International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 14, No. 2, June 2023, pp. 719~726

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v14.i2.pp719-726  719

Simulation model for pulse width modulation-voltage source

inverter of three-phase induction motor

Salam Waley Shneen1, Ahlam Luaibi Shuraiji2

1Nanotechnologyand Advanced Material Center, University of Technology, Baghdad, Iraq
2Department of Electromechanical, University of Technology, Baghdad, Iraq

Article Info ABSTRACT

Article history: Induction motor has been widely applied in many sectors, as it has the
advantages of simplicity, toughness and can withstand hard environment
Received Sep 14, 2022 conditions. The working of such motor in constant voltage/frequency (V/F)
Revised Dec 30, 2022 speed control method has been popular since the introduction of the power
Accepted Jan 13, 2023 electronic devices, which consequently make the implementation of this
method simpler and effectives. The V/F speed control is dominated choice
for many applications, especially open loop control and also for closed loop
Keywords: control when the accuracy is not a crucial issue. This study deals with two
cases of controlling open and close of the electronic switches. The first with
Pulse-width modulation equal intervals by placing regular pulses at the opening and closing periods,
Speed and the second using three-phase pulse width generator, through which the
Three-phase induction motor control of different periods is carried out according to the required control.
Torque Four models have been simulated in this study including, three-phase
Voltage source inverter induction motor at constant torque (constant load) as well as at variable
torque (variable load), modeling of PWM-VSI for three-phase induction
motor at constant torque (constant load) as well as at variable torque
(variable load). The results have shown that speed profile of the IM can be
improved by controlling the invertor using PWM technique.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Salam Waley Shneen
Nanotechnology and Advanced Material Center University of Technology
52 Industry Street, Baghdad, Iraq
Email: [email protected]

1. INTRODUCTION
Three-phase induction motors (3ɸ IMs) have been utilized in both constant and variable speed
applications. Since they are distinguished by having reliable and robust rotor configurations with no
commutators, which consequently eliminate the commutating problem that is the main drawback of
conventional direct current motors (DCMs). In fact, the 3ɸ IMs, particularly, squirrel cage types have the
following merits over the conventional DCMs: i) less cost, ii) lighter weight and less volume, iii) need less
maintenance, iv) deliver higher efficiency, v) more reliable and rigidness, and vi) more withstanding to hard
environments.
For the prementioned advantages of the 3ɸ IMs, they have been utilized in many industrial
applications and they have been known as the workhorses of the industrial sectors [1]. Previously, when the
3ɸ IMs were introduced, the conventional direct current motors were the dominated candidates for the
variable speed applications, while the 3ɸ IMs were used with the constant speed applications. This is because
at that time the existing speed control methods of the 3ɸ IMs were either too excessive cost or incompetent,
which led to limit the applications of the 3ɸ IMs for only constant speed. Thanks to the development of
power electronic devices, which open new trend in the electrical motors’ drives [2]. Hence, the controlling of

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720  ISSN: 2088-8694

the 3ɸ IMs have become more efficient, more reliable and less costly compared with the conventional
counterpart, consequenttly make such motors promising candidates for variable speed applications.
Variable speed controller of the 3ɸ IM has been considered in many literatures, since the
introducing of the power electronic devices. Variable speed controller is a device, which is designed to adjust
the speed and the torque of the AC motor. It basically consists of controllable power electronic device, i.e.,
inverter or convertor with adjustable frequency and amplitude output voltage [3]−[5].The variable speed
controller can be classified into scalar and vector types. Although there are three methods to achieve the
scalar methods including constant voltage/frequency (V/F) ratio, constant slip, and constant air-gap magnetic
field. On the other hand, vector control method is recommended for applications in which precise speed and
high torque are crucial requirements. This method can be achieved by direct torque control or field-oriented
control [6]−[9].
The constant V/F ratio speed control method can be fulfilled by changing either the voltage or the
frequency of the supply and keeping the V/F ratio constant. It is worth mentioning that such method is the
most preferable choice for open loop control applications. This is because it offers smooth output speed with
wide ranges, suitable to all IMs types and high efficiency [10]. Therefore, its speed control method has
gained considerable attention through the literatures. A digital controller named DSPIC30F2010 was used to
implement a close loop constant (voltage/frequency) speed control of 3ɸ IM. It was revealed that the line- to-
line voltage of the inverter was steady, and about 98% accuracy of the speed controller was obtained [11]. In
addition, in [12] an open loop speed controller of 3ɸ IM was implemnetedusing a DSPACE DS1104
Controller. The motor was fed by an inverter, which was controlled by a SVPWM.Different ranges of speed
were obtained by varying the duty cycles. Similarly, [13] used dcPIC30F2010 controller to achieve constant
V/F ratio for different speed ranges. It was proved that the controller delivered precise speed control.
Moreover, [14] showed that harmonics contents and starting current reductions with good motor efficiency
was delivered by microcontroller based 3 ɸ space vector pulse width modulation technique, which was
introduced in this study to obtain constant V/F ratio. A comparison between tow pulse width modulation
techniques including sinusoidal and space vector techniques was conductedin [15]. It was shown that the
space vector pulse width modulation has better performance than the sinusoidal counterpart. Also, in the
same study modifications on these techniques have been made by applying controllable boost voltage with
modified reference commands method. It was revealed that bad performance of sinusoidal pulse width
modulation, particularly at low frequency would be overcome by such modification. Considering the impact
of slip regulation a V/F speed control method has been introduced in [16]. Simulation results of the suggested
control method were experimentally validated and both results ensured the effectiveness of the control
method and well regulation was delivered. In this paper electronic variable speed drive for 3ɸ IM is designed
and implemented by MATLAB/Simulink environment. It is proposed to improve the performance of
electronic transformers. The proposed electronic transformer is a full -phase wave transformer.
Pulse width modulation (PWM) control techniquehas been adopted to control the inverter switches
that are fed from DC source. The DC source can be battery, solar energy or it can be obtained from DC source
after converting the alternating current to DC using the integrator. The three-frame inverter has six electronic
switches. Operating periods of these switches are controlled by the PWMin order to suit the required output of
the inverter. It should be noted that four cases with constant and variable load with PWM and without PWM
have been simulated and their results were compared in order to evaluate the proposed controller.

2. INDUCTION MOTOR SPEED CONTROLLER

The date back of the induction motor was in 1924, when Nicola Tesla first introduced such motor
and it was received considerable attention since it can be designed as a single phase and three-phase [17].
The 3ɸ IMs can be considered as the predominating candidates for industry field, as they can be directly
connected to the AC sources. Although supplying these motors by constant frequency, leads to limit the
operating speed ranges of the motors close to their rated speeds, and this consequently results in wasting on
the energy. This is because many applications do not require the operating of the motor at full speed all the
time. Hence, speed controller is required to vary the motor according to the need of the applications. The
speed (υ) of these motors is directly proportional to the supplied source frequency (Ϝ),which is given in (1).
120∗Ϝ
υ= (1)
Ρ

Where: (Ρ) is number of the motor poles.

According to the (1), the speed of the IM (υ) can be varied (over or less the rated speed) by
increasing or decreasing the source frequency (Ϝ), respectively. It should be mentioned that earlier, using the
IM in variable speed applications was not widespread, since the available method for changing the source

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frequency was bulky and expensive (required a DC motor and an alternative generator). However, changing
the power supply frequency became an easy and simple task since the introduction of the power electronic
devices. Hence, voltage with required frequency can be obtained by a power electronic device known as
inverter, the output voltage of the inverter may have variable or fix amplitude and frequencybased on
switching used method [18].

3. SIMULATION AND MODELING

3.1. Modeling of the motor
The first task in designing speed controller system for any electrical motor is driving its dynamic
model. The dynamic model of the current motor is adapted from [19]. Using the Park transformation, the (2)-
(12) represent the dynamic model of the 3ɸ IM in form of differential equations.
dφds
Vds = R s Ids + − ωe φqs (2)
dt

dφqs
Vqs = R s Iqs + + ωe φds (3)
dt

dφdr
Vdr = R r Idr + − (ωe − ωr )φqr (4)
dt

dφqr
Vqr = R r Iqr + + (ωe − ωr )φdr (5)
dt

φds = Lls Ids + Lm (Ids + Idr ) (6)

φdr = Llr Idr + Lm (Ids + Idr ) (7)

φqs = Lls Ids + Lm (Iqs + Iqr ) (8)

φqr = Llr Idr + Lm (Iqs + Iqr ) (9)

φdm = Lm (Ids + Idr ) (10)

φqm = Lm (Iqs + Iqr ) (11)

Where Vds , Vqs , Ids , Iqs , φds and φqs are stator voltages, currents and flux linkages in d- and q-axes,
respectively, while Vdr , Vqr , Idr , Iqr , φdr and φqr are rotor voltages, currents and flux linkages in d- and q-
axes. R s , R r represent stator and rotor windings resistances, respectively. ωe and ωr are the angular
synchronous and rotor speeds, respectively. Moreover, Lls and Llr are stator and rotor self-inductions,
respectively. Furthermore, Lm is mutual inductance. The developed torque equation is (12).
3P
τe = (φds iqs − φqs ids ) (12)
22

The specificationsof the understuding induction motor, are: 15 KW, 400 V, 1460 R, 50 Hz. Moreover,
the spectifictions of the current supply source are Vin is 380 V. Rotor resistance and indcutance are 0.2205 ohm,
and 0.000991 H, respectively. On the other hand, those for the stator are 0.2147 ohm and 0.000991 H,
respectively. Mechanical power equals 1.492e+006 W, Inertia=0.102-J (kg.m2), Friction=0.009541-F (N.m.s).

3.2. Three-phase inverter

A device, which converts the DC input voltage to symmetrical three-phase AC output voltage is
known as three-phase inverter. Based on the inverter design the both magnitude of the output voltage can be
constant or changeable at constant or changeable frequency. Variable output voltage would be obtained by
either changing the input DC voltage and keeping the inverter gain constant, or keeping the input DC voltage
constant and changing the inverter gain. Pulse width modulation technique can be utilized within the inverter
in order to accomplish these tasks. It should be noted that the ratio of the output (AC voltage) to the input
(DC voltage) is known as the inverter gain.

3.3. Pulse width modulation technique

Achievement in the power electronics and integrated circuit field has played important rule in the
electrical machines drives. It enables the enhancement of dynamic as well as steady state performances of the
electrical motors. due to the such achievement, the IMs have been applicable in variable speed applications.
In fact, the interest IM with variable speed controller has been grown, since the introduced of the power
Simulation model for pulse width modulation-voltage source inverter of … (Salam Waley Shneen)
722  ISSN: 2088-8694

electronic devices [20]. One of the most popular application of power electronic in driving the IM is variable
speed with pulse width modulation (PWM) technique. Such technique is preferable for controlling power
electronic devices, this is because its merits including less power consuming, simple construction, no change
due to the temperature and it is appropriate with microprocessor and semiconductor technologies [21]. In IM,
inverter based PWM drive makes the amplitude as well as the frequency of the supplied voltage and
controllable. Such drive offers better performance in terms of efficiency and speed ranges compared to fixed
frequency counterpart. Usually, controlling the inverter output voltage using the PWM results in reduction
the harmonic contents of the signal [22], [23]. Through the literature various PWM techniques have been
introduced to achieve variable voltage as well as frequency for controlling the torque and the speed of the
IMs. The most popular among them are sinusoidal, space vector, and hysteresis-band PWM [24]−]26[.
In this paper the PWM technique as shown in Figure 1 will be used to control the inverter, that feedsa
3ɸ IM, in order to control the voltage electronic transformers to convert electrical power according to the
required type or amount of power. Simulation was carried out using MATLAB/Simulink to design a
controllerthat contllorsthe inverteroutput, the bandwidth and frequencies of the electronic switches. In order to
assess the suggested controller, 3ɸ IM models without and with the contorller at both constant and varible load
conditions models have been discussed. Two models are for 3ɸ IM without contoller for constant and variable
loads conditions, as shown in Figures 2 and 3 respectively. In addtions, two models are for 3ɸ IM with the
suggested contoller for constant and variable loads conditions, as shown in Figures 4 and 5 respectively .

Figure 1. Simulation model of PWM-VSI

Figure 2. Simulation model of three-phase induction motor at constant load

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Figure 3. Simulation model of three-phase induction motor at a variable load

Figure 4. Simulation model of PWM-VSI for three-phase induction motor at constant load

Figure 5. Simulation model of PWM-VSI for three-phase induction motor at a variable load

4. SIMULATION RESULTS
In this section, simulation results including speed, torque and current will be displyed for the four
mentioned cases. Figures 6-8 illustrate the speed, torque and current responces of the 3ɸ IM at constant and
variable loads, the PWM-VSI 3ɸ IM at a constant and variable loads, resprctively. It can be seen that for the
first case, i.e. the 3ɸ IM at constant loadthe steady state of velocity response occurs after the lower and upper
peaks are exceeded, Figure 6. Similarly,the steady state of the velocity response occurs after the lower and
upper peaks are exceeded in case of 3ɸ IM with variable load as shown in Figure 7. It can also be observed
that there is a change in the engine speed when the load changes per second in an inverse relationship.
Moreover, it can be noted that using the PWM-VSI to control the speed of the motor has improved the speed

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724  ISSN: 2088-8694

profile at both constant and variable load conditions. The speed reaches the static state without exceeding the
upper and lower peaks, Figures 8 and 9.

Figure 6. Simulation results of three-phase induction motor at constant load

Figure 7. Simulation results of three-phase induction motor at variable load

Figure 8. Simulation results of PWM-VSI three-phase induction motor at constant load

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Figure 9. Simulation results of PWM-VSI three-phase induction motor at variable load

5. CONCLUSION
Three-phase induction motors have been wieldy used in many applications. Reliable and fast
response controllers for such motors have been of interesting of many literatures. In this study using
MATLAB/Simulink,a speed contoller of 3ɸ IM based on PWM have been designed for both constant and
variable load conditions. In order to evalute the perfromnace of the suggested controller, speed controller of
3ɸ IM without PWM technology for both constant and variable load conditons were simulated. The results
showed that the speed response of the suggested controller was enhanced, where the steady state was reached
without exceeding the upper and lower peaks. Undoubtedly, despite the advantage of the suggested
controller, it is not without complexity in the control mechanism that requires work and mastery to control
the process of switching between the set of electronic switches. Therefore, steps should be taken to reduce
the complexity of the suggested controller.

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BIOGRAPHIES OF AUTHORS

Salam Waley Shneen Educational Background: July 2016 PhD, Degree in

Electrical Engineering-Power Electronic, School of Electrical and Electronic Engineering,
Huazhong University of Science and Technology (HUST). Nov 2005 MSc, Degree in
Engineering Educational Technology-Electrical Engineering, Technical Education
Department, University of Technology, Iraq-Baghdad. July 1998 BSc, Degree in Electrical
Engineering and Education, Technical Education Department, University of Technology, Iraq-
Baghdad. Oct 1994 Diploma in Electrical Technology, Technical Instructors Training Institute,
Iraq Baghdad. 1992 High School Bakaloria Degree Preparatory Technical School (Electrical
Section), Almashtal Technical Secondary School Iraq-Baghdad. Work Experience 1998-2005
Engineer in: Electronic Lab., Digital Electronic Lab., Communication Lap., Fundamental of
Electric Engineering Lab. Cad Lab. In Technical Education Department, University of
Technology, Iraq-Baghdad. 2005-2016 Assistant Lecturer in: Electronic Lab. Lecturer
Advanced Electronic, Lecturer Fundamental of Electric Engineering, Technical Education
Department, Electromechanical Department University of Technology, Iraq-Baghdad. 2016-
2017 Lecturer in: Electronic Lab. Fundamental of Electric Engineering Lab., Lecturer
Electronic Circuits, Lecturer Fundamental of Electric Engineering with Electrical and
Electronic Circuits Electromechanical Department University of Technology, Iraq-Baghdad.
2017-10Apr.2022 Lecturer in: Energy and Renewable Energies Technology Center, University
of Technology, Iraq-Baghdad. 10Apr.2022- today Lecturer in: Nanotechnology and advanced
material research Center, University of Technology, Iraq-Baghdad. He can be contacted at
email: [email protected] or [email protected].

Ahlam Luaibi Shuraiji received the B.Eng. and M.Sc. degrees in Engineering
Educational Technology/Electrical Engineering, from University of Technology, Baghdad, Iraq,
in 1998 and 2004, respectively, and the Ph.D. degree in electrical engineering from The
University of Sheffield, Sheffield, U.K., in 2017.She is currently a lecturer at the University of
Technology/Electromechanical Engineering department. Her research interests include the design
of permanent-magnet machines. She can be contacted at email: [email protected].

Int J Pow Elec & Dri Syst, Vol. 14, No. 2, June 2023: 719-726