2015 Second International Conference on Advances in Computing and Communication Engineering

DIRECT FIELD ORIENTED CONTROL OF INDUCTION

MOTOR DRIVE
Amit Kumar, Tejavathu Ramesh

Department of Electrical Engineering, National Institute of Technology, Kurukshetra, Haryana, India

[email protected],

Abstract— In this paper, a field oriented control scheme

is presented using direct vector control of an induction I. INTRODUCTION
motor drive to achieve the better performance during In recent times, adjustable speed drives offer significant
transient condition. In scalar control method, variable energy savings and fast and precise responses in industrial
speed of induction motor is obtained by applying variable applications. Scalar controls are simple to implement and
frequency and voltage to the induction motor. The control offers good steady state response. However, the dynamics are
algorithm does not need any information of angular speed slow because the transients are not controlled. To obtain high
or rotor position. However, the motor model is being precision and good dynamics, vector control schemes have
considered for steady state only. Therefore, in order to been invented for use with closed-loop feedback controls. At
achieve the better performance during transient condition, the beginning of 1970s [1-9], the principle of flux control was
a direct vector control scheme is being implemented. In the introduced and called ‘field oriented control’ or ‘vector
direct vector control scheme, decoupling between flux and control’ for squirrel cage induction machines and later for
torque occurs and resulting into improvement in the synchronous machines. The vector or field oriented control
dynamic performance of induction motor drive. The (FOC) of an IMD works like a separately excited DC motor
performance of control strategy is tested and compared and it was proposed by F.Blaschke (Direct FOC) and Hasse
based on MATLAB/Simulink environment under different (Indirect FOC) in early 1970’s [2]. DC motor like
operating conditions.. The simulation results are presented performance can be achieved with an induction motor, if the
in different operating conditions such as forward and motor control is considered in synchronous rotating reference
reversal motoring under no-load, load, sudden change in frame, where the sinusoidal variables appear as dc quantities
speed, and speed reversal, and different load torques in steady state. This idea relies on the control of stator current
conditions. space vectors in a similar, but more complicated, way to a DC
machine. These two stator currents can be used as control
inputs for a vector controlled inverter. This DC motor like
Keywords— Direct Field Oriented Control, Induction
motor drive, Indirect Field Oriented Control. performance is only possible if iqs * , only controls ids * and
does not affect the flux  r , i.e. both the stator space vectors
are orthogonal under all operating conditions of the vector
NOMENCLATURE controlled drive. Moreover vector control should ensure the
correct orientation and equality of command and actual
ids , iqs Stator current components in stator frame. currents. The advancement in adjustable speed AC drives was
idr iqr Rotor current components in stator frame. slow untill the 1980s.

Lm Mutual Inductance. Squirrel cage types of Induction Motors (IM) have beeen
considered for a long time as the workhorse in industry [2]. It
LS , Lr Stator and rotor self-inductances.
has been claimed that 90% of installed motors are of this type.
Vds Vqs Stator voltage components in stator frame. Among the reasons for their popularity are robustness,
reliability, low price, and relatively high efficiency. Different
 ds  qs Components of stator flux linkage vector. control methods are popular in the industry. Decoupled
control between flux and torque is easily achieved in case of
 dr  qr Components of rotor flux linkage vector. separately excited DC motors, but it is not so simple for AC
ˆ r Rotor flux linkage. drives. In squirrel cage motors, the controlled signal is only
the stator current because the rotor current is inaccessible. In
Te Electro-magnetic torque such a way, the torque equation is not linear, so linear control
with maximum torque production is difficult to achieve. The
vector control approach was formulated to overcome this
problem. The principle of ‘field oriented control’ was

978-1-4799-1734-1/15 $31.00 © 2015 IEEE 219

DOI 10.1109/ICACCE.2015.55
introduced and the decoupled control between torque and flux  ds   (VdsRs*ids )*dt (1)
was possible.
 qs   (VqsRs*iqs ) * dt (2)
In this paper a review is proposed for vector control of  dr   (  Rr*idr r* qr ) * dt (3)
induction motor drive. The control scheme used here is ‘field
oriented control’. The ‘field oriented control’ is classified as  qr   (  Rr*iqr r* dr ) * dt (4)
‘Direct Field Oriented Control’ (DFOC) and ‘Indirect Field ids   ds {( Lm/ Lr )* dr} * (1/ * Ls) (5)
Oriented Control’ (IFOC). The FOC method has an attractive
feature but it suffers with some drawbacks, such as; iqs   qs {( Lm/ Lr )* qr} * (1/ * Ls) (6)
requirement of co-ordinate transformations, current idr   dr {( Lm/ Ls )* ds} * (1/ * Lr ) (7)
controllers, sensitive to parameter variations, PWM
modulators, switching frequency, rotor position measurement iqr   qr {( Lm/ Ls )* qs} * (1/ * Lr ) (8)
and control tuning loops. These drawbacks of FOC schemes where
are minimized with the new control strategy i.e., IFOC  1  ( Lm * Lm / Ls * Lr )
scheme, which is introduced by Isao Takahashi and Toshihiko
The schematic model of direct field oriented controlled
Noguchi, in the mid 1980’s [3]. The direct torque and flux
(DFOC) IMD is shown in Fig. 1. For the DFOC scheme, the
control of an IMD is required for the rotor shaft angular
motor developed electromagnetic torque, rotor flux linkage
position information. The rotor shaft position can be measured
through either speed sensors (i.e. speed encoder) or from an and the angular ˆ r   dr2  qr2 position of the rotor flux
estimator/observer using current and voltage signals and
linkage space vector are estimated in term of d- and q-axis
information of the IMD parameters. The use of speed encoder
components as follows [1]:
is associated with some drawbacks, such as, requirement of
shaft extension, reduction of mechanical robustness of the ˆ r   dr2  qr2 (9)
motor drive, reduces the drive reliability and not suitable for
hostile environments, and also costlier.
3P
The performance of control strategy is tested and Te  *(( dr * iqs )  ( qr * ids )) (10)
compared based on MATLAB/Simulink environment under 2 2
1  qr
different operating conditions.. The simulation results are
presented in different operating conditions such as forward e  tan ( ) (11)
and reversal motoring under no-load, load, sudden change in  dr
speed, and speed reversal, and different load torques In the control scheme used, induction motor drive has been
conditions. controlled by direct field oriented control. In this scheme the
rotation angle of the iqs vector with respect to the rotor flux
II. MATHEMATICAL MODEL OF DIRECT FIELD ORIENTED
CONTROL OF INDUCTION MOTOR DRIVE
 qr is being directly determined by measuring air-gap flux.
Mathematical Equations for stator and rotor are as follows:
Inverse Park’s
Flux Component Inverse Clark’s
Transformation
of Current Transformation
i SB    1/ 2 0.866   
 iSC   1/ 2 0.866   iSQ 

 *r
 iSD
 
iSQ  Sin e Cos e isq 

INVERTER

i*sd
iSD Cos e Sin e isd

+ FLUX iSD


CONTROLLER
- isa
1 0

i sb
*r ˆ r IM
+ i *sq iSQ
isc
  

SPEED
  

  

CONTROLLER
-
iSA

r Torque Component
of Current
e
Shaft Encoder
iSD 2 1 1/2 1/2  
 SB 
iSQ 30 0.866 0.866iSC
 
iSA
 
isq   Sin e Cos eiSQ
isd Cos e Sin e iSD

 dr  ˆ r * Cos e i*sd iSD

isa
ˆ r  qr  ˆ r * Sin e i sb
ˆ r  (  )1/ 2
2
dr
2
qr
isc
 i *sq iSQ
1
e  tan (  qr )
  
  

dr


Voltage Model
Estimation
Clark’s
r
Park’s
Transformation Transformation

Fig 1 Schematic model for Direct Vector Control with rotor flux orientation

220
 In direct vector control, the field angle is calculated by The simulation performance of DFOC IMD is tested under
using terminal voltages and current or flux sense windings. In 1200 rpm forward motoring mode with a load torque of 4 N-m
the block diagram mainly, the blocks being used are PI is applied at time interval of 0.7 sec and withdrawn at 0.9 sec
controllers, i.e. flux controller and speed controller. The flux under forward motoring mode of operation. A load torque of -
controller compares the reference flux and the actual flux 4Nm is applied under reversal motoring mode of operation as
obtained from voltage estimation block, results into ids * . The shown in Fig. 2 (b). When a sudden 4 N-m load torque is
speed controller compares the reference speed and the actual applied to the motor, the motor speed drops from 1200.81 rpm
speed obtained form the motor using a shaft encoder, results to 1198.71 rpm using PIC.
into iqs * . By using inverse Park’s Transformation and inverse
c. Different load torques under 1200 rpm forward motoring
Clark’s Transformation ids * & iqs * are transformed into ia * ,
ib * , ic * . The three phase currents are fed to the inverter and The simulation responses of DFOC IMD is tested under
then to the induction motor. Then the three phase currents ia , 1200 rpm forward motoring mode with a load torque of 4 N-m
ib , ic are being transformed into ids & iqs by using Clark’s is applied at time interval of 0.5 sec, at the interval of 1 sec it
Tranformation and Park’s Transformation. The voltage will reach up to 6 N-m and at the interval of 1.5 sec it will
estimation block is being modelled by using ids & iqs . This become 9 N-m as shown in Fig. 2 (c).
results into the ˆ r & e using the relations givein in eqn.(9) d. Speed reversal under no load torque condition
& (11). Then reference flux,  *r is compared with actual
The simulation performance of DFOC IMD is tested under
flux, ˆ r . The PI controllers compare the values with the
sudden change in speed from +1200 rpm to -1200 rpm under
measured components (after transformation) and command no-load torque operating condition as shown in Fig. 2 (d). The
proper values to establish the desired condition. sudden change in speed is applied at a time interval of 1sec.
The speed tends to decrease and it becomes zero at 1.20 sec
III. SIMULATION RESULTS and after this time interval, the speed gets reversed. After
some time, it tends to reach -1200 rpm and it remains in the
In order to verify the effectiveness of the control scheme same condition till the instant 2.45 sec.
implemented, it has been simulated using MATLAB/Simulink
environment using 4-pole machine with a power rating of 1.5 e. Sudden change in speed under no load torque condition
kW IMD. The IM model is developed using the parameter
values are shown in the Appendix. The simulation responses of DFOC IMD is tested under
sudden chane in speed from +1200 rpm to -1200 rpm under no
a. No-Load torque under 1200 rpm forward motoring load torque condition as shown in Fig. 2 (e). The sudden
change in speed is applied at a time interval of 0.3 sec and it
The simulation performance of DFOC IMD is tested under reaches zero at 1.2 sec. And it gets reversed again at a interval
no-load torque with a reference flux *r =1Wb and reference of 0.3 sec. At 1.8 sec, the speed becomes -1200 rpm and then
set speed *r =1200 rpm in forward motoring mode is shown it stars increasing in positive side. At 2.45 sec,the speed again
becomes zero.
in Fig. 2 (a).

b. 4 N-m Load torque under 1200 rpm forward motoring

(1) (2) 1500 (3)
40 data1
data2 30
30 data3 1000
20
20
500
10
CURRENT (Amp)

TORQUE (Nm)

10
SPEED (rpm)

0 0 0

-10
-10 -500
-20
-20
-1000
-30

-30
-40
-1500
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
0 0.5 1 1.5 2 2.5 TIME (Sec)
TIME (Sec) TIME (Sec)

40 data1 1500
6 12
data1
data2
data3
data2 30 10
1201.5
4

30 2
data3 8
1201
CURRENT (Amp)

1000 1200.5
TORQUE (Nm)

6
0
20
SPEED (rpm)

1200

20 -2
4
1199.5
2
-4
1199
CURRENT (Amp)

10 -6
0.7 0.75 0.8 0.85 0.9 10
0
500 1198.5
TORQUE (Nm)

TIME (Sec) -2
SPEED (rpm)

1198
0.7 0.75 0.8 0.85 0.9 0.7 0.75 0.8 0.85 0.9
TIME (Sec) TIME (Sec)

0
0 0
-10
-10
-20 -500

-30 -20
-1000
-40 -30
0 0.5 1 1.5 2 2.5 -1500
TIME (Sec) 0 0.5 1 1.5 2 2. 0 0.5 1 1.5 2 2.5
TIME (Sec) TIME (Sec)

221
 30
40 6
data1
data1
4
data2
data3
data2 9 1200
2
data3 25 8

30

CURRENT (Amp)
7

0 6
1201

TORQUE (Nm)
-2
5 1000
20 -4
20 4
1200.5
3

SPEED (rpm)
-6 2
CURRENT (Amp)

0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
TIME (Sec )
800

TORQUE (Nm)
10 1

SPEED (rpm)
1200
15 0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
TIME (Sec )

0
600 1199.5

10
-10 1199
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
400 TIME (Sec)

-20 5

-30 200
0
-40
0
-5
0 0.5 1 1.5 2 2. 0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
TIME (Sec) TIME (Sec) TIME (Sec)

1500
40 8 data1
data1
data2 30 2 1201.34
6

4
data3
data2 1.5
1201.32
1

30 data3 1000
1201.3
CURRENT (Amp)

2
0.5

TORQUE (Nm)
1201.28
0
20

SPEED (rpm)
0

-2
1201.26
-0.5

20 -4 -1

-1.5
1201.24

1201.22
-6

-2 500 1201.2
-8
10
CURRENT (Amp)

1 1.2 1.4 1.6 1.8 2 2.2 2.4

-2.5
10
TIME (Sec)

TORQUE (Nm)
0.7 0.75 0.8 0.85 0.9 0.95 1 1201.18

SPEED (rpm)
TIME (Sec )

1201.16
0.35 0.4 0.45 0.5 0.55 0.6 0.65
TIME (Sec)

0 0 0

-10
-10
-500
-20
-20
-30 -1000

-40 -30
-1500
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2. 0 0.5 1 1.5 2 2.
TIME (Sec) TIME (Sec) TIME (Sec)
15
data1 60 2

data2 1.5
1000
1

10 data3

TORQUE (Nm)
0.5

40 0

-0.5

-1

-1.5 500
5 20 -2
CURRENT (Amp)

0.65 0.7 0.75 0.8 0.85 0.9

TORQUE (Nm)

TIME (Sec)

SPPED (rpm)
0 0 0

-20
-5
-500

-40
-10
-1000
-60
-15
0 0.5 1 1.5 2 2. 0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
TIME (Sec) TIME (Sec) TME (Sec)

Fig. 2 Simulation responses of sensorless DFOC IMD under the operating conditions are:
(a) Speed estimation performance under no load torque coditions
(b) Speed estimation performance under forward motoring mode and reverse motoring conditions
(c) Speed estimation performance under different load torque conditions
(d) Speed estimation performance under speed reversal condition without load
(e) Speed estimation performance under sudden change in speed from 0 to +1200 rpm & to -1200 rpm to 0.

IV. CONCLUSION ^ Symbol used for estimated quantities

In this paper, the direct vector control of an induction
motor drive is implemented and the performance is improved APPENDIX:
in transient as well as in steady state condition by using vector
control scheme over scalar control method. The model is The Parameter values of IM drives are: Stator resistance
simulated in Matlab/Simulink environment and the simulation R s =1.57Ω , rotor resistance R r =1.21Ω , stator and rotor leakage
results are presented under different operating conditions such inductance Ls, Lr = 0.17 H, mutual inductance Lm =0.165H ,
as no load, forward load, different load torques, speed reversal
moment of inertia J=0.05kg.m2 , rated power PN =1.5kW ,
and sudden change in speed conditions, respectively.
frequency F=50 Hz, rated speed N=1440rpm .
LIST OF SYMBOLS
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 Symbol used for reference value [3] I. Takahashi and T. Noguchi, “A new quick response and
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