Implementation of Vector Controlled Drive

IPASJ International Journal of Electrical Engineering (IIJEE)
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ISSN 2321-600X
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Volume 3, Issue 7, July 2015
IMPLEMENTATION OF VECTOR
CONTROLLED DRIVE
1
Ravi Maloth , M.C.Shekar2
ABSTRACT
Vector control is becoming the industrial standard for induction motor control. The vector control technique decouples the two
components of stator current space vector: one providing the control of flux and the other providing the control of torque. The
two components are defined in the synchronously rotating reference frame. The vector control technique is therefore a better
solution so that the control on flux and torque become independent from each other and the induction motor is transformed
from a non-linear to linear control plant.
I.INTRODUCTION
The squirrel cage induction motor being simple, rugged, and cheap and requiring less maintenance, has been widely
used motor for fixed speed application. So with the implementation of vector control, induction motor replaces the
separately excited dc motor. Modern method of static frequency conversion has liberated the induction motor from its
historical role as a fixed speed machine. The inherent advantages of adjustable frequency operation cannot be fully
realized unless a suitable control technique is employed. The choice of technique is vital in determining the overall
characteristics and performance of the drive system. Also the power converter has little excess current capability;
during normal operation the control strategy must ensure that motor operation is restricted to the regions of high torque
per ampere, thereby matching the inverter ratings and minimizing the system loses. Overload or fault conditions must
be handled by sophisticated control rather than over design.
Now a days more than 60% of all the electrical energy generated in the world is used by cage induction machines have
been mostly used at fixed speed for more than a century. On the other hand, D.C machines have been used for variable
speed applications. In DC machines mmf axis is established at 90 electrical to the main field axis. The electromagnetic
torque is proportional to the product of field flux and armature current. Field flux is proportional to the field current
and is unaffected by the armature current because of orthogonal orientation between armature mmf and field mmf.
Therefore in a separately excited DC machine , with a constant value of field flux the torque s directly proportional to
the armature current. Hence direct control of armature current gives direct control of torque and fast response. Hence
they are simple in control and offer better dynamic response inherently. Numerous economical reasons, for instance
high initial cost, high maintenance cost for commutators, brushes and brush holders of DC motors call for a substitute
which is capable of eliminating the persisting problems in dc motors. Freedom from regular maintenance and a
brushless robust structure of the three phase squirrel cage induction motor are among the prime reasons, which brings
it forward as a good substitute.
The ac induction motors are the most common motors used in industrial motion control systems, as well as in main
powered appliances. Simple and rugged design, low cost and low maintenance are some of the main advantages of 3phase ac induction motors. Various types of induction motors are available in the market. Different motors are suitable
for different application. The speed and torque control of 3 phase induction motors require great understanding of the
design and characteristics of these motors.
II BRIEF THEORY OF VECTOR CONTROL (FIELD ORIENTED CONTROL)

The control of separately-excited dc machines is straightforward due to the inherent decoupled nature between flux and
torque. As a consequence, torque linearization can be obtained easily by armature current control with constant field
flux .DC motors have been widely used in high performance domains such as robotics, rolling mills and tracking
systems where fast dynamic torque control is required. AC machines are always preferable to dc machine due to their
simpler and more robust construction; there are no mechanical commutators. However, the electrical structures of ac
machines are highly nonlinear and involve multivariable inputs and outputs. Therefore, additional effort is required to
decouple and linearize the control of these machines. In practice, intricate control algorithms are involved if ac drives
have to match the dynamic performance of dc drives. Due to advancements in microelectronics and power electronics,
high performance control of ac motors can now be implemented at a reasonable cost. This technological breakthrough
has stimulated in turn the application of sophisticated control algorithms and the widespread use of ac drives in high
performance domains. [2][10].
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The realization of fast decoupling control requires that both the magnitude and phase of the machine currents be
controlled accurately. Depending on the design philosophy and the type of ac machine, there can be many different
approaches to synthesize the machine currents to provide fast decoupling control. Among the different approaches of
torque and flux decoupling control techniques, the emerging consensus is that the method of field-orientation yields the
best overall performance. The field-oriented control (F.O.C.) is by far the most widely accepted method of control in
high performance ac drive domains. While F.O.C. represents a single, unified control concept, the application
strategies, complexity of implementation and drive responses vary with different drive motors.
The principle behind the field oriented control or the vector control is that the machine flux and torque are controlled
independently, in a similar fashion to a separately excited DC machine. Instantaneous stator currents are transformed
to a reference frame rotating at synchronous speed aligned with the rotor stator or air gap flux vectors, to produce a daxis component current and a q-axis component current. (SRRF).In this work, SRRF is aligned with rotor mmf space
vector, the stator current space vector is split into two decoupled components, one controls the flux and the other
controls the torque respectively
An induction motor is said to be in vector control mode , if the decoupled components of the stator current space vector
and he reference decoupled components defined by the vector controller in the SRRF match each other
respectively..Alternatively, instead of matching the two phase currents (reference and actual) in the SRRF, the close
match can also be made in the three phase currents (reference and actual) in the stationary reference frame. Hence in
spite of induction machines non linear and highly interacting multivariable control structure, its control has becomes
easy with the help of FOC. Therefore FOC technique operates the induction motor like a separately excitedly DC
motor.
The transformation from the stationary reference frame to the rotating reference frame is done and controlled by with
reference to specific flux vector (stator flux linkage, rotor flux linkage) or magnetizing flux linkage). In general, there
exits three possibilities for such selection and hence, three vector controls. They are stator flux oriented control, rotor
flux oriented control and magnetizing flux oriented control. As the torque producing component in this type of control
is controlled only after transformation is done and is not the main input reference, such control is known as indirect
torque control. The most challenging and ultimately, the limiting feature of field orientation is the method whereby the
flux angle is measured or estimated. Depending on the method of measurement, the vector control is sub divided into
two sub categories: direct vector and indirect vector control. In direct vector control, the flux measurement is done by
using flux sensing coils or the hall devices.
FOC uses a d-q coordinates having the d-axis aligned with rotor flux vector that rotates at the stator frequency. The
particular solution allows the flux and torque to be separately controlled by the stator current d-q components. The rotor
flux is a flux of the d-axis component stator current i ds .The developed torque is controlled by the q axis
component of the stator current
iqs .The decoupling between torque and flux is achieved only if the rotor flux position
is accurately known. This can be done using direct flux sensors or by using a flux estimator.
II.I Types of Vector control techniques of induction motor
The synchronously rotating reference frame (SRRF) can be aligned with the stator flux or rotor flux or magnetizing
flux (field flux) space vectors respectively. Accordingly, vector control is also known as stator flux oriented control or
rotor flux oriented control or magnetizing flux oriented control. Generally in induction motors, the rotor flux oriented
control is preferred. This is due to the fact that by aligning the SRRF with the rotor flux, the vector control structure
becomes simpler and dynamic response of the drive is observed to be better than any other alignment of the SRRF.
The vector control can be classified into (i) Direct vector control and (ii) indirect vector control.
(i)Direct vector control method
In direct vector control method we have seen that it determines the magnitude and position of the rotor flux vector by
direct flux measurement or by a computation based on terminal conditions. It also called flux feedback control is
method in which required information regarding the rotor flux is obtained by means of direct flux measurement or
estimation. The flux is measured by the sensors like Hall Effect sensor, search coil and this is a part of the
disadvantages. Because fixing of number of sensors is a tedious job and this increases the cost factor. [2]
.The quantities generated from flux sensors are used in the outer loop of the drive control structure. Alternatively, in
place of flux sensors, the flux models can also be used for which the stator currents and voltages become the feedback
signals and he rotor flux angle is given as its estimated output.
Figure.2 shows a simplified block diagram of a field control scheme .the two axis reference currents, i qs and i ds are
the demanded torque and flux components of stator current, respectively and are governed by the outer control loops.
Currents, i qs and i ds , undergo a coordinate transformation to two phase stator based quantities, followed by two
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phase to three phase transformation which generates the stator reference currents
i as
, i bs , i cs
.These reference
current are reproduced in the stator phases by the current controlled PWM inverter .[2]
Figure-2: Basic field oriented control system for an induction motor with a current controlled PWM inverter.
Thus the external reference currents i qs and i ds are reproduced within the induction motor. Control is executed in
terms of these direct and quadrature axis current components to give decoupled control of flux and torque as in a dc
machine
Disadvantages
1. Fixing of number of sensors is a tedious job.
2. The sensors increase the cost of the machine.
3. Drift problem exist because of temperature.
4. Poor flux sensing at lower temperatures.
These disadvantages lead to another technique called in-direct vector control technique
(ii)In-direct vector control Method
The motor speed is used as feedback signal in the controller. The controller calculates reference values of the two
decoupled components of stator current space vector in the SRRF which are iqs* and ids* for the control of torque and
flux respectively. [2] The two components of the currents are transformed into three phase currents which are ias*,ibs*,ics*
in the stationary reference frame of reference. Now as a balanced load, two of the phase currents are sensed and the
third one is calculated from the two sensed currents. The current controller controls the reference currents close to
sensed three phase currents in the stationary reference frame and operates the voltage source inverter to feed three
phase induction motor. This ensures a high level of performance of the vector controlled induction motor
(VCIMD).Because of the smooth, efficient and maintenance free operation of VCIMDs, such drives are finding
increasing applications in many drive application s such as air conditioning, refrigeration, fans blowers, pumps, waste
water treatment plants ,elevators, lifts traction motors, electric vehicles, etc[2][7]
The field-weakening controller receives the speed signal ( r ) as an input signal and provides reference value of the
excitation current ( i mr * ) as an output signal. Therefore the two signals are the reference signals for the vector
controller. In the vector controller the d-axis component ( i ds ) and the q- axis component ( i qs ) of the stator current
signals are computed which are responsible for the flux and torque control respectively. The slip frequency signal
( 2 * ) is also computed in vector controller to evaluate the flux angle. The slip angle is computed using slip
frequency (
*
2
), rotor speed (
) and sampling period ( T ).These signals of flux ( i ds
and torque ( i qs ) are
in the synchronously rotating reference frame and these are transformed into stationary reference three phase currents
*
*
*
( i as * , i bs * , i cs * )For current controlled VSI fed vector controlled induction motor, the reference currents i as , i bs , i cs
and sensed currents ( i as , i bs , i cs ) are fed into the pulse width modulated (PWM) current controller. A triangular carrier
wave is generated at the required switching frequency (fs). The point of intersection of the triangular carrier wave and
modulating signals acts as the point of state change over for the resulting PWM signals, which are fed to the driver
circuit of VSI feeding an induction motor[2][7]
The indirect vector controlled induction motor is reshown in figure.3 below with blocks consists of the speed sensor,
speed controller ,limiter, the field weakening controller , the two phase rotating frame to three phase stationary frame
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converter, PWM current controller, CC-VSI and three phase squirrel cage induction motor. The functions are described
as follows
Figure.3: Indirect vector control of induction motor drive.

II.II Modeling of Vector Controlled Induction Motor Drive
The mathematical model used in this simulation work consists of equations expressed in terms of real operating
variables of the motor such as winding currents and voltages. Therefore, the simulated results obtained from the model
represent the response of the real time vector control induction motor drive. In order to facilitate an easy understanding
of the model and working of VCIMD, a detailed description of drive system is presented. As the vector controlled cage
motor drives are normally fed from a current controlled voltage source inverter, the working of this particular source is
also described. The Matlab model of the vector controlled 30 HP induction motor drive is given in figure.4
Discrete,
Ts = 1e-006 s
powergui
Puls es
is_abc
DC +
A
DC Voltage Source
i
a
DC -
Tm
A
b
C
C
C
Te
Te*
Demux
Field orientation and

reference current generation
is_abc
Pulses
current
measurement
w* is_abc*
wm
1
z
time
Clock
speed ref
Figure.4: Matlab model of the vector controlled 30 HP induction motor drive

Speed controller
The measured speed ( r ) is compared with the set reference speed ( r * ) in the error detector and the resulting
output is known as speed error
( e ) is processed in the speed controller. The output of the controller is the control
signal for the torque command ( T ). The command input may be positive or negative depending upon the set
reference speed and the motor shaft speed. The speed error ( e ) is processed in the speed controller which may be of
different types depending upon the required dynamic performance of the drive. And accordingly the controller is used.
Here in this work the proportional speed controller has been used, followed by limiter. The torque value is fed to the
limiter which gives the final limited reference torque. The speed error at any nth instant of time is given as
re ( n ) r ( n ) r ( n )
Where,
r (n)
: Reference speed of the motor.
r (n)
: Actual speed of the motor

Proportional Integral (PI) speed controller:The PI speed controller is the simplest speed controller compared to any other speed controller. The general block
diagram of he PI speed controller is shown in figure below.
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The output of the speed controller at nth instant is expressed as follows:
Tn Tn1 K p{re(n) ren1} Kiren

Where
Tn : torque output of the speed controller at the nth instant.
Kp and Ki are proportional and integral gain constants .
re n1
: speed error at (n-1) at instant

The MATLAB/simulink model diagram of the PI controller in discrete time is shown in figure 5. As seen in figure,
using the proportional and integral gain parameters namely, Kp and Ki respectively along with the limiter, the
reference torque is calculated in accordance to the motor rating used.
1
w*
2
w
Kp
1
Gain 1
z
Unit Delay
1
Te *
Ki
Gain
Unit Delay 1
1
z
Figure.5: The MATLAB/simulink model diagram of the PI controller

When the drive operates in the transient conditions such as starting, reversing or load application or load removal the
speed controller output (T) may be very high value to achieve the steady state condition of the drive as fast as possible,
as, a result the controller output signal (T) may become quite high and in some cases it may become higher than the
breakdown torque of the motor. Such a situation may be rather dangerous for the motor and may take the drive into
instability. In order to avoid certain circumstances, it becomes very much necessary to apply certain limit on the
output of the speed controller .The output of the speed controller after the limit is considered as the reference torque(T*)
to the vector controller and used to obtain the value of stator current torque component of the stator current space
vector. As a result the limit of the torque also ensures over current protection to the drive.
Field weakening controller
The field weakening operation of a VCIMD is similar to the field controller of a separately excited dc motor. This
operation is implemented when the drive speed is controlled above the base speed. The input to the field weakening
controller is the feedback speed of the motor. The output of the controller is the excitation current. Below the abase
speed the excitation current remains constant. Above the based speed the excitation current varies in inverse proportion
to the speed. [13-14]
i mr
i mr
i mr
=Kf i m /
if
= im
if
< base speed
>= base speed
Where Kf is flux constant.
is the excitation current,
i m is the magnetizing current,

r is the feedback speed of the motor,
is the base speed of the motor.
Vector controller
The output of the speed controller after limiting is taken as the reference torque ( T * ) and output of field weakening
controller ( i mr * ) is taken as reference flux for the vector controller. These two command signals are taken as input to
the vector controller for calculating the torque component ( i qs ) and the flux component ( i ds
the slip frequency ( 2 ).The torque ( i qs ) and the flux components ( i ds
) And also to calculate
) are the respective decoupled components
of the stator current ( i s ) in the synchronously rotating reference frame.
Estimation of i ds , iqs
and
*
2
The vector controller block is the heart of the entire modeling of the vector
controlled induction motor drive. This section calculates the direct and quadrature axis stator components
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ISSN 2321-600X
( i ds and i qs ) in the synchronously rotating reference frame (SRRF) aligned with rotor inclined at flux angle ( )
with respect to stationary reference frame. [15]
Mathematically these equations for calculating these two components of the current are given as follows:
*
*
i ds n = i mr n + r di mr Eq(1)
dt
*
i qs n = T n Eq(2)
*
Ki
mr
n
r i mr n
i
2 * n = qs
Where,
is the rotor time constant defined
Eq (3)
as
r=L
K= 3 p M

2
2
1
Rr
P is the number of poles, i ds n and iqs n refer to flux and torque components of stator current at nth instant,
th
2 * n refer to n instant reference slip frequency, M is the mutual inductance , r is the rotor leakage factor and Lr
is the rotor self inductance and is defined as
Lr Llr Llm Eq (4)
Lr 1 r M ..Eq (5)
And
r r 1
M
where M= 3 L , Lm is the magnetizing inductance

m
2
The MATLAB model for the estimation of parameters is shown in figure 6.

2
imr
1
ids
-K-
du /dt
Derivative
Tr
1
T
0 .1209
u [1]/(u[ 2]*u [3])
Fcn
0.17296
2
iqs
u[ 1]/(u[2 ]*u[ 3])
Tr 1
3
w2
Fcn1
Figure.6: The MATLAB model for the estimation of parameters

Two phase rotating frame to three phase stationary frame converter
Two phase rotating frame to three phase stationary frame converter transforms the two decoupled components of stator
current namely, ( i ds and i qs ) in synchronously rotating reference frame into three phase currents namely i as * , i bs *
and
ics
in three phase stationary reference frame. The conversion process requires the flux angle ( ), which is
calculated by the integration of the synchronous speed. Synchronous speed is obtained by addition of slip speed
( 2 * ) and motor speed ( r )
Transformation equations can be written as follows:
*
*
*
i as i qs sin i ds cos .....Eq(6)
*
* 1
* 1 .........Eq(7) i cs
ibs cos 3 sin ids sin 3 cos iqs
2
i as i bs
..Eq(8)
III. Results
The simulation has been performed for 30 HP induction motor fed by an IGBT inverter for starting, speed reversal and
load perturbation is shown in the figure 7.
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ISSN 2321-600X
Figure.7: the simulation response for vector controlled induction motor

Starting Dynamics
The induction motor is fed from a controlled voltage and frequency source. Initially the motor is started at low
frequency and finally runs at the set reference value. In this work the reference speed is set at 250 electrical rad/sec as
the base speed is 314 electrical rad/sec.The torque limit is set at twice the rated value and hence the starting current is
limited within twice the rated value when the motor builds up the required starting torque.When the speed error
reaches nearly zero rad/sec, theh winding current also reduces to no load value and the developed torque equals the
load torque as observed in the response shown in figure 8.
Figure.8: Starting Dynamics

Reversal Dynamics
When the reference speed is changed from 250 rad/sec to -250 rad/sec, the motor tends to run in the reverse direction.
When the controller observes this change, it first reduces the frequency of the stator currents demonstrating the
regenerative braking followed by the phase reversal for starting the motor in the reverse direction. As the drive is in the
same dynamic state (on no load) just before and after the reversal of the phenomena, the steady state values of the
inverter currents are observed to be the same in either directions of the rotation of the motor. However the phase
sequence of these currents in two directions will be different.
The following result is being obtained by simulation given in figure.9
Figure.9: Reversal Dynamics
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Load Perturbations
The study of the performance of the vector controlled induction motor drive under load perturbation is really
important as the speed of the motor should not change under any load condition. The analysis is done by applying load
and removing the load on the motor when it is running at a steady speed of 250 rad/sec. Sudden application of load on
the rotor causes an instantaneous fall in the speed of the motor. In response to this drop in speed value, the output of the
controller responds by increasing the reference torque value. Therefore, the developed electromagnetic torque of the
motor increases causing the motor speed to settle down to the reference speed with the increased winding currents
Similarly when the load is removed suddenly from the motor, a small overshoot in the speed of the motor occurs.
Because of this small increase in speed, the torque output of the speed controller reduces thereby reducing the speed of
the motor. Thus the motor settles down at the reference speed value. In this manner the controller keeps the motor
running at a constant speed under the load variations. The performance has been verified by t analyzing the response to
a step variation of the load torque from 0 to rated torque and rated torque to 0.the response is shown in figure.10.
Figure.10: load Perturbations

Experimental Results
Tests performed on motors having parameters given below:
Parameters -I
Type: squirrel cage induction motor
Phase: 3 Power : 1HP Voltage : 415 Current : 1.7A Poles: 4
Frequency : 50Hz
Equivalent circuit parameters
Stator resistance per phase : 9.07
Rotor resistance per phase : 9.39
Stator reactance per phase : 12.04
Rotor reactance per phase : 12.04 Magnetizing reactance per phase: 210.999
Moment of inertia: 0.0018Kgm2
Parameters -II
Type: squirrel cage induction motor
Phase : 3 Power : 1HP Voltage : 415 Current : 2.2A Poles : 8 Frequency: 50Hz
Equivalent circuit parameters
Stator resistance per phase: 1.67 Rotor resistance per phase: 19.06 Stator reactance per phase: 9.13
Rotor reactance per phase: 9.13 Magnetizing reactance per phase: 201.944
Moment of inertia:0.00185
Kgm2
Simulation is being performed with the help of the above parameters and the following responses are obtained given in
figure.11 and figure.12
Figure.11: Matlab responses with the parameters obtained from motor-I
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Figure.12: Matlab responses with the parameters obtained from motor-II

Conclusion
Main characteristics of vector control for induction motor drives are studied by simulation. From the above discussion
it can be concluded that the control of induction motor is very necessary as it is the common motor used in industrial
motor control systems and the requirement of good induction motor drives can be obtained by vector control but there
are certain factors to be considered. Hence a well established induction motor drive which is simple, rugged, low cost
and low maintenance can serve the required purpose. Many authors have published several research papers on the
vector control techniques of induction motor. And studying vector control techniques it is clear that the induction motor
can be controlled as a DC motor and the equivalent characteristics can be obtained. Hence it can be widely used in
variable speed applications.
References
[1]
[2]
[3]
[4]
[5]
P.C.Krause, Electrical machines, Prentice Hall, 1985

J.M.D.Murphy and F.G.Turnbull, Power Electronic control of AC Motors, Oxford Pergamon Press, 1988
P.Vas, Sensor less Vector and Direct Torque Control, Oxford University Press, 1990
Bose.B.K, Modern power electronics and AC Drives, Prentice Hall, 2002
F.Blashke, The Principle of Field Orientation as Applied to the New Transvector Closed Loop Control System for
Rotating-Field Machines, Siemens Review, vol-34, no.3, pp.217-220, May 1972
[6] W.Leonard, Field orientation for controlling Ac machines-Principle and Application University of Braunshweig,
pp.277-282, 1988
[7] Ogasawara, S.; Akagi, H.; Nabae, A.; The generalized theory of indirect vector control for AC machines
Industry Applications, IEEE Transactions May-June 1988 Page(s):470 - 478
[8] R.G.Harley and G.Diana, An Aid for Teaching Field Oriented Control Applied to Induction Machines,
University of Natal, vol.14, 1989
[9] Prof.Don S.Zinger, Field Oriented Control of Induction Motors, University of Akron, Vol-1, pp: 391-396,
1990.
[10] Krishnan, R.; Bharadwaj, A.S.; A review of parameter sensitivity and adaptation in indirect vector controlled
induction
motor
drive
systems,
Power
Electronics,
IEEE
Transactions
on
Vol-6, Page(s):695 703.Oct. 1991
[11] James A. Norris, Vector control of Ac Machines, Motion control specialist, Warner Electric/SEC O. Electronics
Division Lancaster, pp.3/1-3/8, 1993
[12] Dr.E.S.Tez, A Simple Understanding of Field-orientation for Ac Motor Control, Loughborough University of
Technology, pp: (3/1-3/4), 1995.
[13] Ohdachi, Y.; Kawase, Y.; Hirako, M.; Dynamic analysis of vector controlled induction motor using finite
element method, IEEE Transactions, Vol- 31, Page(s):1904 1907.
[14] Krishnan. R.; Review of flux-weakening in high performance vector controlled induction motor drives,
Industrial Electronics, Proceedings of the IEEE International Symposium Page(s):917 - 922 vol-2, 17-20 June
1996
[15] Blasco-Gimenez, R.; Asher, G.M.; Sumner, M.; Cilia, J.; Bradley, K.J.; Field weakening at high and low speed
for sensor less vector controlled induction motor drives Power Electronics and Variable Speed Drives, Sixth
International Conference, Page(s):258 261, 23-25 Sept. 1996.
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AUTHOR
RAVI MALOTH Completed B.tech in Electrical & Electronics Engineering in 2007 from Sree Nidhi
Insttitute of Science & Technology, Hyderabad Affiliated to JNTUH, and M.Tech in System
Engineering & Operation Research in 2010 from IITRoorkee, Working as Associate Professor at
KSHATRIYA COLLEGE OF ENGINEERING, Nizamabad Telangana, India. Area of interest includes
Power Electronics.
M.C.SHEKAR Completed B.tech in Electrical & Electronics Engineering in 2005 from Bapuji
engineering college, Nirmal Affiliated to JNTUH, and M.Tech in Power Engineering in 2009 from
JNTUH, Working as Assistant Professor at KSHATRIYA COLLEGE OF ENGINEERING, Nizamabad
Telangana, India. Area of interest includes Power Electronics.
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IPASJ International Journal of Electrical Engineering (IIJEE)

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A Publisher for Research Motivation........

Volume 3, Issue 7, July 2015

Ravi Maloth , M.C.Shekar2

II BRIEF THEORY OF VECTOR CONTROL (FIELD ORIENTED CONTROL)

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Volume 3, Issue 7, July 2015

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) and sampling period ( T ).These signals of flux ( i ds

and torque ( i qs ) are

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Figure.3: Indirect vector control of induction motor drive.

Field orientation and

Figure.4: Matlab model of the vector controlled 30 HP induction motor drive

: Reference speed of the motor.

: Actual speed of the motor

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A Publisher for Research Motivation........

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The output of the speed controller at nth instant is expressed as follows:

Tn Tn1 K p{re(n) ren1} Kiren

: speed error at (n-1) at instant

Figure.5: The MATLAB/simulink model diagram of the PI controller

< base speed

>= base speed

Where Kf is flux constant.

is the excitation current,

i m is the magnetizing current,

is the base speed of the motor.

the slip frequency ( 2 ).The torque ( i qs ) and the flux components ( i ds

) And also to calculate

) are the respective decoupled components

of the stator current ( i s ) in the synchronously rotating reference frame.

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is the rotor time constant defined

where M= 3 L , Lm is the magnetizing inductance

The MATLAB model for the estimation of parameters is shown in figure 6.

u [1]/(u[ 2]*u [3])

u[ 1]/(u[2 ]*u[ 3])

Figure.6: The MATLAB model for the estimation of parameters

Volume 3, Issue 7, July 2015

IPASJ International Journal of Electrical Engineering (IIJEE)

Volume 3, Issue 7, July 2015

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Figure.7: the simulation response for vector controlled induction motor

Figure.8: Starting Dynamics

Figure.9: Reversal Dynamics

Volume 3, Issue 7, July 2015

IPASJ International Journal of Electrical Engineering (IIJEE)

Volume 3, Issue 7, July 2015