Induction Motor Drive using PI Controller

Theory
Scalar control (V/f) of Induction motor is done in Fig. 1. Voltage of the machine can be used to control
flux, and slip/frequency can be controlled to control torque. Control strategy in scalar control is simple
when compared to vector control and is widely used in industries. In V/f control, flux is kept constant by
changing voltage proportional to frequency.




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Figure 1: Block diagram

In control system, reference speed is compared with actual speed to generate speed error. Speed error
when passed through PI controller gives magnitude of voltage reference. Frequency of voltage reference is
derived in proportional to this voltage by multiplying by a gain. Sine-triangle PWM technique is used to
generate pulses from these reference voltages.

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Implemention in MATLAB
Simulation Model

Figure 2: MATLAB model for Induction Motor Drive using PI Controller

Setting parameters for various blocks used:

1. Solver type (model configuration parameters  solver)
(a) Type: variable-step
(b) Solver: ode45
(c) Max. step size: 100e-6
2. Powergui (Simulink Library Browser  Simscape  SimPowerSystems  Powergui)
(a) Simulation type: continuous
3. DC voltage source (Simulink Library Browser  Simscape  SimPowerSystems  Electrical sources
 DC voltage source)
(a) Amplitude(V): 565.7
4. Universal bridge (Simulink Library Browser  Simscape  SimPowerSystems  Power Electronics
 Universal Bridge)
(a) Number of bridge arms: 3
(b) Snubber resistance Rs (Ohms): 1e5
(c) Snubber capacitance Cs (F): inf
(d) Power Electronic device: IGBT/diodes
(e) Ron (Ohms): 1e-3
(f) Forward voltages [ Device Vf(V) , Diode Vfd(V)]: [0 0]
(g) [T f (s), T t(s)] : [1e − 6, 2e − 6]

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 5. Asynchronous machine Si units (Simulink Library Browser  Simscape  SimPowerSystems  Ma-
chines  Asynchronous machine Si units)
(a) Preset model: 15: 5.4 HP (4KW) 400V 50Hz 1430RPM
(b) Mechanical input: torque Tm
(c) Reference frame: rotor
(d) Mask units: SI
(e) Initial Conditions: [1 0 0 0 0 0 0 0]

6. Three-Phase Series RLC Branch (Simulink Library Browser  Simscape  SimPowerSystems 

elements  Three-Phase Series RLC Branch)
(a) Branch type: R
(b) Resistance R (ohms): 1e6
7. MATLAB Function (Simulink Library Browser  Simulink  User-Defined Functions  MATLAB
Function)
f unctionT m = mechanical torque(time)
if (time < 40||time > 55)
T m = 0;
else
T m = 26.71;
end
end

8. Clock (Simulink Library Browser  Simulink  Sources  clock)

(a) Decimation: 10

9. Constant (Simulink Library Browser  Simulink  Commonly Used Blocks  Constant)

10. Discrete PID Controller (Simulink Library Browser  Simulink  Discrete  Discrete PID Con-
troller)
(a) Controller: PI
(b) Form: Parallel
(c) time domain: Continuous-time
(d) P: 2.5e-2
(e) I: 2.5e-3
(f) check ”limit saturation”
(g) Upper saturation limit: 0.99
(h) Lower saturation limit: 0
(i) anti-windup method: clamping
11. Gain (Simulink Library Browser  Simulink  Commonly Used Blocks  gain)

12. Integrator (Simulink Library Browser  Simulink  Continuous  Integrator)

13. Sum (Simulink Library Browser  Simulink  Math operations  sum)
14. Product (Simulink Library Browser  Simulink  Math operations  Product)
15. PWM Generator (2-level) (Simulink Library Browser  Simscape  SimPowerSystems  Control
and Measurement Library  Pulse and signal generator  PWM Generator (2-level))
(a) Generator type: three phase bridge (6 pulse)
(b) mode of operation: unsynchronized
(c) Carrier frequency: 1000

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MATLAB Simulation Plots

Figure 3: a)Speed reference(rpm) and Actual Speed(rpm) b)Torque reference(N m) and Actual Torque(N m)
c)a-phase Current(A)

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Implementation in PSCAD
Simulation Model

Figure 4: PSCAD Model for Induction Motor Drive using PI Controller

Figure 5: Control Circuit

Setting parameters for various block used:

1. Run time setting (Right click  project settings  run time settings)
(a) Duration of run = 65 s
(b) Solution Time Step = 10 × 10− 6 s
2. Voltage Source (Master Library  Sources  [single phase voltage source model 2])
(a) Source Impedance: Ideal
(b) Source Type: DC

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 (c) Magnitude = 7657 V
(d) Ramp up Time = 0 s
3. IGBT (Master Library  HVDC Facts  IGBT)
(a) Enable Snubber Circuit: No
(b) Interpolated pulse: No
(c) Thyristor on resistance: 1 × 10− 4 Ω
4. Diode (Master Library  HVDC Facts  Diode)
(a) Enable Snubber Circuit: No
(b) Thyristor on resistance: 1 × 10− 2 Ω
5. Induction Machine:
(a) General Data
i. Rated power : 1.119 MVA
ii. Rated voltage ( L-L ) : 4000 V
iii. Base angular frequency : 314.159 rad/sec
iv. Stator/rotor turns ratio : 1.33
v. Angular moment of inertia : 0.7267 s
vi. Mechanical damping : 0.01 pu
(b) Options
i. External connection to the rotor : no
ii. Multimass interface : Disable
iii. stator winding neutral grounded : no
iv. Rotor squirrel cage exists : no
(c) Stator and Rotor Resistances
i. stator resistance : 0.01 pu
ii. wound rotor resistance : 0.012 pu
(d) Stator and Rotor Inductance
i. Magnetizing inductance : 4.154 pu
ii. Stator leakage inductance : 0.072 pu
iii. Wound rotor leakage inductance : 0.074 pu
(e) Internal Output Variables
i. Mechanical speed : W
ii. Electrical torque : Te
iii. Mechanical torque : Tm
6. Two Input Selector: (Master Library  CSMF  Two input selector)
7. Single Input Level Comparator: (Master Library  CSMF  Single input level comparator)
(a) S to T
i. Threshold input level : 0.5
ii. low output level : 1
iii. High input level : 0
(b) SW1
i. Threshold input level : 40
ii. low output level : 0
iii. High input level : 1
(c) TL1
i. Threshold input level : 40
ii. low output level : 0

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 iii. High input level : 1
(d) TL2
i. Threshold input level : 55.1
ii. low output level : 0
iii. High input level : 1
8. Integrator: (Master Library  CSMF  PI)
(a) Integral time constant = 1 s
9. Comparator: (Master Library  CSMF  comparator)

(a) Output Type : Level

10. Real Constant ( Master Library  Miscellaneous  Real and integer constants )
11. PI Control of Speed (Master Library  CSMF  PI)

(a) Proportional gain = 0.004

(b) Integral time constant = 10 s
(c) Maximum limit = 0.99
(d) Minimum limit = 0

12. Gain Block (Master Library  CSMF  Gain block)

13. Integrator (Master Library  CSMF  Integrator)
(a) Resettable: No
(b) Time constant: 1 s
(c) Upper limit = 1E8
(d) lower limit = -1E4

14. Trignometric Functions ((Master Library  CSMF  Trignometric functions)

15. Comparator ( Master Library  CSMF  comparator )

(a) Output Type : Level

16. Logic Inverter ( Master Library  LOGICAL  Logic inverter )

17. Signal Generator ( Master Library  CSMF  Signal generator )

(a) Frequency of the signal = 1000 Hz
(b) Maximum Output level = 1
(c) Minimum Output level = -1

Note
1. All the basic elements are available in the components .
2. Gain block , Summing/differencing , Square , Divider ,Trigonometric Function Blocks are available in
CSMF ( Master Library  CSMF )
3. In order to plot a graph just click on the signal name and change the name and connect it to the
Output channel then right click on it go to graph pane / controls / meters and then click on add
overlay graph with signal.

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PSCAD Simulation Plots

Figure 6: a)Speed reference(rpm) and Actual Speed(rpm) b)Torque reference(N m) and Actual Torque(N m)
c)a-phase Current(A)

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Implementation in PSIM
Circuit Overview
Figure illustrates the PSIM model for Induction Motor Drive using PI Controller.

Figure 7: PSIM Model for Induction Motor Drive using PI Controller

Figure 8: Control Circuit

Setting parameters for various blocks used:

1. Simulation Control: (Simulate  Simulation Control)
(a) Time step = 10 × 10−6
(b) Total time = 60
(c) Print step = 10
2. MOSFET [MOS1,MOS2,MOS3,MOS4,MOS5,MOS6]
(a) On resistance = 1 × 10−3
(b) Diode Threshold Voltage = 0.0
3. R3 [R1] (Elements  Power  RLC branches  R3)
4. Squirrel-cage Induction Machine [IM] (Elements  Power  Motor Drive Module  Squirrel-cage
Ind. Machine)

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 (a) Rs = 1.405
(b) Ls = 5.839 × 10−3
(c) Rr = 1.395
(d) Lr = 5.83 × 10−3
(e) Lm = 0.1722
(f) No.of Poles = 4
(g) Moment of Ineria = 0.0131
(h) Torque Flag = 1

5. Mechanical load (ext.controlled) [MLOAD EXT1] (Elements  Power  Mechanical Loads and Sen-
sors  Mechanical load (ext.controlled))
6. Square [VSQ1]
(a) Vpeak peak = 26.8
(b) Frequency = 1/60
(c) Duty Cycle = 0.251667
(d) Phase Delay = 240
7. Speed Sensor [WSEN1] (Elements  Power  Mechanical Loads and Sensors  Speed Sensor)

8. Unit Time Delay [TD 1](Elements  Control  Other Function Blocks  Unit Time Delay)

9. PI [PI1]
(a) Gain = 2.5 × 10−2
(b) Time constant = 10

10. Integrator [B1] (Elements  Control  Integrator)

(a) Time Constant = 1
11. Constant [C1, C2] (Elements  Sources  Constant)
12. Sine(in rad.) [SIN R1, SIN R2, SIN R3] (Elements  Control  Computational Blocks  Sine(in
rad.))
13. Triangular Wave Voltage Generator [VTRI1]
(a) V peak to peak = 2
(b) Frequency = 1000
(c) Duty Cycle = 0.5
(d) DC Offset = −1
14. Label [Wm, P1, P2, P3, P4, P5, P6] (Edit  Place Label)

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PSIM Simulation Plots

Figure 9: a)Speed reference(rpm) and Actual Speed(rpm) b)Torque reference(N m) and Actual Torque(N m)
c)a-phase Current(A)

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Implementation in SaberRD
Circuit Overview
The circuit diagram in Fig.10 shows the implementation in SaberRD.

Figure 10: SaberRD model for Induction Motor Drive using PI Controller

Setting parameters for various blocks used:

Power Section
1. Simulation Control

(a) Time step = 50 × 10−6

(b) End time = 65
(c) Step-size Control: Variable(Go to Advanced Simulation Options)

2. Induction Motor:
(Libraries  Generic Parts  Motors & Drivers  Motor  [Motor,3-Phase Induction,Saturation])

(a) j = j motor

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 (b) xm = 2*math pi*f*Lm
(c) xs = 2*math pi*f*Ls
(d) xr = 2*math pi*f*Lr
(e) rs = rs
(f) rr = rr
(g) p = poles
(h) fb = f
(All the above parameters are defined in the Saber Include File)
3. DC Link Source:
(Libraries  Generic Parts  Sources  Electrical  [Voltage Source,Exponential])
(a) pulse = v dc
(b) tr tau = 1 msec
(c) tf tau = 5 ksec
(d) tr delay = 1µsec
(e) tf delay = 5 ksec
4. 3 Phase Graetz Bridge:
(Libraries  Generic Parts  Electrical  Bridges  [Bridge,3-Phase,Switch])
5. Speed Sensor(RPM):
(Libraries  Generic Parts  Measurements & Detection  Rotational  [Sensor,Rotational Velocity,
2port,Vel. Port])
(a) k = 60/(2*math pi)
6. Torque Sensor:
(Libraries  Generic Parts  Measurements & Detection  Rotational  [Sensor,Torque,Vel. Port])
7. Load Torque:
(Libraries  Generic Parts  Mechanical  Load  [Mechanical Load,Three Setting])
(a) posseq = [(time=0.0,posval=1),(time=40.0,posval=2),(time=55.0,posval=3)]
(b) load type: torque
(c) level1 = 1µ
(d) level2 = 26.71
(e) level3 = 1µ
8. Same Page Connector:
(Libraries  Generic Parts  Schematic Connections  [Same Page Connector])
This is similar to Goto-From block in MATLAB.

Global Parameters
1. Saber Include File:
(Libraries  Generic Parts  Globals  [Saber Include File])
(a) rs = 1.405
(b) rr = 1.395
(c) Lr = 5.839m
(d) Ls = 5.839m
(e) Lm = 0.1722
(f) j motor = 0.0131
(g) poles = 4
(h) v dc = 565.7
(i) freq sw = 1000
(j) math pi = 22/7

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Control Section
1. Speed Reference:
(Libraries  Generic Parts  Sources  Continuous Control  [Control Source, PWL])
(a) data table = [(time = 0.0,output = 149.75),(time = 65,output = 149.75)]
2. Speed RPM Converter:
(Libraries  Generic Parts  Control Systems  Continuous  [Gain,Triangular Symbol])
(a) k = 60/(2*math pi)
3. Summing Point:
(Libraries  Generic Parts  Control Systems  Math Operations  [Difference])
4. PI Controller:
(Libraries  Generic Parts  Control Systems  Continuous  [Proportional-Integral])
(a) kp = 2.5e − 2
(b) ki = 2.5e − 3
5. Limiter:
(Libraries  Generic Parts  Control Systems  Non-Linear Blocks  [Saturation])
(a) max = 0.99
(b) min = 0
6. Gain:
(Libraries  Generic Parts  Control Systems  Continuous  [Gain,Triangular Symbol])
(a) k = 314.1593
7. Integrator:
(Libraries  Generic Parts  Control Systems  Continuous  [Integrator,Pure])
(a) k = 1
8. Constant:
(Libraries  Generic Parts  Sources  Continuous Control  [Control Source,Constant])
(a) c = 2.094395 (1200 in radians)
9. Sine Function:
(Libraries  Generic Parts  Control Systems  Math Operations  [Sine])
10. Multiplication Operator:
(Libraries  Generic Parts  Control Systems  Math Operations  [Product])
11. Var To Voltage Converter:
(Libraries  Generic Parts  Domain Converters  [Interface, Var To Voltage])

Sine PWM Generator

1. Comparator:
(Libraries  Generic Parts  Digital  [Comparator, Ideal Logic Out])
Three Comparators are used.
2. Sawtooth Wave Generator:
(Libraries  Generic Parts  Sources  Electrical  [Voltage Source,Triangle])
(a) ampl = 1
(b) period = 1/freq sw
3. Logic Clock:
(Libraries  Generic Parts  Digital  [Logic Clock])
(a) duty = 1

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 4. Driver for one leg of 3 Phase Graetz Bridge:
(Libraries  Generic Parts  Electrical  PWM Sources  [PWM Cntrl/Src,Halfbridge ext/PW
(digital)])
(a) bt(Blanking or dead time) = 100 nsec

SaberRD Simulation Plots

The Speed, Motor Torque, Load Torque & Phase Current waveforms of the simulation in SaberRD are shown
in Fig. 11:

Figure 11: a)Speed(rpm) b)Motor Torque(N m) c)Load Torque(N m) d)a-phase Current(A)

Acknowledgments

This work was carried out at IIT Bombay as a part of the project “Simulation Centre for Power Electronics
and Power Systems”, through the National Mission on Power Electronics Technology (NaMPET), Phase 2,
sponsored by the Department of Electronics and Information Technology, Govt. of India.

This specific document was contributed by

1. Ajinkya Sinkar ( ajinkyasinkar@gmail.com )

2. Shrikant Mali ( bb.shrikant@gmail.com )

3. V. Sai Suresh ( saisuresh60@gmail.com )

4. Sandeep V. Nair ( sandeepvnair89@gmail.com )

References

1. Bimal K. Bose, Modern Power Electronics and AC Drives, Pearson Publication

2. Paul L. Cochran, Polyphase Induction Motors,Marcel Dekker,INC

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