Design and Development of PWM Inverter for

Electrical Machines

A PROJECT REPORT

Submitted by

Rohan Alwani (130670109043)

Rajendrakumar Solanki (130670109050)

Mit Shah (130670109047)

Akash Trivedi (130670109055)

In fulfillment of the award of the degree

Of

BACHELOR OF ENGINEERING

In

ELECTRICAL ENGINEERING

i
 SAL INSTITUTE OF TECHNOLOGY & ENGINEERING
RESEARCH AHMEDABAD

ELECTRICAL ENGINEERING

2016-17

CERTIFICATE

DATE:

This is to be certify that the dissertation entitled “Design and

Development of PWM Inverter for Electrical Machines” has been
carried out by Akash Trivedi (130670109055) under my guidance in
fulfillment of the degree of Bachelor of Engineering in Electrical Engineering
7th Semester of Gujarat Technological University, Ahmedabad during the
academic year 2015-2016.

Guide by, Head of the Department

Prof. Ankit H. Patel Prof. Gagandipsingh Khanduja

ii
 ACKNOWLEDGEMENT
I am extremely grateful to my guide Prof. Ankit H. Patel department of electrical
Engineering, for his revered guidance and supervision, which led to the completion of this
Project. He was always there to help, providing us with all the necessary resources and
guidance which helped in successful completion of this project work.

We would like to thank Prof. G.N.KHANDUJA, Head of Electrical Department at SAL

INSTITUTE OF TECHNOLOGY AND ENGINEERING AHMEDABAD for his
guidance, support, motivation and encouragement throughout the period this work was
carried out. His readiness for consultation at all times, his educative comments, his concern
and assistance have been invaluable.

We would like to greatly thanks to all respected faculty of electrical department for his
constant help & support throughout the length of project.

Finally I like to thank all my friends who while working on their respective projects created
a great learning environment. The time we spent together has been a great knowledgeable
experience.

Akash Trivedi (130670109055)

iii
 ABSTRACT

The study of design and development of PWM inverter is developed to have the variable
speed or control of speed of an Induction motor. As we know that the 3-phase induction
motor is a constant speed motor. So, for different operations we need different revolutions
per minute (rpm).

In this model, we going to give the pulse width modulated output from the inverter to the
3-phase induction motor. As due to the pulses we can have control over the speed of the
induction motor and even harmonics are also reduced.

We have provided in the simulation in Psim (Power Simulation). For different values of
the inputs with load (3-phase induction motor), the output have been tested. In this, we also
have attached the data sheets of the various components that are used in the hard model.
The use of On-Off controllers with MOSFETs switches, a D.C. source and a 3 –phase A.C
source from function generator for the controller.

iv
 TABLE OF CONTENTS

PG.NO.

TITLE PAGE i
CERTIFICATE ii
AKNOWLEDGEMENT iii
ABSTRACT iv

CHAPTER 1 INTRODUCTION 01
1.1 INTRODUCTION 02
CHAPTER 2 LITERATURE REVIEW 03
2.1 LITERATURE REVIEW 1 04
2.2 LITERATURE REVIEW 2 04
2.3 LITERATURE REVIEW 3 05
2.4 LITERATURE REVIEW 4 06
2.5 LITERATURE REVIEW 5 07
CHAPTER 3 PROJECT SUMMARY 08
3.1 PROJECT DEFINE 09
3.2 PROJECT GOALS 09
CHAPTER 4 BASICS OF COMPONENTS 10
4.1 3-PHASE INDUCTION MOTOR 11
4.1.1 DEFINITION 11
4.1.2 TYPES OF INDUCTION MOTOR
11

v
 4.1.3 CONSTRUCTION 11
4.1.4 WORKING PRINCIPLE 12
4.2 DIFFERENT METHODS OF CONTROL SPEED 13
4.3 BASICS OF PWM INVERTER 13
4.4 PWM TECHNIQUE 15
4.5 ON-OFF CONTROLLER 16
4.6 MOSFETs 17
4.7 OTHERRELATED TERMS 17
4.7.1 HARMONICS 17
4.7.2 TOTAL HARMONIC DISTORTION
17
4.7.3 LOWER ORDER HARMONICS
18
CHAPTER 5 Block Diagram & Simulation 19
5.1 CONTROL CIRCUIT 20
5.2 POWER CIRCUIT 21
5.3 COMPLETE SIMULATION 22
5.4 OUTPUT WAVEFORMS 23
CHAPTER 6 COMPONENTS RATINGS 24
6.1 INDUCTION MOTOR 25
6.2 SWITCHES ( MOSEFTS ) 25
6.3 OPERATIONAL AMPLIFIER
25
CHAPTER 7 FUTURE SCOPE OF STUDY 26
7.1 PROJECT PLANNING 27
7.2 FUTURE PLANNING 27

vi
CHAPTER 8 REFERENCES 30

APPENDIXES

vii
 LIST OF FIGURES& TABLES

Fig.4.1 (a) INDUCTION MOTOR CONSTRUCTION 12

Fig. 4.1 (b) WORKING OF INDUCTION MOTOR 13
Fig. 4.2 (a) CIRCUIT OF 3 PHASE INVERTER 16
Fig. 4.2 (b) MOSFETS 16
Fig. 5.1 CONTROL CIRCUIT 21
Fig. 5.2 POWER CIRCUIT 22
Fig. 5.3 COMPLETE CIRCUIT
23
Fig. 5.4 OUTPUT WAVEFORMS
24
Fig.I.1 AEIOU SHEET

Fig.I.2 EMPATHY SUMMARY

Fig.I.3 IDEATION CANVAS

Fig.I.4 PRODUCT DEVELOPMENT CANVAS

viii
 Chapter 1

Introduction

1
1.1 Introduction
Nowadays, we know that induction motors are widely used due to its high efficiency and
robust nature. A three phase induction motor is basically a constant speed motor so it’s
somewhat difficult to control its speed. The speed control of induction motor is done at the
cost of decrease in efficiency and low electrical power factor.

Pulse width modulation (PWM) is a powerful technique for controlling analog circuits with
a microprocessor's digital outputs. PWM is an idealized inductor driven by a voltage source
modulated as a series of pulses resulting in a sine like current in the inductor.

AC drives that use PWM techniques have varying levels of performance based on control
algorithms. There are four basic types of control for AC drives today. These are Volts per
Hertz, Sensor less Vector Control, Flux Vector Control, and Field Oriented Control. There
are many methods used but PWM has advantages like cheap cost, efficiency up to 90%,
low power consumption as it have very low impedance and therefore a low voltage drop
and low power dissipation.

2
 Chapter 2

Literature Review

3
2.1 Literature Review 1

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 28, NO. 1,

JANUARY/FEERUARY 1992

PWM - CSI Inverter for Induction Motor Drives

Bin Wu, Student Member, IEEE, Shashi B. Dewan, Fellow, IEEE, and
Gordon R. Slemon, Fellow, IEEE

Abstract-
This paper discusses a number of issues involved in designing a current source inverter
system for a large induction motor Drive. Using two modulation techniques-selected
harmonic Elimination in the upper frequency range and trapezoidal Modulation in the
lower frequency range-control of voltage, Current, and torque harmonics is achieved while
limiting the GTO switching frequency to 180 Hz. Each modulation range is divided into a
number of sub ranges to exploit the available Switching capacity and to avoid harmonic
resonances involving. The capacitor and the motor inductance. In addition to the
development of basic principles, the paper includes simulation waveforms and test results
from a laboratory experimental System.

2.2 Literature Review 2

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 3,

MAY/JUNE 1983 335

Development of PWM Inverter Employing GTO

YASUO MATSUDA, HIROSHI FUKUI, HISAO AMANO, HIRONORI OKUDA,
SEIJI WATANA
Abstract-

4
 Application techniques of a gate turn-off thyristor (GTO) to a pulse-width
modulation (PWM) inverter are presented. The switching characteristics of a GTO greatly
depend on those peripheral Circuits, so that it is very important to establish the application
techniques to design the gate circuit and the main circuit of the GTO. For the gate circuit,
the relations of the GTO's turn-off characteristics to impedance elements of an off-gate
circuit and to the circuit system are described. For an on-gate circuit, a new narrow-pulse
method is developed which can keep the conduction of the GTO in spite of the Performance
state of an inverter depending on the power factor of a Load. Using this new on-gate circuit,
the power dissipation of the gate Circuit is reduced to one-fourth compared with a
commonly used Wide-pulse method. The transmitting section of a control signal is
evaluated for disturbance of a PWM inverter, caused by switching Operations. It is
concluded that the gate circuit which is provided with Separate power supplies used to turn
the device on and off would be most advantageous. For the main circuit, the effects of the
snubbed Capacitor’s capacitance and wiring inductance on GTO turn-off characteristics
are considered. Also discussed is a protection method for The GTO at the occurrence of a
short-circuit fault, which utilizes its Self-extinguishing capability. Some practical
examples of the PWM Inverter employing the GTO for driving induction motors (IM) are
presented. These inverters have been made smaller in volume or much higher in
performance.BE, AND AKIRA ISHIBASHI

2.3 Literature Review 3

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 3,

MAY/JUNE 1983

Transistorized PWM Inverter-Induction Motor Drive

System
STEVEN C. PEAK, MEMBER, IEEE, AND ALLAN B. PLUNKETT, MEMBER, IEEE
5
Abstract-
The development of a transistorized pulse width modulated (PWM) inverter-
induction motor traction drive system is described. A Vehicle performance analysis was
performed to establish the vehicle Tractive effort-speed requirements. These requirements
were then converted into a set of inverter and motor specifications. The inverter was a
Transistorized three-phase Bridge using General Electric power Darlington Transistors.
The description of the design and development of this Inverter is the principal object. The
high-speed induction motor is a Design which is optimized for use with an inverter power
source. The Primary feedback control is a torque angle control with voltage and Torque
outer loop controls. A current-controlled PWM technique is used to control the motor
voltage. The drive has a constant torque Output with PWM operation to base motor speed
and a constant Horsepower output with square wave operation to maximum speed.

2.4 Literature Review 4

Digital computer simulation of variable-speed

PWM inverter-machine drives

S.R. Bowes, Ph.D., C.Eng. M.I.Mech.E., M.I.E.E., and R.R. Clements, Ph.D., C.Eng.
A.F.I.M.A., M.R.Ae.S.
Indexing terms: Computer-aided design, Inverters, Simulation

Abstract:
It is predicted that, with the increasing availability of digital computing facilities,
computer-aided design will play an increasingly important and cost-effective role in the
design of variable-speed drives (VSD). The paper describes the detailed development of
an extremely versatile PWM VSD package which has the Potential for investigating a wide
range of operational modes. The capabilities of the package are demonstrated, using a

6
number of examples of typical operational modes of PWM inverter-machine systems,
which Serve to highlight the potential uses of the package. The validity and accuracy of
the computer simulations are confirmed, using experimental results obtained from a
microprocessor-controlled PWM inverter-drive System.

2.5 Literature Review 5

Steady-state performance of PWM Inverter drives

S.R. Bowes, Ph.D... C.Eng. M.I.Mech.E, M.I.E.E., and J. Clare. B.Sc.
Indexing terms: Computer-aided design, Inverters, Pulse-width modulation, Variable-
speed drives

Abstract:
It is predicted that, with the increasing availability of digital computing facilities,
computer-aided Design will play an increasingly important and cost-effective role in the
design of variable-speed drives (VSD). This paper describes the detailed development of
an extremely versatile PWM VSD package which has the Potential for investigating a wide
range of steady-state operational modes. The capabilities of the package are demonstrated,
using a number of examples of typical operational modes of PWM inverter-machine
systems, which serve to highlight the potential uses of the package. The validity and
accuracy of the computer simulations are confirmed, using experimental results obtained
from a microprocessor-controlled PWM inverter-drive System.

7
 Chapter 3

Problem Summary

8
3.1 Problem Statement

In this project, we are going to design a PWM inverter for speed control of three
phase induction motor.

The study of design and development of PWM inverter is developed to have the variable
speed or control of speed of an Induction motor. As we know that the 3-phase induction
motor is a constant speed motor. So, for different operations we need different revolutions
per minute (rpm).

In this model, we going to give the pulse width modulated output from the inverter to the
3-phase induction motor. As due to the pulses we can have control over the speed of the
induction motor and even harmonics are also reduced.

We have provided in the simulation in Psim (Power Simulation). For different values of
the inputs with load (3-phase induction motor), the output have been tested. In this, we also
have attached the data sheets of the various components that are used in the hard model.
The use of On-Off controllers with MOSFETs switches, a D.C. source and a 3 –phase A.C
source from function generator for the controller.

3.2 Project goals

 Control of speed of the 3-phase induction motor.

 Control of torque of the induction motor.
 Reduction in harmonics, therefore, decreasing the distortion.

9
 Chapter 4

Basics of the Components

10
4.1 3-Phase Induction Motor

4.1.1 Definition:-

It is an asynchronous motor type in which the electric current in the rotor needed to
produce torque is obtained by electromagnetic induction from the magnetic field of
the stator winding. An induction motor can therefore be made without electrical
connections to the rotor as are found in universal, DC and synchronous motors. An
asynchronous motor's rotor can be either wound type or squirrel cage motors.

4.1.2 Types of Induction motor:-

 Based on Supply - Single Phase and Three Phase

 Types of three phase induction motor - Squirrel cage and wound rotor.

4.1.3 CONSTRUCTION:-

FIG.4.1..2(1) WINDINGS OF AN INDUCTION MOTOR

11
 FIG.4.1.2 (2) ROTOR OF INDUCTION MOTOR

4.1.4 WORKING PRINCIPLE

The induction motor works on the principle of the electromagnetic induction. The
electrical input 3-phase AC given to the stator of the machine which created 3-phase
rotating magnetic field. The field vectors are displaced by 120 electrical from each other
thereby producing the balanced magnetic field.

Due to electromagnetic induction or transformer action emf (electromotive force) is

induced in rotor windings. Due to this, a current starts flowing through it.

As per the law, a conductor carrying current and magnetic field acting on, it experiences
a torque and it starts rotating. Its speed is less than synchronous speed. If it equals the
synchronous speed it will stop running.

Synchronous Speed:

The rotational speed of the rotating magnetic field is called as synchronous speed.
12
 Where, f = frequency of the supply

P = number of poles

4.2 Different methods to control the speed

 At present, the methods used for speed controlling are –

(a) Stator Side –

 V / f control or frequency control – In this ratio of the voltage to the frequency is kept
constant.
 Changing the number of stator poles – By changing the number of poles of the stator
the synchronous speed can be altered.
 Controlling supply voltage – By direct controlling the voltage we can get different
speed.
 Adding rheostat in the stator circuit.

(b) Rotor Side-

 Adding external resistance on rotor side.
 Cascade control method.
 Injecting slip frequency EMF into rotor side.

4.3 Basics of 3-Phase Inverter

 Three phase inverters are used for high power applications such as ac motor drives,
induction heating, and uninterrupted power supplies. A three phase inverter circuit

13
 changes D.C. input voltage to a three phase variable frequency, variable voltage
output.
 The input D.C. voltage can be from a D.C. source or a rectified a.c. voltage.
 It consists of six power switches with six associated freewheeling diode, the switches
are open and closed periodically in the proper sequence to produce to desired output
voltage.
 Basically, there are two possible schemes of a gating a devices-
 180 conduction mode –
 In this control scheme, each scheme conducts for a period of 180 or half cycle
electrical. Switches are trigger in sequence of their numbers in interval of 60.
 A phase voltages are six step waves with step heights Edc/3 and 2Edc/3.
 Line voltage are quasi square wave.
 120 conduction mode-
 In this type of conduction mode, each switch conducts for 120. At any instant of time,
only two switches remain on each switch conducts for 60.
 A phase voltage quasi-square wave output Edc/2.
 Line voltage is six step voltage.

(c) Three phase inverter Circuit

14
 FIG.4.3. (C) 3PHASE PWM INVERTER

4.4 PWM Technique

 The conduction period of switches in inverter are controlled in PWM inverter.
Sometimes, there is single pulse or multiple pulse per half cycle of the output. The
pulse width modulation is achieved by control circuits with the help of reference
input.
 Types of PWM techniques –
 Single Pulse Width Modulation
 Multiple Pulse width Modulation
 Sinusoidal Pulse Width Modulation- The sinusoidal pulse width modulation is most
widely used method of voltage control in inverters. The width of each pulse is
weighted by amplitude of sine wave at that instant.

 Comparison of different PWM techniques:-

15
4.5 On- Off Controller
 In this control system, when process variable changes and crosses certain preset level,
the output valve of the system is suddenly fully opened and gives 100 % output.
Generally in on off control system, the output causes change in process variable.
Hence due to effect of output, the process variable again starts changing but in reverse
direction. During this change, when process variable crosses certain predetermined
level, the output valve of the system is immediately closed and output is suddenly
reduced to 0 %. As there is no output, the process variable again starts changing in its
normal direction. When it crosses the preset level, the output valve of the system is
again fully open to give 100 % output. This cycle of closing and opening of output
valve continues till the said on-off control system is in operation.
 A very common example of on-off control theory is fan controlling scheme of
transformer cooling system. When transformer runs with such a load, the temperature

16
 of the electrical power transformer rises beyond the preset value at which the cooling
fans start rotating with their full capacity. As the cooling fans run, the forced air
(output of the cooling system) decreases the temperature of the transformer. When the
temperature (process variable) comes down below a preset value, the control switch
of fans trip and fans stop supplying forced air to the transformer. After that, as there
is no cooling effect of fans, the temperature of the transformer again starts rising due
to load.

4.6 Power MOSFETs

 The power metal oxide semiconductor field effect transistor (MOSFET) evolved
from integrated circuit technology.
 It offers performances unavailable from bipolar transistors and thyristors.
 It is a voltage control device and requires small input current. In this device the
control, signal is applies to a metal gate electrode that is separated from the
semiconductor surface by an insulator.
 Its uses include switching of linear power supply, speed controlled D.C. and A.c.
motor, stepper motor controller, relays, lightning control etc.
 It is a unipolar device.
 Its operating frequency are well above 100 kHz. Its switching time is in order of 50-
100 nsec.

4.7 Other terms related

4.7.1 Harmonics – the unwanted signals generated which distorts fundamental wave.
4.7.2 Total harmonic distortion:-it is the ratio of rms values of all the harmonics to
the rms value of fundamental components.
4.7.3 Lower order harmonics:-it is the harmonic components which has nearest
frequency to the fundamental and its amplitude is within 3% of the fundamental
components.
17
 Chapter 5

Block Diagram & Simulation

18
5.1 Control Circuit:-
 The control circuit contains of a three on-off controllers which operate the
three complimentary pair of switches (i.e. six switches).
 It consists of three comparator (Non-inverting op-amp) whose input are
carrier signal and 3-phase ac input.
 These ac inputs are fed from three different function generators which are
displaced 120 electrical.
 The inputs to op-amp is 0.8v to three sources Va1, Va2 & Va3.

FIG.5.1 CONTROL CIRCUIT

19
5.2 Power Circuit:-
 This circuit comprises of the three phase inverter which is fed from a DC
supply which may be rectified or directly given from the DC generator.
 In this, we are using controlled switches which are controlled from the
control circuit.
 Due to this there is pulse width modulated output from the inverter circuit is
given to the 3-pase induction motor.
 A D.C. supply is 100 V.
 The load is inductive load with resistance.

FIG.5.2 POWER CIRCUIT

20
5.3 Complete Simulation:-

 The given figure gives the connection between the control circuit and the
power circuit.
 We have connected two voltmeters to measure the line voltage and the phase
voltage.
 For measuring load current we are using current flag.

FIG.5.3 COMPLETE CIRCUIT OF SIMULATION FOR PWM INVERTER

21
5.4 OUTPUT WAWEFORMS:-
 From the simulation, we obtain below output waveforms and by taking the
values provided in control circuit and power circuit. We can get generated
waveform.
 From the waveform, we have taken frequency of carrier wave is equal to 500
Hz.
 As per figure, red signal is reference wave and blue signal is carrier wave.
 The output voltage is generated as per working of switches. A generated
output voltage can be varied by the changing the control of switches.
 As mentioned above, switches are controlled by on-off controller.
Frequency (f) = 500Hz

FIG.5.4.1 OUTPUT WAVEFORM

22
 Chapter 6
Components Ratings

23
6.1 Induction Motor

FIG.6.1 RATINGS OF INDUCTION MOTOR

6.2 Switches (MOSFETs)

 Datasheet of MOSFET

24
6.3 Datasheet of op-amp:-

Table.6.2.2 datasheet of op-amp

25
 CHAPTER 7

FUTURE SCOPE OF STUDY

26
PROJECT PLANNING:-

MONTH/YEAR ACTIVITY

July-2016 ISY(industrial shodh yatra) and basics of induction

motor
AUGUST-2016 Defining problem statement and literature reviews

SEPTEMBER- Parts specification and learning about pwm

2016 technique and PSIM software

OCTOBER- To create a simulation of the pwm inverter in

2016 powersim software

FUTURE PLANNING

MONTH/YEAR ACTIVITY

NOV-DEC-2016 decide specifications and design of Induction motor

and pwm inverter also learn PWM technique
Jan-march-2017 Purchasing the induction motor, PCB and other components
learn PWM technique

27
Apr-may-2017 Assembly of above parts, cleaning, Testing

28
 CHAPTER: 8
REFERENCES
-

29
 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 28, NO. 1,
JANUARY/FEERUARY 1992 “PWM - CSI Inverter for Induction Motor Drives”
Bin Wu, Student Member, IEEE, Shashi B. Dewan, Fellow, IEEE, and Gordon R.
Slemon, Fellow, IEEE
 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO.
3, MAY/JUNE 1983 “Transistorized PWM Inverter-Induction Motor Drive
System” STEVEN C. PEAK, MEMBER, IEEE, AND ALLAN B. PLUNKETT,
MEMBER, IEEE
 Power Electronics by MD Singh and KB Khanchandani Second Edition, McGraw
Hill Publication.
 www.ieee.org
 www.academia.edu
 www.slideshare.net
 www.research.ijcaonline.org
 www.en.wikipedia.org

30
APPENDIXES

31
 APPENDIX – I
PHOTOS OF CANVAS

32
 AEIOU SUMMARY:
 The AEIOU sheet defines five different steps,
 Activity
 Environment
 Interaction
 Objects
 Users
Activities : It’s defines what the process we do and why we select this
project.
Environment : This defines what the environment conditions affect the project
are.
Interaction : The interaction with each other.
Objects : This defines the basic objects of the project.
Users : This specifies who can use this model.

33
Figure I.1: AEIOU Summary

34
  EMPATHY SUMMARY:
 Input through AEIOU framework: power generation, less pollution, use of this
project etc.
 Scouted challenges: It is the challenge what you are faced.
 Top 5 problem of the project.
 The main problem of our project is assembly design.

Figure I.2: Empathy Summary

35
  IDEATION:
 People: who can operate this model like, engineer, common men, teachers, laboratory
technicians etc.
 Activities: what are the activities you are going for this project.
 Location: this defines that at where place this project can be used.
 Props/possible solution: it is the basic problem according to project and their possible
solution.

Figure I.3: Ideation Canvas

36
 PRODUCT DEVELOPMENT CANVAS:
 First of all it defines the purpose of the project.
 According to the material use the product experience, features & function can
be define.
 What is the customer’s requirement in the customer revalidation?
 What are the main problem of the project and their redesign to compensate this
problem?

Figure I.4: Product Development Canvas

37
 APPENDIX-II

PMMS CERTIFICATE

38
 APPENDIX-III
PLAGIARISM CERTIFICATE

39
APPENDIX-IV
PPR

40
APPENDIX-V
PSAR

41