A Comparative Analysis of PI and FUZZY controller based Scalar and Vector
Control strategies of IM Drive
ABSTRACT
Induction motor drives are widely used
for various industrial purposes. The existing
control techniques for such drives are analyzed
and its performance is compared in this paper. In
vector control, Field oriented control technique
is used. PID controllers are important parts of
distributed control systems, predictive control
structures; their coefficients are often adapted by
means of fuzzy and neural control and set by
genetic algorithms. Different controllers such as
PI and FUZZY are used in these control
strategies and a comparison study of the
performance of IM drives is made. The
simulation work is carried out using the
MATLAB/Simulink software tool.
I. INTRODUCTION
The 3ϕ asynchronous motor, mainly squirrel
cage induction motors are the widely used
motors for various industrial purposes. Since it
is used in industrial applications, the speed
should be controlled according to the
requirements of that specific application. There
are several methods for controlling the speed of
the induction motor is of two categories: Speed
control with respect to stator, Speed control with
respect to rotor.
As we are using the squirrel cage induction
motor, we can only control the speed from the
stator side which is further classified as:
Controlling supply voltage, Controlling supply
frequency and Changing stator poles. The range
of speed control by voltage is very less and
changing the number of pole pairs is rather
difficult and causes abrupt changes in speed
torque curves.
By the variation of frequency, we can
control the speed of the induction motor more
effectively but the impedance of the stator will
increase with frequency and hence the current
gets reduced. As the current is also controlled by
voltage, both voltage control and frequency
control are combined and v/f control technique
was formulated.
The above method was used in the high
performance IM drives prior to the FOC control
(vector control) which is used as standard
control nowadays. FOC is working on the
principle of decoupling the flux and torque
through park transformation and controlling
these variables by using the quadrature and
direct current vectors. Hence, the vector control
controls the torque and flux of AC drives
independently as that of DC drives and exceeds
in dynamic performance.
Owing to rapid developments in the
control theory, it was supposed that the
conventional PID controllers would be gradually
replaced by advanced ones. However, this did
not come to pass mainly due to the simple PID
structure and its commercial usability in
practice. Control loop designers preferred the
PID controllers for their outstanding ability to
eliminate the control error using the integrator,
their ability to improve the performance using
the “trend” of the controlled variable through the
derivative channel and for many other benefits.
In this paper, we are comparing the
performance of scalar and vector control
strategies. In vector control, we have adapted
Direct Field Oriented Control strategy for speed
control of induction motor and its tuning. Later,
these were replaced with PI controllers with
fuzzy logic controllers. In both the cases and
improvement in performance of the IM drive is
noted.
II. SCALAR CONTROL METHOD
In this, by controlling the scalar
quantities such as Voltage amplitude, frequency,
etc,. the speed control of the induction motor is
achieved. The voltage applied to the induction
motor varies along with the frequency inorder to
maintain the airgap flux density as constant and
thereby saturation of IM can be avoided. The
torque capability of the motor is reduced if it
operates under constant voltage. Hence, both the
frequency and voltage is varied in such a
manner, that the v/f ratio is maintained as
constant.

Fig 2 V/F profile

Open Loop Scalar Control

This type of scalar control is used where
accuracy of speed is not much concern like in
HVAC, fan applications. Here the frequency is
calculated based on the reference speed and
error in the actual measurement is deemed as
acceptable provided that no feedback is taken.

Fig 1 Speed vs Torque curve wrt frequency

The equation of induced voltage of IM is given
below:
V e =4.44 . K . f . N .φ
RMS

V e - Voltage induced at stator

RMS

f – Frequency of supply voltage

N – Number of turns of stator winding
φ – Stator flux linkage
According to the above equation, if v/f
ratio is maintained as constant, then the flux
linkage will also be constant under the entire
operating region of induction motor which
makes the IM drive system as stable. The v/f
curve of IM drive is provided in the following
diagram:
Fig 3 Open loop scalar control
Closed Loop Scalar Control
The closed loop control provides more
accurate solution than that of open loop
technique. The rotor speed is measured and fed
back to the controller in which the error b/w
reference and measured speed is provided to PI
controller. The PI controller generates the
reference signal, so that the drive can achieve
the reference speed.

Fig 4 Closed loop scalar control
Nowadays, the IM speed control
concentrates more on vector control rather than
constant v/f control. Moreover, at lower voltage
range, the performance of PWM voltage source
inverter is non linear in nature and hence it
becomes difficult to use at lesser frequencies.
III. VECTOR CONTROL
METHOD:
In vector control method, the stator
current consists of two components: Flux
component or ids, Torque component or iqs
The ids is aligned with ψs and iqs is orthogonal
with ids. The ids* current is acquired from flux
controller (PI) where iqs* current is acquired
from speed controller (PI). In addition to that, a
torque controller is also added, so that we can
get better controllability of IM drive.
Fig 5 Co-ordinate Transform vector diagram
In this, for transformation of frames, accurate
position of rotor flux is necessary. Without
accurate rotor flux, the flux and torque
components will not get decoupled and hence
the dynamic performance of the motor will be
poor. Hence the rotor flux position is essential
for field oriented control.
For three phase coordinate system, the voltage
vector is given as
^ = 2 ( V a + a^ V b + a^ 2 V c )
V
3
The stator and rotor equations of the coordinate
system fixed to the respective windings are
given as
d ψs
V s=i s . R+
dt
d ψr
V r =i r . R+
dt
jθ
ψ s =i s . Ls +i r . e . Lm
− jθ
ψ r =i r . Lr +i s . e . Lm
Where,
V s , V r - Voltage of stator and rotor of IM
i s , ir - Stator and rotor current of IM
R – Resistance across stator and rotor windings
ψ s , ψ r – Stator and rotor flux linkages
Ls, Lr, Lm – Stator, rotor and airgap inductances.
The Torque equation is provided below:
3
T e = ψ r ir sin φ
2
The rotor and stator variables are transformed
into common coordinate system. It will be easier
for calculations and hence the control signals
will be created. The transformation matrix
performs the system transformation. The
resultant vector consists of real and imaginary
parts.
 [ ][ ]
−1 −1 Stator Leakage 0.0058 H
1 Va
[ ]
Vα =2 ∙ 2 2 Inductance
Vb Rotor Leakage 0.0058 H
0 √
Vβ 3 3 −√ 3
Vc Inductance
2 2
Magnetization 0.1722 H
The two phase complex quantities are Inductance
transformed to synchronous rotating direct- Number of Poles 4
quadrature axis coordinates. Table 1. Ratings of the Induction Motor

[ ][ ][ ]
Vd cos ρ sin ρ V α The Simulink model for the scalar control of
= induction motor is given below:
V q −sin ρ cos ρ V β

The flux of the rotor can be controlled by d

component of the current and the torque can be
controlled by q component of the current.
From the above transformations, the rotor flux
can be expressed as follows:
d ωr 3 p m B∙ω Fig 7.1.a Simulation circuit for Scalar Control
= ∙ ∙ψ rd ∙i sq− l −
dt 2 J J J (PI)
The resultant controller circuit for the direct In this, the rotor speed reference was given as in
FOC is given below: the following table:

Time in (sec) Rotor speed

Reference (rad/s)
0 to 5 80
5 to 10 120
Table 2. Rotor speed reference
The rotor speed and Torque waveforms for the
induction motor with scalar control (PI) is as
Fig 6 Direct FOC control circuit follows:

SIMULATION SETUP & RESULTS

The models of closed loop scalar and vector
control was designed using MATLAB/Simulink
software. The ratings of the induction motor are
tabulated in the following table:

Parameters Values

Rated Power 4 KW Fig 7.1.b Rotor speed and Torque for scalar
Rated Voltage 400 V control (PI)
System Frequency 50 Hz
Rated rotor Speed 1430 rpm Initially the rotor speed needs 3s to reach the
Stator Resistance 1.405 ohm reference speed and after t=5s the reference
Rotor Resistance 1.395 ohm
speed changes from 80 rad/s to 120 rad/s and the
rotor speed reaches the reference at t=7s.

Fig 7.2.b Rotor speed and Torque for scalar

control (FUZZY)
Fig 7.2.a Simulation circuit for Scalar Control
(FUZZY) In the above graph, the rotor speed took nearly
0.5s to reach the reference speed which changes
The PI controller is replaced with fuzzy logic from 80 rad/s to 120rad/s at t=5s and the
controller in the above mentioned simulation measured rotor speed reaches 120rad/s at t=5.3s.
circuit. The rule list for the fuzzy controller is
shown below: The Simulink model for the vector control of
induction motor is given below:
1. (E==NL) & (ΔE==NL) => (control variable=PL)
2. (E==NL) & (ΔE==NM) => (control variable=PL)
3. (E==NL) & (ΔE==Z) => (control variable=PL)
4. (E==NL) & (ΔE==PM) => (control variable=PM)
5. (E==NL) & (ΔE==PL) => (control variable=Z)
6. (E==NM) & (ΔE==NL) => (control variable=PL)
7. (E==NM) & (ΔE==NM) => (control variable=PM)
8. (E==NM) & (ΔE==Z) => (control variable=PM)
9. (E==NM) & (ΔE==PM) => (control variable=Z)
10. (E==NM) & (ΔE==PL) => (control variable=PM)
11. (E==Z) & (ΔE==NL) => (control variable=PL) Fig 8.1.a Simulation circuit for Vector Control
12. (E==Z) & (ΔE==NM) => (control variable=PM) (PI)
13. (E==Z) & (ΔE==Z) => (control variable=Z)
14. (E==Z) & (ΔE==PM) => (control variable=PM) The Simulink control circuit for the vector
15. (E==Z) & (ΔE==PL) => (control variable=PL)
control (PI) is given below:
16. (E==PM) & (ΔE==NL) => (control variable=PM)
17. (E==PM) & (ΔE==NM) => (control variable=Z)
18. (E==PM) & (ΔE==Z) => (control variable=PM)
19. (E==PM) & (ΔE==PM) => (control variable=PM)
20. (E==PM) & (ΔE==PL) => (control variable=PL)
21. (E==PL) & (ΔE==NL) => (control variable=Z)
22. (E==PL) & (ΔE==NM) => (control variable=PL)
23. (E==PL) & (ΔE==Z) => (control variable=PL)
24. (E==PL) & (ΔE==PM) => (control variable=PL)
25. (E==PL) & (ΔE==PL) => (control variable=PL)
And the result of speed control for fuzzy
controller is shown below:

The rotor speed and Torque waveforms for the

induction motor with vector control (PI) is as
follows:

Fig 8.1.b Rotor speed and Torque for vector
control (PI)
In the above graph, the rotor speed took nearly
0.1s to reach the reference speed which changes
from 80 rad/s to 120rad/s at t=5s and the
measured rotor speed reaches 120rad/s at t=5.1s.
In the above graph, the rotor speed took nearly
0.06s to reach the reference speed which
changes from 80 rad/s to 120rad/s at t=5s and
the measured rotor speed reaches 120rad/s at
t=5.06s.
CONCLUSION
The comparative analysis of scalar and
vector control strategies is discussed. In both
cases we have replaced the PI with fuzzy logic
controllers and increased the transient
performance of speed control. The scalar control
is very simple and easy to implement but the
vector control provide better results under
dynamic conditions. This work can be further
studied and improved by using various
optimization techniques.
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