Journal of Multidisciplinary Engineering Science and Technology (JMEST)

ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

Speed Control Of A Three Phase Induction

Motor Using Field Oriented Control
Eng. Mohamed Hussein, Dr. Mahfooz E. Shalaby, Dr. Hamdy A.M. Shatla, Dr. Amr Refky,
Dept. of Electrical Engineering
Al-Azhar University
Cairo, Egypt
[email protected]

Abstract—Induction Motors are rugged, in a rotating reference frame. In a special reference

robust and widely used in industrial applications. frame, the expression for the electromagnetic torque of
Field oriented control (FOC) or Vector control is the smooth-air-gap machine is similar to the expression
an efficient method to control either the speed or for the torque of the separately excited DC machine.
the torque or both of the three phase Induction The control is normally performed in a reference frame
motor. FOC converts the complex stator currents aligned to the rotor flux space vector.
into two orthogonal components, one of which is
responsible for speed control, and the other for The field oriented algorithm controls the
components of the motor stator currents, represented
the electromagnetic torque control, similar to DC
by a vector, in a rotating reference frame d, q aligned
machines. FOC has greater stability and capable
with the rotor flux and perpendicular directions. The
of fast torque response and accurate speed
Clarke transformation converts three-phase currents ia,
control. This research explains the concept of
ib and ic into two-phase orthogonal stator currents: ia
FOC and its simulation rather than experimental
and ib. These two currents in the fixed coordinate stator
implementation using Matlab simulink and
phase are transformed to the id and iq currents
MexBios softwares.
components in the d, q reference frame using Park
Keywords— Three phase Induction Motor; transformation.
Scaler Control; Simulink program; MexBios The stator variables are translated into a flux model
software; Field oriented control (FOC); Field which is compared with a required reference values
oriented control semulation. and then is tuned by PI controllers. After a back
I. INTRODUCTION transformation from field to stator coordinates, the
output voltage will be impressed to the machine with
Induction motors are the preferred choice for Pulse Width Modulation (PWM) technique [2, 3 and 4].
industrial applications due to their rugged construction,
maintenance free and development in power
electronics, which leads to easy control of motor
speed.
The three-phase Induction Motors speed is:
fs
n= (1 − s) (1)
p

where;
fs: Supply frequency in Hz
p: Number of pole pairs of stator
S: Slip between of rotating field and mechanical speeds Fig. 1. Stator currents in the d, q rotating reference frame
The speed of three phase Induction motor can be where;
controlled by varying the frequency of the applied stator
voltage via scalar control or vector control methods. ia , ib , ic : Three-phase stator currents

II. FIELD ORIENTED CONTROL id : Direct current

Field oriented control or offers more precise control iq : Quadrature current

of ac motors compared to scalar control. FOC is iα , iβ : Two-phase orthogonal current
therefore used in high performance drives where
oscillations in air gap flux linkages are intolerable, e.g. θ : The phase frame rotation angle
robotic actuators, centrifuges etc. In Field oriented
control method, the components of the motor stator
currents are represented by two orthogonal components

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JMESTN42351196 3212
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

A. Mathematical Clarke transform The modification from a two-phase orthogonal α, β

The mathematical Clarke transformation converts a frame to a three-phase system is done using the
three-phase system to a two-phase orthogonal system equations:
is obtained from:
iα = ia (2) ia = iα (8)
1 2 1 √3
iβ = ia + ib (3) ib = − iα + iβ (9)
√3 √3 2 2
1 √3
ic = − 2 iα − 2
iβ (10)

Fig. 2. Direct Clark Transform

B. Mathematical Park transform Fig. 5. Inverse Clarke Transform

The two phase components in the α, β frame III. SIMULINK PROGRAM

representation calculated using Clarke transformation
Simulink is a software add-on to MATLAB which is
are then fed to a vector rotation block where it is
a mathematical tool that enables to simulate model,
rotated over a flux angle ρ to follow the frame d, q
and analyze systems whose outputs change over
coincides to the rotor flux [2, 3 and 4].
time. Such systems are often referred to as dynamic
systems.
The rotation over a flux angle ρ is achieved
according to the formulae:
S-functions (system-functions) provide a powerful
mechanism for extending the capabilities of Simulink
id = iα cos (θ) + iβ sin(θ) (4)
to allow addition new blocks to Simulink models [5].
iq = −iα sin (θ) + iβ cos(θ) (5)

A. Simulation of Vector Control of Induction Motor

using Simulink program
Vector Control of three phase Induction Motor is
simulated by the block diagram and S-Function as
shown in Figures. 6 and 7 with following components:
1- Three phase Induction Motor
Fig.3. Direct Park Transform
2- Clarke and Park transforms
C. Mathematical Inverse Park and Clarke transforms 3- Id_PI controller 4- Iq_PI controller
Transformation uses the Inverse Clarke 5- Inverse Park and Clarke transforms
transformation, Figure 4.The vectors in the d, q frame
are transformed from d, q frame to the two phases α, 6- Plus width modulation (PWM)
β frame representation calculated with rotation over a 7- Three phase Inverter 8- Speed PI controller
flux angle ρ according to the formulae:

iα = id cos (θ) − iq sin(θ) (6) The simulation of the Motor starts at No load and
iβ = id sin (θ) + iq cos(θ) (7) when the Motor reaches the steady state speed, there
will be two case studies of simulation:
1- Rotating the motor in the reverse direction by
inversing the sign of quadrature current (Iq)
with no load.
2- Increasing the load torque (Tm).

Fig. 4. Inverse Park Transform

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

Fig. 6. Field oriented control for three phase Induction Motor schematic diagram in Simulink

Fig. 7. Matlab Subsystem schematic diagram

B. Rotating the motor in the reverse direction

The motor starts with no load, the three phase
currents (ia, ib, ic) will start with large values (I start) and
they will have some distortions until the motor reaches
it's no load speed. When the motor reaches its rated
speed and its rated three phase currents, the motor
continues running with no load for 0.5 seconds until
we inverse the sign of quadrature current (Iq).

So, the quadrature current (Iq) reaches its

peak value with negative sign then falls down to be
close zero value because the motor runs with no load
and the Direct current continue with its positive value
as shown in Figure 8. Fig. 8. Two phase currents VS Time

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

When the motor starts, the electromagnetic

torque increases to reach the peak value, then falls The motor speed will decrease to zero value,
down to be close zero value because the motor runs then the motor will reverse its rotation direction and
with no load. After Inversing the sign of quadrature will continue running at the reverse direction to reach
current (Iq), the torque inverses its sign to reach the the rated speed as shown in Figure 11.
peak value and also falls down to be close zero value
but with negative sign as shown in Figure 9.

Fig. 11. Speed VS Time

Fig. 9. Motor electromagnetic torque VS Time When the motor starts with no load, the value
of Theta increases slowly. After the motor reaches its
When we inverse the sign of quadrature current (Iq) rated speed, the value of Theta continues increasing
the motor will rotate in the reverse direction because with fast regular values. After Inversing the sign of
the motor torque will inverse it's direction and the quadrature current (Iq), the value of Theta starts
stator currents (ia, ib, ic) will be reflected from (R S T) decreasing and after the motor reaches the rated
to (S T R) as shown in Figure 10. speed in the reverse direction, the value of Theta will
decrease regularly. The simulation uses a function
block to make the value of Theta increases to reach
(2*pi) then falls down to zero and so on. At the
reverse direction, the value of Theta decreases to
reach zero value then rises up to (2*pi) and so on as
shown in Figure 12.

Fig. 12. Theta VS Time

C. Increasing the load torque using Current

control

In this simulation the motor starts at No load

and continue running with no load for (0.5 seconds)
and after that we will suddenly increase the load
torque (Tm), So, the three phase currents (ia, ib, ic)
will increase to cover this load, The (Iq PI controller)
will increase the value of quadrature current (Iq) but
the value of direct current (Id) will not be affected
Fig. 10. Three phase (ia, ib, ic) starting currents and after
because the direct current responsible only for the
reflected from (R S T) to (S T R) magnetization and the quadrature current (Iq)
responsible for the torque as shown in Figure 13.

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JMESTN42351196 3215
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

The speed PI_controller will increase speed

PI_controller to control the speed.
The speed PI_controller will cover the decrease of the
speed to fix the speed at the set point of the speed PI
controller we note that when we compare between
Figures 15 and 16.

Fig. 13. Two phase currents/Time when increasing the

torque
We note that when the motor starts, the
mechanical torque increases to reach the peak value
and falls down to be close zero value because the Fig. 16. Speed VS Time at increasing the load torque using
motor running with no load. After the load increases, Speed and Current control
the motor output torque will increase to cover this load
as shown in Figure 14. IV. MEXBIOS SOFTWARE
MexBios software is a mathematical tool used to
simulate vector control of three phase Induction motor.
MexBios software has a very important feature, that it
can simulate the program before loading it to
Microcontroller, so the results can be expected by
simulation before running the real Motor. MexBios
program will simulate Vector Control of Induction Motor
and the same program will be loaded to the
Microcontroller [6].

A. Simulation of Vector Control of Induction Motor

using MexBios program
Fig. 14. Torque VS Time at increasing the load
The Simulation uses MexBios software to simulate
When we use Current control only the motor Sensor Less Vector Control of two phase Induction
speed will decrease according to the increase of the Motor by simulating all components for the following
load but the controller will control the output speed to schematic diagram as shown in Figure 17:
make the decrease of the speed better p.u. values as
shown in Figure 15.

Fig. 17. Schematic diagram of control blocks

Fig. 15. Speed VS Time at increasing the load torque using

Schematic diagram for control blocks contains:
Current control only 1- GUI (Graphical User Interface) which contains:
a) RADIO IN selector to select between Feedback
D. Increasing the load torque using Speed and from Motor Model or from real Motor
Current control b) Reset Start / Stop Switch to reset all feedback
In this simulation the motor starts at No load and after signals
the motor reaches its rated speed the simulation will c) Two blocks to set Iq & Id reference values
increase the load torque suddenly but will increase d) Scopes and displays for Feedback signals
speed PI_controller to control the speed. Current Loop Formula

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

2- Control System subsystem which contain:

a) Drivers ADC QEP Formula a) ADC block to get the Motor Currents as
b) IF condition Block Voltage
c) Speed Loop Formula b) Input blocks to get the Encoders signals from
d) Current Loop Formula its channels (chA, chB, chC)
c) CLARK transform.
Drivers ADC QEP Formula shown in Figure 18 d) GIPO inputs & outputs.
contains: e) QEP block process the Encoder signals

Fig. 18. Drivers ADC QEP Formula internal details

Current Loop Formula contains the following as c) PARK & IPARK transforms
shown in Figure 19: d) A_MUX switches
a) Current model rotor AD e) Seven_DQ block to generate a corresponding
b) PID controller duty cycle of keys Inverter required for PWM.

Fig. 19. Drivers ADC QEP Formula internal details

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

C. Simulation of negative value of quadrature current

B. Simulation of positive value of quadrature
current For the negative value of quadrature current, the
motor Speed starts from zero and increases fast (only
When the positive value of quadrature current, the
one second) to reach the peak negative value (-0.97
motor Speed starts from zero and increases fast (only
PU), these value mean that the motor runs at No load
one second) to reach the peak value (0.97 PU), these
Speed in the reverse direction. After the Motor reaches
value mean that the motor runs at No load Speed.
No load Speed, it will continue as shown in Figure 23.
After the Motor reaches No load Speed, it will
continue as shown in Figure 20.

Fig. 23: Speed curve in PU with negative quadrature current

When the motor starts, the starting Iq, Id currents

Fig.20. Speed Time response reache their negative peak values and starting to
increase to reach their negative No load values as
When the motor starts, the starting Iq, Id currents shown in Figure 24 a. After the Motor reaches No load
reach their peak values and starting to decrease to Speed, Iq, Id currents will continue at their negative No
reach their No load values as shown in Figure 21 a load values as shown in Figure 24 b.
and After the Motor reaches No load Speed, direct and
quadrature currents will continue at their No load
values as shown in Figure 21 b.

Fig. 24 a: Tow phase current b): Tow phase current No

starting values with negative load values with negative
quadrature current quadrature current
Fig. 21.a) Iq, Id starting values b). Iq, Id No load values The value of Theta will start from zero and jump
Since the Motor starts with Sensorless control, the to one. Theta starts to decrease to reach to zero and
value of Theta will start with a lot of disturbances for jump again to one and so on. Because the Motor starts
only few milliseconds until the Motor feedback signals with Sensor less control, the value of Theta will start
return to the control circuits as shown in Figure 22 a with a lot of disturbances for only few milliseconds until
and Fig 22 b, the same also happens with real work as the Motor feedback signals return to the control circuits
in Figures 29 and 30. as shown in Figure 25 a and Figure 25 b.

Fig. 25 a: Theta starting values b): Theta after few milliseconds

Fig. 22 a. Theta starting value b. Theta after few milliseconds with negative quadrature with negative quadrature

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

V. REAL WORK FOR VECTOR CONTROL OF VI. STARTING THE WORK

INDUCTION MOTOR
A. The connection
A. Steps of the Experimental setup
The arrangement of the experimental work is shown in
The Experimental setup will use the following tools Figure 28 however, the connection diagram is shown
in Figure29:
1- Three phase Induction motor
2- Two DC Power supplies
3- Digital photo tachometer DT6234B
4- Motor Control Board which contains (MCB-02)
a- mZdsp 2812 Kit b- Emulator (XDS 100V2)
5- Incremental shaft encoder BDK 05A 1024
6- MexBios software
B. Incremental shaft encoder BDK 05A 1024
A shaft encoder, also called a rotary encoder, is an
electro-mechanical device that converts the angular
position or motion of a shaft or axle to an analog or
digital code.
The Experimental setup will use Incremental shaft Fig. 28: Connection between MCB-2 Kit and Laptop using
encoder (optical encoder) BDK 05A 1024 PPR (Figure mZdsp 2812 Kit and XDS 100V2 emulator
26).  r

Fig.26: Incremental shaft encoder BDK 05A 1024 PPR

The position information is delivered using a series

of pulses – usually in phase quadrature, so that
direction of travel can be determined. These are Fig. 29: Connection diagram
usually referred to as A/B pulses as shown in Figure
27. A separate pulse train, typically referred to as the After the completion of installation of all the
N reference, provides one pulse per revolution to act experimental work tools and pressing ON to the power
as a reference mark [7]. supplies, start the MexBios program in Laptop and
open GUI page to change Iq ref. value [8].
B. Experimental work will start with the appropriate
setting as:
1- q ref. = 1
2- 2- Vdc1 = 60 V
3- Vdc2 = 24 V
4- 4- 0.25 Kw Motor with Delta connection
After finishing the program setting and pressing
Fig. 27: Schematic of an incremental optical sensor with a
load to Ram the motor will start to rotate.
reference pulse

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

 After pressing Start Refreshing button and 4- Theta starts from zero and increase to reach
saving the Scope output Curves in buffer one and jump to zero and starts to increase
mode, we will get the following curves in again to reach one and so on, it means the
Figure 30 have the following: motor rotate in the positive direction.
1- Iq ref = 1 5- The motor rotates with Speed = 175.8 RPM.
2- Iqs = the quadrature current feedback from the VII. CONCLUSIONS
motor has a positive value.
The field oriented control of three phase Induction
3- Ids = the direct current feedback from the motor is more over simulated using MexBios software
motor continue with its positive value. for closed loop speed control. This simulation is
4- Theta starts from zero and jump to one and effective because the MexBios software is specialist
starts to decrease to reach zero and jump significantly in control at many types of motors and
again to one and so on, it means the motor after finishing the simulation the researchers can load
rotate in the reverse direction. the same program to the microcontroller RAM. The
proposed system is verified experimentally using a
5- The motor rotates with Speed = 175.8 RPM three phase Induction motor and a PC. A low cost I/O
Clock wise direction interface card is used to transfer data between control
circuit and the PC. The power circuit and MCB-02
Motor Control Board Kit, Incremental shaft encoder,
mZdsp 2812 Kit are discussed. Motor speed and motor
currents are sensed using interface card by the Laptop
and using a digital photo tachometer.
The experimental work also shows that the speed
control using field oriented control controls all the
motor characteristics and makes the motor control
easy. The motor characteristics are easily affected by
adjusting the Iq ref. value.
VIII. REFERENCES
Fig. 30: Output Curves at Iq ref. = 1
[1] Ion Boldea and Syed A . Nasar, "The
C. Experimental work will start with the appropriate Induction Machine Handbook", CRC Press 2002
setting as: Second Edition, ISBN: 978-0-8493-0004-2
1- q ref. = -1 [2] Mahfooz Shalaby, "ELECTRIC DRIVES", Dar
Elfikr Elarabi 2012 Third Edition, ISBN: 977-10-2659-3
2- Vdc1 = 60 V
[3] Mircea Popescu, "INDUCTION MOTOR
3- Vdc2 = 24
MODELLING FOR VECTOR CONTROL
4- V0.25 Kw Motor with Delta connection PURPOSES", Helsinki University of Technology
Espoo 2000.
[4] "Clarke & Park Transforms on the
TMS320C2xx", Texas Instruments Incorporated 1997,
Literature Number: BPRA048.
[5] Ghislain Remy, Jean Deprez, “Workshop
Matlab / Simulink in Drives and Power electronics”,
Palestine Polytechnic University, 18-21 May 2009.
[6] “MexBIOS™ Development Studio Getting
started – new user's manual Description of integrated
development environment”, NPF «Mechatronica-Pro»
FIG. 31: OUTPUT CURVES AT IQ REF. = -1 LTD, http://mechatronica-pro.com.
[7] “Incremental encoders”, TR - ELECTRONIC
 Output Curves in Figure 31 have the GmbH, Global Quality Management, TR-VCE-VI-GB-
following: 0002-05.DOC.
1- Iq ref = -1 [8] “mZdsp 2812 – Developer’s module for
2- Iqs = the quadrature current feedback from the processor TMS320LF2812 with pre-installed OE
motor has a negative value. MexBIOS”, Technical manual , Rev. 1.33” ”, NPF
«Mechatronica-Pro» LTD, http://mechatronica-
3- Ids = the direct current feedback from the pro.com.
motor continue with its positive value.

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