MAIN PROJECT

ON
SIMULATION OF PARALLEL CONNECTED INDUCTION
MOTOR ON A SINGLE INVERTER

Project report submitted to the faculty of

Krishna Murthy Institute of Technology and Engineering,
in partial fulfillment of requirement for the award of the Degree

Of

BACHELOR OF TECHNOLOGY
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
BY

M.DIVYA R.NO. 07BE1A0207

N.VIJAYA R.NO. 07BE1A0221

Under the esteemed guidance of

C.V.V.PAVANI
Assoc. Professor

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

Krishna Murthy Institute of Technologies and Engineering
(Affiliated to J.N.T.U.H, approved by AICTE)
Edulabad (v), Ghatkesar (M), RR dist- 501301
2010-2011

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 Krishna Murthy Institute of Technologies and Engineering
(Affiliated to J.N.T.U.H, approved by AICTE)
Edulabad (v), Ghatkesar (M), RR dist- 501301
2010-2011

CERTIFICATE

This is to certify that the project work entitled “SIMULATION OF TWO

PARALLEL CONNECTED INDUCTION MOTOR ON A SINGLE INVERTER”

that is being submitted by M.DIVYA (07BE1A0207), N.VIJAYA (07BE1A0221)

on behalf of partial fulfillment of the requirements for the degree of “Bachelor of

Technology” in “Electrical and Electronics Engineering” to the Jawaharlal

Nehru Technological University is a bonafide work carried out by them under the

guidance and supervision. The results embodied in this project report have not been

submitted to any other university or institute for the award of any degree or

diploma.

(Internal guide) (Head of the Department)

C.V.V.PAVANI B.SRINIVAS

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 ACKNOWLEDGEMENT:-

We take this opportunity to thank all the people who rendered their full support to

our project work. Their guidance and co-operation helped us in completing the project

successfully.

We are very thankful to our principal DR. S. F. KODAD for inspiring us to carry

out the project work at Krishna Murthy Institute of Technology and Engineering. We

are also very grateful to him providing us the facilities of carrying out our work

successfully.

We express our sincere gratitude to Mr. B. SRINIVAS, head of department in

electrical and electronics engineering for his continuous support and co-operation.

We are pleased to acknowledge our indebtedness to our guide Mrs.

C.V.V.PAVANI (project guide) assoc. professor in EEE department, Krishna Murthy

Institute of Technology and Engineering, Ghatkesar (M), R.R. dist, for her excellent

guidance, continuous encouragement without which this project would not have

materialized. Her guidelines have significantly influenced and improved our thinking. The

deal of constructive criticism and valuable and important advises of him are most

important part of development of this project work.

We are also thankful to all other faculty members who have extended their co-

operation with useful suggestions. We are happy to express our gratitude to one and all

that help us in fulfilling this project.

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 We express our deep sense of gratitude to our beloved parents and friends for

giving us moral support and encouragement which helped us in completion of this project.

M.DIVYA

N.VIJAYA

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 ABSTRACT

Over the past three decades, Power electronic drive systems have been more

widely used, due to the advancements in high power and high speed semiconductors

(GTO, IGBT), microprocessor control and three-phase inverters.

These technological break- troughs facilitate to operate three-phase induction

motor drives as propulsion drives for traction electric multiple units and locomotives. The

recent trend is to consider AC drives with three-phase induction motors as an alternative to

the established DC drives by many railways. The induction motor has for many years

offered advantages when compared to the DC traction motor like improved reliability,

improved power to weight ratio and improved volume to weight ratio.

In the field of traction drives for rolling stocks, one inverter often drives multiple

induction motors connected in parallel. The reason why this type of configuration is

widely accepted mainly comes from its simplicity and economical advantages.

This thesis presents the simulation studies done to analyze the performance of ac

drive system with parallel operation of two induction motors on a single three-phase

inverter, using closed loop control of Volts/Hz and slip regulation method. The simulation

studies are done by using MATLAB/Simulink software package. For simulation purposes

the dynamic model of induction motor is taken into consideration. The low frequency

operation of a single induction motor on a single inverter is also studied.

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 CONTENTS

ACKNOWLEDGEMENTS
ABSTRACT
CHAPTER 1: INTRODUCTION 1-3

CHAPTER 2: LITERATURE REVIEW 4-10

CHAPTER 3: SURVEY OF VARIABLE SPEED INDUCTION MOTOR

DRIVE SYSTEMS 11-32
3.1 INDUCTION MACHINE 12
3.1.1The fundamental operating principles for an induction motor 12
3.1.2 The Electrical principles of an Induction motor 13
3.1.3 Torque/Speed generation for an Induction motor 14
3.2 PWM INVERTERS 16
3.2.1 Two-level Inverters and Modulation Schemes 17
3.2.2 Sinusoidal pwm 18
3.3 SPEED CONTROL TECHNIQUES FOR
INDUCTION MOTOR DRIVES 21
3.3.1 Scalar control of induction motor drives 21
3.3.2 Vector control of induction motor drives 23
3.3.3 Sensor less vector control 24
3.3.4 Direct torque control 25
3.4 MATLAB/SIMULINK 29

CHAPTER 4: MODELLING AND DESIGN OF SIMULATION 33-40

SYSTEM
4.1 CLOSED LOOP SPEED CONTROL OF SINGLE

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 INDUCTION MOTOR ON A SINGLE INVERTER 34
4.2 CLOSED LOOP OPERATION OF TWO PARALLEL
CONNECTED INDUCTION MOTORS ON
A SINGLE INVERTER 39

CHAPTER 5: ANALYSIS OF SIMULATION RESULTS 41-57

5.1 ANALYSIS OF SIMULATION RESULTS OF A SINGLE
INDUCTION MOTOR ON A SINGLE INVERTER 42
5.2 ANALYSIS OF SIMULATION RESULTS OF A SINGLE
INDUCTION MOTOR ON A SINGLE INVERTER AT LOW
FREQUENCY OPERATION 48
5.3 ANALYSIS OF SIMULATION RESULTS OF TWO
PARALLEL CONNECTED INDUCTION MOTORS ON
A SINGLE INVERTER 50

CHAPTER 6: CONCLUSIONS 58-61

CHAPTER 7: FUTURE WORK SUGGESTED 62-63

APPENDIX : 64-68

BIBLIOGRAPHY 69-70

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 LIST OF FIGURES
NAME OF THE FIGURE PAGE NO.
Fig. 3.1 the per phase representation of an induction Motor in steady state 14

Fig. 3.2 the Torque-speed –slip characteristics of an 16

Induction motor in steady state

Fig. 3.3 The field weakening operation 17

Fig .3.4 3-phase PWM-VSI Schematic 17

Fig. 3.5 One leg of a 3-phase PWM-VSI 18

Fig. 3.6 One leg of PWM-VSI switching schematic 19

Fig. 3.7 The 3-Phase PWM-VSI waveforms 20

Fig.3.8 Toque-speed characteristics with volts/Hz control 23

Fig.3.9 Torque- speed characteristics induction motor 28

with variable voltage and variable frequency

Fig.3.10 Closed loop speed control with volts/Hz control and slip regulation 29

Fig.3.11 The Power System Block set 30

Fig.3.12 Blocks in Elements, Power Electronics and Machines libraries 31

Figure 4.1 Closed loop speed control with volts/Hz and slip regulation 34

control

Fig.4.2 closed loop speed control of a single motor on a single inverter 36

Fig4.4 closed loop speed control of two parallel connected induction 39

Motors on a single inverter

Fig 5.1 Full load operation of single induction motor on single inverter 44

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Fig 5.2 comparison between DOL start (open loop) and closed 45

Loop operation of Single induction motor on single inverter. 46

Fig 5.3 No load operation of Single induction motor on single inverter

Fig 5.4 Variable load operation of Single induction motor on single inverter 47

Fig 5.5 Variable load operation of Single induction motor on 49

single inverter at Low frequency, 5 Hz with rated V/F ratio

Fig 5.6 Full load operation of two Parallel connected induction 51

motors on a single Inverter

Fig 5.7 No load operation of two Parallel connected induction 52

motors on a single Inverter

Fig 5.8 Closed loop operation of two Parallel connected induction 53

motors on a single Inverter with 100% load on first motor and no-load

on second motor

Fig 5.9 Closed loop operation of two Parallel connected induction 54

motors on a single Inverter with 100%load on first motor and 50% load

on second motor

Fig 5.10 Closed loop operation of two Parallel connected induction 55

motors on a single Inverter with variable load on first motor and no load

on second motor

Fig 5.11 Closed loop operation of two Parallel connected induction 57

Motors on a single Inverter with gradual load on first motor and 50%

load on second motor.

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 CHAPTER 1
INTRODUCTION

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 1. INTRODUCTION

Electric machines have been the workhorses of industry for many years. The three
basic electric machines -dc, induction, and synchronous-have served industrial needs for
nearly a century. In recent years, intense research effort has made other variations of
electric machines, such as brushless dc machines, permanent magnet machines, and
switched reluctance machines, viable alternatives in many applications.

The larger part of electrical energy is converted into mechanical energy in

electric motors. Among electric motors, inductions motors are the most used both for
home appliances and in various industries and also in traction drive systems.

Induction motors, particularly squirrel-cage type induction motors, have a number

of advantages when compared with dc motors. Some of these are ruggedness, lower
maintenance requirements, better reliability, lower cost, weight, volume and inertia, higher
efficiency and the ability to operate in dirty and explosive environments. The major
drawback of dc motors is the presence of commutators and brushes, which require
frequent maintenance. Also, the DC motors are not suitable for explosive and dirty
environments. Because of their advantages, induction motors are widely used than all the
motors put together.

Intelligent use of energy means higher productivity with lower active energy
and lower losses at moderate costs. Reduction of losses leads to lower environmental
impact where the motor works and lower thermal and chemical impact at the electric
power plant that produces the required electrical energy. Variable speed through
variable frequency is of paramount interest in achieving such goals.
However, until recently, induction motors have been used mainly in applications
requiring constant speeds. Variable speed applications have been dominated by DC
motors. This can be attributed to the fact that conventional methods of speed control of
induction motors have been either expensive or highly inefficient. With the improvements

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in voltage and current handling capabilities and the reduction in the cost of power
semiconductor devices like, gate turn-off thyristor(GTO) and insulated gate bipolar
transistors(IGBT), it has become possible to build variable speed induction motor drives
which can match and in some cases even surpass the dc drives in performance and cost.

Implementation of new control techniques, such as field-oriented control, variable-

structure control with sliding-mode features, and others have made ac motors viable
alternatives to dc motors in high-performance drive applications. The advent of
microprocessors/microcontrollers/microcomputers has made it possible to implement these
complex control techniques.

Inverters convert DC to variable frequency AC. The variable frequency control

allows good running performance to be obtained from the squirrel cage induction motor.
Voltage source PWM inverters variable voltage, variable frequency (VVVF) drives of
small induction motors are widely used both in industrial and household applications.

Variable speed drives with induction motors are increasingly being used in
transportation, pumps, compressors, ventilators, machine tools, robotics, hybrid or
electric vehicles, washing machines, etc.

In the field of traction drives for rolling stocks, one inverter often drives multiple
induction motors connected in parallel. This type of configuration is widely accepted
owing to its simplicity and economical advantages. For the parallel-connected induction
motor speed control system a VSI is better than the CSI .
In this dissertation the closed loop speed response of two parallel connected
induction motors fed from a single inverter with constant Volts/Hz ratio and slip
regulation method are studied. These systems are complex systems having components of
different nature. Power converters are built from linear and nonlinear electric elements
such as power semiconductor switches, electrical machines, and control systems
containing linear and nonlinear elements. Effective modeling and simulation of such
systems require a software tool that can handle all these functions in an integrated
environment. So, MATLAB/SIMULINK software tool was used to simulate and for the
study of this system.

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 CHAPTER 2
LITERATURE REVIW

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 2. LITERATURE REVIEW

An extensive literature survey was carried out to study the various variable speed
induction motor drive systems, especially with two motors operating in parallel on a single
inverter. It is observed that there are very few publications available on this topic. In this
chapter each of these available papers is discussed briefly below.

“High Efficient Parallel-Connected Induction Motor Speed Control with Unbalanced

Load Condition using One Inverter”, Itaru Ando, Motoki Sato et al.[1], This paper proposes a
new high efficient parallel speed control method of two induction motors on condition of
different load torque, which is based on Non-Linear Programming Method. The conventional
control method does not consider both the efficiency of induction motor control and the
condition of unbalanced load condition. For the purpose of considering these problems, this
paper proposes new high efficient parallel speed control method of two induction motors on
condition of different load torque. The proposed control system is constructed by Non-Linear
Programming Method in different load conditions. The instantaneous generated torque is
calculated by using the proposed current simulator and the flux simulator. Disturbance
observer estimates each load torque of two induction motors from the estimated instantaneous
torque and the detected motor speed. Moreover, Non-Linear Programming Method calculates
the optimal voltage vopt and the optimal frequency fopt. The results of Non-Linear
programming method, vopt and fopt regulate each IM to nearly same speed performance with
high efficiency. Therefore, the proposed control system carries out the high efficient parallel
speed control for two induction motors with different load conditions, which is driven by one
inverter

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 “Control Methodology for Single Inverter, Parallel Connected Dual Induction Motor
Drives for Electric Vehicles” Patrick M. Kelecy & Robert D.Lorenz [2].The objective of this
paper is to present a methodology for controlling the transient as well as steady state torque
production from each rotor of a dual induction motor drive with parallel connected stator
windings fed by a single power inverter. This type of drive topology is targeted towards
electric vehicle applications where the expected benefits are:1) a simple drive train design (no
mechanical differential required), 2) traction control, and 3) lower cost and smaller size
compared to a two inverter, two motor alternative. This paper includes the theoretical
formulation of a suitable "dual motor" machine model from which the required control
relations are derived. The control relations are similar in form to the single motor field-
oriented control laws, but allow mean and differential drive toques to be directly controlled.
The main contributions of this paper are: The introduction of a dynamic machine model of
the combined, parallel connected, dual induction motor system which is particularly well
suited for treating the dual motor torque control problem. And a method of torque control
based on this model which enables mean and differential torque to be controlled during both
transient and steady state modes of operation subject to the physical limitations of the
inverter.

“A Stator-Flux -Based Vector Control Method for Parallel-Connected Multiple

Induction Motors Fed by A Single Inverter” Yasushi Matsumoto, Chiharu Osawa et.al, [3].
This paper presents a novel vector control method for the parallel-connected multiple motor
drive system. Proposed control method is based on the stator-flux, and is capable of accurate
and responsive torque control even if there are the rotor velocity differences among the
motors. Difficulties are found in applying ordinary vector control scheme to multiple motor
drive systems. Suppose that slip angular velocities in motors are different, which is an
unavoidable problem in a practical system. Then, a motor with a smaller slip tends to have
smaller torque current and larger magnetizing current, and could be excessively magnetized.
In contrast to this, a motor with a larger slip is poorly magnetized and could fall into unstable
condition. Therefore, it is important to control an inverter to provide a balanced operating

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condition for parallel-connected motors. To meet this end, newly developed a stator-flux
based vector control method, which is applicable to a cost effective multiple motor drive
system and is capable of high performance torque control has been proposed. This paper
presents the principle of this control method, as well as simulation and experimental results.
Simulation results exhibited good control performance in the face of load torque change,
velocity difference among motors, and rotor resistance variation. This control method also
experimentally proved its effectiveness in torque accuracy as well as torque response.

“New Ac traction Drive System with Transistor VVVF Inverter” Hiroshi Miki, Haruki
Yoshikawa et.al., [4]. This paper presents a new traction system for Dc electric cars of higher
input voltage has been developed for lower cost and higher performance. The equipment
which constitutes a vital part of the drive system consists of 3 phase inverters applying
transistors connected in series. The inverter outputs are connected with corresponding
induction motors. To maintain each inverter input voltage equally, each motor current is
controlled. The configuration and the control above permits use of transistors with a low off-
state voltage capability for a DC electric car drive system without step-down chopper or other
auxiliary means. Even if slipping or skidding peculiar to rolling stock has occurred, providing
a bypass circuit of inverter input current maintains stable operation. Since a magnetic flux
regulating PWM control is adopted in this system, the motor current ripples are reduced. Also,
by using the high speed switching characteristics of transistors, the PWM carrier frequency
need not be changed, thereby decreasing unpleasant sounds. As four motors are individually
controlled by distinct inverters, each motor torque can be generated equally regardless of the
difference in speed between motors. Thereby, the maintenance of wheels can be easier. The
re-adhesion control is independently performed when slipping or skidding has occurred,
thereby the adhesive coefficient can be higher. According to the results of test runs using
actual rolling stock, the adhesive coefficient was improved by 19%.

“High Power AC/DC Converter and DC/AC Inverter for High Speed Train
Applications” Adrian David Cheok, Shoichi Kawamoto et.al. [5]. this paper presented details
of new developments in application of converter-inverter system to electric trains. It was seen
that four-quadrant three level PWM controlled converters and inverters were used to power

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the traction motors. To provide high train performance, various design control techniques
were applied to the converter. This included a three level topology, synchronous PWM, real
time unity power factor control, and multi-interlaced phase shifting. It was shown that these
techniques reduced the converter harmonics considerably, which led to lower power loss,
signal interference, audible noise, and supply side harmonics. In addition unity power factor is
presented to the ac catenary which maximizes the system efficiency and utilization. In traction
applications, the lowering of motor noise and torque ripple is very important, as this leads to
better train performance and lower passenger noise levels. Therefore the developed inverter
design and control was optimized by using three level topology and a novel PWM method.
These methods were shown to significantly reduce motor harmonics, audible noise, and
torque ripple in the traction motors.

“Re-adhesion control for high-speed electric railway with parallel motor control
system”, Don-Ha Hwang, Moon-Sup Kim et.al, [6]. This paper presents the design and
implementation of an improved re-adhesion control system for the High-speed Railway. This
system provides an improvement of adhesion characteristics regardless of the severity of
wheel slip under a continuous slipping rail condition by blending two conventional control
algorithms and acceleration control scheme. To verify the validity of the proposed hybrid
control scheme, the downscaled re-adhesion control simulator was set up. The running tests
under the conditions very close to the real state were performed. Compared with an individual
operation of the conventional control scheme, the proposed re-adhesion control scheme shows
a superior ability to reduce wheel slip and the vehicle vibration accompanied by the re-
adhesion control. It can be said from this result that the proposed control has the advantages
of reducing the wheel abrasion and improving the reactive performance. Therefore it can be
expected that the proposed control scheme be applied to the high performance vehicles.

“Anti-skid Re-adhesion Control Based on Disturbance Observer Considering Air

Brake for Electric Commuter Train”, Satoshi Kadowaki Kiyoshi Ohishi, [7].This paper
proposes a new anti-skid readhesion control based on disturbance observer considering the air
brake for electric commuter train.. This proposed method has been the re-adhesion control
using only regenerative braking mode. However, actual train uses both electric brake and air

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brake in the high-speed range. Hence, this paper proposes a new anti-skid re-adhesion control
considering the air brake, which carries out the cooperation control of electric brake and air
brake in order to realize a fine re-adhesion control. The numerical simulation results point out
that the proposed system has the desired driving wheel torque response and a fine anti-skid re-
adhesion control. In order to realize a quick motor torque response, this paper proposes that
the sensor-less vector control system drives the two induction motors of electric commuter
train.

“Modeling and simulation of Electrical Drives using MATLAB/Simulink Power

System Blockset”, Hoang Le-Huy [8].This paper presents a unified method for modeling and
simulation of electrical drives using state-space formulation in MATLAB/Simulink. The
proposed method has been successfully implemented in a simulation package called “Power
System Blockset” (PSB) for use in MATLAB/Simulink environment. The principle of the
modeling and simulation method is presented and the PSB operation is described. Application
examples including a dc brushless motor drive and a Direct Torque Control (DTC) induction
motor drive are presented. The simulation of complete electrical drives can be done with
sufficient details in both power electronic circuits and control systems. This is useful for
waveforms analysis and also for control parameters tuning. A unified method for modeling
and simulation of electrical drive systems using state-space approach has been presented. By
using a modified state-space representation, it is possible to combine linear and nonlinear
circuits, electric machines models, power electronic models, and control blocks in the same
Simulink diagram. Simulation either with the variable time integration algorithm or with a
discretized system using fixed time step is possible. By exploiting the capability of Simulink
and by using the various models available in Power System Blockset and Simulink, very
complex drive systems including the control systems can be modeled and simulated.

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 CHAPTER 3
THEORITICAL ANALYSIS

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 3. SURVEY OF VARIABLE SPEED INDUCTION MOTOR
DRIVE SYSTEMS

Induction motor drives with cage-type machines have been the workhorses in industry
for variable-speed applications in a wide power range that covers from fractional horsepower
to multi mega-watts. These applications include pumps and fans, paper and textile mills,
subway and locomotive propulsions, electric and hybrid vehicles, machine tools and robotics,
home appliances, heat pumps and air conditioners, rolling mills, wind generation systems,etc.
In addition to process control, the energy saving aspect of variable-frequency drives is getting
a lot of attention nowadays.

3.1 THE INDUCTION MACHINE

3.1.1The fundamental operating principles for an induction motor:

An induction motor is an asynchronous AC (alternating current) motor. The least

expensive and most widely used induction motor is the squirrel cage motor. The major
reason why these machines are so robust and inexpensive is that no external current is
required inside the rotor to create the revolving magnetic field. An induction machine
consists fundamentally of two parts: the stator (the stationary part) and the rotor (moving
part). For a three-phase induction machine, three-phase sinusoidal voltages are applied to the
windings of the stator. This creates a magnetic field. Because the voltages differ in phase by
1200 with respect to each other, a revolving magnetic field is created that rotates in
synchronism with the changing dominant poles around the cylindrical stator.

The rotor, which, for a squirrel-cage rotor consists of copper bars in a cylindrical
format, follows the created revolving magnetic field in air gap. As a consequence, a voltage is
induced in the rotor bars that are proportional to the relative angular speed of the magnetic
field (this is referenced to the angular speed of the rotor). Because a voltage is induced,

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magnetic fields are created around the rotor wires. The two generated magnetic fields (in the
rotor and stator) interact to generate a force that is also proportional in magnitude to the
relative angular speed of the magnetic field. Torque is equal to force multiplied by the radius
of the cylindrical stator. Therefore, the resultant torque applied by the rotor is proportional to
the relative speed of the magnetic field with respect to the speed of the rotor.

3.1.2 The Electrical principles of an Induction motor:

The induction machine is an electrical device. The electrical properties that are of
particular interest to this thesis project are the stator and rotor’s resistance and inductance, as
well as the magnetizing inductance. During steady state, the induction motor can be modeled
in a per phase representation seen in figure 3.1.

Fig. 3.1 the per phase representation of an induction motor in steady state

These parameters are important for the control strategies. The induction machine used in this
thesis project has the following electrical parameters:
V = rated Line to Line Voltage, 400 Vrms
P = Three-phase power rating, 15KW and 20h
p = No. of Poles, 4
RS = stator resistance, 0.2147 Ω
R’R = rotor resistance, 0.2205 Ω
LS = stator inductance, 0.991 mH
L’R = rotor inductance, 0.991 mH

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 LM = magnetizing inductance, 64.19 mH
TL = rated Torque, 100 N-m
J = rotor of inertia, 0. 5 kg- m2

3.1.3 Torque/Speed generation for an Induction motor:

The angular speed at which the magnetic field rotates is called the synchronous speed,
while the angular speed by which the rotor falls behind is called the slip speed.
Synchronous speed, Ns = (120×FS) ÷ p
= (120×50) ÷ 4
= 1500 rpm in this case
Slip, S = (Ns- N) ÷ Ns

Where FS = the rated frequency of the motor,

p = the number of poles and
N = the angular speed of the rotor.

An induction motor never travels at synchronous speed; that is why they are referred
to as Asynchronous machines. When no load is applied to the rotor, the induction machine has
a slip of 0.5%. When the rotor is locked, the slip is, of course, 100%. At locked-rotor
conditions, the current can be five to six times the full-load current, making I2R losses 25 to
36 times higher than normal. For this reason, it is not recommended to leave the rotor locked
for more than a few seconds. The torque speed curve for the type of induction motor can be
seen over-page.

As you can see, there is no simple relationship between speed and torque; that is why
inspection of this curve is so important. Breakdown or Pull-out torque represents the
maximum torque that the load can apply before the induction motor is unable to develop
speed. The nominal speed is the angular speed that the induction machine accelerates toward
for a given voltage and frequency. Therefore, by applying different voltages or different
frequency (voltage and frequency have to increase by the same proportion in order to

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maintain a constant rotor flux), we can rotate the induction machine at a wide range of
nominal speeds and rated torque values. By changing the developed nominal speed, the torque
speed curve is shifted horizontally along the x-axis.

Fig. 3.2 The Torque-speed –slip characteristics of an induction motor in steady

state
Usually, the speed operation of the motor has an upper limit that is equal to the rated
speed of the motor. Operation of the induction motor above the rated speed affects the drive
efficiency and torque production due to heat dissipation and magnetic saturation. Therefore,
the rotor flux must be reduced so that the range of high efficiency operation of the motor drive
is extended. Consider the figure 3.3 shown below:

Fig. 3.3 The field weakening operation

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 As can be seen, by maintaining a constant flux, increasing the applied voltage and
frequency can proportionally increase the nominal speed. However, outside the rated speed
operation, the flux has to be decreased like an inverse function of speed. By weakening the
rotor flux, the induction machine can reach speeds that are four times the nominal speed.

In summary, the major design considerations for driving an induction motor are:

 The voltage (both magnitude and frequency) applied to the stator windings is
proportional to the created speed/torque of the rotor.
 Ψ (rotor flux) needs to be maintained constant when operating in speeds below the
rated speed. Anything above this, the speed needs to be decreased in an inverse, non-
linear fashion.

Hence, we need to develop a control strategy that varies the frequency and voltage of
the signal applied to the windings of the induction motor, while controlling the flux created in
the air-gap of the induction motor.

3.2 PWM INVERTERS

Inverters form an important class of power electronic circuits, which convert DC

power to AC power. Vintage inverters, realized with Silicon Controlled Rectifiers (SCR),
needed bulky components for the commutation of the SCRs. With the advent of power
semiconductor technology, modern power devices such as BJTs, MOSFETs and IGBTs
replaced SCRs at low and medium power level, as these devices do not require the complex
commutation circuitry to turn off them. Of these devices, IGBTs have aroused a particular
interest in recent times as these devices inherit the simplicity of control from MOSFETs and
superior conduction characteristics from the BJTs.
PWM inverter-fed induction motor drives are being used in greater numbers
throughout a wide variety of industrial and traction applications. PWM inverters provide
many benefits to their users including improved control of processes, reduced energy
consumption, and expanded diagnostics. Despite these benefits, PWM inverters should be

16
applied with special consideration for low-voltage induction motor operation. The power
supplied to the motor by a PWM inverter have some adverse effects. These effects include
increased heating, high peak voltages, and increased audible noise.

3.2.1 Two-level Inverters and Modulation Schemes:

Inverters built with a forementioned devices have become very popular and were
accepted by the industry owing to their simplicity and ruggedness. With the advancements in
the Pulse Width Modulated (PWM) control schemes, the harmonic spectrum of the output
voltage can be maneuvered to contain a pronounced fundamental component and to transfer
the harmonic energy to the components of higher frequency. This is desirable, as it is
relatively easier to filter out the components of higher frequency compared to the components
of the lower frequency.

Improvements in fast switching power devices have led to an increased interest in

voltage source inverters (VSI) with pulse width modulation control (PWM). Control methods
which generate the necessary PWM patterns have been discussed extensively in literature.
These could be classified as voltage controlled and current controlled PWM.

Fig .3.4 3-phase PWM-VSI Schematic

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 The Fig.3.4 shows the three-phase voltage source inverter schematic. Several voltage
controlled PWM methods have been proposed in literature e.g., sinusoidal pulse width
modulation (SPWM), sinusoidal PWM with third harmonic injection and space vector
modulation. All these methods aim at generating a sinusoidal inverter output voltage without
lower-order harmonics. This is possible if the sampling frequency is high compared to the
fundamental output frequency of the inverter. In this thesis sinusoidal pulse width modulation
scheme is used to control the voltage of the inverter.

3.2.2 SINUSOIDAL PWM:

The objective in pulse-width-modulated three-phase inverters is to shape and control

the three-phase output voltages in magnitude and frequency with an essentially constant input
voltage. The sinusoidal PWM technique is very popular for industrial converters for its
simple in nature.

Fig. 3.5 One leg of a 3-phase PWM-VSI

As shown in the Fig.3.6 .the triangular waveform Vtri is at a switching frequency fs

which establishes the frequency with which the inverter switches are switched(f s is also

18
called the carrier frequency ).The control signal v control is used to modulate the switch duty
ratio and has a frequency f1,which is the desired fundamental frequency of the inverter output
voltage(f1 is also called the modulating frequency),recognizing that the inverter output voltage
will not be a perfect sine wave and will contain voltage components at harmonic frequencies
of f1.

V^ control
ma =
The amplitude modulation ratio is defined as V^ tri .The amplitude Vtri(peak)
of the triangular signal is generally kept constant. The frequency modulation ratio m f is
defined as mf=fs/f1.The switches Ta+ and Ta- are controlled based on the comparison of v control
and vtri, and the following output voltage results, independent of the direction of io.

vcontrol> vtri, Ta+ is on, VAo=Vd /2

vcontrol < vtri Ta- is on, VAo= -Vd /2.

Fig. 3.6 One leg of PWM-VSI switching schematic

To obtain balanced three-phase output voltages in a three-phase PWM inverter, the
same triangular voltage waveform is compared with three sinusoidal control voltages that are
120˚ out of phase ,as shown in Fig.3.7(a)., and the same corresponding control logic applies
to other two legs also.

19
 It should be noted from Fig.3.7 (b). that an identical amount of average DC
component is present in the output voltages Van and Vbn, which are measured with respect to
the negative DC bus. These DC components are canceled out in line-to-line voltages, for
example in Vab shown in Fig 3.7 (b). These PWM line to line voltages will be applied to the
induction motor.

Fig. 3.7 The 3-Phase PWM-VSI waveforms

The modeling and control of ac drives in general are considerably more complex
than those of DC drives. This complexity increases substantially if high performances are
demanded. The main reasons for this complexity are the need of variable- frequency,
harmonically optimum converter power supplies, the complex dynamics of AC machines,
machine parameter variations, and the difficulties of processing feedback signals in the
presence of harmonics.

20
 3.3. SPEED CONTROL TECHNIQUES FOR INDUCTION
MOTOR DRIVES

Various speed control techniques implemented by modern-age variable frequency

Induction motor drives are mainly classified in the following three categories:

• Scalar Control (V/f Control)

• Vector Control (Indirect Torque Control)
• Direct Torque Control (DTC)

3.3.1 SCALAR CONTROL OF INDUCTION MOTOR DRIVES:

In scalar control, as the name indicates, only the magnitude of the control variables is
varied disregarding the coupling effect in the machine. The voltage of the machine can be
controlled to control the flux and frequency, or slip can be controlled to control the torque.
However, the flux and torque are functions of frequency and voltage respectively.
Generally, the drives with such a control are without any feedback devices (open loop
control). Hence, a control of this type offers low cost and is easy to implement. In such
controls, very little knowledge of the motor is required for frequency control. Thus, this
control is widely used. A disadvantage of such a control is that the torque developed is load
dependent as is not controlled directly. Also, the transient response of such a control is not
fast due to the predefined switching pattern of the inverter. Moreover, if there is a continuous
block to the rotor rotation, it will lead to heating of the motor regardless of implementation of
the over current control loop. By adding a speed/position sensor, the problem relating to the
blocked rotor and the load dependent speed can be overcome. However, this will add to the
system cost.

Scalar control is in contrast to vector or field oriented control, where both magnitude
and phase alignment of variables are controlled. Scalar controlled drives give somewhat
inferior performance, but they are easy to implement. Scalar controlled drives have been
widely used in industry. However, their importance has diminished recently because of the

21
advent of vector controlled drives, as a superior performance is demanded in many
applications.

The methods for scalar control with voltage fed inverters are

 Open loop Volts/Hz. Control

 Speed control with slip regulation
 Energy conservation effect by variable frequency drive
 Speed control with torque & Flux control

The methods for scalar control with current fed inverters are

 Independent current &Frequency control

 Speed & Flux control
 Open loop Volts/Hz. Control

Of all the above mentioned control strategies, the open loop Volts/Hz control of an
induction motor is by far the popular method of speed control. These types of motors are
widely used in industry owing to its simplicity. A small drift in speed and air gap flux due to a
fluctuation in load torque and supply voltage, respectively, as well as sluggish transient
response, are of no consequence in the majority of applications. Scalar speed and position
feedback systems with inner flux, torque, and current control loops have been used with
increased control complexity where an improved performance is necessary.

The air gap flux can be regulated if the air gap voltage and frequency are varied
simultaneously at a constant ratio. Maximum torque per ampere of stator current can be
obtained by coordination between torque and flux at a particular loading condition. The
concept of variable-voltage variable- frequency control is illustrated in Fig. 3.8. Below the
base speed, constant flux operation is used. Beyond the base speed, constant power operation
is used. Beyond the base speed, the motor terminal voltage is constant, and as the flux

22
decreases (which is known as field weakening). The machine can be operated in constant
power mode, as is shown in Fig. 3.8.

Fig.3.8 Toque-speed characteristics with volts/Hz control

3.3.2 VECTOR CONTROL OF INDUCTION MOTOR DRIVES:

The vector or field-oriented control technique brought on a renaissance in modern

high-performance control of ac drives. This control method has found wide acceptance in
applications such as paper mills, textile mills, steel rolling mills, machine tools, servos, and
robotics. With vector or decoupling control, the dynamics of ac drives is similar to that of dc
drives, and with current control, the conventional stability limit of ac machine does not arise.
This is indeed a remarkable accomplishment. The direct or feedback method, which was
developed by Blaschke, depends on unit vector generation from the machine terminal
voltages. As usual, harmonic noise becomes a problem in feedback signal processing, and the
method is difficult to use near zero speed because of the dominance of stator drop. Of course,
for servo-type applications, the unit vectors can be computed from stator currents and speed
signals. In the indirect or feed forward method, which was developed by Hasse, the above
problems do not exist, but the controller is highly dependent on machine parameters. This
method has gained popularity in industrial applications. At present, significant R&D efforts

23
have been focused on parameter identification techniques. The so-called slip gain tuning in
order to have decoupling between the rotor flux and torque component of current has been
attempted by reactive power balancing, injecting a pseudo-random binary sequence, Kalman
filter estimation, and MRAC balancing of reactive power, torque, and voltages. While the on-
line controller tuning with initial parameters is not difficult, tracking of controller parameters
with machine parameters during system operation is always a challenge. Recently, a hybrid or
universal vector control method has been suggested, where the indirect vector control operates
in the lower speed range and is switched to parameter-independent direct vector control in the
higher speed range. It should be mentioned here that, the vector control can be applied to both
induction and synchronous machines and, in fact can be applied to the general AC system for
independent active and reactive power control. For self-control of the induction motor control,
the incremental encoder is satisfactory.

3.3.3 SENSORLESS VECTOR CONTROL:

Sensor less drive control is one recent trend because sensors add cost and reliability
problems to the drives. The most primary sensors of a drive are the stator current sensors.
With the added stator voltage sensors, practically any other type of signal, such as flux,
torque, speed, power, power factor, and displacement factor can be estimated with a
microprocessor. Invariably, estimation expressions are derived in terms of machine
parameters and variables of stationary frame d-q equivalent circuits. The conventional open-
loop voltage models have been favored for flux, torque, and speed estimation, but the
integration problem and large stator drop at low frequency tend to give poor accuracy.
Recently, the feedback observer and MRAC methods using combination of voltage and
current models are finding favor in the estimation. Sensor less vector control of an induction
motor drive essentially means vector control without any speed sensor. An incremental shaft-
mounted speed encoder (usually optical) is required for closed loop speed or position control
in both vector and scalar controlled drives. A speed signal is also required in indirect vector
control in the whole speed range and in direct vector control for the low-speed range.
Including the zero speed start-up operation. A speed encoder is undesirable in a drive because

24
it adds cost and reliability problems, besides the need for a shaft extension and mounting
arrangement. It is possible to eliminate the speed signal from machine terminal voltages and
currents with the help of DSP. However, the estimation is normally complex and heavily
dependent on machine parameters. Although sensor less vector controlled drives are
commercially available at this time, the parameter variation problem, particularly near zero
speed, impose a challenge in the accuracy of speed estimation.

The Speed Estimation methods reported so far are:

 Slip calculation
 Direct synthesis from state equations
 Model referencing adaptive system(MRAS)
 Speed adaptive flux observer (Luenberger observer)
 Extended Kalman filter (EKF)
 Slot harmonics
 Injection of auxiliary signal on salient rotor

3.3.4 DIRECT TORQUE CONTROL:

An advanced scalar control technique, known as direct torque and flux control (DTFC or
DTC) or direct self control (DSC) was introduced for voltage –fed PWM inverter drives.
This technique was claimed to have nearly comparable performance with vector
controlled drives. The scheme, as the name indicates, is the direct control of the torque
and stator flux of a drive by inverter voltage space vector selection through a lookup table.
There are a few special features of DTC control that can be summarized as follows.
 No feedback current control
 No traditional PWM algorithm is applied
 No vector transformation as in vector control
 Feedback signal processing is somewhat similar to stator flux-oriented vector control
 Hysteresis-band control generates flux and torque ripple and switching frequency is
not constant (like Hysteresis-band current control).

25
 The modern adaptive and optimal control techniques that were so long considered for
DC drives only are now being extended to AC drives, owing to the recent availability of high-
speed and powerful DSP’s, RISC processors, and ASIC chips. Another reason is that, with
vector control, the machine model is simple and linear like a dc machine, and therefore, the dc
drive control algorithms can be extended directly. Adaptive controls, such as self-tuning
regulator, MRAC, and sliding mode control gives robust drive performance with penalty of
response speed in some cases. An example of self-tuning control is Ziegler’s PI tuning for a
fixed parameter system by measuring the open-loop transient response or Foxboro auto PI
tuning by close-loop error signal measurement in real time. The MRAC theory is well-
developed but is hardly useful for drive control application. However, the principle has
recently become popular for estimation of feedback signals, such as flux, torque, and speed.
Of all the adaptive control methods, the sliding-mode control is somewhat easy to implement,
but “chattering” has been the serious problem. Recent work in this control area relates to
adaptive variation of control parameters, hybrid state feedback control, optimization of
trajectory for faster response, and inclusion of low-pass filters in the forward path (to
eliminate chatter). Although the literature is abundant in various adaptive and optimal controls
of ac drives, there is hardly any practical application of this type of drive. It is expected that
with further research, along with the evolution of high-speed DSP’s and multifunctional
ASIC’s, these drives will find the marketplace .

Attempts are being made to enhance the drive performance by intelligent, self-
learning, or self-organizing control using expert systems, fuzzy logic, and neural network
techniques. The discussion on control of drives will remain incomplete without some
discussion of these techniques.

Expert system is a branch of artificial intelligence that deals with planting human
expertise in a certain domain in a computer program with the objective of replacing the
human expert. Expert system is potentially a very important tool for application in power
electronic systems. Fault diagnostics both on-line and off-line can be based on ES Automated

26
design of the converter and the total drive control system is possible using the database of
components. Automated simulation study, generation of the static and dynamic model from
the test data, and system performance tests can be performed with the help of ES. Real-time
performance optimization control, control reconfiguration, and fault-tolerant control on the
basis of on-line diagnostics is also possible.

Another important tool for power electronics applications is fuzzy logic or fuzzy set
theory. The theory was introduced by Zadeh, but only recently, its application has been
receiving a lot of attention in Japan. A fuzzy control or estimation algorithm in a process
control system embeds the intuition and experience of an operator, designer, and researcher. It
is good in a system where the model is an unknown or ill-defined, complex nonlinear
multidimensional system with a parameter variation problem (such as induction machine) or
where the sensor signals are not precise. The fuzzy control is adaptive in nature with the
system parameter variation. The estimation of speed, torque, flux, and slip gain tuning can use
fuzzy logic, overcoming the parameter variation problem. Unfortunately, there is no
systematic analysis and design procedure, and therefore, fuzzy logic-based design may be
very time-consuming.

The artificial neural network (ANN) is another potentially important tool for power
electronics applications. The term neural network is analogous to the nervous system in the
human brain, where a large number of nerve cells are interconnected by input dendrites and
output axons. An ANN is then expected to mimic this brain function An ANN may consist of
a set of DSP’s or a special-purpose analog signal processing network. A neural net has the
capability to learn that consists of varying or weighting coefficients for the input signals of a
layer for the desired transfer characteristics. In the future, the elements of expert systems,
fuzzy logic, and neural networks will be combined to gain performance optimization of power
electronic systems.

It is now evident that between the scalar and vector control methods, only two control
types are finding general acceptance. These are the open-loop Volts/ Hz control for low
performance cost-effective applications and the indirect vector control for high-performance

27
applications. Again, the voltage fed PWM inverter is finding universal acceptance, as
mentioned previously.
The torque-speed characteristics of Induction Motor with variable voltage and variable
frequency as shown in figure 3.9

Fig.3.9 Torque- speed characteristics induction motor with variable voltage and
variable frequency

The schematic for closed loop control of V/HZ with slip regulation method is shown
in figure 3.10.

The speed loop error generates the slip command ωsl * through a proportional -integral
controller and limiter. The slip is added to the feedback speed signal to generate the frequency
command as shown in fig 3.10. The frequency command ω e * generates the voltage command
through a volts/Hz function generator, which also incorporates the low frequency stator drop
compensation. Since the slip is proportional to the developed torque at constant flux, this
scheme can be considered as an open loop torque control within a speed control loop. The
feedback current signal is not used anywhere in the loop. With a step-up speed command, the
machine accelerates freely with a slip limit that corresponds to the stator current or torque
limit, and then settles down to the slip value at steady state as dictated by the load torque.

28
 Fig.3.10 Closed loop speed control with volts/Hz control and slip regulation
*
If the speed command speed ωr is reduced by a step, the drive goes into
regenerative dynamic braking mode and decelerates with constant negative slip - ω sl * . The
system works well in the field-weakening mode also.

3.4. MATLAB/SIMULINK

Power electronic systems such as variable-speed electrical drives are complex

systems having components of different nature. Power converters built from linear and
nonlinear electric elements and power semiconductor switches, electrical machines, and
control systems containing linear and nonlinear elements. Effective modeling and simulation
of such systems require a software tool that can handle all these functions in an integrated
environment.

Available simulation software for electronic circuits or dynamic systems can be

classified into two main categories, such as circuit simulation programs (such as EMTP,
SPICE-based simulation programs) and equation solver programs (such as SIMNON,

29
MATLAB/Simulink,). These programs are not specifically designed for power electronic
systems so that the users have to develop their own models to fulfill their needs. For example,
SPICE users have to develop models for electrical machines and control components because
SPICE is an electronic circuit simulation program. On the other hand, MATLAB/Simulink
users have to develop models for power electronics and electrical machines. This approach
can give good results but requires considerable effort.

Simulink is basically a simulator of dynamic systems with a block diagram interface.

Simulink can handle linear and nonlinear block diagrams but not electric circuit diagrams.
Therefore, to simulate electric circuits in Simulink interface it is necessary to capture the
circuit schematic using Simulink interface (block diagram) and build the Simulink compatible
model. Because Simulink operation is based on state-space representation, the modeling
approach presented here will allow us to combine linear and nonlinear circuits, electric
machine models, power electronic models, and control blocks in the same Simulink diagram.
This method had been implemented in MATLAB/Simulink under the form of a
package called Power System Block set (PSB). The PSB uses the Simulink environment to
represent common electric components and electric machines found in power electronic
systems. The PSB consists of libraries of electric blocks and analysis tools which are used to
convert electric diagrams into Simulink state-space diagrams.

As shown in Fig.3.11, the PSB consists of several block libraries of electrical models
such as electrical sources, linear and nonlinear electric elements, power electronic switches,
electrical machines, electric connectors and measurement devices (sensors).

30
 Fig.3.11 The Power System Block set
As examples, the blocks contained in three main PSB libraries: Elements, Power
Electronics, and Machines are shown in Fig 3.12. The Elements library includes models of
basic electric elements (RLC branches, transformer, mutual inductance, breaker, transmission
line) and complex components such as three-phase transformer, etc. The Power Electronics
library includes models of single power switches (diode, thyristor, MOSFET, GTO, IGBT,
ideal switches) and a universal Bridge which can be configured to different topologies using
different types of power switches.

31
 Fig.3.12 Blocks in Elements, Power Electronics and Machines libraries

The Machines library contains models of most common electrical machines: dc

machine, synchronous machine (wound and permanent-magnet), induction machine
(wound rotor and squirrel-cage rotor). The PSB blocks use the same user interface
(dialog box) as Simulink blocks to specify the parameters of the components.

State-space formulation allows the use of a wide variety of fixed step and
variable step algorithms available in Simulink. For small-and medium- size systems,
variable time step algorithms are usually faster because the number of steps is less than
with a fixed time step method. However, for large systems containing a large number
of states and /or power switches it is advantageous to discretize the electrical system
and to use a fixed time step algorithm.

Simulation results can be displayed on Simulink scopes or sent to workspace or

disk file while the simulation is running. The user can access a variety of MATLAB
functions and toolboxes for processing and plotting of waveforms from stored data.

32
 CHAPTER 4
EXPERIMENTAL INVESTIGATION

33
 4. MODELLING AND DESIGN OF THE SIMULATION
SYSTEM

PWM inverter-fed induction motor drives are being used in greater numbers
throughout a wide variety of industrial and traction applications. PWM inverters provide
many benefits to their users including improved availability of drive systems, reduced energy
consumption, and expanded diagnostics.

34
Figure 4.1 Closed loop speed control with volts/Hz and slip regulation control

35
 Figure 4.1 illustrates, in block diagram form, as to how the closed loop Volts/Hz with
Slip control is used in an ac motor speed regulator. The Three-phase supply is given to the
diode bridge rectifier .A Three-phase VSI is connected to the diode bridge through a capacitor
filter. The Three-phase Induction motor is fed from the VSI. The difference between the
reference rotor speed signal and a rotor speed signal is used as the slip feedback signal.

The allowable slip (ωsl*) is added to the current rotor speed signal (ωr) for generating
the stator frequency reference signal (ωe*). The motor voltage and frequency are varied to
regulate slip and speed. The PWM controller generates the gate pulses according to the values
of voltage and frequency signals. This in turn regulates the magnitude of the output voltage
and frequency of the inverter and hence induction motors drive performance.

4.1. CLOSED LOOP SPEED CONTROL OF A SINGLE

MOTOR ON A SINGLE INVERTER

The closed loop Volts/Hz and slip regulation control induction motor drive described
above can be modeled in Simulink by using PSB blocks for the electrical subsystem and
Simulink blocks for the control system. A PSB diagram representing one induction motor fed
from a single inverter is shown in figure 4.2.

The Three-phase IGBT inverter is modeled by a Universal Bridge block in which the
Power Electronic devices and Port configuration options are selected as IGBT/DIODE and
ABC as output terminals respectively. The DC link voltage is provided by a rectifier circuit
consisting of a three-phase diode bridge, and a Capacitor as a filter. The diode bridge is also
modeled by a Universal Bridge block in which the Power Electronics devices and Port
configuration options are selected as Diodes and ABC as input terminals respectively.

36
 4.2 CLOSED LOOP SPEED CONTROL OF A SINGLE MOTOR ON A
SINGLE INVERTER

The Three-phase Induction motor is modeled by an Asynchronous Machine block. The

electrical and mechanical parameters of the motor and the load are given using a dialog box.
The dynamic model of induction motor is considered for the simulation studies (the details of
this model are presented in Appendix A). The nameplate details and parameters of induction
motor are as follows:

Output power = 20 Hp or 15 KW VL-L, rms = 400V

Irms = 28 A Fs= 50Hz

37
Full load speed = 1460 rpm
p = No. of Poles, 4
RS = stator resistance, 0.2147 Ω
R’R = rotor resistance, 0.2205 Ω
LS = stator inductance, 0.991 mH
L’R = rotor inductance, 0.991 mH
LM = magnetizing inductance, 64.19 mH
TL = rated Torque, 100 N-m
J = rotor of inertia, 0. 5 kg- m2

A Three-phase supply block of sources of PSB is used as three-phase supply. A

Capacitor block of Elements block is taken for a capacitor filter. A bus selector block is used
to get the output waveforms from induction motor. For measuring voltage and current
measurement blocks of PSB are used. A saturation block is used for slip limit operation.

The three-phase supply of 440 V 50 Hz is given to the diode bridge rectifier. The dc
bus voltage is calculated as given below.

Vdc = 1.35 Vrms

Where Vrms = line to line rms voltage
Vdc = 1.35 X 440
= 600 V

The fundamental full load current of induction motor, Ia1 = 28 A= 0.78 Id

Where Id = dc side current
Id = 28/ 0.78 = 36 A

The capacitor filter, C value is from conventional method. The dc load of diode bridge
rectifier is replaced by equivalent load of Rd.

38
 Rd = Vdc/Id
=600/36 =17 0hms

The value of the capacitor, C is assumed as 100 µf

The circuit time constant, Tc = Rd .C

=17 X 0.1= 1.7 sec
So the time constant Tc is much more than the fundamental time period of output voltage of
20 milli seconds.

i.e. Tc >> 1/Fs

Hence the value of capacitor, C satisfies the design criterion.

The PWM control circuit is also built by using Simulink blocks. Fig.4.3. shows the
PWM control diagram. In this, three reference sinusoidal voltages which are phase shifted by
1200 are generated by using Simulink mathematical blocks and trigonometric function blocks
according to the frequency signal and magnitude of voltage signal. For getting full Line to
Line voltage of inverter output, the peak of the reference sinusoidal signal is selected as 10
volts due to practical considerations. The triangular wave form is also generated by
mathematical blocks and the peak value is chosen as 10 volts.
The reference sinusoidal waveforms and the triangular carrier waveform are compared
by using comparator blocks. The gate signals for three legs of VSI are generated at the output
of these comparators. Through a multiplexer block, the gate signals are given to the three-
phase inverter block. The simulation can be performed using fixed time step or variable time
step algorithms. In the simulation of power electronic systems, variable time step is desirable
because the fast changing variables highly nonlinear elements and the zero crossings in power
switches can be accurately calculated. However, in systems that contain a large number of
nonlinear components and/or power switches, the simulation speed using variable time step
may be reduced due to the increased number of calculation steps required.

39
4.2. CLOSED LOOP SPEED CONTROL OF TWO PARALLEL
CONNECTED INDUCTION MOTORS ON A SINGLE
INVERTER

The Fig 4.4 shows parallel operation of two induction motors fed from a single
inverter. The circuit description of parallel operation of two motors on a single motor is
similar to single motor operation. The second motor of the parallel system is not connected to
the feedback circuit, i.e. for feedback only first motor speed signal has been chosen. And it is
assumed that the second motor is effectively running on closed loop operation like first motor.

4.4 CLOSED LOOP SPEED CONTROL OF TWO PARALLEL CONNECTED

INDUCTION MOTORS ON A SINGLE INVERTER

40
 Simulation of the parallel system is carried out on different load conditions on both
motors with different type of loadings i.e. from no-load to full load. The analysis of the
simulation results is presented in the next chapter. The low frequency operation
of induction motor is also studied.

41
 CHAPTER 5
EXPERIMENTAL RESULTS

42
 5. ANALYSIS OF SIMULATION RESULTS OF TWO
PARALLEL CONNECTED INDUCTION MOTORS ON A
SINGLE INVERTER
In the field of traction drives for rolling stocks, one inverter often drives multiple
induction motors connected in parallel. This type of configuration is widely accepted because
of its simplicity and economical advantages .For the speed control system of a parallel-
connected induction motor speed control system a VSI is better than the CSI.

This chapter is broadly divided into three sections. The first section deals with the
analysis of simulation results of a single induction motor on a single inverter. The second
section analyses the performance of induction motor drive at low frequencies. The last section
analyses the performance of two parallel connected induction motors on a single inverter.

5.1. ANALYSIS OF SINGLE INDUCTION MOTOR ON A SINGLE

INVERTER SIMULATION RESULTS
The Fig 4.2 shows the simulation block diagram of a single induction motor on a
single inverter .For satisfactory results, ideal switches are selected as switching devices in the
three-phase inverter block instead of IGBT’s.
The rotor speed feedback signal is scaled into rotor frequency signal and it is
subtracted from the reference frequency signal. The slip frequency error is limited by slip
limit (saturation) block. The slip limit value is chosen as ±5 Hz for a satisfactory performance.
The slip frequency is added to the rotor frequency and that frequency value is given as stator
frequency to the PWM block. After multiplying stator frequency with V/F ratio, the reference
voltage magnitude is calculated. This value is also given as input to the PWM block.
According to the values of reference voltage magnitude and stator frequency, three sinusoidal
reference wave forms are generated. When M a equals to one, the peak value of the reference
sinusoidal waveform is scaled to 10 volts.

43
 The triangular waveform is also generated according to the switching frequency value.
The switching frequency is selected as 1050 Hz. By comparing the three sinusoidal
waveforms with the triangular waveform the gate pulses are generated and given through a
multiplexer block to the inverter block. The Simulink model described for induction motor
drive has been simulated on a PC with a 1.67 GHz AMD processor. A variable time step was
used. The drive operation and wave forms agree with theoretical predictions. The Simulink
model is useful for different studies on the drive operation.

Figure 5.1 shows full load operation of closed loop response of single induction motor
on a single inverter. The reference signal is applied through a integrator block and is clamped
to the rated value of 50 Hz. The full load is applied on motor at one second simulation time.
The transient torque response of closed loop operation is proved satisfactory. Large transitions
occur in torque response at one second simulation time, where the reference signal is reaching
to its rated value. It can be noted that the torque response is very fast. And the average
electromagnetic torque produced is equal to the full load torque. The stator current waveform
is also shown in the figure 5.1. The starting current is restricted to a low value.

The transient response of rotor speed is satisfactory. The full load speed is obtained in
a very low time after the reference signal reached to its rated value and simultaneously the full
load is applied on the motor.

The loading cycle is given as tabulated below:

Simulation Time(sec) 2
Load (N-m) 100

The drive performance is satisfactory and waveforms agree with the theoretical
predictions. Hence the Simulink model is verified and it can be used for different studies on
the drive operation.

44
 Fig 5.1 Full load operation of single induction motor on single inverter
Figure 5.2 shows the comparison of the closed loop operation with direct on line start
operation on drive. It is evident from the waveforms of both cases, that the starting torque and
hence starting current is well limited in closed loop operation. After loading the motor in both
cases, the steady state speed is obtained in same time. It can be noticed that no overshoot in
the speed response of direct on line start operation of the drive.

45
The loading cycle is given as tabulated below:
Simulation Time(sec) 2

Load (N-m) 100

At steady state, the closed loop response waveforms are well matched with direct on
line (DOL) start operation waveforms demonstrating the satisfactory working of the closed
loop system.

Fig 5.2 comparison between DOL start (open loop) and closed loop operation of
Single induction motor on single inverter

46
 Figure 5.3 shows the no load operation on the drive. The transient responses of torque
and rotor speed are similar as in the case of full load. The average electromagnetic torque
generated is equal to zero. The steady state no load current is reached to 50% of its rated
value, as the motor accelerates and reaches to its steady state value at no load (1500 rpm in
this case).

Fig 5.3 No load operation of Single induction motor on single inverter

47
 Figure 5.4 shows the gradual loading operation of the single induction motor on a
single inverter. The loading cycle is given as tabulated below.
Simulation Time(sec) 0.5 0.8 1.0
Load (N-m) 25 50 100

The transient responses of torque and rotor speed are improved in this gradual loading
case than the full load case. The torque undershoot is decreased below 50% than the full load
case and the oscillations in the torque response are very much reduced. The current waveform
is also improved.

Fig 5.4 Variable load operation of Single induction motor on single inverter

48
 The current waveform is also improved. The maximum current in this case reduced to
250 A but in full load case it was 400 A. The transition from transient state to steady state
occurs smoothly. The rotor speed response shows much better response than the full load
case. It can be noted that there is no overshoot in this gradual loading case.

Voltage boost is not given to the system in all cases. Because the reference frequency
signal, is given from the integrator block, in the form of a ramp signal with a slope of 50. And
the loading of the motor always occurs only after the inverter output voltage reaches to 50%
of its rated value. Hence the necessity of voltage boost does not arise.

5.2. ANALYSIS OF LOW FREQUENCY CLOSED LOOP OPERATION

OF A SINGLE INDUCTION MOTOR ON
A SINGLE INVERTER SIMULATION RESULTS

To make full use of the motor’s torque capability at the startup and low speeds, the
V/F ratio is increased to compensate for the stator resistance drop at low frequencies. This
allows a constant maximum torque to be obtained for motoring operation at all frequencies.
So it is important to study the system performance at low frequencies. To simulate the system
at low frequencies, three frequencies i.e. 5, 8 & 10 Hz are chosen.

Figure.5.5 shows the closed loop operation of the drive at 5Hz operation with the rated
V/F ratio. The reference waveform is clamped at 5Hz value. Hence the reference waveform
reaches its rated value of 5Hz at 0.1 sec.
The loading of each motor is tabulated below.

Simulation 0 1.0 2.0 3.0

Time(sec)
Load, 0 25 50 100
TL(N-m)

49
 Fig 5.5 Variable load operation of Single induction motor on single
inverter at Low frequency, 5 Hz with rated V/F ratio

The transient response of torque is very slow as shown in figure 5.5. There is no
undershoot in the torque response waveform. The settling time is also high in this case for all
loads. But at full load, the torque response reaches its steady state value quickly than the other
loads. One may recognize the swings in the stator current waveform at light loads, but at full

50
load it reaches to the steady state value. The transition from transient state to steady state
occurs smoothly.

The speed response also shows sustained oscillations as shown in the figure. At full
load, the speed reaches to very low value. From this speed and torque responses it is clear that
at low frequencies the V/F ratio should be increased. So the value of V/F ratio is taken as 10,
instead of the rated value of 8.

From the simulation studies of low frequency operation it is clear that up to 5 Hz

operation, the V/F ratio should be increased to obtain the rated motor torque. At light loads,
the responses of torque and speed are oscillatory.

5.3. SIMULATION STUDIES OF THE CLOSED LOOP

OPERATION OF TWO PARALLEL CONNECTED
INDUCTION MOTORS ON A SINGLE INVERTER

Figure 4.4 shows Simulink block diagram of two parallel connected induction motors
on a single inverter. The block diagram is similar to the single motor operation diagram.
However, only one induction motor speed signal is used for feedback. The second motor
works in open loop V/Hz control. From the simulation results, it is clear that the speed and the
torque responses of the second motor match with the first motor. It may therefore concluded
that the second motor is effectively working in closed loop V/Hz control as first motor. The
simulation of this parallel system is carried out on different load conditions on both motors
i.e. similar loading on both motors and gradual loading on one motor while keeping the other
at constant loading and vice-versa.

Figure 5.6 shows the closed loop response of two parallel connected induction motors
on a single inverter with full load applied on both motors simultaneously. The first motor
speed and torque responses are similar to the full load operation of single motor case. The
second motor speed and torque responses are similar to the first motor in all instants. From the

51
speed and torque responses of second motor it is evident that the second motor is effectively
running under closed loop operation.

Fig 5.6 Full load operation of two Parallel connected induction motors on
a single Inverter

52
The closed loop response of the dual motor system with no-load on both motors is shown in
figure 5.7. The speed and torque responses of both motors are similar to no load operation of
single motor.

Fig 5.7 No load operation of two Parallel connected induction motors on a single
Inverter

53
 The closed loop response of the parallel system with full load on first motor and no-
load on second motor is shown in figure 5.8. The full load torque and speed responses of the
first motor are same as single motor full load operation. The second motor speed and torque
responses are similar to the first motor and they reach to its steady state values at rated
frequency reference signal. The loading of each motor is tabulated below.

Simulation time (sec) 1.0

Load on first motor, TL1(N-m) 100
Load on second motor, TL2(N-m) 0

Fig 5.8 Closed loop operation of two Parallel connected induction

motors on a single Inverter with 100% load on first motor and no-load on second motor

54
 Figure 5.9 shows the closed loop response of the parallel system with full load on first
motor and half full load on second motor. The torque and speed responses are as similar as
previous case. From the simulation results of these four cases of constant loading on both
motors, it is clear that the system is stable at the rated frequency signal and the second motor
is effectively working in closed loop V/Hz control.
The loading of motors are given below in the tabular form.
Simulation time (sec) 1.0
Load on first motor, TL1(N-m) 100
Load on second motor, TL2(N-m) 50

Fig 5.9 Closed loop operation of two Parallel connected induction motors on a single
Inverter with 100%load on first motor and 50% load on second motor

55
 Figure 5.10 shows the closed loop response of the parallel system with gradual loading
on the first motor and no-load on the second motor.
The loading of motors are given below in the tabular form.
Simulation time (sec) 0 0.5 0.8 1.0
Load on first motor, TL1(N-m) 0 25 50 100
Load on second motor, TL2(N-m) 0 0 0 0

Fig 5.10 Closed loop operation of two Parallel connected induction motors on a
single Inverter with variable load on first motor and no load on second motor

56
 The torque response of the first motor is improved in this gradual loading than the
constant full load case. The torque response of the second motor is also improved compared
to the single motor no-load operation. Undershoot in the torque response of the second motor
is decreased compared to the single motor no-load case.
The torque transient response of second motor is further improved compared to the
single motor operation as shown in figure 5.10.
The current waveform of first motor increases smoothly compared to the constant full
load case. The current waveform of the second motor also increases smoothly compared to the
single motor no load operation. The speed response of the first motor is further improved in
this gradual loading case. One may notice that there is no overshoot in the speed response of
the first motor. The speed response of the second motor is not similar to the first motor and
single motor no load operation. The speed is ramped to nearly 2000 rpm and it reaches its
steady state value after the rated reference frequency signal is reached. The overall the speed
performance is improved comparatively than the constant full load case.

Figure 5.11 shows the closed loop response of the parallel system with gradual load on
the first motor while half full load is applied to the second motor.
The loading patterns of both the motors are given below:

Simulation time (sec) 0 0.5 0.8 1.0

Load on first motor, TL1(N-m) 0 25 50 100
Load on second motor, TL2(N-m) 0 0 0 50

The torque response of the second motor has an undershoot as in the no load on
second motor case. It is clear that up to the loading instant on second motor, the torque
response is similar to no load torque response. The speed response of second motor is ramped
to 2000 rpm as in the previous case and reaches to its steady state value at rated frequency
reference signal.

57
Fig 5.11 Closed loop operation of two Parallel connected induction motors on a
single Inverter with gradual load on first motor and 50% load on second motor

58
 These simulation results show the drive operation is satisfactory. It has been proved
that the second motor on the drive system is effectively running under closed loop Volts/Hz
control as similar as first motor. With gradual loading the drive performance is enhanced at
both transient and steady state conditions. The second motor speed and torque responses
follow the first motor responses respectively in the case of similar loadings. The speed
response of the second motor is sluggish than the first motor speed response in the case of
earlier loading or higher loading than the first motor. Hence the second motor speed starts to
reach its steady state value as soon as the frequency reference signal meets its rated value.

59
CHAPTER 6
CONCLUSION

60
 6. CONCLUSIONS

The following are the observations based on the extensive simulation studies carried
out in this dissertation work with various combinations of load torque, on single motor
and two motors in parallel operation on the single VSI inverter.

 The closed loop control of induction motor with V/F and slip regulation method

is easy to implement and simple in nature.

 The voltage is adjusted to be directly proportional to frequency in order to keep

the motor flux as constant i.e. at rated value.

 The transient speed response of the system is better with gradual loading

compared to constant full loading on the motor. No overshoot occurs in the

speed response with gradual loading.

 The system shows better torque dynamics with gradual loading compared to the

constant full loading on the motor. The value of undershoot decreases with

gradual loading.

 At low frequencies (upto 5Hz), the steady state full load speed is very much low

and the steady state full load current is high at the rated V/F ratio. Indicating

that the stator resistance drop becomes a dominant component of the total

voltage as the supply voltage decreases. The result is that there is less flux in

the machine and less torque available as speed reduces.

61
  To get satisfactory performance at low frequencies (upto 5Hz), the V/F ratio

should be increased 25% more than the rated value.

 The second motor of the parallel connected motors, is effectively working

under closed loop V/Hz control.

 The gradual loading on the first motor enhances the torque response and speed

response on both motors.

 The speed response of the second motor is sluggish than the first motor for

early loading or higher loading on the second motor than the first motor. The

steady state stable operation of the second motor occurs at rated reference

frequency value.

 The torque response of the second motor is similar to first motor for early or

higher loadings on second motor as in the previous case.

 At all conditions the second motor speed and torque responses follow the first

motor. Hence it is clear that the second motor is stable in operation and is

working effectively under closed loop V/F and slip regulation control as first

motor.

In view of the above, it is observed that two motors can be operated in parallel on a

single inverter with a very low speed difference between the motors when the applied

load torque is same. It is also observed from the above, when the applied load torque is

considerably different for each motor then there is a significant speed difference

between the two motors.

62
 CHAPTER 7
FUTURE WORK SUGGESTED

63
 7. FUTURE WORK SUGGESTED

The main focus of this dissertation is on the speed and torque responses of the

second motor of parallel connected motors. It is observed from the simulation

studies, when the applied load torque is considerably different for each motor then

there is a significant speed difference between the two motors. So the future work

should be in the direction of eliminating/reducing this problem.

64
 APPENDIX

Asynchronous Machine

Model the dynamics of a three-phase asynchronous machine, also known as an

induction machine

Description

The Asynchronous Machine block operates in either generator or motor mode. The

mode of operation is dictated by the sign of the mechanical torque:

If Tm is positive, the machine acts as a motor.

If Tm is negative, the machine acts as a generator.

The electrical part of the machine is represented by a fourth-order state-space model

and the mechanical part by a second-order system. All electrical variables and

parameters are referred to the stator. This is indicated by the prime signs in the

65
machine equations given below. All stator and rotor quantities are in the arbitrary two-

axis reference frame (dq frame). The subscripts used are defined as follows:

Electrical System

66
Mechanical System

The Asynchronous Machine block parameters are defined as follows (all quantities are

referred to the stator):

67
68
Dialog Boxes and Parameters

You can choose between two Asynchronous Machine blocks to specify the electrical

and mechanical parameters of the model.

69
Limitations

The Asynchronous Machine block does not include a representation of iron losses and

saturation.

You must be careful when you connect ideal sources to the machine's stator. If you

choose to supply the stator via a three-phase Y-connected infinite voltage source, you

must use three sources

connected in Y. However, if you choose to simulate a delta source connection, you

must use only

two sources connected in series.

70
BIBLIOGRAPHY

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Unbalanced Load Condition using One Inverter”, IEEE transactions on Industry Applications,
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Connected Dual Induction Motor Drives for Electric Vehicles" IEEE transactions on Industry
Applications, pp.987-991, 1994.
3. Yasushi Matsumoto, et al: “A Stator-Flux- Based Vector Control Method for Parallel-
Connected Multiple induction Motors Fed by A Single Inverter” IEEE transactions on
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4. Hiroshi Miki et al: “New AC Traction Drive System with Transistor VVVF Inverter.”
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71
11. Ned Mohan Tore M. Undulant and William P.Robinson, “Power Electronics: Converters,
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