Speed Control Techniques for a Three Phase

Induction Motor & DC Motors

Nasrullah Zahid Tanveer Saleem Shan-e-Abbas
BACHLOR OF ELECTRICAL BACHLOR OF ELECTRICAL BACHLOR OF ELECTRICAL
ENGINEERING ENGINEERING ENGINEERING
DHA SUFFA UNIVERSITY DHA SUFFA UNIVERSITY DHA SUFFA UNIVERSITY
KARACHI, PAKISTAN KARACHI, PAKISTAN KARACHI, PAKISTAN
[email protected] [email protected] [email protected]

Abstract— In-depth research and critical analysis of flex. Synchronous speed is donated by NS.
speed control strategies for three-phase induction motors
and DC motors are presented in this paper. This study 120 f
explores the nuances of each technique, providing NS¿
P
detailed insights into the operational principles,
Where,
implementation strategies, and performance
f = the frequency of AC supply
characteristics of induction motors (voltage control,
P = number of poles
frequency control, pole changing control, stator voltage
The speed of rotor in induction motor is always less than the
control, and rotor resistance control) and DC motors
synchronous speed. Rotor speed is denoted by NR.
(armature voltage control, field flux control, and

NR=NS (1 ─ s)
armature resistance control). By means of a thorough
analysis of the circuit designs, intrinsic benefits, and
possible drawbacks of every approach, this research
offers a strong basis for comprehending their suitability Where “s” is slip. The slip in induction motor is the difference
in diverse industrial settings. In addition, engineers and between the rotor speed and synchronous speed.
researchers may optimize motor control systems for The torque in the induction motor is given by,
improved efficiency, reliability, and performance in
practical applications by utilizing Simulink to simulate 3 s E 22 R2
these control approaches and so enable dynamic analysis T= 2
and comprehensive assessment. This study offers 2 π N S (R 22+ ( s X 2 ) )
important direction and strategic advice for future Where,
advancements in the industry, making a substantial R2 = Rotor resistance
contribution to the improvement of motor E2 = Rotor emf
control technology. X2 = Rotor reactance
The speed of Induction motor can be change from rotor side and the
I. INTRODUCTION stator side.
In industries where motor performance is critical, motor
speed control is crucial. DC motors and three-phase induction The speed control of three phase induction motor from stator
motors are the two primary categories of motors. They side:
operate differently, thus they require various strategies to 1. Frequency control method
regulate their pace. The speed control of both types of motors 2. Stator pole change method
is examined in this examination. We will cover topics such as 3. Voltage control method
voltage, frequency, and pole count adjustments for three- 4. V/F control method
phase induction motors. We will examine varying the voltage
applied to DC motors, varying the intensity of the magnetic Frequency control method:
field, and varying the resistance. We will also contrast these The speed of the induction motor depends on the supplied
approaches to see which performs better in certain scenarios. frequency.
We'll also look at how to digitally test these speed control 120 f
strategies before applying them to actual motors using a NS¿
program called Simulink. We can ensure that everything P
operates well and without hiccups in this way. And rotor speed is given by,

NR= (1 ─ s)
120 f
II. Speed control techniques for a Three Phase Induction P
Motor
The above equation shows that the speed of induction motor is
Introduction directly proportional to the supplied frequency. Hence, the speed of
The three phase induction motors are widely used in industries induction motor can be varied by changing the frequency. The usage
because of their reliability and efficiency. Speed control of of this method is very low because, when the frequency is very low
three phase induction is very important where variable speed then the current drowns by motor become to high due to low
required. Three phase induction motor is constant speed moto, inductive reactance. Decreasing the supplied frequency without
that’s why it is difficult to control induction motor speed. The changing the voltage reduces the maximum torque. The supplied
speed control of induction motor is done at the cost of low frequency can be vary with help of VFD(Variable Frequency Drive).
efficiency and low power factor. In induction motor, there are
two relevant speeds, one is synchronous and the other is rotor
speed. The synchronous speed is the speed of rotating Magnetic
 will be very low. So, the term “s X 2 ” will be neglected. So, torque
equation becomes
sE 22
Tα
(R2 )

Since, the R2 is constant the torque equation becomes

2
T α sE 2

The rotor emf is directly proportional to the supply voltage. Thus,

2
Stator pole change method: T α sV 2
From the equation of synchronous speed, the synchronous
speed is inversely proportional to the number of poles. Therefore, the supply voltage is decrease then the torque will also be
1 decrease. The slip will increase when the supply voltage is decrease.
NS α To remain in same torque, the speed must be decrease. That’s how
P the speed of induction motor vary by changing the supply voltage.
The supply voltage can be varied by a starter autotransformer.
Thus, the speed of induction motor can be varied by changing
the number of poles. The stator poles can be change by two
methods.
 Multiple stator winding method
 Pole amplitude method

Multiple stator winding method:

In this method, two independent winding is provided in the
stator. These winding are isolated from each other and are
wounded for two different number of poles. With help of
switches the supply is given to only one winding at a time and
hence the speed control is possible. This method is only use in
squirrel cage motor. Starter autotransformer
Pole amplitude method:
In this method, the original MMF wave is modulated by V/F control method:
another sinusoidal MMF wave, which have a different number
of poles. In this method, the speed of three phase induction motor is control
Let, by the changing the both supply voltage and frequency. To maintain
f1(θ) be the original MMF wave a constant magnetic flix in the air gap of motor the supply voltage
f2(θ) be the modulated MMF wave and frequency must be change in same proportion. Due to the same
change in supply voltage and frequency, the torque develops by the
P1 be the number of poles of induction motor
motor remain constant. This method is wide used in speed control of
P2 be the number of poles of modulated wave
three phase induction motor because of higher efficiency during
running condition. This method is called variable voltage and
P1 θ variable frequency method.
f 1 ( θ )=F1 sin( )
2

P2 θ
f 2 ( θ )=F2 sin( )
2

After modulation:

P1 θ P2 θ
F r ( θ )=F 2 F 1 sin ( )sin( )
2 2

F r ( θ )=F 2 F 1 cos ¿ ¿

Therefore, the resultant MMF have two different number of

poles. P11=(P ¿ ¿ 1−P 2) ¿, P12=(P ¿ ¿ 1+ P2 )¿
The speed control of three phase induction motor from
Voltage control method rotor side:
In this method, the speed of induction motor is control by 1. Slip frequency EMF injection into rotor circuit method
changing the voltage. According to the torque equation: 2. Rotor resistor control method
3. Cascading connection method
2
s E 2 R2 Slip frequency EMF injection into rotor circuit method:
Tα 2 2
( R +( s X 2 ) )
2
In this method, the speed of three phase induction motor is control
by applying voltage to the rotor circuit. The applied voltage
When induction motor is in running state then the value of slip frequency must be equal to the frequency of slip. The applied
voltage either oppose the rotor emf or support rotor emf. If
applied voltage is opposing the rotor emf then the total rotor
resistance will increase and speed will decrease. If the
applied voltage support rotor emf then the total resistor will
decrease and the speed will increase. Therefore, injecting
voltage to the rotor circuit, the speed can be controlled. The
advantage of this method of speed controlling of induction
motor is that it can provide wide range of speed control.

Let,
NS1= synchronous speed of main motor
NS2= synchronous speed of auxiliary motor
P1= number of stator poles in main motor
P2= number of stator poles in main motor
N= rotor speed of both motors
F= supply frequency
Therefore, the slip of main motor is,
N S 1 −N
s1=
Rotor resistor control method: N S1
In this method, speed control of induction motor is done by add
an external resistance at rotor side. The frequency of the induce voltage is,
s E 22 R2 f 1=s 1 f
Tα 2
(R22 + ( s X 2 ) ) Since the auxiliary motor is supplied by the induce voltage of main
motor. Therefore, the synchronous speed of auxiliary motor is,
When the three-phase induction motor is operating then the slip 120 f 1 120 s1 f
will be very low. Therefore, the term s X 2 will be neglected, N S 2= =
P2 P2
and E2 is constant. So, the equation of torque becomes,
Also,
s
Tα 120 f (N S 1−N )
( R2 ) N S 2=
P2 N S 1
If rotor resistance is increase then the torque will decrease but
the supply load torque remains same. If the load torque is Under the no load condition, the auxiliary motor rotor speed will be
constant then slip will increase, which will decrease the rotor equal to its synchronous speed,
speed. Therefor, adding the resistance at rotor circuit the speed N=N S 2
of rotor will decrease. The of this method is that the adding the 120 f (N S 1−N )
resistance at rotor side increase the starting torque and the N=
disadvantage of this method is by adding a resistance at rotor P2 N S 1
side cause more losses.
Now rearranging the above equation,
120 f
N=
P1 + P2

According to above equation of induction motor speed, the

following 4 cases are possible:

Case 1:
When main induction motor is working
120 f
N S 1=
P1
Cascading connection method:
In this method, two three phase induction motor are connected
with each other with help of common shaft. One motor is called Case 2:
main motor, another motor is called auxiliary motor. The three- When the auxiliary induction motor is working,
phase supply is given to the stator of main motor and the 120 f
N S 2=
auxiliary motor is exited from the induce voltage. P2

Case 3:
When cumulative cascade is done,
120 f
N=
P1 + P2

Case 4:
When differential cascade is done,
120 f
N=
P1−P2

III. SPEED CONTROL OF DC MOTOR

These are the three main basic control techniques for DC

motors
V −IaRa
N= VOLTAGE CONTROL METHOD:
K∅
N is the speed of the dc motor The aforementioned techniques are unable to provide speed control
V is the voltage across the armature within the intended range. Additionally, the commutation may be
Ra is the armature resistance impacted by the flow regulation technique. On the other hand,
Ia is the armature resistance because the armature control approach employs a resistor in series
with the armature, there is a significant power loss. As a result, it is
K is constant and ∅ is the flux
frequently preferable to employ an alternative technique that
controls the motor speed by monitoring the supply voltage. This
approach provides a variable voltage to the armature and a set
ARMATURE VOLTAGE METHOD: voltage to the field winding. Using a switching mechanism to apply
an adjustable voltage to the armature is one such way of the voltage
The voltage drop across the armature is controlled by varying regulation method. The other produces a changeable voltage to the
the armature resistance. It is possible to regulate a DC motor's armature called the armature by use of a generator with an AC
speed using this way. An adjustable resistor is also used in motor. (called the Ward-Leonard system).
series with the armature in this manner.
The armature resistance returns to normal when the adjustable
resistance hits its lowest setting. The armature voltage drops as
a result. The voltage in the armature drops as the resistance
progressively rises. The engine speed then drops as a result of
this. Using this technique lowers the engine speed below the
typical range.

The most often used technique, apart from these two processes, is
the use of pulse width modification to achieve DC engine speed
control. PWM controls the voltage applied to the engine by applying
varying beat widths to the engine driver. This method doesn't require
the use of any complicated equipment and shows to be quite
successful as long as the control misfortune remains at least.

IV. Speed control techniques for DC Motors using Simulink.

FLUX CONTROL METHOD:

Electrical machine courses have made substantial use of computer
Using the flux control mechanism, which is inversely modeling and simulation technologies to help and improve learning.
proportional to the end, the speed will decrease and become One of the most widely used software programs by educators to
evident if the flux magnitude is increased, and vice versa. improve teaching the transient and steady-state features of electrical
Adjustable resistance links it to its field The engine's speed devices is MATLAB, with its tool Simulink. The simulation models
varies due to variations in the attractive flux caused by the field will be incorporated into the course's laboratory portion through the
winding. The attractive flux is altered by changing the current creation of a software laboratory. DC motor speed control
through the field winding since it is dependent upon the current experiments should be added to the previously created software
flowing through it. This might be achieved by combining the laboratory so that a full suite of simulation tools for electrical
field winding resistor with a variable resistor in an machine experiments is available. or performance improvement
arrangement. Initially, the speed is kept typical when the across a range of sectors, effective DC motor speed control is
variable resistor remains in its lowest position. This is because essential. Engineers may visually model and evaluate various speed
the evaluated current flows through the field winding as a control strategies thanks to Simulink, a potent simulation tool. This
consequence of an assessed supply voltage. The field winding's study concentrates on three core Simulink techniques: armature
current decreases as the resistance gradually rises. resistance control, field flux control, and armature voltage control.
Consequently, the flow that is provided is reduced. This allows We investigate their working theories and efficiency using
the engine to run faster than its normal pace. simulation, which helps to build sophisticated control schemes for
improved motor function and energy economy.

Speed control of DC motor:

To make a circuit on Simulink the speed control of DC motor
in that we connect the DC machine, which is the value of input
(5HP 240V 1750 rpm field 300V). In this machine we can give
mechanical input Torque.
1st DC voltage source connect armature current (is set 240V)
2nd DC voltage source connect field current (which is 300V)

In this the armature current is connected with the first source which
240V and also connected resistor in the series, and the field winding
is connected with the second source which is 300V.

Connect constant block to TL and demux, connect with scope

which is one input and four output. We connect gain block to
convert from radian per second to rpm gain block value given
(9.5492968) by this value it will convert from radian per
second to radian per minute. We can connect powergui block to
store the equivalent Simulink circuit that represent the state
space
Equation.

1st graph, speed is increasing gradually and it is increasing by cut of

all resistance to continue 2000 rpm and is will constant after 7.5 sec.

Now that all process done with field winding resistance connect with
field winding.

In the red line graph speed is initially increasing and then stable
at certain point.
2nd graph, the initial current is very high and then initially
reducing the current is almost 2.2 Ampere.
3rd graph, Field current almost constant at initial value.
4th graph, Torque almost constant because load is constant.

To regulate the speed we can add some resistors in series with

armature winding /current and then we In this the armature current is connected with the second source
observed what is the effect of resistors on the speed of motor. which 240V, and the field winding is connected with the first source
Resistance = 25 OHM. which is 300V and also connected resistor in the series.

Connect switches for the purpose of connect or disconnect the 1st graph the speed is reducing.
resistors while simulating each switches parallel with each 3rd graph current of field winding increase after 2.5 sec whan resistor
resistors. cut off.
first switch cut off after 2.5sec
second switch cut off after 5sec and
3rd will cut off after 7.5 sec.
connect step input to the switches.
Each resistor has time delayed of 2.5 sec and
after 7.5 seconds they all will be cut off.
and then all armature voltage will be in to the armature
winding.
 The PID controller's output signal, represented as u(t), is calculated
by adding the derivative, integral, and proportional components.
t
de (t )
u ( t ) K p . e ( t ) + K i . ∫ e (t)dt + K d .
0 dt
where
The difference between the desired speed (setpoint) and the actual
speed (feedback) is the error signal, denoted by e(t).
The derivative, integral, and proportional gains of the PID controller
are denoted by the letters Kp, Ki, and Kd, respectively.
The motor speed is regulated by the PID controller by modifying the
control signal u(t) in response to the error signal e(t).

After changing the values of P, I, D, N.

P= 0.2146
I=5.2665
D=0.0021659
N=5488.4368
Field control of DC motor as you reduces the resistance, the
speed also reduce and in armature control, as you reduces the
resistance the speed increase.

CLOSED LOOP SPEED CONTROL OF DC MOTOR

USING PID CONTROLLER
A PID (Proportional-Integral-Derivative) controller is used in
closed-loop speed control of a DC motor to manage the motor's
speed based on feedback from its actual speed. In order to
maintain the intended speed even in the face of outside
disturbances, the PID controller in this system continually
measures the motor's speed and modifies the input voltage or
current.

Conclusion:
With an emphasis on operational principles and performance
characteristics, this study offers a comprehensive review of speed
control techniques for three-phase induction motors and DC motors.
In order to optimize motor control systems in industrial applications,
guide decision-making, and boost production and efficiency, the
study compares approaches and uses Simulink for simulation.

P=1
I=1
D=0
N=10

PID Controller Output

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