CLOSED LOOP V/F SPEED CONTROL OF

INDUCTION MOTOR

A thesis submitted in partial fulfillment of the requirements for

the award of the degree of
Bachelor of Technology
In
Electrical and Electronics Engineering
By
VIJAYA RAGUNATH P (EE12B1021)

SANTHOSH KUMAR R (EE12B1012)

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY PUDUCHERRY

KARAIKAL - 609605
MAY 2016

i
 CLOSED LOOP V/F SPEED CONTROL OF
INDUCTION MOTOR

A thesis submitted in partial fulfillment of the requirements for

the award of the degree of
Bachelor of Technology
In
Electrical and Electronics Engineering
By
VIJAYA RAGUNATH P (EE12B1021)

SANTHOSH KUMAR R (EE12B1012)

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY PUDUCHERRY

KARAIKAL - 609605
MAY 2016
ii
 Dedicated to
Department of
Electrical and Electronics
Engineering

iii
 BONAFIDE CERTIFICATE
This is to certify that the project titled CLOSED LOOP V/F SPEED CONTROL OF

INDUCTION MOTOR is a bonafide record of the work done by

VIJAYA RAGUNATH P (EE12B1021)

SANTHOSH KUMAR R (EE12B1012)

in partial fulfillment of the requirements for the award of the degree of

Bachelor Of Technology in Electrical And Electronics Engineering of the
NATIONAL INSTITUTE OF TECHNOLOGY PUDUCHERRY, during
the year 2015-2016.

Dr. K. Chandrasekar Dr. A.Venkadesan

Head of the Department Project Guide

Project Viva-voce held on _______________________

Internal Examiner External Examiner

iv
 ACKNOWLEDGEMENTS

We would like to show our kind regards towards our respected Director Madam,
Dr. S. K. PANDEY for permitting us to undertake this project work.

We would like to thank our project supervisor, Prof. Dr.A.VENKADESAN, for his
constant motivation and guidance during the project. We want to genuinely convey
our thanks to Dr.K.CHANDRASEKRAN, Head of the Department and all the
faculties of our Electrical and Electronics Engineering department for their motivation
in various reviews throughout the course of the project. We would like to thank our
project Coordinator Dr.G.KOPERUNDEVI for her consistent encouragement.

We would like to thank the project review members for their valuable suggestion
throughout the period of project.

We are at the dearth of words to express gratitude to our wonderful parents for their
unconditional support both financially and emotionally. I thank our parents for
inculcating. The dedication and discipline to do whatever we undertake well.

We have been fortunate to have friends who cherish us despite our eccentricities. By
their remarks comments or compliments and unavoidable questions, we were able to
make our project reviews better each time. Thank you all for making it possible for us
to reach the final stage of our endeavor.

We would also like to thank all our sources, mentioned in the references, and our
friends who helped us by providing mental and logistical support. Last but not the
least we would like to thank our parents and God Almighty.

Vijaya Ragunath P

Santhosh kumar R

B.Tech (Electrical Engineering)

National Institute of Technology, Puducherry

v
 ABSTRACT

Three phase induction motor is most popularly used for variable speed control
applications due to its simple and rugged construction. There are various speed
control methods are available in the literature. Variable voltage and frequency speed
control method (V/F control method) is preferred to avoid saturation of flux and non-
linear operation of induction motor. In this project, open loop and closed loop control
method for induction motor is developed. The controller is designed for closed
operation of IM drive. The performance of IM drive with and without controller is
investigated extensively for different operating condition. Also a green energy drive
which will operate at constant speed with change in irradiance of sun for pump load
applications is designed and simulated using MATLAB.

vi
 CONTENTS

TITLE Page No.

ACKNOWLEDGEMENTS………………………………………………………….. v

ABSTRACT……………………………………………………………………..........vi

TABLE OF CONTENTS.………….…………………………………………….......vii

LIST OF TABLES………..…………………………………………………………...x

LIST OF FIGURES………………………………………………………………….xi

ABBREVIATIONS AND ACRONYMS..................................................................xiii

CHAPTER 1: INTRODUCTION 1-7

1.1 General Introduction 1

1.1.1. Induction motor: A brief history 1

1.1.2. Importance of V/F control technique 2

1.1.3.Green Energy Drive-An Introduction 3

1.2. Literature survey 4

1.3. Motivation 7

1.4. Objective 7

1.5. Organization of the thesis 7

CHAPTER 2: OPEN LOOP V/F SPEED CONTROL OF IM 8-16

2.1. Introduction 8

2.2. V/F speed control of IM drive 8

2.2.1. Rectifier 8

2.2.2. Inverter 9
vii
2.3.Simulation results and discussion. 10

2.4.Summary 16

CHAPTER 3: CLOSED LOOP V/F SPEED CONTROLOF IM 17-24

3.1. Introduction 17

3.2. V/F speed control of IM drive with speed controller 17

3.2.1. PI controller 19

3.2.2. Pulse Generator 19

3.3. Simulation results & Discussion 20

3.3.1.operating condition1:Constant reference speed with change in load torque 20

3.3.2.operating condition 2: change in reference speed 21

3.3.3.operating condition 3: Speed reversal application 22

3.3.4.operating condition 4: pump load application 23

3.4. Summary 24

CHAPTER 4: SOLAR FED IM MOTOR DRIVE

DRIVING A PUMP LOAD 25-39
4.1. Introduction 25

4.2. Solar fed closed loop speed controlled IM drive 25

4.2.1 Design of PV array 27

4.2.2 Design of Boost convertor 28

4.2.2.1. Inductor selection 28

4.2.2.2 Capacitor selection 28

4.2.2.3. Diode selection 28

4.3 Simulation results & discussions 29

viii
4.4 Solar fed closed loop speed controlled IM drive with DC link voltage controller 33

4.5 Simulation results & discussion 35

4.6 Summary 39

CHAPTER 5: CONCLUSION 40

REFERENCES 41

APPENDIX-A 44

APPENDIX-B 45

ix
 LIST OF TABLES

TABLE NO TITLE PAGE

NO
2.1 Performance of open loop IM drive operating at no 15
load
2.2 Performance of open loop IM drive operating at full 15
load
4.1 Open loop solar voltage at 280Cand varied irradiance 31
0
4.2 Closed loop solar voltage at 28 Cand varied irradiance 37

x
 LIST OF FIGURES

FIGURE NO FIGURE NAME PAGE NO

2.1 Block diagram for open loop speed control of IM 8

2.2 Simulink model for open loop speed control of IM by 10

v/f technique

2.3 Rectifier output voltage vs Time 12

2.4 Inverter o/p voltage vs Time 12
2.5 Inverter output fundamental frequency vs MI 12
2.6 Inverter Fundamental o/p voltage vs MI 13
2.7 Magnitude (% of fundamental) vs Frequency 13
2.8 open loop Torque characteristics vs time 13
2.9 Open loop speed characteristics vs time 14
2.10 Rectifier input current vs Time 14
2.11 %ITHD in Rectifier input current vs Time 14
3.1 Block diagram for closed loop speed control of IM 18
3.2 Simulink model for speed control of closed loop IM 20
3.3 Simulink model of 3ɸ SPWM inverter 20
3.4 Closed loop torque response of an IM 21
3.5 Closed loop speed response of an IM 21
3.6 Closed loop speed response for change in reference 22
speed

3.7 Closed loop speed reversal characteristics 23

3.8 Torque characteristics of closed loop IM driving a pump 23
load
3.9 Speed characteristics of closed loop IM driving a pump 24
load
4.1 Block diagram for solar fed closed loop IM without DC 26
link voltage controller
4.2 Simulink model for open loop boost converter 29
4.3 Simulink model for mathematical model of PV array 30

xi
4.4 Simulink model for speed control of IM with closed 30
loop speed controller without DC link voltage controller
4.5(a) solar o/p voltage and Boost converter o/p voltage 32

4.5(b) Inverter o/p voltage characteristics 32

4.5(c) Speed characteristics 32

4.5(d) Torque characteristics 33

4.5(e) Motor input current characteristics 33
4.6 Block diagram for solar fed closed loop IM with DC 34
link voltage controller
4.7 Simulink model for speed control of IM with closed 35
loop speed controller with DC link voltage controller
4.8 Simulink model for closed loop boost converter 35
4.9(a) Solar o/p voltage and closed loop boost converter’s o/p 37
voltage

4.9(b) Inverter o/p voltage characteristics 37

4.9(c) Speed characteristics 38

4.9(d) Torque characteristics 38

4.9(e) Motor input current characteristics 38

xii
 ABBREVIATIONS AND ACRONYMS

DC - Direct Current

AC - Alternating Current

PWM - Pulse Width Modulation

RPM - Rotations Per Minute

N.m - Newton Metre

Wr* - Reference Speed

Wr - Rotor speed

IM - Induction Motor

SPWM - Sinusoidal Pulse Width Modulation

PV - Photo Voltaic

AM - Amplitude Modulation

FM - Frequency Modulation

MI - Modulation Index

α - duty cycle

xiii
 CHAPTER 1

INTRODUCTION

1.1 GENERAL

Electrical Energy already constitutes more than 30 % of all energy usage on Earth.
And this is set to rise in the coming years. Its massive popularity has been caused by
its efficiency of use, ease of transportation, ease of generation, and environment -
friendliness. Part of the total electrical energy production is sued to produce heat,
light, in electrolysis, arc-furnaces, domestic heating etc. Another large part of the
electrical energy production is used to be converted into mechanical energy via
different kinds of electric motors- DC Motors, Synchronous Motors and Induction
Motors. These motors are used to drive the human made loads. The loads demanded
are obviously not uniform. It may be required to operate at full load or any part of it at
any particular speed. The reliability of any motor resides on its ease of speed control.

The majority of the world's energy demand is met from conventional sources-fossil
fuels such as coal, natural gases and oil. The availability of these fuels is falling day
by day, after a few years it will end. This brought the use of renewable energy in
generating electricity. Hence renewable energy source demand increases and as a
supplementary it is environmental friendly and pollution free, which reduces the
greenhouse effect.

1.1.1 Induction Motors: A Brief History

The seeds for the development of the Induction Motor were sown with Farade’s
discovery of the Laws of Electromagnetic Induction in 1831 and with Maxwel’s
formulation of the laws of electricity in 1860.

The Induction Machine was independently developed by Galileo Ferrari in 1885 and
by Nikola Tesla in 1886. Ferrari’s model had a rotor made up of a copper
cylinder. Tesla used a ferromagnetic cylinder with a short-circuited winding.
However, the underlying principles and basic design philosophies of both models
were similar. George Westinghouse licensed Tesla’s patents and developed a practical
Induction Motor in 1892. To this date, apart from the vast improvements in
performance and refinements in design, the basics of the Induction Machine
1
remain the same. In 1896, General Electric and Westinghouse signed a cross-licensing
agreement for the Squirrel Cage design of the Induction Motor, and by 1900, it was
all set to become the industrial staple. By 1910, locomotives in Europe were fitted
with Induction Motors and were able to attains speeds in excess of 200 km/hr.

However, faster strides in the development of DC Motors made it overtake

Induction Motors when it came to usage in the industry or in transportation. The
latter again made a comeback in 1985 with the development of Power Electronics-
based drives, especially IGBT-based PWM Inverters for efficient frequency-
changing. The following are some of the recent developments in Induction Motor
drives:

(i) Better analytical models for design and research purposes.

(ii) Better magnetic and insulation materials and cooling systems.
(iii) IGBT-based PWM Inverters for efficient frequency changing with low loses
and high power density.
(iv) New and better methods for manufacturing and testing.
(v) High speed and high power applications.

1.1.2 Importance of V/f Control technique in speed control

There are various methods for the speed control of an Induction Motor. They are:

(i) Pole Changing

(ii) Variable Supply Frequency Control
(iii) Variable Supply Voltage Control
(iv) Variable Rotor Resistance Control
(v) V/f Control
(vi) Slip Recovery
(vii) Vector Control

Of the above mentioned methods, V/f Control is the most popular and has found
widespread use in industrial and domestic applications because of its ease-of-
implementation [1]. However, it has inferior dynamic performance compared to
vector control [22]. Thus in areas where precision is required, V/f Control are not
used. The various advantages of V/f Control are as follows:

2
 (i) It provides good range of speed.
(ii) It gives good running and transient performance.
(iii)It has low starting current requirement.
(iv) It has a wider stable operating region.
(v) Voltage and frequencies reach rated values at base speed.
(vi) The acceleration can be controlled by controlling the rate of change of supply
frequency.
(vii) It is cheap and easy to implement.

1.1.3 Green energy Drive- An introduction

Earth receives 174 petawatts (PW) of incoming solar radiation at the upper
atmosphere. Approximately 30% is reflected back to space. The total solar energy
absorbed by Earth's atmosphere, oceans and land masses is approximately 3,850,000
EJ per year. Solar powered electricity generation relies on photovoltaic system. A
photovoltaic system is a system which uses one or more solar panels to convert solar
energy into electricity. PV cells are made of semiconductor materials, when light
energy strikes the solar cell, electrons are knocked loose from the atoms in the
semiconductor material. The received solar energy is not a constant value but varies
with temperature (˚C) and irradiance (mW/sqcm). The sophisticated applications
require electronic converters to process the electricity from the array. These
converters may be used to regulate the voltage and current at the load.

Boost converters are used to obtain higher output voltage in comparison with the
input DC voltage and it is increasingly employed in battery sources, photovoltaic
solar systems and fuel cells. These converters, when operated under open loop
condition, it exhibits poor voltage regulation and unsatisfactory dynamic response,
and hence, this converter is generally provided with closed loop control for output
voltage regulation. The operation of the boost converter is fairly simple, with an
inductor and two switches that control the inductor. It alternates between connecting
the inductor to source voltage to store energy in the inductor and discharging the
inductor into the load. In closed loop operation, a PI controller is employed to control
the output voltage so as to obtain a constant output voltage with varying operating
condition of solar array.

3
1.2 LITERATURE SURVEY

1. The importance of Induction motor over the others in speed control drive
applications and the idea of use of pulse width modulation techniques for the Invertor
over the other modulation techniques is perceived from “Electrical Machinery” by
Dr. P.S. Bimbhra.

2. The importance of v/f control of Induction Motor Drive over the other speed
control techniques and the idea of use of pulse width modulation techniques for the
Inverter over the other modulation techniques is perceived from, “Fundamentals of
Electrical Drives” by Gopal K. Dubey.

3. In [1] defines the design and development of unipolar SPWM switching pulses
with digital technique for single phase full bridge inverter is presented. A switching
strategy was proposed to be used for full bridge single phase inverter. The main
advantage of this strategy is that it does not required additional circuit to generated
inverter’s dead time. In this technique, the PWM equation was develop and the
switching pulse was calculated. The PWM switching pulses with carrier frequency
range from 1 kHz to 5 kHz and the amplitude modulation ratio range from 0.1 until 1
were calculated based on the equations derive The design of SPWM using unipolar
scheme is referred in the above” Design and Development of Unipolar SPWM
switching pulses for single phase full bridge inverter application” by Baharuddin Bin
Ismail Universiti Sains, Malaysia 2008 .

4. In [4] defined a photovoltaic module whose voltage ranges between 150-450 V

coupled to DC-DC converter realizes the MPPT along with the amplification of the
voltage. The initial stage is utilized as a means to boost the voltage for the PV array
and track MPP of solar power; subsequent to this, the second phase converts the dc
power into ac power. The two stages have the following drawbacks of lower
effectiveness, lower level of reliability, bigger size and higher cost. This topology is
generally used due to its simplicity.

5. Marcello Gradella [5] uses the basic equation from the theory of semiconductor to
describe mathematically the I-V characteristic of the ideal photovoltaic cell. It is a

4
semiconductors diode with p-n junction. The material used is monocrystalline and
polycrystalline silicon cells. The ideal model consists of a current source parallel with
a diode. In real photovoltaic device must include the effects of series and parallel
resistance of the PV. The model is obtained with the parameters of the I-V equation
given by manufacturer datasheet such as open circuit voltage, short-circuit current,
maximum output power and diode constant ‘a’ is to be guessed. The model gives a
good correlation of PV characteristics and I-V curve.

6. H. Atlas et al. [6] develop other method of modeling the PV cell. The voltage
serves as one of the main functions of the photocurrent, which is identified or
measured by solar irradiation. The operating temperature changes during the
irradiation and ambient temperature change. This method introduces new temperature
coefficients Ctv for cell output voltage and Cti for cell photocurrent. In addition, two

constants correction factors Csv and Csi are introduced which expressed the variation
in the operational temperature, along with the photocurrent because of the deviances
within the solar irradiation. The results of simulation shows the loads begin to draw
current from the photovoltaic array and current and voltage begin moving to the
operating values. The framework includes the impact of solar irradiation and
temperature.

7. J.A Gow [7] used a dual exponential framework. The model has one extra diode.
The double exponential models are obtained from PV cells constructed with
polycrystalline silicon. The model is nonlinear. To obtain an analytical solution of its
five parameters, [4] proposed a set of data at specific temperature and used a
numerical solution using curve fitting method and Newton Raphson iteration.

8. It is explained in [8] that the boost converter can operate in continuous conduction
mode along with discontinuous conduction mode. The mode of conduction depends of
the capacity for storage of energy along with the relative timeframe of the switching.
The output voltage is dependent of the duty cycle; it is adjusted by the maximum
power controller. The boost converter is designed for all possible duty cycles and for
all irradiations of the PV array.

9. Jiyong Li [9] has proposed a Space Vector PWM control scheme for three-phase

PWM inverter in PV generation system. Each state voltage is calculated from the Vdc
5
input voltage of the inverter. The advantages with SVPWM modulation techniques
are low total harmonic distortion (THD), constant switching frequency, well-defined
output harmonic spectrum, optimum switching pattern and excellent dc-link voltage
utilization.

10. Duan and Jin from University of British Columbia made a thorough evaluation of
different digital control design methods for DC-DC converters [10]. The methods
include direct and indirect design approaches. In the direct design approach, small
signal models of the converters are first converted into discrete-time models, and
digital controllers are directly designed based on the discrete-time models. In the
indirect design approach, analog controllers are first designed based on the small
signal models of the converters, and then converted into digital controllers. The best
approach is determined based on a comparison of experimental results. It was
concluded that the direct design approach is better than an indirect design approach.
Backward integration methods were suggested to be a better discretization method for
the indirect design approach.

11. In [15] it presents a detailed theoretical and experimental comparison of the two
P&O implementation techniques on the basis of system stability, performance
characteristics, and energy utilization for standalone PV pumping systems. The
influence of algorithm parameters on system behavior is investigated and the various
advantages and drawbacks of each technique are identified for different weather
conditions. Practical results obtained using a 1080-Wp PV array connected to a 1-kW
permanent magnet dc motor-centrifugal pump set show very good agreement with the
theoretical analysis and numerical simulations.

12. In [16] presents a comparative investigation of the performance characteristics of

a directly connected photo voltaic(PV) pumping system and a scheme utilizing a
constant voltage maximum power point tracking algorithm. A simple and accurate
model is developed for each individual component of the system based on its
measured characteristics and the system is simulated numerically. System
performance is analyzed and energy utilization efficiency is calculated for different
weather conditions. A de-tailed comparison identifying the advantages and drawbacks
of each technique is presented. Experimental results obtained using a 1080-Wp PV

6
array connected to a 1-kW permanent magnet dc motor-centrifugal pump set show
very good agreement with the numerical simulation of the systems.

1.3 MOTIVATION

Through the literature survey, it is understood that V/F speed control of induction
motor is as an active of research. This is the motivation to carry project in this
area.

1.4 OBJECTIVES

The main objective of the project is to design and study open loop and closed V/f
speed control of an induction motor.

(i) To analyze the performance of an induction motor using open loop V/F
control method under various operating conditions.
(ii) To analyze the performance of an induction motor using closed loop V/F
control method under various operating conditions.
(iii)To explore solar fed induction motor drive for a pump load application and
investigates its performance under various climatic conditions.

1.5 ORGANISATION OF THE THESIS

Chapter 2 deals with V/f Control of PWM-Inverter fed Induction Motors in Open
Loop. Chapter 3 deals with V/f Control of PWM-Inverter fed Induction Motors in
Closed Loop. Chapter 4 deals with the solar fed closed loop green energy I.M drive.
The conclusion is drawn in chapter 5.

7
 CHAPTER 2

OPEN LOOP V/F SPEED CONTROL OF IM

2.1 INTRODUCTION

In this chapter open loop V/F speed control of IM is studied. The open loop V/F
control method is shown in Fig. 2.1. Voltage and frequency obtained from supply
mains are uncontrolled from end user side and do have constant magnitudes (415v L-
L rms, 50Hz). 3ɸ power electronic Rectifier circuit converts uncontrolled 3ɸ AC
voltage to uncontrolled DC voltage. 3ɸ Inverter converts uncontrolled DC voltage to
controlled 3ɸ AC voltage. Thus the Rectifier-Inverter set made it feasible to control
the speed of an Induction motor.

2.2 V/F SPEED CONTROL OF IM DRIVE

UN- SPWM

CONTROLLED INVERTER
IM
RECTIFIER
C

415 v, 50Hz
3ɸ, AC SPWM
supply
PULSE GENERATOR

Fig 2.1 Block diagram for open loop speed control of IM

2.2.1 Rectifier

Normal AC supply with a peak voltage of Vm from the mains is fed to the 3ɸ full
wave bridge rectifier circuit comprising of six power diodes. Rectifier produces a
fluctuating DC output voltage with a ripple of around Vm. The huge ripple in voltage
8
is reduced with a capacitive filter at the output terminals. Thus a regulated but
uncontrolled DC is attained from Rectifier across the Capacitor. This also prevents
harmonics being injected back to the source.

2.2.2 Inverter

Inverter output voltage can be varied by several means such as:

(i) External control of input DC voltage.

(ii) External control of output AC voltage.
(iii)Internal control of Inverter.

The first two methods require the use of peripheral components whereas the third
method requires no peripheral components. This supports the preference of third
method. The most efficient way to control Inverter internally is by Pulse Width
Modulation (PWM) techniques. Various PWM techniques available are:

(i) Single pulse width modulation.

(ii) Multiple pulse width modulation.
(iii)Sinusoidal pulse width modulation (SPWM).

Among the above PWM methods SPWM can shift the harmonics to extremely higher
frequency which makes the design of filter easier. Thus SPWM is the boomed
technique.

Sinusoidal Pulse Width Modulation

Inverter uses two modulation techniques called Amplitude Modulation (AM) or

Frequency Modulation (FM) [4]. When the amplitude of a high frequency or carrier
wave is varied according to a low frequency or reference wave, it is called AM. If the
frequency of carrier wave is modified according to the frequency of reference wave, it
is called FM. The special feature of Inverter used in this v/f control technique is to
vary both amplitude and frequency of reference wave proportionately. This is done so
as to maintain constant v/f ratio.

When triangular carrier wave has its peak coincident with zero of the reference
sinusoid, there are N=(fc/2f) pulses per half cycle. In case zero of the triangular wave

9
coincides with zero of the reference sinusoid, there are N = ((fc/2f)-1) pulses per half
cycle [1]. In an IGBT based Inverter output voltage resembles gate pulses.

The ratio of amplitude of reference sine wave to the amplitude of carrier wave is
called Modulation Index or MI.

2.3 SIMULATION RESULTS & DISCUSSIONS

The performance of induction motor drive using open loop V/F control method is
simulated using MATLAB. The designed MATLAB simulink model is shown in Fig.
2.2. The IM parameters used to model the system are shown in the appendix A.

Fig 2.2 simulink model for open loop speed control of IM by v/f technique

The 3ɸ full wave bridge rectifier is fed with 3ɸ AC supply of 415v (ph-ph rms), 50
Hz. The output voltage is a DC with a ripple of around 586v. The capacitive filter of
1200µF reduces the ripple by almost 100%. The output voltage the Rectifier is shown
in the fig.2.3.

The DC output from the capacitor is fed to the 3ɸ SPWM inverter. The pulse
generator needs the MI value to be specified. MI makes simultaneous changes in
frequencies and voltage to keep the V/f ratio constant. Output fundamental frequency
of the Inverter and frequency of reference sine wave are equal and is given by the
relation Ffundamental=Fref =50*MI/0.9. For instance, at MI=0.9, Voutfundamental=323.7V,
Ffundamental=50Hz, V/f=6.474 V/Hz and at MI=0.6, Voutfundamental=216.2V,

10
Ffundamental=33.33Hz, V/f=6.486 V/Hz. Thus it is proved that V/f ratio is kept constant
for different MI values. Sample inverter o/p voltage is shown in the fig.2.4.

It is also seen from figs 2.5 & 2.6 that Inverter Output fundamental frequency and
Inverter fundamental output voltage have linear relation with Modulation Index (MI).

Harmonic analysis of the output modulated voltage wave from the inverter reveals
that reference wave has the following important features:

(i) For MI less than one, largest harmonic amplitudes in the output voltage are
associated with harmonics of order (fc/f)±1 or 2N±1, where N is the
number of pulses per half cycle. Thus by increasing the number of pulses
per half cycle, the order of dominant harmonic frequency can be raised.
Though high value of carrier frequency is advantageous, switching losses
raise with increase in carrier frequency and decreases inverter efficiency.
Thus a compromise between the filtering requirements and inverter
efficiency should be made. An optimum value of switching frequency is
preferred in the range 2-15 KHz.
(ii) For MI greater than one, lower order harmonics appear, since for MI>1, pulse
width is no longer a sinusoidal function of the angular position of the
pulse.

Harmonic profile for MI=0.9, Fcarrier=10000Hz is shown in the figure 2.7.

Synchronous speed for any MI can be calculated as

Ns=120*Ffundamental/P

where P is the number of poles . For any MI value Induction motor reaches steady
state and runs at less than synchronous speed until any disturbance is given to the
input torque of the Induction motor. The machine torque now comprises of input
torque by taking up the load. The motor speed has an inverse relation to the machine
torque. Open loop Torque and speed characteristics for different loads are depicted in
the fig 2.8 and 2.9 respectively.

11
The simulation results of matlab model shown in the fig 2.2 are shown below

Fig 2.3 Rectifier output voltage vs Time

Fig 2.4 Inverter o/p voltage vs Time

Fig 2.5 Inverter output fundamental frequency Vs MI

12
 Fig 2.6 Inverter Fundamental o/p voltage vs MI

Fig 2.7 Magnitude (% of fundamental) vs Frequency

Fig 2.8 open loop Torque characteristics vs time

IM starts with no load. Full load of 7.5 N-m is applied at 0.4s and is reduced to half
full load at 0.7s. Machine torque compromising of load torque, Frictional torque is
always greater than load torque.
13
 Fig 2.9 Open loop speed characteristics vs time

At no load IM runs at 1495 rpm. As machine torque is directly proportional to the slip
speed, when load increases to 7.5N-m at 0.4 s Speed drops to 1340 rpm to increase
the slip and when load decreases to 3.75 N-m Speed raises to 1420 rpm to decrease
the slip. The performance of IM under various V/F under no load conditions and
loaded conditions are shown in the table 2.1 and 2.2
respectively.

Fig 2.10 %ITHD in Rectifier i/p current vs Time

Fig 2.11 %ITHD in Rectifier i/p current vs Time

14
 Table 2.1 Performance of open loop IM drive operating at no load (0 N-m)

MI Frequency Speed Fundamental %VTHD Rectifier

(rpm) o/p voltage input
from inverter current
(%ITHD)
0.9 50 1495 323 79.1 438.2
0.8 44.44 1329 283 93.01 495.2
0.7 38.88 1163 249 105.2 512.6
0.6 33.33 998 216 119.8 524.5
0.5 27.77 830 181 138.3 527.5
0.4 22.22 665 138 167.4 534.7
0.3 16.66 501 106 199.5 539
0.2 11.11 318 65 247.4 542
0.1 5.55 170 15 341.3 545.3

Table 2.2 Performance of open loop IM drive operating at full load (7.5 N-m)

MI Frequency Speed Fundamental Inverter Rectifier

(Hz) (rpm) o/p voltage Output input
from inverter voltage current
%VTHD (%ITHD)
0.9 50 1400 323 79.1 235.2
0.8 44.44 1200 283 93.01 241.7
0.7 38.88 995 249 105.2 260.3
0.6 33.33 825 216 119.8 280.6
0.5 27.77 647 181 138.3 274.2
0.4 22.22 Unstable 138 167.4 291.3
0.3 16.66 Unstable 106 199.5 315.0
0.2 11.11 Unstable 65 247.4 351.6
0.1 5.55 Unstable 15 341.3 427.5

15
2.4 SUMMARY

Open-loop V/f Control was implemented using MATLAB and the characteristics
were studied. It was observed that by varying the value of modulation index (MI) the
supply frequency and terminal voltage changes accordingly such that the V/f ratio
remains the same. It is observed that if the load torque varies, the speed varies
inversely and the desired speed cannot be achieved.

16
 CHAPTER 3

CLOSED LOOP V/F SPEED CONTROL OF IM

3.1 INTRODUCTION

In this chapter, closed loop V/F speed control of IM is studied. An improvement

of open loop V/f control is closed loop speed control by slip regulation. The reason
for using closed loop is to maintain the speed of IM constant at Reference speed. The
block diagram for closed loop speed control of IM is shown in Fig. 3.1. In closed-loop
V/f Control the rotor speed is measured using speed sensor and is compared to the
reference speed. The speed loop error generates the slip command through a
Proportional-integral (PI) controller. The slip command is added to the feedback
speed signal to generate the frequency command [2]. The frequency command also
generates the voltage command through volts/Hz function generator. Since the slip is
proportional to the developed torque at constant flux, the scheme can be considered as
an open loop torque control within a speed control loop [1]. The value of voltage and
frequency command is used to generate Reference sinusoidal wave. Frequency and
fundamental output voltage of the Voltage Source Inverter is modified proportionally
so as to keep the flux and speed constant [4].

3.2 V/F SPEED CONTROL OF IM DRIVE WITH SPEED CONTROLLER

With the open loop analysis it was observed that by varying the value of modulation
index (MI) the supply frequency and terminal voltage changes accordingly such that
the V/f ratio remains the same. It is also observed that if the load torque varies, the
speed varies inversely and the desired speed cannot be achieved. Hence closed loop
speed control induction motor is proposed and is shown in the fig 3.1

17
 W*r

DIODE SPWM
Wr + e W*sl +
RECTIFIER INVERTER IM - PI +

415 v, 50Hz
3ɸ, AC
supply
SPWM MI W*e
GAIN
PULSE GENERATOR

Fig 3.1 Block diagram for closed loop speed control of IM

18
3.2.1 PI CONTROLLER

PI controller operating with negative feedback in the stable region gives zero steady
state error. The error or slip of the motor (Wsl) in the actual rotor speed (Wr) with
respect to the reference speed (W*r) is fed to the controller. PI controller gives a
modified error or slip command (W*sl) value at the output which is added to actual
rotor speed to give modified frequency command (W*e). This value is then modified
suitably to get updated MI value. Since this method uses only the magnitude of the
control parameters rather than their phases this method is a scalar control method.

Unlike open loop the MI value is not given manually. The initial value of MI before
start is zero. Whenever an error is developed the speed control loop will vary the MI
value accordingly so as to reduce the error to zero and makes the motor to run at
reference speed.

3.2.2 PULSE GENERATOR

When the IM runs at constant speed at any particular torque, closed loop MI would
reach and settle at corresponding open loop MI value. If there is any change in load
with reference speed remaining constant, closed loop MI changes. The conversion of
W*e to MI is described below:

Modified frequency command (rad/s) contains the new frequency (Hz) at which
inverter should be operated. We see that in V/f control method the ratio of magnitude
of modulation index m to the reference wave frequency or inverter fundamental
frequency or new frequency command (fnew) is constant. For instance at m=0.9; f=50
Hz; m/f=0.018 & if m=0.7; f=38.88 Hz; m/f=0.018. Thus magnitude of MI is obtained
as m=0.018* fnew.

The reference sine wave of the form m*sinθ is generated. Where, m is the magnitude
of MI and θ= ʃ2*pi* W*e t. The reference sine wave is compared to high frequency
carrier wave of 10000 Hz and amplitude modulation is done to generate gate pulses.
The carrier wave magnitude is taken as one for convenience so as to set the value of
modulation index as the magnitude of reference wave.

The MATLAB model for closed loop IM drive is shown in the fig 3.2.

19
3.3 SIMULINK RESULTS & DISCUSSIONS

The performance of induction motor drive using closed loop V/F control method is
simulated using MATLAB. The designed simulink model is shown in Fig. 3.2.

Fig 3.2 Simulink model for speed control of closed loop IM

Speed control block consists of error detector and a PI controller. Using trial and error
method Kp and Ki values of the controller are set to 0.35 and 2 respectively. MI and
W*e obtained respectively at the goto1 and goto2 are used to generate reference wave.
Sine waves for the inverter are generated at the subsystem 1, 2&3 with a phase delay
of 00, 2400 &1200 respectively.

Fig 3.3 Simulink model of 3ɸ SPWM inverter

20
The performance of the closed loop V/F controlled induction motor is investigated
under various operating conditions. The results for major operating conditions are
shown which are of the following,

3.3. 1 Operating Condition 1: Constant Reference speed with Change in Load

Torque

Initially the motor starts at no load. At t=4s, full load (7.5N-m) is applied and at t=7s,
half full load is applied. Closed loop machine torque response corresponding to the
input load torque with respect to time is shown in the fig 3.4.

Fig 3.4 Closed loop torque response of an IM

For the input torque shown in the fig3.4 closed loop speed response is shown in fig3.5

Fig 3.5 Closed loop speed response of an IM

21
At no load rotor speed settles at the reference speed. When full load is applied, speed
drops to certain value and again reaches the reference speed .When Full load is
reduced to half full load, speed goes beyond the reference speed for but tracks back
the reference speed again. Unlike open loop speed control of IM, despite the load
variations rotor speed of induction motor tends to reach and settle at reference speed.

3.3.2 Operating Condition 2: Change in reference speed

Initially, the reference speed is maintained at around 148 rad/sec and step change in
speed is effected at 4 sec. The rotor speed obtained at this operating condition 2 is
shown in Fig. 3.6. The rotor speed is found to track the reference speed very well.

Fig 3.6 Closed loop speed response for change in reference speed

From fig 3.5 it is observed that despite reference speed variations IM tracks the
reference speed.

3.3.3 Operating Condition 3: Speed reversal application

Initially, the reference speed is maintained at around 148 rad/sec and speed reversal
command is issued at 4 sec. The rotor speed obtained at this operating condition 3 is
shown in Fig. 3.6. The rotor speed is found to track the speed in reverse direction as
well.

When the reference speed is changed from positive to negative values, the zero
crossing of the speed makes MI change from positive to negative causing change in
the phase sequence of the reference sine waves. Thus speed reversal has happened.

22
 Fig 3.7 Closed loop speed reversal characteristics

3.3.4 Operating Condition 4: Pump load application

Pump load or parabolic load requires torque which is proportional to the square of its
speed. Load is designed so as to achieve maximum torque of 7.5 N-m at speed of
148rad/s. The torque and speed responses for pump loads are shown in Fig. 3.8 and
3.9 respectively. When the motor is just started motor speed and thus output torque
was zero. At around t=4s, motor reaches its reference speed and output torque
proportional to the square of speed is developed.

Fig 3.8 Torque characteristics of closed loop IM driving a pump load

23
 Fig 3.9 Speed characteristics of closed loop IM driving a pump load

3.4 SUMMARY

Closed-loop V/f Control used a Proportional Controller to process the error between
the actual rotor speed and reference speed and used this to vary the supply frequency.
The Voltage Source Inverter varied the magnitude of the Terminal Voltage
accordingly so that the V/f ratio remained the same. It is observed that the closed loop
drive is shown to perform well for various operating conditions.

24
 CHAPTER 4

SOLAR FED INDUCTION MOTOR DRIVE

DRIVING A PUMP LOAD

4.1 INTRODUCTION

In this chapter, the solar fed induction motor drive is designed and performance is
investigated under various operating conditions. Renewable energy source demand
increases as it is environmental friendly and pollution free, which reduces the
greenhouse effect. Earth receives 174 petawatts (PW) of incoming solar radiation at
the upper atmosphere. Approximately 30% is reflected back to space. The total solar
energy absorbed by Earth's atmosphere, oceans and land masses is approximately
3,850,000 EJ per year. Solar powered electricity generation relies on photovoltaic
system. A photovoltaic system is a system which uses one or more solar panels to
convert solar energy into electricity. PV cells are made of semiconductor materials,
when light energy strikes the solar cell, electrons are knocked loose from the atoms in
the semiconductor material. The received solar energy is not a constant value but
varies with temperature (˚C) and irradiance (mW/sqcm). This is the primary
disadvantage of renewable resources like solar, that they are intermittent and not
reliable thus limiting the optimal utilization of the resource. The need of the hour is to
deliver a constant voltage to the grid irrespective of the variation in temperatures and
solar insolation. The sophisticated applications require electronic converters to
process the electricity from the array. These converters may be used to regulate the
voltage and current at the load.

4.2 SOLAR FED CLOSED LOOP SPEED CONTROLLED IM DRIVE

The induction motor drive fed with solar PV panel with speed controller is shown in
the Fig. 4.1. The solar energy is converter into electrical energy using PV panel. The
output of the PV panel is boosted up using the boost converter. The output of the
boost converter is given as the input to the three phase inverter. The output of the
three phase inverter is given as the input to the induction motor driving a pump load.

25
 PV
+ W*r
+

+
ARRAY

PWM BOOST SPWM Wr Wel W*sl

MI ++ PI +
-- +
+ +

BLOCK CONVERTER INVERTER + +

+ +

+
+

C
α +
SPWM
DUTY CYCLE -
- MI W*e
+ + PULSE GAIN
+
+

+
GENERATOR

Fig 4.1 Block diagram for solar fed closed loop IM without DC link voltage controller

26
4.2.1 DESIGN OF PV ARRAY

The building block of PV arrays is the solar cell, which is basically a p-n junction
that directly converts light energy into electricity. Due to the low voltage generated in
a PV cell (around 0.5V), several PV cells are connected in series (Ns, for high
voltage) and in parallel (Np, for high current) to form a PV module for desired output.
When connected together the cells properties add together to create an I-V curve that
has the same appearance as that of an individual cell but is larger in magnitude. The
PV mathematical model used to simplify our PV array is represented by the equation:

I = Np*Iph-Np*Irs [exp( )-1] … Eq (4.1)

Iph = [Iscr + Ki (T – Tr)] … Eq (4.2)

3
Irs = Irr[ ] exp( [ – ]) … Eq (4.3)

Eg = Eg(0)- … Eq (4.3)

Where, Iph is the Insolation current, I is the Cell current, V is the Cell voltage, Irs is
the cell reverse saturation current, K is the Boltzman constant, T is the Temperature in
Kelvin, A is the ideality factor, Tr is the cell reference temperature, q is the Charge of
an electron, Irs is the diode reverse saturation current, Iscr is the cell short-circuit
current at reference temperature and radiation, Ki is the short circuit current
temperature coefficient, Eg is the band gap of the semiconductor and S is the solar
radiation in mW/cm2.
The PV array has been designed taking into consideration its irradiance,
temperature, number of PV cells connected in series and parallel. The solar array is
designed to produce 300V at irradiance of 100mW/sqcm. The parameters used are
shown in appendix B. The solar PV panel is designed for 3KW. The power rating of
the chosen induction motor for study is 1.1KW.

27
4.2.2 DESIGN OF BOOST CONVERTER

The components of the converter include DC supply, inductor, MOSFET which

acts as a switch, shunt capacitor and diode. During the ON time, the power switch SW
is in ON state, inductor current flows through the inductor L and the power switch .
During the OFF time, the power switch SW is in OFF state, the energy in the inductor
is transferred to the output capacitor C and to the load through the diode.

The selection of various components for the open loop boost converter to get an
output voltage of 600V with an input supply of 300V is given below:

4.2.2.1 Inductor selection

The higher the inductor value, the higher is the maximum output current because of
the reduced ripple current. The lower the inductor value, the smaller is the value of
current. The inductor must always have a higher current rating than the maximum
current because the current increases with decreasing inductance

L= …Eq(4.3)

where, Vin = typical input voltage, Vo = desired output voltage, fs = minimum

switching frequency of the converter, ΔIL = estimated inductor ripple current. A good
estimation for the inductor ripple current is 20% to 40% of the output current.

4.2.2.2 Capacitor selection

Minimum output capacitance required,

Cout >= …Eq(4.4)

where, D = duty cycle of the switch, Iout= maximum output current of the application,
fs = minimum switching frequency of the converter, ΔVo = desired output voltage
ripple.

4.2.2.3 Diode selection

To reduce losses, Schottky diodes should be used. The forward current rating needed
is equal to the maximum output current. Schottky diodes have a much higher peak

28
current rating than average. Therefore the higher peak current in the system is not a
problem.

For Duty cycle = 0.5 and fs = 10 KHz, the value of Inductor and capacitor are chosen
as 0.015 H and 7.8×10-5 F.

4.3 SIMULATION RESULTS & DISCUSSIONS

The performance of solar fed closed loop V/F speed controlled IM drive is
investigated under various operating conditions using MATLAB. The developed
MATLAB simulink model is shown in Fig. 4.2

Fig 4.2 Simulink model for open loop boost converter

29
 Fig 4.3 simulink model for mathematical model of PV array
The rectifier in fig 3.2 is replaced by PV array and a boost converter to obtain open
loop solar fed closed loop speed control of IM as shown in the fig. 4.4.

Open loop boost

converter

Fig 4.4 Simulink model for speed control of IM with closed loop speed controller
without DC link voltage controller

30
The above Simulink model was operated initially at the solar irradiance of 100
mW/sqcm and at t=5sec, irradiance was reduced to 30mW/sqcm. From fig 4.5(a) it
was found that solar o/p voltage is mostly influenced by its irradiance. The open loop
boost converter with D=0.5 doubles the input voltage. The solar voltage at 280C under
varying irradiance is tabulated in Table 4.1. The output voltage of solar Panel and
boost converter varies with respect to the change in irradiance.

It is observed from the fig 4.5 (c) that for a considerable change in solar voltage the
speed control loop is inefficient in maintaining the reference speed. When the solar
voltage reduces beyond certain value, speed control loop fails to maintain reference
speed. The corresponding pump load characteristics for changes in irradiance are
shown in figs 4.5 (d).

It is analyzed that poor voltage regulation of open loop solar boost converter is
responsible for undesired operation of the induction motor. This poor voltage
regulation of open loop boost converter is overcome by separate closed loop voltage
control technique which tends the output of boost converter to remain constant at
reference voltage.

Table 4.1 Open loop solar voltage at 280C under varying irradiance

IRRADIANCE (mW/sqcm) Voutsolar or Vin of Boost Vout of boost

Converter (Volts) converter (Volts)
100 300 600
90 294 588
80 289 578
70 283 566

60 275 550

50 264 528

40 247 494

30 215 430

31
Fig 4.5 (a) Solar o/p voltage and open loop boost converter’s o/p voltage

Fig 4.5 (b) Inverter o/p voltage

characteristics

Fig 4.5 (c) Speed characteristics

32
 Fig 4.5 (d) Torque characteristics

Fig 4.5 (e) Motor input current characteristics

4.4 SOLAR FED CLOSED LOOP SPEED CONTROLLED IM DRIVE WITH

DC LINK VOLTAGE CONTROLLER

From the investigation it is observed that the solar fed induction motor drive without
DC link voltage controller fails to track reference speed under change in irradiance.
Hence DC link voltage controller is proposed. The block diagram for the solar fed
induction motor drive with DC link voltage controller is shown below.

33
 PV
+ W*r
+

+
ARRAY

Vout
PWM BOOST SPWM Wr error W*sl
+ MI ++ PI +
-- +
+ +

BLOCK CONVERTER INVERTER + +

+ +

+
+

α
Verror SPWM
PI -
-
Vout
MI W*e
+ + PULSE GAIN
+
+

+
GENERATOR

Vref

Fig 4.6 Block diagram for solar fed closed loop IM with DC link voltage controller

34
4.5 SIMULATION RESULTS & DISCUSSIONS

The above proposed model consists of two closed loops:

(i) Motor speed control loop.

(ii) Boost converter’s voltage control loop.

The Simulink model for the above proposed model is same as the model in fig 3.2
except the rectifier is replaced by a solar panel and a closed loop boost converter. The
Simulink model for the above proposed model is shown in the fig 4.7.

Fig 4.7 Simulink model for speed control of IM with closed loop speed controller
with DC link voltage controller.

Fig 4.8 Simulink model for closed loop solar boost converter

35
The error between Reference voltage and boost converter’s output voltage is fed to an
Integral controller. The control voltage from Integral controller is compared with a
saw-tooth ramp in PWM block. When the converter output voltage changes, the
control voltage Vc also changes and thus causes the duty cycle of the power switch to
change. The higher the error voltage, the longer is the duty cycle. This change of duty
cycle adjusts the output voltage to reduce to error signal to zero. An Integral
controller with Ki=0.005 is used in the secondary closed loop. The performance of
designed solar fed closed loop speed controlled induction motor drives with DC link
voltage voltage controller is tested extensively for various operating conditions. The
sample results for major operating conditions are presented. It is observed that with
change in irradiance, the output voltage of the boost converter is found to track the
desired voltage (600V).

The solar voltage, boost converter output voltage, motor input voltage, motor speed
motor torque and motor input current response for the irradiance change is shown in
figs 4.9(a), 4.9(b), 4.9(c), 4.9(d), 4.9(e).

From fig 4.9 (a) it is inferred that irrespective of change in solar output voltage DC
link voltage is retained to reference voltage of 600V. Fig 4.9(b) shows that peak o/p
voltage of the inverter is congruence to the DC link o/p voltage. From fig 4.9(c) we
can observe that in spite of change in solar irradiance from 100mW/sqcm to
30mW/sqcm speed of the motor tracks the reference speed. The torque of the motor
proportional to the square of the speed is seen from the fig 4.9(d). From fg 4.9(e) it is
observed that the motor input current remains stable for irradiance changes unlike the
motor current without DC link voltage controller.

36
 Table 4.2 Closed loop solar voltage at 280Cand varied irradiance

IRRADIANCE (mW/sqcm) Voutsolar or Vin of Vout of boost

Boost Converter (Volts) converter (Volts)
100 299.9 599.8
90 299.7 599.4
80 299.9 599.8
70 299.8 599.6

60 300.1 600.2

50 299.7 599.4

40 300.0 600

30 299.7 599.4

Fig 4.9 (a) Solar voltage and closed loop boost converter o/p voltage

Fig 4.9 (b) Inverter output voltage characteristics

37
 Fig 4.9 (c) speed characteristics

Fig 4.9 (d) torque characteristics

Fig 4.9 (e) Motor input current characteristics

38
4.6 SUMMARY

In this chapter, the performance of solar fed closed loop V/F speed controlled IM
drive with and without DC link Voltage Controller is studied. From the results
obtained, it is observed that the solar fed closed loop V/F speed controlled IM drive
with DC link Voltage Controller outperforms the IM drive without DC link voltage
controller under irradiance changes.

39
 CHAPTER 5

CONCLUSION
The open loop and closed loop V/F speed control for an induction motor is
developed. Both open loop and closed loop were studied and its speed torque
characteristics was plotted and studied for various conditions. A solar panel with a
boost converter is designed for constant pump load applications. Closed loop Green
Energy Induction Motor Drive was designed and modeled using MATLAB with DC
link voltage controller. The performance of solar energy fed closed loop controlled
IM drive with DC link voltage controller is found to perform as compared to IM drive
without DC link voltage controller under various irradiance conditions.

Future scope:

The performance of proposed green energy closed IM drive can be validated

experimentally.

40
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43
 APPENDIX-A

(i) Nominal power = 1100w

(ii) Voltage (L-L rms) = 415v
(iii) Frequency = 50 Hz
(iv) Stator Resistance = 6.03 Ω
(v) Stator Inductance =0.0299H
(vi) Rotor Resistance = 6.085 Ω
(vii) Stator Inductance = 0.0299H
(viii) Pole pairs = 2
(ix) Inertia = 0.011787
(x) Friction factor = 0.0027

44
 APPENDIX -B

(i) Np =2
(ii) Ns = 550
(iii) Iscr = 3.75 A
(iv) Tr = 400 c
(v) Ki = 0.00023 A/K
(vi) Irr = 0.000021 A
(vii) K = 1.38065 * 10-23 J/0K
(viii) q = 1.6022* 10-19 C
(ix) A = 2.15
(x) Eg0 = 1.66 eV

45
46