Madhavi L M et. al.

/ International Journal of Technology and Engineering Science

[IJTES]
TM
Vol 1(2), pp 151 - 155

ISSN: 2320 8007 151


Induction Motor Speed Control using PID Controller
Madhavi L. Mhaisgawali, Prof.Mrs. S. P. Muley
Department of Electrical Engineering
Priyadarshini College of Engineering,
Nagpur-440016, India.
[email protected], [email protected]




Abstract The induction motors were characterized by
complex, highly non-linear and time-varying dynamics,
and hence their speed control is a challenging problem in
the industry. The advent of vector control techniques has
solved induction motor control problems. This paper
based on the speed control of induction motor (I M) using
proportional integral derivative controller (PI D
controller) with the use of vector control technique.
Simulation is carried out in MATLAB environment and
results are investigated for speed control of induction
motor without any controller and with PI D controller on
full load condition.

I ndex Terms Conventional PI controller, Conventional
PID controller, Induction Motor (IM), Indirect vector
control technique (IVC)
I. INTRODUCTION
Induction motors has many application in industry
because of their low maintenance and robustness. The speed
control of induction motor is more important to achieve
maximum torque and efficiency. In recent years, the control
of the induction motor drive is an active research area for
engineers. And the technology has further advances in this
field. Generally, the control and estimation of ac drives
ware significantly more complex than that of dc drives, and
this complexity increases to a large extent if the high
performances are demanded. The need of variable
frequency, machine parameter variations, and the
difficulties of processing feedback signals in the presence
of harmonics create this complexity.

In most of industrial drive control applications,
the standard method to control squirrel cage induction
motors is based on the field-oriented or vector control
principle in order to achieve the best dynamic behavior.
There are essentially two general methods of vector control.
One called the direct or feedback method, and the other, the
indirect or feed forward method. Indirect vector controlled
(IVC) induction motor (IM) drives used in high
performance systems is very popular in industrial
applications due to their relative simple configuration, as
compared to the direct method which requires flux and
torque estimator. The primary advantages of indirect vector
control are the decoupling of torque and flux characteristics
and easy implementation. In an indirect vector control
induction motor drive, the flux and torque commands are
calculated from the IM variables based on machine
parameters. It is desirable that those parameters match the
actual parameters of the machine at all operating conditions
to achieve decoupling control of the machine.

Induction motor can be controlled with the help of
conventional PID controller with the use of vector control
technique. Because of major advantages of vector control,
this method of control will oust scalar control, and will be
accepted as the industry-standard control for ac drives. PID
controllers are widely used in different industries for
control of different plants and have a reasonable
performance. The conventional proportional integral
controller increases the order of the system, improves
damping, and reduces maximum overshoot, decreases
bandwidth and increase the rise time. But the proportional
integral controller can never achieve perfect control, that is,
keep the speed of induction motor continuously at a desired
set point value in the presence of disturbance or set point
change. Therefore, we need an advance control technique
such as PID controller.

In this article we will discuss the conventional
PID controller. Finally we will present the simulation result
for speed control of induction motor using PID controller
and a brief discussion.

II.INDUCTION MOTOR MODEL

The electrical part of an induction motor is
represented with a fourth-order state-space model and the
mechanical part with a second-order system. All electrical
parameters and variables are referred to the stator.
In a generalized two-axes reference frame, the electrical
equations of an induction machine are,


(a)


Madhavi L M et. al. / International Journal of Technology and Engineering Science


[IJTES]
TM
Vol 1(2), pp 151 - 155

ISSN: 2320 8007 152



(b)

Figure1:Stator and rotor in two-axis reference frame (a)
qaxis, and (b) d-axis







The electromagnetic torque equation is given by,



The fluxes are related to the currents by the following
equations,


In these equations,
sd, rd, sq and rq are the stator and rotor fluxes with
respect to an arbitrary d-q axes frame.
Lm is magnetizing inductance.
Ls and Lr are total stator and rotor inductances.
And Ls = Llr + Lm , Lr = Lls + Lm

Where,
Rs, Lls stator resistance and leakage inductance.
Rr, Llr rotor resistance and leakage inductance.
e is the angular speed of the reference frame with respect
to the stator and its position; sr = e - r is the slip
frequency.





III.PID CONTROLLER

The PID controllers (proportional integral
derivative controller) are widely used in industries for the
speed control purpose. A PID controller calculates an
error value as the difference between the measured
process value and the desired set point.

The PID controller calculation involves three
separate constants and is accordingly sometimes called
three-term control i.e. the proportional, the integral and
derivative value which is denoted by P, I and D.



Figure2: Basic block of PID Controller

A proportional controller may not give steady state
error performance which is needed in the system. An
integral controller may give steady state error performance
but it slows a system down. So the addition of a derivative
term helps to cure both of these problems

IV.DEVELOPMENT OF THE SIMULINK MODEL

The speed performance of induction motor is
checked first without any controller and then with the help
of PID controller. The simulink model is developed in the
MATLAB which is shown in following Figures 2 and 3.




Madhavi L M et. al. / International Journal of Technology and Engineering Science


[IJTES]
TM
Vol 1(2), pp 151 - 155

ISSN: 2320 8007 153



Figure 3: Developed simulink model to check speed
response of Induction motor without any controller










Figure 4: Developed simulink model to check speed
response of Induction motor with PID controller









Madhavi L M et. al. / International Journal of Technology and Engineering Science


[IJTES]
TM
Vol 1(2), pp 151 - 155

ISSN: 2320 8007 154


V. SIMULATION RESULTS

Simulations are carried out in MATLAB environment and
the results are verified for the speed v/s time on full load
condition. The speed response of Induction motor is
checked for without controller and with PID controller
which is shown in Figure 5 and 6.



(a) Speed


(b) Torque

Figure 5: Performance of Induction motor on full load
condition without any controller (a) Speed, (b) Torque






(a )Speed




(b) Torque

Figure 6: Performance of Induction motor on full load
condition with PID controller (a) Speed, (b) Torque


The speed response of induction motor without any
controller is shown in fig.5. This is for full load condition.
When we applied a full load the speed suddenly decreases
and is not stable. So as to improve the speed performance
then we use the PID controller. Because of which the steady
state error is eliminated and the rise time is improved.
Therefore the PID controller is used to improve the speed
performance of Induction motor and the results are shown
in fig.6.





Madhavi L M et. al. / International Journal of Technology and Engineering Science


[IJTES]
TM
Vol 1(2), pp 151 - 155

ISSN: 2320 8007 155



VI. COMPARISION


The main purpose of this paper is to control the
speed of induction motor. So in the above figure 7, a
comparison is shown. From this we come to know that PID
controller is better to improve the speed performance of
induction motor. The speed of induction motor using PID
controller settled early. The comparative results are also
reported in the table below.

Parameters Without
Controller
With PID
Controller
Speed 1400 rpm 1430 rpm
Settling Time Not settled 0.16 sec
Rise Time 0.09 sec 0.073 sec

Table I. Comparison of speed of induction motor, without
any controller and with PID controller

VII.CONCLUSION

Simulation is carried out in MATLAB
environment for speed control of induction motor for full
load condition, using PID controller. And the results are
checked and compared. From the comparison of speed of
induction motor using PID controller we conclude that, the
PID controller gives better speed response in terms of
settling time, rise time and steady state error.


















VIII.APPENDIX

Three phase squirrel cage 5.4 HP, 1430 rpm, 400 V
induction motor specifications:

Sr.No. Parameter Symbol Value
1 Supply Frequency f 50 Hz
2 Voltage V 400 V
3 Stator Resistance Rs 1.405
4 Stator Inductance Ls 0.005839 H
5 Rotor Resistance Rr 1.395
6 Rotor Inductance Lr 0.005839 H
7 Magnetizing
Inductance
Lm 0.1722 H
8 Inertia J 0.0131 Kg.m2
9 Friction Factor F 0.002985
N.m.s
10 No..of pole P 4

Table II: Induction motor parameters

IX.REFERENCES
[1] Bimal K.Bose, Modern Power Electronics and AC
Drives, Pearson education .
[2] Gopal, M., Modern Control System Theory, 2nd ed.,
Wiley Eastern Ltd., 1993.
[3] Krishnan, R. Electric Motor Drives, Modeling,
Analysis and Control, 1st ed., Singapore: Pearson
Education, 2001.
[4] R.Arulmozhiyal, Dr.K.Baskaran, Speed Control of
Induction Motor using Fuzzy PI and Optimization using
GA, International Journal of Recent Trends in
Engineering, Vol 2, No.5, and November, 2009.
[5] R. Arulmozhiyl, K.Baskaran Space Vector Pulse
Width Modulation Based Speed Control of Induction Motor
using Fuzzy PI Controller, International Journal of
Computer and Electrical Engineering, Volume 1, Number
1, 2009.
[6] Pundaleek. B. H. , Manish G. Rathi, Vijay Kumar M.G.
Speed Control of Induction Motor using PI and Fuzzy
Controller, IJCSNS , Volume 10, Number 10, October
2010.
[7] Hossein Ebadi Kalhoodashti, Dr. Mehdi Shahbazian ,
Hybrid Speed Control of Induction Motor using PI and
Fuzzy Controller, International Journal of Computer
Applications (0975-8887), Volume 30, Number 11,
September 2011.