This document compares the performance of indirect vector control of an induction motor using proportional-integral (PI) and proportional-integral-derivative (PID) speed controllers. It first provides background on induction motors, vector control techniques, and PI/PID controllers. It then presents the simulation model and results, which show the PID controller provides better speed response characteristics like shorter settling time. In conclusion, the PID controller improves the speed performance for indirect vector control of an induction motor drive.
Fuzzy controlled dtc fed by a four switch inverter for induction motoreSAT Journals
Abstract
Direct Torque Control of induction motor fed drives has become popular and widely used in industries due to fast and good
torque response. Induction motors (IM) are simple in construction and are less sensitive to the motor parameters compared to
other vector control methods. The conventional DTC is based on flux and torque hysteresis controllers. Induction motor is fed
from a Four Switch Inverter generating the voltage vectors of the Six Switch Inverter by reconfiguration. Applying the most
optimized voltage vector that produce fastest dynamic torque response during transient states. Fuzzy logic concept is a most
efficient artificial integilence method which has high application in electric motor drives. A method to achieve fastest dynamic
performance by modifying the two leg inverter fed DTC of induction motor based on Fuzzy Logic Concept is used here. This paper
presents a rule-based fuzzy logic controller scheme designed and applied for the speed control of an induction motor fed from a
four switch three phase inverter emulating the six switch three phase inverter. Due to the usage of the Fuzzy logic concept, the
reliability, efficiency and performance of ac drive increases. Initial torque peak and torque ripple are minimized in the four switch
three phase inverter based DTC using Fuzzy Logic.
Key Words: Direct Torque Control , Four Switch/Six Switch Three Phase Inverter, Fuzzy Logic, Induction motor(IM).
Speed Control of Induction Motor by Using Intelligence TechniquesIJERA Editor
This paper gives the comparative study among various techniques used to control the speed of three phase induction motor. In this paper, indirect vector method is used to control the speed of Induction motor. Firstly Simulink Model is developed by using MATLAB/ Simulink software. PI controller, Fuzzy PI Hybrid controller, Genetic Algorithm (GA) are the techniques involved in control Induction motor and the results are compared. By converting three phase supply currents coming from stator to Flux and Torque components of current the speed responses such as rise time, overshoot, settling time and speed regulation at load have been observed and compared among the techniques. The PI controller parameters defined by an objective function are calculated by using Genetic Algorithms presented good performance compared to Fuzzy PI Hybrid controller which has parameters chosen by the human operator.
Simulation DC Motor Speed Control System by using PID Controllerijtsrd
Speed control system is the most common control algorithm used in industry and has been universally accepted in industrial control. One of the applications used here is to control the speed of the DC motor. Controlling the speed of a DC motor is very important as any small change can lead to instability of the closed loop system. The aim of this thesis is to show how DC motor can be controlled by using PID controller in MATLAB. The development of the PID controller with the mathematical model of DC motor is done using automatic tuning method. The PID parameter is to be test with an actual motor also with the PID controller in MATLAB Simulink. In this paper describe the results to demonstrate the effectiveness and the proposed of this PID controller produce significant improvement control performance and advantages of the control system DC motor. Mrs Khin Ei Ei Khine | Mrs Win Mote Mote Htwe | Mrs Yin Yin Mon ""Simulation DC Motor Speed Control System by using PID Controller"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25114.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/25114/simulation-dc-motor-speed-control-system-by-using-pid-controller/mrs-khin-ei-ei-khine
Fuzzy controlled dtc fed by a four switch inverter for induction motoreSAT Journals
Abstract
Direct Torque Control of induction motor fed drives has become popular and widely used in industries due to fast and good
torque response. Induction motors (IM) are simple in construction and are less sensitive to the motor parameters compared to
other vector control methods. The conventional DTC is based on flux and torque hysteresis controllers. Induction motor is fed
from a Four Switch Inverter generating the voltage vectors of the Six Switch Inverter by reconfiguration. Applying the most
optimized voltage vector that produce fastest dynamic torque response during transient states. Fuzzy logic concept is a most
efficient artificial integilence method which has high application in electric motor drives. A method to achieve fastest dynamic
performance by modifying the two leg inverter fed DTC of induction motor based on Fuzzy Logic Concept is used here. This paper
presents a rule-based fuzzy logic controller scheme designed and applied for the speed control of an induction motor fed from a
four switch three phase inverter emulating the six switch three phase inverter. Due to the usage of the Fuzzy logic concept, the
reliability, efficiency and performance of ac drive increases. Initial torque peak and torque ripple are minimized in the four switch
three phase inverter based DTC using Fuzzy Logic.
Key Words: Direct Torque Control , Four Switch/Six Switch Three Phase Inverter, Fuzzy Logic, Induction motor(IM).
Speed Control of Induction Motor by Using Intelligence TechniquesIJERA Editor
This paper gives the comparative study among various techniques used to control the speed of three phase induction motor. In this paper, indirect vector method is used to control the speed of Induction motor. Firstly Simulink Model is developed by using MATLAB/ Simulink software. PI controller, Fuzzy PI Hybrid controller, Genetic Algorithm (GA) are the techniques involved in control Induction motor and the results are compared. By converting three phase supply currents coming from stator to Flux and Torque components of current the speed responses such as rise time, overshoot, settling time and speed regulation at load have been observed and compared among the techniques. The PI controller parameters defined by an objective function are calculated by using Genetic Algorithms presented good performance compared to Fuzzy PI Hybrid controller which has parameters chosen by the human operator.
Simulation DC Motor Speed Control System by using PID Controllerijtsrd
Speed control system is the most common control algorithm used in industry and has been universally accepted in industrial control. One of the applications used here is to control the speed of the DC motor. Controlling the speed of a DC motor is very important as any small change can lead to instability of the closed loop system. The aim of this thesis is to show how DC motor can be controlled by using PID controller in MATLAB. The development of the PID controller with the mathematical model of DC motor is done using automatic tuning method. The PID parameter is to be test with an actual motor also with the PID controller in MATLAB Simulink. In this paper describe the results to demonstrate the effectiveness and the proposed of this PID controller produce significant improvement control performance and advantages of the control system DC motor. Mrs Khin Ei Ei Khine | Mrs Win Mote Mote Htwe | Mrs Yin Yin Mon ""Simulation DC Motor Speed Control System by using PID Controller"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25114.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/25114/simulation-dc-motor-speed-control-system-by-using-pid-controller/mrs-khin-ei-ei-khine
A New Induction Motor Adaptive Robust Vector Control based on Backstepping IJECEIAES
In this paper, a novel approach to nonlinear control of induction machine, recursive on-line estimation of rotor time constant and load torque are developed. The proposed strategy combines Integrated Backstepping and Indirect Field Oriented Controls. The proposed approach is used to design controllers for the rotor flux and speed, estimate the values of rotor time constant and load torque and track their changes on-line. An open loop estimator is used to estimate the rotor flux. Simulation results are presented which demonstrate the effectiveness of the control technique and on-line estimation.
Indirect Vector Control of Induction Motor Using Pi Speed Controller and Neur...IJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
A comparative study of pi, fuzzy and hybrid pi fuzzy controller for speed con...Asoka Technologies
This paper presents the comparative study between PI, fuzzy and hybrid PI-Fuzzy controller for speed control of brushless dc (BLDC) motor. The control structure of the proposed drive system is described. The simulation results of the drive system for different operation modes are evaluated and compared. A fuzzy controller offers better speed response for start-up while PI controller has good compliance over variation of load torque but has slow settling response. Hybrid controller has an advantage of integrating a superiority of these two controllers for better control performances. Matlab/Simulink is used to carry out the simulation.
NEURAL NETWORK BASED VECTOR CONTROL OF INDUCTION MOTORcsandit
Stator current drift compensation of induction motor based on RBF neural network is proposed here. In vector control of induction motor decoupling of speed and rotor flux equations and their simultaneous control are used to achieve the highest efficiency and fast dynamic
performance. The highest efficiency is reached when the proper flux is selected and as a result of dynamic decoupling of speed and rotor flux equations, the rotor flux can be modified to achieve the highest efficiency and make the speed be at its desired value. The precise control of these changes can also be done using radial basis function neural network (RBFNN). Once
neural network gets trained then it is able to differentiate between normal and fault conditions and therefore acts in accordance to the change that could bring back the system to normal condition. Here, neural network is used to compute the appropriate set of voltage and frequency
to achieve the maximum efficiency for any value of operating torque and motor speed.
Neural network based vector control of induction motorcsandit
Stator current drift compensation of induction motor based on RBF neural network is proposed
here. In vector control of induction motor decoupling of speed and rotor flux equations and
their simultaneous control are used to achieve the highest efficiency and fast dynamic
performance. The highest efficiency is reached when the proper flux is selected and as a result
of dynamic decoupling of speed and rotor flux equations, the rotor flux can be modified to
achieve the highest efficiency and make the speed be at its desired value. The precise control of
these changes can also be done using radial basis function neural network (RBFNN). Once
neural network gets trained then it is able to differentiate between normal and fault conditions
and therefore acts in accordance to the change that could bring back the system to normal
condition. Here, neural network is used to compute the appropriate set of voltage and frequency
to achieve the maximum efficiency for any value of operating torque and motor speed.
A New Induction Motor Adaptive Robust Vector Control based on Backstepping IJECEIAES
In this paper, a novel approach to nonlinear control of induction machine, recursive on-line estimation of rotor time constant and load torque are developed. The proposed strategy combines Integrated Backstepping and Indirect Field Oriented Controls. The proposed approach is used to design controllers for the rotor flux and speed, estimate the values of rotor time constant and load torque and track their changes on-line. An open loop estimator is used to estimate the rotor flux. Simulation results are presented which demonstrate the effectiveness of the control technique and on-line estimation.
Indirect Vector Control of Induction Motor Using Pi Speed Controller and Neur...IJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
A comparative study of pi, fuzzy and hybrid pi fuzzy controller for speed con...Asoka Technologies
This paper presents the comparative study between PI, fuzzy and hybrid PI-Fuzzy controller for speed control of brushless dc (BLDC) motor. The control structure of the proposed drive system is described. The simulation results of the drive system for different operation modes are evaluated and compared. A fuzzy controller offers better speed response for start-up while PI controller has good compliance over variation of load torque but has slow settling response. Hybrid controller has an advantage of integrating a superiority of these two controllers for better control performances. Matlab/Simulink is used to carry out the simulation.
NEURAL NETWORK BASED VECTOR CONTROL OF INDUCTION MOTORcsandit
Stator current drift compensation of induction motor based on RBF neural network is proposed here. In vector control of induction motor decoupling of speed and rotor flux equations and their simultaneous control are used to achieve the highest efficiency and fast dynamic
performance. The highest efficiency is reached when the proper flux is selected and as a result of dynamic decoupling of speed and rotor flux equations, the rotor flux can be modified to achieve the highest efficiency and make the speed be at its desired value. The precise control of these changes can also be done using radial basis function neural network (RBFNN). Once
neural network gets trained then it is able to differentiate between normal and fault conditions and therefore acts in accordance to the change that could bring back the system to normal condition. Here, neural network is used to compute the appropriate set of voltage and frequency
to achieve the maximum efficiency for any value of operating torque and motor speed.
Neural network based vector control of induction motorcsandit
Stator current drift compensation of induction motor based on RBF neural network is proposed
here. In vector control of induction motor decoupling of speed and rotor flux equations and
their simultaneous control are used to achieve the highest efficiency and fast dynamic
performance. The highest efficiency is reached when the proper flux is selected and as a result
of dynamic decoupling of speed and rotor flux equations, the rotor flux can be modified to
achieve the highest efficiency and make the speed be at its desired value. The precise control of
these changes can also be done using radial basis function neural network (RBFNN). Once
neural network gets trained then it is able to differentiate between normal and fault conditions
and therefore acts in accordance to the change that could bring back the system to normal
condition. Here, neural network is used to compute the appropriate set of voltage and frequency
to achieve the maximum efficiency for any value of operating torque and motor speed.
6. performance analysis of pd, pid controllers for speed control of dc motork srikanth
Aim of this paper different Proportional-Integral- Derivative (PID) controller fine-tuning techniques are investigated for speed control of DC motor. At the start PID controller parameters for different tuning techniques are involved and then applied to the DC motor model for motion (speed) control. Simulation results are display, using these controllers, objective of this paper, the performance of a choose dc motor controlled by a proportional-integral-derivative (PID) controller is below the similar transient conditions and performances are compared.
Field oriented control and direct torque control are the most popular methods in high
performance industrial control applications for induction motors. Naturally, the strengths and
weaknesses of each control method are available. Therefore, the selection of optimum control
method is vitally important for many industrial applications. So, the advantages and the
disadvantages of both control methods have to be well defined. In this paper, a new and
different perspective has been presented regarding the comparison of the inverter switching
behaviours on the FOC and the DTC drivers. For this purpose, the experimental studies have
been carried out to compare the inverter switching frequencies and torque responses of
induction motors in the FOC and the DTC systems. The dSPACE 1103 controller board has
been programmed with Matlab/Simulink software. As expected, the experimental studies have
showed that the FOC controlled motors have had a lessened torque ripple. On the other hand,
the FOC controlled motor switching frequency has about 75% more than the DTC controlled.
Internal Model Based Vector Control of Induction MotorIJMER
This paper deals with the design of PID and Internal Model Controllers (IMC) in adjusting
the speed of induction machine under disturbances and set point changes. The performance of PID
controller is compared with IMC. The internal model control is an alternative to the classic feedback
structure. Internal model control is composed of an inverse model connected in series with the plant and a
forward model connected in parallel with the plant, this structure allows the error feedback to reflect the
effect of disturbances and plant mismodelling resulting in a robust control loop. The IMC provides good
performance and robustness against the disturbances in system when compared with the PID controller. A
simulation study of these methods is presented using MATLAB/SIMULINK.
This paper presents a study concerning a sensorless vector control of an induction machine fed by a voltage source inverter. The aim is to provide a scheme to control the speed and the rotor flux using a sensorless integral backstepping control approach. The rotor speed estimation is done by an observer using the model reference adaptive system (MRAS) technique whereas the nonlinear backstepping observer is used to get the rotor flux. The main objective is to achieve a robust control, adaptive and efficient, which will allow us to test and evaluate the performance of the proposed observer, combined with a sensorless control of the induction machine. Tests and validation are done using numerical simulations with MATLAB/SIMULINK-PSB (Power System Block set) toolbox. The results show good performance in terms of robustness regarding machine parameter variations and show the excellent quality of the control law associated with the observer, despite the observability problems when the machine operates at low speed.
Experiment based comparative analysis of stator current controllers using pre...journalBEEI
The stator current control loop plays an important role in ensuring the quality of electric drives interm of producing fast and adequate required torque. When the current controller provides ideal responses, speed control design subsequently is in charge of improving the system performances. Classical PID control is commonly used in current loop design, this paper presents the comparative analysis of current stator controller using proportional integral control and predictive current control (PCC) in field-oriented control-based induction motor drives, with rigidly coupled loads. The experimental results show system responses with PID and PCC. Informative experiment-based analysis provides primary guidance in selection between the two controls.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
This paper presents an enhanced nonlinear PID (NPID) controller to follow a preselected speed profile of brushless DC motor drive system. This objective should be achieved regardless the parameter variations, and external disturbances. The performance of enhanced NPID controller will be investigated by comparing it with linear PID control and fractional order PID (FOPID) control. These controllers are tested for both speed regulation and speed tracking. The optimal parameters values of each control technique were obtained using Genetic Algorithm (GA) based on a certain cost function. Results shows that the proposed NPID controller has better performance among other techniques (PID and FOPID controller).
This paper introduces experimental comparison study between six and four switch inverter fed three phase induction motor drive system. The control strategy of the drive is based on speed sensoreless vector control using model reference adaptive system as a speed estimator. The adaptive mechanism of speed control loop depends on fuzzy logic control. Four switch inverter conFigureurations reduces the cost of the inverter, the switching losses, the complexity of the control algorithms, interface circuits, the computation of real-time implementation, volume-compactness and reliability of the drive system. The robustness of the proposed model reference adaptive system based on four switch three-phase inverter (FSTPI) fed induction motor drive is verified experimentally at different operating conditions. Experimental work is carried using digital signal processor (DSP1103) for a 1.1 kW motor. A performance comparison of the proposed FSTP inverter fed IM drive with a conventional six switch three-phase inverter (SSTP) inverter system is also made in terms of speed response. The results show that the proposed drive system provides a fast speed response and good disturbance rejection capability. The proposed FSTP inverter fed IM drive is found quite acceptable considering its performance, cost reduction and other advantages features.
Implementation of pi, fuzzy & ann controllers to improve dynamic response...eSAT Journals
Abstract Nowadays, vector controlled induction motor drives with variable speed applications are widely used in order to achieve good dynamic performance and wide speed control. In this paper a new method of controlling technique based on Artificial Neural Network is proposed to improve the speed control of indirect vector controlled induction motor drive. Indirect vector controlled induction motor with conventional PI controller is developed and is replaced with Fuzzy logic controller to overcome the problem of overshoot occurred in conventional PI controller. To obtain quick steady state response and better speed control, ANN technique is proposed and implemented using MATLAB/Simulink. In this paper the speed, torque and stator voltage responses with conventional PI controller, Fuzzy logic controller and proposed artificial neural network based controller are compared and found that the proposed ANN based controller showed increased dynamic performance. Keywords: ANN, FLC, PI controller, IVCIM
OPTIMAL TORQUE RIPPLE CONTROL OF ASYNCHRONOUS DRIVE USING INTELLIGENT CONTROL...elelijjournal
The dynamic performance of an asynchronous machine when operated with cascaded Voltage Source Inverter using Space Vector Modulation (SVM) technique is presented in this paper. A classical model of Induction Motor Drive based on Direct Torque Control (DTC) method is considered which displays
appreciable run-time operation with very simple hysteresis control scheme. Direct control of the torque and flux variables is achieved by choosing suitable inverter voltage space vector from a lookup table. Under varying torque conditions the performance of the drive system is verified using MATLAB/Simulink software tool. The ripple content in the torque parameter is significant when traditional PI controller and Fuzzy approach are configured in the proposed system. Finally, by replacing the PI-Fuzzy controller with Hybrid Controller the torque ripple minimization can be achieved during no-load and loaded conditions.
Dynamic Simulation of Induction Motor Drive using Neuro Controlleridescitation
Induction Motors are widely used in Industries, because of the low maintenance
and robustness. Speed Control of Induction motor can be obtained by maximum torque and
efficiency. Apart from other techniques Artificial Intelligence (AI) techniques, particularly
the neural networks, improves the performance & operation of induction motor drives. This
paper presents dynamic simulation of induction motor drive using neuro controller. The
integrated environment allows users to compare simulation results between conventional,
Fuzzy and Neural Network controller (NNW).The performance of fuzzy logic and artificial
neural network based controller's are compared with that of the conventional proportional
integral controller. The dynamic Modeling and Simulation of Induction motor is done using
MATLAB/SIMULINK and the dynamic performance of induction motor drive has been
analyzed for artificial intelligent controller.
Comparing of switching frequency on vector controlled asynchronous motorijscai
Nowadays, asynchronous motors have wide range use in many industrial applications. Field oriented
control (FOC) and direct torque control (DTC) are commonly used methods in high performance vector
control for asynchronous motors. Therefore, it is very important to identify clearly advantages and
disadvantages of both systems in the selection of appropriate control methods for many industrial
applications. This paper aims to present a new and different perspective regarding the comparison of the
switching behaviours on the FOC and the DTC drivers. For this purpose, the experimental studies have
been carried out to compare the inverter switching frequencies and torque responses of the asynchronous
motor in the FOC and the DTC systems under different working conditions. The dSPACE 1103 controller
board was programmed with Matlab/Simulink software. As expected, the experimental studies showed that
the FOC controlled motors has a lessened torque ripple. On the other hand, the FOC controlled motor
switching frequency has about 65-75% more than the DTC controlled under both loaded and unloaded
working conditions
1. International Journal of Research in Advent Technology, Vol.2, No.4, April 2014
E-ISSN: 2321-9637
172
Comparative Analysis of Indirect Vector Control of Induction
Motor Drive using PI and PID Controllers
Manoj Kumar Behera1, Pabitra Kumar Behera2, Asst.Prof.Amit Kumar Sahoo3
Electrical and Electronics Engineering1,2,3,Centurion Institute of Technology, Bhubaneswar, India1,2,3
Email: m4manoj079@gmail.com1
Abstract-The most common type of speed controller to be used the speed control of induction motor is conventional proportional
integral (PI) controller. But this paper presents a performance based on comparative study of conventional proportional integral (PI)
controller and proportional integral derivative (PID) controller. The induction motor well known as its robustness, relatively low
cost, good reliability and efficiency. But induction motor also characterized by complex, highly non-linear and time varying
dynamics. Hence their speed control is challenging problem in the industry. The approach of vector control techniques has solved
induction speed control problems. Simulation is carried out in MATLAB/Simulink environment and results are compared for speed
control of induction motor PI controller and with PID controller.
Index Terms-Convectional PI controller; Conventional PID controller; Squirrel cage induction motor;Indirect vector control
technique.
1.INTRODUCTION
Induction motors has many application in industry
because of their low maintenance, robustness and
high performance. The speed control of induction
motor is more important to achieve maximum torque
and efficiency. In recent years, the control of the
induction motor drive is an active research area for
engineering science. And the technology has further
advances in drives field. Generally, the control and
estimation of ac drives ware significantly more
complex than the dc drives, and this complexity
increases to a large extent if the high performances
are demanded. The need of multiple frequency,
machine parameter variations, and the difficulties of
processing feedback signals in the presence of
harmonics create the complexity [9].
Vector control techniques are now being accepted
widely for high performance control of induction
motor drive. In particular, the indirect vector control
is considered to be the most practical scheme because
of the various advantagesand higher reliability for
speed control. However, the speed controller of such
a system plays an important role in drive system
performances, and the decoupling characteristics
ofvector–controlled induction motor are affected by
the parameters variation [1].
In most of industrial drive control applications, the
standard method to control squirrel cage induction
motors is based on the field-oriented or vector control
principle in order to achieve the best dynamic
behaviors of the system. There are essentially two
general methods of vector control. One is called the
direct or feedback method, and the other is the
indirect or feed forward method [8]. Indirect vector
controlled (IVC) induction motor (IM) drives used in
high performance systems is very popular in
industrial applications due to their relative simple
configuration, as compared to the direct method
which requires flux and torque estimator. The
primary advantages of indirect vector control are the
decoupling of torque and flux characteristics and easy
implementation in industry.In an indirect vector
control induction motor drive, the flux and torque
commands are calculated from the IM variables
based on machine parameters. It is desirable that
those parameters match the actual parameters of the
machine at all operating conditions to achieve
decoupling control of the machine [8].
The speed control issues are traditionally solved by
fixed–gain proportional integral (PI) or proportional
integral derivative (PID) controller [2] [4]. The fixed
gain controllers are very sensitive to motor
parameters variation, load disturbance, inertia
variation, etc. Induction motor can be controlled with
2. International Journal of Research in Advent Technology, Vol.2, No.4, April 2014
E-ISSN: 2321-9637
173
e the help q
of both e q
conventional PI controller and
conventional PID controller with the use of vector
control technique. Because the of major advantages
of vector control, this method of control will drive
out scalar control, and this will be accepted as the
industry-standard control for ac drives [3]. PID
controllers are widely used in different industries for
control of different plants and have a fair
performance. The conventional proportional integral
controller increases the order of the system, improves
damping, eliminate maximum overshoot and increase
the rise time. But the proportional integral controller
can never achieve perfect control, that is, keep the
speed of induction motor continuously at a desired
set point value in the presence of disturbance or set
point change. Therefore, we need an advance control
technique such as PID controller [6].
In this article we will discuss the performance based
on comparative study of both conventional PI and
conventional PID controller. Finally we will present
the simulation result for speed control of induction
motor using both PI and PID controller and a brief
discussion.
2. INDIRECT VECTOR CONTROL
The invention of vector control in the beginning of
1970s, and the demonstration that an induction motor
can be controlled like a separately excited dc motor,
brought a revival of in the high performance control
of ac drives [5].The indirect or feed forward method,
was invented by Hasse [1]. The indirect vector
control method is essentially the same as the direct
vector control, except the unit vector signals ( cos and sin )are generated in indirect or feedforward
r q
manner [1]. The unit vector is generated using the
measured rotor speedωr and the slip speed ωsl .The
field orientation was made according to the rotor flux
vector of induction motor. The magnitude of the rotor
flux is obtained using a flux observer, but the
frequency of the rotor field is neither computed nor
estimated but it is imposed depending on the load
torque value i.e. the slip frequency, and then
integrated to obtain the imposed rotor flux position
(angle ).
Fig.1 shows the phasor diagram of indirect vector
controlled induction motordrive; here the principle of
indirect vector control with the help of phasor
diagram is explained.
Fig.1 Phasor diagram of indirect vector control of induction motor
The phasor diagram, the d s - qs axes are fixed on the
stator and the d r - qr axes are fixed on the rotor, are
moving at speed r w
as shown fig.1.Synchronously
rotating reference frame axes d e - qe are rotating
ahead of the d r - qr axes by the positive slip angle sl q
corresponding to the slip frequency sl w .The
mathematical model of induction motor is given
below:
( ) e e r sl r sl q = ∫w dt = ∫ w +w dt =q +q (1)
The rotor circuit equations
y + y - -w y = (2)
d R L
dr r m 0
dr r ds sl qr
r r
R i
dt L L
y
d R L
+ y - +w y = (3)
0 qr r m
qr r qs sl dr
r r
R i
dt L L
The phasor diagram states that for decoupling
control, the stator flux component of current ds i
should be aligned on the d e axis, and the torque
component of current qs i should be on the qe axis,
that lead to 0 qr y = and dr r y =y . So the total rotor flux
r y
is directs on the d e axis.
Substituting the above condition in equations (2) and
(3), we get
y +y = (4)
L d
m r
r m ds
r
L i
R dt
Then the slip frequency can be calculated as:
L R
= m r
(5)
sl qs
r r
i
L
w
y
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174
The slip gain is
*
L R
w
= sl = m r
(6)
*
s
qs r r
K
i L
y
It is found that the ideal decoupling can be achieved
if the above slip angular speed command is used for
making field orientation. The constant rotor flux r y
and r 0 d
y = can be substituted in equation (4), so
dt
that the rotor flux set as:
r m ds y = L i (7)
The electromagnetic torque developed in the motor is
given by
3
2 2
= m
y (8)
e r qs
r
P L
T i
L
3. CONVENTIONAL PI CONTROLLER
The PI controllers are widely used in industries for
the speed control of induction motor drive. The PI
controller produces an output signal consisting of two
term signals and the other proportional to the integral
of inputsignal. The combination of proportional and
integral terms is important to increase the speed of
the response and also to eliminate the steady state
error. The process control application more than 95%
of the controller is PI type. The block diagram of PI
controller shown in fig.2.
Fig.2 Block diagram of PI controller
The transfer function of PI controller is:
C G = P + I
= + I
(9)
C P
K
G K
s
The proportional and integral term is given by:
( ) ( ) ( ) p I u t = K e t + K ∫e t dt (10)
4. CONVENTIONAL PID CONTROLLER
The PID controller is ubiquitous in industry. The
conventional PID controller gives better
performances of dynamic responses. A PID controller
calculates an error value e (t ) as the difference
between the measured process value y (t ) and the
desired set point r (t ) .
e(t ) = r (t ) - y (t ) (11)
The PID controller also called as three time control
i.e. the proportional the integral and derivative value
which is the denoted by P, I and D. Here the three
controllers are assembled.Fig.3 shows block diagram
of PID controller.
Fig.3. Block diagram of PID controller
The error value is influence by the PID controller to
produce a command signal for the system given by:
( ) ( ) ( ) ( )
= + ∫ + (12)
p i d
de t
u t K e t K e t dt K
dt
The transfer function of PID controller is:
C G = P + I + D
= + i
+ (13)
K
G K K s
C p d
s
5. MATLAB SIMULATION MODEL OF
INDIRECT VECTOR CONTROL OF
INDUCTION MOTOR DRIVE
The speed performance of induction motor drive is
checked first conventional PI controller and then with
help of PID controller. The simulation model is same
as for both conventional PI and PID controllers. Only
the speed controller block is changed in conventional
PI controller and PID controller respectively. Herethe
reference speed taken as 120.The simulationmodel is
developed in the MATLAB which is shown in fig.4.
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E-ISSN: 2321-9637
175
pulse generator
Flux Calculation
Constant
TORQUE
<Iabc(A)>
IGBT Inverter
1
Tm
Fig.4 Simulation model of indirect vector of induction motor drive using PI and PID controllers
6. SIMULATION RESULTS
The simulations are carried out in MATLAB
environment and the results are detected for the speed
versus time. The speed response of induction motor is
checked for both conventional PI and PID controllers
which is shown in fig.5 and 6.
(a) Speed
(b) Torque
Fig.5 Performance of indirect vector controller of induction motor
using PI controller with reference speed 120 rad/sec (a) Speed, (b)
Torque
(a) Speed
(b) Torque
iabcpi
Fig. 6 Performance of indirect vector control of induction motor
using PID controller with reference speed 120 rad/sec (a) Speed,
(b) Torque
To improve speed performance of induction motor
we use the PID controllerbecause the steady state
error is eliminated and the rise time is improved.
Discrete,
Ts = 2e-006 s.
powergui
0.96
phi*
v +-
Vab
z
Torque Step
Torque Selection
iapi
tpi
tepi
wpi
wmpi
Phi
wm
Iq
Teta
Teta
Calculation
iabc
iabc*
pulses
w*
w
Te*
Speed Step Speed control ler
Scope
References
speed
selection
Te*
Phi
Iq*
Iq*
Calculation
g
A
B
C
+
-
Phi id
0
120
Constant
Speed
Clock
m
A
B
C
Asynchronous Machine
SI Uni ts
Iabc
Theta
Id
Iq
ABC to DQ
Transformation
1/34.7e-3
1/Lm
Theta
Id*
Iq*
Iabc*
DQ to ABC
Transformation
<Rotor speed (wm)>
<Electromagnetic torque Te (N*m)>
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176
7. COMPARISION
The main purpose of this paper is to control the speed
of induction motor.PID controller is better to improve
the speed performance of induction motor. The speed
of induction motor using PID controller settled earlier
to compare to PI controller. The comparative results
are also reported in the table below.
Parameters PI controller PID controller
Speed 120 rpm 120 rpm
Settling Time 0.912 sec 0.368 sec
Rise Time 0.352 sec 0.338 sec
Peak Time 0.368 sec 0.339 sec
Table I. Comparison of speed of induction motor, PI controller and
PID controller
8. CONCLUSION
This paper has successfully demonstrated a properly
carried out PI and PID controllers. We have studied
and compared two controllers for speed control of
indirect vector control of induction motor drive. And
the results are checked and compared. From the
comparison of speed of induction motor using PID
controller that, the PIDcontroller gives better
speedresponse in terms of settling time, rise time and
steady state error.
8. APPENDIX
The three phase squirrel cage 50hp, 460V induction
motor specifications:
Parameters Symbol Value
Supply
F 50Hz
Frequency
Voltage V 460V
Stator Resistance Rs 0.087ohm
Stator Inductance Ls 0.0008H
Rotor Resistance Rr 0.228ohm
Rotor Inductance Lr 0.0008H
Mutual
Inductance
Lm 0.347H
Inertia J 1.662 Kg.m2
Friction Factor F 0.12 N.m.s
Poles P 4
Table II. Induction motor parameters
REFERENCES
[1] Bose B.K. (2008) "Modern power electronics and
ac drives "Prentice-Hall OJ India, New Delhi.
[2] Boshi C. (2003), Electrical Drive Control System,
Beijing: China machine.
[3] Gopal M. (1993), “Modern Control System
Theory”, 2nd ed., Wiley Eastern Ltd.
[4] HuadeL. (2005), AC drive system, Beijing: china
machine.
[5] JoshiDheeraj and GillMegha (2013),
“Comparison of Vector control techniques for
induction motor drive”, Indian Journal of Electrical
and Biomedical Engineering, Vol. 1,Number 1,
January-June, pp. 17-27.
[6] Krishnan, R. (2001) “Electric Motor Drives,
Modeling, Analysis and Control”, 1st ed., Singapore:
Pearson Education.
[7] KumarVinod and JoshiR.R (2005), “Hybrid
controller based Intelligent speed control of Induction
motor”, Journal of Theoretical and Information
Technology , Vol.3 no.1, pp. 71-75.
[8] MhaisgwaliMadhavi L. and Muley S.P.
“Induction motor speed control using PID
controller”, International Journal of Technology and
Engineering Science, vol.1 (2), pp.151-155. ISSN:
2320-8007.
[9] MishraAshutosh and ChoudharyPrasant (2012),
“Speed control of an Induction motor by using
Indirect vector control method”, International Journal
of Emerging Technology and Advanced
Engineering,Vol.2, Issue 12, December.
NOTATIONS
de - qe Synchronously rotating reference frame (or
rotating frame) direct and quadrature axes
d s - qs Stationary reference frame direct and
quadrature axes
s
qs i qs -axis rotor current(Ampere)
s
ds i ds -axis stator current
qr i qe -axis rotor current
qs i qe -axis stator current
J Moment of inertia (Kg-m2)
e q
Angle of synchronously rotating frame ( ew t )
r q
Rotor angle
sl q Slip angle
m L Magnetizing inductance
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E-ISSN: 2321-9637
177
r L Rotor inductance
lr L Rotor leakage inductance
ls L Stator Leakage inductance
P Number of Poles
r R Rotor resistance (ohm)
s R Stator resistance
e T Developed torque (Nm)
r y
Rotor flux linkage
s
y dr ds -axis rotor flux linkage
s
ds y ds -axis stator flux linkage
qr y qe -axis rotor flux linkage
qs y qe -axis stator flux linkage
r w
Rotor electrical speed
sl w Slip frequency
p K Proportional gain
i K Integral gain
d K Derivative gain
.