SSRG International Journal of Electrical and Electronics Engineering Volume 9 Issue 12, 109-119, December 2022

ISSN: 2348-8379/ https://doi.org/10.14445/23488379/IJEEE-V9I12P109 © 2022 Seventh Sense Research Group®

Original Article

Performance Investigation of Vector Control-based

Induction Motor using Snetly Controller
Santosh Yadav Maddu1, Nitin Ramesh Bhasme2
1
Department of Electrical Engineering, Government College of Engineering, Aurangabad, Maharashtra, India.
2
Department of Electrical Engineering, Government College of Engineering, Yavatmal, Maharashtra, India
.
1Corresponding Author : [email protected]

Received: 18 October 2022 Revised: 24 November 2022 Accepted: 09 December 2022 Published: 25 December 2022

Abstract - Induction Motors are the most popular in power and industrial drives due to their simple operation, rugged
construction, and free maintenance. In the last decade, the advanced technology of integrated power electronics-based drive
enabled flexible operation and achieved effective speed control at each operating stage of the drive. Unlike scalar control, the
performance of the induction motor is highly improved by using vector control methods. The vector control methods are
categorized into direct field-oriented control (DFOC) and indirect field-oriented control (IFOC). Indirect Vector Control
(IFOC) shows better dynamic performance and robust stability during zero and low-frequency speeds. Earlier, Digital Signal
Processing (DSP), dSPACE, and microcontrollers are used for the hardware realization of the vector control methods. In the
case of a hardware implementation of AC drives, FPGA (Field Programmable Gate Array) controllers provide better
computation time and higher processing capabilities in comparison to conventional controllers. In this work, a novel real-time
FPGA-based Snetly controller (Xilinx ARTIX-7 (XC7A200T) FPGA Controller with a 150 MHz clock frequency) is used to
carry out a numerical simulation of an IFOC-based Induction Motor Drive. Firstly, the IFOC control algorithm is designed
in MATLAB/Simulink software and then implemented in a Snetly real-time simulator. The Simulink results are validated and
verified through the Snetly real-time controller. Further, the scope of this research article is useful for designing FOC-based
Sensorless Induction Motor Drives effectively.

Keywords - Field Oriented Control, Induction Motor, Snetly Controller, Vector Control.

1. Introduction voltage or current. In the case of IFOC, the unit vector

Induction motors are widely used in industrial power generation is done by estimating rotor flux using the
applications due to their advantages like simple structure, low information obtained from the motor shaft, known as rotor
cost, high reliability, and easy maintenance.[1] The speed speed. [7,8]
control of induction motors is majorly classified into two
types: Scalar Control and Vector or Field Oriented Control. In vector control, the flux vectors in the induction motor
The scalar control method refers to the magnitude variation design are selected in different ways, such as stator flux-
of control variables only, whereas the vector control method oriented control, air gap or magnetization flux-oriented
addresses controlling variables in both magnitude and phase control, and rotor flux-oriented control.[9] This work
alignment. Many applications with V/f Scalar open-loop and presents the rotor flux-oriented (indirect field-oriented)
closed-loop methods are available in the literature. The control due to its advantages, such as ease of hardware
technological evaluation in the field of power electronics and implementation and better stability compared to other
its allied areas enables research progress in the V/f method. comparative methods.[30]
In conventional practices, dSPACE, DSP and
microcontrollers are used to realize the motor drives. [2,3] The major task for researchers and scientists is to
However, higher performance is required for medium- develop fast and accurate real-time prototype controllers.
voltage and high-power drives. In such applications, the These controllers are designed to reduce the computing time
vector control method provides better dynamic performance and complex calculations in the design. The importance of
than the former. [4–6] microcontrollers is greatly increased in the field of variable
speed drive. For example, the STM32F4 family of
The vector control is classified into DFOC and IFOC microcontrollers is deployed for high-performance variable
based on the generation of unit vectors. In DFOC, the speed drives. However, the scaling time of applications has
required fluxes need to be computed for the unit vector been increasing with conventional languages (C, C++) due to
generation with the help of machine terminal variables like the complex calculations involved in the design. In addition,

This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

 Santosh Yadav Maddu & Nitin Ramesh Bhasme / IJEEE, 9(12), 109-119, 2022

an expert is required for the computer systems to understand stationary reference system (𝛼 − 𝑎𝑖𝑥𝑠, 𝛽 − 𝑎𝑥𝑖𝑠) and then
and develop the design architecture. For Industrial converted into the rotating reference frame(𝑑 − 𝑎𝑥𝑖𝑠, 𝑞 −
applications, the controller design should have high 𝑎𝑥𝑖𝑠) represented in the DC system. In vector control AC
reliability, reduced hardware cost, and safety are the major drive, the current components(𝑖𝑑 , 𝑖𝑞 ) are adjusted to control
parameters to make the control system stable and popular for magnetic flux and torque, respectively. The induction motor
real-time monitoring of the electrical systems. [3,11] is modeled in the rotating reference frame as follows:[25]

Recently, the main objective has been to develop real- The three-phase stator and rotor voltages can be written as,
time prototype controllers for the digital domain in the vector
𝑑𝜆𝑎𝑏𝑐
control of AC drives. In the digital domain, the control 𝑣𝑠𝑎𝑏𝑐 = 𝑅𝑠 𝑖𝑠𝑎𝑏𝑐 + 𝑠
(1)
𝑑𝑡
algorithm can be implemented either in continuous or
discrete mode. The explicit Euler method is used to design
the controller for higher sampling rates. However, this 𝑑𝜆𝑎𝑏𝑐
𝑣𝑟𝑎𝑏𝑐 = 𝑅𝑟 𝑖𝑟𝑎𝑏𝑐 + 𝑟
(2)
method of discretizing from the continuous state causes 𝑑𝑡

slower dynamics.[12–16] High-cost FPGA devices and The relationship between the flux and current components of
systems with very-large-scale integration (VLSI) are the stator and rotor is given by
required, but they produce higher power consumption with
higher clock frequencies.[14] The controller needs to be 𝜆 𝐿 𝐿 𝑚 𝑖𝑠
[ 𝑠] = [ 𝑠 ][ ] (3)
discretized with the continuous system sampling dynamics to 𝜆𝑟 𝐿𝑚 𝐿 𝑟 𝑖𝑟
address the higher sampling period and better accuracy.[31] At arbitrary speed, the stator and rotor voltage can be
The vector control algorithm is used for many applications, written in the rotating reference frame as follows,
including Sensor and Sensorless control of AC drives.
𝑣𝑑𝑠 = −𝜔𝑒 𝜆𝑞𝑠 + 𝑝𝜆𝑑𝑠 + 𝑅𝑠 𝑖𝑑𝑠 (4)
In medium-voltage and high-power applications, a
Sensorless AC motor drive demands the rotor's exact 𝑣𝑞𝑠 = 𝜔𝑒 𝜆𝑑𝑠 + 𝑝𝜆𝑞𝑠 + 𝑅𝑠 𝑖𝑞𝑠 (5)
position, angle, and speed.[18–21] The difference between
the measured and actual values should be zero; otherwise, it
creates an error.[27,28] In such cases, to deal with it with 𝑣𝑑𝑟 = −(𝜔𝑒 − 𝜔𝑟 )𝜆𝑞𝑟 + 𝑝𝜆𝑑𝑟 + 𝑅𝑟 𝑖𝑑𝑟 (6)
better accuracy and position, FPGA controllers are preferred
to achieve a lower computation time with higher processing
capability.[24] This work uses a novel FPGA-based Snetly 𝑣𝑞𝑟 = (𝜔𝑒 − 𝜔𝑟 )𝜆𝑑𝑟 + 𝑝𝜆𝑞𝑟 + 𝑅𝑟 𝑖𝑞𝑟 (7)
real-time controller to study the IFOC-based induction motor
drive. The proposed hardware investigation is different from The Electromagnetic Torque (Tem ) is given by
traditional practices. The Snetly controller is equipped with
the Xilinx ARTIX-7 (XC7A200T) FPGA Controller with a 𝑃 𝐿𝑚
𝑇𝑒𝑚 = (𝑖𝑞𝑠 𝜆𝑑𝑟 − 𝑖𝑑𝑠 𝜆𝑞𝑟 ) (8)
2 𝐿𝑟
150 MHz clock frequency. Unlike the conventional practices,
the proposed Snetly controller enables the development and
deployment have been in the same environment. Due to this 2.2. Indirect Field Oriented Control
advanced feature, additional licensed software with an expert The machine's torque and flux can be controlled
and personal computer is not required. The simulation results independently using the vector control method like a
are validated and verified by numerical simulation with the separately excited DC machine. In this work, the modeled
Snetly controller, which is presented in this work. equations are described the indirect rotor field-oriented
control of the induction machine drive.[25] The rotor flux
2. Materials and Methods vector is aligned with the rotor flux axis, representing the
In this work, the IFOC-based induction motor is studied rotating magnetic field speed with exactly the calculated slip
with the help of the Snetly real-time controller. The model is speed.
designed, and the corresponding algorithm is applied to the
Induction motor drive. In this section, a detailed analysis of The rotor flux can be determined from the rotor voltage
the method is presented for the development of the required in the rotating reference frame providing an equal value of
angular speed ( ) and synchronous speed (e ) . The value
hardware design.

2.1. Dynamic Modeling of Induction Motor of slip speed (sl ) is defined as sl = e − r .
The equivalent circuit of the induction motor is modeled
in the synchronously rotating reference frame for the vector The rotor voltage is expressed in the squirrel cage
control method. The three-phase stator currents(𝒊𝒂 , 𝒊𝒃 , 𝒊𝒄 ) in induction motor using Equations 6 and 7;
the three-phase system are transferred into a two-phase

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𝑣𝑟 = 𝜔𝑠𝑙 𝜆𝑟 + 𝑝𝜆𝑟 + 𝑅𝑟 𝑖𝑟 (9) In conventional practices, firstly, the model is designed

in a software environment, but the Snetly platform is
0 = (𝜔𝑠𝑙 + 𝑝)𝜆𝑟 + 𝑟𝑟 𝑖𝑟 (10) equipped to design and deploy in the same environment. The
In the rotor circuit, the rotor current is given by hardware schematic with the Snetly controller is developed,
as shown in Figures 4 and 5. In this hardware, a three-phase
1
𝑖𝑟 = (𝜆𝑟 − 𝐿𝑚 𝑖𝑠 ) (11) AC supply is supplied to a bridge rectifier to convert AC into
𝐿𝑟
DC supply. Using DC Link, the converted DC supply is fed
Using Equations 9, 10, and 11, the rotor flux can be written
to the inverter. The Inverter output terminals are connected to
as
1 the induction motor, and an incremental encoder is mounted
𝑝𝜆𝑟 = [𝐿𝑚 𝑖𝑠 − (1 + 𝑗𝜔𝑠𝑙 𝜏𝑟 )𝜆𝑟 ] (12) on the motor shaft to measure the speed of the motor. The
𝜏𝑟
Equation 12 can be written as, PWM signals and ADC interface are connected to the Snetly
real-time controller, as shown in Figure 2.
𝜆𝑟 (1 + 𝜏𝑟 (𝑝 + 𝑗𝜔𝑠𝑙 )) = 𝐿𝑚 𝑖𝑠 (13)
2.4. System Design
In rotor flux-oriented control, the rotor flux is estimated The control algorithm is designed in
by using the equations 𝜆𝑞𝑟 = 0, and 𝜆𝑟 = 𝜆𝑑𝑟 ; the rotor MATLAB/Simulink environment, shown in Figure 3. The
current is given by 𝑖𝑠 = 𝑖𝑑𝑠 + 𝑗𝑖𝑞𝑠 ; The block diagram of overall block diagram contains three phase induction motor,
rotor flux-oriented control is shown in Figure 1. a two-level inverter with an SVPWM algorithm, and FOC
controller blocks. Table 1 shows the Induction Motor
The expression can be written as parameters used for the Simulink and the Snetly Controller.

𝜆𝑑𝑟 + 𝜆𝑑𝑟 𝜏𝑟 𝑝 + 𝜆𝑑𝑟 𝜏𝑟 𝑗𝜔𝑠𝑙 = 𝐿𝑚 𝑖𝑑𝑠 + 𝐿𝑚 𝑗𝑖𝑞𝑠 (14)

3. Results and Discussion
The performance analysis of the IFOC-based induction
motor drive is observed under the no-load condition with a
From Equation 14, the real and imaginary parts are given by
reference speed of 900 rpm. The various parameters like
𝜆𝑑𝑟 (1 + 𝜏𝑟 𝑝) = 𝐿𝑚 𝑖𝑑𝑠 (15) Speed (r ) , Electromagnetic Torque (Te ) , d-axis current
(isd ) , and q-axis current (isq ) waveforms are observed.
𝜆𝑑𝑟 𝜏𝑟 𝜔𝑠𝑙 = 𝐿𝑚 𝑖𝑞𝑠 (16)
Under the no-load condition, the motor reached the
The slip speed and the rotor flux are written using reference speed of 900 rpm or 94.2 rad/sec. Figure 7 depicts
Equation 15 and 16, with 𝜏𝑟 is kept constant. the electromagnetic torque response was observed under no
load conditions. The current controllers are set to be the
𝐿𝑚 𝑖𝑞𝑠
𝜔𝑠𝑙 = (17) desired points shown in Figures 8 and 9.
𝜏𝑟 𝜆𝑑𝑟

The FOC controller is run for different load conditions

𝜆𝑟 = 𝜆𝑑𝑟 = 𝐿𝑚 𝑖𝑑𝑠 (18)
to verify the robustness and effectiveness. Figure 10 depicts
speed response under various load conditions. The load
Hence, the currents 𝑖𝑑𝑠 𝑖𝑞𝑠 are represented to produce the
torque is applied at different time intervals with a reference
induction motor's rotor flux and magnetic torque. They can speed of 94.2 rad/sec, as shown in Figure 11. The load torque
be computed using the above equations as follows; is applied for the different time intervals of 0 sec, 1.75 sec, 3
1+𝜏𝑟 𝑝 𝑇𝑒𝑚 𝑃 𝐿𝑚
sec, and 4.75 seconds and both d-axis and q-axis currents are
𝑖𝑑𝑠 = 𝜆𝑑𝑟 and 𝑖𝑞𝑠 = ; where 𝐾𝑇 = (19) observed, as shown in Figures 12 and 13.
𝐿𝑚 𝐾𝑇 𝜆𝑑𝑟 2 𝐿𝑟

2.3. Snetly Controller The Simulation results are verified and validated using
This paper uses an FPGA-based Snetly real-time the Snetly controller, as shown in Figures 14 and 15. Under
prototype controller to study the IFOC method for the load and no-load conditions, controller performance is
induction motor drive. The hardware setup consists of a observed for speed, torque, and current controllers. The
three-phase bridge rectifier, a Semikron inverter, an controller provides the exact response as obtained in the
incremental encoder, an Induction motor with load, and simulation. The major objectives of using this controller in
Snetly real-time controller with a Snetly output window. The terms of fast computation, robust performance, and low
proposed controller is built with Artix®-7 XC7A200T FPGA computational burden in which complex calculations are
to enhance the processing capability and limit the getting involved in modern AC drives for reliable operation
computation time.[26] in power and industrial applications. The FOC-fed Induction
Motor using Snetly Controller provided satisfactory results.

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Fig. 1 The architecture of the Indirect Field Oriented Control

Fig. 2 Schematic of FOC-based Induction Motor Drive

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Fig. 3 Schematic of FOC-fed Induction motor drive in Simulink

Fig. 4 The FOC fed IM drive design in Snetly Controller

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Fig. 5 FOC design in Snetly Controller

Fig. 6 Speed response under no load condition Fig. 7 Torque response Speed response under no load condition

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Fig. 8 d-axis Current response under no load condition Fig. 11 Torque response under the different loading conditions

Fig. 12 d-axis Current response under the different loading conditions

Fig. 9 q-axis Current response under no load condition

Fig. 10 Speed response under the different loading conditions Fig. 13 d-axis Current response under the different loading conditions

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(a) (b)

(c) (d)
Fig. 14 The IFOC-fed IM drive results under no load condition
(a) Speed(𝝎𝒓 ) (b) Electromagnetic Torque(𝑻𝒆 ) (c) d-axis current (𝒊𝒔𝒅 ) (d) q-axis current (𝒊𝒔𝒒 )

(a) (b)

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(c) (d)
Fig. 15 The IFOC-fed IM drive results for different load conditions

(a) Speed (r ) (b) Electromagnetic Torque (Te ) (c) d-axis current (isd ) (d) q-axis current (isq )

Table 1. Parameters of the Three-Phase Induction Motor

to address the problems in the conventional practices of
hardware implementation. The controller can compete with
Squirrel Cage type advanced microcontrollers in terms of cost, complexity, and
Power, P = 4 [kW], Voltage, V = 415 [V], Frequency, reliability. Unlike the traditional controllers, the model
F = 50 [Hz], No. of Poles = 6, Rated Speed, N =1000 design could be done in the same environment, which is
[rpm] highly needed for monitoring the control system of the
Stator Resistance 𝑅𝑠 = 2.86 [𝛺] industrial drive. The primary work of this paper is FOC fed
Rotor Resistance 𝑅𝑟 = 2.86 [𝛺] induction motor modeled and designed in the
Stator Inductance 𝐿𝑠 = 0.1639[H] MATLAB/Simulink Software. To verify the robustness and
Rotor Inductance 𝐿𝑟 = 0.1639[H] effectiveness of the controller, an IFOC-based Induction
Magnetizing Inductance 𝐿𝑚 = 0.1521[H] motor is validated and verified using numerical simulation
with the help of a Snetly real-time simulator. Further, to
4. Conclusion reduce the hardware complexity and cost, this can be a good
In variable speed drive applications, vector control choice in the field of Sensorless AC drives.
methods are much more interesting than scalar control
methods. The former method enhances the dynamic Acknowledgments
performance of the drive generally used for high- The authors would like to thank Smart Protox, Chennai,
performance system applications. The latter method is used India, for providing the opportunity to develop the hardware
in low-power applications due to its parameter sensitivity. implementation and grateful to the All-India Council of
However, The complexity of its equations and the non- Technical Education (AICTE), New Delhi, India, for
linearity of the induction motor increase with vector control providing the AICTE Doctoral Fellowship (formerly known
methods. In such cases, advanced real-time prototype digital as National Doctoral Fellowship) at the Department of
controllers are required to realize the control algorithms in Electrical Engineering in the Government College of
real-time hardware applications. In this work, a novel FPGA- Engineering, Aurangabad, Maharashtra, India.
based Snetly real-time controller is used for the IFOC method
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