ISSN (Online) 2395-2717

International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

Speed Performance of Three Phase Induction Motor

by using Simplified Vector Control method
[1]
Diwakar T. Korsane, [2] Ashish Polke, [3] Sandeep K. Mude, [4] C.S. Hiwarkar, [5] Khushboo Korsane
[1][2][3][4]
Assistant Professor, KDK College of Engineering,
[5]
Lecturer, KDKNPN, Maharashtra, India

Abstract: -- Three phase induction motors are the most commonly and frequently encountered drives in the industry. This type of
machines has the simple design and less maintenance. The performance of the motor is based on the simplified vector control
method by using PI and PID controllers in MATLAB software. The controller has then been tuned by trial and error method and
simulations have been run using the tuned controller. Using simplified vector control method, the performance of induction motor
has been carried out and analyzed on the basis of torque and speed. Implementation by using various proportional controllers
using vector control scheme has been done. The PI, PID controller has been used to develop the simplified control system. The
performance of three phase induction motor is carried out for no load and full load condition. For various load condition and
various system design using the proportional controller, overall performance is the drive is figured out. On the basis of simulation
results without feedback system controllers are designed with specific values. The performance of three phase induction motor is
improved with the use of PID which gives better settling time with the reduction in overshoot as compared with PI controller.
Comparison of the various system designs has been done.

Keywords: - Three Phase Induction Motor, Vector Control Method, MATLAB, PI & PID.
application, desired performance, and controller design
I. INTRODUCTION complexity. Out of which a vector control scheme is used for
the speed control of three phase induction motor drive. The
Usage of induction motors has increased tremendously work is based on inverter fed induction motor scheme. The
since the day of its invention. They are being used as inverter consists essentially of six power switches ,
actuators in various industrial processes, robotics, house depending on the drive power capacity and the inverter
appliances (generally single phase) and other similar switching frequency. The inverter converts the DC link
applications. Three phase induction motors are the most voltage into an adjustable three-phase AC voltage. Different
common and frequently encountered machines in control schemes can be used to control the inverter output
industry, because this type of machines has a simple voltage and frequency. One of the most utilized schemes is
design and less maintenance. pulse width modulation (PWM) in which three-phase
In addition, induction motors are robust and have better variable sinusoidal voltage waveforms are obtained by
performance in high speed and torque. Induction motor modulating the on and off times of the power switches. With
drives, especially squirrel cage rotor-type, have been the the use of different controller’s i.e. conventional PI and PID
workhorses in industry. The complex dynamics of ac controller, the speed response is checked and compared with
machines, machine parameter variations, and the respect to settling time, overshoot, undershoot steady-state
difficulties of processing feedback signals in the presence error etc. The induction motor is an attractive piece of
of harmonics create this complexity. Induction motor can equipment in many industrial applications due to its ease of
be controlled like a separately excited dc motor, brought a speed controllability. So we are going to control the speed of
great improvement in the high-performance control of ac induction motor in open loop and closed loop system using
drives especially with the invention of vector control in PI and PID controllers.
the beginning of 1970s. Because of major advantages of
vector control, this method of control will oust scalar
control, and will be accepted as the industry-standard
control for ac drives.
The speed control of induction motor is traditionally
handled by fixed gain PI and PID controllers. There are
many control strategies use for speed control of induction
motor. The inverter-fed induction motor drive can be
controlled by using various schemes depending on the

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 ISSN (Online) 2395-2717

International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

Fig. 1: Block diagram of Induction motor speed control technique. In this control scheme, a d-q co-ordinates used to
system achieve decoupling between the motor flux and torque. They
For speed control of induction motor different controllers can be thus separately controlled by stator direct-axis current
such as conventional PI and PID controllers are used. and quadrature-axis current respectively, like in a DC motor.
When the load is applied on the motor the motor speed The induction motor is fed by a current-controlled PWM
decreases. This decreased speed will be feedback to the inverter, which operates as a three-phase sinusoidal current
summation block. The summation block consists of two source. The motor speed is compared to the reference *
inputs, whichare the feedback speed and the reference and the error is processed by the speed controller to produce
speed. The error signal is developed from both this inputs a torque command Te*. As shown in, the rotor flux and
which is fed to the PI and PID controllers where all these torque can be separately controlled by the stator direct-axis
controllers acts and brings back the speed to the reference current ids and quadrature -axis current iqs, respectively.
value. Therefore the closed loop system using PI and PID The stator quadrature-axis current reference is
controller has been achieved in this project scheme. After
calculated from torque reference as
getting the speed response for different controllers, the
results are compared. Speed control techniques for
induction motor drive which we are using in this project: | |
1. Speed response of induction motor in open loop Where Lr is the rotor inductance, Lm is the mutual
system. inductance, and | | is the estimated rotor flux linkage
2. Speed control of induction motor in closed loop given by
system using PI Controller.
3. Speed control of induction motor in closed loop
| |
system using PID Controller. Where r = Lr/Rr is the rotor time constant.
The stator direct-axis current reference ids* is obtained from
II. SPEED CONTROL STRATEGIES OF rotor flux reference input | | .
INDUCTION MOTOR
| |
The speed control of induction motors involves more
complicacy than the control of dc motor, especially if The rotor flux position required for coordinates
comparable accuracy is desired. The main reason for the transformation is generated from the rotor speed and slip
same can be attributed to the complexity of the frequency .
mathematical model of the induction machine, as well as ∫
the complicated power converters supplying this motor.
Variable speed induction motor drives employ various
control algorithms. In industrial drive applications, the The slip frequency is calculated from the stator reference
PWM inverter operates as a three-phase variable- current iqs* and the motor parameters.
frequency, variable-voltage source with fundamental
frequency varying from zero to three times the motor | |
nominal frequency. In some control schemes where a
three-phase, variable-frequency current source is required,
current control loops are added to force the motor currents
to follow an input reference (usually sinusoidal).The
inverter-fed induction motor drive can be controlled by
using various schemes. The most utilized schemes are:
1. Stator V/f control
2. Stator currents and open loop flux control
3. Vector control (field-oriented control)
4. Direct torque control (DTC)

Vector control (Field-oriented control)

A variable-speed induction motor drive using field-
oriented control is one the most frequently used Fig. 2: Field-Oriented Variable-Frequency Induction
Motor Drive

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International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

Where
Pout: Proportional term of output
Kp: Proportional gain, a tuning parameter
Ki: Integral gain, a tuning parameter
e: Error = SP − PV
t: Time or instantaneous time (the present)

3.2 PID CONTROLLER

A proportional-integral-derivative controller (PID controller)
Fig. 3: Field-Oriented Control Principle
is a generic control loop feedback mechanism (controller)
The iqs* and ids* current references are converted into widely used in industrial control systems. A PID controller
phase current references ia*, ib*, ic* for the current calculates an "error" value as the difference between a
regulators. The regulators process the measured and measured process variable and a desired set point. The PID
reference currents to produce the inverter gating signals. controller calculation algorithm involves simply putting; the
The role of the speed controller is to keep the motor speed values can be interpreted in terms of time: P depends on the
equal to the speed reference input in steady-state and to present error, I on the accumulation of past errors, and D is a
provide a good dynamic during transients. prediction of future errors, based on current rate of change.
The PID control scheme is named after its three correcting
terms, whose sum constitutes the manipulated variable
III. TYPES OF CONTROLLERS
(MV).
A closed-loop control system utilizes an additional
measure of the actual output to compare the actual output
with the desired output response. The measure of the
output is called the feedback signal. A feedback control
system is a control system that tends to maintain a
relationship of one system variable to another by
comparing functions of these variables and using the
difference as a means of control.
3.1. PI CONTROLLER
A proportional–integral controller (PI controller) .
is a generic control loop feedback mechanism (controller) Fig. 5: Block diagram of PID controller
widely used in industrial control systems. A PI controller The proportional, integral, and derivative terms are
calculates an "error" value as the difference between a summed to calculate the output of the PID controller.
measured process variable and a desired set point. Defining u(t) as the controller output.
The final form of the PID algorithm is:
∫

Where
Kp: Proportional gain, a tuning parameter
Ki: Integral gain, a tuning parameter
Kd: Derivative gain, a tuning parameter
e: Error =SP-PV
Fig. 4: Block diagram of PI controller t: Time or instantaneous time (the present)
The PI control scheme is named after its two correcting  : Variable of integration; takes on values from
terms, whose sum constitutes the Manipulated variable time 0 to the present t.
(MV). The proportional and integral terms are summed to
calculate the output of the PI controller. Defining u(t) as IV. MATLAB SIMULATION AND RESULTS
the controller output, the final form of the PI algorithm is:
The speed and torque performance of induction motor is
∫ analyzed using MATLAB simulation. In first simulation, the
induction motor is run with and without controller.

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International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

4.1. INDUCTION MOTOR DRIVE SYSTEM Table No. 4.1: Analysis of Performance of Speed Control of
WITHOUT ANY CONTROLLER Induction Motor Without any Controller

The performance of induction motor without using any

controller which is shown in figure. The speed of induction
motor ia not settled and have overshoot and undershoot of
Fig. 6: MATLAB Model for speed control of IM without 4.5 % and 2.88 % respectively. Without using any controller
any controller the steady state error is 90. So as to improve the results with
respect to settling time, steady atate error, overshoot and
In open loop control system of induction motor, IGBT undershoot.
inverter is used for providing three phase supply to
induction motor using reference pulse triggering signal. 4.2 INDUCTION MOTOR DRIVE SYSTEM WITH PI
The PWM generator provides pulse triggering signal to CONTROLLER
IGBT. The power block measures the total output power The induction motor drive using PI controller is shown in
of the system. The 5.4 HP, 400 V, 1430 rpm, 50 Hz, fig. In close loop system, the gate triggering pulse signal is
induction motor is used for the analysis of system. provided by using PI controller block. PI controller block
4.1 Result Analysis of Induction Motor Drive System consist of proportional and integral term with vector control
without Any Controller drive system.

(a) Speed Variation

Fig. 8: MATLAB model for speed control of IM with PI

controller

(b)Torque Variation In PI controller blockcurrent (Iabc) and speed (ωm) is given as

Fig. 7: Dynamic Performance of Speed Control of input for the theta calculation and for the formation of
Induction Motor Without Any Controller reference Id* and Te*. From the phir and T e*, Ia* is generated.
Again, this Ia*, Id* and theta produce Iabc*. This Iabc* is

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International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

compared with Iabc which is output of the motor and the controller the steady state error is completely eliminated
desired triggering pulses for IGBT inverter is generated. which we can see in fig.. The speed is settled at 0.2 sec for
These pulses given to the inverter and output of inverter is no load and 0.22 sec for full load. The overshoot and
changed with respect to the motor output. Hence desired undershoot are also reduced to 3.35% and 2.4 %.
controlling of induction motor using PI controller is
achieved which is explained with the help of table shown 4.3 INDUCTION MOTOR DRIVE SYSTEM WITH PID
below. CONTROLLER
4.2.1 Result Analysis of Induction Motor Drive System
with PI Controller

(a)Speed Variation Fig. 10:MATLAB model for speed control of IM with PID
controller
The MATLAB simulation diagram of speed control of
induction motor with PID controller is as shown in fig.
Again the gate triggering pulse signal is provided by using
PID controller. PID controller block consist of proportional,
integral and derivative term with vector control drive system.
As shown in fig above, from the output of the motor the
current Iabc and speed ωm is given as a input to the PID
controller block. And the results which are obtained is
explained in fig below.
(b)Torque Variation
Fig. 9: Dynamic Performance of Speed Control of 4.1 RESULT ANALYSIS OF INDUCTION MOTOR DRIVE
Induction Motor with PI Controller SYSTEM WITH PID CONTROLLER
The performance of IM is shown in fig. above. This
Table No. 4.2: Analysis of Performance of Speed performance is analyzed and is explained with the help of
Control of Induction Motor With PI Controller table shown below.

(a) Speed Variation

The bolck diagram of speed control of induction motor

with PI controller is as shown in fig.2. with the use of this

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International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

The project work has been done totally in MATLAB

environment in order to test the system behavior before
actually implementing it. The simulation consists of inverter
fed induction motor drive in which the performance of the
motor is tested with respect to speed and torque parameter.
Thus, the work is divided into four sections.
1. Induction motor drive system without any controller
2. Induction motor drive system with PI controller
3. Induction motor drive system with PID controller
(b)Torque Variation The performance of 3-phase induction motor is first
Fig. 11: Dynamic Performance of Speed Control of tested without using any controller. The results are carried
Induction Motor With PID Controller out on no load and on full load condition. On full load
condition the rated speed is not achieved. Also it contains
Table No. 4.3: Analysis of Performance of overshoot, undershoot, steady state error and the speed is not
SpeedControl of Induction Motor WithPID Controller settled. So to overcome all the drawbacks different
controllers are used.

REFERENCES

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[2] Mohd. Naim, Bindeshwar Singh, S. P. Singh, Rajneesh

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International Journal of Engineering Research in Electrical and Electronic

Engineering (IJEREEE)
Vol 4, Issue 3, March 2018

[7] Mihai Comanescu, IEEE Member, Todd Batzel, IEEE

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