P I S C

VOL 2012
Journal of Scientific
Theory and Methods


ISSN 2200-7830
1


PID CONTROLLER BASED CLOSED LOOP CONTROL OF L- MATRIX BASED
INDUCTION MOTOR USING V/f CONSTANT METHOD

Subhankar Dam
Birbhum Institute of Engg. & Tech.

Abhrajit Saha
Birbhum Institute of Engg. & Tech.

Dr. Pradip Kumar Saha
Jalpaiguri Govt. Engg. College

Dr. Goutam Kumar Panda
Jalpaiguri Govt. Engg. College

Journal of Scientific Theory and Methods
Volume 2012, 1-21
http://journalofscientifictheoryandmethods.com
2

PID CONTROLLER BASED CLOSED LOOP CONTROL OF L- MATRIX BASED
INDUCTION MOTOR USING V/f CONSTANT METHOD

Abstract: In this work we have built up a PID controller
based closed loop system which makes a squirrel cage induction
motor running under constant volt/hertz ratio. The motor is
modelled according to the transfer function based on inductance
matrices or L-matrices of the motor. The motor exhibits to run
in the user defined or command speed. The characteristic plot of
different parameters are also analysed in this work.

Keywords: SQIM, Inductance Matrix, V/F constant method, PID
controller, speed control.

I. INTRODUCTION

Judged in terms of fitness for purpose coupled with simplicity,
the induction motor must rank alongside the screw thread as one
of mankinds best inventions. It is not only supremely elegant
as an electromechanical energy converter, but is also by far the
most important, with something like one-third of all the
3

electricity generated being converted back to mechanical energy
in induction motors. Despite of all advantages over DC motor a 3
phase SQIM suffers the problems due to saturation of flux when
the motor is running under variable speed [1]-[3]. This problems
due to magnetic saturation can be overcame if the motor is
running under constant V/f ratio, as

[stator volt. (V)][stator flux ()]x[Angular Velocity ()]
i.e. V x 2f
or, V/f

From which it can be seen that if V/f ratio remains constant
(CVH drives) with the change in then the f, then the remains
constant too and the torque becomes independent of the supply
frequency [4]-[7].
But in all the above studies the machine is modelled based on
the dynamic equations of the machine. In this current work we
have developed the IM with the help of its transfer functions
which are nothing but some Inductance(L) Matrices based on the
stator-rotor flux linkage relationships. The aim of our work is
to make the motor rotating according to our command or required
speed keeping the V/f ratio constant. To meet the goal we have
designed a PID controller which nullifies the error between the
command and current speed of the motor. The experiment is done
4

in MATLAB/SIMULINK environment. The simulation results are shown
in this paper which is quite same as the practical results.
The rest of the paper is organised as follows: section-II
contains the modelling of the induction machine based on the L-
matrices; section-III delivers some brief theoretical review of
V/f constant control method; section-IV describes the V/f
control method using the proposed PID controller; finally
section-V gives some concluding remarks. Each section contains
the corresponding SIMULINK model and results with explanations.
The data file is given in the appendix section.

II. MODELLING OF INDUCTION MOTOR BASED ON L-MATRIX FORMATION

The winding arrangement for a 3-phase, Y-connected, symmetrical
induction machine is shown in fig.1. the stator windings are
identical, sinusoidally distributed windings, displaced 120
0
,
with N
s
equivalent turns and resistance R
s
. For the purpose at
hand, the rotor winding will be considered as three identical
sinusoidally distributed windings, displaced 120
0
, with N
r

equivalent turns and resistance R
r
. The positive direction of the
magnetic axis of each winding is shown in the fig.1.

The phase variables are as follows:
v
as
= line-neutral voltage of phase-a
5

v
bs
= line-neutral voltage of phase-b
v
cs
= line-neutral voltage of phase-c
i
vs
= line current of phase-a
i
bs
= line current of phase-b
i
cs
= line current of phase-c



fig.1: 3-phase Y-connected symmetrical induction motor

as
= flux linkage of stator phase-a

bs
= flux linkage of stator phase-b

cs
= flux linkage of stator phase-c
L
ss
= Stator self-inductance per phase
L
rr
= Rotor self-inductance per phase
6

L
sr
= Mutual inductance of stator due to rotor per phase
L
rs
= Mutual inductance of rotor due to stator per phase
L
ls
= Stator leakage inductance per phase
L
lr
= Rotor leakage inductance per phase
L
ms
= Stator magnetizing inductance per phase
L
mr
= Rotor magnetizing inductance per phase

The voltage equations of an induction motor are

For linear magnetic system flux linkages in terms of machine
variables are,
| |
(

=
(

abcr
abcs
rr
T
sr
sr ss
abcr
abcs
i
i
L L
L L

(2)

7

(
(
(

+
+
+
=
ms ls ms ms
ms ms ls ms
ms ms ms ls
ss
L L L L
L L L L
L L L L
L
5 . 0 5 . 0
5 . 0 5 . 0
5 . 0 5 . 0
(2.a)
(
(
(

+
+
+
=
mr lr mr mr
mr mr lr mr
mr mr mr lr
rr
L L L L
L L L L
L L L L
L
5 . 0 5 . 0
5 . 0 5 . 0
5 . 0 5 . 0
(2.b)

(
(
(
(
(
(

+
+
+
= =
r r r
r r r
r r r
sr
T
rs sr
L L L
u
t
u
t
u
t
u u
t
u
t
u
t
u u
cos )
3
2
cos( )
3
2
cos(
)
3
2
cos( cos )
3
2
cos(
)
3
2
cos( )
3
2
cos( cos (2.c)

Electromagnetic Torque,

where,

, so,

(3)
W
m
=magnetic co-energy

m
= mechanical angular displacement of rotor w.r.t
stator

r
= electrical angular displacement of rotor w.r.t
stator
p = no. of pole

So, by concatenating [L
ss
], [L
sr
], [L
sr
]
T
, [L
rr
] we get the
inductance matrix or L-matrix as,
8

| |
| |
(

=
rr
T
sr
sr ss
L L
L L
L

For torque equation we need the dL/d
r
matrix.
(

=
) 3 3 ( /
/ ) 3 3 (
x zeroes d dL
d dL x zeros
d dL
r
T
sr
r sr
r
u
u
u

(
(
(
(
(
(

+
+
+
r r r
r r r
r r r
sr sr
L d dL
u
t
u
t
u
t
u u
t
u
t
u
t
u u
u
sin )
3
2
sin( )
3
2
sin(
)
3
2
sin( sin )
3
2
sin(
)
3
2
sin( )
3
2
sin( sin
= ] [
r


The electrical system equation is,
dt dI L I d dL R
dt I L d R I
dt d R I V
m
* * ) * (
) * ( *
*
+ + =
+ =
+ =
u e

(4)

The V-matrix is , [v
as
v
bs
v
cs
v
ar
v
br
v
cr
]
T

The I-matrix is, [i
as
i
bs
i
cs
i
ar
i
br
i
cr
]
T


The R-matrix is a diagonal one,
R = diag(r
s
r
s
r
s
r
r
r
r
r
r
)

The mechanical system equation is,

L m m m e
T B dt d J T + + = e e * * (5)
where,
J= Moment of Inertia
B= Frictional Coefficient
9

m
= Mechanical angular velocity=d
m
/dt

The load torque profile is as follows,
T
l
= 5N-m if t<2s
= 10n-m if t>=2s


fig.2: Simulink representation of L-matrix Induction Motor






fig.3: INDUCTION MOTOR Block
10

Results:

fig.4: Stator current fig.5: Rotor current

fig.6: Rotor Speed fig.7: Load torque & Electromagnetic torque

According to the load torque profile the load torque increases
from 5N-m to 10N-m (which can also be seen form the plot of load
torque) at t=2s. Initially the starting current of both stator
and rotor circuit is high as the motor needs high starting
electromagnetic torque. At steady state the stator and rotor
current and speed approaches a steady value. After t=2s as the
load torque increases the stator current and rotor current
increases. The electromagnetic torque becomes equal to the load
11

torque command for stable operation. The rotor frequency is
directly proportional to the slip(s). Till t<2s the load torque
is small and the speed becomes higher. So the slip is lower and
the rotor frequency. Because,
slip(s)=(sync. speed - rotor speed)/sync. speed
When t>=2s the load torque increases and the rotor speed
decreases. So the slip as well as rotor frequency increases.


III. THEORY OF CONSTANT V/f METHOD

- Constant V/f control logic:
Assuming that the voltage drop across the stator resistance is
small in comparison with the stator voltage, the stator flux can
be expressed as,
f
V V
s s
s
t e

2
= ~

Thus, to maintain the flux at a constant, typically rated level,
the stator voltage should be adjusted in proportion to the
supply frequency. This is the simplest approach to the speed
control of induction motors, referred to as Constant Volts/Hertz
(CVH) method. It can be seen that no feedback is inherently
required, although in most practical systems the stator current
is measured, and provisions are made to avoid overloads.
12


For the low-speed operation, the voltage drop across the stator
resistance must be taken into account in maintaining constant
flux, and the stator voltage must be appropriately boosted.
Conversely, at speeds exceeding that corresponding to the rated
frequency f
rat
, and the CVH condition cannot be satisfied
because it would mean an overvoltage. Therefore, the stator
voltage is adjusted in accordance to the following rule:

V
s
= (V
s,rat
- V
s
,
0
) f / f
rat
+ V
s,0
for f < f
rat
= V
s,rat
for f f
rat
(6)

Where V
s,0
denotes the r.m.s value of the stator voltage at zero
frequency. Frequencies higher than the rated (base) frequency
result in reduction of the developed torque. This is caused by
the reduced magnetizing current, that is, a weakened magnetic
field in the motor. Accordingly, the motor is said to operate in
the field weakening mode. The region to the right from the rated
frequency is often called the constant power area, as
distinguished from the constant torque area to the left from the
said frequency. Indeed, with the torque decreasing when the
13

motor speed increases the product of these two variables remains
constant.

fig.8: Voltage Versus frequency relation
in a V/f controlled drive

IV. CONSTANT V/f CONTROLLED DRIVE USING PID CONTROLLER

- The Closed-Loop Speed Control:






fig.10: Closed-loop const. V/f drive with speed controller
Fig.9: Typical mechanical
characteristic of induction
motor under V/f control
14


With the motor speed measured or estimated, it can be controlled
in the closed-loop scheme shown in fig.10. The speed (angular
velocity),
m
, is compared with the reference speed,
m
*
. The
speed error signal,
m
, is applied to a slip (or speed)
controller, of the PID (proportional-integral-differential) type,
which generates the reference slip speed,
sl
*
. The slip speed
must be limited for stability and overcurrent prevention.
Therefore, the slip controllers static characteristic exhibits
saturation at a level somewhat lower than the critical slip
speed. When
sl
*
is added to
m
, the reference synchronous speed,

syn
*
, is obtained.

- The PID Controller




fig.11: PID Control logic

sl
*
=(K
p
+K
d
s+K
i
/s)
m
(7)
15

In the PID parameter form the control signal
sl
*
is the sum of
three terms. Each of these terms is a function of the tracking
error (
m
). The term K
p
indicates that this term is proportional
to the error, means larger the error, larger he error signal.
The term K
i
/s is an integral term. If
m
is non-zero for any
length of time (for example, positive), the control signal gets
larger and large as time goes on. It thus forces the plant to
react in the event that the plant output starts to drift. The
integral term is an accumulation of the past value of the errors.
The term K
d
s is a derivative term which is based on the rate of
change of the error. The more quickly the error responds, larger
the control effort. The changing of the error indicates where
the error is going. Thus we can think of the derivative term as
being a function of the future values of the error. The
saturation block is used to keep the control signal within a
specified limit for stability and overcurrent prevention.





fig.12: SIMULINK model of CVH drive with PID type speed controller
16





fig.13. load torque and electromagnetic torque under constant
V/f drive





fig.14: speed command and motor speed under constant V/f drive

For the simulation purpose we use the following speed command
and load torque profile,

speed command (
m
*
)=1p.u if t<3s
=0.5p.u if t3s
load torque=0 if t<2s
=10 N-m if t2s
17


Due to the PID control action the motor torque and speed
approaches towards the command signals (load torque and speed
command). From the plots it can be observed that at t=2s load
torque increases and the speed has a droop at t=2s, But due to
the control action the speed again reaches its command value.
Similar thing happens for the motor torque at t=3s, when the
command speed transits from 1 per unit to 0.5 per unit. The
magnitude and frequencies of stator and rotor current depends
on the load torque profile as mentioned earlier. The motor can
also be operated in generator mode making the per unit command
speed more than 1.

V.CONCLUSION

In this paper a modular induction motor based on inductance (L)
matrix model for induction machine simulation is introduced.
With this model user has all the access to all the internal
variables. Then a PID controlled closed loop drive has been
built up which operates the motor under constant V/f method.
Simulation results are also shown which imply that the motor
will run under user defined load torque and user defined speed.
Any other speed control method can be implemented in this L-
Matrix based induction motor in future.
18



APPENDIX

- Induction motor Data used for simulation in MATLAB m-file

Vll=220; %Line-to-line rms voltage rating [V]
Rs=0.531; %Stator resistance (Ohm)
Rr=0.408; %Rotor resistance (Ohm)
Lsl=2.5e-3; %Stator leakage inductance (H)
Lrl=2.5e-3; %Rotor leakage inductance (H)
Lm=84.7e-3; %Magnetizing inductance (H)
freq0=60; %Base frequency (Hz)
wo=2*pi*freq0; %Base frequency (rad/s)
p=4; %number of poles
J=0.05; %Moment of inertia (kg.m^2)
TL1=10; %Load torque [N.m]
Bm=.001; %Frictional coefficient
ws=1.0 ; %Stator frequency (pu)
19

nsync=120*freq0/p;%Synchronous Speed[rpm]
Vm=Vll*sqrt(2/3); %Peak phase voltage[V]
gam=2*pi/3; ); %phase difference
Lm1=2/3*Lm; %single-phase inductance [H]
Ls=Lsl+Lm1;
Lr=Lrl+Lm1;
R=diag([Rs Rs Rs Rr Rr Rr]); % Resistance matrix
% Inductance matrices
Lss=[Ls -Lm1/2 -Lm1/2
-Lm1/2 Ls -Lm1/2
-Lm1/2 -Lm1/2 Ls] ;

Lrr=[Lr -Lm1/2 -Lm1/2
-Lm1/2 Lr -Lm1/2
-Lm1/2 -Lm1/2 Lr];
% Speed controller
Kp=0.6; %proportional constant
Ki=5.6; %integral constant
20

Kd=0.0; %differential constant
Sat=0.03; %saturation limit

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21

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