International Journal of Trend in Scientific Research and Development (IJTSRD)

Volume: 3 | Issue: 4 | May-Jun 2019 Available Online: www.ijtsrd.com e-ISSN: 2456 - 6470

Design and Implementation of Speed Control of

Induction Motor using Arduino Based FLC
Talat Jabeen1, Ganesh Wakte2
1Student, 2Professor, 1,2Integrated
Power System,
1,2Tulsiramji Gaikwad Patil College of Engineering & Technology, Nagpur, Maharashtra, India

How to cite this paper: Talat Jabeen | ABSTRACT

Ganesh Wakte "Design and The low maintenance and robustness induction motors have many applications
Implementation of Speed Control of in the industries. The speed control of induction motor is more important to
Induction Motor using Arduino Based achieve maximum torque and efficiency. Various speed control techniques like,
FLC" Published in International Journal Direct Torque Control, Sensorless Vector Control and Field Oriented Control. Soft
of Trend in Scientific Research and computing technique – the Fuzzy logic is applied in this work .We have carried
Development on with the hardware implementation for speed control of induction motor using
(ijtsrd), ISSN: 2456- the fuzzy logic control . Using the arduino micro controller, we have developed a
6470, Volume-3 | hardware setup which is able to control the speed of induction motor by using
Issue-4, June 2019, Arduino Uno .We can conclude that we have been able to get a good control over
pp.328-332, URL: the speed of motor.
https://www.ijtsrd.c
om/papers/ijtsrd23 IJTSRD23684 Keywords: Speed, Arudino Uno, Induction motor, Field Oriented Control, Fuzzy logic
684.pdf controller, Maximum torque, Membership function, Induction motor

Copyright © 2019 by author(s) and INTRODUCTION

International Journal of Trend in It is not possible Induction motors are being applied today to wider range of
Scientific Research and Development applications requiring variable speed. Generally, Variable speed drives for
Journal. This is an Open Access article Induction Motor (IM) require both wide operating range of speed and fast torque
distributed under response, regardless of load variations. This leads to more advanced control
the terms of the methods to meet the real demand. The conventional control methods have the
Creative Commons following difficulties
Attribution License (CC BY 4.0) 1. depends on the accuracy of the mathematical model of the systems
(http://creativecommons.org/licenses/ 2. The expected performance is not met due to the output disturbance, motor
by/4.0) saturation and thermal variations

3. linear control shows good performance only at one belongs to hard computation techniques which has been the
operating speed first artificial intelligent technique. In recent two decades,
4. The coefficients must be chosen properly for acceptable soft computation is used widely in electrical drives.
results, but choosing the proper coefficient with varying
parameters like set point is very difficult They are,
1. Artificial Neural Network (ANN)
To implement conventional control, the model of the 2. Fuzzy Logic Set (FLS)
controlled system it must be known. The usual method of 3. Fuzzy-Neural Network (FNN)
computation of mathematical model of a system is difficult. 4. Genetic Algorithm Based system (GAB)
When there are system parameter variations or 5. Genetic Algorithm Assisted system (GAA)
environmental disturbance, the behavior of the system is not
satisfactory. Usually classical control is used in electrical ANN and FLS technique are quite different, and yet with
motor drives. The classical controller designed for high unique capabilities useful in information processing by
performance increases the complexity of the design and specifying mathematical relationships, numerous variables
hence the cost. Advanced control based on artificial in a complex system, performing mappings with degree of
intelligence technique is called intelligent control. Every imprecision, control of nonlinear system to a degree not
system with artificial intelligence is called self-organizing possible with conventional linear systems.
system. Earlier the production of electronic circuits and
microprocessors with high computation ability and It is a technique to embody human-like thinking into control
operating speed has grown very fast. The high power, high system. This controller can be designed to emulate human
speed and low cost modern processors like DSP, FPGA and deductive thinking, that is, the process people use to infer
ASIC IC’s along with power technique switches IGBT made conclusions from what they know. Fuzzy control has been
the intelligent control to be used widely in electrical drives. primarily applied to the control of processes through fuzzy
Intelligent control, act better than conventional adaptive linguistic descriptions. Fuzzy control system consists of four
controls. Artificial intelligent techniques divide two groups: blocks as shown in Fig. 1.
hard computation and soft computation. Expert system

@ IJTSRD | Unique Paper ID - IJTSRD23684 | Volume – 3 | Issue – 4 | May-Jun 2019 Page: 328
 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
utilizing apace vector modulation, predictive control,
and dead beat control. All of these techniques increase
the complexity of the drive systems.

B. Sensorless Vector Control

The sensorless control method is valid for both high and low
speed range. Using the traditional method, the stator
terminal voltages and currents estimate the rotor angular
speed, slip angular speed and the rotor flux. In this case,
Figure1. Fuzzy Control System around zero speed, the slip angular velocity estimation
becomes impossible since division by zero takes place.
The paper deals about the hardware implementation of Another strategy is, as short sampling time is assumed, we
fuzzy logic in the speed control of Induction motor. Various could solve the linearized differential equations, then get an
control techniques are discussed in Section II. The Section III algebraic equation for the estimation of rotor parameters.
discusses the induction Motor. Section IV describes the The problem of achieving high dynamic performance in AC
Fuzzy logic controller. Section. V describes the hardware motor drives without the need for a shaft position/speed
implementation of the fuzzy logic based induction motor sensor has been under study widely.
controller followed by conclusion in Section VI.
The advantages of speed sensorless operation of the drives
VARIOUS CONTROL TECHNIQUES are lower cost, reduced size of the drive machines,
Because of advances in power electronic switches and elimination of the sensor cable and increased capability. The
microprocessors, variable speed drive system using various zero rotor speed problem persisting in the sensorless speed
control technique have been widely used in many control scheme was resolved sacrificing the dynamic and
applications, namely Field oriented control or vector control, steady state performance.
Direct torque control, Sensorless vector control.

A. Direct Toque Control

Direct Torque Control (DTC) scheme is very simple. In its
basic configuration it consists of DTC controller, torque and
flux calculator and VSI. In principle, the DTC method selects
one of the inverter’s six voltage vectors and two zero vectors
in order to keep the stator flux and torque within a
hysteresis band around the demand flux and torque
magnitudes. The torque produced by the induction motor
can be expressed as shown below

2.1
This shows the torque produced is dependent on the stator Figure 2.1 Applied Voltage Vector
flux magnitude, rotor flux magnitude and the phase angle
between the stator and rotor flux vectors. The induction
motor stator equation is given by

2.2

Can be approximated as shown below over a short time

period
if the stator resistance is ignored, then

2.3

This means that the applied voltage vector as shown in the

Fig. 2 determines the change in the stator flux vector as
shown in Fig. 3. If a voltage vector is applied that changes Figure 2.2 Stator Flux Vector
stator flux to increase the phase angle between the stator
flux and rotor flux vectors, then the torque produced will C. Field Oriented Control
also increase. Two problems are usually associated with DTC Field oriented control (FOC) technique is intended to control
drives which are based on hysteresis comparators are: the motor flux, and thereby be able to decompose the AC
1. Variable switching frequency due to hysteresis motor current into “flux producing” and “torque producing”
comparators used for the torque and flux estimators components. These current components can be treated
2. Inaccurate stator flux estimations which can degrade the separately, and then recombined to create the actual motor
drive performance, some schemes have managed to phase currents. This gives a solution to the boost adjustment
maintain an average constant switching frequency by problem, and also provides much better control of the motor

@ IJTSRD | Unique Paper ID - IJTSRD23684 | Volume – 3 | Issue – 4 | May-Jun 2019 Page: 329
 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
torque, which allows higher dynamic performance. Some
approaches which yield the maximum torque have been
published. Xu and Novotny [3] insisted that a method which
set the stator flux reference inversely proportional to the
rotor speed should produce more output torque than a
conventional method, which set the rotor flux reference 3.7
inversely proportional to the rotor speed. However, in their
method, there exist some speed ranges where the maximum
torque cannot be obtained.

Kim and Sul suggested a voltage control strategy for the

maximum torque operation of induction motors in the field 3.8
weakening region, considering the voltage and current
constraints. However this approach neglects the stator And
resistor for the analysis. Wallace and Novotny [4] suggested Vqs , Vds ,q- and d- axes stator voltages;
an instantaneous maximum-torque generation method for iqs , ids , q- and d- axes stator currents;
induction motors. In this approach, the entire current input Rs , Rr stator and rotor resistances;
is used for generating the rotor flux before the torque is φqr ,φdr , q- and d- axes rotor fluxes;
developed. Then, at the moment that the rotor flux reaches ωr rotor speed;
the steady state value, the entire input current is switched to ωe synchronous speed.
produce torque current component.
The generating torque of the induction motor is
INDUCTION MOTOR
To accomplish field oriented control, the controller needs to
have an accurate “model” of the induction motor. Over the
last several years a large number of different schemes have 3.9
been proposed to accomplish the “flux and torque control”
desired. Many of the today’s technique involve some sort of where,
self tuning at startup in order to obtain information which P = pole number;
helps to design accurate model of the motor to produce more Lm = mutual inductance;
optimal control. In addition, there are also techniques by Lr = rotor inductance;
which the models can adaptively adjust to changing
conditions such as the motor temperature going from cold to From the above the continuous- time model of the induction
warm which will have an impact of slip. The output motors, a discrete-time model can be derived with the
equations of the induction motors can be expressed in the following assumptions
synchronously rotating d-q reference frame as follows [19]. 1. The sampling time is sufficiently small enough to
achieve a good approximation of a continuous-tim.
2. Since the mechanical time constant is much larger than
the electrical one, rotor speed is assumed to be constant
during the sampling period.
3.1 3. input voltages, Stator currents and rotor flux are also
considered constant during the sampling period.
Where,
Using the above assumptions, a discrete-time model of
induction motors can be expressed as
3.2

3.10
3.3
Where

3.11

3.4
3.12

T sampling time

The discrete model is used in the simulation.

3.5
Maximum torque generation

Maximize 3.13

Under constraints
3.6
3.14

@ IJTSRD | Unique Paper ID - IJTSRD23684 | Volume – 3 | Issue – 4 | May-Jun 2019 Page: 330
 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470

3.15
where,

3.16

3.17

3.18

FUZZY LOGIC CONTROLLER

To obtain fuzzy based model of the motor, the training system (4b)
derives information from two main sources, a. The static flux
linkage curves of the motor, which provides important
information about the electromagnetic characteristics of the
motor

b. The dynamic real time operating waveforms of the motor,

which can include real-time operating effects, such as mutual
coupling between phases, temperature variations, eddy
currents and skin effects. During the training phase, each
input-output data pair, which consists of a crisp numerical
value of measured flux linkage, current, angle and voltage is
used to generate the fuzzy rules. To determine a fuzzy rule
from each input-output data pair, the first step is to find the
degree of each data value in every membership region. The
variable is assigned to the region with the maximum degree. (4c)
When each new rule is generated from the input-output data
pairs, a rule degree or truth is assigned to that rule, where Figure -4
this rule degree is defined as the degree of confidence that the (a) Membership function for input variable K1
rule does in fact correlate to the function relating voltage and (b) Membership function for input variable K2
current to angle. In the developed method a degree is (c) Membership function for output variable
assigned which is the product of the membership function
degree of each variable in its respective region. Every training RESULTS
data set produces a corresponding fuzzy rule that is stored in Fuzzy Controller results: Input variables are required to be
the fuzzy rule base. Therefore, as each input output data pair normalized with ranges of membership functions specified.
is processed, rules are generated. A fuzzy rule or knowledge Suitable normalization has direct influence in algorithm and
base is in the form of two dimensional table,Speed error is results in optimality and faster response. The fuzzy logic
calculated with comparison between reference speed and controller operation is based on the control operation shown
speed signal feedback. Speed error and speed error changing in Table I.
are fuzzy controller inputs. Input variables are normalized
with a range of membership functions specified and the TABLE I
normalization factors are named as K1 and K2. Suitable
normalization has direct influence in algorithm optimality
and faster response.

Fig. 4.1 shows normalized membership functions for input

and output variables. A fuzzy logic controller operation is
based on the rules formed.

Figure 5.1 the Block Diagram

(4a)

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
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Figure 5.2 the Implemented Module
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