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Sensorless Field Oriented SMCC Based Integral Sliding Mode for Solar PV
Based Induction Motor Drive for Water Pumping

Article in IEEE Transactions on Industry Applications · May 2020

DOI: 10.1109/TIA.2020.2997901

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 This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIA.2020.2997901, IEEE
Transactions on Industry Applications

Sensorless Field Oriented SMCC Based Integral

Sliding Mode for Solar PV Based Induction Motor
Drive for Water Pumping
Rashmi Rai, Member, IEEE, Saurabh Shukla and Bhim Singh, Fellow, IEEE

Abstract –This paper focuses on an efficient and robust speed To derive the maximum power from a solar panel, several
sensorless control for a solar water pumping system consisting techniques have been implemented to monitor and track the
of solar photovoltaic (PV) array fed submersible induction maximum power point. In [5-6], the detailed analysis is
motor drive (SIMD). The speed estimation and sensorless
control of SIMD are quite demanding tasks. Additionally, the
presented of two most well-known MPPT algorithms:
motor parameter variations lead to deteriorate sensorless perturb-and-observe (P&O) and incremental conductance
control. Therefore, a sensorless control of submersible (INC). In [7], a modified P&O method is presented to avoid
induction motor (SIM) requires accurate and robust stator drift problems. The drift is caused in case of an increase in
current control. The sliding mode based DC link voltage insolation (S), and its effect is severe in case of a rapid
regulator is adopted for regulating the motor power and the
speed for single stage solar PV topology. The integral sliding
increase in insolation. Drift occurs due to an incorrect
mode observer (ISMO) based speed estimation of SIM and decision taken by conventional P&O algorithm at the first
sliding mode current control (SMCC) for decoupling of current, step change in duty cycle during an increase in insolation. In
provide a robust control against motor parameters variation. [8], an integral sliding mode control (ISMC)-improved
The proportional integral (PI) controller based speed sensorless adaptive P&O-based controller is presented. An ISMC offers
control is used and its performance is verified with a developed
sliding mode based control for motor parameter variation. The
fast control action and is insensitive to plant parametric
ISM based sensorless control with SMCC for submersible uncertainties. There are different topologies available for
motor serves several benefits in water pumping for agricultural solar water pumping. The double stage topology utilizes
purposes in presence of uncertainities. It gives fast response number of DC-DC converters for tracking of MPPT but the
during dynamics.The precise estimation of rotor speed is boost converter is the most important DC-DC converter,
achieved for wider range of speed under various dynamic
conditions. The developed system with a single stage PV
which is widely in use for MPPT [9]. While, the single stage
topology and three-phase voltage source inverter (VSI) fed IMD topology of solar PV array system, does not utilize a boost
feeding a pump as a load, is designed and implemented in converter, both the benefits of MPPT and DC link voltage
MATLAB/Simulink. The suitability of the system is validated control are achieved through one converter only.
through experimentation in the laboratory. In [10], the performance of a PV-fed permanent-magnet
Keywords—DC Link Voltage Controller, Integral Sliding
Mode Observer, Sliding Mode Current Controller (SMCC),
(PM) motor coupled with a centrifugal pump has been
Single Stage Solar Photovoltaic, Submersible induction motor. studied for different solar insolation. The system is designed
and developed to reduce the cost and to make it less
I. INTRODUCTION complex. In [11] also, the stand-alone solar photovoltaic
The escalated demands of energy due to the increase in the (PV) based water pumping system has been studied and
population at an alarming rate, have caused havoc on the designed, since its utilization has increased in rural and
available non-renewable energy sources. The present remote places of developing countries. The permanent
scenario of available energy sources for meeting up high magnet (PM) motors usage for water pumping application, is
power requirement, has led to focus more on the power still not popular as they suffer from cost constraints and non-
generation from renewable energy sources. These sources availability of rare earth magnets. The induction motor still
are available in enormous amount and have huge potential to
rules the market as it is reliable, rugged and economical in
meet the energy gap and cope up with the demand shooting
nature, which makes an induction motor the most ideal
up at an alarming rate. The power available from sun is
available in abundance, free from pollution and most suitable choice for such application. Low cost effective V/f control is
to implement for water pumping in rural areas [1-2]. sufficient in few cases, but in several other applications with
Recently with the emergence of switching power electronics high dynamic performance due to load variation such as
devices and the advancement in semiconductor technology servo drives and pumping applications, the field oriented
have made major contribution for energy conversion control is necessary. The motor speed information is
methods. This has given a torrential boost to the solar necessary for the operation of vector control of an induction
photovoltaic (PV) based electricity generation on large scale. motor (IM) drive. The speed signal can be obtained either
The pumping system has gained momentum in recent from speed sensor mounted on the extended shaft or from a
years due to optimised power management. Since India is an tachogenerator. Speed encoders or tachogenerator, which are
agrarian economy, majority of motor-pump sets in India, are used for sensing the rotor speed, increase the cost and lower
run through diesel, which is an expensive and nonrenewable system reliability and performance in hostile environment.
resource causing emission of gases and it makes its usage The motor-pump sets are made together for electrical pump
unviable in a developing country like India. It has been system, hence, the estimation of rotor speed is preferred over
proposed, that a switch from conventional diesel- and when compared with sensing of rotor speed with the
electric-powered irrigation pumps to solar-powered ones, tachogenerator.
assists to achieve a huge amount of its envisaged electricity
contribution from renewable energy [3-4].

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Transactions on Industry Applications

The state equations of IM, contain nonlinear and time regulate the reference currents that are normally provided by
varying terms, which make the control of motor difficult. an outer-loop speed or position controller. This technique
The nonlinearity and decoupling terms should be provides robust control that performs satisfactorily in the
compensated to have proper control of an IM drive. This is presence of losses and uncertainties. It compensates the
done by decoupling the undesirable coupling quantities from sensitivity to parameter variations in the control loop. The
the state equation of IM. The field oriented control (FOC) of current control utilizes two sliding- mode surfaces and
sigmoidal function to control the d-axis and q-axis currents,
IM, gives fast and accurate control of speed. The inner loop
respectively.
is the current loop in the FOC, and the effectiveness of the
drive performance is basically determined by the efficient II. SYSTEM CONFIGURATION AND DESIGN
tracking and operation of current controller loop. Large Fig. 1 exhibits a simplified diagram of single stage topology
number of current controllers have been proposed earlier in of solar PV array fed system with maximum power point
the literature [12]. In [13], a novel induction motor (IM) tracking algorithm for three-phase induction motor of a 3
current controller is proposed, which is based on stationary HP, 230 V with the centrifugal pump loading, powered
frame feed-forward terms. The proposed current regulator through a 2.5 kW PV array. In the further sections, the
provides an improved variant of the conventional IM current design of solar PV array, dynamic modeling of the system,
regulators, which is based on the back EMF compensation. flux and speed estimation are explained. In the final section,
In [14], an induction motor speed is estimated based on a an implementation of improved sliding mode control for
new current-control method that is integral sliding-mode current is elaborated with modeling and then its
current control (ISM-CC). The hysteresis controller implementation for obtaining the control of three-phase VSI,
implementation is simple but it has the disadvantages of high is discussed.
harmonics present in the currents, which makes its usage
impractical for low and medium switching frequency. In Solar PV Ipv 3-f VSI
Array Submersible IM
+ S3 S5
[15], the predictive current controller is proposed. It has S1
several benefits of ease in implementation, good and fast
dynamic response, inherent decoupling of current Vpv
components in (α-β) frame and it is less sensitive to load S2 S4 S6
variations. The proportional-integral controller is easy to ia ib
-
implement and is widely used in industries for control of Ipv Current
IMD. However, it suffers from a major drawback of high MPPT PWM Observer --
V Va Vb Vc ^ia ^ib
sensitivity to variation in motor parameters and lacks from ref
abc
ic
SM based DC link dq q abc ISM Flux
adequate rejection of external disturbances and load Voltage controller V*sd * dq Observer
e

Vsq isd isq

variation. SMCC q
y^ a y^ b
isdref isqref wslip Calcu.
e

In an induction motor drive, the existence of parameter wref Theta

FOC for Reference Speed

variations caused due to variation in the temperature of the yr* wm Observer
Current Generation
winding, switching effects of converter and saturation are Fig. 1 Schematic Representation of system for SIMD
very well recognized but infrequently taken into account [16-
18]. Interest towards sliding mode control has emerged since A. Design of Solar PV Array
it has a potential for circumventing parameter variation A 2.2 kW induction motor requires a solar PV array of 2.4
effects under load dynamics variation with a much less kW rating. The PV array used for system should have the
complexity in implementation, offering more robustness to capacity sufficient to run an induction motor of 2.2 kW.
Pmp   N p * I mp  *  N s *Vmp  =2.4kW
the drive and good control in terms of rejection of (1)
disturbances [19-20]. The induction motor drive is driven
The panel losses related to the pump-motor set is ignored.
through the solar PV array power. The solar PV array
parameters differ from the data sheet used for tuning of the The appropriate design and specifications of required solar
PV array for this system are given in Table I.
PI controller. Therefore, the fine gain tuning is required for
satisfactory performance while meeting all the system and TABLE I
parameter uncertainties. A robust sliding mode control is DESIGN AND SPECIFICATION OF PV ARRAY
Open Circuit voltage(Voc) 420V
designed for DC link voltage control, which drives the VSI Maximum power point voltage(Vmp) 375V
for maximum power from the solar PV array while meeting Short circuit current(Isc) 7A
the system losses and uncertainties. Maximum power point current(Imp) 6.5
In this paper, a robust DC link voltage regulator is
designed for the system based on a sliding mode technique. B. Selection of Optimum DC Link Voltage
An integral sliding mode observer for speed estimation with The DC link voltage is deduced as,
sliding mode current control is developed and implemented
2 2Vph 2 2 *133 (2)
for single stage solar powered sensorless control of Vdc    376 V
submersible induction motor drive for water pumping. The m 1
goal of developed ISM based speed sensorless technique and Where Vph is the phase voltage of the motor terminal, m is
SMCC, is to get robust and accurate speed estimation along the modulation index. The optimum DC link voltage is
with the robust design of current controllers to track and to 375V.

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Transactions on Industry Applications

C. Design of DC Link Capacitor For single stage system, where a solar PV array voltage is
The DC link capacitor suffers from current ripple from connected directly to the DC link of the inverter. So,
the voltage source inverter (VSI). Based on this, the value of V pv  Vdc
DC link capacitor is calculated. The VSI is used as the boost
dVdc PL
converter for (AC to DC) for designing the capacitor. I pv  C  (5)
The capacitor value is obtained as, dt Vdc
I  1  D  Ts dVdc 1  P 
Cdc  dc ,max   I pv  L  (6)
Vdc (3) dt C Vdc 
I dc ,max  1  D   1  12  0.5 The sliding surface is designed, by taking into consideration,
Cdc      171 F the system uncertainty and losses. It is written as follows,
Vdc  s
f 5000  0.02  350
dVdc 1   P  PL   (7)
For calculating the value of DC link capacitor, worst case   I pv  L 
dt C Vdc 
is presumed. The RMS value of the motor phase current is
8.5A and the peak value is 12A. The maximum value of the The DC link voltage error is defined as,
DC link current of VSI can be peak value of the phase e  Vdc  Vdcref (8)

current. The duty ratio for maximum ripple is taken as The sliding surface is defined as s(t )  e . The derivative of
1  D   0.5 for diodes conduction and the switching error is s(t )  e . The control block is shown in Fig. 2.
frequency of VSI is 5 kHz and V is considered 2% of the The Lyapunov function is chosen as follows,
dc
1
DC link voltage. Substituting these values in (3), one gets the V  e2 (9)
optimum DC link capacitor value for this system as 171μF. 2
Differentiation of (9) gives,
III. CONTROL OF IMD 1 P P 
V  ss  s  ( L  L  i pv )  (10)
The system control consists of perturb and observe (P&O)  C Vdc Vdc 
based maximum power point tracking (MPPT). The DC link PL is obtained from the solar PV array power through feed-
voltage control is designed based on the sliding mode forward path, which is given as PL  Vdc (i pv  k sgn( s )) .
control. Then the ISMO based sensorless control of an
 1 Vdc (i pv  k sgn( s)) 
induction motor is achieved with the estimation of rotor V  ss  s  (  i pv )  (11)
speed. The SMCC is implemented for current control and to C Vdc 
generate switching for the inverter switches. V  ss  k  s sgn( s ) (12)
A. P and O Algorithm for MPPT V  0 for positive value of k and it guarantees the stability
It‟s a famous algorithm also known as hill climbing method, of the DC-link voltage controller. The nature of the signum
where a maximum power is achieved by comparing the PV switching function (sgn (s)) in (11), encounters chattering
array voltage and power. The voltage is compared at each problem. The above problem is removed by using a smooth
iteration with its previous value and then based on that, the hyperbolic tangent function (tanh (s)).
voltage is changed for MPPT. When a solar PV array voltage The power speed characteristic of the pump load gives the
perturbs and power increases, the MPP point moves along reference speed for the motor, which is given as,
the same path else it moves in opposite direction. The power wref   PL KT 
13
(13)
of PV array is directly associated with power output of the
motor. So for MPPT, motor output is selected as the variable. where Ppv  PL  PL and KT is the proportionality constant

a. SMC Based DC Voltage Regulation of the pump load.

Vpv Ipv Ppv
As demonstrated in [21], the output of MPPT control
technique is Vref. The single stage topology is implemented Vref - e + PL 1/K wref
for system. The inverter input voltage is directly regulated + tanh k - T u1/3
with the sliding mode controller to obtain maximum power PL
from the solar PV array. The sliding mode control provides Fig. 2 Sliding mode based DC link voltage controller
robust control for nonlinear uncertain system.
The error of DC link voltage is regulated through SMC, B. Integral Sliding Mode Based Speed Estimation for
which provides PL (loss component of power). It takes Sensorless Control of IMD
account of the system losses and parametric uncertainties. The dynamic mathematical model of an induction motor
SMC based DC link voltage regulator is used. The other with stator currents and fluxes as state variables in stationary
component of reference power i.e. PL is obtained from the reference frame is given as [22],
solar PV array power through a feed-forward path. The SMC isa   y ra  isa   isa  1 Vsa 
   m1  Aw y    M     m2 i   V  (14)
based solar PV array voltage control is designed and  sb 
i   rb  i
 sb    sb   '  sb 
implemented. y ra   y ra  isa  
The current in PV array, capacitor and inverter are given as, 
y     Aw y    M i   (15)
 rb    rb   sb  
I pv  I c  I inv (4)
where

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Transactions on Industry Applications

  wm  M R  M2  1 isqref
Aw    , m1  , m2  s ,  '  Ls 1  , = wslip  (24)
 wm    ' Lr '  Ls r 
L Tr ( r  isdref )
where  r is the rotor time constant. The slip speed and
Rs and Rr are stator and rotor resistances, Lr is rotor
estimated speed are added to obtain the reference
inductance, Ls is stator inductance M is magnetizing
synchronous speed, which is further utilized to get flux angle
inductance.
The sliding mode observer equation for stator current and qe , as follows
fluxes can be written as, qe (n)  qe (n 1)  wslip  wm  Ts (25)
iˆ  f  iˆ  V  Where Ts is the sampling time.
 sa   m1  a   m2  sa   1  sa  (16)
iˆ  ˆ 
 sb 
f
 b  sb 
i ' Vsb  V. SLIDING MODE CURRENT CONTROLLER
y ra   fa  The sliding mode current control technique belongs to the
     (17)
y
 rb   fb  family of nonlinear control approach. The induction motor
In this paper, an ISMO is adopted [23]. The control diagram equations are highly coupled and consist of nonlinear terms,
shown in Fig. 3, exhibits flux and speed observer technique in d and q axis current components [25]. The elimination of
derived from error estimation of stator currents. these disturbances, becomes vital, for an improved
The soft switching of the speed observer is desired to reduce performance of the controller. The dynamic modeling of an
the problem of buffeting during control. It is obtained by induction motor in d-q frame of reference aligned with rotor
replacing the signum function with sigmoid function as, flux is expressed as [26],
1  ' Misq2 (26)
S m ( x)  . After obtaining the observed values of flux Vsd   isd   'isd  by r  'wm isq 
1  e ax yr
and currents, the estimated value of rotor speed is given as, Disturbance

yˆ f yˆ ra f I b   M (iˆsbyˆ ra  iˆsayˆ r b )  Misd isq (27)

wm  r b Ia (18) Vsq   isq   'isq  bwmy r  'wmisd 
2
yr yr
Disturbance
^iab Vsab
m3 Where parameters of the motor are given as,
_ k1 ^
+ iab ^iab Rr ;  '  Ls ;   (1  M ) ; b  M ;   R  M 
2 2
iab - iab + fab 
+ S (x)  m1 + - Lr Ls Lr
s
Lr Ls
+ m .
k2
yab
^ Where (isd ,isq ) and (Vsd , Vsq ) are values of currents and
y^ ab 1 m2
wm Eq. (18) voltages in d and q axes andy r is rotor flux magnitude. The
Fig. 3 Schematic of the sliding mode observer for speed estimation coupling and nonlinear terms in (26) and (27) act like
disturbances to the transfer function in the induction motor
IV. FIELD ORIENTED CONTROL (FOC) OF IMD modeling. To compensate the disturbances in existing PI
based controller, the sliding mode current controller (SMCC)
The d-q axis reference current components are generated
after the reference and estimated speed are deduced [24]. is implemented in Fig. 4. The reference voltages Vsd* and Vsq*
The d-axis component of the motor current represents the of both d and q axis, consist of two components individually,
flux. It is obtained by passing the flux error through a PI (a) continuous components ( Vo , d and Vo , q ), which are
controller. The equations are given as, obtained from ideal current model of IM and (b)
y e  y r* y r (19) discontinuous components ( VSM , d and VSM , q ), which are
The flux y r* is kept constant throughout the operation of the outputs of sliding mode controller. The continuous
components ( Vo , d and Vo , q ) are generated by comparing the
IM as it is operated below base speed.
isdref ( k )  isdref ( k 1)  KP y e( k ) y e( k 1)   KIy e( k )
reference currents (isqref and isdref ) shown in (20) and (23)
(20)
and the fictitious currents (isq,m and isd,m) which are as
The q-axis component of motor current represents the torque. follows,
It is obtained by passing the speed error through a PI  K 
V0,d   K p  i  (isdref  isd ,m ) (28)
controller. The equations are given as,  s 
we  wref  wm (21)  K 
V0, q   K p  i  (isqref  isq , m ) (29)
Tref ( k )  Tref ( k 1)  KP we( k )  we( k 1)   KI we( k ) (22)  s 
Tref where, isq,m and isd,m are obtained from current models of
isqref  (23)
induction motor which are given as [26],
( K  isdref )
V0,d (30)
where K  3PM  4Lr  , P is the number of poles. The slip i 
sd , m
 ' ( s  (  b M ))
speed w slip is obtained from the reference currents as Vo ,q
isq ,m  (31)
follows,  ( s  (  bwm M ))
'

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Transactions on Industry Applications

The discontinuous components VSM , d and VSM , q  are the VI. SIMULATION RESULTS
outputs of sliding mode controllers (SM-d and SM-q), which The system control implementing the sliding mode control
are responsible for disturbance rejection. The motor currents for robust structure, insensitive to parameters variation, is
(ia, ib, and ic) are sensed from stator terminals and modelled through nonlinear equations of an IM and
transformed to isd and isq through abc to dq transformation to simulated using MATLAB/Simulink environment. The load
be utilized in sliding mode controller block. The is directly changed with the change in insolation.
transformation matrix is as follows, A. Starting and Steady State Performance for IMD
 2  2  
cos(qe ) cos  qe   Fig.5 shows the transients of the system, observed during the
isd  2   cos  qe   ia  (32)
 3   3    starting of IM drive at 1000W/m2 insolation level. It is
     ib
 
 isq  3   sin(q )  sin  q  2   sin  q  2   i  observed that the starting of the motor is smooth with proper
 e  e   e   c 
  3   3  tracking of MPP. Important performance indices of water
The VSM , d and VSM , q are mathematically presented as, pumping system at 1000 W/m2 are shown in Fig. 5. It shows
irradiation level, voltage, current and power of PV array
VSM ,d  Dd  kd dnd   d sgn (dnd ) (33)
achieving their desired value in a moment of seconds. The
VSM ,q  Dq  kq dnq   q sgn (dnq ) (34) reference speed of the motor (ωref) reaches its desired value
 ' Misq2  Misd isq at 0.2 s, with this control. The tracking of the torque and
where Dd   'wm isq  and Dq   'wm isd  speed component currents, is fast and convergence is also
yr yr achieved in finite time. The tracked motor speed and load
are the disturbances and „sgn(x)‟ is the signum switching torque are shown in Fig. 5. Fig. 6 shows the results for
function. The constants k d , k q ,  d and  q , are the sliding mode parameter variations with 25% of the original values,
gains. These gains are selected by considering the stability of exhibiting the robustness of the drive. The drive operates
the system as per Lyapunov stability criterion. The selection smoothly and gives improved performances.
of these gains should not be arbitrary. Herein, the value of
 d2   q2 has a constraint of not getting exceeded than the
DC link voltage. The values of constants are selected in this
work as, kd  10 , kq  5  d  200 ,  q  350 . Reference
voltages in dq-frame of references ( Vsd and Vsq ) are
obtained by adding continuous voltages and discontinuous
voltages as,
Vsd*  VSM ,d  V0,d (35)
Fig. 5 Performance at starting and steady state (a) PV array (b) IMD, at
Vsq*  VSM ,q  V0,q (36) 1000W/m2
These reference voltages are then transformed to abc frame
of reference through dq-abc transformation to obtain the
PWM pulses for 3-Φ voltage source inverter.
 
 sin q e cos q e  (37)
Va   
V   sin  q  2 2    Vsd 
*
 
 b   e  cos  q e    V * 
 3   3    sq 
Vc  
  2   2 
sin  q e   cos  q e  
  3   3 

isd SM-d VSM,d Vsd*

Controller ++
Fig. 6 Performance during starting and at steady condition with motor
isdref V0,d parameter variation (a) PV array (b) IMD, at 1000W/m2
Ki 1
+- Kp 
s ς ' ( s  (γ  κβM )) B. Dynamic Performance of Control for IM Drive
isd,m
The dynamic performance of the IM drive, deals with the
isq SM-q VSM,q *
Vsq change in irradiation level. The change in performance
Controller ++ indices at varying insolation is observed and discussed in
V0,q following section. Fig.7 exhibits the transient performance of
isqref Ki 1 the PV array when the dynamic changes in the motor
+- Kp   ' ( s  (  b pwr M ))
s condition. Irradiation changes from 1000W/m2 to 500W/m2
isq,m then back to 1000W/m2. Step change in solar irradiation
Fig.4 Sliding Mode Current Controller (SMCC) level is shown to demonstrate the effectiveness of the

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technique. The change in MPP is observed due to change in

insolation level. This leads to some other reference speed of
IM. The speed reference is a function of irradiation and,
therefore, the load is varied and hence altering the phase
current of the motor. The reference torque (T ref) is the output
of speed controller, which settles down to a new reference by
observing a change in the load demand. The variation in
torque (Te) is seen, which is followed by a change in pump
torque (Tp). Fig.7 shows performance and effectiveness of
IM drive and the system quick response in achieving its
steady state characteristics. Fig.8 shows results for parameter
Fig. 9 Performance of motor with PI controller based speed estimation
variation with 25% of the original values, exhibiting the during insolation decrement (1000-500-1000) W/m2(a) same motor
robustness of the drive during dynamic condition of parameters (b) changed motor parameters
irradiance variation. It shows the suitability of the control for
(SEMIKRON MD B6CI-600/415–35F) driving the induction
varying environment condition. Fig. 9 shows the
motor, specification given in Appendix. A voltage sensor
performance of the PI controller based speed estimation, (LV-25P) is used to obtain DC link voltage and two Hall –
where it has been observed that the system loses track of the Effect current sensors are used for phase current
speed reference (ωref) during parameter variation. measurement (LA-55P). The real-time DSP controller
(dSPACE-1202) is used to generate switching signals for
IGBTs, hence, controlling the motor.
A. Verification of MPPT Algorithm
Figs.11 (a-b) show the curves for PV array power and
current w.r.t. PV voltage for different insolation level, at
1000 W/m2 and 500 W/m2. The solar PV array curves show
the tracking of MPPT in percentages form. It is shown that
efficient tracking are of 99.2% and 99.5% for respective
cases.
Fig. 7 Performance of motor during dynamics (a) PV array (b) IMD, during B. Starting and Steady-State performance for IMD
insolation decrement (1000-500-1000) W/m2
Figs.12 (a-b) show the performance of the IMD at 1000
The PI controller based speed estimation for sensorless W/m2 during steady state condition. It shows the Ipv current
control of IMD suffers during motor parameter variation and the three phase stator currents. Fig. 13 exhibits the
during harsh environmental conditions. Both PI controller intermediate signals appearing during the operation of IMD.
and integral sliding mode observer have been simulated and Fig. 14 shows that the motor reaches the rated condition of
their performances have been analyzed with and without the operation as soon as the motor is started. The motor reaches
150 rad/s with rated stator current in the motor phases.
motor parameter variation.
Sensor and Opto-coupler Board
VII. TEST RESULTS
To verify the fitness of the control for sensorless operation of
the drive, a prototype is built in the laboratory shown in Fig.
10. The system comprises of a solar PV array simulator of
(AMETEK make ETS600 × 17DPVF TerraSAS), a VSI

1202

Fig. 10 Photograph of laboratory prototype

Fig. 8 Performance of motor with parameters variation during insolation
dynamics (1000-500-1000) W/m2

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Transactions on Industry Applications

Ch.1: (ωref) 100 rps /div.

Ch.2: (ωm) 100 rps /div. Performance during

starting

Ch.3: (Tp) 5 Nm /div.

Fig. 11 Tracking efficiency of MPP (a) 1000 W/m2 (b) 500 W/m2 Ch.4: (Te) 10 Nm /div.
C. Performance of Drive at Dynamic Insolation Level Fig. 14 Starting performance of the drive at 1000 W/m2
Figs.15-16 show the effects on various performance indices
of the system, when the irradiation is changed from 1000
W/m2 to 500 W/m2 and back to 1000 W/m2. It has been
observed that with a decrease in insolation, the solar MPP
tracks the curve for lower point of operation. So finally the
motor operates at lower speed for the corresponding
insolation level. With the decrease in the level of solar
power, the stator currents in phases are decreased. The
effects on the performance of drive during dynamic change
in the level of insolation have been observed on performance
indices like, ωref, ωm and Tp and Te. The behavior of various
motor indices, is observed and shown in test results. The
ISMO based speed sensorless control with SMCC, generates
switching without causing much buffeting thus ensuring
effectiveness of selection of smooth sigmoidal function for Fig. 15 Dynamic performance (a)-(b) 500-1000 W/m2, (c) 1000-500 W/m2
the sliding control.
D. Intermediate Signals
Figs.17 (a-b) show the dynamic behavior of the estimated Performance during
dynamics
flux signals and stator current at changing insolation level
(0-1000W/m2 and 500-1000W/m2). The observed currents Ch.1: (ωref) 100 rps /div.
and flux values are utilized for estimating the speed (ω m),
with sliding mode control, which is shown being tracked Ch.2: (ωm) 100 rps /div.
with the reference value of speed. Figs.18 (a-b) exhibit the Ch.3: (Tp) 5 Nm /div.
intermediate signals of the controller. The estimated Ch.4: (Te) 10 Nm /div.
currents values perfectly track the reference currents Fig. 16 Dynamic performance of torque-speed tracking at insolation change
values. The test results exhibit, that the system tracks the
reference values with acceptable error in the response.

Fig.17(a)-(b) Dynamic performance change from (1000-500) W/m2

insolation

Fig. 12 (a)-(b) Steady state performance at 1000 W/m2

Ch.1: (sinθ) 2 V/div.

Ch.2: (cosθ) 2 V/div.

Ch.3: (Ψs) 0.5 Wb/div.

Ch.4: (Ψr) 0.5 Wb/div.

Fig. 18 Dynamic performance of drive from (500-1000) W/m2 (a) current

Fig. 13 Estimated intermediate signals for speed estimation estimation (b) tracking of estimated current with reference

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Transactions on Industry Applications

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ACKNOWLEDGEMENT IEEE Transactions on Energy Conversion, vol. 34, no. 2, pp. 1033-
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 This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIA.2020.2997901, IEEE
Transactions on Industry Applications

Plant Enginnering from National Power Training Institute (N.P.T.I) Nangal

in 2012, M.Tech. degree in Instrumentation and Control Enginnering from
the Sant Longowal Institute of Engineering and Technology (SLIET)
Sangrur, Punjab in 2014 and Ph.D. degree in 2019 from the Department of
Electrical Engineering, Indian Institute of Technology Delhi. His areas of
research interests include power electronics, electrical machines and drives,
and renewable energy.
Bhim Singh (SM‟99, F‟10) has received his
B.E. (Electrical) from University of Roorkee
(Now IIT Roorkee), India, in 1977 and his
M.Tech. (Power Apparatus & Systems) and
Ph.D. from the Indian Institute of Technology
Delhi, India, in 1979 and 1983, respectively. In
1983, he joined the Department of Electrical
Engineering, University of Roorkee, as a
Lecturer. He became a Reader there in 1988. In
December 1990, he joined the Department of
Electrical Engineering, IIT Delhi, India, as an
Assistant Professor, where he has become an Associate Professor in 1994
and a Professor in 1997. He has been ABB Chair Professor from September
2007 to September 2012. He has also been CEA Chair Professor from
October 2012 to September 2017. He has been Head of the Department of
Electrical Engineering at IIT Delhi from July 2014 to August 2016. He has
been the Dean, Academics at IIT Delhi from August 2016 to August 2019.
He is JC Bose Fellow of DST, Government of India since December 2015.
He is CEA Chair Professor since January 2019. Professor Singh has guided
84 Ph.D. dissertations, and 167 M.E./M.Tech./M.S.(R) theses. He has been
filed 55 patents. He has executed more than eighty five sponsored and
consultancy projects. He has co-authored a text book on power quality:
Power Quality Problems and Mitigation Techniques published by John
Wiley & Sons Ltd. 2015. His areas of interest include solar PV grid
interface systems, microgrids, power quality monitoring and mitigation,
solar PV water pumping systems, EVs and improved power quality AC-DC
converters.

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