`CHAPTER 2

REVIEW OF THE PAST WORK

Page No
18
2.1
2.2

Introduction
18
The historical development of motor control and review of the
past work

2.3

53
Formulation of
research problem

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7

CHAPTER 2
REVIEW OF THE PAST WORK
2.1

Introduction
Many researchers have worked in the field of intelligent motion control and power

electronics and have developed microcontroller and digital signal processing based controller
for three phase induction motor. They have studied the need, the benefits and applications of
intelligent motion control in the field of power electronics and drives, on the basis of which,
they have published several articles. The researchers have given several theoretical,
experimental and simulation investigations which are found to be very much useful in
understanding the different techniques in the field of controller for three phase induction
motor. The following is a brief discussion of the exhaustive review of past work carried out in
the area of intelligent motion control, power electronics and their applications from the year
1968 to till 2012.

2.2

The historical development of motor control and review of the past

work
In 1968, Derek A Paice [9] has discussed the induction motor speed control by stator

voltage control, in this the has established the fundamental laws relating to the speed control
of induction motors by simple voltage control and emphasize is done on the problems that
may be caused by excessive input currents which cause stator overheating. Eight different
thyristor voltage control circuits have been developed and tested to determine the best control
circuit for three phase motors and the test results are presented. From the results it is seen that
a six thyristor power control circuit in conjunction with a star connected motor was found to
be the least input current demanding on the motor windings.
In 1971, T.A.Lipo [10] has presented the analysis of induction motors with voltage
control by symmetrically triggered thyristors. It is shown by the analysis that a precise
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solution of the stator and rotor currents are required for accurate prediction of torque-speed
curves, power factor, efficiency and other important performance characteristics. In this
work, the steady-state solution of a wye-connected induction machine with back-to-back
thyristors connected in the lines is developed in detail. State variable techniques are utilized
to generate, without iteration, set of initial conditions which will yield the steady-state
solution.
In 1972, G.K.Dubey and G.C.De [11] have published a paper on Saturistor control of
induction motor. In this they have given a simple analytical method for calculating induction
motor performance with a saturistor alone or in series with a resistor, in its wound-rotor
circuit. A digital-Computer program with fast convergence for iterative calculations is given
for considering the resistor and saturistor in parallel. Despite the nonlinearity of the saturistor
reactance and resistance, as well as motor saturation, the DC- dynamic braking stopping time
is computed analytically with reasonable accuracy. A wide range of speed/torque
characteristics applicable for special applications are presented by varying the saturistor turns
with suitable parallel resistors.
In 1974, Pradip Raghunath Joshi and G.K.Dubey [12] have published a paper on
Optimum DC dynamic braking control of an induction motor using thyristor chopper
controlled resistance. The work is concerned with the optimum DC dynamic breaking control
using rotor rectifier cascade feeding a resistance whose effective value is controlled by
controlling the ON to OFF time ratio of a thyristor chopper connected in parallel with it. In
this they have shown that, at all speeds the motor can be operated at maximum/peak torque
point by employing the optimum DC dynamic braking control. This is achieved by
controlling the rotor resistance of an induction motor.

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In the year 1975, M.H.Nehrir [13] has published a paper on speed control of threephase induction motor by stator voltage control. In this the basic principles relating to
induction motor charactersitics, theoretical background regarding the stator current variation
of the induction motor against speed variation is developed and it is compared with the real
motor performance, using a Variac for stator voltage control. A six thyristor balanced circuit
is developed for speed control and its performance is compared with that of the Variac
control.
In the year 1979, K.Harada and M.Nagao [14] have published a paper on Polyphase
converter for induction motor control using the stator core saturation. In this they have
presented a new control system for an induction motor drive by a polyphase converter. The
commutation of the converter is performed by the stator core saturation of the motor even if
the magnetic characteristic of the stator core is not of a sharp saturation. In order to
compensate the effect of the slow saturation of the stator core, the base currents of the main
transistors are supplied by independent DC sources. They have shown and justified that with
the use of polyphase converter for the induction motor drive, the whole system is
considerably simplified in comparison with conventional PWM control device made of a
transistor inverter.
In the same year, Murray.L.M and Paresh.C.Sen [15] have published a paper on
control loop study of induction motor drives using DQ model. In this they have presented a
systematic study of the various control loops in a current source inverter-induction motor
drive and their effects on the dynamic response and stability of the system. A dq model of the
induction motor is also presented in this, which consists of induction motor and the inverter
power supply with current feedback.

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Again in the same year, Allan.B.Plunkett et.al [16] have proposed an alternative
method of induction motor drive i.e synchronous control of a static AC induction motor drive.
The conventional method of speed control of induction motor utilizes regulation of stator
current and motor slip frequency in order to maintain system stability. The alternative scheme
utilizes the inverter frequency as the necessary system stabilizing control, while the current
amplitude merely adjusts the motor steady-state flux level. The stabilization is achieved by
regulating the phase angle between motor current and motor flux. This causes the inverter
firing pulses to synchronize to the motor counter electromotive force and is the dual of the
voltage-fed induction motor wherein additional current is inherently provided to align the
motor counter electromotive force to the inverter.
In the year 1980, S.Yuvarajan et.al [17] have made an analysis of a currentcontrolled inverter fed induction motor drive using digital simulation. They have developed a
digital simulation of a current controlled inverter fed induction motor based on the
mathematical model of the induction motor using the actual machine variables. Using this
performance of the inverter and the induction motor are calculated when the motor operates
at constant speed. The simulation is also done for the closed loop control of induction motor
drive and the effect of variation of parameters such as the slip frequency on the transient
performance of the drive are analysed.
In the year 1981, Paresh.C.Sen et.al [18] have proposed a microprocessor based
control of an induction motor with flux regulation. In this they have developed the speed
control system of an induction motor drive using a Motorola 6800 microprocessor and they
have shown that motor current-slip frequency relationship for constant flux control is
nonlinear and is difficult to implement using hardwired logic circuitry, so such a nonlinear
function can be conveniently implemented by using a microprocessor control system by
storing the nonlinear function as a look-up table in the computer memory. From the test
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model and experimental results, they have justified that microprocessor-control system is
flexible and it allows a wide range of operating speeds.
In 1982, Giuseppe.S.Buja and Paolo Fiorini [19] have proposed the microcomputer
control of PWM inverters. In this the author has discussed and implemented the
microcomputer implementation of the digital modulation techniques utilized for controlling
the PWM inverters. The digital modulation techniques has provided continuous amplitude
control of the first harmonics of the inverter output voltage, real-time operation, reduced
memory requirements and satisfactory accuracy on the inverter output specifications. With
the use of microcomputer the complexity of the controller is reduced.
In the year 1982, Bimal K Bose [20] has presented a technology status review on
adjustable speed drives. In this the author has discussed about the technology of solid state
adjustable speed ac drives since from its launch in the year 1960. The salient technical
features of ac drives technology, including power semiconductor devices, machines,
converters, controls and performance of the integrated drive system are discussed in length.
In the same year, K.S.Rajashekara and Joseph Vithayathil [21] have proposed a
microprocessor based sinusoidal PWM inverter by DMA transfer. In this they have discussed
the implementation of three phase sinusoidal pulse width modulated inverter control strategy
using microprocessor. In this to save CPU time, the DMA technique is used for transferring
the switching pattern from memory to the pulse amplifier and isolation circuits of individual
thyristors in the inverter bridge.
R. Gabriel and W Leonhard [22] have published a paper in 1982 on microprocessor
control of induction motor and they have developed a 22KW induction motor drive with
voltage source and current source thyristor inverters. The current source inverter is pulsewidth modulated at very low speed and it is used for speed control and discontinuous position
22

control applications. The voltage source PWM inverter is used for continuous speed reversal.
The application of AC motor control is implemented by the use of power converters and the
complexity of the control structures i.e controllers. In this paper the authors have justified that
by the use of microprocessor the complexity of the control structure can be minimized
compared with the analog control.
Again in the same year R.Kurosawa et.al [23] have published a microprocessor based
high power cycloconverter fed induction motor drive, in which the cycloconverter consists of
two 36-thyristor subcycloconverters connected in series to minimize the input reactive power.
By the experimental results, the authors have justified that with the use of microprocessor and
microcontroller the complexity of the cycloconverter control can be reduced.
In the year 1983, Bimal K Bose and H.A.Sutherland [24] have published a paper on
high performance pulsewidth modulator for an inverter fed drive system using a
microcomputer. Intel 8086 microcomputer based pulse width modulator is described in this
paper which receives digital voltage and frequency commands independently at the input and
generates precision three phase PWM waves at the output which can be used to drive a
transistor or thyristor inverter for ac drive systems.
In the year 1983, Kenji Kubo et.al [25] have published a soft ware based speed
regulator for motor drives which executes all regulatory processing using only
microprocessor and the developed software for it. They have shown that the developed
regulator can be applied to both AC and DC motor drives by developing the necessary
software programs.
In the same year Ward Leonhard [26] has proposed the control of AC machines with
the help of microelectronics. In this they have developed a AC machine control system using
the microprocessor and the electronic hardware and they have shown that with the principal
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of field orientation a unified scheme for controlling various types of AC motors can be
developed.
Franz.C.Zach and Hans Ertl [27] have discussed about the efficiency optimal control
of AC drives using PWM inverters in 1983. In this paper the authors have discussed about the
different PWM techniques and they have shown that by the use of the selected harmonic
elimination method in the PWM inverters, the AC motor controller can be operated close to
efficiency optimal control in which the overall system efficiency increases.
In the same year Franz.C.Zach et.al [28] have discussed about the automatic on-line
optimization of microprocessor controlled AC motor drives. In this they have discussed about
the basics of efficiency optimization and they have shown experimentally that by using PWM
inverters and digital modulators1and2oftheswitchesin theinverterswitch can be varied continuously using
the computer simulation pattern and efficiency of the
inverter, motor and overall drive efficiency can be increased.
Again in the same year, Bimal.K.Bose and H.A.Sutherland [29] have proposed a high
performance pulse width modulator for an inverter-fed drive system using a microcomputer.
In this Intel 8086 microcomputer based pulse width modulator is described which receives
digital voltage and frequency commands independently at the input and generates precision
three phase PWM waves at the output which can be used to drive a transistor or thyristor
based inverter for AC drive system. The modulator operates on the computation intensive
uniform sampling method in the low frequency region where as in the higher frequency
region it works on a look-up table. Between the harmonic elimination and minimum rms
ripple current methods, it is observed that the minimum rms ripple current method reduces
the harmonics considerably.

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In 1983, Steven. C. Peak and A.B.Plunkett [30] have proposed and developed a
transistorized PWM Inverter-Induction Motor Drive system. In this the author has described
the development of a transistorized pulsewidth modulated inverter-induction motor traction
drive system for an electric vehicle ac induction motor propulsion system and has shown that
this type of system has potential cost and maintenance advantages over a dc chopper-based
system. In this the inverter is operated at higher switching frequencies, to improve the current
waveforms delivered to the motor, thereby an increase in motor efficiency is obtained.
In the year 1984, Min Ho Park and Seung Ki Sul [31] have discussed about the
microprocessor based optimal efficiency drive of an induction motor. In this they have
proposed a method for improving the efficiency of a slightly loaded induction motor using
the Z-80 microprocessor, in which optimal slip is calculated for different speeds for partial
loads and it is changed accordingly by adjusting the voltage to frequency ratio (V/F) for
different speeds. From the experimental set up and control hardware they have shown that by
the proposed method 10 percent improvement in efficiency is obtained at a quarter of the full
load.
In the same year Paresh C.Sen and G.Premchandran [32] have developed a novel
pulse-width modulation strategy for applications in uninterruptible power supply and ac
motor drive systems. The voltage/current harmonic spectra and other properties of this pulsewidth modulation scheme are thoroughly investigated. In this the pulse-width modulation
strategy is compared with other modulation techniques, especially with the commonly used
sinusoidal modulation scheme, from the standpoints of simplicity, inverter switching losses,
motor losses and other output performance features. Implementation of pulse width
modulation scheme for a 5HP induction motor drive system is demonstrated and it is seen
that it is quite simple in hardware-based as well as microprocessor-based systems and the

25

motor performance is quite satisfactory and the overall power rating of the inverter system
will be lower with this improved pulse-width modulation scheme.
Frank. M. Bruce, Richard J Graefe, Arthur Lutz and Michael D Panlener [33] have
presented a paper in the year 1984 on Reduced Voltage Starting of Squirrel-Cage Induction
Motors. In this the most commonly used methods of reduced-voltage starting of three phase
ac squirrel-cage motors are discussed, they include primary reactor, primary resistors,
autotransformer, part winding, wye-delta and solid state.
The primary impedance type starters are quite often used with small horsepower
motors, typically less than 25 HP. These starters are limited to short starting periods. When
resistors are used a great amount of heat gets dissipated during the starting period. This type
of starting is suitable for frequent starting of motors and provides smooth acceleration.
If a motor requires a long acceleration time, high starting torques, or if the maximum
reduction of inrush current is desired, the autotransformer starter is the most suitable. Of all
the reduced-voltage starter types, the solid-state reduced-voltage starter provides the
smoothest acceleration for a squirrel-cage induction motor. In addition, the adjustability of
the current and torque can be done while starting.
In the year 1985, David.M.Brod and Donald.W.Novotny [34] proposed the current
control of VSI-PWM inverters. In this they have studied the inherent limitations of
commanding voltages and currents in a three-phase voltage source inverter and an over view
of several current controllers is presented. They have used computer simulations to compare
the performance of several controllers.
In the year 1987 Daniel S Kirschen et.al [35] have conducted tests and demonstrated a
system for optimal efficiency control of an induction motor drive. In this a practical method
for achieving optimal efficiency over the complete operating range of a variable speed drive
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is presented and in this the system adaptively adjusts the flux level in the motor based upon a
direct measurement of the power input to the drive. An internal field orientation torque
control loop and a speed regulator are employed to maintain the load and speed requirements.
In the year 1988 Bimal K Bose [36] has carried out the study on technology trends in
microcomputer control of electrical machines and presented a paper. In this paper the stateof-the-art of electronic motion control technology, the salient technical features of electrical
machines, power electronic circuits, microcomputer control, VLSI circuits, machine controls,
computer-aided design techniques and the introduction of power semiconductor devices in
the mid -1950s are discussed .
In the same year Shoji Nishikata and D.W.Novotny [37] have published a paper on
efficiency considerations for low frequency operation of induction motors. The authors have
discussed the efficiency reduction of induction motor when it is operated at higher values of
slip at the lower frequency and they have proposed a simple control strategy for minimizing
the stator current by adjusting the volts/Hz of the inverter, which in turn minimizes the motor
current and improves the efficiency at lower frequency.
In the year 1989 Joseph Nevelsteen and Humberto Aragon [38] have studied the
starting of large motors methods and economics. They have considered the starting methods
and economics of large motors above 3000HP and stress is given on technical and economic
aspects of different starting methods i.e direct on-line, reactor start, auto transformer start,
capacitor start, captive transformer start and frequency start. A combination of different
starting methods is also feasible and should be considered. Dynamic modeling of a motor
start will often provide the extra confidence factor and reveal the limitations of a starting
method in the design state. Solid state starters offer increasing advantages with improving
technology, reliability and lower cost.

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In the same year Werner Deleroj et.al [39] presented an improved transients
performance of three- phase induction machine with controlled thyristor triggering. In this the
switching of a three-phase induction machine is achieved without the transient problems
associated with high currents and pulsating torque. Utilizing a dynamic function for the
triggering angle of the voltage controlled thyristors an simple and effective way to improve
transient performance is shown. By this method the rate at which the main flux builds up is
decreased and transient torque is smoothed.
In the year 1990 Paresh C Sen [40] has published paper on electric motor drives and
control- Past, Present and Future. In this the author has elaborately presented a
comprehensive review of the state of the art in the field of electric motor drives and control
strategies and he has shown that drive technology has seen impressive growth during the last
three decades. AC drive technology has been maturing rapidly and will likely overtake DC
drive technology in many industrial applications. New high speed, high efficiency switching
devices, new motor structures, new converter configuration, new control techniques and new
high speed microcontrollers have contributed to the further development of highperformances motor drives. Before 1980 DC motors were used in many industrial
applications for variable speed drive applications. With advancement in semiconductor power
electronics and microelectronics the DC motor variable speed drive applications were
replaced by AC induction motor drive systems. Basically, there are two types of induction
machines: the squirrel cage induction machine and the wound rotor induction machine. The
squirrel cage induction machine is less expensive, more robust and it is used in wide range of
power ratings.
Control of the squirrel cage induction machine:
A simple and economic method of squirrel cage induction motor control is to vary the
stator voltage at supply frequency using thyristors or triacs.This method of control is

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characterized by poor dynamic and static performance. Although it is inefficient because of

high slip power loss, it is used in fans, pumps and blower drives.
An efficient method of speed control for induction motors is to change the stator
frequency. Since the speed is close to synchronous speed, the operating slip is small and slip
power loss in the rotor circuit is small. However, this will require a frequency converter,
which is expensive. In AC induction motor drive systems, it is desired that the machine flux
is regulated to provide better utilization of the machine. A requirement for maximum possible
transient dynamics is to operate the motor at its rated flux level. Indirect flux regulation
schemes such as the volt / Hertz control and the slip-current control use variable frequency
control and these are extensively used in industry.
Flux Regulation by stator voltage and Frequency:
The AC variable-frequency drives originally used open-loop, volt/Hertz control to
regulate machine flux. The open loop control was found to be satisfactory for lowperformance, cost effective industrial drives. The closed-loop control with slip regulation
provides improved drive performance.
Flux Regulation by Current and Slip Frequency:
The other method that is used for flux regulation is based on a coordination of stator
current and slip frequency. A current source inverter is suitable for this type of drive. Unlike
the volt/Hertz control, the current-slip frequency control technique is independent of stator
parameters. Hence in this method flux regulation can be achieved even at low speeds.
Field-Oriented Control:
Both the volt/Hertz and current slip frequency control provide satisfactory steadystate performance. The volt/Hertz control scheme is quite simple to implement. On the other
hand, the current-slip frequency control scheme requires closed-loop current regulation as
well as accurate speed measurement and therefore is somewhat complicated to implement.

29

However, both these methods fail to provide satisfactory transient performance. The fieldoriented control is a technique that provides a method of decoupling the two components of
stator current: one producing the air gap flux and the other producing the torque. Therefore, it
provides independent control of torque and flux, which is similar to a separately excited dc
machine. The magnitude and phase of the stator currents are controlled in such a way that
flux and torque components of current remain decoupled during dynamic and static
conditions.
In field-oriented control, the stator phase currents are controlled in a fictitious
synchronously rotating reference frame and are transformed back to the stator frame to feed
the machine. Field orientation can be achieved by aligning the rotor flux linkage vector along
the d axis of the reference frame. With this arrangement, the control dynamics of the highly
coupled nonlinear structure of the induction machine becomes linearized and decoupled. The
induction motor is controlled like an armature controlled dc motor with i qs analogous to the
armature current and ids analogous to the field excitation.
Simulation of the machine transient performance, based on the analytical solution of
the machine differential equation under different modes of operation is developed. The
simulation model results show that a smooth switching process for an induction machine,
running at any speed, for both motor and generator operation are achieved.
In the same year S. A. Hamed and B. J. Chalmers [41] have made full analysis of the
steady-state performance of a variable-voltage thyristor controlled induction motor system,
based on the representation of the rotor as a sinusoidal EMF in series with a resistanceinductance circuit. In this circuit, magnetising current and stator resistance are included and
the amplitude and phase of the EMF are determined as functions of motor torque and speed.
In the year 1990, Seung K Sul and T.A.Lipo [42] have published a paper on the design
and performance of a high-frequency link induction motor drive operating at unity
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power factor. In this they have presented a new three phase - to three phase power
conversion topology based upon a 20-KHz single phase voltage link. By simulation and
experimental results they have shown that by using the same converter for the ac input side as
well as the output side, power can be transferred in either direction and with the use of
current regulator and suitable feedback control, the power factor at the input to the converter
can be adjusted to unity.
In the same year, Jih-Sheng Laj and B.K.Bose [43`] have proposed a high frequency
resonant dc link inverter for induction motor drive. In this first they have analyzed the
resonant circuit to establish the criteria for initial current selection and then they have
suggested a new circuit to establish the bidirectional initial current. The new current
initialization scheme has solved the voltage overshoot and zero crossing failure problems. For
induction motor control system implementation they have used two microprocessorsTMS320CS25 for computation and INTEL80386 for monitoring and user interface.
In the year 1991 Parviz Famouri and Jimmie J Cathey [44] have presented a practical
method for operation of an inverter-fed induction motor drive at the point of maximum
efficiency while maintaining any particular torque-speed load point. From the practical results
it is seen that the greatest efficiency improvement over constant volts/hertz operation is
offered by the loss minimization control at reduced torque loads for all speeds.
In the same year Masayuki Morimoto et al [45] have published a paper on high
efficiency, unity power factor VVVF drive system of an induction motor. A new control
strategy is discussed in this to have high efficiency converter-inverter system. For this a unity
power factor PWM converter is used which regulates dc voltage. The inverter circuit with the
magnetic flux control PWM method generates variable voltage, variable frequency PWM
waveforms. The PWM modulation factor of the magnetic flux control method with
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controllable dc link voltage is studied in this and with the over-modulation of the dc link
voltage, a high efficiency, unity power factor VVVF drive system is achieved for the
induction motor.
Again in the same year Ali.M.Eltamaly et.al [46] have published a paper on a noval
digital firing scheme for soft starting of three phase induction motors, in which a simple and
reliable digital firing scheme is introduced for soft starting of three phase induction motor. In
this an increase of stator voltage is done gradually without increasing the stator current than
the reference value. The ac chopper is used for regulating the voltage going to the induction
motor and it is having six bidirectional switches. The simulation of the system is carried out
by PSIM computer program. The ac chopper is controlled by using parallel port of PC. The
simulation results are compared with the experimental results from laboratory prototype.
In the same year, Mineo Tsuji et.al [47] have published a novel V/f controlled
induction motor drive for improvement of speed characteristics. In this an auto-boost voltage
method is used to compensate the voltage drop of stator impedance and a slip frequency
compensation method to decrease the speed error caused by the change of load. The
simulation and experimental results are compared and good speed control accuracy is
achieved with improvement in speed characteristics.
In the year 1992, Kunio Koga et.al [48] have constituted a new V/f control system for
reducing the steady-state speed error to zero in induction motor drive system. In this new V/f
control system, the frequency of the stator voltage is controlled to compensate for the speed
error and it generates a relatively large torque in low-speed range. The dynamic performance
and the stability are superior to those in a conventional V/f controlled drive system.

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In 1993, Shahriar Mohammadi [49] has discussed about fixed pulse width modulation
pattern for speed control system of three phase induction motor. He has analysed the regular
PWM and fixed PWM by using the computer simulation. In the fixed pulse width
modulation, parallel proportional, integral, differential (PID) error amplifier is used to
optimize and minimize the response time of the controller.
In the year 1995 Rodolfo Echavarria et.al [50] have published a paper on three phase
motor drive using IGBTs and constant V/F s analysis of the steady state equivalent circuit model of an
induction motor is presented to
establish the equations that justify the use of a constant vlots/Hertz speed control. The
laboratory tests are conducted and test results are presented to justify the motor operations at
different frequencies.
In the year 1995, A.Maamoun and M.M.ahmed [51] have proposed and developed a
microprocessor based PWM IGBT three phase voltage source inverter. This inverter is
designed to feed an induction motor with a power of adjustable voltage to frequency in a
proper relation to maintain approximately constant rated flux in the motor over the operating
frequency range of 1-50Hz. They have demonstrated the experimental set up to show that this
drive system can be used to control the speed of a three phase induction motor from very low
speed until the motor rated speed at a constant torque. Using microprocessor the complex
control circuit hardware of the inverter is replaced by microprocessor software.
In the year 1996, Iordanis Kioskeridis and Nikos Margaris [52] have proposed a loss
model controller to minimize the losses in induction motor adjustable speed drives. The
proposed controller model determines the optimal air-gap flux required for the motor drive
system that minimizes the losses in scalar control of induction motor, its implementation does

33

not require the knowledge of the loss model. The proposed loss minimization controller does
not affect the cost of the drive and it can be used in both open and closed speed loop drives.
In the same year Mohamed Osama et.al [53] have proposed and verified a new control
scheme to extend the speed range of a four-pole induction machine. In this a three phase
stator winding is used with each of two coil groups per phase being independent resulting in a
six-coupled circuit, six-terminal stator winding. For this two inverters are used to supply the
machine with the required regulated currents to obtain the effect of either four-pole or twopole windings. The four pole operation is carried out for and from zero speed until the end of
its constant power region and two pole operations is carried out to extend the constant power
region resulting in a doubling of the speed range for the same inverter and machine rating.
In the year 1997 Frede Blaabjerg et.al [54] have studied on improved modulation
techniques for PWM-VSI drives. The inverter is nonlinear which causes instability problems
in some specific working points of the ac machine and it emits acoustical noise due to the
switching frequency. Nonlinearities like dead-time in the inverter, a load dependent dc-link
voltage ripple and the voltage drop across the switches are modelled in this work and are
compensated by improved modulation techniques in order to obtain an ideal inverter. For this
some compensation techniques are proposed in this. The feed forward compensation is
proposed by measuring the direction of current and secondly, feedback compensation is
proposed by measuring the actual output voltage vector during each switching. The voltage
drop across the switches is compensated by measuring the phase currents. A proto type
system is developed including a rectifier and a 16-bit microcontroller based inverter for
testing of the proposed compensation. From the test results presented it is seen that an almost
ideal PWM-VSI inverter is obtained.

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In the same year Venkata V Sastry et.al [55] developed a novel method for optimal
soft starting of voltage controller-fed induction motor drive using a new parameter, namely
the voltage across the nonconducting thyristor. The dynamic simulation and experimental
results are presented to justify the new method of optimal soft starting of induction motor.
A.Munoz-Garcia et.al [56] have proposed and developed a new open loop constant
V/F control method for induction motor at low frequency operation in 1997. In this only the
stator current is measured using a low cost open-loop type of current transducer for both
stator resistance drop and slip frequency compensation. The simulation and experimental
results of the new method are compared and they have shown that good open loop speed
regulation is achieved by this method.
In the year 1997, Zhenyu Yu et.al [57] have published paper on review of three PWM
techniques. In this they have discussed the advantages of PWM based switching power
converter over linear power amplifier and the implementation of three commonly used PWM
techniques. The sinusoidal PWM technique, space vector PWM technique and hysteresis
PWM technique are discussed in length and are implemented with TMS320C240 digital
processor.
In 1998, Alfredo Munoz-Garcia et.al [58] also proposed and developed a new
induction motor V/f control method capable of high performance regulation at low speeds
using only low-cost open loop current sensors. In this method the stator current is measured
and compensation is given for both stator resistance drop and slip frequency. A comparison of
simulation and experimental results are presented and it is shown that good open-loop speed
regulation is achieved by the proposed method and it can be easily implemented in existing
V/f drives by modifying only the software.

35

In 1999, Wajiha Shireen et.al [59] have proposed controlling multiple motors utilizing
a single DSP controller. After a detail study of the different DSP processors the authors have
stated that DSP integrates a variety of sophisticated peripherals in them, which are very
useful for speed control of multiple motors. Taking the advantage of these features they have
developed a multiple motor controller using a single DSP. This has enabled the user to take
advantage of advanced algorithms to increase efficiency and also reduce system cost. The
integrated power electronics peripherals available in these controllers have reduced the
overall chip count of a complete system.
In the year 2000, Mehmet Cunkas et.al [60] have designed and developed a circuit for
protection of AC motors against low voltage, high voltage, high current, voltage and current
unbalance, high winding temperature and single phasing by using PIC 16C84
microcontroller. For this they have connect motor for the continuous monitoring of data and the winding
temperature is measured and
they are compared with the reference values by means of a software in the microcontroller.
When low voltage, high voltage, high current, voltage and current unbalance, high winding
temperature and single phasing are sensed, the microcontroller gives signals and the system
opens its normally soft starter after a trip delay. They have made a provision for the
transmission of data such as current, voltage, temperature which are acquired by the
microcontroller to the central PC by means of RS232C series communication line. In this
way motor data are monitored continuously on system monitor.
In the year 2001, Gurkan Zenginobuz et.al [61] proposed the soft starting of large
induction motors at constant current with minimized starting torque pulsations. An
experimental set up is demonstrated to show that performance optimization of a voltagecontrolled thyristorized induction motor soft starter can be achieved by using simple control
strategies and microcontroller. In this the performance analysis of the soft-starter motor-load
36

combination is done in the dynamic state using a hybrid induction machine model which
takes account of disconnected two-phase and three-phase operational modes of the machine
and simple control strategies are proposed to keep the current constant at any preset value
during starting. With this it is observed that perfect current and torque profiles are obtained
during starting.
In the same year, H.Langari and S.Vaez-Zadeh [62] have developed a Digital Signal
Processor based optimal torque control of single-phase induction motors. In this an
experimental set up is developed using DSP and results are presented to show optimal torque
control of single phase induction motors using a switching capacitor in the motor auxiliary
winding. The switching capacitor is controlled such that both a high average torque and a low
peak pulsating torque over the entire speed range are obtained. From the results it is justified
that the motor performance under the proposed system is improved substantially in
comparison with a constant capacitor motor.
Again in the same year Flemming Abrahamsen et.al [63] proposed the efficiencyoptimized control of medium size induction motor drives. The authors have demonstrated an
experimental setup with a 90 KW drive to show that the efficiency of a variable-speed
induction motor drive can be optimized by adaptation of the motor flux level to the load
torque. The importance of the converter losses on efficiency optimization in medium size
drives is analyzed in which the converter and motor loss are taken into consideration, the
influence of converter loss on loss minimization is studied and new efficiency optimizing
control strategies are proposed i.e displacement power factor control and model based
control.
In 2003, Slobodan.N.Vukosavic et.al [64] proposed a practical digital-signal
processor based algorithm for the online efficiency optimization of induction motor drives.
37

The algorithm is developed by combining the good features of the search control and lossmodel-based control, while simultaneously eliminating their major drawbacks. In the
proposed algorithm, the minimum loss operating point is decided from a functional
approximation of the motor and the power converter losses, in the form of a suitably defined
loss function. The loss function parameters are obtained online from input power
measurement and with the optimum flux value calculation and a dedicated identification
routine acting in conjunction with the common drive control functions.
In the year 2004, Edi Leksono and Pratikto [65] have developed an adaptive speed
controller for induction motor using digital signal processor. In this the authors have
described and implemented a simple adaptive speed control of induction motor using
dedicated digital signal processor. The adaptive control structure design is based on vector
control scheme that transforms the three phase motor currents into flux and torque generating
current components. Using these current components, the AC induction motor is controlled.
From the experimental set up and its results they have shown that DSP based adaptive speed
control of induction motor gives good transient and steady state responses.
In 2004, Gurkan Zenginobuz et.al [66] have proposed for the performance
optimization of induction motors during voltage controlled soft starting. They have
implemented this by using an 8-bit microcontroller and by eliminating the supply frequency
torque pulsations and by keeping the line current constant at the preset value. In this the
starting torque pulsations are eliminated by triggering back-to-back-connected thyristors at
proper points on the first supply voltage cycle.
In the same year, T.E.Chan et.al [67] have published paper on voltage and frequency
control of a self-excited slip-ring induction generator by varying the external rotor resistance.
The steady state performance and the control characteristics of the self-excited slip-ring
38

induction generator are developed from an equivalent circuit analysis. With the experimental
set up on a 1.8KW slip-ring machine, it is shown that with constant load impedance and
excitation capacitance, both the frequency and the output voltage of the self-excited slip-ring
induction generator can be maintained constant by rotor resistance control over a wide range
of speeds without exceeding the stator current limit.
In the same year, A. Payman and S.Vaez-Zadeh [68] have proposed and developed a
DSP based speed estimation method for single phase induction motor. For this, they have
developed the machine model in stationary reference frame and the two equations are written
to estimate the motor speed. In this the simulation and the DSP implementation results are
compared, to validate the proposed estimation method.
B.G.Fernandes and S.K.Pillai [69] have developed a programmed PWM inverter
using PC for induction motor drive. They have designed and developed an experimental set
up for speed control of three phase induction motor using transistorized inverter with
programmed PWM technique and they have demonstrated that programmed PWM scheme
provides high quality of motor current throughout the range of output frequency, many
control modules are realized through software and a significant reduction in hard ware is
achieved and system reliability is increased. Hence they have justified that programmed
PWM inverter using PC is best suited for high performance drives.
L.Umanand and S.R.Bhat [70] have proposed online estimation of stator resistance of
an induction motor for speed control applications. The authors have discussed about the
problems in the flux estimation and control due to variation in the stator resistance of the
induction motor and they have proposed and demonstrated a stator resistance estimation
algorithm for online estimation of the stator resistance under steady state operating
conditions, using variables that can be measured from the terminals of the motor alone and it
39

is based on estimating the steady state magnitudes of the stator and rotor flux space phasors
using the reactive power.
In 2005, Hassan Baghgar Bostan Abad et.al [71] have developed induction motor
speed controller with constant flux using fuzzy logic. By using artificial intelligence
technique, the electrical motor controller is implemented and it is implemented without
mathematical model. By experimental setup they have shown that by using fuzzy logic/
artificial intelligence technique, efficiency, performance and reliability of drives is increased
and volume, weight and cost of the drive is reduced.
In the same year, Adel Gastli et.al [72] have developed a novel method for controlling
soft-starter-fed induction motor drive systems using artificial neural network. They have
developed and tested a artificial neural network based ac voltage controller which generates
the appropriate thyristors firing angle for any given operating torque and speed of the motor
and the load. The developed artificial neural network based controller is simple, stable and its
results are accurate compared to conventional mathematical calculation of the firing angle
which is very complex and time consuming especially in online control applications.
Again in the same year Abdolreza Esmaeli et.al [73] have proposed for the mitigation
of the adverse effects of PWM inverter through active filter technique. In this a PWM
inverter fed AC motor drive system capable of suppressing all the adverse effects of PWM
inverter based on active cancellation method is developed. An EMI filter characterized by
sophisticated connection of two small separate filters, which can mitigate common mode
voltages produced by PWM inverter and can suppress leakage current.
In the year 2006, D.Chatterjee et.al [74] have proposed a fuzzy logic based stator
resistance technique for speed control of induction motor in the low speed region. The stator

40

resistance compensation method is used in this and it is implemented using microcontroller

and simple fuzzy-logic based technique.
In the year 2006, N.B.Muthuselvan and P.Somasundaram [75] have proposed a
simple, novel and robust fuzzy logic controller for high performance induction motor drive.
They have discussed that fuzzy logic controller does not need exact knowledge of induction
motor and inputs to the fuzzy logic controller are the linguistic variables of speed error and
change of speed error, while the output is change in switching control frequency of the
voltage source inverter. The authors have made a comparison between fuzzy logic controller
and traditional PI controller and they have shown that fuzzy logic controller is more robust
and effective for high performance induction motor drive.
In the same year, Wei Gu et.al [76] have developed a high power middle voltage
induction motor soft starter based on an on-off transformer. The performance of regular soft
starter, in which SCRs are used, will cha problem the authors have introduced a new type middle-voltage
soft starter based on the onoff transformer. In this the transformersinserieswiththe motors stator. The secondary
-parallelwindingSCR.The is co voltage of the primary winding is continuously changed by controlling the
firing angle of
SCR, then the voltage ofy changedthe andmotorsthesoftstartis stato realized. This new method is tested on
a 6KV, 850KW induction motor and by test results it
is observed that nearly perfect current and torque profiles are obtained during starting.
Again in the same year, Mengze Yu et.al [77] have published a novel induction motor
soft starter based on magnetically controlled reactor. In their work the authors have developed
a reduced voltage soft starting device, which works on the basis of magnetically controlled
reactor. In this method at starting, three single-phase magnetically controlled
41

reactors are connected in series with the stator winding of the motor to reduce inrush current
and keep the starting current constant at preset value by adjusting the reactance of the
magnetically controlled reactors.
In the year 2007, K.Sandeep kumar and K.Pritam Satsangi [78] have designed and
developed the variable speed drive of induction motor for constant torque using V/F method
and 89C54 microcontroller. In this closed loop control the actual speed of the motor is
compared with the reference speed and the difference in speed is adjusted by changing firing
angles of switching devices in the inverter. The developed variable speed drive system is
tested for changing in load conditions and from the results they have shown that, with the use
of microcontroller, the developed system is more flexible when compared with other
traditional methods.
In the same year, M.Sudha and P.Anbalagan [79] have developed and implemented
protection method for induction motor against faults due to voltage unbalance and single
phasing using PIC 16F877 microcontroller on a 3-phase, 2KW, 5Amps, 400 volts squirrel
cage induction motor. In this three potential transformers are connected to each phase of
induction motor and the secondary voltages of potential transformer are converted into DC
values and they are transmitted to the PIC microcontroller using analog to digital converter.
The measured values are compared with reference values by means of software. When
voltage unbalances, under voltage or single phasing are sensed, the system opens the
normally closed contactor by activating the relay and cuts the power supply to the induction
motor. From the test results they have shown that, the developed protection system is very
sensitive, fast and detects faults while running and before start.
Again in the same year Joachim Bocker and Shashidhar Mathapati [80] have proposed the
state of the art of induction motor control. In this he has discussed about the historical and

42

recent developments and major milestones in the control of induction motors, how research results are
translated in to todays indus summarized about the current trends in research and industry.

A.M.Eltamaly et.al [81] have shown that three phase ac voltage regulators provide a
simple and low cost option for speed control of three phase induction motor in 2007. The
three voltage control strategies proposed are phase angle control (PAC), extinction angle
control (EAC) and modified phase angle control (MPAC). The phase angle control strategy is
implemented using three back-to-back thyristors connected in series with the motor terminals.
The extinction angle control and modified phase angle control are used with converters
having six bidirectional switches. The simulation of the same is carried out using PSIM
computer program. The simulation results have shown that all switching strategies give high
level of harmonics in supply and motor currents. The motor speed variation with motor
voltage is same in modified phase angle control and extinction angle control but slightly
different in phase angle control strategies. The efficiency of phase angle control strategy is
highest in high speed and drops down the efficiencies of the other two techniques in the lower
speeds. It is shown that the extinction angle control strategy gives better power factor than the
other two techniques and modified phase angle control has the best THD in the supply and
motor currents.
In 2007, Tianchai Suksri and Satean Tunyasrirut [82] have proposed a PI controller
design for a speed control of induction motor. The voltage source inverter with space vector
pulse width modulation technique is used in this system. This scheme leads to be able to
adjust the speed of the motor by control of the frequency and amplitude of the input voltage.
In this the ratio of input stator voltage to frequency is maintained constant. The experimental
set up is developed and its results are analyzed in testing the 120watts induction motor from
no-load condition to ratedsfoundconditionthatthespeedofthe inductionand motoritcan
43

be controlled at the desired speed without steady-state error and it is shown that the motor
speed remains constant when the load varies.
In the same year, Hamdy.A.Ashour et.al [83] have implemented microcontroller based
soft starters for three phase induction motor. In this the modeling and simulation of three
phase induction motor is implemented and tested for various starting techniques. They have
implemented and tested two microcontroller based soft starting of three phase induction
motor, one using star-delta in combination with a reactor using PIC16F84 and the other using
AC voltage controller starting using PIC16F877.The comparison of these is made with
commercial soft starter LH4-N2 and they have demonstrated that both proposed soft starters
are more effective, simple and their cost is less.
In the year 2008 Thida Win et.al [84] have published a paper in world academy of
science, engineering and technology on analysis of variable frequency three phase induction
motor drive. This paper deals with the development of the hardware for speed control of a
three phase induction motor in open loop, in which supply voltage and frequency needs to be
varied with constant ratio to each other. In this an ac input voltage to the induction motor is
given through a diode bridge rectifier to produce a dc output which across a shunt capacitor is
connected, this in turn feeds the PWM inverter. The PWM inverter is controlled to produce a
desired sinusoidal voltage at a particular frequency. The output of the inverter is filtered by
the use of an inductor in series and capacitor in parallel and then it is given to the squirrel
cage induction motor. The developed hardware is experimentally verified for its operation for
wide range of speed.
In the year 2008 many papers have been published and they are as under S.Ananthi
et.al [85] have proposed and presented economical method of providing a variable speed
drive for agricultural pump motors. The variable speed drive of induction motor is achieved
44

by inverter drive system in which six switches will be used. The proposed economical
variable drive system is developed using ATMega8535 microcontroller and only two IGBT
switches, in which only a single PWM pulse drive is used instead of three as usual and can
work under single phasing conditions also. The developed software is quite simple and the
system is more reliable with sedreduction. in nu
Mineo Tsuji et.al [86] have published a novel V/f control of induction motors for wide
and precise speed operation. In this by calculating the d-q currents of induction motor, autoboost voltage method to compensate the voltage drop of stator impedance and a slip
frequency compensation method to decrease the speed error caused by the change of load is
presented. With the constant V/f control method, the motor cannot be operated at very low
speed. With the proposed novel V/f control method, the speed control at very low frequency
operation, such as 30rpm, from no load to the rated load is achieved.
The same authors [87] have shown that the steady-state and transient characteristics of
induction motor can be improved by the novel V/f control method. In this control method an
auto-boost voltage is used to compensate the voltage drop of stator impedance and a slip
frequency compensation method to decrease the speed error caused by the change of load.
From the experimental system, it is observed that there is an improvement in the steady-state
and transient characteristics of induction motor by novel V/f control method.
L.Rajaji et.al [88] have proposed a new adaptive neuro fuzzy based soft starting
strategy for selection of firing angles for thyristors in voltage controlled induction motor
drives. They have shown that proposed strategy mainly operates in open loop and speed and
voltage sensors are not required. The sensing of voltage across thyristors is also not required.
The simulation procedures and results are presented for the proposed method and they are

45

compared with the conventional soft starter results and they have shown that proposed soft
starter strategy is simple, stable, accurate and its response is fast.
John W Finch and Damian Giaouris [89] have reviewed the use of AC electrical
machines in controlled electrical drive applications. In this they have the discussed in length
the different AC electrical machines and their control principles i.e scalar control, vector
control, direct torque control and sensorless control methods. The main focus of review is on
control techniques which are being applied to make AC drives a rapidly growing area.
In the year 2009 many papers have been published and they are as under :
J. Liu et.al [90] have proposed an effective scheme of induction motor control without
using stator sensor. It consists of speed calculation algorithm and voltage/frequency control.
The proposed controller is implemented on a 2KW induction motor using DSP320F2812
from the results it is seen that the system has good characteristic in steady state and during
transient conditions.
C. Thanga Raj et.al [91] have discussed about the different methods used for energy
efficient control of three phase induction motor and the importance of efficiency optimization
in all electrical systems. They have discussed that efficiency optimization can also be
achieved by optimal design of machines, which covers design modifications of materials and
construction. The use of artificial intelligence techniques such as artificial neural network,
fuzzy logic, experts systems and nature inspired algorithms; genetic algorithm are also
discussed for efficiency optimization and using these experimental and simulation examples
on efficiency optimization are shown.
Chia-Chou et.al [92] have proposed fault-tolerant soft starter control of induction
motors with reduced transient torque pulsations in 2009. The simulation and experimental

46

test are conducted on a 1.492KW, 460V, four pole three-phase induction motor. From the test
results it is seen that, the proposed fault-tolerant soft starter control has reduced motor inrush
current magnitude and this approach is applicable to any soft starters that control small to
large integral horsepower induction motors.
F.A.Ramirez et.al [93] have designed and implemented a variable speed drive system
using the space vector PWM voltage source inverter and dsPIC30F3011 controller. The
variable speed drive is integrated by the IGBT driver, the IGBT power module and the dsPIC
controller. The modulation algorithm, speed measurement and PI controller are programmed
in dsPIC and they have tested the developed variable speed controller on a 0.5HP, 220V,
1800rpm, and 60Hz induction motor with closed loop scalar control. From the test results it is
observed that induction motor can be operated under different loading conditions using the
dsPIC controller.
Arunima Dey et.al [94] have proposed the vector control of three phase induction
motor using artificial intelligence technique. The regular PI controller used in the induction
motor drive system is unable to provide constant torque without any peak overshoot and
ripples. To overcome these problems, a unique set of fuzzy logics are proposed and
implemented in the speed controller design of a vector controlled three phase induction
motor. The results obtained from the model using fuzzy logic controller and PI controller are
compared and they have shown that the use of fuzzy logic improves and smoothens out the
ripples in the motor torque and stator currents and it has limited the magnitude of the torque
and current values within the specified range in any kind of disturbances.
A Ali Qazalbash et.al [95] have proposed the design and implementation of
microcontroller based PWM technique for sine wave inverter with minimized harmonics. In
this simulation and implementation of a sine wave inverter with ripple free and glitch free
47

output are carried out, it involves rectification and inversion modes which include bridge
technique, PWM technique, converter or a transformer, output filter and a feedback loop for
voltage regulation. In this the output voltage of the inverter is regulated by a feedback loop
using analog to digital protocol of PIC16F877 microcontroller.
B.Biswas et.al [96] have published paper on current harmonics analysis of inverter fed
induction motor drive system under fault conditions. The simulation of a voltage source
inverter fed induction motor drive system based on constant voltage/frequency operation is
developed using PSIM software and the harmonic analysis of motor current under different
fault conditions of medium and high power variable frequency drive systems are carried out.
Frequency response characteristics of motor currents are compared to analyze fault
conditions in motor drive system.
S.K.Moin Ahmed et.al [97] have presented a Simulink based modelling, simulation
and implementation of high performance induction motor drive system using constant V/f
speed control method. The simulation model is developed using simpower system block sets
of the Matlab/Simulink software, in which step by step model development is elaborated. To
address the real time implementation issues, they have incorporated the dead banding of the
inverter switches in the simulation model. The real time implementation of the constant
volt/Hz scheme is done using TMS320F2812 DSP processor. They have compared simulation
and experimental results, to show the successful implementation of the control scheme.
Ku.Trupti Deoram Tembhekar [98] has discussed about the scalar and vector control
of induction motor drives and he has developed the Simulink based simulation for open and
closed loop control of induction motor using both scalar and vector control and constant V/f
speed control method. From open loop and closed speed control of motor drive simulation
48

results, they have justified that this type control is well suited in applications requiring a
constant V/f speed control such as pumps, machine tools, mills etc. They have presented the
steady state equivalent circuit analysis to justify the use of the scalar control method and they
have used closed loop parameters to tune the flux and torque controllers of an indirect field
oriented control motor drive system. From the experimental and simulation results they have
justified that, due to its simple implementation and physical approach of the process, vector
control method is efficient enough to achieve good dynamic of an induction motor drive
system.
F.Kentli [99] has carried out a survey on progress made on design optimization of
induction motors during the last decade. In this they have discussed in detail about the single
phase and three phase induction motors, their classifications and the different methods used
for design optimization. Most of the studies on design optimization of induction motors are
done on polyphase induction machines only. Keeping efficiency, cost, minimizing
temperature, starting torque and vibration as objectives the design optimization of induction
motors is done.
In the year 2010, Prasad Shrawane [100] has proposed open and closed loop control of
induction motor using Volt-per-Hertz controller. The author has developed a simulink based
simulation for open loop and closed loop control of induction motor using V/f method. A
detail study of the simulation is done first with open loop and then with the closed loop with
the application of slew rate. The open and closed loop results are presented and from the
results they have shown that the slew rate reduces the transient time period, which is better
for the life of the machine. The steady state error is reduced to zero but it has taken longer
time in the closed loop method.

49

In the same year, Rateb.H. Issa [101] has proposed the stator current optimization of
three phase induction motor. In this the author has attempted to improve the performance of
induction motor by analyzing and designing the induction motor optimal stator current
controller, which will minimize the stator current under different loading conditions. He has
presented two mathematical based optimal control systems for induction motor drives leading
to stator current optimization and energy savings. First is the classical optimal control system
method and it uses the information on torque of the motor to generate the appropriate voltage
amplitude that minimizes the induction motor stator current. The second is the genetic
algorithm based optimal control system and it also uses information on torque of the motor to
generate the appropriate minimum stator current according to fitness function. The simulation
is carried out using MATLAB/Simulink toolbox and results are presented to show an
improvement of stator current minimization, which leads to energy savings.
Again in the same year, S.S.Darly et.al [102] have proposed a new approach based on
fuzzy algorithm to suppress the current harmonic contents in the output of an inverter. In this
they have designed a controller to find the difference between the input voltage and the
reference voltage. According to the difference, the voltage is added/subtracted in series with
the mains, for this a closed loop will inject a sinusoidal voltage component which is in phase
with the line current to draw/supply the required adjustment power. They have implemented
the new approach by building a proto type three phase impedance source inverter.
C.S.Kamble et.al [103] have proposed a digital signal processor based V/f controlled
induction motor drive in 2010. In this work they have developed a V/f controlled voltage
source inverter fed induction motor system using TMS320 DSP processor. From the
experimental set up and its results, they have claimed that TMS320 based control system has
high processing speed and it allows sophisticated control techniques to be used to build a

50

high precision control system. With the use of DSP controller, they have reduced the overall
system costs and an improvement in the reliability of the drive system is achieved.
In the same year, R. Arulmozhiyal et.al [104] have presented Real time MATLAB
interface for speed control of induction motor drive using dsPIC30F4011. The field oriented
control is used in this drive system and it has provided high efficiency, good power factor and
is extremely rugged. In this speed of the motor is adjusted by controlling the frequency and
amplitude of the stator voltage, for this the ratio of stator voltage to frequency is kept
constant. The experimental results are presented to show that using the developed controller
speed of the motor can be controlled in normal, step up and step down response.
In the same year, Benmabrouk et.al [105] have presented software digital phaselocked technique for speed control of an induction motor using scalar strategy. They have
implemented the digital phase locked loop control system and simulation results are
presented to verify the validity of the developed system.
In 2010, Ku.Trupti Deoram Tembhekar et al [106] have analyzed the steady state
equivalent circuit model of an induction motor to establish the equations that justify the use
of a constant V/f speed control of open loop and closed loop control. The open loop and
closed speed control of motor drive simulations are carried out and its results are presented. A
proto type hard ware is developed and the closed loop parameters are used to tune the flux
and torque controllers of an indirect-field oriented control motor drive system. The
experimental and simulation results are demonstrated to justify the feasibility of the system.
In the year 2011, Hussein Sarhan [107] has developed modeling and simulation of
drive system for energy efficient control of three phase induction motor drive system. In this
technique efficiency optimization controller works based on search methods. At a certain
torque and speed, there is only one value of stator voltage that operates the motor at optimum
51

efficiency. Using this technique, the proposed controller manipulates the value of the stator
voltage that maximizes the efficiency at any given operating point. Based on simulation
analysis and results presented, they have claimed that the proposed controller has given
significant results at low frequencies and light loads.
Bimal.K.Bose [108] has delivered a key note address about energy scenario and
st

impact of power electronics in 21 century. In this he has discussed about the global energy
scenario, the electricity generation by different fuels. Climate change problems i.e Global
warming problems due to man- made fossil fuel burning and the different methods of
mitigating it. Impact of power electronics in energy saving, renewable energy systems, bulk
st

storage of energy and electric/hybrid electric vehicles in the 21 century.

In the year 2012, Vishal Rathore and Manisha Dubey [109] have published paper on
speed control of asynchronous motor using space vector pulse width modulation approach.
They have developed a simulation model based on the mathematical model combining with
Matlab/Simulink. From the simulation results, they have demonstrated that space vector
control system has good static and dynamic properties. The space vector pulse width
modulation approach for the speed and torque control of induction motor is compared with PI
and PID controller connected in the feed forward path of the system and they have compared
the results on the basis of time response specifications i.e Rise time (t r), Peak time (tp),
Settling time (ts) and maximum overshoot (%Mp). From the results presented, it is observed
that the SVPWM with PID controller provides better results compared to the PI controller.
In the same year, Anuradha Tomar and Yog Raj [110] have presented an overview of
the various control techniques for induction motor drive. In this they have discussed the
various control schemes available for control of induction motor drives and their advantages
and disadvantages over the others.
52

In the year 2013, Shilpa V Kailaswar and R.A.Keswani[111] have implemented

variable speed drive for maintaining the constant speed of three phase induction motor for
batching motion system, as it requires constant speed. The synchronization is necessary
between batching system and weaving machine and this is implemented with the help of AC
drives. In this V/f control method is used to vary voltage and frequency as per requirement of
torque and speed.
In the same year, P.S.Joshi and A.M.jain [112] have published paper on design and
analysis of a wireless speed control of an induction motor using PWM technique with GSM.
In this they have developed a three phase induction motor drive for a 1HP, 3phase,415V,50Hz inductioneinverter powermotorstage withusingvoltshertz IGBT control in closed loop
using a microcontroller. They have presented the experimental results
for the developed system and with the use of GSM, it has provided constant volts per hertz
control and stable inverter line to line output voltage.
In the same year, A.Idir and M.Kidouche [113] have published a full real-time
simulation of V/F scalar controlled induction motor drive using RT-Lab platform and
MATLAB/Simulink

environment

for

educational

purpose.

They

have

used

the

MATLAB/Simulink as a front-end for editing and viewing graphic models in block diagram
format. These block diagram models have become the source from which code can be
automatically generated, manipulated and downloaded onto target processors for real-time or
distributed simulation.
2.3

Formulation of research problem

From the exhaustive review of literature presented above, it is observed that the

control and estimation of induction motor drives constitute a very vast subject and the
technology has further advanced in recent years. Induction motors drives with cage-type
53

machines have been the workhorse in industry for variable speed applications in a wide
power range that covers from fractional horsepower to multi megawatts. It is also observed in
the literature, that in addition to motor control, the emphasis for energy saving aspect of
variable frequency drives is getting a lot of attention nowadays to get benefitted in terms of
cost, solving environmental pollution problems and also in contributing towards reduction in
global warming. It is amply clear that enormous amount of work has already been done to
ensure the advantages of variable speed drive in motor control applications. Novel designs
have been proposed in the literature. Simulations of different control system are developed
and implemented for different types of motors using different software tools. Experiments are
carried out using the different scalar and vector control methods on three phase induction
motors. With the fast development in the semiconductor technology and very large scale
integrated circuits many new controllers have been developed using different microprocessor,
microcomputers, digital signal processors and using artificial intelligence techniques i.e fuzzy
logic, neural network, expert systems and genetic algorithms. Dramatic improvement in
performance, in terms of efficiency, cost, power consumption, torque, precise control have
been claimed by the use of variable voltage and frequency drives by different researchers.
Totally, the state-of-the-art of electronic motion control technology, the salient technical
features of electrical machines, power electronic circuits, microcomputer control, VLSI
circuits, machine controls and computer-aided design techniques are discussed in the
literature, the controlled electrical drives are still in the intense development phase. Numerous
control problems and the problems of energy conversion yet need to be solved. However an
elaborate discussion about the application of combined microcontroller and digital signal
processor for motor control is rare in the literature. Also efforts to develop new controllers
using the combined features and advantages of microcontroller and digital signal processor
are very rare in literature.

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A Digital Signal Controller is a single chip embedded controller that integrates the
controller attributes of a microcontroller (MCU) with the computation and throughput
capabilities of a Digital Signal Processor (DSP). The microchipsdsPIC DSC offers all the
facilities that are available in a 16-bit microcontroller and a DSP processor. Hence it is
relevant and equally important to propose the design and development of cost effective
controller for speed control applications which is not found in the literature.
Hence an effort is made to study the different types of AC machines and their
different speed control methods in detail. Various scalar and vector control methods are
available for variable speed drive applications. All have their own advantages and
disadvantages.
An induction motor can run only at its rated speed when it is connected directly to the
main supply. However many applications need variable speed operations. This is needed in
the most of the applications where input power is directly proportional to the cube of motor
speed. In applications like the induction motor-based centrifugal pumps, a speed reduction of
20% results in an energy savings of approximately 40%. Driving and controlling the
induction motor efficiently are prime concerns in todays en are designed to operate at a constant input
voltage and frequency. We can effectively control
an ACIM in a closed loop speed application if the frequency of the motor input voltage is
varied. If the motor is not mechanically overloaded, the motor will operate at a speed that is
roughly proportional to the input frequency. As you decrease the frequency of the drive
voltage, you also need to decrease the amplitude by a proportional amount. Otherwise, the
motor will consume excessive current at low input frequencies. This control method is called
Volts-Hertz control scheme. The constant V/f method is less complex in nature and can be
implemented using the DSC. By using the dsPIC DSC we will be trying to reduce the
complexity of the controller and also we can have all the required features for motor control
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which are provided by microcontroller and DSP processor. The use of this 16 bit DSC yields
enhanced operations, fewer system components, lower system cost and increased efficiency.
In this work a low cost dsPIC30F2010 is used as a controller to obtain the required V/F
control of induction motor.
The present work is out lined as below.
To study the construction and working of induction motor.
To study the different speed control methods.
To study the basic concepts and working of variable drive systems.
To propose and develop a new variable speed drive system using DSC.
To set up experimental hardware and test it for open loop and closed loop
operation.
To compare the results of open and closed loop system.

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