ICICI-BME 2009 Proceedings

Indirect Vector Control of a Variable Frequency

Induction Motor Drive (VCIMD)
Khalaf Salloum Gaeid 1, Hew Wooi Ping1, Haider A.F.Mohamed2
1
Dept. of Electrical Engineering University of Malaya Lembah Pantai, 50603 Kuala Lumpur
2
Department of Electrical & Electronic Engineering, The University of Nottingham Malaysia Campus, Jalan Broga, 43500
Semenyih, Selangor Darul Ehsan, Malaysia
1
[email protected]

Abstract-The principle of vector control of electrical drives is vector control technique [3]. Schofield et al. describes direct
based on the control of both the magnitude and the phase of each torque control as a method of controlling an inverter and
phase current and voltage. Matlab/ Simulink has been performed induction motor which provides excellent performance without
for assessment of operating features of the proposed scheme. PI rotor position sensing; that is, it is a high performance sensor
speed controller are designed in this paper, Test response of the
less system. New signal processing technology has made it
developed variable speed drive along with simulated response are
given and discussed in detail for torque ,speed and current. possible to utilize new control principles and all switch
Modeling of induction motor with the complete vector control changes of the inverter are based on the electromagnetic state
scheme (indirect) is investigated to show the optimal response of of the motor [4]. The induction motor requires a variable-
the control system. frequency three-phase source for variable speed operation. One
Keyword: Induction motor, vector control, PI controller, field can realize this source by using a power converter system
oriented control. consisting of a rectifier connected to an inverter through a DC
link as we can see in Fig. 1. In some control schemes where a
Nomenclature three-phase, variable frequency current source is required,
f = friction coefficient current control loops are added to force the motor currents to
idr, iqr = d,q-axis rotor current components follow an input reference (usually sinusoidal).You can control
idr, iqs = d,q-axis stator current components the inverter fed induction motor drive with various schemes
Ki ,Kp = integral and proportional controller depending on the application, desired performance, and
Lr = rotor self inductance controller design complexity. The most utilized schemes are
Ls = stator self inductance stator V/Hz, control stator currents, open loop flux control
Lm = magnetizing inductance Vector control (field-oriented control) and direct torque control
φ ds,φ qs = d,q-axis stator flux components [5]. Welchko et al. presents a novel variable frequency motor
φ dr ,φ qr = d,q-axis rotor flux components drive system for a three-phase induction machine, in this drive
Vds ,Vqs = d,q-axis stator voltage components system, the machine is excited by unidirectional stator currents
Vdr ,Vqr = d,q-axis rotor voltage components shaped and sequenced such that a rotating air-gap flux is
J = total inertia induced so that the machine can operate[6]. In vector or field
Te, Tl = electromagnetic and load torques oriented control both the magnitude and phase alignment of
wmec = mechanical(output) angular speed vector variables are controlled. The invention of vector control
p = the number of pair poles in the beginning of 1970s and the demonstration that an
ρ = any positive number induction motor can be controlled like a separately excited dc
* = Reference value motor brought renaissance in the high performance of control
I. INTRODUCTION of ac drives. Because of dc like performance vector control is
also known as decoupling orthogonal or trans vector control
Recently, there is a demand for high performance electric [7]. Conventional Proportional-Integral (PI) controllers,
drives capable of accurately achieving speed command. This designed using the classical control theory, are well suited to
necessarily leads to more sophisticated control methods to deal the control of linear processes whose exact model is known.
with such issue, special attention was directed induction motor However, the majority of physical systems usually contain
because of known reason such as size, cost, efficiency [1] non-linear relations that are difficult to model. On the other
.Vector control has been widely used for the high performance hand, to use a self tuning PI controller, an adequate drive
drive of induction motors. As in DC motors torque control of model must be known [8, 9]. H. Moghbelli et al. presents a
induction motor is achieved by controlling torque and flux vector control induction motor drive which is first simulated
component independently [2]. Sedat Sunter et al. describe the and then implemented in real time where a novel artificial
development of closed loop control techniques for matrix neural network (NN) based on wavelets (namely wave net) is
converter fed induction motor drives. A prototype drive rated at used as a controller in order to make the system more robust
2.5kW is used to demonstrate closed loop speed control using [10].

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 ICICI-BME 2009 Proceedings

dq- abc transformation is

⎡i * as ⎤ ⎡1 0 ⎤
⎢* ⎥ ⎢ ⎥ ⎡i qs ⎤
s*

i
⎢ ⎥ ⎢bs = − 1 / 2 − 3 / 2 ⎥ ⎢ s* ⎥ (9)
⎢i * cs ⎥ ⎢ ⎥ ⎢⎣i ds ⎥⎦
⎣ ⎦ ⎣ − 1 / 2 − 3 / 2⎦
Hence the rotor flux and the torque can be controlled
individually through the stator current in the dq-axis so that the
Fig. 1. Vector control of induction motor induction motor transformed to the linear current / torque
relationship.

B. PI Speed Controller
The dynamic model of speed induction motor drive is
significantly simplified, and can be reasonably represented by
the block diagram shown in Fig.3; the output of the speed
controller is [12]
p (T − Tl )
ω m ( s) = (10)
Fig. 2. Block diagram of the vector control principle Js + f
The PI (Proportional and Integral) regulator is well suited to
II. Vector Control of the Induction Motor regulating the torque and flux feedback, to the desired values
as it is able to reach constant reference, by correctly both the P
Vector control of the cage motor is considered fast response term (Kp) and I term (Ki) which are respectively responsible
and high performance method to achieve variable speeds using for error sensibility and for the steady state error. If Tl= 0 the
variable frequency source. In the vector control method the transfer function is as following
induction motor can be operated like a separately excited DC
motor for high performance applications. In the last decade p( K p s + K i )
many closed loop speed control techniques have been G(s) = s (11)
developed to provide good performance. However, the desired Js + ( f + K p p ) s + K i p
drive specification still cannot be perfectly satisfied and/ or
their algorithms are too complex [16] as shown in Fig.2.
2 f +Kpp Ki p
p( s) = s + =0 + (12)
A. Model of Induction Motor j j
The d-q dynamic model of squirrel cage induction motor
P(s) Is the characteristic equation of the G(s), the
with reference frame fixed to the stator is given by [11]
expressions for Kp and Ki of the regulator is calculated by
imposition of poles complexes combined with real part
Vs=Rs is+dλs /dt+jwsMλs (1)
negative
s1,2 = ρ(−1± j) (13)
Vr=Rrir+ dλr/dt+(ws-wm)Mλ (2)

The electromagnetic torque is found as: 2 ρj − f

Kp = (14)
s s s s p
Te = ( 2 pLm / 3L r )(i qs .i ds − i qr .i dr (3)
Where 2
2ρ j
φ s ds = Lr i s dr + Lm i s ds (4) Ki = (15)
p
s s s s
Te = ( 2 pL / 3L )(i qs φ dr − i ds φ qr (5)
m r For speed controller we have designed an Integral
The field orientation is based on the following assumption: Proportional (PI) speed controller to stabilize the speed control
φ s qr = 0 (6) loop. The gains of P and I are designed to get optimal damping
ratio(less than unity) which are Kp=8 and Ki=42 for a torque
φ s dr = constant (7)
limit of 300 N.m[13].Fig.3 shows the speed controller of the
The field orientation control (vector) performs the following proposed scheme,Fig.4 shows the simplified transfer function
calculations of the system to satisfy the performance specifications.
⎡i s* qs ⎤ ⎡cos θ s sin θ s ⎤ ⎡i e* qs ⎤
⎢ s* ⎥ = ⎢ ⎥ ⎢ e* ⎥ (8)
⎢⎣i ds ⎥⎦ ⎣− sin θ s cos θ s ⎦ ⎢⎣i ds ⎥⎦

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 ICICI-BME 2009 Proceedings

converters and the motor The machine is initially operating in

steady state at no load (Tl=0) at the speed wref=80rad/sec. The
transient response is due to step changes in the reference speed
wref and load torque Tl. The estimated value of the rotor time
constant (Tr = Lr / Rr = 0.1557 sec) appearing in the theta
calculator, differs from the actual value used for the motor
parameters. The harmonic existing in the shaft torque is not
very significant since the system has a large mechanical time
constant. During the period 0.2 sec, the developed torque
increases rapidly, this is due to the slip speed, which is the
maximum at starting and decreases as the speed of the motor is
Fig. 3. Block diagram of the simplified closed loop system
increased. The classic vector control scheme consists of the
torque and flux control loops. For the vector control of
induction motors, the rotor field orientation has the advantage
of easy decoupling of the torque and flux controls. A three-
phase induction motor rated at 50hp, 460V, 4pole, 50Hz is
modeled in the common stator reference frame [17]. The speed
loop utilizes a PI controller to produce the quadrature axis
currents iq* (shown in Fig.7) which serves as the torque
Fig. 4 Closed loop of the speed controller loop
command. The derived direct-axis current id* (shown in Fig.8)
serves as the rotor flux command. These currents are then
C. Field Oriented Control (FOC)
transformed via the dq2abc block into the current references
Is one method used in variable frequency drives to control
ia*, ib* and ic*(shown in Fig.11) fed into the current regulator.
the torque (and thus finally the speed) of three phase AC
The current-controlled inverter is made up of three hysteresis
electric motors by controlling the current fed to the machine.
controllers. Rotor flux field orientation is obtained in the theta
Field orientated controlled machines need two constants as
calculator block as in Fig. 5 [17]. The system reaches the
input references: the torque component (aligned with the q-axis
steady-state developed torque after about 0.7 sec as in Fig.10.
coordinate) and the flux component (aligned with d-axis
The motor response for step up in speed command, which
coordinate). Field orientated control is simply based on
change from 80 rad/sec to 110 rad/sec. when step change in
projections the control structure handles instantaneous
speed command, the motor runs at no load with speed
electrical quantities. This makes the control accurate in every
command 80 rad/s for 0.01 sec and then increased to 110
working operation (steady state and transient) and independent
rad/sec as shown in Fig. 9. The motor speed increases very
of the limited bandwidth mathematical model. The FOC thus
rapidly; this is due to higher value of slip speed at start. It is
solves the classic scheme problems, in the following ways:
noticed that the steady-state motor speed is reached after about
● The ease of reaching constant reference (torque
0.35 sec. It is quite evident that the speed response as in Fig.12
component and flux component of the stator current)
with damping ratio ξ=0.707 and the undamped natural
● The ease of applying direct torque control [14]
frequency wn=7.07 rad/sec is well regulated.
In order to estimate the rotor flux vector is possible to use
Fig.13 shows the root locus of the system to ensuring the
two different strategies:
effectiveness of this type of control which proves that the
● DFOC (Direct Field Oriented Control): rotor flux vector is
system is stable for all values of gain.
either measured by means of a flux sensor mounted in the air-
gap or measured using the voltage equations starting from the
electrical machine parameters.
● IFOC (Indirect Field Oriented Control): rotor flux vector
is estimated using the field oriented control equations (current
model) requiring a rotor speed measurement as in Fig.1 The
vector control system requires the dynamic model equations of
the induction motor and returns to the instantaneous currents
and voltages in order to calculate and control the variables
[15].

III. Computer Simulation

Computer simulations using Matlab/Simulink have been
performed for assessment of operating features of the proposed
scheme. The simulation involved a start up of an unloaded,
50hp, 460V, 50 Hz as shown in the Table 1, followed by a step
speed. All pertinent mathematical models have been developed Fig. 5 Simulink implementation of the proposed scheme
individually, using Simulink blocks for the power electronic

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 ICICI-BME 2009 Proceedings

Rotor Flux
1 Electrical and Load Torques

400 data 1
0.9 10th degree
data 2

Te and Tl (N.m)
300
0.8

200
0.7

100
0.6
Rotor flux (web)

0
0 0.5 1 1.5 2 2.5 3 3.5 4
0.5
Iteration 4
x 10
residuals
150
0.4

Reiduals between Te and tl

100
0.3
50

0.2 0

-50
0.1
-100
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 -150
Iteration 0 0.5 1 1.5 2 2.5 3 3.5 4
Iteration x 10
4

Fig. 6. Rotor flux response Fig.10. Electromagnetic torque response with residuals
Quarature Reference Current (Iq*)
20 0 The Iabc current of the i nduction motor
400
data 1
18 0
linear
200 data 2
16 0 data 3
data 4
0
14 0
Qua drature Cu rre nt (A)

12 0 -200

10 0
-400
0 0.5 1 1.5 2 2 .5 3 3.5
4
80 x 10
residuals of the Iabc currents
0.3
60
0.2

40 0.1

Residuals
20 0

-0.1
0
-0.2
-2 0
0 0.5 1 1 .5 2 2 .5 3 3.5 4 4.5 5
4
-0.3
Iteration 0 0.5 1 1.5 2 2 .5 3 3.5
x 10
Iterattion x 10
4

Fig.7 Iq* reference current response Fig. 11. Iabc current response with residuals
Direct Referenc e Current(Id*)
29

Step Response
2 8.5 0.14

0.12
28
Di rec t current(A)

0.1

2 7.5 0.08
Amplitude

0.06
27

0.04

2 6.5 0.02
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Iteration 4
x 10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec )

Fig. 8. Id* reference current response Fig.12. Step response of the closed loop system

Outp ut Speed of the Induction Motor

120

100 Root Locus

6
0.974 0.945 0.9 0.82 0.66 0.4

80 4
0.99
Speed (ra d/sec)

60 2 0.997
ImaginaryAxis

20 15 10 5
40 0

-2 0.997
20

0.99
-4
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Iteration x 10
4

0.974 0.945 0.9 0.82 0.66 0.4

-6
-25 -20 -15 -10 -5 0 5
Real Axis

Fig. 9. Speed response of the induction motor Fig.13. Root locus response of the closed loop system

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 ICICI-BME 2009 Proceedings

[9] Ho, E. Y. Y.Sen, P. C. "Control Dynamics of Speed Drive System Using

TABLE I Sliding Mode Controllers with Integral" Compensation, IEEE Transactions
INDUCTION MOTOR PARAMETERS on Industrial Application 27 ,1991, pp883–892.
Rated power(hp) 50 [10] H. Moghbelli, A. Rahideh, A. A. Safavi "Vector Control of Induction
Rated Voltage (volt) 460 Machines Using Wave net Based Controller for Traction Applications"
Speed wref (rad/sec) 80-110 Iranian Journal of Science & Technology, Transaction B, Engineering,
Number of phases 3 Vol. 29, No. B1, 2005, Shiraz University.
Number of Poles p 4 [11]N .Kalaiarasi and K.S.R .Anjaneyulu" Adaptive Vector Control of
Rated Frequency (Hz) 50 Induction Motor Drives" International Journal of Electrical and
Moment of Inertia j (kg.m^2) 1.66 Engineering 1(2), 2007, pp239-245.
[12] M. Zerikat, and S. Chekroun" Adaptation Learning Speed Control for a
Rotor Resistance Rr (Ohm) 0.228
High-Performance Induction Motor Using Neural Networks "Proceedings
Stator Resistance Rs (Ohm) 0.087
of World Academy of Science, Engineering and Technology Vol. 35 Nov.,
Rotor Inductance Lr (Henry ) 0.0335
2008, ISSN 2070-3740
Stator Inductance Ls (Henry) 0.0335 [13] M. Ben Mohamad, M.Jemli M. Boussak and M. Gossa" Speed
Mutual Inductance Lm (Henry) 34.7e-3 SensorlessVector Control of Single Phase Induction Motor" J. Automation
&System Engineering ECM-13451 Marsiele Cedex 20, 2008
[14] "Field Orientated Control of 3-Phase AC-Motors” Literature Number
BPRA073, Texas Instruments Europe, February 1998.
IV. Conclusion [15] AN2388 Application note" Sensor Field Oriented Control (IFOC) of
Three-Phase AC Induction Motors Using ST10F276" October 2006
Because of some of the disadvantages of the scalar control of [16] Minh Ta-Cao, J.L. Silva Neto, Hoang Le-Huy," Fuzzy Logic Based
induction motor drives including slow response, unsuitable Controller for Induction Motor Drives", IEEE IECON Record 1996, pp
performance, torque ripple and impossibility of operation at all 631-634.
[17] M. Riaz" Simulation of Electric Machine and Drive Systems" University
points of speed torque curve, vector control is implemented on of Minnesota, 2001.
an induction motor drive to solve these imperfections. Three
phase sinusoidal voltage is converted to dc voltage with the
help of universal diode bridge rectifier. Rectified voltage is fed
to voltage source inverter & Current source inverter. The
present research is directed to the formulation and experimental
verification of parameter compensation schemes in the vector
Controlled induction motor drives. Voltage source inverters
which dominate modern adjustable speed ac drives are not free
from certain disadvantages .In particular the high switching
rate needed for good quality of the current fed to the motor
causes losses, electromagnetic interference etc.
Finally To control the speed of a three-phase induction motor
supply voltage and frequency need to be varied with constant
ratio to each other.

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[2] M. Boussak, K. Jarray "A High Performance Sensorless Indirect Stator
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[4] Schofield, J.R.G" Variable Speed Drives Using Induction Motors and
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[6] Welchko, B.A, Lipo, T.A." A Novel Variable-Frequency Three-Phase
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[7] Archana S. Nanoty, and A. R. Chudasama" Vector Control of Multimotor
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