ABUAD Journal of Engineering Research and Development (AJERD)

ISSN (online): 2645-2685; ISSN (print): 2756-6811

Volume 7, Issue 1, 231-240

Performance Analysis of Inverter Fed Single Phase Induction Motor Drive

Gerald Chidozie DIYOKE1, Candidus Ugwuoke EYA2, Patrick Ifeanyichukwu OBI1, Ifeanyichukwu Kalu
ONWUKA1
1
Department of Electrical & Electronic Engineering, Michael Okpara University of Agriculture, Umudike, Nigeria
[email protected]/[email protected]/[email protected]

2
Department of Electrical Engineering, University of Nigeria, Nsukka, Nigeria
[email protected]

Corresponding Author: [email protected], +2348032886906

Date Submitted: 25/03/2024
Date Accepted: 17/05/2024
Date Published: 05/06/2024

Abstract: This paper presents performance analysis of effects of modulation index on cascaded multilevel inverter fed single phase
induction motor drive using closest level control technique. The modulation index is varied to analyze its performance. The effects on
inverter output voltage, current, induction motor speed, electromagnetic torque and total harmonic distortion (THD) are considered.
Both the load torque and modulation index are varied to determine the motor performance. The Closest (Nearest) control method is
applied for generating firing pulses for the cascaded multilevel inverter power switches. By the application of this method, the switching
losses are greatly mitigated when compared with high switching frequency of Pulse Width Modulation (PWM) schemes.
MATLAB/SIMULINK software is used to obtain the system simulation results. The performance evaluation of this work was targeted on
the modulation index range from 0.7 to 1.2 and for selected load torque values of 0 Nm, 2 Nm and 4 Nm. It is observed that modulation
index affects the motor performance. When modulation index is 1.0 under different load torques, 6.2 % - 6.7 % range of voltage THD
was obtained. When the modulation index becomes 1.2, motor speed and electromagnetic torque resulted to 1327 RPM and 20 Nm
respectively with stability time of 0.7 sec under load torque of 4 Nm.
Keywords: Closest Level Control, Induction, Hybrid Topology, Multilevel Inverter, Single-phase.

1. INTRODUCTION
In industrial applications, higher voltage and current drives are indeed needed for optimal performance of the many
electrical systems. There is a geometric increase in the demand of electrical energy [1). Based on that condition, the
amount of resources and different sources of energy required to address these issues of power demand both industrial and
domestic usage also increase. Higher power ratings, improved efficiency, low power electronics component counts and low
harmonic distortion with cost reduction are the most core concept of industrial and commercial drivers [2]-[4]. Micro
sources of electrical energies such as fuel cells, photovoltaic (PV) systems, and batteries are all alternative sources of
energy generations which are all renewables’ sources ([5] and [6]. The systems can be interconnected or synchronized with
the help of power electronics converters such as ac-dc, dc-dc, dc-ac or ac-ac converters.
Inverters are part of power system conversions that can convert regulated or unregulated dc to a regulated ac system
through the means of modulations. They are grouped in terms of single, three and multi-phases. Power DC-AC converter
can also be grouped based on configurations namely: conventional and multi-levels. Voltage and current sources inverters
are also available. In terms of modulation schemes for inverters, they are divided based on single pulse width modulations,
multiple pulse width modulation, sinusoidal pulse width modulation and space vector pulse width modulation. Due to
numerous merits of multilevel inverter, it is adopted in the work [7]. The advantages are basically focused on the output
quality and nominal power increase in the inverter improvements [8]. Multilevel inverter configuration has proven very
attractive to the industry due to its novel properties. In recent time, researchers and scholars all over the world are spending
great efforts toward improving the performance of multilevel inverter families by simple control with reduced number of
components and optimized algorithms in order to decrease THD and torque ripple of the motor. The first three generally
accepted members of multilevel inverter configurations are diode clamped, flying capacitor, and cascaded H-bridge. As
reported, Diode clamped Multilevel Inverter is a very general and widely used topology for real power flow control [8]. In
applications for high-power medium-voltage drive, due to the ability of the power circuit structure to lower the voltage
ratings of the power switches, multilevel converters are also considered [10], [11]). In order to reduce the power
component counts and voltage harmonics, a transistor clamped H-bridge (TCHB) inverter is adopted on the work. To
enhance the output voltage and allow more energy-mix technology, a cascaded topology of this circuit is considered and
adopted for this research work.

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In recent time, AC induction motors are preferred in almost all industrial drives [12]. The AC motors have good merits
over others such as: low cost, rugged, reliable, and relatively inexpensive with high efficiency. Due to the aforementioned
properties, induction motors are mostly preferable in many areas of industrial control applications [13]. Nowadays, due to
advancement in power electronics and drives, mechanical gear systems are now replaced by this technology. This
improved technology is applied for variable motor speed drives control and under dynamic and steady state conditions, the
speed and torque characteristics response performance of the motor can be improved [14]. The variable frequency
operation is required for adjustable AC motor drive applications. So that AC drive system is fed from the power electronic
converters [15]. For conversion of fixed voltage and frequency to variable voltage and frequency, power electronic
converters are suitable and then AC motor speed control.
In orders to achieve an adjustable speed control of induction motors and better commutation of the power inverter, the
nearest level modulation is utilized. Different types of this modulation technique are investigated adding carriers in each
level with level shifted PWM as reported [16], phase shifted PWM [17], or using different carrier frequencies [18].
Comparison algorithm to calculate the switching pattern in the high voltage cells, and a carrier-based modulation to the
smaller one has been applied in hybrid modulation technique [19]. Asymmetry factors are the functions of the performance
of this modulation scheme [20] and can present over-modulation [21]. A novel modulation scheme is proposed in [22] to
be applied when the DC supply voltages does not have integer ratio. The report on [23] targeted on the mathematical
analysis of the power distribution in each cell; and the regeneration of small voltage cells, establishing the rates where it is
produced when a nearest level modulation is used.
The rest of the paper are structured as follows, section 2 is about the approach to the paper which includes circuit
topology, induction motor and control scheme analysis, section 3 presents MATLAB/SIMULINK simulation results of the
system and conclusion is presented in section 4.

2. METHODOLOGY
This research work involves a hybrid cascaded multilevel inverter, single phase induction motor, control scheme.
2.1 Circuit Topology
In this research work, regulated DC input voltage is used as DC voltage source. The cascaded hybrid multilevel inverter
power circuit is as depicted in Figure 1. The single-phase induction motor is connected as the load. Thirteen different
output phase voltage levels are obtained as the supply voltage to the motors as shown in Table 1. The power circuit is made
up of two similar cells with different input voltage values. Figure 2 depicts the detailed waveforms of the voltage for each
cell as well as for the inverter output voltage otherwise called motor supply voltage. The sum of individual cell output
voltages gives the output voltage delivered to the motor.

Figure 1: The proposed asymmetrical TCHB inverter topology [24] and [25] with induction motor load
The inverter output voltages per cell for different switching state are given as:
1
𝑉𝑜1 = 𝑉𝑑𝑐 (𝑆12 − 𝑆13 ) { 𝑆15 + (|𝑆11 − 𝑆13 | ⋅ |𝑆12 − 𝑆14 |)} (1)
2
1
𝑉𝑜2 = 2𝑉𝑑𝑐 (𝑆22 − 𝑆23 ) { 𝑆25 + (|𝑆21 − 𝑆23 | ⋅ |𝑆22 − 𝑆24 |)} (2)
2

When only one cell is considered, the inverter operation of the power circuit is divided into five different switching
modes as reported by [25].

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Table 1: Switching pattern of the TCHB, ON: 1, OFF: 0.

State S11 S12 S13 S14 S15 S21 S22 S23 S24 S25 Vo (Vdc)
1 1 0 1 0 0 1 0 1 0 0 0
1
2 0 0 0 0 0 0 1 0 0 1 2

3 0 0 0 0 0 1 1 0 0 0 1
1
4 0 0 0 0 0 1 1 0 0 1 1
2

5 0 1 0 0 1 1 1 0 0 0 2
1
6 1 1 0 0 0 0 1 0 0 1 2
2

7 1 1 0 0 0 1 1 0 0 0 3
8 0 1 0 1 0 0 1 1 1 0 0
1
9 0 0 0 0 0 0 0 1 0 1 −
2

10 0 0 0 0 0 0 0 1 1 0 -1
1
11 0 0 0 0 0 0 0 1 1 1 −1
2

12 0 0 1 0 1 0 0 1 1 0 -2
1
13 0 0 1 1 0 0 0 1 0 1 −2
2

14 0 0 1 1 0 0 0 1 1 0 -3

Figure 2: Waveforms for low-voltage cell, high-voltage cell, and resultant output voltages, respectively

Many commutations per cycle are observed in low-voltage cell unlike the high-voltage cell as depicted in Figure 2. The
cell 2 delivers most of the power due fundamental frequency commutation. As a result of this act, the switching losses are
reduced significantly in the system. Detailed switching signals for each power switch are illustrated in Figure 3. Cell 1
shows low switching frequency while cell 2 depicts high switching frequency.

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Figure 3: Individual switching signals for TCHB inverter circuit.

2.2 Proposed Control Scheme

The proposed control method is adopted from [23] and [24]. The modulation index, M is defined as a ratio of reference
amplitude to the total DC link voltage, V m of the cells. For the high-voltage cell, the reference amplitude is given by
Equation (3);
𝑉𝑟2 = 𝑀𝑉𝑚 𝑠𝑖𝑛𝜔𝑡 (3)
The voltage reference Vr2 is compared with the two constants hL,2 and hH,2. Then the firing signals are generated to the
switches of the high-voltage cell using logic gates. For the low-voltage cell, the reference signal is generated by Equation
(4);
𝑉𝑟1 = 𝑉𝑟2 − (2ℎ𝐿,2 × 𝐿2 ) (4)
Where L2 is the switching pattern resulting from the high-voltage cell after comparison and is given as Equation (5);
𝐿2 = [(𝑉𝑟2 > ℎ𝐿,2 ) + (𝑉𝑟2 > ℎ𝐻,2 )] − [(𝑉𝑟2 < ℎ𝐿,2 ) + (𝑉𝑟2 < ℎ𝐻,2 )] (5)
In the same way, L1 switching pattern for low-voltage cell is generated as Equation (6);
𝐿1 = [(𝑉𝑟1 > ℎ𝐿,1 ) + (𝑉𝑟1 > ℎ𝐻,1 )] − [(𝑉𝑟1 < ℎ𝐿,1 ) + (𝑉𝑟1 < ℎ𝐻,1 )] (6)
The total inverter output voltage, Vo is generated by the combination of Equations. (3) and (4), which is mathematical
expressed as
𝑉𝑜 = (𝐿1 + 𝐿2 ) × 𝑉𝑑𝑐 (7)

Figure 4: Implementation of the nearest level control method.

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2.3 Analysis of Motor input Voltage

The motor input voltage waveform Vo(ωt) is obtained from the general Fourier expression in Equation (8); thus, the
voltage can be expressed using Fourier series as:
𝑎𝑜
𝑉𝑜 (𝜔𝑡) = + ∑∞
𝑛=1,2,3(𝑎𝑛 𝑐𝑜𝑠𝑛𝜔𝑡 + 𝑏𝑛 𝑠𝑖𝑛𝑛𝜔𝑡) (8)
2

The Fourier coefficient bn for odd function can be expressed by Equation (9) since all even functions are equal to zero [24].
2𝑉𝑑𝑐
𝑏𝑛 = ∑𝑆𝑖=1,2,3 𝑐𝑜𝑠𝑛𝜃𝑖 (9)
𝑛𝜋

Substituting Equation (9) into Equation (8) yields

2𝑉𝑑𝑐
𝑉𝑜 (𝜔𝑡) = ∑∞
𝑛=1,2,3 ( ∑𝑆𝑖=1,2,3 𝑐𝑜𝑠𝑛𝜃𝑖 ) 𝑠𝑖𝑛𝑛𝜔𝑡 (10)
𝑛𝜋

where the number of switching angles in a quarter-wave is denoted as S and the switching angles which lies between zero
and 90o is represented by i . The switching angles can be computed using the formulae in [24] and [26]. Equation (10)
depicts the stator supply voltage from the cascaded multilevel inverter output voltage. The steady state analysis of
electrical motors is well detailed in [27]. Steady-state torque is the torque exerted on a rotating component to counteract all
resistive forces and maintain a constant speed under steady operating conditions. In an ideal scenario with no external
disturbances, the steady-state torque is equal to the torque required to overcome friction and other resistive forces acting on
the system. In this work, the effect of load torque variation on the motor speed is well detailed.
3. RESULTS AND DISCUSSIONS
Simulation procedures were carried out in MATLAB/SIMULINK software to validate the proposed technique. The
circuit topology of the simulated improved multilevel inverter fed induction motor drive as depicted in Figure 1 with
control technique as shown in Figure 4. The simulation parameters are shown in Table 2. To obtain comprehensive
performance evaluations, the system behaviour was tested under constant load torques with variations in the modulation
index.
3.1 Simulation Results on no Load Torque with a Variable Modulation Index
As shown in Figure 5, the output voltage levels from the improved multilevel inverter fed IM with NLC technique
were obtained at variable modulation indices of 0.7, 0.8, 0.9, 1.0 and 1.2 with zero load torque. The result obtained shows
that at M = 1.2 and M = 1.0 delivered the same voltage amplitude of 180 V, while at M = 0.9 and M = 0.8 showed the same
voltage magnitude of 150 V. At M = 0.7, a value of 120 V output voltage was obtained. Figure 6(a) shows the machine
transient behaviour of the rotor current at zero load torque with variable modulation indices, the rotor current shows a
peak value of 24 A at M = 1.2 and 18 A at M = 0.7. The rotor current stability was considered between time interval of 2.4
s to 2.45 s, at M = 1.2; therefore, a 2.48 A rotor current was obtained as depicted in Figure 6(b). Figure 7 shows the effects
of different modulation indices at no load torque on the motor speed. At M = 1.2 the motor achieved stability before 0.5 s
while at M = 0.7 the motor speed attained stability at 1 s with rate speed value of 1500 RPM. The waveforms of
electromagnetic torque against time were obtained as depicted in Figure 8. Figure 8(a) shows the plot at M = 0.7 with
maximum torque value of 8 Nm. Figure 8(b) shows the plot at M = 0.8 with maximum torque value of 10 Nm. At M = 0.9,
a maximum torque value of 12 was obtained as depicted in Figure 8(c). At M = 1, a maximum torque value of 15 was
obtained as depicted in Figure 8(d). Figure 8(e) shows the plot at M = 1.2 with maximum torque value of 20 Nm. It is
observed the increased in modulation index increases motor speed and electromagnetic torque.
3.2 Simulation results on load torque of 2 Nm with a variable modulation index
As shown in Figure 9, the output voltage levels from the improved multilevel inverter fed IM with NLC technique
were obtained at variable modulation indices of 0.7, 0.8, 0.9, 1.0 and 1.2 with 2 Nm load torque. The result obtained shows
that at M = 1.2 and M = 1.0 delivered the same voltage amplitude of 180 V, while at M = 0.9 and M = 0.8 showed the same
voltage magnitude of 150 V. At M = 0.7, a value of 120 V output voltage was obtained. Figure 10(a) shows the machine
transient behaviour of the rotor current at 2 Nm load torque with variable modulation indices, the rotor current shows a
peak value of 24 A at M = 1.2 and 18 A at M = 0.7. The rotor current stability was considered between time interval of 2.4
s to 2.45 s, at M = 1.2; therefore, 2.48 A rotor current was obtained as depicted in Figure 10(b). Figure 11 shows the effects
of different modulation indices at 2 Nm load torque on the motor speed. At M = 1.2 the motor achieved stability before 0.5
s with value of 1429 Nm. At M = 1.0 the motor attains a speed of 1409.14 rpm after 0.85 s. For M = 0.9, 1377 rpm motor
speed was attained at a period of 1 s. At M = 0.8, the motor speed reached 1342 rpm at 1.5 s while at M = 0.7 the motor
speed attained stability at 2 s with rate speed value of 1208 RPM. The waveforms of electromagnetic torque against time
were obtained as depicted in Figure 12. Figure 12(a) shows the plot at M = 0.7 with maximum torque value of 7.6 Nm
which occurred at 1. 035 s. Figure 12(b) shows the plot at M = 0.8 with maximum torque value of 10 Nm which occurred

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at 0.575 s. At M = 0.9, maximum torque value of 12 Nm which occurred at 0.445 s was obtained as depicted in Figure
12(c). At M = 1, maximum torque value of 15 Nm was obtained as depicted in Figure 12(d) and it occurred at 0.355 s.
Figure 12(e) shows the plot at M = 1.2 with maximum torque value of 20 Nm which occurred at the initial time. It is
observed the increased in modulation index increases motor speed and electromagnetic torque.

Figure 6: Inverter output current (a) transient (b) steady

Figure 5: Inverter Output voltages at no load torque
state.

Figure 7: Motor speed at no load torque Figure 8: Electromagnetic Torque under no load condition.

Figure. 10: Inverter output current at 2 Nm load torque (a)

Figure. 9: Inverter Output voltages at 2 Nm load transient (b) steady state.

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Figure 11: Motor speed at 2 Nm torque load Figure 12: Electromagnetic torque under 2 Nm load
condition.

3.3 Simulation results on load Torque of 4 Nm with a variable modulation index

As shown in Figure 13, the motor supply voltage shows similar characteristics as depicted in Figures 5 & 9, with load
torque of 4 Nm affecting the inverter output voltages with the modulation indices of 0.7, 0.8 and 0.9. The transient
waveform displayed in Figure 14(a) followed this pattern as in Figures 6(a) and 10(a). The rotor current under steady state
operation is depicted in Figure 10(b) with M = 1.0 and 1.2 following the same pattern with the same amplitude and phase
angle. At M = 0.7, 0.8 and 0.9 showed variable amplitudes with different phase angles. Figure 15 shows motor speed plots
at different values of the modulation index. At M = 0.7 the speed took a negative value and attains a steady speed of -1930
RPM at 2.5 sec. When M becomes 0.8 the speed moves from positive to negative with maximum speed of 1125.6 RPM at
2.037 sec. At M = 0.9 the maximum speed occurred at 0.9177 sec with 1129.45 RPM, this speed changes to negative after
reaching zero at 2.28 sec and stabilizes with -1630 RPM at 2.667 sec. Motor speed of 1254 RPM was attained at 0.85 sec
for modulation index value of 1.0. When the modulation index becomes 1.2, motor speed resulted to 1327 RPM at 0.7 sec.
The waveforms of electromagnetic torque against time were obtained as depicted in Figure 16. Figure 16(a) shows the plot
at M = 0.7 with maximum torque value of 8.795 Nm which occurred at 2. 531 sec. Figure 16(b) shows the plot when M =
0.8 with maximum torque value of 10 Nm which occurred at 2.0377 s. When M = 0.9, maximum torque value of 11.85 Nm
which occurred at 2.28 secs was obtained as depicted in Figure 16(c). At M = 1, maximum torque value of 15.6 Nm was
obtained as depicted in Figure 16(d) and it occurred at 0.465 s. Figure 16(e) shows the plot at M = 1.2 with maximum
torque value of 20 Nm which occurred at the initial time of 0.013 sec.

Figure 13: Inverter Output voltages at 4 Nm load Figure 14: Inverter output current at 4 Nm load torque (a)
transient (b) steady state.

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Figure 16: Electromagnetic torque under 4 Nm load

Figure 15: Motor speed at 4 Nm torque load condition.

Figure 18: System Performance evaluation based on

Figure 17: Motor rotor speed versus Modulation index modulation index variation: (a) Inverter THDv (b) Voltage
waveform. RMS (c) Winding THDi (d) Current RMS

Figure 17 displays the waveform rotor speed versus modulation index of the system. It is observed that at no load
torque that the machine speed is not affected by the modulation index. At 2 Nm load torque, the rotor speed increases with
increase in the modulation index. When the load torque increased to 4 Nm, the induction motor started from negative speed
at modulation index value of 0.7 and moved to positive at M = 0.95 and remained positive up till M = 1.1. Figure 18 shows
the system performance evaluation based on modulation index variation. Figure 18(a) depicts the waveforms of inverter
voltage THD against modulation index, it is observed that all the different load values show THD that lies between 6.2 % –
6.7 % at M = 1.0. The inverter voltage RMS displays similar wave pattern at different load torque values as shown in
Figure 18(b). Figure 18(c) depicts the waveforms of the machine winding current THD against modulation index at
different load torques. Here, the 4 Nm load torque shows a better performance with less value of THD followed by 2 Nm
and no load torque. The current RMS versus modulation index waveforms is displayed in Figure 18(d). It is observed that
the winding current RMS value increases with increase in load torque values. The calculated and simulated switching
angles are displayed in Table 3, this shows the angles at M = 1.2 and 0.8. They showed very close values of the switching
angles.

Table 2: System parameters for MATLAB simulation

Parameter Value
DC voltage for cell 1 60 V
DC voltage for cell 2 120 V
Fundamental Frequency 50 Hz
Nominal Power 0.25 ×746 VA

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Parameter Value
Voltage 240 V
Main Stator winding (Rs, Lls) 2.02 ohm, 7.4e-3 H
Main winding Rotor (Rr’, Llr’) 4.12 ohm, 5.6e-3H
Main winding mutual inductance (Lms) 0.1772 H
Auxiliary Winding stator (Rs, Lls) 7.14 ohm, 8.5e-3 H
Inertia, Pole pairs, turn (aux/main), (J, P, N S/Ns) 0.0146 Kg.m2, 2, 1.18
Capacitor-Start (Rst, Cs) 2 ohm, 254.7e-6 Farad

Table 3: Calculated and simulated switching angles

Modulation Index, M=1.2 Modulation Index, M= 0.8
Switching angles Calculated (Roshini et al., Simulated Calculated (Roshini et al., Simulated (o)
o o o
2021) ( ) () 2021) ( )
1 4.78 5.40 5.74 7.20
2 14.48 13.50 17.46 19.80
3 24.62 21.60 30.00 32.40
4 35.69 30.60 44.43 48.60
5 48.58 39.60 64.16 71.10
6 66.44 51.30

4. CONCLUSION
This work provides a study of effect of modulation index on cascaded multilevel inverter fed single phase induction
motor using nearest level control technique. The simulated and calculated firing angles showed much similarity as depicted
in Table 3. It is vividly clear from the result analysis that as the modulation index is varied from the range 0.7 to 1.2, under
different load torque of zero, 2 Nm and 4 Nm. It is observed that the motor speed settling time varies proportional to the
modulation index value increase. The system performed optimally at load torque of 2 Nm under modulation index of 1.0
resulting to 6.7 % and 4.5 % voltage and current THD respectively. The increase on load torque with low modulation index
value affects the performance of the induction motor as improper selection of values can put the induction motor into
generating mode. This study has revealed the loading limit of the selected motor and also provides the best modulation
value that will deliver better harmonic content to the motor. These specific results will prolong the life span of the machine
when properly selected.

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