`CHAPTER 2

REVIEW OF THE PAST WORK

Page No

2.1 Introduction 18

The historical development of motor control and review of the

2.2 18
past work
2.3 Formulation of research problem 53

17
 CHAPTER 2
REVIEW OF THE PAST WORK

2.1 Introduction

Many researchers have worked in the field of intelligent motion control and power

electronics and have developed microcontroller and digital signal processing based controller

for three phase induction motor. They have studied the need, the benefits and applications of

intelligent motion control in the field of power electronics and drives, on the basis of which,

they have published several articles. The researchers have given several theoretical,

experimental and simulation investigations which are found to be very much useful in

understanding the different techniques in the field of controller for three phase induction

motor. The following is a brief discussion of the exhaustive review of past work carried out

in the area of intelligent motion control, power electronics and their applications from the

year 1968 to till 2012.

2.2 The historical development of motor control and review of the past
work

In 1968, Derek A Paice [9] has discussed the induction motor speed control by stator

voltage control, in this the has established the fundamental laws relating to the speed control

of induction motors by simple voltage control and emphasize is done on the problems that

may be caused by excessive input currents which cause stator overheating. Eight different

thyristor voltage control circuits have been developed and tested to determine the best control

circuit for three phase motors and the test results are presented. From the results it is seen that

a six thyristor power control circuit in conjunction with a star connected motor was found to

be the least input current demanding on the motor windings.

In 1971, T.A.Lipo [10] has presented the analysis of induction motors with voltage

control by symmetrically triggered thyristors. It is shown by the analysis that a precise

18
solution of the stator and rotor currents are required for accurate prediction of torque-speed

curves, power factor, efficiency and other important performance characteristics. In this

work, the steady-state solution of a wye-connected induction machine with back-to-back

thyristors connected in the lines is developed in detail. State variable techniques are utilized

to generate, without iteration, set of initial conditions which will yield the steady-state

solution.

In 1972, G.K.Dubey and G.C.De [11] have published a paper on Saturistor control

of induction motor. In this they have given a simple analytical method for calculating

induction motor performance with a saturistor alone or in series with a resistor, in its wound-

rotor circuit. A digital-Computer program with fast convergence for iterative calculations is

given for considering the resistor and saturistor in parallel. Despite the nonlinearity of the

saturistor reactance and resistance, as well as motor saturation, the DC- dynamic braking

stopping time is computed analytically with reasonable accuracy. A wide range of

speed/torque characteristics applicable for special applications are presented by varying the

saturistor turns with suitable parallel resistors.

In 1974, Pradip Raghunath Joshi and G.K.Dubey [12] have published a paper on

Optimum DC dynamic braking control of an induction motor using thyristor chopper

controlled resistance. The work is concerned with the optimum DC dynamic breaking control

using rotor rectifier cascade feeding a resistance whose effective value is controlled by

controlling the ON to OFF time ratio of a thyristor chopper connected in parallel with it. In

this they have shown that, at all speeds the motor can be operated at maximum/peak torque

point by employing the optimum DC dynamic braking control. This is achieved by

controlling the rotor resistance of an induction motor.

19
 In the year 1975, M.H.Nehrir [13] has published a paper on speed control of three-

phase induction motor by stator voltage control. In this the basic principles relating to

induction motor charactersitics, theoretical background regarding the stator current variation

of the induction motor against speed variation is developed and it is compared with the real

motor performance, using a Variac for stator voltage control. A six thyristor balanced circuit

is developed for speed control and its performance is compared with that of the Variac

control.

In the year 1979, K.Harada and M.Nagao [14] have published a paper on Polyphase

converter for induction motor control using the stator core saturation. In this they have

presented a new control system for an induction motor drive by a polyphase converter. The

commutation of the converter is performed by the stator core saturation of the motor even if

the magnetic characteristic of the stator core is not of a sharp saturation. In order to

compensate the effect of the slow saturation of the stator core, the base currents of the main

transistors are supplied by independent DC sources. They have shown and justified that with

the use of polyphase converter for the induction motor drive, the whole system is

considerably simplified in comparison with conventional PWM control device made of a

transistor inverter.

In the same year, Murray.L.M and Paresh.C.Sen [15] have published a paper on

control loop study of induction motor drives using DQ model. In this they have presented a

systematic study of the various control loops in a current source inverter-induction motor

drive and their effects on the dynamic response and stability of the system. A dq model of the

induction motor is also presented in this, which consists of induction motor and the inverter

power supply with current feedback.

20
 Again in the same year, Allan.B.Plunkett et.al [16] have proposed an alternative

method of induction motor drive i.e synchronous control of a static AC induction motor

drive. The conventional method of speed control of induction motor utilizes regulation of

stator current and motor slip frequency in order to maintain system stability. The alternative

scheme utilizes the inverter frequency as the necessary system stabilizing control, while the

current amplitude merely adjusts the motor steady-state flux level. The stabilization is

achieved by regulating the phase angle between motor current and motor flux. This causes

the inverter firing pulses to synchronize to the motor counter electromotive force and is the

dual of the voltage-fed induction motor wherein additional current is inherently provided to

align the motor counter electromotive force to the inverter.

In the year 1980, S.Yuvarajan et.al [17] have made an analysis of a current-

controlled inverter fed induction motor drive using digital simulation. They have developed a

digital simulation of a current controlled inverter fed induction motor based on the

mathematical model of the induction motor using the actual machine variables. Using this

performance of the inverter and the induction motor are calculated when the motor operates

at constant speed. The simulation is also done for the closed loop control of induction motor

drive and the effect of variation of parameters such as the slip frequency on the transient

performance of the drive are analysed.

In the year 1981, Paresh.C.Sen et.al [18] have proposed a microprocessor based

control of an induction motor with flux regulation. In this they have developed the speed

control system of an induction motor drive using a Motorola 6800 microprocessor and they

have shown that motor current-slip frequency relationship for constant flux control is

nonlinear and is difficult to implement using hardwired logic circuitry, so such a nonlinear

function can be conveniently implemented by using a microprocessor control system by

storing the nonlinear function as a look-up table in the computer memory. From the test

21
model and experimental results, they have justified that microprocessor-control system is

flexible and it allows a wide range of operating speeds.

In 1982, Giuseppe.S.Buja and Paolo Fiorini [19] have proposed the microcomputer

control of PWM inverters. In this the author has discussed and implemented the

microcomputer implementation of the digital modulation techniques utilized for controlling

the PWM inverters. The digital modulation techniques has provided continuous amplitude

control of the first harmonics of the inverter output voltage, real-time operation, reduced

memory requirements and satisfactory accuracy on the inverter output specifications. With

the use of microcomputer the complexity of the controller is reduced.

In the year 1982, Bimal K Bose [20] has presented a technology status review on

adjustable speed drives. In this the author has discussed about the technology of solid state

adjustable speed ac drives since from its launch in the year 1960. The salient technical

features of ac drives technology, including power semiconductor devices, machines,

converters, controls and performance of the integrated drive system are discussed in length.

In the same year, K.S.Rajashekara and Joseph Vithayathil [21] have proposed a

microprocessor based sinusoidal PWM inverter by DMA transfer. In this they have discussed

the implementation of three phase sinusoidal pulse width modulated inverter control strategy

using microprocessor. In this to save CPU time, the DMA technique is used for transferring

the switching pattern from memory to the pulse amplifier and isolation circuits of individual

thyristors in the inverter bridge.

R. Gabriel and W Leonhard [22] have published a paper in 1982 on microprocessor

control of induction motor and they have developed a 22KW induction motor drive with

voltage source and current source thyristor inverters. The current source inverter is pulse-

width modulated at very low speed and it is used for speed control and discontinuous position

22
control applications. The voltage source PWM inverter is used for continuous speed reversal.

The application of AC motor control is implemented by the use of power converters and the

complexity of the control structures i.e controllers. In this paper the authors have justified that

by the use of microprocessor the complexity of the control structure can be minimized

compared with the analog control.

Again in the same year R.Kurosawa et.al [23] have published a microprocessor based

high power cycloconverter fed induction motor drive, in which the cycloconverter consists of

two 36-thyristor subcycloconverters connected in series to minimize the input reactive power.

By the experimental results, the authors have justified that with the use of microprocessor and

microcontroller the complexity of the cycloconverter control can be reduced.

In the year 1983, Bimal K Bose and H.A.Sutherland [24] have published a paper on

high performance pulsewidth modulator for an inverter fed drive system using a

microcomputer. Intel 8086 microcomputer based pulse width modulator is described in this

paper which receives digital voltage and frequency commands independently at the input and

generates precision three phase PWM waves at the output which can be used to drive a

transistor or thyristor inverter for ac drive systems.

In the year 1983, Kenji Kubo et.al [25] have published a soft ware based speed

regulator for motor drives which executes all regulatory processing using only

microprocessor and the developed software for it. They have shown that the developed

regulator can be applied to both AC and DC motor drives by developing the necessary

software programs.

In the same year Ward Leonhard [26] has proposed the control of AC machines with

the help of microelectronics. In this they have developed a AC machine control system using

the microprocessor and the electronic hardware and they have shown that with the principal

23
of field orientation a unified scheme for controlling various types of AC motors can be

developed.

Franz.C.Zach and Hans Ertl [27] have discussed about the efficiency optimal control

of AC drives using PWM inverters in 1983. In this paper the authors have discussed about the

different PWM techniques and they have shown that by the use of the selected harmonic

elimination method in the PWM inverters, the AC motor controller can be operated close to

efficiency optimal control in which the overall system efficiency increases.

In the same year Franz.C.Zach et.al [28] have discussed about the automatic on-line

optimization of microprocessor controlled AC motor drives. In this they have discussed about

the basics of efficiency optimization and they have shown experimentally that by using PWM

inverters and digital modulators the switching angles α1 and α2 of the switches in the inverter

can be varied continuously using the computer simulation pattern and efficiency of the

inverter, motor and overall drive efficiency can be increased.

Again in the same year, Bimal.K.Bose and H.A.Sutherland [29] have proposed a high

performance pulse width modulator for an inverter-fed drive system using a microcomputer.

In this Intel 8086 microcomputer based pulse width modulator is described which receives

digital voltage and frequency commands independently at the input and generates precision

three phase PWM waves at the output which can be used to drive a transistor or thyristor

based inverter for AC drive system. The modulator operates on the computation intensive

uniform sampling method in the low frequency region where as in the higher frequency

region it works on a look-up table. Between the harmonic elimination and minimum rms

ripple current methods, it is observed that the minimum rms ripple current method reduces

the harmonics considerably.

24
 In 1983, Steven. C. Peak and A.B.Plunkett [30] have proposed and developed a

transistorized PWM Inverter-Induction Motor Drive system. In this the author has described

the development of a transistorized pulsewidth modulated inverter-induction motor traction

drive system for an electric vehicle ac induction motor propulsion system and has shown that

this type of system has potential cost and maintenance advantages over a dc chopper-based

system. In this the inverter is operated at higher switching frequencies, to improve the current

waveforms delivered to the motor, thereby an increase in motor efficiency is obtained.

In the year 1984, Min Ho Park and Seung Ki Sul [31] have discussed about the

microprocessor based optimal efficiency drive of an induction motor. In this they have

proposed a method for improving the efficiency of a slightly loaded induction motor using

the Z-80 microprocessor, in which optimal slip is calculated for different speeds for partial

loads and it is changed accordingly by adjusting the voltage to frequency ratio (V/F) for

different speeds. From the experimental set up and control hardware they have shown that by

the proposed method 10 percent improvement in efficiency is obtained at a quarter of the full

load.

In the same year Paresh C.Sen and G.Premchandran [32] have developed a novel

pulse-width modulation strategy for applications in uninterruptible power supply and ac

motor drive systems. The voltage/current harmonic spectra and other properties of this pulse-

width modulation scheme are thoroughly investigated. In this the pulse-width modulation

strategy is compared with other modulation techniques, especially with the commonly used

sinusoidal modulation scheme, from the standpoints of simplicity, inverter switching losses,

motor losses and other output performance features. Implementation of pulse width

modulation scheme for a 5HP induction motor drive system is demonstrated and it is seen

that it is quite simple in hardware-based as well as microprocessor-based systems and the

25
motor performance is quite satisfactory and the overall power rating of the inverter system

will be lower with this improved pulse-width modulation scheme.

Frank. M. Bruce, Richard J Graefe, Arthur Lutz and Michael D Panlener [33] have

presented a paper in the year 1984 on Reduced – Voltage Starting of Squirrel-Cage Induction

Motors. In this the most commonly used methods of reduced-voltage starting of three –phase

ac squirrel-cage motors are discussed, they include primary reactor, primary resistors,

autotransformer, part winding, wye-delta and solid state.

The primary impedance type starters are quite often used with small horsepower

motors, typically less than 25 HP. These starters are limited to short starting periods. When

resistors are used a great amount of heat gets dissipated during the starting period. This type

of starting is suitable for frequent starting of motors and provides smooth acceleration.

If a motor requires a long acceleration time, high starting torques, or if the maximum

reduction of inrush current is desired, the autotransformer starter is the most suitable. Of all

the reduced-voltage starter types, the solid-state reduced-voltage starter provides the

smoothest acceleration for a squirrel-cage induction motor. In addition, the adjustability of

the current and torque can be done while starting.

In the year 1985, David.M.Brod and Donald.W.Novotny [34] proposed the current

control of VSI-PWM inverters. In this they have studied the inherent limitations of

commanding voltages and currents in a three-phase voltage source inverter and an over view

of several current controllers is presented. They have used computer simulations to compare

the performance of several controllers.

In the year 1987 Daniel S Kirschen et.al [35] have conducted tests and demonstrated a

system for optimal efficiency control of an induction motor drive. In this a practical method

for achieving optimal efficiency over the complete operating range of a variable speed drive

26
is presented and in this the system adaptively adjusts the flux level in the motor based upon a

direct measurement of the power input to the drive. An internal field orientation torque

control loop and a speed regulator are employed to maintain the load and speed requirements.

In the year 1988 Bimal K Bose [36] has carried out the study on technology trends in

microcomputer control of electrical machines and presented a paper. In this paper the state-

of-the-art of electronic motion control technology, the salient technical features of electrical

machines, power electronic circuits, microcomputer control, VLSI circuits, machine controls,

computer-aided design techniques and the introduction of power semiconductor devices in

the mid -1950’s are discussed .

In the same year Shoji Nishikata and D.W.Novotny [37] have published a paper on

efficiency considerations for low frequency operation of induction motors. The authors have

discussed the efficiency reduction of induction motor when it is operated at higher values of

slip at the lower frequency and they have proposed a simple control strategy for minimizing

the stator current by adjusting the volts/Hz of the inverter, which in turn minimizes the motor

current and improves the efficiency at lower frequency.

In the year 1989 Joseph Nevelsteen and Humberto Aragon [38] have studied the

starting of large motors – methods and economics. They have considered the starting methods

and economics of large motors above 3000HP and stress is given on technical and economic

aspects of different starting methods i.e direct on-line, reactor start, auto transformer start,

capacitor start, captive transformer start and frequency start. A combination of different

starting methods is also feasible and should be considered. Dynamic modeling of a motor

start will often provide the extra confidence factor and reveal the limitations of a starting

method in the design state. Solid state starters offer increasing advantages with improving

technology, reliability and lower cost.

27
 In the same year Werner Deleroj et.al [39] presented an improved transients

performance of three- phase induction machine with controlled thyristor triggering. In this the

switching of a three-phase induction machine is achieved without the transient problems

associated with high currents and pulsating torque. Utilizing a dynamic function for the

triggering angle of the voltage controlled thyristors an simple and effective way to improve

transient performance is shown. By this method the rate at which the main flux builds up is

decreased and transient torque is smoothed.

In the year 1990 Paresh C Sen [40] has published paper on electric motor drives and

control- Past, Present and Future. In this the author has elaborately presented a

comprehensive review of the state of the art in the field of electric motor drives and control

strategies and he has shown that drive technology has seen impressive growth during the last

three decades. AC drive technology has been maturing rapidly and will likely overtake DC

drive technology in many industrial applications. New high speed, high efficiency switching

devices, new motor structures, new converter configuration, new control techniques and new

high speed microcontrollers have contributed to the further development of high-

performances motor drives. Before 1980 DC motors were used in many industrial

applications for variable speed drive applications. With advancement in semiconductor power

electronics and microelectronics the DC motor variable speed drive applications were

replaced by AC induction motor drive systems. Basically, there are two types of induction

machines: the squirrel cage induction machine and the wound rotor induction machine. The

squirrel cage induction machine is less expensive, more robust and it is used in wide range of

power ratings.

Control of the squirrel cage induction machine:

A simple and economic method of squirrel cage induction motor control is to vary the

stator voltage at supply frequency using thyristors or triacs.This method of control is

28
characterized by poor dynamic and static performance. Although it is inefficient because of

high slip power loss, it is used in fans, pumps and blower drives.

An efficient method of speed control for induction motors is to change the stator

frequency. Since the speed is close to synchronous speed, the operating slip is small and slip

power loss in the rotor circuit is small. However, this will require a frequency converter,

which is expensive. In AC induction motor drive systems, it is desired that the machine flux

is regulated to provide better utilization of the machine. A requirement for maximum possible

transient dynamics is to operate the motor at its rated flux level. Indirect flux regulation

schemes such as the volt / Hertz control and the slip-current control use variable frequency

control and these are extensively used in industry.

Flux Regulation by stator voltage and Frequency:

The AC variable-frequency drives originally used open-loop, volt/Hertz control to

regulate machine flux. The open loop control was found to be satisfactory for low-

performance, cost effective industrial drives. The closed-loop control with slip regulation

provides improved drive performance.

Flux Regulation by Current and Slip Frequency:

The other method that is used for flux regulation is based on a coordination of stator

current and slip frequency. A current source inverter is suitable for this type of drive. Unlike

the volt/Hertz control, the current-slip frequency control technique is independent of stator

parameters. Hence in this method flux regulation can be achieved even at low speeds.

Field-Oriented Control:

Both the volt/Hertz and current –slip frequency control provide satisfactory steady-

state performance. The volt/Hertz control scheme is quite simple to implement. On the other

hand, the current-slip frequency control scheme requires closed-loop current regulation as

well as accurate speed measurement and therefore is somewhat complicated to implement.

29
However, both these methods fail to provide satisfactory transient performance. The field-

oriented control is a technique that provides a method of decoupling the two components of

stator current: one producing the air gap flux and the other producing the torque. Therefore, it

provides independent control of torque and flux, which is similar to a separately excited dc

machine. The magnitude and phase of the stator currents are controlled in such a way that

flux and torque components of current remain decoupled during dynamic and static

conditions.

In field-oriented control, the stator phase currents are controlled in a fictitious

synchronously rotating reference frame and are transformed back to the stator frame to feed

the machine. Field orientation can be achieved by aligning the rotor flux linkage vector along

the d axis of the reference frame. With this arrangement, the control dynamics of the highly

coupled nonlinear structure of the induction machine becomes linearized and decoupled. The

induction motor is controlled like an armature controlled dc motor with iqs analogous to the

armature current and ids analogous to the field excitation.

Simulation of the machine transient performance, based on the analytical solution of

the machine differential equation under different modes of operation is developed. The

simulation model results show that a smooth switching process for an induction machine,

running at any speed, for both motor and generator operation are achieved.

In the same year S. A. Hamed and B. J. Chalmers [41] have made full analysis of the

steady-state performance of a variable-voltage thyristor controlled induction motor system,

based on the representation of the rotor as a sinusoidal EMF in series with a resistance-

inductance circuit. In this circuit, magnetising current and stator resistance are included and

the amplitude and phase of the EMF are determined as functions of motor torque and speed.

In the year 1990, Seung K Sul and T.A.Lipo [42] have published a paper on the

design and performance of a high-frequency link induction motor drive operating at unity

30
power factor. In this they have presented a new three phase - to – three phase power

conversion topology based upon a 20-KHz single phase voltage link. By simulation and

experimental results they have shown that by using the same converter for the ac input side as

well as the output side, power can be transferred in either direction and with the use of

current regulator and suitable feedback control, the power factor at the input to the converter

can be adjusted to unity.

In the same year, Jih-Sheng Laj and B.K.Bose [43`] have proposed a high frequency

resonant dc link inverter for induction motor drive. In this first they have analyzed the

resonant circuit to establish the criteria for initial current selection and then they have

suggested a new circuit to establish the bidirectional initial current. The new current

initialization scheme has solved the voltage overshoot and zero crossing failure problems. For

induction motor control system implementation they have used two microprocessors-

TMS320CS25 for computation and INTEL80386 for monitoring and user interface.

In the year 1991 Parviz Famouri and Jimmie J Cathey [44] have presented a practical

method for operation of an inverter-fed induction motor drive at the point of maximum

efficiency while maintaining any particular torque-speed load point. From the practical

results it is seen that the greatest efficiency improvement over constant volts/hertz operation

is offered by the loss minimization control at reduced torque loads for all speeds.

In the same year Masayuki Morimoto et al [45] have published a paper on high

efficiency, unity power factor VVVF drive system of an induction motor. A new control

strategy is discussed in this to have high efficiency converter-inverter system. For this a unity

power factor PWM converter is used which regulates dc voltage. The inverter circuit with the

magnetic flux control PWM method generates variable voltage, variable frequency PWM

waveforms. The PWM modulation factor of the magnetic flux control method with

31
controllable dc link voltage is studied in this and with the over-modulation of the dc link

voltage, a high efficiency, unity power factor VVVF drive system is achieved for the

induction motor.

Again in the same year Ali.M.Eltamaly et.al [46] have published a paper on a noval

digital firing scheme for soft starting of three –phase induction motors, in which a simple and

reliable digital firing scheme is introduced for soft starting of three phase induction motor. In

this an increase of stator voltage is done gradually without increasing the stator current than

the reference value. The ac chopper is used for regulating the voltage going to the induction

motor and it is having six bidirectional switches. The simulation of the system is carried out

by PSIM computer program. The ac chopper is controlled by using parallel port of PC. The

simulation results are compared with the experimental results from laboratory prototype.

In the same year, Mineo Tsuji et.al [47] have published a novel V/f controlled

induction motor drive for improvement of speed characteristics. In this an auto-boost voltage

method is used to compensate the voltage drop of stator impedance and a slip frequency

compensation method to decrease the speed error caused by the change of load. The

simulation and experimental results are compared and good speed control accuracy is

achieved with improvement in speed characteristics.

In the year 1992, Kunio Koga et.al [48] have constituted a new V/f control system

for reducing the steady-state speed error to zero in induction motor drive system. In this new

V/f control system, the frequency of the stator voltage is controlled to compensate for the

speed error and it generates a relatively large torque in low-speed range. The dynamic

performance and the stability are superior to those in a conventional V/f controlled drive

system.

32
 In 1993, Shahriar Mohammadi [49] has discussed about fixed pulse width modulation

pattern for speed control system of three phase induction motor. He has analysed the regular

PWM and fixed PWM by using the computer simulation. In the fixed pulse width

modulation, parallel proportional, integral, differential (PID) error amplifier is used to

optimize and minimize the response time of the controller.

In the year 1995 Rodolfo Echavarria et.al [50] have published a paper on three phase

motor drive using IGBT’s and constant V/F speed control with slip regulation. In this the

analysis of the steady state equivalent circuit model of an induction motor is presented to

establish the equations that justify the use of a constant vlots/Hertz speed control. The

laboratory tests are conducted and test results are presented to justify the motor operations at

different frequencies.

In the year 1995, A.Maamoun and M.M.ahmed [51] have proposed and developed a

microprocessor based PWM IGBT three phase voltage source inverter. This inverter is

designed to feed an induction motor with a power of adjustable voltage to frequency in a

proper relation to maintain approximately constant rated flux in the motor over the operating

frequency range of 1-50Hz. They have demonstrated the experimental set up to show that this

drive system can be used to control the speed of a three phase induction motor from very low

speed until the motor rated speed at a constant torque. Using microprocessor the complex

control circuit hardware of the inverter is replaced by microprocessor software.

In the year 1996, Iordanis Kioskeridis and Nikos Margaris [52] have proposed a loss

model controller to minimize the losses in induction motor adjustable speed drives. The

proposed controller model determines the optimal air-gap flux required for the motor drive

system that minimizes the losses in scalar control of induction motor, its implementation does

33
not require the knowledge of the loss model. The proposed loss minimization controller does

not affect the cost of the drive and it can be used in both open and closed speed loop drives.

In the same year Mohamed Osama et.al [53] have proposed and verified a new control

scheme to extend the speed range of a four-pole induction machine. In this a three phase

stator winding is used with each of two coil groups per phase being independent resulting in a

six-coupled circuit, six-terminal stator winding. For this two inverters are used to supply the

machine with the required regulated currents to obtain the effect of either four-pole or two-

pole windings. The four pole operation is carried out for and from zero speed until the end of

its constant power region and two pole operations is carried out to extend the constant power

region resulting in a doubling of the speed range for the same inverter and machine rating.

In the year 1997 Frede Blaabjerg et.al [54] have studied on improved modulation

techniques for PWM-VSI drives. The inverter is nonlinear which causes instability problems

in some specific working points of the ac machine and it emits acoustical noise due to the

switching frequency. Nonlinearities like dead-time in the inverter, a load dependent dc-link

voltage ripple and the voltage drop across the switches are modelled in this work and are

compensated by improved modulation techniques in order to obtain an ideal inverter. For this

some compensation techniques are proposed in this. The feed forward compensation is

proposed by measuring the direction of current and secondly, feedback compensation is

proposed by measuring the actual output voltage vector during each switching. The voltage

drop across the switches is compensated by measuring the phase currents. A proto type

system is developed including a rectifier and a 16-bit microcontroller based inverter for

testing of the proposed compensation. From the test results presented it is seen that an almost

ideal PWM-VSI inverter is obtained.

34
 In the same year Venkata V Sastry et.al [55] developed a novel method for optimal

soft starting of voltage –controller-fed induction motor drive using a new parameter, namely

the voltage across the nonconducting thyristor. The dynamic simulation and experimental

results are presented to justify the new method of optimal soft starting of induction motor.

A.Munoz-Garcia et.al [56] have proposed and developed a new open loop constant

V/F control method for induction motor at low frequency operation in 1997. In this only the

stator current is measured using a low cost open-loop type of current transducer for both

stator resistance drop and slip frequency compensation. The simulation and experimental

results of the new method are compared and they have shown that good open loop speed

regulation is achieved by this method.

In the year 1997, Zhenyu Yu et.al [57] have published paper on review of three PWM

techniques. In this they have discussed the advantages of PWM based switching power

converter over linear power amplifier and the implementation of three commonly used PWM

techniques. The sinusoidal PWM technique, space vector PWM technique and hysteresis

PWM technique are discussed in length and are implemented with TMS320C240 digital

processor.

In 1998, Alfredo Munoz-Garcia et.al [58] also proposed and developed a new

induction motor V/f control method capable of high performance regulation at low speeds

using only low-cost open loop current sensors. In this method the stator current is measured

and compensation is given for both stator resistance drop and slip frequency. A comparison

of simulation and experimental results are presented and it is shown that good open-loop

speed regulation is achieved by the proposed method and it can be easily implemented in

existing V/f drives by modifying only the software.

35
 In 1999, Wajiha Shireen et.al [59] have proposed controlling multiple motors utilizing

a single DSP controller. After a detail study of the different DSP processors the authors have

stated that DSP integrates a variety of sophisticated peripherals in them, which are very

useful for speed control of multiple motors. Taking the advantage of these features they have

developed a multiple motor controller using a single DSP. This has enabled the user to take

advantage of advanced algorithms to increase efficiency and also reduce system cost. The

integrated power electronics peripherals available in these controllers have reduced the

overall chip count of a complete system.

In the year 2000, Mehmet Cunkas et.al [60] have designed and developed a circuit for

protection of AC motors against low voltage, high voltage, high current, voltage and current

unbalance, high winding temperature and single phasing by using PIC 16C84

microcontroller. For this they have connected CT’s and PT’s in each phase of induction

motor for the continuous monitoring of data and the winding temperature is measured and

they are compared with the reference values by means of a software in the microcontroller.

When low voltage, high voltage, high current, voltage and current unbalance, high winding

temperature and single phasing are sensed, the microcontroller gives signals and the system

opens its normally soft starter after a trip delay. They have made a provision for the

transmission of data such as current, voltage, temperature which are acquired by the

microcontroller to the central PC by means of RS232C series communication line. In this

way motor data are monitored continuously on system monitor.

In the year 2001, Gurkan Zenginobuz et.al [61] proposed the soft starting of large

induction motors at constant current with minimized starting torque pulsations. An

experimental set up is demonstrated to show that performance optimization of a voltage-

controlled thyristorized induction motor soft starter can be achieved by using simple control

strategies and microcontroller. In this the performance analysis of the soft-starter motor-load

36
combination is done in the dynamic state using a hybrid induction machine model which

takes account of disconnected two-phase and three-phase operational modes of the machine

and simple control strategies are proposed to keep the current constant at any preset value

during starting. With this it is observed that perfect current and torque profiles are obtained

during starting.

In the same year, H.Langari and S.Vaez-Zadeh [62] have developed a Digital Signal

Processor based optimal torque control of single-phase induction motors. In this an

experimental set up is developed using DSP and results are presented to show optimal torque

control of single phase induction motors using a switching capacitor in the motor auxiliary

winding. The switching capacitor is controlled such that both a high average torque and a low

peak pulsating torque over the entire speed range are obtained. From the results it is justified

that the motor performance under the proposed system is improved substantially in

comparison with a constant capacitor motor.

Again in the same year Flemming Abrahamsen et.al [63] proposed the efficiency-

optimized control of medium size induction motor drives. The authors have demonstrated an

experimental setup with a 90 KW drive to show that the efficiency of a variable-speed

induction motor drive can be optimized by adaptation of the motor flux level to the load

torque. The importance of the converter losses on efficiency optimization in medium size

drives is analyzed in which the converter and motor loss are taken into consideration, the

influence of converter loss on loss minimization is studied and new efficiency optimizing

control strategies are proposed i.e displacement power factor control and model based

control.

In 2003, Slobodan.N.Vukosavic et.al [64] proposed a practical digital-signal –

processor based algorithm for the online efficiency optimization of induction motor drives.

37
The algorithm is developed by combining the good features of the search control and loss-

model-based control, while simultaneously eliminating their major drawbacks. In the

proposed algorithm, the minimum loss operating point is decided from a functional

approximation of the motor and the power converter losses, in the form of a suitably defined

loss function. The loss function parameters are obtained online from input power

measurement and with the optimum flux value calculation and a dedicated identification

routine acting in conjunction with the common drive control functions.

In the year 2004, Edi Leksono and Pratikto [65] have developed an adaptive speed

controller for induction motor using digital signal processor. In this the authors have

described and implemented a simple adaptive speed control of induction motor using

dedicated digital signal processor. The adaptive control structure design is based on vector

control scheme that transforms the three phase motor currents into flux and torque generating

current components. Using these current components, the AC induction motor is controlled.

From the experimental set up and its results they have shown that DSP based adaptive speed

control of induction motor gives good transient and steady state responses.

In 2004, Gurkan Zenginobuz et.al [66] have proposed for the performance

optimization of induction motors during voltage controlled soft starting. They have

implemented this by using an 8-bit microcontroller and by eliminating the supply frequency

torque pulsations and by keeping the line current constant at the preset value. In this the

starting torque pulsations are eliminated by triggering back-to-back-connected thyristors at

proper points on the first supply voltage cycle.

In the same year, T.E.Chan et.al [67] have published paper on voltage and frequency

control of a self-excited slip-ring induction generator by varying the external rotor resistance.

The steady state performance and the control characteristics of the self-excited slip-ring

38
induction generator are developed from an equivalent circuit analysis. With the experimental

set up on a 1.8KW slip-ring machine, it is shown that with constant load impedance and

excitation capacitance, both the frequency and the output voltage of the self-excited slip-ring

induction generator can be maintained constant by rotor resistance control over a wide range

of speeds without exceeding the stator current limit.

In the same year, A. Payman and S.Vaez-Zadeh [68] have proposed and developed a

DSP based speed estimation method for single phase induction motor. For this, they have

developed the machine model in stationary reference frame and the two equations are written

to estimate the motor speed. In this the simulation and the DSP implementation results are

compared, to validate the proposed estimation method.

B.G.Fernandes and S.K.Pillai [69] have developed a programmed PWM inverter

using PC for induction motor drive. They have designed and developed an experimental set

up for speed control of three phase induction motor using transistorized inverter with

programmed PWM technique and they have demonstrated that programmed PWM scheme

provides high quality of motor current throughout the range of output frequency, many

control modules are realized through software and a significant reduction in hard ware is

achieved and system reliability is increased. Hence they have justified that programmed

PWM inverter using PC is best suited for high performance drives.

L.Umanand and S.R.Bhat [70] have proposed online estimation of stator resistance of

an induction motor for speed control applications. The authors have discussed about the

problems in the flux estimation and control due to variation in the stator resistance of the

induction motor and they have proposed and demonstrated a stator resistance estimation

algorithm for online estimation of the stator resistance under steady state operating

conditions, using variables that can be measured from the terminals of the motor alone and it

39
is based on estimating the steady state magnitudes of the stator and rotor flux space phasors

using the reactive power.

In 2005, Hassan Baghgar Bostan Abad et.al [71] have developed induction motor

speed controller with constant flux using fuzzy logic. By using artificial intelligence

technique, the electrical motor controller is implemented and it is implemented without

mathematical model. By experimental setup they have shown that by using fuzzy logic/

artificial intelligence technique, efficiency, performance and reliability of drives is increased

and volume, weight and cost of the drive is reduced.

In the same year, Adel Gastli et.al [72] have developed a novel method for controlling

soft-starter-fed induction motor drive systems using artificial neural network. They have

developed and tested a artificial neural network based ac voltage controller which generates

the appropriate thyristors firing angle for any given operating torque and speed of the motor

and the load. The developed artificial neural network based controller is simple, stable and its

results are accurate compared to conventional mathematical calculation of the firing angle

which is very complex and time consuming especially in online control applications.

Again in the same year Abdolreza Esmaeli et.al [73] have proposed for the mitigation

of the adverse effects of PWM inverter through active filter technique. In this a PWM

inverter fed AC motor drive system capable of suppressing all the adverse effects of PWM

inverter based on active cancellation method is developed. An EMI filter characterized by

sophisticated connection of two small separate filters, which can mitigate common mode

voltages produced by PWM inverter and can suppress leakage current.

In the year 2006, D.Chatterjee et.al [74] have proposed a fuzzy logic based stator

resistance technique for speed control of induction motor in the low speed region. The stator

40
resistance compensation method is used in this and it is implemented using microcontroller

and simple fuzzy-logic based technique.

In the year 2006, N.B.Muthuselvan and P.Somasundaram [75] have proposed a

simple, novel and robust fuzzy logic controller for high performance induction motor drive.

They have discussed that fuzzy logic controller does not need exact knowledge of induction

motor and inputs to the fuzzy logic controller are the linguistic variables of speed error and

change of speed error, while the output is change in switching control frequency of the

voltage source inverter. The authors have made a comparison between fuzzy logic controller

and traditional PI controller and they have shown that fuzzy logic controller is more robust

and effective for high performance induction motor drive.

In the same year, Wei Gu et.al [76] have developed a high power middle voltage

induction motor soft starter based on an on-off transformer. The performance of regular soft

starter, in which SCR’s are used, will change after a period of time. To overcome this

problem the authors have introduced a new type middle-voltage soft starter based on the on-

off transformer. In this the transformer’s primary winding is connected in series with the

motor’s stator. The secondary winding is connected with a pair of anti-parallel SCR. The

voltage of the primary winding is continuously changed by controlling the firing angle of

SCR, then the voltage of the motor’s stator is continuously changed and the soft start is

realized. This new method is tested on a 6KV, 850KW induction motor and by test results it

is observed that nearly perfect current and torque profiles are obtained during starting.

Again in the same year, Mengze Yu et.al [77] have published a novel induction motor

soft starter based on magnetically controlled reactor. In their work the authors have

developed a reduced voltage soft starting device, which works on the basis of magnetically

controlled reactor. In this method at starting, three single-phase magnetically controlled

41
reactors are connected in series with the stator winding of the motor to reduce inrush current

and keep the starting current constant at preset value by adjusting the reactance of the

magnetically controlled reactors.

In the year 2007, K.Sandeep kumar and K.Pritam Satsangi [78] have designed and

developed the variable speed drive of induction motor for constant torque using V/F method

and 89C54 microcontroller. In this closed loop control the actual speed of the motor is

compared with the reference speed and the difference in speed is adjusted by changing firing

angles of switching devices in the inverter. The developed variable speed drive system is

tested for changing in load conditions and from the results they have shown that, with the use

of microcontroller, the developed system is more flexible when compared with other

traditional methods.

In the same year, M.Sudha and P.Anbalagan [79] have developed and implemented

protection method for induction motor against faults due to voltage unbalance and single

phasing using PIC 16F877 microcontroller on a 3-phase, 2KW, 5Amps, 400 volts squirrel

cage induction motor. In this three potential transformers are connected to each phase of

induction motor and the secondary voltages of potential transformer are converted into DC

values and they are transmitted to the PIC microcontroller using analog to digital converter.

The measured values are compared with reference values by means of software. When

voltage unbalances, under voltage or single phasing are sensed, the system opens the

normally closed contactor by activating the relay and cuts the power supply to the induction

motor. From the test results they have shown that, the developed protection system is very

sensitive, fast and detects faults while running and before start.

Again in the same year Joachim Bocker and Shashidhar Mathapati [80] have proposed

the state of the art of induction motor control. In this he has discussed about the historical and

42
recent developments and major milestones in the control of induction motors, how research

results are translated in to today’s industrial applications and standards, finally he has

summarized about the current trends in research and industry.

A.M.Eltamaly et.al [81] have shown that three phase ac voltage regulators provide a

simple and low cost option for speed control of three phase induction motor in 2007. The

three voltage control strategies proposed are phase angle control (PAC), extinction angle

control (EAC) and modified phase angle control (MPAC). The phase angle control strategy is

implemented using three back-to-back thyristors connected in series with the motor terminals.

The extinction angle control and modified phase angle control are used with converters

having six bidirectional switches. The simulation of the same is carried out using PSIM

computer program. The simulation results have shown that all switching strategies give high

level of harmonics in supply and motor currents. The motor speed variation with motor

voltage is same in modified phase angle control and extinction angle control but slightly

different in phase angle control strategies. The efficiency of phase angle control strategy is

highest in high speed and drops down the efficiencies of the other two techniques in the lower

speeds. It is shown that the extinction angle control strategy gives better power factor than the

other two techniques and modified phase angle control has the best THD in the supply and

motor currents.

In 2007, Tianchai Suksri and Satean Tunyasrirut [82] have proposed a PI controller

design for a speed control of induction motor. The voltage source inverter with space vector

pulse width modulation technique is used in this system. This scheme leads to be able to

adjust the speed of the motor by control of the frequency and amplitude of the input voltage.

In this the ratio of input stator voltage to frequency is maintained constant. The experimental

set up is developed and its results are analyzed in testing the 120watts induction motor from

no-load condition to rated condition and it’s found that the speed of the induction motor can

43
be controlled at the desired speed without steady-state error and it is shown that the motor

speed remains constant when the load varies.

In the same year, Hamdy.A.Ashour et.al [83] have implemented microcontroller

based soft starters for three phase induction motor. In this the modeling and simulation of

three phase induction motor is implemented and tested for various starting techniques. They

have implemented and tested two microcontroller based soft starting of three phase induction

motor, one using star-delta in combination with a reactor using PIC16F84 and the other using

AC voltage controller starting using PIC16F877.The comparison of these is made with

commercial soft starter LH4-N2 and they have demonstrated that both proposed soft starters

are more effective, simple and their cost is less.

In the year 2008 Thida Win et.al [84] have published a paper in world academy of

science, engineering and technology on analysis of variable frequency three phase induction

motor drive. This paper deals with the development of the hardware for speed control of a

three phase induction motor in open loop, in which supply voltage and frequency needs to be

varied with constant ratio to each other. In this an ac input voltage to the induction motor is

given through a diode bridge rectifier to produce a dc output which across a shunt capacitor

is connected, this in turn feeds the PWM inverter. The PWM inverter is controlled to produce

a desired sinusoidal voltage at a particular frequency. The output of the inverter is filtered by

the use of an inductor in series and capacitor in parallel and then it is given to the squirrel

cage induction motor. The developed hardware is experimentally verified for its operation for

wide range of speed.

In the year 2008 many papers have been published and they are as under S.Ananthi

et.al [85] have proposed and presented economical method of providing a variable speed

drive for agricultural pump motors. The variable speed drive of induction motor is achieved

44
by inverter drive system in which six switches will be used. The proposed economical

variable drive system is developed using ATMega8535 microcontroller and only two IGBT

switches, in which only a single PWM pulse drive is used instead of three as usual and can

work under single phasing conditions also. The developed software is quite simple and the

system is more reliable with reduction in number of IGBT’s switches used.

Mineo Tsuji et.al [86] have published a novel V/f control of induction motors for

wide and precise speed operation. In this by calculating the d-q currents of induction motor,

auto-boost voltage method to compensate the voltage drop of stator impedance and a slip

frequency compensation method to decrease the speed error caused by the change of load is

presented. With the constant V/f control method, the motor cannot be operated at very low

speed. With the proposed novel V/f control method, the speed control at very low frequency

operation, such as 30rpm, from no load to the rated load is achieved.

The same authors [87] have shown that the steady-state and transient characteristics of

induction motor can be improved by the novel V/f control method. In this control method an

auto-boost voltage is used to compensate the voltage drop of stator impedance and a slip

frequency compensation method to decrease the speed error caused by the change of load.

From the experimental system, it is observed that there is an improvement in the steady-state

and transient characteristics of induction motor by novel V/f control method.

L.Rajaji et.al [88] have proposed a new adaptive neuro fuzzy based soft starting

strategy for selection of firing angles for thyristors in voltage controlled induction motor

drives. They have shown that proposed strategy mainly operates in open loop and speed and

voltage sensors are not required. The sensing of voltage across thyristors is also not required.

The simulation procedures and results are presented for the proposed method and they are

45
compared with the conventional soft starter results and they have shown that proposed soft

starter strategy is simple, stable, accurate and its response is fast.

John W Finch and Damian Giaouris [89] have reviewed the use of AC electrical

machines in controlled electrical drive applications. In this they have the discussed in length

the different AC electrical machines and their control principles i.e scalar control, vector

control, direct torque control and sensorless control methods. The main focus of review is on

control techniques which are being applied to make AC drives a rapidly growing area.

In the year 2009 many papers have been published and they are as under :

J. Liu et.al [90] have proposed an effective scheme of induction motor control without

using stator sensor. It consists of speed calculation algorithm and voltage/frequency control.

The proposed controller is implemented on a 2KW induction motor using DSP320F2812

from the results it is seen that the system has good characteristic in steady state and during

transient conditions.

C. Thanga Raj et.al [91] have discussed about the different methods used for energy

efficient control of three phase induction motor and the importance of efficiency optimization

in all electrical systems. They have discussed that efficiency optimization can also be

achieved by optimal design of machines, which covers design modifications of materials and

construction. The use of artificial intelligence techniques such as artificial neural network,

fuzzy logic, experts systems and nature inspired algorithms; genetic algorithm are also

discussed for efficiency optimization and using these experimental and simulation examples

on efficiency optimization are shown.

Chia-Chou et.al [92] have proposed fault-tolerant soft starter control of induction

motors with reduced transient torque pulsations in 2009. The simulation and experimental

46
test are conducted on a 1.492KW, 460V, four pole three-phase induction motor. From the test

results it is seen that, the proposed fault-tolerant soft starter control has reduced motor inrush

current magnitude and this approach is applicable to any soft starters that control small to

large integral horsepower induction motors.

F.A.Ramirez et.al [93] have designed and implemented a variable speed drive system

using the space vector PWM voltage source inverter and dsPIC30F3011 controller. The

variable speed drive is integrated by the IGBT driver, the IGBT power module and the dsPIC

controller. The modulation algorithm, speed measurement and PI controller are programmed

in dsPIC and they have tested the developed variable speed controller on a 0.5HP, 220V,

1800rpm, and 60Hz induction motor with closed loop scalar control. From the test results it is

observed that induction motor can be operated under different loading conditions using the

dsPIC controller.

Arunima Dey et.al [94] have proposed the vector control of three phase induction

motor using artificial intelligence technique. The regular PI controller used in the induction

motor drive system is unable to provide constant torque without any peak overshoot and

ripples. To overcome these problems, a unique set of fuzzy logics are proposed and

implemented in the speed controller design of a vector controlled three phase induction

motor. The results obtained from the model using fuzzy logic controller and PI controller are

compared and they have shown that the use of fuzzy logic improves and smoothens out the

ripples in the motor torque and stator currents and it has limited the magnitude of the torque

and current values within the specified range in any kind of disturbances.

A Ali Qazalbash et.al [95] have proposed the design and implementation of

microcontroller based PWM technique for sine wave inverter with minimized harmonics. In

this simulation and implementation of a sine wave inverter with ripple free and glitch free

47
output are carried out, it involves rectification and inversion modes which include bridge

technique, PWM technique, converter or a transformer, output filter and a feedback loop for

voltage regulation. In this the output voltage of the inverter is regulated by a feedback loop

using analog to digital protocol of PIC16F877 microcontroller.

B.Biswas et.al [96] have published paper on current harmonics analysis of inverter fed

induction motor drive system under fault conditions. The simulation of a voltage source

inverter fed induction motor drive system based on constant voltage/frequency operation is

developed using PSIM software and the harmonic analysis of motor current under different

fault conditions of medium and high power variable frequency drive systems are carried out.

Frequency response characteristics of motor currents are compared to analyze fault

conditions in motor drive system.

S.K.Moin Ahmed et.al [97] have presented a Simulink based modelling, simulation

and implementation of high performance induction motor drive system using constant V/f

speed control method. The simulation model is developed using simpower system block sets

of the Matlab/Simulink software, in which step by step model development is elaborated. To

address the real time implementation issues, they have incorporated the dead banding of the

inverter switches in the simulation model. The real time implementation of the constant

volt/Hz scheme is done using TMS320F2812 DSP processor. They have compared

simulation and experimental results, to show the successful implementation of the control

scheme.

Ku.Trupti Deoram Tembhekar [98] has discussed about the scalar and vector control

of induction motor drives and he has developed the Simulink based simulation for open and

closed loop control of induction motor using both scalar and vector control and constant V/f

speed control method. From open loop and closed speed control of motor drive simulation

48
results, they have justified that this type control is well suited in applications requiring a

constant V/f speed control such as pumps, machine tools, mills etc. They have presented the

steady state equivalent circuit analysis to justify the use of the scalar control method and they

have used closed loop parameters to tune the flux and torque controllers of an indirect field

oriented control motor drive system. From the experimental and simulation results they have

justified that, due to its simple implementation and physical approach of the process, vector

control method is efficient enough to achieve good dynamic of an induction motor drive

system.

F.Kentli [99] has carried out a survey on progress made on design optimization of

induction motors during the last decade. In this they have discussed in detail about the single

phase and three phase induction motors, their classifications and the different methods used

for design optimization. Most of the studies on design optimization of induction motors are

done on polyphase induction machines only. Keeping efficiency, cost, minimizing

temperature, starting torque and vibration as objectives the design optimization of induction

motors is done.

In the year 2010, Prasad Shrawane [100] has proposed open and closed loop control

of induction motor using Volt-per-Hertz controller. The author has developed a simulink

based simulation for open loop and closed loop control of induction motor using V/f method.

A detail study of the simulation is done first with open loop and then with the closed loop

with the application of slew rate. The open and closed loop results are presented and from the

results they have shown that the slew rate reduces the transient time period, which is better

for the life of the machine. The steady state error is reduced to zero but it has taken longer

time in the closed loop method.

49
 In the same year, Rateb.H. Issa [101] has proposed the stator current optimization of

three phase induction motor. In this the author has attempted to improve the performance of

induction motor by analyzing and designing the induction motor optimal stator current

controller, which will minimize the stator current under different loading conditions. He has

presented two mathematical based optimal control systems for induction motor drives leading

to stator current optimization and energy savings. First is the classical optimal control system

method and it uses the information on torque of the motor to generate the appropriate voltage

amplitude that minimizes the induction motor stator current. The second is the genetic

algorithm based optimal control system and it also uses information on torque of the motor to

generate the appropriate minimum stator current according to fitness function. The simulation

is carried out using MATLAB/Simulink toolbox and results are presented to show an

improvement of stator current minimization, which leads to energy savings.

Again in the same year, S.S.Darly et.al [102] have proposed a new approach based on

fuzzy algorithm to suppress the current harmonic contents in the output of an inverter. In this

they have designed a controller to find the difference between the input voltage and the

reference voltage. According to the difference, the voltage is added/subtracted in series with

the mains, for this a closed loop will inject a sinusoidal voltage component which is in phase

with the line current to draw/supply the required adjustment power. They have implemented

the new approach by building a proto type three phase impedance source inverter.

C.S.Kamble et.al [103] have proposed a digital signal processor based V/f controlled

induction motor drive in 2010. In this work they have developed a V/f controlled voltage

source inverter fed induction motor system using TMS320 DSP processor. From the

experimental set up and its results, they have claimed that TMS320 based control system has

high processing speed and it allows sophisticated control techniques to be used to build a

50
high precision control system. With the use of DSP controller, they have reduced the overall

system costs and an improvement in the reliability of the drive system is achieved.

In the same year, R. Arulmozhiyal et.al [104] have presented Real time MATLAB

interface for speed control of induction motor drive using dsPIC30F4011. The field oriented

control is used in this drive system and it has provided high efficiency, good power factor and

is extremely rugged. In this speed of the motor is adjusted by controlling the frequency and

amplitude of the stator voltage, for this the ratio of stator voltage to frequency is kept

constant. The experimental results are presented to show that using the developed controller

speed of the motor can be controlled in normal, step up and step down response.

In the same year, Benmabrouk et.al [105] have presented software digital phase-

locked technique for speed control of an induction motor using scalar strategy. They have

implemented the digital phase locked loop control system and simulation results are

presented to verify the validity of the developed system.

In 2010, Ku.Trupti Deoram Tembhekar et al [106] have analyzed the steady state

equivalent circuit model of an induction motor to establish the equations that justify the use

of a constant V/f speed control of open loop and closed loop control. The open loop and

closed speed control of motor drive simulations are carried out and its results are presented. A

proto type hard ware is developed and the closed loop parameters are used to tune the flux

and torque controllers of an indirect-field oriented control motor drive system. The

experimental and simulation results are demonstrated to justify the feasibility of the system.

In the year 2011, Hussein Sarhan [107] has developed modeling and simulation of

drive system for energy efficient control of three phase induction motor drive system. In this

technique efficiency optimization controller works based on search methods. At a certain

torque and speed, there is only one value of stator voltage that operates the motor at optimum

51
efficiency. Using this technique, the proposed controller manipulates the value of the stator

voltage that maximizes the efficiency at any given operating point. Based on simulation

analysis and results presented, they have claimed that the proposed controller has given

significant results at low frequencies and light loads.

Bimal.K.Bose [108] has delivered a key note address about energy scenario and

impact of power electronics in 21st century. In this he has discussed about the global energy

scenario, the electricity generation by different fuels. Climate change problems i.e Global

warming problems due to man- made fossil fuel burning and the different methods of

mitigating it. Impact of power electronics in energy saving, renewable energy systems, bulk

storage of energy and electric/hybrid electric vehicles in the 21st century.

In the year 2012, Vishal Rathore and Manisha Dubey [109] have published paper on

speed control of asynchronous motor using space vector pulse width modulation approach.

They have developed a simulation model based on the mathematical model combining with

Matlab/Simulink. From the simulation results, they have demonstrated that space vector

control system has good static and dynamic properties. The space vector pulse width

modulation approach for the speed and torque control of induction motor is compared with PI

and PID controller connected in the feed forward path of the system and they have compared

the results on the basis of time response specifications i.e Rise time (tr), Peak time (tp),

Settling time (ts) and maximum overshoot (%Mp). From the results presented, it is observed

that the SVPWM with PID controller provides better results compared to the PI controller.

In the same year, Anuradha Tomar and Yog Raj [110] have presented an overview of

the various control techniques for induction motor drive. In this they have discussed the

various control schemes available for control of induction motor drives and their advantages

and disadvantages over the others.

52
 In the year 2013, Shilpa V Kailaswar and R.A.Keswani[111] have implemented

variable speed drive for maintaining the constant speed of three phase induction motor for

batching motion system, as it requires constant speed. The synchronization is necessary

between batching system and weaving machine and this is implemented with the help of AC

drives. In this V/f control method is used to vary voltage and frequency as per requirement of

torque and speed.

In the same year, P.S.Joshi and A.M.jain [112] have published paper on design and

analysis of a wireless speed control of an induction motor using PWM technique with GSM.

In this they have developed a three phase induction motor drive for a 1HP, 3-

phase,415V,50Hz induction motor using IGBT’s at the inverter power stage with volts hertz

control in closed loop using a microcontroller. They have presented the experimental results

for the developed system and with the use of GSM, it has provided constant volts per hertz

control and stable inverter line to line output voltage.

In the same year, A.Idir and M.Kidouche [113] have published a full real-time

simulation of V/F scalar controlled induction motor drive using RT-Lab platform and

MATLAB/Simulink environment for educational purpose. They have used the

MATLAB/Simulink as a front-end for editing and viewing graphic models in block diagram

format. These block diagram models have become the source from which code can be

automatically generated, manipulated and downloaded onto target processors for real-time or

distributed simulation.

2.3 Formulation of research problem

From the exhaustive review of literature presented above, it is observed that the

control and estimation of induction motor drives constitute a very vast subject and the

technology has further advanced in recent years. Induction motors drives with cage-type

53
machines have been the workhorse in industry for variable speed applications in a wide

power range that covers from fractional horsepower to multi megawatts. It is also observed in

the literature, that in addition to motor control, the emphasis for energy saving aspect of

variable frequency drives is getting a lot of attention nowadays to get benefitted in terms of

cost, solving environmental pollution problems and also in contributing towards reduction in

global warming. It is amply clear that enormous amount of work has already been done to

ensure the advantages of variable speed drive in motor control applications. Novel designs

have been proposed in the literature. Simulations of different control system are developed

and implemented for different types of motors using different software tools. Experiments

are carried out using the different scalar and vector control methods on three phase induction

motors. With the fast development in the semiconductor technology and very large scale

integrated circuits many new controllers have been developed using different microprocessor,

microcomputers, digital signal processors and using artificial intelligence techniques i.e fuzzy

logic, neural network, expert systems and genetic algorithms. Dramatic improvement in

performance, in terms of efficiency, cost, power consumption, torque, precise control have

been claimed by the use of variable voltage and frequency drives by different researchers.

Totally, the state-of-the-art of electronic motion control technology, the salient technical

features of electrical machines, power electronic circuits, microcomputer control, VLSI

circuits, machine controls and computer-aided design techniques are discussed in the

literature, the controlled electrical drives are still in the intense development phase.

Numerous control problems and the problems of energy conversion yet need to be solved.

However an elaborate discussion about the application of combined microcontroller and

digital signal processor for motor control is rare in the literature. Also efforts to develop new

controllers using the combined features and advantages of microcontroller and digital signal

processor are very rare in literature.

54
 A Digital Signal Controller is a single chip embedded controller that integrates the

controller attributes of a microcontroller (MCU) with the computation and throughput

capabilities of a Digital Signal Processor (DSP). The microchip’s dsPIC DSC offers all the

facilities that are available in a 16-bit microcontroller and a DSP processor. Hence it is

relevant and equally important to propose the design and development of cost effective

controller for speed control applications which is not found in the literature.

Hence an effort is made to study the different types of AC machines and their

different speed control methods in detail. Various scalar and vector control methods are

available for variable speed drive applications. All have their own advantages and

disadvantages.

An induction motor can run only at its rated speed when it is connected directly to the

main supply. However many applications need variable speed operations. This is needed in

the most of the applications where input power is directly proportional to the cube of motor

speed. In applications like the induction motor-based centrifugal pumps, a speed reduction of

20% results in an energy savings of approximately 40%. Driving and controlling the

induction motor efficiently are prime concerns in today’s energy conscious world. ACIM’s

are designed to operate at a constant input voltage and frequency. We can effectively control

an ACIM in a closed loop speed application if the frequency of the motor input voltage is

varied. If the motor is not mechanically overloaded, the motor will operate at a speed that is

roughly proportional to the input frequency. As you decrease the frequency of the drive

voltage, you also need to decrease the amplitude by a proportional amount. Otherwise, the

motor will consume excessive current at low input frequencies. This control method is called

Volts-Hertz control scheme. The constant V/f method is less complex in nature and can be

implemented using the DSC. By using the dsPIC DSC we will be trying to reduce the

complexity of the controller and also we can have all the required features for motor control

55
which are provided by microcontroller and DSP processor. The use of this 16 bit DSC yields

enhanced operations, fewer system components, lower system cost and increased efficiency.

In this work a low cost dsPIC30F2010 is used as a controller to obtain the required V/F

control of induction motor.

The present work is out lined as below.

To study the construction and working of induction motor.

To study the different speed control methods.

To study the basic concepts and working of variable drive systems.

To propose and develop a new variable speed drive system using DSC.

To set up experimental hardware and test it for open loop and closed loop

operation.

To compare the results of open and closed loop system.

56