, PI Controller, Park transformation, Space Vector Pulse Width
Modulation (SVPWM), Three-Phase Voltage Source Inverters.

1. INTRODUCTION

Induction motors are most popular machine in AC drives because of its rugged and
inexpensive construction. Therefore much attention is given to their control for various
applications as compare to other rotating machine. An induction machine, especially squirrel
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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

cage, has many advantages when compared with DC machine in terms of cost, construction
and application. Also it is less sensitive to environment variation as compare to DC machine.
Furthermore, it does not require periodic maintenance like DC motors [1]. However, because
of its highly non-linear and coupled dynamic structure, an induction machine requires more
complex control schemes than DC motors. Traditional open-loop control of the induction
machine with variable frequency may provide a satisfactory solution under limited
conditions. However, when high performance dynamic operation is required, these methods
are unsatisfactory [2]. Therefore, more sophisticated control methods are needed to make the
performance of the induction motor comparable with DC motors. Recent developments in the
area of drive control techniques, fast semiconductor power switches, powerful and cheap
microcontrollers made induction motors alternatives of DC motors in industry. The most
popular induction motor drive control method has been the field oriented control (FOC). The
controllers required for induction motor drives can be divided into two major types:
conventional low cost volts per hertz v/f controller and torque controller [1]-[4].

2. MODELING AND DESIGN OF SPACE VECTOR CONTROLLED INDUCTION

MOTOR DRIVE

Induction motors are the most widely used motors in industrial motion control
systems, as well as in home appliances because of their reliability, robustness and simplicity
of control. Until a few years ago the AC motor could either be plugged directly into the mains
supply or controlled by means of the well-known scalar V/f method. When power is supplied
to an induction motor at the recommended specifications, it runs at its rated speed. In this
method, even simple speed variation is impossible and its system integration is highly
dependent on the motor design (starting torque vs. maximum torque, torque vs. inertia,
number of pole pairs). However many applications need variable speed operation. The scalar
V/f method is able to provide speed variation but does not handle transient condition control
and is valid only during a steady state. This method is most suitable for applications without
position control requirements or the need for high accuracy of speed control and leads to
over-currents and over-heating, which necessitate a drive which is then oversized and no
longer cost effective. Examples of these applications include heating, air-conditioning, fans
and blowers [9].

2.1 Field Orientated Control (FOC)

The Field Orientated Control (FOC) consists of controlling the stator currents
represented by a vector. This control is based on projections which transform a three phase
time and speed dependent system into a two co-ordinate (d and q co-ordinates) time invariant
system. These projections lead to a structure similar to that of a DC machine control. Field
orientated controlled machines need two constants as input references the torque component
(aligned with the q co-ordinate) and the flux component (aligned with d co-ordinate). As
Field Orientated Control is simply based on projections the control structure handles
instantaneous electrical quantities. This makes the control accurate in every working
operation (steady state and transient) and independent of the limited bandwidth mathematical
model. The FOC thus solves the classic scheme problems, in the following ways [8]. The
ease of reaching constant reference (torque component and flux component of the stator
current).The ease of applying direct torque control because in the (d,q) reference frame the
expression of the torque is:

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

m   i 1
By maintaining the amplitude of the rotor flux ( ) at a fixed value we have a linear
relationship between torque and torque component isq. We can then control the torque by
controlling the torque component of stator current vector.

2.1.1 Space Vector Definition and Projection

The three-phase voltages, currents and fluxes of AC-motors can be analyzed in terms
of complex space vectors. With regard to the currents, the space vector can be defined as
follows. Assuming that ia, ib, ic are the instantaneous currents in the stator phases, then the
complex stator current vector is defined by:
is = ia + α ib + α2 ic 2


  And 
  represent the spatial operators.

Fig.1 Stator current space vector and its component in (a,b,c).

This current space vector depicts the three phase sinusoidal system. It still needs to be
transformed into a two time invariant co-ordinate system. [8] This transformation can be split
into two steps: (a,b,c)→(α,) (the Clarke transformation) which outputs a two co-ordinate
time variant system. (α,)→(d,q) (the Park transformation) which outputs a two co-ordinate
time invariant System. The space vector can be reported in another reference frame with only
two orthogonal axis called (α,). Assuming that the axis-a and the axis-α are in the same
direction we have the following vector diagram. The projection that modifies the three phase
system into the (α,) two dimension orthogonal system is presented below:
iα
i 3
 
iβ
√ i  √ i 4

i
We obtain a two co-ordinate system  i  that still depends on time and speed.
β

Fig.2 Stator current space vector and its components in (α,)

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

2.1.2 The (α,) → (d,q) Projection.

This is the most important transformation in the FOC. In fact, this projection modifies
a two phase orthogonal system (α,) in the d-q rotating reference frame. If we consider the d
axis aligned with the rotor flux, the next diagram shows, for the current vector, the
relationship from the two reference frame:

Fig.3 Stator current space vector and its component in (α,) and in the d, q rotating reference frame.

θ is the rotor flux position. The flux and torque components of the current vector are
determined by the following equations:

i
iα cos!θ"  iβ sin!θ" 5

i
$i sin !θ"  iβ cos!θ" 6

These components depend on the current vector (α,) components and on the rotor flux
position, if we know the right rotor flux position then, by this projection, the d,q component
i
becomes a constant. We obtain a two co-ordinate system i  with the following

characteristics: two co-ordinate time invariant system with iSd (flux component) and iSq
(torque component) the direct torque control is possible and easy.

2.1.3 The (d,q)→( α,) Projection.

Here, we introduce from this voltage transformation only the equation that modifies
the voltages in d-q rotating reference frame in a two phase orthogonal system:

vα&'(
v&'( cos!θ"  v&'( sin!θ" 7

vβ&'(
v&'( sin !θ"  v&'( cos!θ" 8

The outputs of this block are the components of the reference vector that we call Vr, Vr is the
voltage space vector to be applied to the motor phases.

2.2 The Basic Scheme for the FOC

Two motor phase currents are measured. These measurements feed the Clarke
transformation module. The outputs of this projection are designated iSα and iSß.

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

Fig.4 Basic scheme of FOC for AC-motor

These two components of the current are the inputs of the Park transformation that gives the
current in the d-q rotating reference frame. The iSd and iSq components are compared to the
references iSdref (the flux reference) and iSqref (the torque reference). At this point, this control
structure shows an interesting advantage, it can be used to control either synchronous or
induction machines by simply changing the flux reference and obtaining rotor flux position.
As in permanent magnet synchronous motors (PMSM), the rotor flux is fixed (determined by
the magnets) there is no need to create one. Hence, when controlling a PMSM, iSdref should be
set to zero. As induction motors need a rotor flux creation in order to operate, the flux
reference must not be zero. This conveniently solves one of the major drawbacks of the
“classic” control structures, the portability from asynchronous to synchronous drives. The
torque command iSqref could be the output of the speed regulator when we use a speed FOC.
The outputs of the current regulators are vSdref and vSqref, they are applied to the inverse Park
transformation. The outputs of this projection are vS ref and vSßref which are the components
of the stator vector voltage in the (α,) stationary orthogonal reference frame [7, 8]. These
are the inputs of the Space Vector PWM. The outputs of this block are the signals that drive
the inverter. Note that both Park and inverse Park transformations need the rotor flux
position. Obtaining this rotor flux position depends on the AC machine type (synchronous or
asynchronous machine).

2.3 Space Vector PWM Control Technique

Space Vector PWM supplies the AC machine with the desired phase voltages. The
SVPWM method of generating the pulsed signals fits the above requirements and minimizes
the harmonic contents. Note that the harmonic contents determine the copper losses of the
machine which account for a major portion of the machine losses. Taking into consideration
the two constraints quoted above there are eight possible combinations for the switch
commands. These eight switch combinations determine eight phase voltage configurations.
The vectors divide the plan into six sectors. Depending on the sector that the voltage
reference is in, two adjacent vectors are chosen. The binary representations of two adjacent
basic vectors differ in only one bit, so that only one of the upper transistors switches when the
switching pattern moves from one vector to the adjacent one.
The two vectors are time weighted in a sample period T to produce the desired output
voltage. Assuming that the reference vector Vref is in the 3° sector, we have the following
situation

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(IJEET ISSN 0976 – 6545(Print), ISSN
0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

Fig.5 SVPWM, vectors and sectors

Fig.6 Reference vector as a combination of adjacent vectors

Where T4 and T6 are the times during which the vectors V4,V6 are applied and T0 the time
during which the zero vectors are applied. When the reference voltage (output of the inverse
Park transformation) and the sample periods are known, the following system makes it
possible to determine the uncertainties T4, T6 and T0:
9
10
Under these constraints the locus of the reference vector is the inside of a hexagon whose
vertices are formed by the tips of the eight vectors. The generated
generated space vector PWM
waveforms are symmetrical with respect to the middle of each PWM period.

Fig.7 Pattern of SVPWM in the sector 3

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(IJEET ISSN 0976 – 6545(Print), ISSN
0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

The following diagram shows the pattern of SVPWM for each sector In conclusion, the
inputs for the SVPWM are the

Fig.8
g.8 Hexagon of SVPWM, pattern [4]
reference vector components ) and the outputs are the times to apply each of the
relevant sector limiting vectors.

3. COORDINATE TRANSFORMATION

Coordinate transformation includes Clarke transformation,

transformation, Park transformation and
their inverse transformation.Clarke
Clarke transformation and inverse transformation Change the
three-phase AC system to two-phase
phase system is called Clarke transformation, also called 3/2
transformation, as shown in: Q

Conversely, change the 2-phase

phase AC system to 3-phase
3 phase AC system is called inverse Clarke
transformation, also called 2/3 transformation. Park transformation and inver inverse
transformation Change the two
two-phase
phase AC system to rotating DC system is called Park
transformation. The program is shown in Fig.11:

=
To the Y-connected
connected winding without the central line,
line there is:
15

Fig.11 Program of Park

Conversely, change the DC system to AC system is called inverse Park transformation.
transformation.

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

3.1 Speed Controller

Speed controller adopts PI controller. The program is shown in Fig.12. The input of
the PI controller is the difference between the given speed ω* and the practical speed ωr.
Saturation control link is to limit the output amplitude.

Fig.12 Program of speed controller

3.2 Flux Observer Module

The property of vector control frequency converter system is decided by the
estimating precision of rotor’s flux observer to a great extent. Flux observer module contains
an amplitude calculation of rotor’s flux sub-module and a flux angle calculation sub-module.
The former is used to calculate torque current component ist, and the latter is used in the
coordinate transformation. The latter is more difficult. So here only discusses the sub-module
of the rotor flux angle θ [1,4].
θ is calculated by integrating the sum of the angular speed of practical measurement and the
slip angular frequency.

θ
)!ω  ωs " dt 16
Where ω is the angular speed that could be measured directly, s is the slip frequency ωs could
be calculated by,

ωs

Lm ist
17
Tr r
Where Tr

Lr
is the leakage flux coefficient. The program of the calculation of rotor flux
Rr
angle is shown in Fig.13 Signal measurement module is composed of Machine Measurement
Demux in Simulink library power system block sets.

Fig.13 Sub-module of the rotor flux angle

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

4. SIMULATION RESULTS

To accelerate the dynamic speed of the simulation module, a first-order delay-link 1/z is
adopted in feedback transmission function. Link up the above modules, the total simulating
module could be got, as shown in Fig.14 The induction motor parameters are as follows:
PN=500W, UN =650V, f=50Hz, RS =4.495Ω, Rr =5.365 Ω, LM =0.149H, Lr =0.162H,
LS =0.206H.

4.1 Proportional Integral (PI) Controller

In this speed and theta calculation are done with PI controller. The error signal of
speed fed to PI controller and generates reference torque value. The reference theta value
with PI controller use error signal of current (Iq), speed (wm), and flux (phir). The whole
SVPWM control technique in simulation diagram is denoted by the ‘control block’. The
simulation with PI controller is shown in Fig.14.

120
Voltage measurement Scope3
Constant Vab
+
v
- Inv erter Output Voltage

Scope4
In1

In2 Out1
Manual
Step
Switch In3
Load Torque
CONT ROL step Demux
BLOCK Scope5
Discrete,
is_abc
Ts = 2e-006 s.
+
g Tm Stator currents Is_abc

DC A A
650 Volts m m wm
Speed wm
-
B B Scope6
C C Te
Torque Tm
0
Three-phase Inverter Induction
MULTIMET ER Scope2 Motor
1 Scope1

Speed wm

Fig.14 Simulation for PI controller

The output voltage of inverter with PI controller is shown in Fig.15. The output voltage is
mainly control by SVPWM pulses are generated by control block.

Fig.15 Inverter output voltage waveform with PI controller

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

The three phase current Iabc of motor are vary with torque value or speed controlled value.
The wave form for Iabc for speed controlled value with PI controller is shown in Fig.16.
Iabc with PI Controller
250

200

150

100

Iabc (Amps) 50

-50

-100

-150

-200

-250
0 0.5 1 1.5 2 2.5 3
Time (sec)

Fig.16 Currents (Iabc) waveform with PI controller

Ia with PI controller
250

200

150

100
Ia(Amp)

50

-50

-100

-150

-200
0 0.5 1 1.5 2 2.5 3
Time (sec)

Fig.17 Currents (Ia) waveform with PI controller

The waveform of speed control with PI controller shown in Fig.18. At starting the speed
gradually increased up to peak value (more than reference speed) within 1.1 sec, with PI
Controller. And it takes 4.4 sec, to achieve reference value. The parameters with PI controller
given in table-1.

Fig.18 Waveform for speed with PI controller.

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0976 – 6553(Online) Volume 3, Issue 3, October – December (2012), © IAEME

S.No. Parameters PI
1 Rise time (tr) 1.1 sec

2 Peak time (tp) 1.4 sec

3 Settling time (ts) 4.4 sec

4 Maximum 23.05 %
overshoot
(%MP)
Table.1 Comparison of parameters with PI and controller

5. CONCLUSION

The simulating results indicate space vector control system has good static and
dynamic properties. It is a stable control method. The two speed control techniques with PI
controller and with PID controller were used The SVPWM approach for the speed and torque
control of induction motor is compared with PI and PID controller connected in the feed
forward path of the system .The results are compared on the basis of time response
specification like Rise time (tr), Peak time (tp), Settling time (ts) and Maximum overshoot
(%MP).It is found that the results with SVPWM with PID controller are quite satisfactory as
compared to the PI controller. The results indicate the coincidence of the dynamic simulating
process and the practical mobile process as well. So it verifies the correctness of the
simulating model based on the mathematic model combining with Matlab/Simulink.

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