SPEED CONTROL OF INDUCTION MOTOR USING

FUZZY SLIDING MODE OBSERVER TECHNIQUE

A PROJECT REPORT

Submitted by

R.RAVICHANDRAN (14WMEPS003)

in partial fulfillment for the award of the degree

of

MASTER OF ENGINEERING

in

POWER SYSTEMS ENGINEERING

KARPAGAM UNIVERSITY
COIMBATORE-21

MARCH 2017
 ACKNOWLEDGEMENT
When I look back after the successful completion of the project I feel a great sense of
gratitude and pride for having the University has been the inspiration and guiding light
for the confidence that made me successful.

First and foremost I place this project work on the feet of The ALMIGHTY
who is the power of strength in each step of progress towards the successful completion
of this project.

I extend my heartfelt thanks to our Honorable President Dr.R.Vasanthakumar,

Karpagam University, Coimbatore, for his great support with blessings.

I thank our Dean Dr. D.Lakshmanan, Faculty of Engineering, Karpagam

University, Coimbatore, for his encouragement in completion of this project.

It gives me a great pleasure in offering my thanks to Dr. A. Amudha, Professor

and Head, Department of Electrical and Electronics Engineering, Faculty of Engineering,
Karpagam University, Coimbatore, for his constant support and encouragement.

I feel great pleasure in owing sincere thanks to my project guide

Mr.K.Balachander M.E., AssistantProfessor, Electrical and Electronics Engineering for
her constant encouragement and valuable guidance to carry out the project to a great
success.

I would also like to thank all the teaching and non-teaching staff members,
Department of Electrical and Electronics Engineering, Faculty of Engineering, Karpagam
University, Coimbatore.

I also express my thanks to my parent, my friends, and well-wishers for their

encouragement and best wishes in the successful completion of this dissertation.
 KARPAGAM UNIVERSITY
COIMBATORE 641021

BONAFIDE CERTIFICATE

Certified that this project report “SPEED CONTROL OF INDUCTION

MOTOR USING FUZZY SLIDING MODE OBSERVER TECHNIQUE” is
the bonafide work of “R.RAVICHANDRAN (14WMEPS003)” who carried out
the project work under my supervision.

SIGNATURE SIGNATURE
(Head of the Department) (Supervisor)

Dr. A. Amudha Mr.K.Balachander M. E

Professor & Head, Assistant Professor
Dept. of Electrical & Electronics Engg., Dept. of Electrical & Electronics Engg.,
Karpagam University Karpagam University
Coimbatore – 21. Coimbatore – 21.

Submitted for the Project Viva- Voce Examination held on ____________________

INTERNAL EXAMINER EXTERNAL

EXAMINER
 ABSTRACT

With the developments in power electronics, variable speed applications of both DC and

AC machines gained momentum. The variable speed induction motor drives use mainly dc-ac

inverters with pulse width modulation (pwm) techniques to generate a poly-phase supply of a

given frequency. Most of the industrial applications that require good torque, speed or position

control traditionally use DC motors. The latest development in induction motor speed control is

the Sensor less control technique. Controlled ac drives in the case of ‘Sensor less control’

without mechanical sensors for speed (or) motor shaft position have the attraction of lower cost

and high reliability. With the sensor less speed control technique the speed information is

obtained without the use of speed or position sensor.

This work presents accurate electrical parameter estimation such as flux, torque, theta and

speed and then an efficient Fuzzy Logic Controller (FLC) based induction motor control is

proposed. Here no need of speed, torque, flux, rotor position and stator voltage sensors,

alternatively the stator current will be measured by three current transformers (CT’s) with

supporting of mathematical equations above mentioned task is going to be completed.

Keywords

Sliding mode controller, induction motor, fuzzy logic controller, current transformer.

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 TABLE OF CONTENTS

CHAPTER NO TITLE PAGE NO

ABSTRACT
LIST OF FIGURES
LIST OF SYMBOLS
LIST OF ABBRREVATIONS
1. INTRODUCTION 7
1.1 AC MOTOR
1.2 PUMPING SYSTEM
2. LITERATURE REVIEW 10
3. EXISTING METHOD 15
3.1 CONVENTIONAL DTC SYSTEM
4. PROPOSED METHOD 17
4.1 SYSTEM DESCRIPTION
4.2 MODELLING OF INDUCTION MOTOR
4.3 SPEED CONTROLLER AND ESTIMATOR
DESIGN
4.4 Sliding Mode Controller (SMC)
4.5 Fuzzy Sliding Mode Controller (FSMC)
4.6 Rotor Speed Estimation
4.7 SENSOR LESS SPEED ESTIMATION
4.8 SPEED AND TORQUE CONTROL
4.9 HARDWARE LAYOUT OF THE
PROPOSED WORK:
5. RESULTS AND DISCUSSION 25
6. CONCLUSION 35
7. HARDWARE PHOGRAPH 36
8. REFERENCE 37

2 of 38
 LIST OF FIGURES

FIGURE NO TITLE PAGE NO

1.1 PUMPING SYSTEM 9
3.1 CONVENTIONAL DTC SYSTEM 16
4.1 PROPOSED BLOCK DIAGRAM 17
4.2 GENERAL CONTROL SCHEME OF SPEED 19
ESTIMATION BLOCK
4.3 SIMULINK DIAGRAM OF PROPOSED SYSTEM 26
4.4 THREE PHASE INPUT SUPPLY VOLTAGE 26
4.5 THE DC LINK VOLTAGE OF INDUCTION MOTOR 27
DRIVER
4.6 SPEED GETS VARIED FROM 1000 RPM TO 1200 27
RPM
4.7 THE TORQUE WAVEFORM OF IM DRIVE 28

4.8 STATOR CURRENT RESPONSE UNDER SUDDEN 28

SPEED VARIATION CONDITION
4.9 THREE PHASE INPUT SUPPLY VOLTAGE 29

4.10 DC LINK VOLTAGE OF INDUCTION MOTOR 29

DRIVER
4.11 THE SPEED GETS VARIED FROM 1000 RPM TO 30

1200 RPM

4.12 TORQUE WAVEFORM OF IM DRIVE 30

4.13 THE STATOR CURRENT RESPONSE UNDER 31

SUDDEN SPEED VARIATION CONDITION

4.14 INPUT AC VOLTAGE 31

4.15 LINE VOLTAGE IN SPEED 1 32

4.16 LINE VOLTAGE IN SPEED 2 32

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4.17 LINE VOLTAGE IN SPEED 3 33

4.18 PHASE VOLTAGE IN SPEED 1 33

4.19 PHASE VOLTAGE IN SPEED 2 34
4.20 PHASE VOLTAGE IN SPEED 3 34

4.21 HARDWARE PHOTOGRAPHY 36

4 of 38
 LIST OF SYMBOLS

𝜀 EPSILON

𝜑 PHI

𝜋 PI

𝜔 OMEGA

√ SQUARE ROOT

∅ THETA

𝜌 RHO

𝜎 SIGMA

𝛼 ALPHA

𝛽 BETA

𝛾 GAMMA

5 of 38
 LIST OF ABBREVATIONS

ASD ADJUSTABLE SPEED DRIVES

IM INDUCTION MOTOR

PMSM PERMENANT MAGNET SYNCHRONOUS

MOTOR
HVAC HEATING VENTILATING AND AIR
CONDITIONING
DTC DIRECT TORQUE CONTROL

FOC FIELD ORIENDED CONTROL

FLC FUZZY LOGIC CONTROL

PWM PULSE WIDTH MODULATION

FC FUZZY CONTROL

SPWM SINUSOIDAL PULSE WIDTH MODULATION

PID PROPORTIONAL INTEGRAL DERIVATIVE

PH POSITIVE HIGH

PL POSITIVE LOW

NL NORMAL LOW

NM NORMAL MEDIUM

NH NORMAL HIGH

de Delayed error

6 of 38
 CHAPTER 1

INTRODUCTION

Indirect field-oriented techniques are now widely used for the control of induction motor

in high-performance applications. With this control strategy, the decoupled control of IM is

guaranteed, and can be controlled and provide the same performance as achieved from a

separately excited DC machine. However, the control performances of the resulted linear system

are still influenced by the uncertainties, which usually are composed of unpredictable parameter

variations, external load disturbances. Therefore, in order to solve some of the problems of field-

oriented control, the motor drive must be techniques that are appropriate to discontinuous

operation of the switching devices and allow the robustness of the algorithm, with regard to

changing parameters and external disturbances.

This common drawback can be overcome by using variable structure control (VSC). The

variable structure strategy using the sliding mode (SMC) has been the focus of many studies and

research for the control of the AC drive. The goal of the VSC is to constrain the system

trajectory to the sliding surface via the use of the appropriate switching logic. The sliding mode

control can offer good properties, such as insensitivity to parameter variations, external

disturbance rejection, and fast dynamics response.

However, in SMC, the high frequency chattering phenomenon that results from the

discontinuous control action is a severe problem when the state of the system is close to the

sliding surface. In various nonlinear system control issues, fuzzy controller is recently a popular

method to combine with sliding mode control method that can improve some disadvantages in

this issue. Comparing with the classical control theory, the fuzzy control theory does not pay

much attention to the stability of system, and the stability of the controlled system cannot be so

7 of 38
guaranteed. In fact, the stability is observed based on following two assumptions: First, the

input/output data and system parameters must be crisply known. Second, the system has to be

known precisely.

The fuzzy controller isweaker in stability because it lacks a strict mathematics model to

demonstrate, although many researches show that it can be stabilized anyway [1] [2].

Nevertheless, the concept of a sliding mode controller (SMC) can be employed to be a basis to

ensure the stability of the controller. The feature of a smooth control action of FLC can be used

to overcome the disadvantages of the SMC systems. This is achieved by merging of the FLC

with the variable structure of the SMCto form a Fuzzy Sliding Mode Controller (FSMC) [3][4].

In this hybrid control system, the strength of the sliding mode control lies in its ability to

account for modeling imprecision and external disturbances while the FLC provides better

damping and reduced chattering. However, the major drawback of fuzzy control is the lack of

design techniques. Most of the fuzzy rules are human knowledge oriented and hence rules will

deviate from person to person in spite of the same performance of the system. The selection of

suitable fuzzy rules, membership functions and their definitions along the universe of discourse

always involve a painstaking trial-and-error process.

1.1 AC MOTORS

AC motors work by setting up a magnetic field pattern that rotates with respect to the stator and

then employing electromagnetic forces to entrain the rotor in the rotating magnetic field pattern.

AC motors are simple, low cost, reliable and easily replaceable with variety of mounting styles

and many different environmental enclosures. Nonetheless, they need expensive speed control,

are unable to operate at low speeds, perform poor positioning control and limited in range of

applications

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1.2 PUMPING SYSTEMS

Pumping systems account for nearly 20% of the world’s energy consumption by electric motors

and 25–50% of the total electrical energy usage in industrial facilities. Significant opportunities

exist to reduce pumping system energy consumption through smart design, retrofitting, and

operating practices. In particular, many pumping applications with variable-duty requirements

offer great potential for energy savings.

Figure 1.1 Pumping System

The savings often go well beyond energy, and may include improved performance, reliability,

and reduced life cycle costs. Most existing systems require flow control of bypass lines,

throttling valves, or pump speed adjustments. Pumping system as shown as fig (1). The most

efficient way is pump speed control. When a pump’s speed is reduced, less energy is imparted to

the fluid and less energy needs to be throttled or bypassed. Speed can be controlled in a number

of ways, with the most popular type of VSD. There are many types of pump prime movers

available such as diesel engines and steam

9 of 38
 CHAPTER-2

LITERATURE REVIEW

2.1 Application of fuzzy sliding mode technique in controller and observer of synchronous

motor

Aissaoui et al [5] develop a fuzzy sliding mode technique to control the field-oriented

synchronous machine and to estimate the motor speed. The sliding mode controller (SMC) is

designed for a class of nonlinear dynamic systems to tackle the problems with model

uncertainties, parameter fluctuations and external disturbances. In SMC, the high frequency

chattering phenomenon results from the discontinuous term in traditional sliding mode control is

highly undesirable. In this paper we use the fuzzy logic to reduce the chattering phenomena. The

system stability analysis is carried out using Lyapunov stability theorem. An asymptotically

stable observer is designed to overcome the problem of speed sensor and is obtained without

affecting the overall system response. The simulation results show the effectiveness of the

proposed control strategy with desired tracking accuracy and robustness.

2.2 Design and Analysis of a New Fuzzy Sliding Mode Observer for Speed Sensorless

Control of Induction Motor Drive

Benharir et al [6] The subject of the paper is the implementation of fuzzy sliding mode

control conception for robust accurate tracking of induction motor drive operating in a high-

performance drives environment. The introducing of fuzzy sliding mode in the control system

helps to achieve a good dynamic response, disturbance rejection and low to plant parameter

variations of the A.C drive. The fuzzy sliding mode controllers combine the advantages of both

fuzzy controllers and sliding mode controllers. By combining variable structure systems theory

10 of 38
and fuzzy logic concept, a new algorithm is developed. The proposed control scheme can drive

the dynamics of controlled system into a designed sliding surface in finite time and guarantee the

property of asymptotical stability. The synthesis of sliding mode control and the control laws for

the controls of speed are described. In order to verify the performances of the proposed observers

and control algorithms and to test behavior of the controlled system, numerical and real

experiments are achieved. to demonstrate the potential and practicality of the presented

approaches.

2.3 Adaptive fuzzy sliding-mode control for electrical servo drive

In this study, an adaptive fuzzy sliding-mode control (AFSMC) system with an integral-

operation switching surface is adopted to control the position of an electrical servo drive. The

AFSMC system is comprised of a fuzzy control design and a hitting control design. In the fuzzy

control design a fuzzy controller is designed to mimic a feedback linearization (FL) control law.

In the hitting control design a hitting controller is designed to compensate the approximation

error between the FL control law and the fuzzy controller. The tuning algorithms are derived in

the sense of the Lyapunov stability theorem, thus the stability of the system can be guaranteed.

Moreover, to relax the requirement for the bound of approximation error, an error estimation

mechanism is investigated to observe the bound of approximation error real-time. Experimental

results verify that the proposed control systems can achieve favorable tracking performance and

robust with regard to parameter variations and external load disturbance.

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2.4 FPGA-based fuzzy sliding-mode control for a linear induction motor drive

Lin et al [8] dynamic model of an indirect field-oriented LIM drive is derived. Next, a sliding-

mode controller with an integral-operation switching surface is designed. The uncertainties are

lumped in the sliding-mode controller, and the upper bound of the lumped uncertainty is

necessary in the design of the sliding-mode controller. However, the upper bound of the lumped

uncertainty is difficult to obtain in advance in practical applications. Therefore, a fuzzy sliding-

mode controller is investigated, in which a simple fuzzy inference mechanism is utilised to

estimate the upper bound of the lumped uncertainty. With the fuzzy sliding-mode controller, the

mover of the LIM drive possesses the advantages of a good transient control performance and

robustness to uncertainties in the tracking of periodic reference trajectories. A FPGA chip is

adopted to implement the indirect field-oriented mechanism and the developed control

algorithms for possible low-cost and high-performance industrial applications. The effectiveness

of the proposed control scheme is verified by experimental results.

2.5 Indirect Vector Controlled Induction Motor Drive for High Performance Using Fuzzy

Logic

S. Sentil Kumar[9] Fuzzy logic speed control system based on fuzzy logic approach for

an indirect vector controlled induction motor drive for high performance. The analysis, design

and simulation of the fuzzy logic controller for indirect vector control induction motor are

carried out based on fuzzy set theory. The proposed fuzzy controller is compared with PI

controller with no load and various load condition. The result demonstrates the robustness and

effectiveness of the proposed fuzzy controller for high performance of induction motor drive

system.

12 of 38
2.6 Fuzzy Sliding-Mode Control Using Adaptive Tuning Technique

Wai and Rong-Jong [10] study mainly deals with the key problem of chattering

phenomena on the conventional sliding-mode control (SMC) and investigates an adaptive fuzzy

sliding-mode control (AFSMC) system for an indirect field-oriented induction motor (IM) drive

to track periodic commands. First, an indirect field-orientation method for an IM drive is

introduced briefly. In addition, to confront the uncertainties existed in practical applications, an

adaptive algorithm, which is derived in the sense of Lyapunov stability theorem, is utilized to

adjust the fuzzy parameter for further assuring robust and optimal control performance. The

indirect field-oriented IM drive with the AFSMC scheme possesses the salient advantages of

simple control framework, free from chattering, stable tracking control performance, and robust

to uncertainties. Furthermore, numerical simulation and experimental results due to periodic

sinusoidal commands are provided to verify the effectiveness of the proposed control strategy,

and its advantages are indicated in comparison with the conventional SMC system and the SMC

system with a boundary layer.

2.7 A Study on Simulink model of Sensorless speed control of induction motor

Abhinavkashyapa and Miss Durga Sharma [11] latest development in induction motor speed

control is the Sensor less control technique. Controlled ac drives in the case of ‘Sensor less

control’ without mechanical sensors for speed (or) motor shaft position have the attraction of

lower cost and high reliability. With the sensor less speed control technique the speed

information is obtained without the use of speed or position sensor. In this paper we are studying

different types of speed control techniques and estimation of sensor less induction motor.

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2.8 High-performance torque and flux control for multilevel inverter fed

In this paper [12] proposed a high-performance torque and flux control strategy for high-power

induction motor drives. The control method uses the torque error to control the load angle,

obtaining the appropriate flux vector trajectory from which the voltage vector is directly derived

based on direct torque control principles. The voltage vector is then generated by an asymmetric

cascaded multilevel inverter without need of modulation and filter. Due to the high output

quality of the inverter, the torque response presents nearly no ripple. In addition, switching losses

are greatly reduced since 80% of the power is delivered by the high-power cell of the asymmetric

inverter, which commutates at fundamental frequency. Simulation and experimental results for

81-level inverter are presented.

2.9 High – performance adaptive intelligent direct torque control schemes for

In this paper [13] proposed a detailed comparison between viable adaptiveintelligent torque

control strategies of induction motor, emphasizing advantagesand disadvantages. The scope of

this study is to choose an adaptive intelligentcontroller for induction motor drive proposed for

high performanceapplications. Induction motors are characterized by complex, highly

nonlinearand time varying dynamics and inaccessibility of some states and output

formeasurements and hence can be considered as a challenging engineeringproblem. The advent

of torque and flux control techniques have partially solvedinduction motor control problems,

because they are sensitive to drive parametervariations and performance may deteriorate if

conventional controllers are used.

14 of 38
 CHAPTER-3

EXISTING METHOD

3.1 CONVENTIONAL DTC SYSTEM

The conventional DTC system comprises of three sensors, namely, current sensor,

voltage sensor and the speed sensor. The DTC scheme requires information about the stator

currents and the dc-link voltage, to estimate the values of stator flux and electromagnetic torque.

The current feedback for the closed-loop control is usually obtained by sensing instantaneous

phase currents by current sensors. In general, galvanically isolated current sensors such as Hall-

effect sensors and current transducers are widely used in many applications. They are typically

used on, at least, two outputs of the power inverter to provide current feedback signals. Such a

kind of sensors performs well, but brings disadvantages to the overall drive system in terms of

cost, encumbrance and somehow nonlinearity.

15 of 38
 Figure 3.1 Conventional DTC System

The major problem in a DTC-based motor drive is the presence of ripples in the motor-

developed torque and stator flux. Generally, in order to reduce the torque ripples, a multilevel

inverter which will provide the more precise control of motor torque and flux is used. However,

the cost and complexity of the controller increase proportionally. Its drawback is that the

switching frequency still changes continuously. Disadvantages are difficult to control flux and

torque at low speed, current and torque distortion during the change of the sector, variable

switching frequency, a high sampling frequency needed for digital implementation of hysteresis

controllers, high torque ripple.

16 of 38
 CHAPTER 4

PROPOSED SYSTEM

Figure 4.1 Proposed Block Diagram

The proposed system includes the following: three phase diode bridge rectifier, Dc link

capacitor, voltage source inverter and an induction motor. The operation of the proposed system

is managed by sliding mode observer, Fuzzy logic controller and Pulse Width Modulation. In

this paper, there is no necessity for speed, torque, flux, position and also voltage measurements.

The sliding mode observer has the capacity to perfectly approximate the speed, flux, theta and

torque with the help of the phase currents sensing alone.

MODELLING OF INDUCTION MOTOR

It is important to be able to model the asynchronous machine for the simulation of DTC

induction motor drive. Various models have been developed and d-q axis model for the study of

17 of 38
transient behaviour has been well tested and proven to be reliable and accurate [1]. It is

preferable to study multi-machine system and stability-analysis of controller design where the

motor output equations must be linearized about an operating point in synchronously

rotatingreference frame. In this frame, the steady state variables are constant and do not vary

sinusoidal with time. In this paper, induction machine model is described in the stationary

reference frame.

SPEED CONTROLLER AND ESTIMATOR DESIGN

Speed control is widely used in industrial applications of electrical machines. Fig. 3.1.3

shows the general control scheme of speed estimation block. Conventional approach for the

speed control is that the outer speed feedback is used together with the inner current loop. The

proposed FPI regulators have been introduced in the inner and the outer loops. Three controllers

are used in the control scheme to regulate ω, iqs, and ids. The outer controller works on error of

ω and calculates iqs*. The inner one regulates iqs and calculates vqs and the third one issued to

regulate ids and calculate vds.

In the sensor less speed control of induction motors with direct field orientation, the rotor

flux and speed information are dependent on the observers. However, the exact values of the

parameters that construct the observers are difficult to measure and changeable with respect to

the operating conditions. A speed estimation algorithm can be used to estimate the motor speed

in real time without a speed sensor. This algorithm needs two stator current and voltage signals

and employs DSP techniques to filter and manipulate the speed-related harmonics.

18 of 38
 Figure 4.2 General control scheme of speed estimation block

Sliding Mode Controller (SMC)

Sliding mode control is a nonlinear control technique that makes the system robust to parameter

variations, modeling inaccuracies, external disturbances. This controller provides stability, faster

dynamics and satisfactory performance for a higher order nonlinear system like induction motor

drive. SMC is computationally simple compared to the adaptive controllers. These advantages of

SMC can be employed in position and speed control of an ac servo system. An SMC design

method based on synchronously rotating reference frame is presented in . The chattering effect is

the main disadvantage of the SMC. This chattering effect can be eliminated by introducing a

saturation (sat) function. Here, the SMC technique is utilized for a direct field oriented induction

19 of 38
motor drive to get a robust nonlinear control law to model uncertainties, inaccuracies and many

other aspects.

Fuzzy Sliding Mode Controller (FSMC)

Fuzzy sliding mode controller is a hybrid controller that combines the fuzzy logic and the

sliding mode technique. Irrespective of the robustness of the sliding mode controller against any

uncertainties and disturbances, it is associated with the chattering problem and high controller

gains. So, reduction of this chattering effect can be achieved by a hybrid controller like FSMC

that can give chattering free response without sacrificing the robustness of the system. The

FSMC combines the advantages of sliding mode controller and fuzzy logic controller and

reflects it in the system performance. The FLC is a simple rule based control system where the

rules for this are decided by the user. Here, the inputs and the outputs, both are in the form of

linguistic or fuzzy variables. The fuzzy sliding mode hybrid controller has the ability to account

for modeling imprecision and external disturbances while the fuzzy logic controller provides

better damping and reduced chattering.

Rotor Speed Estimation

The speed estimation is an important aspect for high performance field oriented control

of IM drive. Without mechanical speed sensor, the induction machine drive becomes more

reliable, less cost and small is size. Many speed estimation algorithms have been developed since

last few years. The simple techniques adopted here for the speed estimation are speed estimation

from the state equations of the induction motor. From the dynamic state equations of induction

machine, the speed signal is generated directly. The rotor angle can be determined from the rotor

d- and q-axis fluxes in synchronously rotating reference frame.

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SENSOR LESS SPEED ESTIMATION

With the intention of estimating the sensor less speed, the estimated stator flux has to be

transformed into rotor flux depending on the magnetizing inductance in addition to the secondary

inductance per phase.

Square of rotor flux

For the purpose of determining the speed of rotor field, the achieved rotor flux has to be

transformed into coordinates, by means of the transfer function.

In addition, the above determined factor, with the intention of estimating the speed of

rotor field, slip is essential in addition. Slip is determined from the previously recognized torque

and rotor resistance in accordance with the equation,

At this instant, the electrical speed is transformed into the mechanical speed by using the

following equation

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 Speed of rotor field is deducted from the slip and the result is divided by the square of the

rotor flux. Therefore, in this paper, speed is approximated not including the speed position

sensors which are the most fundamental contribution of this current research work. This paper

exploits only the phase current dimensions to perform the sensor less speed evaluation. As a

result, in the paper, the sliding mode observer module decides the complete electrical (stator,

rotor and mechanical) constraints of the motor, for instance, stator flux, magnitude of stator flux,

theta, torque and electrical speed.

SPEED AND TORQUE CONTROL

The error takes place between the estimated and set speed; consequently, it is necessary

to design the required torque (&) depending on the speed P adjuster, i.e.,

The function of participation of the PI adjuster is to fine-tune the speed in a small range to make

sure the speed tracking precision and the final zero static state error.

In the same way, for the purpose of obtaining the desired the obtained reference Torque and the

estimated torque from sliding mode observer is managed through the torque PI adjuster to

achieve the zero static state torque error.

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In the same way, for the purpose of obtaining the desired the obtained stator flux reference and

the estimated stator flux from sliding mode observer is managed through the torque PI adjuster to

achieve the zero static state flux error.

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HARDWARE LAYOUT OF THE PROPOSED WORK:

D9
DIODE
C11
1n

C11
1n

L3

PV
1

C12
R6
1n
1k
4
2

1
3

C11
D11
1n
DIODE

D12
DIODE

LM7805
D6
1 2 1 3
VI VO
GND

32
11

R1 2 15
VDD
VDD

D7 3 RA0/AN0 RC0/T1OSO/T1CKI 16
2

1k RA1/AN1 RC1/T1OSI/CCP2
230V 1 2 4
RA2/AN2 RC2/CCP1
17

AC 15V C6
5
6 RA3/AN3/VREF RC3/SCK/SCL
18
23
C5 7 RA4/TOCKI RC4/SDI/SDA 24
D5 10uf RA5/AN4/SS RC5/SDO 25
2 1 1000uf 33 RC6/TX/CK 26
D8 34 RBO/INT RC7/RX/DT
U4
35 RB1 19 2 18
LED 36 RB2 RD0/PSP0 20 4 1A1 1Y 1 16
37 RB3 RD1/PSP1 21 6 1A2 1Y 2 14
38 RB4 RD2/PSP2 22 8 1A3 1Y 3 12
D4 33Pf 39 RB5 RD3/PSP3 27 11 1A4 1Y 4 9
2 1 C7 40 RB6 RD4/PSP4 28 13 2A1 2Y 1 7
RB7 RD5/PSP5 29 15 2A2 2Y 2 5
13 RD6/PSP6 30 17 2A3 2Y 3 3
14 OSC1/CLKIN RD7/PSP7 2A4 2Y 4
C8 OSC2/CLKOUT 8 1
4MHz 1 RE0/RD/AN5 9 19 1G
MCLR/VPP RE1/WR/AN6 10 2G
RE2/CS/AN7
74ALS244A
VSS

VSS

33Pf
0
100 R3
12

31

TLP250 V1
PIC16F877A

12 22

R1 0

Figure 4.3 Hardware layout 1

24 of 38
 4
2

4
2

4
2
D9 Q1 Q2
D9 IRF840 IRF840 Q3
DIODE 1 1 IRF840
DIODE 1

3
V2
1Vac
0Vdc Load

4
2

4
2

4
2
Q4
IRF840 Q5 Q6
D9 D9 1 IRF840 IRF840
1 1
DIODE DIODE

3
22
1 13
LO VSS
5
VS 9
6 VDD

1
VB C1
2
COM 12
LM7805 3 LIN

2
D6 VCC
1 2 1 3 7 10
VI VO HO HIN

32
11
GND

22
2 15

VDD
VDD
TX3 R1 3 RA0/AN0 RC0/T1OSO/T1CKI 16
RA1/AN1 RC1/T1OSI/CCP2 FAN7392
D7 4 17
2

1k RA2/AN2 RC2/CCP1
230V 1 2 5
RA3/AN3/VREF RC3/SCK/SCL
18

AC 15V C6
6
7 RA4/TOCKI RC4/SDI/SDA
23
24
C5 RA5/AN4/SS RC5/SDO 25
D5 10uf 33 RC6/TX/CK 26
2 1 1000uf 34 RBO/INT RC7/RX/DT
U4
D8 35 RB1 19 2 18
36 RB2 RD0/PSP0 20 4 1A1 1Y 1 16
LED 37 RB3 RD1/PSP1 21 6 1A2 1Y 2 14
38 RB4 RD2/PSP2 22 8 1A3 1Y 3 12
RB5 RD3/PSP3 1A4 1Y 4 22
39 27 11 9 1 13
D4 33Pf 40 RB6 RD4/PSP4 28 13 2A1 2Y 1 7 LO VSS
2 1 C7 RB7 RD5/PSP5 29 15 2A2 2Y 2 5
RD6/PSP6 2A3 2Y 3 5
13 30 17 3 VS 9
14 OSC1/CLKIN RD7/PSP7 2A4 2Y 4 VDD
OSC2/CLKOUT 6

1
8 1 VB C1
C8 4MHz 1 RE0/RD/AN5 9 19 1G
MCLR/VPP RE1/WR/AN6 2G 2
10 COM 12
RE2/CS/AN7 LIN
74ALS244A 3

2
VSS

VSS
VCC
33Pf 7 10
100 R3 HO HIN

12

31
22

PIC16F877A FAN7392

22
1 13
LO VSS
5
VS 9
6 VDD

1
VB C1
2
COM 12
3 LIN

2
VCC
7 10
HO HIN
22

FAN7392

Figure 4.4. Hardware Layout

Result and Discussion:

The proposed work is implemented in MATLAB r2011a. The proposed system model is

evaluated for dynamic speed conditions to measure the performance of the system. The proposed

analysis is carried out to reduce steady state error and current consumption when sudden change

in speed variation condition. The Figure 3.1.4 shows the MATLAB Simulink diagram of

proposed IM drive.

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 Figure 4.5 Simulink diagram of proposed system

Initially, the stator current is maintained at 4 amps, at the time instant 0.5seconds, there is slight

deviation in the speed variation, but the stator current gets controlled which is clearly shown.

Figure 4.6. three phase input supply voltage

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 Figure 4.7. The dc link voltage of induction motor driver

Figure 4.8. speed gets varied from 1000 RPM to 1200 RPM

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 Figure 4.9. The torque waveform of IM drive

Figure 4.10 stator current response under sudden speed variation condition

Figure 4.6-4.10 shows the stator current response of the proposed system

The Figure 4.11-4.15 shows the IM drive with FUZZY controller response under dynamic speed

change condition. The three phase input supply voltage as shown in Figure 4.11. The three phase

input supply voltage is employed with Diode bridge rectifier for convert alternating current to

direct current. The dc link voltage of induction motor driver is shown in Figure 4.11. At time

instant, 0.5 seconds, the speed gets varied from 1000 RPM to 1200 RPM as shown in Figure

4.13. Figure 4.14 shows the torque waveform of IM drive. Figure 4.15 shows the stator current

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response of the proposed system under sudden speed variation condition. Initially, the stator

current is maintained at 4 amps, at the time instant 0.5 seconds, there is slight deviation in the

speed variation, but the stator current gets controlled which is clearly shown.

Figure 4.11. three phase input supply voltage

Figure 4.12. dc link voltage of induction motor driver

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Figure 4.13. the speed gets varied from 1000 RPM to 1200 RPM

Figure 4.14. torque waveform of IM drive

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Figure 4.15. the stator current response under sudden speed variation condition

Figure 4.16. Input AC Voltage

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Figure 4.17 Line Voltage in speed 1

Figure 4.18. Line Voltage in speed 2

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Figure 4.19 . Line Voltage in speed 3

Figure 4.20. Phase Voltage in speed 1

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 Figure 4.21. Phase Voltage in speed 2

Figure 4.22. Phase Voltage in speed 3

Figure 4.16 shows the wave form of input AC voltage, whereas 4.17 to 4.19 shows the line
voltage in various such as 1,2 and 3. Similarly figure 4.20 to 4.22.

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 HARDWARE PHOTOGRAPHY

N-Channel
Power Mosfet
8A, 500V and filter
capacitors
Speed control
Switch

Voltage:440v
Phase: 3∅
Rpm:1420 Three
Amp:1.1 phase voltage
Horsepower:0.5 controlled Diode and Transformer
Watts:370 Resistors Filter
Capacitors
PIC16F87XA
Current
Microcontroller,
Transformer
14-PDIP, Diodes
and Filter
Capacitors
Figure 4.23. Hardware Photography

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CONCLUSION

In this paper, an intelligent sensor less control algorithm has been implemented in order

to obtain a high-precision speed estimation and control for three-phase induction machine (IM)

using different speed estimation algorithm and control scheme. In this study of sensor less speed

control we are studying different types algorithm. This paper presents a modified speed-sensor

less scheme based on IM speed control. The estimation scheme has been obtained by combining

a second-order sliding-mode current observer with a parallel speed and stator resistance

estimator based on rotor flux-based sensor less control. Both the error in instantaneous phase

position and the error in amplitudes are used respectively for speed estimation and Rs

identification, thus overcoming the problems of Rs variation, particularly for low-speed

operation. The field oriented control observer is utilized to take the place of the reference voltage

model. Moreover, by making full use of auxiliary surfaces, the observations are insensitive to

rotor parameter perturbation with the alleviation of chattering behaviour at the same time.

However, since the scheme is designed based on the mathematical model of IM, its observability

is generally lost at zero magnetic field frequency. Machine state observability can be improved

by additional stator voltage change injection, which is considered to be the further work.

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