‫بسم

الرحمن الرحيم‬
‫اللجنة العلمية الدائمة لترقية أساتذه جامعة األزھر‬
‫التخصص‪ :‬الھندسة الكھربية‬

‫استمارة تمأل بواسطة المتقدم‬

‫لبيان دوره فى البحث معتمدا من باقى الباحثين‬
‫ولو اشترك مع أخرين فى غير تخصصه‬

‫بحث رقم‪ :‬الخامس‬

‫عنون البحث‪:‬‬

‫التحكم فى سرعة المحرك الحثى ذى الثالثة أوجه بإستخدام التحكم الموجھه للمجال‬

‫‪Speed Control Of A Three Phase Induction Motor Using Field‬‬

‫‪Oriented Control‬‬

‫الدور‬
‫توقيع‬ ‫فكرة‬ ‫التخصص‬ ‫اسماء المشتركين في‬
‫المشتركين‬ ‫كتابة البحث‬ ‫تحليل النتائج‬ ‫اجراء البحث‬ ‫الدقيق‬ ‫البحث‬
‫وبروتكول‬
‫واعداده للنشر‬ ‫ومناقشتھا‬ ‫وتنفيذه‬
‫البحث‬
‫اآلت‬
‫‪%70‬‬ ‫‪%70‬‬ ‫‪%70‬‬ ‫‪%70‬‬ ‫د ‪.‬عمرو رفقى عبدالوھاب‬
‫كھربية‬
‫اآلت‬
‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫أ‪.‬د‪.‬محفوظ السيد الشلبى‬
‫كھربية‬
‫اآلت‬ ‫أ‪.‬د‪.‬م‪ .‬حمدى عبدالحليم‬
‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫كھربية‬ ‫محمد‬
‫اآلت‬
‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫‪% 10‬‬ ‫م‪ .‬محمد حسين‬
‫كھربية‬

‫اسم المتقدم‪ :‬عمرو رفقى على عبدالوھاب‬

‫التوقيع‬
 ‫الملخص العربى للبحث‬

‫عنون البحث‪ :‬التحكم فى سرعة المحرك الحثى ذى الثالثة أوجه بإستخدام التحكم‬
‫الموجھه للمجال‬

‫يعتبر المحرك الحثى األكثر جساءة وتماسكا بين أنواع المحركات المختلفة مما يؤھله لإلستخدام فى‬
‫كثير من التطبيقات الصناعية‪ .‬كما أن طريقة التحكم الموجھه للمجال أو كما تسمى طريقة التحكم‬
‫الموجھى طريقة فعالة للتحكم فى سرعة او عزم المحركات الحثية أو كالھما معا‪ .‬تعتمد طريقة التحكم‬
‫على عمل نموذج رياضى يمثل فيه المحرك الحثى بدائرتين أساسيتين منفصلتين يشبھان الى حد كبير‬
‫تلك الدائرتين الممثلين لمحرك التيار المستمر ذو اإلثارة المنفصلة‪ ،‬بحيث يتم التحكم فى المجال‬
‫المغناطيسى والعزم منفصلين‪ ،‬بمعنى أن تكون ھناك دائرة للتحكم فى المجال المغناطيسى وأخرى‬
‫للتحكم فى عزم الدوران‪ .‬من أھم مميزات التحكم الموجھه للمجال أنه مستقر بشكل كبير وله القدرة‬
‫على اإلستجابة السريعة للتغير فى العزم وكذا الدقة العالية للتحكم فى السرعة‪ .‬يوضح البحث أساسيات‬
‫التحكم بالمجال الموجھه للمحركات الحثية من خالل بناء نموذج محاكاة وكذا أختبار النتائج معمليا‬
‫بإستخدام نفس النموذج والذى تم بناؤه فى بيئة ‪ MexBios‬والتى من أھم مميزاتھا أنه باستخدام نفس‬
‫برنامج المحاكاة يتم التحكم فى المحرك بعد حرق البرنامج على فالشة متحكم دقيق مما يتيح أختبار‬
‫النتائج على اآللة مباشرة‪ .‬تم أستخدام كارت تناظرى رقمى رخيص التكلفة لنقل كافة البيانات بين‬
‫برنامج التحكم على الحاسب اآللى ولوحة التحكم والقوى ‪ .MBC-02‬أوضحت النتائج فاعلية وسھولة‬
‫التحكم الموجھه للمجال فى سرعة وعزم المحركات الحثيةبطريقة كبيرة الشبه بالتحكم فى سرعة‬
‫محركات التيار المستمر ذات التغذية المنفصلة للمجال‪.‬‬

‫‪1‬‬
Volume 2, Issue 11, November, 2015
ISSN : 3159-0040
www.jmest.org
 Journal of Multidisciplinary Engineering Science and Technology
ISSN: 3159-0040 (Online)
Vol. 2 Issue 11, November - 2015
Paper Title Pages
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Squeezed State Of Light, Multiple Reflection And Spatial Hole Burning
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Correlation For Predicting Tds And Elecrical Conductance Of Groundwater: Using Electrical
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Improved Precise Positioning In 3d Using Rcpi And Spherical Co-ordinates For Indoor
Localization 2982-2986
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Triboelectrification Of Polypropylene Shoe Sliding Against Polyethylene Cover
2987-2993
Authors: Mahmoud M. M; Ali W. Y.; Abdel-jaber G. T.
Effects Of Locally Available Additives On Geotechnical Properties Of Ijero Local
Government Soil, Ekiti State, Nigeria. 2994-2997
Authors: Adetoro A. Ezekiel; Ayeni I. Samuel
A Measurement-based Model For The Analysis Of Pathloss In A Given Geographical Area
2998-3003
Authors: Emerole K. C; Nwaokoro A. A.; Okoye A.
Professionals’ Perspective About Significant Factors Causing Cost And Time Overrun In
Nigerian Practice 3004-3008
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Acceleration-retardation Of Calcium Carbonate Scale Deposition Under Static Electric
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Assessing Climate Change Impacts On Gediz Basin Water Balance With Weap Model
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Plane Waves In Theory Of Micropolar Thermoelasticity With Diffusion
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Cognitive Load Implications Of Employing Social Media In Teaching And Learning
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Design And Analysis Of A System For Precise Speed Control Of A Dc Motor
3031-3038
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Discriminant Analysis In View Of Statistical And Operations Research Techniques
Authors: Asmaa Salama Ahmed Zeidan; Enayat I. Hafez; Eman M. Abdel-fatah; Saida M. 3039-3047
Abdel-nabi
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3048-3053
Authors: Kadir Aztekin; Ergun Ateş
Strength Development Ratio Of Untreated And Heat Treated Sisal Fibre Reinforced
Medium Strength Ternary Concrete 3054-3059
Authors: Patrick Oguguo Nwankwo; Danjuma Joseph Goh
Assessment Of Power System Stability In The Presence Of Dfig Wind Turbine
3060-3069
Authors: Eng. Ahmed Abd Elhameed; Salah. K. El-sayed; M. A. Mehanna
Optimization Of Compounding Conditions For Adenia Lobata- Hdpe Composite
3070-3081
Authors: Ejikeme, Ebere, M.; Ejikeme, Patrick, C. N.; Onukwuli, Donatus, O.
2d Controlled Source Seismic Mapping Of The Low Velocity Layer In Magadi Basin, Kenya
3082-3087
Authors: Mulumbu Elly. B; K’orowe Maurice; Githiri Joth. G.
Characterization Of Biocoal From Hydrothermal Carbonization Of Pine Needles And Palm
Leaves 3088-3093
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Preparation And Modelling Of Ac Properties For Surface-modified Haf Loaded Sbr Matrix
3094-3101
Authors: G. H. Ramzy; M. Amin; G. M. Nasr; A. I. Aboud
Technical Loss Reduction Using Wind Turbine In A Distribution Network
3102-3107
Authors: Oshevire . P.; Onohaebi . S.
Deployment Of Surveying And Geoinformatics In Search And Rescue Mission
3108-3112
Authors: A. N. Jatong
The Analysis Of Performance The Production Of Energy By Using Photovoltaic System By
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Study On Water Quality Of Dhaka-narayangang-demra Canal In Bangladesh
3117-3120
Authors: Md. Zahid Husain Khan
Possible Role Of Survivin And Mmp3 In Breast Cancer Disease
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Design Optimization Of An Air Cooled Internal Combustion Engine Fin Using Cfd
3129-3131
Authors: P. T. Nitnaware; Prachi S. Giri
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Authors: M. T. Jiménez-munguía; M. F. Domínguez-courtney; A. López-malo; E. Palou
Retrofit And Carbon Reduction Cost Analysis Of A Circa 1930 Uk Dwelling
3141-3148
Authors: Gary D. Holt; Zhihong Wong; Fonbeyin Henry Abanda
The Effect Of Raw Material’s Fineness And Lime Saturation Factor On Clinker’s Grindability
And Energy Effeciency In The Gabes Cement Industry
3149-3154
Authors: Soumaya Ibrahimi; Nejib Ben Jamaa; Mohamed Bagane; Mekki Ben Ammar;
André Lecomte; Cécile Diliberto
Can The Development Of A Conceptual Model For Uk Engineering Companies Help
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Authors: Jonathan D Owens.
Digitized 3d Wave Expressed In 2d Space Showed Functionality Of The Substance-effects Of
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Authors: Won H. Kim; Bori Kim
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3174-3178
Authors: Author's name withdrawn at their request
Treatment Of Municipal Sewage By Electrochemical Technology
3179-3183
Authors: Jin Zhang; Yu Wang; Wei Wei; Xingwei Shi
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Properties Of Ekiti State Soil 3184-3188
Authors: Adetoro A. Ezekiel; Adekanmi S. Jonathan
Linearized Algebraic Model For Unit Rate Pricing Of Concrete Grade C20p In Construction
Project Bid 3189-3197
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Investigation On Indoor Thermal Satisfaction In The Humid Tropics Of Malaysia
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Smeared Laminate Theory Of Unsymmetrical Laminated Plates: Use Of Extended Poisson
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High Speed Convolution And Deconvolution Algorithm Based On Ancient Indian Vedic
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Analytical Description Of Wagon Motion On The Second Speed Section Of The Marshalling
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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

Speed Control Of A Three Phase Induction

Motor Using Field Oriented Control
Eng. Mohamed Hussein, Dr. Mahfooz E. Shalaby, Dr. Hamdy A.M. Shatla, Dr. Amr Refky,
Dept. of Electrical Engineering
Al-Azhar University
Cairo, Egypt
Eng_mo.hussein@yahoo.com

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

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

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

II. FIELD ORIENTED CONTROL id : Direct current

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

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

www.jmest.org
JMESTN42351196 3212
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
A. Mathematical Clarke transform
The mathematical Clarke transformation converts a
three-phase system to a two-phase orthogonal system
is obtained from:
iα = ia (2)
1 2
iβ = ia + ib (3)
√3 √3
Fig. 2. Direct Clark Transform
B. Mathematical Park transform
The two phase components in the α, β frame
representation calculated using Clarke transformation
are then fed to a vector rotation block where it is
rotated over a flux angle ρ to follow the frame d, q
coincides to the rotor flux [2, 3 and 4].
The rotation over a flux angle ρ is achieved
according to the formulae:
id = iα cos (θ) + iβ sin(θ) (4)
iq = −iα sin (θ) + iβ cos(θ) (5)
Fig.3. Direct Park Transform
C. Mathematical Inverse Park and Clarke transforms
Transformation uses the Inverse Clarke
transformation, Figure 4.The vectors in the d, q frame
are transformed from d, q frame to the two phases α,
β frame representation calculated with rotation over a
flux angle ρ according to the formulae:
iα = id cos (θ) − iq sin(θ) (6)
iβ = id sin (θ) + iq cos(θ) (7)
Fig. 4. Inverse Park Transform
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JMESTN42351196
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015
The modification from a two-phase orthogonal α, β
frame to a three-phase system is done using the
equations:
ia = iα (8)
1 √3
ib = − iα + iβ (9)
2 2
1 √3
ic = − 2 iα − 2
iβ (10)
Fig. 5. Inverse Clarke Transform
III. SIMULINK PROGRAM
Simulink is a software add-on to MATLAB which is
a mathematical tool that enables to simulate model,
and analyze systems whose outputs change over
time. Such systems are often referred to as dynamic
systems.
S-functions (system-functions) provide a powerful
mechanism for extending the capabilities of Simulink
to allow addition new blocks to Simulink models [5].
A. Simulation of Vector Control of Induction Motor
using Simulink program
Vector Control of three phase Induction Motor is
simulated by the block diagram and S-Function as
shown in Figures. 6 and 7 with following components:
1- Three phase Induction Motor
2- Clarke and Park transforms
3- Id_PI controller 4- Iq_PI controller
5- Inverse Park and Clarke transforms
6- Plus width modulation (PWM)
7- Three phase Inverter 8- Speed PI controller
The simulation of the Motor starts at No load and
when the Motor reaches the steady state speed, there
will be two case studies of simulation:
1- Rotating the motor in the reverse direction by
inversing the sign of quadrature current (Iq)
with no load.
2- Increasing the load torque (Tm).
3213
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015

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

Fig. 7. Matlab Subsystem schematic diagram

B. Rotating the motor in the reverse direction

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

So, the quadrature current (Iq) reaches its

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

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JMESTN42351196 3214
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
When the motor starts, the electromagnetic
torque increases to reach the peak value, then falls
down to be close zero value because the motor runs
with no load. After Inversing the sign of quadrature
current (Iq), the torque inverses its sign to reach the
peak value and also falls down to be close zero value
but with negative sign as shown in Figure 9.
Fig. 9. Motor electromagnetic torque VS Time
When we inverse the sign of quadrature current (Iq)
the motor will rotate in the reverse direction because
the motor torque will inverse it's direction and the
stator currents (ia, ib, ic) will be reflected from (R S T)
to (S T R) as shown in Figure 10.
Fig. 10. Three phase (ia, ib, ic) starting currents and after
reflected from (R S T) to (S T R)
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JMESTN42351196
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015
The motor speed will decrease to zero value,
then the motor will reverse its rotation direction and
will continue running at the reverse direction to reach
the rated speed as shown in Figure 11.
Fig. 11. Speed VS Time
When the motor starts with no load, the value
of Theta increases slowly. After the motor reaches its
rated speed, the value of Theta continues increasing
with fast regular values. After Inversing the sign of
quadrature current (Iq), the value of Theta starts
decreasing and after the motor reaches the rated
speed in the reverse direction, the value of Theta will
decrease regularly. The simulation uses a function
block to make the value of Theta increases to reach
(2*pi) then falls down to zero and so on. At the
reverse direction, the value of Theta decreases to
reach zero value then rises up to (2*pi) and so on as
shown in Figure 12.
Fig. 12. Theta VS Time
C. Increasing the load torque using Current
control
In this simulation the motor starts at No load
and continue running with no load for (0.5 seconds)
and after that we will suddenly increase the load
torque (Tm), So, the three phase currents (ia, ib, ic)
will increase to cover this load, The (Iq PI controller)
will increase the value of quadrature current (Iq) but
the value of direct current (Id) will not be affected
because the direct current responsible only for the
magnetization and the quadrature current (Iq)
responsible for the torque as shown in Figure 13.
3215
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
Fig. 13. Two phase currents/Time when increasing the
torque
We note that when the motor starts, the
mechanical torque increases to reach the peak value
and falls down to be close zero value because the
motor running with no load. After the load increases,
the motor output torque will increase to cover this load
as shown in Figure 14.
Fig. 14. Torque VS Time at increasing the load
When we use Current control only the motor
speed will decrease according to the increase of the
load but the controller will control the output speed to
make the decrease of the speed better p.u. values as
shown in Figure 15.
Fig. 15. Speed VS Time at increasing the load torque using
Current control only
D. Increasing the load torque using Speed and
Current control
In this simulation the motor starts at No load and after
the motor reaches its rated speed the simulation will
increase the load torque suddenly but will increase
speed PI_controller to control the speed.
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JMESTN42351196
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015
The speed PI_controller will increase speed
PI_controller to control the speed.
The speed PI_controller will cover the decrease of the
speed to fix the speed at the set point of the speed PI
controller we note that when we compare between
Figures 15 and 16.
Fig. 16. Speed VS Time at increasing the load torque using
Speed and Current control
IV. MEXBIOS SOFTWARE
MexBios software is a mathematical tool used to
simulate vector control of three phase Induction motor.
MexBios software has a very important feature, that it
can simulate the program before loading it to
Microcontroller, so the results can be expected by
simulation before running the real Motor. MexBios
program will simulate Vector Control of Induction Motor
and the same program will be loaded to the
Microcontroller [6].
A. Simulation of Vector Control of Induction Motor
using MexBios program
The Simulation uses MexBios software to simulate
Sensor Less Vector Control of two phase Induction
Motor by simulating all components for the following
schematic diagram as shown in Figure 17:
Fig. 17. Schematic diagram of control blocks
Schematic diagram for control blocks contains:
1- GUI (Graphical User Interface) which contains:
a) RADIO IN selector to select between Feedback
from Motor Model or from real Motor
b) Reset Start / Stop Switch to reset all feedback
signals
c) Two blocks to set Iq & Id reference values
d) Scopes and displays for Feedback signals
Current Loop Formula
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Vol. 2 Issue 11, November - 2015

2- Control System subsystem which contain:

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

Fig. 18. Drivers ADC QEP Formula internal details

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

Fig. 19. Drivers ADC QEP Formula internal details

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B. Simulation of positive value of quadrature
current
When the positive value of quadrature current, the
motor Speed starts from zero and increases fast (only
one second) to reach the peak value (0.97 PU), these
value mean that the motor runs at No load Speed.
After the Motor reaches No load Speed, it will
continue as shown in Figure 20.
Fig.20. Speed Time response
When the motor starts, the starting Iq, Id currents
reach their peak values and starting to decrease to
reach their No load values as shown in Figure 21 a
and After the Motor reaches No load Speed, direct and
quadrature currents will continue at their No load
values as shown in Figure 21 b.
Fig. 21.a) Iq, Id starting values b). Iq, Id No load values
Since the Motor starts with Sensorless control, the
value of Theta will start with a lot of disturbances for
only few milliseconds until the Motor feedback signals
return to the control circuits as shown in Figure 22 a
and Fig 22 b, the same also happens with real work as
in Figures 29 and 30.
Fig. 22 a. Theta starting value b. Theta after few milliseconds
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Vol. 2 Issue 11, November - 2015
C. Simulation of negative value of quadrature current
For the negative value of quadrature current, the
motor Speed starts from zero and increases fast (only
one second) to reach the peak negative value (-0.97
PU), these value mean that the motor runs at No load
Speed in the reverse direction. After the Motor reaches
No load Speed, it will continue as shown in Figure 23.
Fig. 23: Speed curve in PU with negative quadrature current
When the motor starts, the starting Iq, Id currents
reache their negative peak values and starting to
increase to reach their negative No load values as
shown in Figure 24 a. After the Motor reaches No load
Speed, Iq, Id currents will continue at their negative No
load values as shown in Figure 24 b.
Fig. 24 a: Tow phase current b): Tow phase current No
starting values with negative load values with negative
quadrature current quadrature current
The value of Theta will start from zero and jump
to one. Theta starts to decrease to reach to zero and
jump again to one and so on. Because the Motor starts
with Sensor less control, the value of Theta will start
with a lot of disturbances for only few milliseconds until
the Motor feedback signals return to the control circuits
as shown in Figure 25 a and Figure 25 b.
Fig. 25 a: Theta starting values b): Theta after few milliseconds
with negative quadrature with negative quadrature
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Vol. 2 Issue 11, November - 2015

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

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

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

The position information is delivered using a series

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

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 After pressing Start Refreshing button and
saving the Scope output Curves in buffer
mode, we will get the following curves in
Figure 30 have the following:
1- Iq ref = 1
2- Iqs = the quadrature current feedback from the
motor has a positive value.
3- Ids = the direct current feedback from the
motor continue with its positive value.
4- Theta starts from zero and jump to one and
starts to decrease to reach zero and jump
again to one and so on, it means the motor
rotate in the reverse direction.
5- The motor rotates with Speed = 175.8 RPM
Clock wise direction
Fig. 30: Output Curves at Iq ref. = 1
C. Experimental work will start with the appropriate
setting as:
1- q ref. = -1
2- Vdc1 = 60 V
3- Vdc2 = 24
4- V0.25 Kw Motor with Delta connection
FIG. 31: OUTPUT CURVES AT IQ REF. = -1
 Output Curves in Figure 31 have the
following:
1- Iq ref = -1
2- Iqs = the quadrature current feedback from the
motor has a negative value.
3- Ids = the direct current feedback from the
motor continue with its positive value.
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JMESTN42351196
ISSN: 3159-0040
Vol. 2 Issue 11, November - 2015
4- Theta starts from zero and increase to reach
one and jump to zero and starts to increase
again to reach one and so on, it means the
motor rotate in the positive direction.
5- The motor rotates with Speed = 175.8 RPM.
VII. CONCLUSIONS
The field oriented control of three phase Induction
motor is more over simulated using MexBios software
for closed loop speed control. This simulation is
effective because the MexBios software is specialist
significantly in control at many types of motors and
after finishing the simulation the researchers can load
the same program to the microcontroller RAM. The
proposed system is verified experimentally using a
three phase Induction motor and a PC. A low cost I/O
interface card is used to transfer data between control
circuit and the PC. The power circuit and MCB-02
Motor Control Board Kit, Incremental shaft encoder,
mZdsp 2812 Kit are discussed. Motor speed and motor
currents are sensed using interface card by the Laptop
and using a digital photo tachometer.
The experimental work also shows that the speed
control using field oriented control controls all the
motor characteristics and makes the motor control
easy. The motor characteristics are easily affected by
adjusting the Iq ref. value.
VIII. REFERENCES
[1] Ion Boldea and Syed A . Nasar, "The
Induction Machine Handbook", CRC Press 2002
Second Edition, ISBN: 978-0-8493-0004-2
[2] Mahfooz Shalaby, "ELECTRIC DRIVES", Dar
Elfikr Elarabi 2012 Third Edition, ISBN: 977-10-2659-3
[3] Mircea Popescu, "INDUCTION MOTOR
MODELLING FOR VECTOR CONTROL
PURPOSES", Helsinki University of Technology
Espoo 2000.
[4] "Clarke & Park Transforms on the
TMS320C2xx", Texas Instruments Incorporated 1997,
Literature Number: BPRA048.
[5] Ghislain Remy, Jean Deprez, “Workshop
Matlab / Simulink in Drives and Power electronics”,
Palestine Polytechnic University, 18-21 May 2009.
[6] “MexBIOS™ Development Studio Getting
started – new user's manual Description of integrated
development environment”, NPF «Mechatronica-Pro»
LTD, http://mechatronica-pro.com.
[7] “Incremental encoders”, TR - ELECTRONIC
GmbH, Global Quality Management, TR-VCE-VI-GB-
0002-05.DOC.
[8] “mZdsp 2812 – Developer’s module for
processor TMS320LF2812 with pre-installed OE
MexBIOS”, Technical manual , Rev. 1.33” ”, NPF
«Mechatronica-Pro» LTD, http://mechatronica-
pro.com.
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