ADDIS ABABA UNIVERSITY

ADDIS ABABA INSTITUTE OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

Analysis and Implementation of DSP Based Sensored Speed Control of 3-Phase

IM Using FOC controller.
BSC Thesis

By
AMANUEL MEKONNEN (ATR/3493/05)
BIRHANU TERA (ATR/4670/05)
ASHENAFI TEMSEGEN (ATR/5421/05)

ADVISOR: MR. MESFIN TILAHUN

Date of submission: 6/23/2017.

ADDIS ABABA, ETHIOPIA

JUNE, 2017.
 PREFACE

The work reported in this thesis was performed at Addis Ababa University, School of Electrical
and Computer Engineering as a part of the education to Bachelor of Science in industrial and
control stream. The foundation of this thesis came up as Analysis and implementation of DSP
based sensored speed control of three phase induction motor by using field oriented control and to
analyze the existing scalar V/F control short coming. The speed controlling of three phase
induction motor is a key factor in this thesis.

I
 ACKNOWLEDGMENTS

First of all, we would like to thank God for his endless blessings and gifts!

We would like to express our sincere appreciation to our advisor Mr. Mesfin Tilahun for his
guidance, constructive comments, suggestions and encouragement from the start of the study up
to the final work of the paper. He read all the drafts of our thesis and taught us to be thorough in
analyzing problems and rigorous in presenting ideas. This thesis would not have been possible
without his support and guidance.

We would like also to thank Teshome Hambissa for his kind cooperation in the final
implementation of the project work.

We are grateful to all staff of AAIT, School of Electrical and Computer Engineering for giving us
the opportunity to create this thesis work and assigning advisor.

Besides, we would like to thank all our friends for their encouragement throughout this work. Last
but not least, we would like to thank our precious parents for their great support and love during
our study.

II
 ABSTRACT

This application document presents a solution to control an AC induction motor using the
TMS320F2803x microcontrollers. TMS320F2803x devices are part of the family of C2000
microcontrollers which enable cost-effective design of intelligent controllers for three phase
motors by reducing the system components and increase efficiency. With these devices, it is
possible to realize far more precise digital vector control algorithms like the Field Orientated
Control (FOC). This algorithm’s implementation is discussed in this document. The FOC
algorithm maintains efficiency in a wide range of speeds and takes into consideration torque
changes with transient phases by processing a dynamic model of the motor. This application note
covers the following:

▪ A theoretical background on field oriented motor control principle.

▪ Incremental build levels based on modular software blocks.
▪ Experimental results.

III
 Table of Contents

PREFACE ......................................................................................................................................................... I
ACKNOWLEDGMENTS ................................................................................................................................... II
ABSTRACT..................................................................................................................................................... III
CHAPTER ONE ............................................................................................................................................... 1
INTRODUCTION ............................................................................................................................................. 1
1.1. BACKGROUND ............................................................................................................................... 1
1.2. STATEMENTS OF THE PROBLEM ................................................................................................... 4
1.3. OBJECTIVE OF THE STUDY AND METHODOLOGY ......................................................................... 5
1.3.1. GENERAL OBJECTIVE ............................................................................................................. 5
1.3.2. SPECIFIC OBJECTIVES............................................................................................................. 5
1.4. LITERATURE REVIEW ..................................................................................................................... 6
1.5. CONTRIBUTION OF THIS THESIS .................................................................................................... 8
1.6. THESIS ORGANIZATION ................................................................................................................. 9
CHAPTER TWO ............................................................................................................................................ 10
THREE-PHASE INDUCTION MOTOR............................................................................................................. 10
2.1. INTRODUCTION ........................................................................................................................... 10
2.2. MATHEMATICAL MODELLING OF FIVE PHASE INDUCTION MOTOR........................................... 10
2.2.1. PHASE VARIABLE MODEL .................................................................................................... 11
2.2.2. ELECTRICAL SUB-MODEL OF THE INDUCTION MOTOR ....................................................... 11
2.2.5. TORQUE SUB-MODEL TRANSFOR ....................................................................................... 19
2.2.6. MECHANICAL SUB-MODEL TRANSFORMATION OF INDUCTION MOTOR ........................... 20
2.3. MATHEMATICAL MODELING OF THREE PHASE VOLTAGE SOURCE INVERTER ........................... 20
2.3.1. TEN -STEP OPERATION OF A THREE-PHASE VOLTAGE SOURCE INVERTER ......................... 22
2.3.2. FOURIER ANALYSIS OF THE THREE-PHASE INVERTER OUTPUT VOLTAGES ........................ 24
CHAPTER THREE .......................................................................................................................................... 26
METHODOLOGY .......................................................................................................................................... 26
3.1. INTRODUCTION ........................................................................................................................... 26
3.2. CLASSICAL AC DRIVES .................................................................................................................. 27
3.3. FIELD ORIENTED CONTROL ......................................................................................................... 28
 3.3.1. Introduction ........................................................................................................................ 28
3.3.2. Space Vector Definition and Projection .............................................................................. 31
3.3.3. The Basic Scheme for the FOC ............................................................................................ 34
3.3.4. Rotor Flux Position .............................................................................................................. 35
3.4. PI REGULATOR............................................................................................................................. 37
3.5. SVPWM ....................................................................................................................................... 39
3.5.1. The 3-phase Inverter ........................................................................................................... 39
3.5.2. The Space Vector Pulse Width Modulation (SVPWM) ........................................................ 39
3.5.3. Comparison SV-sinusoidal PWM ......................................................................................... 42
3.6. BENEFITS OF 32-BIT C2000 CONTROLLERS FOR DIGITAL MOTOR CONTROL (DMC) .................. 43
3.7. TI LITERATURE AND DIGITAL MOTOR CONTROL (DMC) LIBRARY ............................................... 44
3.8. SYSTEM OVERVIEW ..................................................................................................................... 46
3.9. HARDWARE CONFIGURATION (HVDMC R1.1 KIT) ...................................................................... 50
3.10. SOFTWARE SETUP INSTRUCTIONS TO RUN HVACI_SENSORED PROJECT ............................... 52
3.11. INCREMENTAL SYSTEM BUILD ................................................................................................ 52
3.11.1. Level 1 Incremental Build .................................................................................................... 53
3.11.2. Level 2 Incremental Build .................................................................................................... 55
3.11.3. Level 3: Incremental Build................................................................................................... 57
3.11.4. Level 4 Incremental Build .................................................................................................... 60
CHAPTER FOUR ........................................................................................................................................... 63
IMPLEMENTATION RESULTS AND DISCUSSION .......................................................................................... 63
4.1. INCREMENTAL BUILD RESULTS ................................................................................................... 63
4.1.1. Level 1: ................................................................................................................................ 63
4.1.2. Level 2: ................................................................................................................................ 67
4.1.3. Level 3: ................................................................................................................................ 68
CHAPTER FIVE ............................................................................................................................................. 70
CONCLUSIONS, RECOMMENDATIONS AND FUTURE WORK....................................................................... 70
5.1. CONCLUSION ............................................................................................................................... 70
5.2. RECOMMENDATION ................................................................................................................... 71
5.3. FUTURE WORK. ........................................................................................................................... 71
REFERENCES ................................................................................................................................................ 72
APPENDIX .................................................................................................................................................... 74
APPENDIX A: Code Composer Studio 6.0.1 Workspace, Before Debug .................................................. 74
APPENDIX B: Code Composer Studio 6.0.1 Workspace, After Debug .................................................... 75
APPENDIX C: Level 1 - Incremental System Build Block Diagram ........................................................... 75
APPENDIX D: Level 2 - Incremental System Build Block Diagram ........................................................... 76
APPENDIX E: Level 3 - Incremental System Build Block .......................................................................... 77
APPENDIX F: Level 4 - Incremental System Build Block Diagram............................................................ 78
APPENDIX G: Level 5 - Incremental System Build Block Diagram ........................................................... 78
APPENDIX H: Overall Connection of The Project .................................................................................... 79
 List of Figures and Tables

Fig. 1.1. Induction motors. ............................................................................................................ 2

Fig. 2.1. Power circuit topology of a three-phase voltage source inverter................................. 21
Fig.2.1. Waveforms for square wave/six-step mode of operation of a three-phase inverter.... 23
Table 2.1. Leg/Pole voltages of a three-phase VSI during six-step mode of operation ............. 24
Table 2.2. Phase-to-neutral voltages for six-step mode of operation ........................................ 24
Table 2.3. Line voltages for six-step mode of operation............................................................. 24
Fig. 3.1. Overall block diagram of indirect rotor flux oriented control ....................................... 26
Fig. 3.2. Separated excitation DC motor model, flux and torque are independently controlled
and the current through the rotor windings determines how much torque is produced. ........ 29
Fig.3.3. stator current space vector and its components in (a, b, c).......................................... 31
Fig.3.4. stator current space vector and its components in the stationary reference frame..... 32
Fig.3.5. Stator current space vector and its components in (α, β) and in the d, q rotating
reference frame. ......................................................................................................................... 33
Fig. 3.6. Basic scheme of FOC for ACI motor. .............................................................................. 34
Fig. 3.7. Current, voltage and rotor flux space vectors in the d, q rotating reference frame and
their relationship with a, b, c and (α, β) stationary reference frame. ........................................ 36
Fig. 3.8. Classic numerical PI regulator ....................................................................................... 37
Fig. 3.9. Numerical PI Regulator with Correction of the Integral Term ...................................... 38
Fig. 3.10. Basic scheme of 3-phase inverter and AC-motor ........................................................ 39
Fig. 3.11. SVPWM, vectors and sectors....................................................................................... 40
Fig. 3.11. Reference vector as a combination of adjacent vectors ............................................. 40
Fig. 3.12. Pattern of SVPWM in the sector 3............................................................................... 41
Fig. 3.13. Hexagon of SVPWM, pattern....................................................................................... 42
Fig. 3.14. Locus comparison SV-sinusoidal PWM........................................................................ 42
Fig. 3.15. A typical DMC macro definition .................................................................................. 45
Table 3.1. Modules explanations of the framework. .................................................................. 46
Table 3.2. Total memory consumption of the project ................................................................ 47
Table 3.3. CPU utilization. ........................................................................................................... 47
Table 3.4. System feature. .......................................................................................................... 48
Fig. 3.16. A 3-ph induction motor drive implementation .......................................................... 48
Fig. 3.17. Software flow description using flow chart................................................................. 50
Fig. 3.18. Using external DC Power supply to generate DC Bus Power for the inverter............. 51
Fig.3.19. Expression window variables. ...................................................................................... 52
Table 3.5. Testing modules in each incremental system build. .................................................. 53
Fig. 4.1. SVGEN duty cycle outputs Ta, Tb, Tc and Tb-Tc ............................................................ 64
Fig. 4.2. CRO measurement of PWM1H and PWM3H ................................................................ 65
Fig. 4.3. CRO measurement of PWM2L and PWM3L .................................................................. 66
Fig. 4.4. CRO measurements of PWM1H and PWM1L which inverted output is founded. ........ 66
Fig. 4.5. Phase voltage inverter output measured using CRO .................................................... 67
Fig. 4.5. The waveforms of Phase A&B current, rg1.Out and svgen_dq1.Ta (duty cycle) .......... 68
Fig. 4.6. Measured theta, rg1.Out, Phase A current waveforms. ............................................... 69
 CHAPTER ONE
INTRODUCTION

1.1. BACKGROUND

The history of electrical motors goes back as far as 1820, when Hans Christian Oersted discovered
the magnetic effect of an electric current. One year later, Michael Faraday discovered the
electromagnetic rotation and built the first primitive DC motor. Faraday went on to discover
electromagnetic induction in 1831, but it was not until 1883 that Tesla invented the AC
asynchronous motor. Currently, the main types of electric motors are still the same such as: DC,
AC asynchronous and Synchronous, all based on Oersted. Faraday and Tesla's theories developed
and discovered more than a hundred years ago. For many years, before the introduction of micro-
controllers, digital signal processers (DSP) and high switching frequency semiconductor devices,
variable speed actuators were dominated by DC motors. They were used extensively in areas where
variable speed operation was required. Since their flux and torque could be controlled
independently and easily by the field and armature current. However, due to the existence of the
commentator and the brushes, DC motors have certain disadvantage. That is, they required
periodic maintenance; they cannot be used in explosive or corrosive environments. Nowadays
these problems can be overcome by the application of AC induction motors, because of its
simplicity, ruggedness, efficiency, low cost, compactness, and economical and volume
manufacturing advantages.

The motor control industry is a strong, aggressive sector. To remain competitive new products
must address several design constraints including cost reduction, power consumption reduction,
power factor correction, and reduced EMI radiation. In order to meet these challenges advanced
control algorithms are necessary. Embedded control technology allows both a high level of
performance and system cost reduction to be achieved. According to market analysis, the majority
of industrial motor applications use AC induction motors. The reasons for this are higher
robustness, higher reliability, lower prices and higher efficiency (up to 80%) on comparison with
other motor types.

1
SECE, AAIT, AAU JUNE, 2017
 Fig. 1.1. Induction motors.

However, the use of induction motors is challenging because of its complex mathematical model,
its nonlinear behavior during saturation and the electrical parameter oscillation which depends on
the physical influence of the temperature.

Until a few years ago the AC motor could either be plugged directly into the mains supply or
controlled by means of the well-known scalar V/f method. When power is supplied to an induction
motor at the recommended specifications, it runs at its rated speed. With this method, even simple
speed variation is impossible and its system integration is highly dependent on the motor design
(starting torque vs maximum torque, torque vs inertia, number of pole pairs). However, many
applications need variable speed operation. The scalar V/f method is able to provide speed
variation but does not handle transient condition control and is valid only during a steady state.
This method is most suitable for applications without position control requirements or the need for
high accuracy of speed control and leads to over-currents and over-heating, which necessitate a
drive which is then oversized and no longer cost effective. Examples of these applications include
heating, air conditioning, fans and blowers.

These factors make the control of induction motor complex and call for use of a high-performance
control algorithms such as “vector control” and a powerful microcontroller to execute this
algorithm.

During the last few decades the field of controlled electrical drives has undergone rapid expansion
due mainly to the benefits of micro-controllers and DSP. These technological improvements have
enabled the development of very effective AC drive control with lower power dissipation hardware
and more accurate control structures. The electrical drive controls become more accurate in the

2
SECE, AAIT, AAU JUNE, 2017
sense that not only are the DC quantities controlled but also the three phase AC currents and
voltages are managed by so-called vector controls. This document briefly describes the
implementation of the most efficient form of a vector control scheme: The Field Orientated Control
method. It is based on three major points: the machine current and voltage space vectors, the
transformation of a three-phase speed and time dependent system into a two-coordinate time
invariant system and effective Space Vector Pulse Width Modulation pattern generation. Thanks
to these factors, the control of AC machine acquires every advantage of DC machine control and
frees itself from the mechanical commutation drawbacks.

Furthermore, this control structure, by achieving a very accurate steady state and transient control,
leads to high dynamic performance in terms of response times and power conversion.

The speed of induction motor can be controlled by different methods. (V/f) control is most
commonly used scalar control method for speed control in which both voltage and flux are varied
to keep the ratio constant. The scalar control gives the slower response, more overshoot and suffers
instability for higher order harmonics. However, field oriented control or vector control has better
performance than scalar control methods. The speed control of induction motor must be done
through Adjustable Speed Drives (ASD). The growth and availability of power electronic devices
made speed control affordable. The Field Orientated Control method offer some distinct
advantages over their scalar V/f method counterparts.

The major advantages of using a Field Orientated Control are

Described in:

▪ It allows direct control of flux and torque, making torque limiting and field weakening
possible;
▪ With correct information regarding the angle, the motor is self-controlled and cannot pull
out; in the event of overload torque, the motor is stalled with maximum torque.
▪ Decoupling between flux and torque is effective even under dynamic conditions (i.e. better
dynamic behavior and decoupled torque and flux control).
▪ Since the controller process DC quantities in the steady state, the effect of unavoidable
phase shift in the control loop is not present.

3
SECE, AAIT, AAU JUNE, 2017
 ▪ Efficient control in field weakening with indirect field oriented control with nonlinear or
adaptive control (i.e. higher efficiency).

Depending on the method employed to sense the flux, field oriented control can be classified in to
two major categories, direct and indirect.

▪ Direct FOC control: In this case we try to directly estimate the rotor flux based upon the
measurements of terminal voltages and currents or the induced voltage in Hall sensors or
flux sensing coil and integrating it. However, there are several difficult association with
this approach, the motor has to be specially modified in the order to accommodate the
sensing device. Moreover, the hall sensor is fragile. Also, the integrate are subject to drift
at low frequencies and this limit the lowest speed at which the technique can be used. The
induced voltage in the sensing device contain harmonic due to rotor slot.
▪ Indirect FOC control: In this case the goal is to estimate the slip based upon the motor
model in FOC condition and to recalculate the rotor flux angle from the integration of
estimated slip and measured rotor speeds. Again, knowing the motor parameters, especially
rotor time constant, is key in order to achieve the FOC control.

A simple control such as the V/Hz strategy has limitations on the performance. To achieve better
dynamic performance, a more complex control scheme needs to be applied to control the induction
motor. With mathematical processing power offered by the microcontrollers, advanced control
strategies can be implemented that use mathematical transformations in order to decouple the
torque generation and the magnetization functions in an AC induction motor. Such decoupled
torque and magnetization control is commonly called rotor flux oriented control, or simply FOC.

1.2. STATEMENTS OF THE PROBLEM

As a well-known fact about the asynchronous machine, some natural limitations are faced with a
V/Hz control approach. FOC control allows you to get around these limitations, by decoupling the
effect of the torque and the magnetizing flux. With decoupled control of the magnetization, the
torque producing component of the stator flux can now be thought of as independent torque
control. Decoupled control, at low speeds, the magnetization can be maintained at the proper level,
and the torque can be controlled to regulate the speed.

4
SECE, AAIT, AAU JUNE, 2017
To decouple the torque and flux, it is necessary to engage several mathematical transforms, and
this is where the microcontrollers add the most value. The processing capability provided by the
microcontrollers enables these mathematical transformations to be carried out very quickly. This
in turn implies that the entire algorithm controlling the motor can be executed at a fast rate,
enabling higher dynamic performance. In addition to the decoupling, a dynamic model of the
motor is now used for the computation of many quantities such as rotor flux angle and rotor speed.
This means that their effect is accounted for, and the overall quality of control is better.

Scalar v/f controlled drives give somewhat poor performance and limitations are faced.

For the above reason, we come up with the ways to solve the problem by using Field Orientated
Control method in our country Ethiopia and we will apply it in high power applications industries
for the future. For economically growing country like Ethiopia, industrial growth will be a back
bone for the country’s development. Even though our project seems inapplicable currently in our
country, it will solve the so many problems which exist in high/medium power industrial
applications currently.

1.3. OBJECTIVE OF THE STUDY AND METHODOLOGY

1.3.1. GENERAL OBJECTIVE

The main objective of this project is Analysis and implementation of DSP modules to control a
three phase IM using an FOC vector speed controlling mechanism.

1.3.2. SPECIFIC OBJECTIVES

▪ Understand and configure Texas Instruments DSP development kit.

▪ Install and properly configure Code Composer Studio 6.0.1.
▪ Understand the incremental build level based on modular software blocks.
▪ Construct the whole system hardware and software structures.
▪ Interface our control card to control the speed of the 3-phase induction motor.

5
SECE, AAIT, AAU JUNE, 2017
1.4. LITERATURE REVIEW

Speed control of motor drives has been a topic of interest for the last twenty years. And different
papers have been published reporting different controller design for such drives.

The vector control techniques started developing around 1970.A few types of vector control, such
as rotor flux oriented, stator flux oriented and mutual flux oriented are published one after another.
No matter what kind of vector control, they are all subjected to imitate a separately excited DC
motor, in which the electromagnetic torque and magnetic field can be controlled separately.

In 2015 Mesfin Tilahune (university of Addis Ababa lecturer), presented on his thesis
performance of closed-loop constant V/F control for five-phase induction motor, mathematical
model of five phase induction motor system design, determine the switching sequence and duty
cycle of the inverter circuit using SVPWM technique and performed through simulation using
MATLAB/SIMULINK.

In 2017 Teshome Hambissa (university of Addis Ababa lecturer), presented on his thesis Analysis
and implementation of DSP based sensor less speed control of three phase induction motor by
using field oriented control to analyze the existing scalar V/F control short coming and controlling
the speed of our induction motor using PI-DSP (digital signal processor) controller., mathematical
model of three phase induction motor system design, determine the switching sequence and duty
cycle of the inverter circuit using SVPWM technique and performed through simulation using
MATLAB/SIMULINK.

In 2008 Mutasim Nour, Omrane Bouketir & Ch’ng Eng Yong presented a Self-Tuning of PI
Speed Controller Gains Using Fuzzy Logic Controller for PMSM as test bed to adapt the controller
gains to speed changes, load disturbances and parameters variations. Hence, an on line self-tuning
scheme using proportional integral controller (PIC) is proposed in this paper. The performance of
the developed proposed controller is tested through a wide range of speeds as well as with load
and parameters variations through simulation using MATLAB/SIMULINK. The simulation results
show that the developed controller can well adapt to speed changes as well as sudden speed
reduction besides fast recovery from load torque and parameters variation and these show
improvements compared to conventional others controller performance. In this Paper, the

6
SECE, AAIT, AAU JUNE, 2017
controller scheme needs tuning of the input/output scaling factors which is additional job for the
processor which increases the time of response of the system.

In 2007 Yanpeng Dou, Zhang Ze discussed Design and realization of fuzzy self -tuning PID
speed controller based on TMS320F2812 DSPs to apply fuzzy self-tuning PID controller to AC-
speed adjustable system, and special attention is given on how to realize this controller using fuzzy
search table method in C++ language based on TMS320F2812, which is the newest 32-bit fixed
point DSP. And the results show that the controller improves both the dynamic characteristics and
static characteristics of drive system. The paper only compares the speed response of the proposed
controller and PID controller without any load torque and parameter variation.

A number of other papers also present advantages of DSP based controller techniques over PI and
verified to implement sensor and sensor less control of induction motor drive in normal and field
weakening region.

Dorin O. Neacsu, summarized the theory and performance of a three phase SVPWM for VSIs,
which is used in this paper. The paper started by analyzing the rotating space vector of a three-
phase balanced signal. This was because, it results a unique correspondence between a Space
Vector in the complex plane and a three-phase system. The vertical analysis of a three phase VSI
leads to the determination of the corresponding phase and line voltages and currents.

The six-step PWM technique is, mostly, covered in many papers before discussing the theory of
operation of SVPMW techniques. But, this is not true for this paper, which used the ten -step mode
of operation with the vertical analysis of the five phases VSI. Which resulted in important
relationships between the line and phase voltages and currents.

Five-Phase Induction Motor Drives With DSP-Based Control System was proposed and this
introduces two kinds of control schemes: vector control and direct torque control. The
implementation of these control systems was done using 32-bit floating point TMS320C32 DSP.

Vector (field oriented) control method controls the current so it operates with fast responses. This
method satisfies the requirements of dynamic drives, where fast response is necessary. It is an
excellent control method to handle transients. Its disadvantage is complexity, and the high price of
the drive circuit. Both techniques are applicable over the nominal speed at the expense of torque.

7
SECE, AAIT, AAU JUNE, 2017
Scalar control is a cheap, well-implementable method. Because of this advantage and its
simplicity, many applications operate with this control technique in the industry. On the other
hand, it is not satisfactory for the control of drive with dynamic behavior, since it gives slow
response to transients. This because of the V/HZ constant method controls the magnitude of
voltage and frequency instead of controlling the phase and magnitude of currents. It is a low-
performance, but stable control technique. For this paper discussing on scalar types of control
method because focused only the steady state response behavior.

With the emerging technology in microprocessor the SVPWM has been playing a pivotal and
viable role in power conversion (Jenni and Wueest 1993). It uses a space vector concept to
calculate the duty cycle of the switch which is imperative implementation of digital control theory
of PWM modulators.

Roots of vector representation of three-phase systems are presented in the research contributions
of Park and Kron, but the decisive step on systematically using the Space Vectors was done by
Kovacs and Racz (Park 1933). They provided both mathematical treatment and a physical
description and understanding of the drive transients even in the cases when machines are fed
through electronic converters (Maamoun et al 2010).

1.5. CONTRIBUTION OF THIS THESIS

In this work, the gaps between theory and practical simulation are completely filled with clear
explanations. The simulations are proven with provided mathematical models. The undertaking
in this thesis aims to extend this Analysis and implementation of DSP based sensor speed control
of three phase induction motor by using field oriented control to analyze the existing scalar V/F
control short coming in our country industry system. It is the intention of the author to quickly get
the reader familiar with the mathematical constructs, the basic algorithm of the machines and the
control theory necessary to construct a working model or MATLAB/SIMULINK model and
SVPWM is implemented for four neighboring active vectors. Provided along with the theory is a
working simulation model in the Simulink environment. Every chapter is geared towards
understanding the advantage of Analysis and implementation of DSP based sensor speed control
of three phase induction motor by using field oriented control compering with scalar v/f control
method

8
SECE, AAIT, AAU JUNE, 2017
1.6. THESIS ORGANIZATION

This thesis work is arranged in six chapters.

THE FIRST CHAPTER: introduces back ground of induction motors, statement of the problem,
objectives and Contribution of the Thesis.

THE SECOND CHAPTER: explains the Mathematical modeling of induction motor and d-q
Transformation and mathematical analysis of three phase inverter. In addition, the space vector
concepts are elaborated.

THE THIRD CHAPTER: review of methodology. In this chapter the concept of classical AC
drives, ROC, SVPWM and PI regulator are discussed. Besides the experimental protocols and
details of the project are discussed in this chapter.

THE FOURTH CHAPTER: This chapter discusses on Analysis and implementation of DSP based
sensor speed control of induction motor by using field oriented control.

Finally, THE FIFTH CHAPTER: deals with the conclusions, recommendations and future work in
details.

9
SECE, AAIT, AAU JUNE, 2017
 CHAPTER TWO

THREE-PHASE INDUCTION MOTOR

2.1. INTRODUCTION

Until the last decades the three-phase induction machine was mainly used in constant speed drives
due to the control system performance, not to the operating principle of the machine. Nowadays,
this situation is completely changed. With the technical progress in power electronics and
microelectronics, the three-phase induction machine control becomes very flexible and highly
efficient. Since 1983, the year when the digital signal processor (DSP) appeared, the control theory
for this type of machine was permanently improved. New mathematical models have to be
implemented for the three-phase induction machine in order to analyses its operation both
dynamically and in steady-state.

An induction motor consists of two parts: stator and rotor winding. The construction of induction
motor is different from synchronous motor, since there is no supply to the rotor. Based on
construction of the rotor, the induction motor can be classified into two types: one is wound type
and the other is cage type. In this thesis, the squirrel cage type induction motors are discussed,
since they are the most commonly used electric motors in industry and household. Induction
machines do not have permanent magnets, brushes or commentators. They have a wide variety of
applications such as blowers, conveyor, cranes, refrigerators, traction and many other industrial
applications, because of their high robustness and reliability.

2.2. MATHEMATICAL MODELLING OF FIVE PHASE INDUCTION

MOTOR

A generalized dynamic model of the induction motor consists of an electrical sub-model to

implement the three - phase to two-axis (3/2) transformation of stator voltage and current
calculation, a torque sub-model to calculate the developed electromagnetic torque, and a
mechanical sub-model to yield the rotor speed. The model of a three -phase induction motor

10
SECE, AAIT, AAU JUNE, 2017
described, is developed initially in phase variable form. In order to simplify the model by removing
the time variation of inductance terms, a transformation is applied and a so-called d-q-0 model of
the machine is constructed.

2.2.1. PHASE VARIABLE MODEL

A three-phase induction machine is constructed using six phase belts, each of 60 degrees, along
the circumference of the stator. The spatial displacement between phases is therefore 120 degrees.
The rotor winding is treated as an equivalent three-phase winding, with the same properties as the
stator winding. It is assumed that the rotor winding has already been referred to as stator winding,
using the winding transformation ratio.

2.2.2. ELECTRICAL SUB-MODEL OF THE INDUCTION MOTOR

A three-phase induction machine can then be described with the following voltage, current and
flux linkage equations in matrix form:

𝑑𝜆(𝑡) 2.1
𝑣(𝑡) = 𝑟𝑖(𝑡) +
𝑑𝑡

The voltage equation for each phase will have the form, we can write as all in the following way.

𝑣𝑎𝑠 𝑟𝑠 0 0 0 0 0 𝑖𝑎𝑠 𝜆𝑎𝑠

𝑣𝑏𝑠 0 𝑟𝑠 0 0 0 0 𝑏𝑠 𝑖 𝜆𝑏𝑠
𝑣𝑐𝑠 0 0 𝑟𝑠 0 0 0 𝑖𝑐𝑠 𝑑 𝜆𝑐𝑠 2.2
𝑟 = 𝑟 +
𝑣𝑎𝑟 0 0 0 𝑟𝑠 0 0 𝑖𝑎𝑟 𝑑𝑥 𝜆𝑟𝑎𝑟
𝑟 𝑟
𝑣𝑏𝑟 0 0 0 0 𝑟𝑠 0 𝑖𝑏𝑟 𝜆𝑟𝑏𝑟
𝑟 𝑟
[ 𝑣𝑐𝑟 ] [0 0 0 0 0 𝑟𝑠 ] [ 𝑖𝑐𝑟 ] [ 𝜆𝑟𝑐𝑟 ]

𝑟 𝑟 𝑟
Where: 𝑣𝑎𝑠 , 𝑣𝑏𝑠 and 𝑣𝑐𝑠 are stator voltages; 𝑣𝑎𝑟 , 𝑣𝑏𝑟 and 𝑣𝑐𝑟 are rotor voltages; 𝑖𝑎𝑠 , 𝑖𝑏𝑠 and 𝑖𝑐𝑠 are
𝑟 𝑟 𝑟
Stator current; 𝑖𝑎𝑟 , 𝑖𝑏𝑟 and 𝑖𝑐𝑟 are rotor current; 𝜆𝑎𝑠 , 𝜆𝑏𝑠 and 𝜆𝑐𝑠 are stator magnetic fluxes; 𝜆𝑟𝑎𝑟 ,
𝜆𝑟𝑏𝑟 and 𝜆𝑟𝑐𝑟 are rotor magnetic fluxes.

11
SECE, AAIT, AAU JUNE, 2017
The flux equations for the stator and the rotor windings:

𝜆𝑎𝑠 𝑖𝑎𝑠
𝜆𝑏𝑠 𝑖𝑏𝑠
𝜆𝑐𝑠 𝐿 𝐿𝑠𝑟 𝑖𝑐𝑠 2.3
=[ 𝑠 ] 𝑟
𝜆𝑟𝑎𝑟 𝐿𝑟𝑠 𝐿𝑟 𝑖𝑎𝑟
𝑟
𝜆𝑟𝑏𝑟 𝑖𝑏𝑟
𝑟
[ 𝜆𝑟𝑐𝑟 ] [ 𝑖𝑐𝑟 ]

Each of the sub matrices in the inductance both stator and rotor matrix are 3x3 shown below:

1 1
𝐿𝑠 + 𝐿𝑚 − 𝐿𝑚 − 𝐿𝑚
2 2
1 1
𝐿𝑠 = − 𝐿𝑚 𝐿𝑠 + 𝐿𝑚 − 𝐿𝑚
2 2
1 1
[ 2 𝐿𝑚
− − 𝐿𝑚
2
𝐿𝑠 + 𝐿𝑚 ]
2.4
1 1
𝐿𝑟 + 𝐿𝑚 − 𝐿𝑚 − 𝐿𝑚
2 2
1 1
𝐿𝑟 = − 𝐿𝑚 𝐿𝑟 + 𝐿𝑚 − 𝐿𝑚
2 2
1 1
[ 2 𝐿𝑚
− − 𝐿𝑚
2
𝐿𝑟 + 𝐿𝑚 ]

Mutual inductances between stator and rotor windings are given with the following:

cos 𝜃𝑚 cos(𝜃𝑚 + 120) cos(𝜃𝑚 − 120)

𝐿𝑠𝑟 = 𝐿𝑚 [cos(𝜃𝑚 − 120) cos 𝜃𝑚 cos(𝜃𝑚 + 120)]
cos(𝜃𝑚 + 120) cos(𝜃𝑚 − 120) cos 𝜃𝑚

2.5

cos 𝜃𝑚 cos(𝜃𝑚 − 120) cos(𝜃𝑚 + 120)

𝐿𝑟𝑠 = 𝐿𝑚 [cos(𝜃𝑚 + 120) cos 𝜃𝑚 cos(𝜃𝑚 − 120)] = 𝐿𝑠𝑟 𝑇
cos(𝜃𝑚 − 120) cos(𝜃𝑚 + 120) cos 𝜃𝑚

12
SECE, AAIT, AAU JUNE, 2017
 ▪ Stator-stator terms: These are terms which relate a stator winding flux to a stator winding
current. Because the positional relationship between any pair of stator windings does not
change with rotor position, these inductances are not a function of rotor position; they are
constants.

▪ Rotor-rotor terms: These are terms which relate a rotor winding flux to a rotor winding
current. As in stator-stator-terms, these are constants.

▪ Rotor-stator terms: These are terms which relate a rotor winding flux to a stator winding
current. As the rotor turns, the positional relationship between the rotor winding and the
stator winding will change, and so the inductance will change. Therefore, the inductance
will be a function of rotor position, characterized by rotor angle θ.

▪ Stator-rotor terms: These are terms which relate a stator winding flux to a rotor winding
current. As described for the rotor-stator terms, the inductance will be a function of rotor
position, characterized by rotor angle θ.

There are two more comments to make about the flux-current relations:

▪ Because the rotor motion is periodic, the functional dependence of each rotor-stator or
stator-rotor inductance on θ is sinusoidal.

▪ Because θ changes with time as the rotor rotates, the inductances are functions of time.

The angle θ denotes the instantaneous position of the magnetic axis of the phase ‘a’ with respect
to the stationary phase ‘a’ magnetic axis (i.e. the instantaneous position of the ratio of the rotor
with respect to stator). Stator and rotor resistance matrices are 3x3 diagonal matrices.

13
SECE, AAIT, AAU JUNE, 2017
2.2.3. TORQUE SUB-MODEL OF INDUCTION MOTOR

The electromagnetic torque of an induction motor may be evaluated according to:

𝜕𝑊𝑐 2.6
𝑇𝑒𝑚 =
𝜕Θ𝑚

Where: 𝑊𝑐 is the co-energy of the coupling fields associated with the various. We are not
considering saturation here, assuming the flux-current relations are linear, in which case the co
energy 𝑊𝑐 of the coupling field equals its energy, 𝑊𝑓, so that:

𝜕𝑊𝑓 2.7
𝑇𝑒𝑚 =
𝜕Θ𝑚

We use electric rad/sec by substituting ϴm=θm/p where p is the number of pole pairs:

𝜕𝑊𝑓
𝑇𝑒𝑚 = 𝑃 2.8
𝜕Θ𝑚

The stored energy is the sum of

▪ The self-inductances (less leakage) of each winding times one-half the square of its current
and
▪ All mutual inductances, each time the currents in the two windings coupled by the mutual
inductance.

Observe that the energy stored in the leakage inductances is not a part of the energy stored in the
coupling field. The stored energy is given by:

1 𝑟 𝑟
1 𝑟 2.9
𝑊𝑓 = 𝑖𝑎𝑏𝑐𝑠 (𝐿𝑠 − 𝐿𝑠 𝑈)𝑖𝑎𝑏𝑐𝑠 + 𝑖𝑎𝑏𝑐𝑠 𝑖𝑠𝑟 𝑖𝑎𝑏𝑐𝑟 + 𝑖𝑎𝑏𝑐𝑟 (𝐿𝑟 − 𝐿𝑟 𝑈)𝑖𝑎𝑏𝑐𝑟
2 2

Applying the torque-energy relation;

𝜕𝑊𝑓 2.10
𝑇𝑒𝑚 = 𝑃
𝜕Θ𝑚

14
SECE, AAIT, AAU JUNE, 2017
To the above, and observing that dependence on θm only occurs in the middle term, we get

𝜕𝑊𝑓 𝜕 𝑟
= 𝑖 𝐿 𝑖 2.11
𝜕Θ𝑚 𝜕Θ𝑚 𝑎𝑏𝑐𝑠 𝑠𝑟 𝑎𝑏𝑐𝑟

So that,

𝜕 𝑟 2.12
𝑇𝑒𝑚 = 𝑃 𝑖 𝐿 𝑖
𝜕Θ𝑚 𝑎𝑏𝑐𝑠 𝑠𝑟 𝑎𝑏𝑐𝑟

But only 𝐿𝑠𝑟 depends on θm, so

𝑟
𝜕 2.13
𝑇𝑒𝑚 = 𝑃𝑖𝑎𝑏𝑐𝑠 𝑖
𝜕Θ𝑚 𝑎𝑏𝑐𝑟

To complete our 𝑎𝑏𝑐 model we relate torque to rotor speed according to

𝐽 𝑑𝜔𝑚 2.14
𝑇𝑒𝑚 = + 𝑇𝑚
𝑃 𝑑𝑡

2.2.4. MODEL TRANSFORMATION

In order to simplify the model, it is necessary to apply a co-ordinate transformation, which will
remove the time varying inductances.

The dynamic model of the induction motor in direct, quadrature, and zero-sequence axes can be
derived from fundamental equations of transformation. The dynamic analysis of the symmetrical
induction machines in the arbitrary reference frame has been intensively used as a standard
simulation approach from which any particular mode of operation may then be developed. Mat
lab/Simulink has an advantage over other machine simulators in modeling the induction machine
using dq0 axis transformation.

Generally modeling of fundamental equations is considered difficult so that we used the well-
known Clarke and Park transformations are introduced, modeled on the induction motor. Using
these transformations, many properties of electric machines can be studied without complexities
in the voltage, current and flux linkage equations in matrix form. The transformations used at

15
SECE, AAIT, AAU JUNE, 2017
various steps are based on simple trigonometric relationship obtained as projections on a set of
axes.

In order to alleviate the trouble, the inductances related to the stator-rotor mutual inductances that
have time-varying inductances, we project the a-b-c currents onto a pair of axes which we will call
the d and q axes or d-q axes. In making these projections, we want to obtain expressions for the
components of the stator currents in phase with the q axes, respectively. Although we may specify
the speed of these axes to be any speed that is convenient for us, we will generally specify it to be
synchronous speed, ωs.

2.2.4.1. CLARKE’S TRANSFORMATION

The transformation of stationary circuits to a stationary reference frame was developed by E.

Clarke. The stationary two-phase variables of Clarke’s transformation are denoted as αand β, α-
axis and β-axis are orthogonal. In order for the transformation to be invertible, a third variable,
known as the zero-sequence component, is added.

The resulting transformation is

ൣ𝑓𝛼𝛽𝜊 ൧ = 𝑇𝛼𝛽𝜊 ሾ𝑎𝑏𝑐ሿ 2.15

Where f represents voltage, current, flux linkages, or electric charge; T represents the
transformation matrix.

The inverse transformation is given by

2.16
ሾ𝑓𝑎𝑏𝑐 ሿ = 𝑇𝛼𝛽𝜊 −1 ൣ𝑓𝛼𝛽𝜊 ൧

Where the inverse transformation matrix is T-1.

2.2.4.2. PARK’S TRANSFORMATION

In the late 1920s, R.H. Park introduced a new approach to electric machine analysis. He formulated
a change of variables associated with fictitious windings rotating with the rotor. He referred the
stator and rotor variables to a reference frame fixed on the rotor. From the rotor point of view, all
the variables can be observed as constant values.

16
SECE, AAIT, AAU JUNE, 2017
Park’s transformation, a revolution in machine analysis, has the unique property of eliminating all
time varying inductances from the voltage equations of three- phase ac machines due to the rotor
spinning. Park’s transformation is a well-known three-phase to two-phase transformation in
synchronous machine analysis.

The Park’s transformation equation is of the form.

ൣ𝑓𝑑𝑞𝜊 ൧ = 𝑇𝑑𝑞𝜊 (𝜃)ሾ𝑓𝑎𝑏𝑐 ሿ 2.17

Where θ is the angular displacement of Park’s reference frame.

Inverse Park’s Transformation can be written as:

ሾ𝑓𝑎𝑏𝑐 ሿ = 𝑇𝑑𝑞𝜊 (𝜃)−1 ൣ𝑓𝑑𝑞𝜊 ൧ 2.18

Where T-1 is the inverse of Park’s transformation matrix.

REMARK:

Park’s Transform is usually split into Clarke transform and one rotation;

i.e. CLARKE + Rotation = =PARK TRANSFORM

Clarke’s converts balanced five phase quantities into balanced two phase orthogonal quantities

The following transformation matrix is therefore applied to the stator five-phase winding:

cos 𝜃𝑠 cos(𝜃𝑠 − 𝛼) cos(𝜃𝑠 − 2𝛼)

2
𝐴𝑆 = √ [− sin 𝜃𝑠 − sin(𝜃𝑠 − 𝛼) − sin(𝜃𝑠 − 2𝛼)] 2.19
3
1 cos(2𝛼) cos(4𝛼)

Transformation of the rotor variables is performed using the same transformation expression
except that θ is replaced by β, where: 𝛽 = 𝜃𝑠 − 𝜃. Here, 𝜃𝑠 is the instantaneous angular position of
the d-axis of the common reference frame with respect to the phase ‘a’ magnetic axis of the stator,

17
SECE, AAIT, AAU JUNE, 2017
while β is the instantaneous angular position of the d-axis of the common reference frame with
respect to the phase ‘a’ magnetic axis of the rotor.

Hence the transformation matrix for rotor is:

cos 𝛽 cos(𝛽 − 𝛼) cos(𝛽 − 2𝛼)

2 2.20
𝐴𝑟 = √ [− sin 𝛽 − sin(𝛽 − 𝛼) − sin(𝛽 − 2𝛼)]
3
1 cos(2𝛼) cos(4𝛼)

The angles of transformation for stator quantities and for rotor quantities are related to the
arbitrary speed of the selected common reference frame through

𝜃𝑠 = ∫ 𝜔𝑎 𝑑𝑡
2.21
𝛽 = 𝜃𝑠 − 𝜃 = ∫(𝜔𝑎 − 𝜔)𝑑𝑡

Where, 𝜔 is the instantaneous electrical angular speed of rotation of the rotor.

Correlation between original phase variables and new variables in the transformed domain is
Governed by the following transformation expressions:

𝑠 𝑠 𝑠 𝑠 𝑠 𝑠
𝑉𝑑𝑞 = 𝐴𝑠 𝑉𝑎𝑏𝑐 𝑖𝑑𝑞 = 𝐴𝑠 𝑖𝑎𝑏𝑐 𝜑𝑑𝑞 = 𝐴𝑠 𝜑𝑎𝑏𝑐
2.22
𝑟 𝑟 𝑟 𝑟 𝑟 𝑟
𝑉𝑑𝑞 = 𝐴𝑟 𝑉𝑎𝑏𝑐 𝑖𝑑𝑞 = 𝐴𝑟 𝑖𝑎𝑏𝑐 𝜑𝑑𝑞 = 𝐴𝑟 𝜑𝑎𝑏𝑐

Substituting equations (2.1) and (2.2) into equation (2.6) and the application of Equation (2.17)
𝑑
yields the machine’s voltage equations in the common reference frame where p =𝑑𝑡.

𝑉𝑑𝑠 = 𝑅𝑠 𝑖𝑑𝑠 − 𝜔𝑎 𝜓𝑞𝑠 + 𝑃𝜓𝑑𝑠 𝑉𝑑𝑟 = 𝑅𝑟 𝑖𝑑𝑟 − (𝜔𝑎 − 𝜔)𝜓𝑞𝑟 + 𝑃𝜓𝑑𝑟

2.23
𝑉𝑞𝑠 = 𝑅𝑠 𝑖𝑞𝑠 + 𝜔𝑎 𝜓𝑞𝑠 + 𝑃𝜓𝑞𝑠 𝑉𝑞𝑟 = 𝑅𝑟 𝑖𝑞𝑟 + (𝜔𝑎 − 𝜔)𝜓𝑑𝑟 + 𝑃𝜓𝑞𝑟
𝑉𝑥𝑠 = 𝑅𝑠 𝑖𝑥𝑠 + 𝑃𝜓𝑥𝑠 𝑉𝑥𝑟 = 𝑅𝑟 𝑖𝑥𝑟 + 𝑃𝜓𝑥𝑟

𝑉𝑦𝑠 = 𝑅𝑠 𝑖𝑦𝑠 + 𝑃𝜓𝑦𝑠 𝑉𝑦𝑟 = 𝑅𝑟 𝑖𝑦𝑟 + 𝑃𝜓𝑦𝑟

2.24
𝑉𝑜𝑠 = 𝑅𝑠 𝑖𝑜𝑠 + 𝑃𝜓𝑜𝑠 𝑉𝑜𝑟 = 𝑅𝑟 𝑖𝑜𝑟 + 𝑃𝜓𝑜𝑟

18
SECE, AAIT, AAU JUNE, 2017
Transformation of flux linkage equation;

𝜓𝑑𝑠 = (𝐿𝑙𝑠 + 𝐿𝑚 )𝑖𝑑𝑠 + 2.5𝑀𝑖𝑑𝑟 𝜓𝑑𝑟 = (𝐿𝑙𝑟 + 𝐿𝑚 )𝑖𝑑𝑟 + 𝐿𝑚 𝑖𝑑𝑠

𝜓𝑞𝑠 = (𝐿𝑙𝑠 + 𝐿𝑚 )𝑖𝑞𝑠 + 2.5𝑀𝑖𝑞𝑟 𝜓𝑞𝑟 = (𝐿𝑙𝑟 + 𝐿𝑚 )𝑖𝑞𝑟 + 𝐿𝑚 𝑖𝑞𝑠
2.25
𝜓𝑥𝑠 = 𝐿𝑙𝑠 𝑖𝑥𝑠 𝜓𝑥𝑟 = 𝐿𝑙𝑟 𝑖𝑥𝑟
𝜓𝑦𝑠 = 𝐿𝑙𝑠 𝑖𝑦𝑠 𝜓𝑦𝑟 = 𝐿𝑙𝑟 𝑖𝑦𝑟
𝜓𝑜𝑠 = 𝐿𝑙𝑠 𝑖𝑜𝑠 𝜓𝑜𝑟 = 𝐿𝑙𝑟 𝑖𝑜𝑟

Introduction of the magnetizing inductance 𝐿𝑚 = 2.5M enables equation (2.25) to be written in

the following form:

𝜓𝑑𝑠 = (𝐿𝑙𝑠 + 2.5𝑀)𝑖𝑑𝑠 + 2.5𝑀𝑖𝑑𝑟 𝜓𝑑𝑟 = (𝐿𝑙𝑟 + 2.5𝑀)𝑖𝑑𝑟 + 2.5𝑀𝑖𝑑𝑠

𝜓𝑞𝑠 = (𝐿𝑙𝑠 + 2.5𝑀)𝑖𝑞𝑠 + 2.5𝑀𝑖𝑞𝑟 𝜓𝑞𝑟 = (𝐿𝑙𝑟 + 2.5𝑀)𝑖𝑞𝑟 + 2.5𝑀𝑖𝑞𝑠
2.26
𝜓𝑥𝑠 = 𝐿𝑙𝑠 𝑖𝑥𝑠 𝜓𝑥𝑟 = 𝐿𝑙𝑟 𝑖𝑥𝑟
𝜓𝑦𝑠 = 𝐿𝑙𝑠 𝑖𝑦𝑠 𝜓𝑦𝑟 = 𝐿𝑙𝑟 𝑖𝑦𝑟
𝜓𝑜𝑠 = 𝐿𝑙𝑠 𝑖𝑜𝑠 𝜓𝑜𝑟 = 𝐿𝑙𝑟 𝑖𝑜𝑟

2.2.5. TORQUE SUB-MODEL TRANSFOR

Transformation of the original torque equation (2.8) yields

3𝑃
𝑇𝑒 = 𝑀ൣ𝑖𝑑𝑟 𝑖𝑞𝑠 − 𝑖𝑑𝑠 𝑖𝑞𝑟 ൧
2
2.27
𝑇𝑒 = 𝑃𝐿𝑚 ൣ𝑖𝑑𝑟 𝑖𝑞𝑠 − 𝑖𝑑𝑠 𝑖𝑞𝑟 ൧

19
SECE, AAIT, AAU JUNE, 2017
2.2.6. MECHANICAL SUB-MODEL TRANSFORMATION OF INDUCTION MOTOR

𝐽 𝑑𝑊
𝑇𝑒−𝑇𝐿 = 2.28
𝑃 𝑑𝑡
Where J is the inertia and P is the number of poles in machine. The difference between a three-
phase machine model and three -phase machine model lies in the extra x-y set of components that
exist only in a three-phase machine. However, this extra set are non-flux and non-torque producing
components. They simply add to the extra losses in the machine. The steady state equivalent circuit
𝑑
of a three-phase induction machine can be obtained by replacing 𝑑𝑡
term by𝑗𝜔𝑒 , where 𝜔𝑒 is the
fundamental operating frequency of the machine. In a five-phase machine, the x-y components are
decoupled from d-q components; also, there is no coupling of x-y with the rotor circuit. This is
true for an n-phase AC machine with sinusoidal distributed MMF and hence only one pair of
components, i.e. d-q produces torque and the remaining component simply causes losses in the
machine. Different harmonics of the stator voltage/current map into either the d-q or x-y planes of
the stationary reference frame, depending on the harmonic order. This is a general property of
multi-phase systems, which lead to distinctions with respect to control of a multi-phase machine.

2.3. MATHEMATICAL MODELING OF THREE PHASE VOLTAGE

SOURCE INVERTER

The power circuit topology of a three-phase voltage source inverter is shown in Figure 3.15. Each
power switch is a transistor or IGBT with anti-parallel diodes. The pole or the leg voltages are
denoted by a capital suffix letter VA, VB, VC and can attain the value þ 0.5 Vdc when the upper
switch is operating and 0.5 Vdc when the lower switch is operating. The phase voltage applied to
the load is denoted by the letters van, 𝑉𝑏𝑛, 𝑉𝑐𝑛. The operation of the upper and the lower switches
are complimentary (a small dead band is provided in real time implementation).

The relationship between the leg voltage and switching signals are:

𝑉𝐾 = 𝑆𝐾 ∗ 𝑉𝑑𝑐 ; 𝐾 ∈ 𝐴, 𝐵, 𝐶. 2.29

Where 𝑆𝐾 =1 when the upper power switch is ‘ON’ and 𝑆𝐾 =0 when the lower switch is ‘ON.’

20
SECE, AAIT, AAU JUNE, 2017
If the load is assumed to be a star connected five-phase, then the relation between the phase-to
neutral load voltage and the pole voltages can be written as:

𝑉𝐴 (𝑡) = 𝑣𝑎 (𝑡) + 𝑣𝑛 (𝑡)𝑁(𝑡)

𝑉𝐵 (𝑡) = 𝑣𝑏 (𝑡) + 𝑣𝑛 (𝑡)𝑁(𝑡) 2.30

𝑉𝐶 (𝑡) = 𝑣𝑐 (𝑡) + 𝑣𝑛 (𝑡)𝑁(𝑡)

Fig. 2.1. Power circuit topology of a three-phase voltage source inverter

Where, 𝑉𝑛𝑁 is the voltage difference between the star point n of the load and the negative rail of
the DC bus N, called the ‘Common Mode Voltage’. This common mode voltage or neutral voltage
is responsible for leakage bearing currents and their subsequent failure.

By adding each term of the equation (2.30), and setting the sum of phase-to-neutral voltage to zero
(assuming a balanced three-phase voltage whose instantaneous sum is always zero), the following
is obtained:

1
𝑉𝑛𝑁 (𝑡) = ሾ𝑉𝐴 (𝑡) + 𝑉𝐵 (𝑡) + 𝑉𝐶 (𝑡)ሿ 2.31
3

Substituting equation (2.31) back into equation (2.30), the following expressions for the phase-to-
neutral voltage are obtained:

2 1
𝑉𝑎 (𝑡) = 𝑉𝐴 (𝑡) − ሾ𝑉𝐵 (𝑡) + 𝑉𝐶 (𝑡)ሿ
3 3
2.32
2 1
𝑉𝑏 (𝑡) = 𝑉𝐵 (𝑡) − ሾ𝑉𝐴 (𝑡) + 𝑉𝐶 (𝑡)ሿ
3 3

21
SECE, AAIT, AAU JUNE, 2017
 2 1
𝑉𝑐 (𝑡) = 𝑉𝐶 (𝑡) − ሾ𝑉𝐴 (𝑡) + 𝑉𝐵 (𝑡)ሿ
3 3

Equation (2.32) can also be written using the switching function definition of equation (2.29):

𝑉𝑑𝑐
𝑉𝑎 (𝑡) = ( ) ሾ2𝑆𝐴 − 𝑆𝐵 − 𝑆𝐶 ሿ
3

𝑉𝑑𝑐 2.33
𝑉𝑏 (𝑡) = ( ) ሾ2𝑆𝐵 − 𝑆𝐴 − 𝑆𝐶 ሿ
3

𝑉𝑑𝑐
𝑉𝑐 (𝑡) = ( ) ሾ2𝑆𝐶 − 𝑆𝐵 − 𝑆𝐴 ሿ
3

The switching signals can be generated by analog circuits or by a digital signal processors/
microprocessor for operation in six-step or PWM modes. The following section describes the
operation of the inverter in both square wave/six-step mode and PWM mode.

2.3.1. TEN -STEP OPERATION OF A THREE-PHASE VOLTAGE SOURCE

INVERTER

For inverter operation in square wave or six-step mode, switching/gate signals are provided in such
a way that the power switches change the state only twice in one fundamental cycle (OFF to ON
and then ON to OFF). Each leg receives the gating signal with a phase shift of 120 degrees, so as
to maintain the same phase shift among three output voltages. The output in this case is highest
and the switching losses are minimal; however, the output voltages contain strong low-order
harmonics, especially 5th and 7th. With the advent of fast signal processing devices, it is easier to
implement a PWM operation and hence a normal step operation is avoided. The associated
waveforms for six-step modes are shown in Fig. 2.1. The leg voltage takes on the values þ 0.5 Vdc
and 0.5 Vdc and the phase voltage has six steps in one fundamental cycle. The steps in the phase
voltages have amplitudes of 1/3 Vdc and 2/3 Vdc and the line voltage varies between þ Vdc and
Vdc, while the common mode voltage varies between þ 1/6 Vdc and 1/6 Vdc. During the six-step
operation of the inverter, the values of the leg voltages are shown in Table 2.1.
To determine the phase-to-neutral voltages for the six-step mode, the leg voltages from Table 2.1
is substituted into equation (2.32), and the corresponding values are listed in Table 2.2 for a star-
connected load. The line voltages are obtained by using equation (2.34) and are listed in Table 2.3:

22
SECE, AAIT, AAU JUNE, 2017
 𝑉𝑎𝑏 = 𝑉𝑎𝑛 − 𝑉𝑏𝑛
𝑉𝑏𝑐 = 𝑉𝑏𝑛 − 𝑉𝑐𝑛 2.34

𝑉𝑐𝑎 = 𝑉𝑐𝑛 − 𝑉𝑎𝑛

Fig.2.1. Waveforms for square wave/six-step mode of operation of a three-phase inverter

23
SECE, AAIT, AAU JUNE, 2017
 Switching mode Switches ON Leg voltage VA Leg voltage VB Leg voltage VC
1 S1, S’2, S3 0.5Vdc -0.5Vdc -0.5Vdc
2 S1, S’2, S’3 0.5Vdc -0.5Vdc -0.5Vdc
3 S1, S2, S’3 0.5Vdc 0.5Vdc -0.5Vdc
4 S’1, S2, S3 -0.5Vdc 0.5Vdc -0.5Vdc
5 S’1, S2, S3 -0.5Vdc 0.5Vdc 0.5Vdc
6 S’1, S’2, S3 -0.5Vdc -0.5Vdc 0.5Vdc

Table 2.1. Leg/Pole voltages of a three-phase VSI during six-step mode of operation

Switching Switches ON Phase voltage Phase voltage Phase voltage Vcn

mode Van Vbn
1 S1, S’2, S3 1/3Vdc -2/3Vdc 1/3Vdc
2 S1, S’2, S’3 2/3Vdc -1/3Vdc -1/3Vdc
3 S1, S2, S’3 1/3Vdc 1/3Vdc -2/3Vdc
4 S’1, S2, S3 -1/3Vdc 2/3Vdc -1/3Vdc
5 S’1, S2, S3 -2/3Vdc 1/3Vdc 1/3Vdc
6 S’1, S’2, S3 -1/3Vdc -1/3Vdc 2/3Vdc

Table 2.2. Phase-to-neutral voltages for six-step mode of operation

Switching Switches ON Phase voltage Phase voltage Phase voltage Vcn

mode Van Vbn
1 S1, S’2, S3 Vdc -Vdc 0
2 S1, S’2, S’3 Vdc 0 -Vdc
3 S1, S2, S’3 0 Vdc -Vdc
4 S’1, S2, S3 -Vdc Vdc 0
5 S’1, S2, S3 -Vdc 0 Vdc
6 S’1, S’2, S3 0 -Vdc Vdc

Table 2.3. Line voltages for six-step mode of operation

2.3.2. FOURIER ANALYSIS OF THE THREE-PHASE INVERTER OUTPUT

VOLTAGES

The Fourier series of a phase-to-neutral voltage and the line-to-line voltage shows that the triple
harmonic (multiple of three) does not appear (since the load is assumed with isolated neutral). The

24
SECE, AAIT, AAU JUNE, 2017
other harmonics have the inverse amplitude of their order. The output voltage magnitude can be
controlled by controlling the DC link voltage Vdc.

2 1 1 1 1
𝑉𝑎𝑛 (𝑡) = 𝑉𝑑𝑐 [sin 𝜔𝑡 + sin 5𝜔𝑡 + sin 3𝜔𝑡 + sin 3𝜔𝑡 + sin 3𝜔𝑡 + ⋯ .]
𝜋 5 7 9 11

2√ 3 1 1
𝑉𝑎𝑏 (𝑡) = 𝑉𝑑𝑐 [sin(𝜔𝑡 − 𝜋/6) + sin 5(𝜔𝑡 − 𝜋/6) + sin 7(𝜔𝑡 − 𝜋/6) + ⋯ .]
𝜋 5 7

The maximum output peak phase-to-neutral voltage in the six-step mode is 0.6367 Vdc or (2/p)
Vdc and that of the line-to-line voltage is 1.1 Vdc. The Fourier series of phase-to-neutral voltage
and line-to-line voltage can be obtained as:

25
SECE, AAIT, AAU JUNE, 2017
 CHAPTER THREE

METHODOLOGY
3.1. INTRODUCTION
The overall block diagram of an indirect rotor flux oriented control system is shown in the figure
3.1.

Fig. 3.1. Overall block diagram of indirect rotor flux oriented control

Two motor phase currents are measured. These measurements feed the Clarke transformation
module. The outputs of this projection are designated isα and isβ. These two components of the
current are the inputs of the Park transformation that gives the current in the 𝑑, 𝑞 rotating reference
frame. The 𝑖𝑠𝑑 and Isq components are compared to the references 𝑖𝑠𝑑𝑟𝑒𝑓 (the flux reference)
and 𝑖𝑠𝑞𝑟𝑒𝑓 (the torque reference). At this point, this control structure shows an interesting
advantage: it can be used to control either synchronous or induction machines by simply changing
the flux reference and obtaining rotor flux position. As in synchronous permanent magnet a motor,
the rotor flux is fixed determined by the magnets) there is no need to create one. Hence, when
controlling a PMSM, 𝑖𝑠𝑑𝑟𝑒𝑓 should be set to zero. As induction motors need a rotor flux creation

26
SECE, AAIT, AAU JUNE, 2017
in order to operate, the flux reference must not be zero. This conveniently solves one of the major
drawbacks of the “classic” control structures: the portability from asynchronous to synchronous
drives. The torque command 𝑖𝑠𝑞𝑟𝑒𝑓 could be the output of the speed regulator when we use a
speed FOC. The outputs of the current regulators are 𝑉𝑠𝑑𝑟𝑒𝑓 and 𝑉𝑠𝑞𝑟𝑒𝑓; they are applied to the
inverse Park transformation. The outputs of this projection are Vsαref and Vsβref which are the
components of the stator vector voltage in the (𝛼, 𝛽 ) stationary orthogonal reference frame. These
are the inputs of the Space Vector PWM. The outputs of this block are the signals that drive the
inverter. Note that both Park and inverse Park transformations need the rotor flux position.
Obtaining this rotor flux position depends on the AC machine type (synchronous or asynchronous
machine).

3.2. CLASSICAL AC DRIVES

AC motor control structures generally apply three 120º spatially displaced sinusoidal voltages to
the three stator phases. In most of the classic AC drives the generation of the three sine waves is
based on motor electromechanical characteristics and on an equivalent model for the motor in its
steady state. Furthermore, the control looks like three separate single phase system controls rather
than one control of a three-phase system. Some major common drawbacks are presented in this
section:

▪ The machine models and characteristics used are valid only in steady state. This causes the
control to allow high peak voltage and current transients. These damage not only the drive
dynamic performance but also the power conversion efficiency. Additionally, the power
components must be oversized to withstand the transient electrical spikes.
▪ Great difficulty in controlling the variables with sinusoidal references: PI regulators cannot
perform a sinusoidal regulation without damaging the sinusoidal reference, and hysteresis
controllers introduce high bandwidth noise into the system that is hard to filter out.
▪ No three-phase system imbalance management. No consideration of the phase interactions.
▪ Finally, the control structure must be dedicated according to motor type (asynchronous or
synchronous).

The following chapters present the Field Orientated Control of AC drives. This control solution
overcomes each of these drawbacks and thus improves the overall effectiveness of the AC drive.

27
SECE, AAIT, AAU JUNE, 2017
Detailed explanations and references to other helpful documents gives the reader a good
understanding of the control structure and of the immediate benefits of such a solution.

3.3. FIELD ORIENTED CONTROL

3.3.1. Introduction

A simple control such as the V/Hz strategy has limitations on the performance. To achieve better
dynamic performance, a more complex control scheme needs to be applied, to control the induction
motor. With the mathematical processing power offered by the microcontrollers, we can
implement advanced control strategies, which use mathematical transformations in order to
decouple the torque generation and the magnetization functions in an AC induction motor. Such
decoupled torque and magnetization control is commonly called rotor flux oriented control, or
simply Field Oriented Control (FOC).

3.3.1.1. The main philosophy behind the FOC

In order to understand the spirit of the Field Oriented Control technique, let us start with an
overview of the separately excited direct current (DC) Motor. In this type of motor, the excitation
for the stator and rotor is independently controlled. Electrical study of the DC motor shows that
the produced torque and the flux can be independently tuned. The strength of the field excitation
(i.e. the magnitude of the field excitation current) sets the value of the flux. The current through
the rotor windings determines how much torque is produced. The commutator on the rotor plays
an interesting part in the torque production. The commutator is in contact with the brushes, and
the mechanical construction is designed to switch into the circuit the windings that are
mechanically aligned to produce the maximum torque. This arrangement then means that the
torque production of the machine is fairly near optimal all the time. The key point here is that the
windings are managed to keep the flux produced by the rotor windings orthogonal to the stator
field.

28
SECE, AAIT, AAU JUNE, 2017
 Ie
Ω
(Φ) M (E, R)
Ue U
Tem

INDUCTOR Armature Circuit

(Field Excitation)

Fig. 3.2. Separated excitation DC motor model, flux and torque are independently controlled
and the current through the rotor windings determines how much torque is produced.

𝑇𝑒𝑚 = 𝐾 ∗ 𝜙 ∗ 𝐼

𝐸 =𝐾∗𝜙∗𝐼

𝜙 = 𝑓(𝐼𝑒 )

Induction machines do not have the same key features as the DC motor. In both cases we have
only one source that can be controlled which is the stator currents. On the synchronous machine,
the rotor excitation is given by the permanent magnets mounted onto the shaft. On the synchronous
motor, the only source of power and magnetic field is the stator phase voltage. Obviously, as
opposed to the DC motor, flux and torque depend on each other.

The goal of the FOC (also called vector control) on synchronous and asynchronous machine is to
be able to separately control the torque producing and magnetizing flux components. The control
technique goal is to (in a sense), imitate the DC motor’s operation.

3.3.1.2. Why Field Oriented Control

As a well-known fact about the asynchronous machine, we face some natural limitations with a
V/Hz control approach. FOC control will allow us to get around these limitations, by decoupling

29
SECE, AAIT, AAU JUNE, 2017
the effect of the torque and the magnetizing flux. With decoupled control of the magnetization, the
torque producing component of the stator flux can now be thought of as independent torque
control. Now, decoupled control, at low speeds, the magnetization can be maintained at the proper
level, and the torque can be controlled to regulate the speed.

To decouple the torque and flux, it is necessary to engage several mathematical transforms, and
this is where the microcontrollers add the most value. The processing capability provided by the
microcontrollers enables these mathematical transformations to be carried out very quickly. This
in turn implies that the entire algorithm controlling the motor can be executed at a fast rate,
enabling higher dynamic performance. In addition to the decoupling, a dynamic model of the
motor is now used for the computation of many quantities such as rotor flux angle and rotor speed.
This means that their effect is accounted for, and the overall quality of control is better.

3.3.1.3. Technical Background

The Field Orientated Control consists of controlling the stator currents represented by a vector.
This control is based on projections which transform a three-phase time and speed dependent
system into a two coordinate (d and q coordinates) time invariant system. These projections lead
to a structure similar to that of a DC machine control. Field orientated controlled machines need
two constants as input references: the torque component (aligned with the q coordinate) and the
flux component (aligned with d coordinate). As Field Orientated Control is simply based on
projections the control structure handles instantaneous electrical quantities. This makes the control
accurate in every working operation (steady state and transient) and independent of the limited
bandwidth mathematical model. The FOC thus solves the classic scheme problems, in the
following ways:

▪ The ease of reaching constant reference (torque component and flux component of the
stator current)
▪ The ease of applying direct torque control because in the (𝑑, 𝑞) reference frame the
expression of the torque is:

𝑇𝑒𝑚 ∝ 𝜙𝑟 ∗ 𝑖𝑠𝑞

30
SECE, AAIT, AAU JUNE, 2017
By maintaining the amplitude of the rotor flux (𝜙𝑟 ) at a fixed value we have a linear relationship
between torque and torque component (𝑖𝑠𝑞 ). We can then control the torque by controlling the
torque component of stator current vector.

3.3.2. Space Vector Definition and Projection

The three-phase voltages, currents and fluxes of AC-motors can be analyzed in terms of complex
space vectors. With regard to the currents, the space vector can be defined as follows. Assuming
that 𝑖𝑎, 𝑖𝑏, 𝑖𝑐 are the instantaneous currents in the stator phases, then the complex stator current
vector is defined by:

𝑖𝑠 = 𝑖𝑎 + 𝛼𝑖𝑏 + 𝛼 2 𝑖𝑐

Where 𝛼 = 𝑒 𝑗2/3𝜋 and 𝛼 2 = 𝑒 𝑗2/3𝜋 represent spatial operators. The following diagram shows the
stator current complex space vector:

bb

αIb
αIb
Is
Is

α2Ic
α2Ic

Ia
Ia aa

cc

Fig.3.3. stator current space vector and its components in (a, b, c).

where (𝑎, 𝑏, 𝑐) are the three phase system axes. This current space vector depicts the three phases
sinusoidal system. It still needs to be transformed into a two-time invariant coordinate system.
This transformation can be split into two steps:

31
SECE, AAIT, AAU JUNE, 2017
 ▪ (𝑎, 𝑏, 𝑐) ⇒ (𝛼, 𝛽 ) (the Clarke transformation) which outputs a two-coordinate time
variant system
▪ (𝛼, 𝛽 ) ⇒ (d, q) (the Park transformation) which outputs a two-coordinate time invariant
system.

3.3.2.1. (𝒂, 𝒃, 𝒄) ⇒ (𝜶, 𝜷 ) (the Clarke transformation)

The space vector can be reported in another reference frame with only two orthogonal axis called
(α, β ) . Assuming that the axis 𝑎 and the axis α are in the same direction we have the following
vector diagram:

ββ
bb

Isβ
Isβ
Is
Is

Isα
Isα α=a
α=a

cc

Fig.3.4. stator current space vector and its components in the stationary reference frame.

The projection that modifies the three-phase system into the (α, β ) two-dimension orthogonal
system is presented below.

𝑖𝑠𝛼 = 𝑖𝑎
{ 1 2
𝑖𝑠𝛽 = 𝑖𝑎 + 𝑖𝑏
√3 √3

32
SECE, AAIT, AAU JUNE, 2017
The two phases (α, β ) currents still depend on time and speed.

3.3.2.2. (𝜶, 𝜷 ) ⇒ (𝒅, 𝒒) (the Park transformation)

This is the most important transformation in the FOC. In fact, this projection modifies a two phase
orthogonal system (α, β ) in the 𝒅, 𝒒 rotating reference frame. If we consider the d axis aligned
with the rotor flux, the next diagram shows, for the current vector, the relationship from the two-
reference frame:

ββ
qq

Isq
Isq Is
Is Ψr
Ψr
dd
Isd
Isd

Isα
Isα a=α
a=α

Fig.3.5. Stator current space vector and its components in (α, β) and in the d, q rotating
reference frame.

where θ is the rotor flux position. The flux and torque components of the current vector are
determined by the following equations:

isd = isα cos θ + isβ sin θ

{
isq = −isα sin θ + isβ cos θ

These components depend on the current vector (α, β ) components and on the rotor flux position;
if we know the right rotor flux position then, by this projection, the 𝒅, 𝒒 component becomes a

33
SECE, AAIT, AAU JUNE, 2017
constant. Two phase currents now turn into dc quantity (time-invariant). At this point the torque
control becomes easier where constant 𝒊𝒔𝒅 (flux component) and 𝒊𝒔𝒒 (torque component) current
components controlled independently.

3.3.3. The Basic Scheme for the FOC

The following diagram summarizes the basic scheme of torque control with FOC:

Inv.
Inv. Park
Park Vdc
Vdc
Tr.
Tr.
Isqref
Isqref Vsqref
Vsqref Vsαref
Vsαref
PI d,
d, qq
--
3-PHASE
SVPWM
INVERTER
Isdref
Isdref Vsβ
Vsβ ref
ref
PI Vsdref
Vsdref α,
α, ββ
--

θθ

Iα
Iα Ia
Ia
d,
d, qq α,
α, ββ
Isq
Isq

Ib
Ib
Isd
Isd Iβ
Iβ
α,
α, ββ a,
a, bb

Park
Park Tr.
Tr. Clark
Clark Tr.
Tr.

AC MOTOR

Fig. 3.6. Basic scheme of FOC for ACI motor.

Two motor phase currents are measured. These measurements feed the Clarke transformation
module. The outputs of this projection are designated 𝑖𝑠𝛼 and 𝑖𝑠𝛽 . These two components of the
current are the inputs of the Park transformation that gives the current in the 𝑑, 𝑞 rotating reference
frame. The 𝑖𝑠𝑑 and 𝑖𝑠𝑞 components are compared to the references 𝑖𝑠𝑑𝑟𝑒𝑓 (the flux reference) and
𝑖𝑠𝑞𝑟𝑒𝑓 (the torque reference). At this point, this control structure shows an interesting advantage:
it can be used to control either synchronous or induction machines by simply changing the flux
reference and obtaining rotor flux position. As in synchronous permanent magnet a motor, the

34
SECE, AAIT, AAU JUNE, 2017
rotor flux is fixed determined by the magnets) there is no need to create one. Hence, when
controlling a PMSM, 𝑖𝑠𝑑𝑟𝑒𝑓 should be set to zero. As induction motors need a rotor flux creation
in order to operate, the flux reference must not be zero. This conveniently solves one of the major
drawbacks of the “classic” control structures: the portability from asynchronous to synchronous
drives. The torque command 𝑖𝑠𝑞𝑟𝑒𝑓 could be the output of the speed regulator when we use a speed
FOC. The outputs of the current regulators are 𝑉𝑠𝑑𝑟𝑒𝑓 and 𝑉𝑠𝑞𝑟𝑒𝑓 ; they are applied to the inverse
Park transformation. The outputs of this projection are 𝑉𝑠𝑑𝑟𝑒𝑓 and 𝑉𝑠𝑞𝑟𝑒𝑓 which are the components
of the stator vector voltage in the (α, β ) stationary orthogonal reference frame. These
are the inputs of the Space Vector PWM. The outputs of this block are the signals that drive the
inverter. Note that both Park and inverse Park transformations need the rotor flux position.
Obtaining this rotor flux position depends on the AC machine type (synchronous or asynchronous
machine). Rotor flux position considerations are made in a following paragraph.

3.3.4. Rotor Flux Position

Knowledge of the rotor flux position is the core of the FOC. In fact, if there is an error in this
variable the rotor flux is not aligned with d-axis and 𝑖𝑠𝑑 and 𝑖𝑠𝑞 are incorrect flux and torque
components of the stator current. The following diagram shows the (𝑎, 𝑏, 𝑐), (α, β ) and (𝑑, 𝑞)
reference frames, and the correct position of the rotor flux, the stator current and stator voltage
space vector that rotates with 𝑑, 𝑞 reference at synchronous speed.

35
SECE, AAIT, AAU JUNE, 2017
 ββ
qq
bb

Vs
Vs
Isq
Isq Ψr
Ψr
Is
Is dd
Isd
Isd

Isα
Isα a=α
a=α

cc

Fig. 3.7. Current, voltage and rotor flux space vectors in the d, q rotating reference frame and
their relationship with a, b, c and (α, β) stationary reference frame.

The measure of the rotor flux position is different if we consider synchronous or induction motor:

▪ In the synchronous machine, the rotor speed is equal to the rotor flux speed. Then θ (rotor
flux position) is directly measured by position sensor or by integration of rotor speed
▪ In the asynchronous machine, the rotor speed is not equal to the rotor flux speed (there is
a slip speed), then it needs a particular method to calculate θ. The basic method is the use
of the current model which needs two equations of the motor model in 𝑑, 𝑞 reference frame.

Theoretically, the field oriented control for the induction motor drive can be mainly categorized
into two types; indirect and direct schemes. The field to be oriented could be rotor, stator, or air
gap flux linkage. In the indirect field oriented control, the slip estimation with measured or
estimated rotor speed is required in order to compute the synchronous speed. There is no flux
estimation appearing in the system. For the direct scheme, the synchronous speed is computed
basing on the flux angle which is available from flux estimator or flux sensors (e.g., Hall effects).
In this implementing system, the indirect flux oriented control system with measured speed based
on capture is described. The overall block diagram of this project is depicted in Fig. 9

36
SECE, AAIT, AAU JUNE, 2017
3.4. PI REGULATOR

An electrical drive based on the Field Orientated Control needs two constants as control
parameters: the torque component reference 𝐼𝑆𝑞𝑟𝑒𝑓 and the flux component reference 𝐼𝑆𝑑𝑟𝑒𝑓.
The classic numerical PI (Proportional and Integral) regulator is well suited to regulating the torque
and flux feedback to the desired values as it is able to reach constant references, by correctly setting
both the P term (𝐾𝑝𝑖) and the I term (𝐾𝑖) which are respectively responsible for the error
sensibility and for the steady state error. The numerical expression of the PI regulator is as follows:

𝑘−1

𝑈𝑘 = 𝐾𝑝𝑖 𝑒𝑘 + 𝐾𝑖 𝑒𝑘 + ∑ 𝑒𝑛
𝑛=0

which can be represented by the following figure:

Fig. 3.8. Classic numerical PI regulator

the limiting point is that during normal operation, or during the tests, large reference value
variations or large disturbances may occur, resulting in saturation and overflow of the regulator
variables and output. If they are not controlled, this kind of non-linearity damages the dynamic
performance of the system. To solve this problem, one solution is to add to the previous structure
a correction of the integral component as depicted in the following diagram:

37
SECE, AAIT, AAU JUNE, 2017
 Fig. 3.9. Numerical PI Regulator with Correction of the Integral Term

The integral term correction algorithm in a high-level language is given below:

With 𝑈𝑚𝑎𝑥, 𝑈𝑚𝑖𝑛 we mean the limitations of the output variable.

38
SECE, AAIT, AAU JUNE, 2017
3.5. SVPWM

3.5.1. The 3-phase Inverter

The structure of a typical 3-phase power inverter is shown in Figure 8, where VA VB, VC are the
voltages applied to the star-connected motor windings, and where VDC is the continuous inverter
input voltage.

0 1 2

Vac

Fig. 3.10. Basic scheme of 3-phase inverter and AC-motor

The six switches can be power BJT, GTO, IGBT etc. The ON-OFF sequence of all these devices
must respect the following conditions:

▪ three of the switches must always be ON and three always OFF.

▪ the upper and the lower switches of the same leg are driven with two complementary pulsed
signals. In this way, no vertical conduction is possible, providing care is taken to ensure
that there is no overlap in the power switch transitions.

The next paragraph presents a technique for generating such pulsed signals

3.5.2. The Space Vector Pulse Width Modulation (SVPWM)

Space Vector PWM supplies the AC machine with the desired phase voltages. The SVPWM
method of generating the pulsed signals fits the above requirements and minimizes the harmonic
contents. Note that the harmonic contents determine the copper losses of the machine which
account for a major portion of the machine losses. Taking into consideration the two constraints
quoted above there are eight possible combinations for the switch commands. These eight switch
39
SECE, AAIT, AAU JUNE, 2017
combinations determine eight phase voltage configurations. The diagram below depicts these
combinations.

Fig. 3.11. SVPWM, vectors and sectors

The vectors divide the plan into six sectors. Depending on the sector that the voltage reference is
in, two adjacent vectors are chosen. The binary representations of two adjacent basic vectors differ
in only one bit, so that only one of the upper transistors switches when the switching pattern moves
from one vector to the adjacent one. The two vectors are time weighted in a sample period T to
produce the desired output voltage.

Assuming that the reference vector𝑉̅𝑟𝑒𝑓 is in the 30 sector, we have the following situation:

Fig. 3.11. Reference vector as a combination of adjacent vectors

Where 𝑇4 and 𝑇6 are the times during which the vectors 𝑉̅4, 𝑉̅6 are applied and 𝑇0 the time during
which the zero vectors are applied. When the reference voltage (output of the inverse Park

40
SECE, AAIT, AAU JUNE, 2017
transformation) and the sample periods are known, the following system makes it possible to
determine the uncertainties 𝑇4 , 𝑇6 and 𝑇0 .

𝑇 = 𝑇4 + 𝑇6 + 𝑇0
{ 𝑇4 𝑇6
𝑉̅𝑟𝑒𝑓 = 𝑉̅4 + 𝑉̅
𝑇 𝑇 6

Under these constraints the locus of the reference vector is the inside of a hexagon whose vertices
are formed by the tips of the eight vectors. The generated space vector PWM waveforms are
symmetrical with respect to the middle of each PWM period. The diagram shows the waveforms
in the example presented above.

Fig. 3.12. Pattern of SVPWM in the sector 3

The following diagram shows the pattern of SVPWM for each sector:

41
SECE, AAIT, AAU JUNE, 2017
 Fig. 3.13. Hexagon of SVPWM, pattern

In conclusion, the inputs for the SVPWM are the reference vector components (𝑉𝛼𝑠𝑡 , 𝑉𝛽𝑠𝑡 ) and the
outputs are the times to apply each of the relevant sector limiting vectors.

3.5.3. Comparison SV-sinusoidal PWM

The SVPWM generates minimum harmonic distortion of the currents in the winding of 3-phase
AC motor. SV Modulation also provides a more efficient use of the supply voltage in comparison
with sinusoidal modulation methods. In fact, with conventional sinusoidal modulation in which
the sinusoidal signals are compared with a triangular carrier, we know that the locus of the
1
reference vector is the inside of a circle with a radius of 2 𝑉𝐷𝐶 . In the SV modulation, it can be
2
shown that the length of each of the six vectors is 3 𝑉𝐷𝐶 . In steady state, the reference vector

magnitude might be constant. This fact makes the SV modulation reference vector locus smaller
than the hexagon described above. This locus narrows itself to the circle inscribed within the
1
hexagon, thus having a radius of 𝑉 . In Figure 13 below the different reference vector loci are
√3 𝐷𝐶

presented.

Fig. 3.14. Locus comparison SV-sinusoidal PWM

42
SECE, AAIT, AAU JUNE, 2017
 2 𝑂𝑀
Therefore, the maximum output voltage based on the Space Vector theory is ( ) times as large
√3 𝑂𝑁

as that of the conventional sinusoidal modulation. This explains why, with SVPWM, we have a
more efficient use of the supply voltage than with the sinusoidal PWM method.

3.6. BENEFITS OF 32-BIT C2000 CONTROLLERS FOR

DIGITAL MOTOR CONTROL (DMC)
C2000 family of devices possess the desired computation power to execute complex control
algorithms along with the right mix of peripherals to interface with the various components of the
DMC hardware like the ADC, ePWM, QEP, eCAP etc. These peripherals have all the necessary
hooks for implementing systems which meet safety requirements, like the trip zones for PWMs
and comparators. Along with this the C2000 ecosystem of software (libraries and application
software) and hardware (application kits) help in reducing the time and effort needed to develop a
Digital Motor Control solution. The DMC Library provides configurable blocks that can be reused
to implement new control strategies. IQMath Library enables easy migration from floating point
algorithms to fixed point thus accelerating the development cycle.

Thus, with C2000 family of devices it is easy and quick to implement complex control algorithms
(sensored and sensorless) for motor control. The use of C2000 devices and advanced control
schemes provides the following system improvements:

▪ Favors system cost reduction by an efficient control in all speed range implying right
dimensioning of power device circuits.
▪ Use of advanced control algorithms it is possible to reduce torque ripple, thus resulting in
lower vibration and longer life time of the motor.
▪ Advanced control algorithms reduce harmonics generated by the inverter thus reducing
filter cost.
▪ Use of sensorless algorithms eliminates the need for speed or position sensor.
▪ Decreases the number of look-up tables which reduces the amount of memory required.
▪ The Real-time generation of smooth near-optimal reference profiles and move trajectories,
results in better-performance.

43
SECE, AAIT, AAU JUNE, 2017
 ▪ Generation of high resolution PWM’s is possible with the use of ePWM peripheral for
controlling the power switching inverters.
▪ Provides single chip control system.

For advanced controls, C2000 controllers can also perform the following:

▪ Enables control of multi-variable and complex systems using modern intelligent methods
such as neural networks and fuzzy logic.
▪ Performs adaptive control. C2000 controllers have the speed capabilities to concurrently
monitor the system and control it. A dynamic control algorithm adapts itself in real time to
variations in system behavior.
▪ Performs parameter identification for sensorless control algorithms, self-commissioning,
online parameter estimation update.
▪ Performs advanced torque ripple and acoustic noise reduction.
▪ Provides diagnostic monitoring with spectrum analysis. By observing the frequency
spectrum of mechanical vibrations, failure modes can be predicted in early stages.
▪ Produces sharp-cut-off notch filters that eliminate narrow-band mechanical resonance.
Notch filters remove energy that would otherwise excite resonant modes and possibly make
the system unstable.

3.7. TI LITERATURE AND DIGITAL MOTOR CONTROL (DMC)

LIBRARY

Literature distinguishes two types of FOC control (for Induction Motors):

▪ Direct FOC control: In this case we try to directly estimate the rotor flux based upon the
measurements of terminal voltages and currents.
▪ Indirect FOC control: In this case the goal is to estimate the slip based upon the motor
model in FOC condition and to recalculate the rotor flux angle from the integration of
estimated slip and measured rotor speeds. Again, knowing the motor parameters, especially
rotor time constant, is key in order to achieve the FOC control.

This document discusses the indirect FOC control. The Digital Motor Control (DMC) library is
composed of functions represented as blocks. These blocks are categorized as Transforms &

44
SECE, AAIT, AAU JUNE, 2017
Estimators (Clarke, Park, Sliding Mode Observer, Phase Voltage Calculation, and Resolver, Flux,
and Speed Calculators and Estimators), Control (Signal Generation, PID, BEMF Commutation,
Space Vector Generation), and Peripheral Drivers (PWM abstraction for multiple topologies and
techniques, ADC drivers, and motor sensor interfaces). Each block is a modular software macro is
separately documented with source code, use, and technical theory.

These modules allow users to quickly build, or customize, their own systems. The Library supports
the three motor types: ACI, BLDC, PMSM, and comprises both peripheral dependent (software
drivers) and target dependent modules. The DMC Library components have been used by TI to
provide system examples. At initialization, all DMC Library variables are defined and inter-
connected. At run-time, the macro functions are called in order. Each system is built using an
incremental build approach, which allows some sections of the code to be built at a time, so that
the developer can verify each section of their application one step at a time. This is critical in real-
time control applications where so many different variables can affect the system and many
different motor parameters need to be tuned.

Note: TI DMC modules are written in form of macros for optimization purposes (refer to
application note SPRAAK2 for more details at TI website). The macros are defined in the header
files. The user can open the respective header file and change the macro definition, if needed. In
the macro definitions, there should be a backslash” \” at the end of each line as shown below which
means that the code continues in the next line. Any character including invisible ones like “space”
or “tab” after the backslash will cause compilation error. Therefore, make sure that the backslash
is the last character in the line. In terms of code development, the macros are almost identical to C
function, and the user can easily convert the macro definition to a C functions.

Fig. 3.15. A typical DMC macro definition

45
SECE, AAIT, AAU JUNE, 2017
3.8. SYSTEM OVERVIEW

This document describes the “C” real-time control framework used to demonstrate the sensored
field oriented control of induction motors. The “C” framework is designed to run on
TMS320F2803x based controllers on Code Composer Studio. The framework uses the following
modules.

Macro names Explanations

CLARKE Clark transformation
PARK/IPARK Park and inverse park transformation
PI PI regulator
RC Ramp controller (slew rate limiter)
RG Ramp/ sawtooth generator
QEP/CAP QEP and CAP drives
SPEED_PR Speed measurement (based on sensor signal period)
SPEED_FR Speed measurement (based on sensor signal frequency)
CURMOD Current model for sensored application
SVGEN SVPWM with quadrature control (includes ICLARK trans.)
PWM/ PWMDAC PWM and PWMDAC drives

Table 3.1. Modules explanations of the framework.

In this system, the sensored Indirect Field Oriented Control of Induction Motor will be
experimented with and will explore the performance of speed control. The induction motor is
driven by a conventional voltage-source inverter. TheTMS320x2803x control card is used to
generate three pulse width modulation (PWM) signals. The motor is driven by an integrated power
module by means of space vector PWM technique. Two phase currents of induction motor (𝑖𝑎 and
𝑖𝑏 ) are measured from the inverter and sent to the TMS320x2803x via two analog-to-digital
converters (ADCs).

46
SECE, AAIT, AAU JUNE, 2017
HVACI_Sensored project has the following properties:

C Framework
System name Program memory using Data memory usage1
2803x 2803x
HVACI_Sensored 3698 words2 1312 words

Table 3.2. Total memory consumption of the project

1
Excluding the stack size

2
Excluding “IQmath” Look-up Tables

CPU Utilization
Total number of cycles 733*
CPU Utilization @ 60 Mhz 12.2%
CPU Utilization @ 40 Mhz 18.3%

Table 3.3. CPU utilization.

Systems feature
Development/emulation Code composer studio V6.0.1 with real time debugging
Target controller TMS320F2803x
PWM frequency 10kHz PWM (default), 60kHz PWMDAC
PWM mode Symmetrical with a programmable dead band
Interrupts ADC, end of conversion – implements 10 kHz ISR execution rate
Peripherals used PWM 1 / 2 / 3 for motor control
PWM 6A, 6B, 7A & 7B for DAC outputs
QEP1, A, B, I or CAP1

47
SECE, AAIT, AAU JUNE, 2017
 ADC A7 for DC Bus voltage sensing, A1 & B1 for phase current
sensoring

Table 3.4. System feature.

The overall system implementing a 3-ph induction motor control is depicted in Fig.10. The
induction motor is driven by the conventional voltage-source inverter. The TMS320F2803x is
being used to generate the six-pulse width modulation (PWM) signals using a space vector PWM
technique, for six power switching devices in the inverter. Two input currents of the induction
motor (𝑖𝑎 and 𝑖𝑏) are measured from the inverter and they are sent to the TMS320F2803x via two
analog-to-digital converters (ADCs).

Fig. 3.16. A 3-ph induction motor drive implementation

The software flow is described in the Figure 11 below:

48
SECE, AAIT, AAU JUNE, 2017
 C_int0 SOC

Initialize s/w Excute ADC

modules converson

Enable end of
conversion EOC ISR
ISP

Initialize
Save contents
other system
and clear
and module
interrupt flag
parameters

Execute the
Background
INT 1 Park and
loop
Clark trans.

Excute the
PID modules

Execute the
IPark and
SVGEN
modules

Excute the
QEP AAND
SPEED meas.
module

Excute the
current model
and PWM
drive

Restore
Return
context

49
SECE, AAIT, AAU JUNE, 2017
 Fig. 3.17. Software flow description using flow chart.

3.9. HARDWARE CONFIGURATION (HVDMC R1.1 KIT)

Some of the hardware setup instructions are captured below for quick reference.

HW Setup Instructions:

1. Open the Lid of the HV Kit

2. Install the Jumpers [Main]-J3, J4 and J5, J9 for 3.3V, 5V and 15V power rails and JTAG reset
line.
3. Unpack the DIMM style control-CARD and place it in the connector slot of [Main]-J1. Push
vertically down using even pressure from both ends of the card until the clips snap and lock.
(to remove the card simply spread open the retaining clip with thumbs)
4. Connect a USB cable to connector [M3]-JP1. This will enable isolated JTAG emulation to the
C2000 device. [M3]-LD1 should turn on. Make sure [M3]-J5 is not populated. If the included
Code Composer Studio is installed, the drivers for the onboard JTAG emulation will
automatically be installed. If a windows installation window appears try to automatically install
drivers from those already on your computer. The emulation drivers are found at
http://www.ftdichip.com/Drivers/D2XX.htm. The correct driver is the one listed to support the
FT2232.
5. If a third party JTAG emulator is used, connect the JTAG header to [M3]-J2 and additionally
[M3] - J5 needs to be populated to put the onboard JTAG chip in reset.
6. Ensure that [M6]-SW1 is in the “Off” position. Connect 15V DC power supply to [M6]-JP1.
7. Turn on [M6]-SW1. Now [M6]-LD1 should turn on. Notice the control card LED would light
up as well indicating the control card is receiving power from the board.
8. Note that the motor should be connected to the [M5]-TB3 terminals after you finish with the
first incremental build step.
9. Note the DC Bus power should only be applied during incremental build levels when instructed
to do so. The two options to get DC Bus power are discussed below,
i. To use DC power supply, set the power supply output to zero and connect [Main]-BS5
and BS6 to DC power supply and ground respectively.

50
SECE, AAIT, AAU JUNE, 2017
 ii. To use AC Mains Power, connect [Main]-BS1 and BS5 to each other using banana plug
cord. Now connect one end of the AC power cord to [Main]-P1. The other end needs
to be connected to output of a variac. Make sure that the variac output is set to zero and
it is connected to the wall supply through an isolator.

Fig. 3.18. Using external DC Power supply to generate DC Bus Power for the inverter.

51
SECE, AAIT, AAU JUNE, 2017
3.10. SOFTWARE SETUP INSTRUCTIONS TO RUN HVACI_SENSORED
PROJECT

The first thing is run code composer studio 6.0.1 from your computer (PC) and direct the code
composer to the correct workspace location, that you have developed your HVACI_Sensored
algorithm and select the HVACI_Sensored as the active project. Appendix A. shows the general
looking of the workspace. Then the active build configuration to be set as F2803x_RAM. Now
verify that the build level is set to 1 inside “HVACI_Sensored-settings.h” header file, then save
and right click on the project name and select “Rebuild Project”. Once build completes, launch a
debug session to load the code into the controller. Now open an expression window and add the
critical variables as shown in the table below and select the appropriate Q format for them.

Fig.3.19. Expression window variables.

Go to Tools  Graph  Dual Time, and click the Import button at the bottom of the window. Setup
time graph windows by importing Graph1.graphProp and Graph2.graphProp from your workspace

location. On Continuous Refresh button on the top left corner of the graph tab to enable
periodic capture of data from the microcontroller.

3.11. INCREMENTAL SYSTEM BUILD

The system is gradually built up so the final system can be confidently operated. Five phases of
the incremental system build are designed to verify the major software modules used in the system.
Table 1 summarizes the modules testing and using in each incremental system build.

52
SECE, AAIT, AAU JUNE, 2017
 Software module Phase 1 Phase 2 Phase 3 Phase 4 Phase 5

PWMDAC_MACRO * * * * *
RC_MACRO * * * *
RG_MACRO * * * *
IPARK_MACRO ** * * * *
SVGEN_MACRO ** * * * *
PWM_MACRO * * * *
CLARKE_MACRO ** * * *
PARK_MACRO ** * * *
CAP_MACRO ** *
SPEED_PR_MACRO ** *
QEP_MACRO ** * *
SPEED_FR_MACRO ** * *
PI_MACRO (IQ) ** * *
PI_MACRO (ID) ** * *
CURMOD * *
PI_MACRO (SPD) ** **
Note: the symbol * means this module is using and the symbol ** means this module is testing in this space.

Table 3.5. Testing modules in each incremental system build.

3.11.1. Level 1 Incremental Build

At this step keep the motor disconnected. Assuming the load and build steps completed
successfully, this section describes the steps for a “minimum” system check-out which confirms
operation of system interrupt, the peripheral & target independent I_PARK_MACRO (inverse
park transformation) and SVGEN_MACRO (space vector generator) modules and the peripheral
dependent PWM_MACRO (PWM initializations and update) modules. Look at the incremental
system build block diagram in appendix C.

Open HVACI_Sensored-Settings.h and select level 1 incremental build option by setting the
BUILDLEVEL to LEVEL1 (#define BUILDLEVEL LEVEL1). Now right click on the project

53
SECE, AAIT, AAU JUNE, 2017
name and click Rebuild Project. Once the build is complete click on debug button, reset CPU,
restart, enable real time mode and run. Set “EnableFlag” to 1 in the watch window. The variable
named “IsrTicker” will now keep on increasing, confirm this by watching the variable in the watch/
expression window. This confirms that the system interrupt is working properly. In the software,
the key variables to be adjusted are summarized below.

▪ SpeedRef (Q24): for changing the rotor speed in per-unit.

▪ VdTesting (Q24): for changing the d-axis voltage in per-unit.
▪ VqTesting (Q24): for changing the q-axis voltage in per-unit.

3.11.1.1. Level 1A (SVGEN_MACRO Test)

The SpeedRef value is specified to the RG_MACRO module via RC_MACRO module. The
IPARK_MACRO module is generating the outputs to the SVGEN_MACRO module. Three
outputs from SVGEN_MACRO module is monitored via the graph window as shown in Fig. 4.1.
where Ta, Tb, and Tc waveform are 1200 apart from each other. Specifically, Tb lags Ta by 1200
and Tc leads Ta by 1200. Check the PWM test points on the board to observe PWM pulses (PWM-
1H to 3H and PWM-1L to 3L) and make sure that the PWM module is running properly.

3.11.1.2. Level 1B (testing The PWMDAC Macro)

To monitor internal signal values in real time PWM DACs are very useful tools. Present on the
HV DMC board are PWM DAC’s which use an external low pass filter to generate the waveforms
([Main]-J14, DAC-1 to 4). A simple 1st–order low-pass filter RC circuit is used to filter out the
high frequency components. The selection of R and C value (or the time constant, τ) is based on
the cut-off frequency (fc), for this type of filter; the relation is as follows:

1
𝜏 = 𝑅𝐶 =
2𝜋𝑓𝑐

For example: R=1.8kΩ and C=100nF, it gives fc = 884.2 Hz. This cut-off frequency has to be
below the PWM frequency. Using the formula above, one can customize low pass filters used for
signal being monitored.

54
SECE, AAIT, AAU JUNE, 2017
The DAC circuit low pass filters ([Main]-R10 to13 & [Main]-C15 to18) is shipped with 2.2kΩ and
220nF on the board.

3.11.1.3. Level 1C – PWM_MACRO and INVERTER Testing

After verifying SVGEN_MACRO module in Level 1A, the PWM_MACRO software module and
the 3- phase inverter hardware are tested by looking at the low pass filter outputs. For this purpose,
if using the external DC power supply gradually increase the DC bus voltage and check the 𝑉𝑓𝑏 −
𝑈, V and W test points using an oscilloscope or if using AC power entry slowly change the variac
to generate the DC bus voltage. Once the DC Bus voltage is greater than 15 to 20V you would
start observing the Inverter phase voltage dividers and waveform monitoring filters (𝑉𝑓𝑏 − 𝑈,
𝑉𝑓𝑏 − 𝑉, 𝑉𝑓𝑏 − 𝑊) enable the generation of the waveform and ensures theta the inverter is
working appropriately. Note that the default RC values are optimized for AC motor state observers
employing phase voltages.

N.B. After verifying this, reduce the DC Bus voltage, take the controller out of real time mode
(disable), reset the processor. Note that after each test, this step needs to be repeated for safety
purposes. Also note that improper shutdown might halt the PWMs at some certain states where
high currents can be drawn, hence caution needs to be taken while doing these experiments.

3.11.2. Level 2 Incremental Build

Assuming section BUILD 1 is completed successfully, this section verifies the analog-to-digital
conversion, Clarke / Park transformations and phase voltage calculations. Now the motor can be
connected to HVDMC board since the PWM signals are successfully proven through level 1
incremental build. Look at the incremental system build block diagram in appendix D.

Open HVACI_Sensored-Settings.h and select level 2 incremental build option by setting the
BUILDLEVEL to LEVEL2 (#define BUILDLEVEL LEVEL2) and save the file. Now Right Click
on the project name and click Rebuild Project. Once the build is complete click on debug button,
reset CPU, restart, enable real time mode and run. Set “EnableFlag” to 1 in the watch/ expression
window. The variable named “IsrTicker” will be incrementally increased as seen in watch
windows to confirm the interrupt working properly.

In the software, the key variables to be adjusted are summarized below.

55
SECE, AAIT, AAU JUNE, 2017
 ▪ SpeedRef (Q24): for changing the rotor speed in per-unit.
▪ VdTesting(Q24): for changing the d-axis voltage in per-unit.
▪ VqTesting(Q24): for changing the q-axis voltage in per-unit.

3.11.2.1. Phase 2A – Testing the Clarke module

In this part, the Clarke module will be tested. Now, gradually increase the DC bus voltage. The
three measured line currents are transformed to two phase d-q currents in a stationary reference
frame. The outputs of this module can be checked from graph window.

▪ The clark1.Alpha waveform should be same as the clark1.As waveform.

▪ The clark1.Alpha waveform should be leading the clark1.Beta waveform by 900 at the same
magnitude.

Note that the open loop experiments are meant to test the ADCs, inverter stage, SW modules etc.
Therefore running motor under load or at various operating points is not recommended.

3.11.2.2. Level 2B – Adjusting PI Limits

Note that the vectoral sum of d-q PI outputs should be less than 1.0 which refers to maximum duty
cycle for SVGEN macro. Another duty cycle limiting factor is the current sense through shunt
resistors which depends on hardware/software implementation. Depending on the application
requirements 3, 2 or a single shunt resistor can be used for current waveform reconstruction. The
higher number of shunt resistors allow higher duty cycle operation and better dc bus utilization.

Run the system with default VdTesting, VqTesting and SpeedRef and gradually increase
VdTesting and VqTesting values. Meanwhile, watch the current waveforms in the graph window.
Keep increasing until you notice distorted current waveforms and write down the maximum
allowed VdTesting and VqTesting values. Make sure that these values are consistent with expected
d-q current component maximums while running the motor. After this build level, PI outputs will
automatically generate the voltage reference and determine the PWM duty cycle depending on the
d-q current demand, therefore set pi_id.Umax/min and pi_iq.Umax/min according to recorded
VdTesting and VqTesting values respectively.

56
SECE, AAIT, AAU JUNE, 2017
Running motor without proper PI limits can yield distorted current waveforms and unstable
closed loop operations which may damage the hardware.

Bring the system to a safe stop as described at the end of build 1 by reducing the bus voltage,
taking the controller out of real-time mode and reset.

3.11.3. Level 3: Incremental Build

Assuming the previous section is completed successfully, this section verifies the d-q-axis current
regulation performed by PI modules and speed measurement modules. To confirm the operation
of current regulation, the gains of these two PI controllers are necessarily tuned for proper
operation. Look at the incremental system build block diagram in appendix E.

Open HVACI_Sensored-Settings.h and select level 3 incremental build option by setting the
BUILDLEVEL to LEVEL3 (#define BUILDLEVEL LEVEL3). Now Right Click on the project
name and click Rebuild Project. Once the build is complete click on debug button, reset CPU,
restart, enable real time mode and run. Set “EnableFlag” to 1 in the watch window. The variable
named “IsrTicker” will be incrementally increased as seen in watch windows to confirm the
interrupt working properly. In the software, the key variables to be adjusted are summarized below.

▪ SpeedRef (Q24): for changing the rotor speed in per-unit.

▪ IdRef(Q24): for changing the d-axis voltage in per-unit.
▪ IqRef(Q24): for changing the q-axis voltage in per-unit.

In this build, the motor is supplied by AC input voltage and the (AC) motor current is dynamically
regulated by using PI module through the park transformation on the motor currents.

The steps are explained as follows:

▪ Compile/load/run program with real time mode.

▪ Set SpeedRef to 0.3 𝑝𝑢 (or another suitable value if the base speed is different), Idref to a
certain value to generate rated flux. Gradually increase voltage at variac / dc power supply
to get an appropriate DC-bus voltage.
▪ Check pi_id.Fdb in the watch/ expression windows with continuous refresh feature whether
or not it should be keeping track pi_id.Ref for PI module. If not, adjust its PI gains properly.

57
SECE, AAIT, AAU JUNE, 2017
 ▪ Check pi_iq.Fdb in the watch/ expression windows with continuous refresh feature whether
or not it should be keeping track pi_iq.Ref for PI module. If not, adjust its PI gains properly.
▪ To confirm these two PI modules, try different values of pi_id.Ref and pi_iq.Ref or
SpeedRef.
▪ For both PI controllers, the proportional, integral, derivative and integral correction gains
may be retuned to have the satisfied responses.
▪ Bring the system to a safe stop as described at the end of build 1 by reducing the bus
voltage, taking the controller out of real-time mode and reset.

3.11.3.1. Level 3B – QEP / SPEED_FR test (for incremental encoder)

This section verifies the QEP1 driver and its speed calculation. 𝑄𝑒𝑝 drive macro determines the
rotor position and generates a direction (of rotation) signal from the shaft position encoder pulses.
Make sure that the output of the incremental encoder is connected to [Main]-H1 and
QEP/SPEED_FR macros are initialized properly in the HVACI_Sensored.c file depending on the
features of the speed sensor. The steps to verify these two software modules related to the speed
measurement can be described as follows:

Set SpeedRef to 0.3 𝑝𝑢 (or another suitable value if the base speed is different).

▪ Compile/load/run program with real time mode and then increase voltage at variac / dc
power supply to get the appropriate DC-bus voltage. Now the motor is running close to
reference speed.
▪ Check the “speed1.Speed” in the watch/ express windows with continuous refresh feature
whether or not the measured speed is less than SpeedRef a little bit due to a slip of motor.
▪ To confirm these modules, try different values of SpeedRef to test the Speed.
▪ Use oscilloscope to view the electrical angle output, ElecTheta, from QEP_MACRO
module and the emulated rotor angle, Out, from RG_MACRO at PWMDAC outputs with
external low-pass filters.
▪ Check that both ElecTheta and Out are of saw-tooth wave shape and have the same period.
If the measured angle is in opposite direction, then change the order of motor cables
connected to inverter output (TB3 for HVDMC kit).

58
SECE, AAIT, AAU JUNE, 2017
 ▪ Check from Watch/ Expression Window that qep1.IndexSyncFlag is set back to 0xF0 every
time it reset to 0 by hand. Add the variable to the watch window if it is not already in the
watch window.
▪ Bring the system to a safe stop as described at the end of build 1 by reducing the bus
voltage, taking the controller out of real-time mode and reset.

3.11.3.2. Level 3C – CAP / SPEED_PR test (for Tacho or sprocket)

In this case, the CAP1 input is chosen to detect the edge. If available, make sure that the sensor
output is connected to [Main]-H1 and CAP/SPEED_PR macros are initialized properly in the
HVACI_Sensored.c file depending on the features of the speed sensor. Typically, the capture is
used to measure speed when a simple low-cost speed sensing system is available. The sensor
generates pulses when detecting the teeth of a sprocket or gear and the capture drive provides the
instantaneous value of the selected time base (GP Timer) captured on the occurrence of an event.

The steps to verify these two software modules related to the speed measurement can be described
as follows:

▪ Set SpeedRef to 0.3 𝑝𝑢 (or another suitable value if the base speed is different).
▪ Compile/load/run program with real time mode and then increase voltage at variac / dc
power supply to get the appropriate DC-bus voltage. Now the motor is running reference
speed.
▪ Check the “speed2.Speed” in the watch/ expression windows with continuous refresh
feature whether or not they should be less than SpeedRef a little bit due to a slip of motor.
▪ To confirm these modules, try different values of SpeedRef to test the Speed.
▪ Reduce voltage at variac / dc power supply to zero, halt program and stop real time mode.
Now the motor is stopping.

An alternative to verify these two software modules without running the motor can be done by
using a function generator. The key steps can be explained as follows:

▪ Use a function generator to generate the 3.3V (DC) square-wave with the desired frequency
corresponding to the number of teeth in sprocket and the wanted speed in rpm. Then,
connect only the pulse signal and ground wires from the function generator to HVDMC

59
SECE, AAIT, AAU JUNE, 2017
 board. The desired frequency of the square-wave produced by function generator can be
formulated as:

𝑅𝑃𝑀 ∗ 𝑇𝐸𝐸𝑇𝐻
𝑓𝑠𝑞𝑢𝑎𝑟𝑒_𝑤𝑎𝑣𝑤 = 𝐻𝑧
6

where RPM is the wanted speed in rpm, and TEETH is the number of teeth in sprocket.

▪ Compile/load/run program with real time mode and then increase voltage at variac to get
the appropriate DC-bus voltage. Now the motor is running. Note that the SpeedRef could
be set to any number.
▪ Check the speed2.Speed and speed2.SpeedRpm in the watch windows with continuous
refresh feature whether or not they should be corresponding to the wanted speed that is
chosen before.
▪ To confirm these modules, change different frequencies of square-wave produced by
function generator with corresponding wanted (known) speed to check the Speed and
SpeedRpm.

3.11.4. Level 4 Incremental Build

Assuming the previous section is completed successfully; this section verifies the current model
(CUR_MOD). Open HVACI_Sensored-Settings.h and select level 4 incremental build option by
setting the BUILDLEVEL to LEVEL4 (#define BUILDLEVEL LEVEL4). Now Right Click on
the project name and click Rebuild Project. Once the build is complete click on debug button, reset
CPU, restart, enable real time mode and run. Set “EnableFlag” to 1 in the watch window. The
variable named “IsrTicker” will be incrementally increased as seen in watch windows to confirm
the interrupt working properly.

▪ SpeedRef (Q24): for changing the rotor speed in per-unit.

▪ IdRef (Q24): for changing the d-axis voltage in per-unit.
▪ IqRef (Q24): for changing the q-axis voltage in per-unit.

The key steps can be explained as follows:

▪ Set SpeedRef to 0.3 𝑝𝑢 (or another suitable value if the base speed is different).

60
SECE, AAIT, AAU JUNE, 2017
 ▪ Compile/load/run program with real time mode and then increase voltage at variac / dc
power supply to get the appropriate DC-bus voltage. Now the motor is running close to
reference speed.
▪ Compare Curmod1.Theta with rg1.Out via PWMDAC or CCS graph window. They should
be identical with a small phase shift.
▪ When the measured speed is correct and current regulations are performed well, the Theta
should give the ramp waveform with the same frequency as one from RG module.
▪ To confirm this current model, try different values of SpeedRef.
▪ Bring the system to a safe stop as described at the end of build 1 by reducing the bus
voltage, taking the controller out of real-time mode and reset. Now terminate the debug
session.

Look at the incremental system build block diagram in appendix F.

3.11.5. Level 5: Incremental Build

Assuming the previous section is completed successfully, this section verifies the speed regulator
performed by PI module. The system speed loop is closed by using the measured speed as a
feedback. Look at the incremental system build block diagram in appendix G.

Open HVACI_Sensored-Settings.h and select level 5 incremental build option by setting the
BUILDLEVEL to LEVEL5 (#define BUILDLEVEL LEVEL5). Now Right Click on the project
name and click Rebuild Project. Once the build is complete click on debug button, reset CPU,
restart, enable real time mode and run. Set “EnableFlag” to 1 in the watch window. The variable
named “IsrTicker” will be incrementally increased as seen in watch windows to confirm the
interrupt working properly.

▪ SpeedRef (Q24): for changing the rotor speed in per-unit.

▪ 𝐼𝑑𝑅𝑒𝑓 (Q24): for changing the d-axis voltage in per-unit.

The speed loop is closed by using measured speed. It should be emphasized that the motor can
spin only one direction when the measured speed (from capture driver) does not give information
about the direction like QEP based speed measurement. Therefore, if the speed sensor is not an
incremental encoder, the SpeedRef is required to be positive. The key steps can be explained as
follows:

61
SECE, AAIT, AAU JUNE, 2017
 ▪ Compile/load/run program with real time mode.
▪ Set SpeedRef to 0.3 𝑝𝑢 (or another suitable value if the base speed is different).
▪ Gradually increase voltage at variac / dc power supply to get an appropriate DC-bus voltage
and now the motor is running around the reference speed (0.3 𝑝𝑢).
▪ Compare Speed with SpeedRef in the watch windows with continuous refresh feature
whether or not it should be nearly the same.
▪ To confirm this speed PI module, try different values of SpeedRef (positive only for tacho).
▪ For speed PI controller, the proportional, integral, derivative and integral correction gains
may be retuned to have the satisfied responses.
▪ At very low speed range, the performance of speed response relies heavily on the good
rotor flux angle computed by current model.
▪ Bring the system to a safe stop as described at the end of build 1 by reducing the bus
voltage, taking the controller out of real-time mode and reset.
▪ Note that the 𝐼𝑑𝑅𝑒𝑓 is set to be constant at a certain value that is not too much for driving
the motor. Practically, it may be calculated from the rated flux condition.

62
SECE, AAIT, AAU JUNE, 2017
 CHAPTER FOUR

IMPLEMENTATION RESULTS AND DISCUSSION

4.1. INCREMENTAL BUILD RESULTS

Before testing the whole system using incremental system build. The overall connection of
equipment was developed. Appendix H.

Then after running code composer 6.0.1 and directing the correct workspace we will start our
configuration. Appendix A & B. The general configurations to see the levels property on graph
window are:

Open HVACI_Sensored-Settings.h and select the required level incremental build option by
setting for instance, the BUILDLEVEL to LEVEL2 (#define BUILDLEVEL LEVEL2) and save
the file. Now Right Click on the project name and click Rebuild Project. Once the build is complete
click on debug button, reset CPU, restart, enable real time mode and run. Set “EnableFlag” to 1 in
the watch/ expression window. The variable named “IsrTicker” will be incrementally increased as
seen in watch windows to confirm the interrupt working properly.

Finally following instructions listed from section 3.11.1 to 3.11.3. the following results will be
obtained from the code composer’s graph window. Let’s see the results of each levels.

4.1.1. Level 1:

This section describes the steps for a “minimum” system check-out which confirms operation of
system interrupt, the peripheral & target independent I_PARK_MACRO (inverse park
transformation) and SVGEN_MACRO (space vector generator) modules and the peripheral
dependent PWM_MACRO (PWM initializations and update) modules. The motor is disconnected
at this level. (look at the incremental system build block diagram in appendix C).

In the software, the key variable to be adjusted is:

▪ SpeedRef (Q24): for changing the rotor speed in per-unit.

63
SECE, AAIT, AAU JUNE, 2017
 Fig. 4.1. SVGEN duty cycle outputs Ta, Tb, Tc and Tb-Tc

Three outputs from SVGEN_MACRO module is monitored via the graph window as shown in
Fig. 4.1. where Ta, Tb, and Tc waveform are 1200 apart from each other. Specifically, Tb lags Ta
by 1200 and Tc leads Ta by 1200.

The PWM output and the phase voltages, input to the motor are also measured by using CRO. As
shown the following figures.

64
SECE, AAIT, AAU JUNE, 2017
 i. PWM1H on channel 1 and PWM3H on channel 2.

Fig. 4.2. CRO measurement of PWM1H and PWM3H

ii. PWM2L and PWM3L

65
SECE, AAIT, AAU JUNE, 2017
 Fig. 4.3. CRO measurement of PWM2L and PWM3L

iii. PWM1H and PWM1L: inverted output is expected.

Fig. 4.4. CRO measurements of PWM1H and PWM1L which inverted output is founded.

66
SECE, AAIT, AAU JUNE, 2017
 iv. Phase voltage inverter output measured using CRO

Fig. 4.5. Phase voltage inverter output measured using CRO

4.1.2. Level 2:

Level 2 verifies the analog-to-digital conversion, offset compensation, Clarke / Park

transformations. (look at the incremental system build block diagram in appendix D).

In this part, the Clarke module will be tested. Now, gradually increase the DC bus voltage. The
three measured line currents are transformed to two phase d-q currents in a stationary reference
frame. The outputs of this module can be checked from graph window.

▪ The clark1.Alpha waveform should be same as the clark1.As waveform.

▪ The clark1.Alpha waveform should be leading the clark1.Beta waveform by 900 at the same
magnitude.

67
SECE, AAIT, AAU JUNE, 2017
 Fig. 4.5. The waveforms of Phase A&B current, rg1.Out and svgen_dq1.Ta (duty cycle)

4.1.3. Level 3:

Level 3 verifies the d-q axis current regulation performed by PI macros and speed measurement
modules. (look at the incremental system build block diagram in appendix E).

This section verifies the d-q-axis current regulation performed by PI modules and speed
measurement modules. To confirm the operation of current regulation, the gains of these two PI
controllers are necessarily tuned for proper operation.

68
SECE, AAIT, AAU JUNE, 2017
 Fig. 4.6. Measured theta, rg1.Out, Phase A current waveforms.

69
SECE, AAIT, AAU JUNE, 2017
 CHAPTER FIVE

CONCLUSIONS, RECOMMENDATIONS AND FUTURE WORK

5.1. CONCLUSION

A novel field oriented control technique of induction motor is presented in this thesis.

The dynamic model of induction motor is developed in synchronous rotating frame, i.e., 𝑑𝑞
coordinate frame. The Clarke's and Park's transformations are used to convert the 𝑎𝑏𝑐 coordinate
frame into the rotating dq frame. The transformation greatly reduces the Complexity of the

dynamic model.

The theory of field oriented control is introduced and applied to control the dynamic model of
induction motor. Both of the direct and indirect field control methods can be applied to calculate
the rotor flux angle. The decoupled system can be achieved after applying the feed-forward control
method. PID based controllers have been designed for speed and current control based on
symmetrical optimum method, which guarantees the maximum phase margin. The developed PI
controllers for speed and current control show satisfactory performance. The simulation results
show the robustness and effectiveness of the controller design.

The Texas Instruments AC motor development kit and software are used to implement the field
oriented control of induction motor in hardware platform. The DSP hardware Implementation
demonstrates that field oriented control of induction motor can control the speed and torque
effectively.

The Texas instrument motor development kit and software are introduced in this chapter. The key
features of DSP controller are summarized. Our design is implemented based on the hardware with
CCS (code composer studio) program. The hardware experiment shows satisfactory performance
in speed control.

70
SECE, AAIT, AAU JUNE, 2017
5.2. RECOMMENDATION
During the practical implementation, it is highly recommended to follow the documents
“HVMotorCtrl+PFC Kit How to Run Guide” and “HVMotorCtrl+PFC Kit Hardware guide”.
Which are prepared by texas instuments.

Levels which require the study of PWMDAC or to monitor internal signal values in real time PWM
DACs, it is recommended to use CRO display unit properly.

If intelligent controllers such as slide mode controller or fuzzy logic controller are used instead of
the ordinary PI controller, system performance could be improved more. Also, VSI with multilevel
converters are preferable than two level converters.

In this thesis, feedback loop configuration facilitated the controller design into simpler ones.
However, the problem can be further explored by using an open control loop(tachometer). This
may increase the error in the speed control.

5.3. FUTURE WORK.

For the future work, use speed sensor to investigate the closed loop speed controlling of induction
motor using DSP chip. Interfacing this speed sensor with a Digital Signal Processor (DSP)
approach implementation of advanced motor drive systems requires the following features
from a typical motor controller. Capability of generating multiple high frequency, high-resolution
PWM waveforms, fast processing to implement advanced algorithms to minimize torque ripple,
on line parameter adaptation, precise speed control etc.

Uncovered incremental system build levels in this document will be covered and analyzed in the
future using proper parameters and equipment.

71
SECE, AAIT, AAU JUNE, 2017
 REFERENCES

[1]. Haitham Abu-Rub (Texas A&M University at Qatar, Qatar), Atif Iqbal (Qatar University,
Qatar and Aligarh Muslim University, India), Jaroslaw Guzinski Gdansk University Technology,
Poland), HIGH PERFORMANCE CONTROL OF AC DRIVES WITH 2012.

[2]. R. Krishnan, Electric Motor Drives: Modeling, Analysis and Control, Prentice Hall, 2002.

[3]. Mohamed El-Sharkawi, Fundamentals of Electric Drive, CL-Engineering, 1st Edition, 2000.

[4]. E.Baraneetharan, P.Raghuraman, Analysis and Implementation of DSP Based Speed Control
of Three Phase Induction Motor, March 2015.

[5]. Yashasvi V M & Basawaraj Amarapur, Digital Signal Processing Based Speed Control of
Induction Motor Drive System, 2012.

[6]. Xu, H., Toliyat, H. A., and Petersen, L. J. (2001) Rotor field oriented control of a three-phase
induction motor with the combined fundamental and third harmonic injection.Proc. IEEE Applied
Power Elec. Conf. APEC, Anaheim, CA, pp. 608–614.

[7]. Singh, G. K. (2002) Multi-phase induction machine drive research: A survey. Elect. Power
Syst. Res., 61, 139–147.

[8]. Z. Yu, A. Mohammed, and I. Panahi, “A review of three pwm techniques”, in Proc. 1997, pp.
257 – 261.

[9]. N. Mohan, “Power electronics-converters, application and design”, John Wiley & Sons
Inc.200

[10]. Wenxi Yao, Haibung Hu, Zhengyu Lu, “Comparison of space vector modulation and carrier
based modulation of multilevel inverter”, IEEE Trans., Power Electronics, Vol.23, pp. 45

[11]. Mondal S.K., Bose B.K., Oleschuk V. and Pinto, J.O.P., “Space vector pulse width
Modulation of three level inverter extending operation into over modulation region,” IEEE
Transactions on Power Electronics, vol. 18, pp. 604-611, March. 2003.

[12] YANG Guijie, SUN Li, CUI Naizheng, LU Yongping, “Study on method of the Space vector
PWM”, Proceedings of the Csee, 2001, vol. 21(5), pp.79

72
SECE, AAIT, AAU JUNE, 2017
[13] A M. Trzynadlowski, Control of Induction Motors, Academic Press 2001

[14] A. Iqbal, A. Lamine, I. Ashraf and Mohibullah, Matlab/Simulink model of space vectorPWM
for three phase voltage source inverters.

[15] S. Nandi, Modeling of induction machines including stator and rotor slot effect, IEEE
Transactions on Industry Applications, vol. 40, no. 4, pp. 10581065, July/August 2004.

[16] Texas Instruments, Field oriented control of induction motor, Retrieved from
(http://www.tij.co.jp/jp/lit/an/bpra073/bpra 073.pdf)

[17] Bilal Alkin and Manish Bhardwaj, Sensored Field oriented control of 3-phase induction
motor, Texas Instruments, SPRABP8-july 2013.

[18] Texas Instruments, Implementation of speed field oriented control of three phase induction
motor using TMS320F240. Retrieved from (http://www.ti.com/lit/an/bpra076/bpra076.pdf)

[19] M M. Rostami, Analysis of Indirect Rotor Filed Oriented Control for Squirrel Cage Induction
Motor Drives, PEOCO2012, and Melaka, Malaysia.

[20] V-R. Miguel, M. Mijalkovic, A M. Stankovic, S. Hiti, and J. Nagishma Ouput selection for
Tuning of Filed Oriented Controllers: Steady State Analysis, 0-7803-7883-0/03, IEEE 2003.

[21] F. Blashke, The Principle of Filed Orientation as applied to the new Trans vector closed loop
control system for rotating field machine, Siemens Rev, Vol 39, no.5, pp.217-220, May 1992.

[22] Texas Instruments, AC induction motor (ACIM) overview, system block diagram. Retrieved
from (http://www.ti.com/lsds/ti/apps/motor/ac induction/over view. page).

[23] J. N. Nash, “Direct torque control, induction motor vector control without an encoder,”IEEE
Trans. Ind. Application., vol. 33, pp. 333–341, Mar. /Apr. 1997.

[24] D. Casadei, G. Serra, and A. Tani, “Stator flux vector control for high performance induction
motor drives using space vector modulation,” Electro motion J., vol. 2, no. 2, pp. 79–86, 1995

73
SECE, AAIT, AAU JUNE, 2017
 APPENDIX

APPENDIX A: Code Composer Studio 6.0.1 Workspace, Before Debug

74
SECE, AAIT, AAU JUNE, 2017
APPENDIX B: Code Composer Studio 6.0.1 Workspace, After Debug

APPENDIX C: Level 1 - Incremental System Build Block Diagram

75
SECE, AAIT, AAU JUNE, 2017
APPENDIX D: Level 2 - Incremental System Build Block Diagram

76
SECE, AAIT, AAU JUNE, 2017
APPENDIX E: Level 3 - Incremental System Build Block

77
SECE, AAIT, AAU JUNE, 2017
APPENDIX F: Level 4 - Incremental System Build Block Diagram

APPENDIX G: Level 5 - Incremental System Build Block Diagram

78
SECE, AAIT, AAU JUNE, 2017
APPENDIX H: Overall Connection of The Project

79
SECE, AAIT, AAU JUNE, 2017