International Journal of Emerging Technology and Advanced Engineering

Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 10, October 2013)

Performance & Comparison Analysis of Indirect Vector

Control of Three Phase Induction Motor
Rakesh Singh Lodhi1, Payal Thakur2
1,2

Department of Electrical & Electronic Engineering, Vindhya Institute of Technology & Science Indore(M.P.), India

Abstract-- The objective of this paper to provide the

precise solution for speed control of three phase induction
motor for high speed variable speed drives. In this paper,
Implementation of indirect vector control induction motor
drive has been developed, which provide quick torque &
good dynamic responses near zero speed & high speed. The
simulation result of IVCIMD shows four quadrant
operation of drive. The performance of indirect vector
control induction motor drive is enhanced using different
controller & comparative performance has been presented
& analysed in this work. This paper also present different
speed control methods of induction motor. In addition,
MATLAB code results for variable stator voltage, variable
rotor resistance, constant Volts/Hz control & variation of
direct-axis stator current, quadrature-axis stator current
with variation in stator voltage is also present &
comparative study has been made between us.

The control & estimation of ac drives in general is

considered more complex than those of dc drives, & this
complexity increase substantially if performance are
demanded.[1][20]
To control the induction motor there are different
types of control are there they are:

Keywords-- Indirect Vector Control Induction Motor

Drive (IVCIMD), Stationary Reference Frame, Open Loop
Control, Synchronous Rotating Reference Frame, Variable
Speed Drives.

A. Variable Rotor Resistance control

In this method of speed control an resistances can be
connected in the rotor circuit externally during starting.
At starting slip s =1, this increases the starting torque and
reduces the starting current. The maximum torque during
starting can be achieved by using appropriate value of
resistors. Once the motor is started acceleration, the
resistance can be connect externally should be cut out to
obtain high torque throughout the accelerating range. As
external resistances are connected, most of the I2R loss is
dissipated through them thus the rotor temperature rise
during starting is limited. This method can be used in
applications requiring high starting torque. This method
is used only for wound motor, an external resistance is
added to it through slip rings. [36][67]

Variable supply voltage control

Variable rotor resistance control
Constant Volts/Hz control (scalar
control)
Direct torque control
Vector Control

II. SPEED CONTROL METHOD OF INDUCTION MOTOR

I. INTRODUCTION
Electric drive has evolved over the year & so have the
techniques to control their speed & torque. There are a
large number of researches activities taking place in
order to achieve stable control techniques with growing
capabilities in similar fields, the control techniques are
also become better with time.
In 1980s, DC motor drives were generally used in
variable speed drives because of the simplicity of control
due to decoupling between armature current & the field
current. But DC motor has several disadvantages such as
regular maintaince of commutator, brushes & brushes
holder, limited current carrying capacity during high
speed applications etc. Therefore squirrel cage induction
motor are widely used as they have highly reliable,
robust construction & free from regular maintaince &
become work horses in the industry for the variable speed
application in a wide power range. This is the main
reason to replace the DC motor with an induction is to
merge the advantage of both motor together into a
variable speed drives & eliminate the associate problem.
These applications include pumps & fans, paper mill,
subway & locomotive propulsions, electric & hybrid
vehicles, machine tools & robotics, home appliances,
heat pumps etc.

B. Variable Stator Voltage

The developed torque of an induction motor is
proportional to square of the supply voltage to its stator
terminals, by varying the supply voltage, the
electromagnetic torque developed by the motor can also
be varied. The value of maximum torque also decreases,
with decrease in supply voltage. But it still occurs at the
same slip as earlier. This method is generally used for
small rating cage type motors where cost is an important
factor. However, this method has rather limited range of
speed control. [36]

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C. Scalar control (constant v/f control)
The name scalar (constant v/f) control indicates the
variation of magnitude of control variables only. The
control of an induction motor requires a variable voltage,
variable frequency three phase source. With advent of the
voltage source inverter (VSI), constant voltage/hertz
(scalar) control has become the simplest & cheapest
popular methods of speed control of induction motor.
The principle of v/f control is that, the base speed of
induction motor is proportional to the supply frequency
so, the best way of vary the speed of induction motor by
varying the frequency of supply. The developed torque of
motor is directly proportional to the ratio of the supply
voltage & frequency. So the main aim to maintaining the
same terminal voltage to frequency ratio constant so as to
torque developed can be kept constant give constant flux
over a wide range of speed variation. Since the flux is
kept constant, full load torque capability are maintained
constant under steady state condition except low speed.
[70]
In this control scheme, the performance of induction
motor improves in the steady state only, but the transient
state response is poor. More over Constant voltage/hertz
(scalar) control keeps the stator flux linkage constant in
steady state without maintaining the decoupling between
flux and torque. So the dynamic response of the drive is
poor due to inherent coupling effect. These foregoing
problems can be solved by vector control or field
oriented control. [37]

In direct vector control method, directly measures the

rotor flux & using that flux to determine the
transformation angle. This method also called as open
loop vector control. Direct measurement of flux is
physically difficult, so estimated value of flux is
calculated using stator voltages & currents value. At
higher speed, value of estimated flux may be reliable but
at lower speed, this is subjected to errors from
harmonics.[39]
The direct method of vector control attempts to
directly measure or estimate the machine ux, and use
this to determine the transformation angle. While direct
ux measurements are dicult physically, an estimate
value of flux is calculated using the stator voltages and
currents equations. At the higher speed ranges, the ux
estimate may be reliably estimated from the integral of
the stator voltage. However, this method is subject to
errors from harmonics, and is not useful at lower speeds.
Due to the diculty in reliably obtaining an estimate of
the rotor ux direction, the direct method of vector
control is not commonly used. Instead, the indirect
method has gained popularity. [1][41]
III. P RINCIPLE & B LOCK O F INDIRECT VECTOR
CONTROL O F I NDUCTION MOTOR
Blaschke in 1972, has introduced the principle of
vector control of induction motor, to realize the
characteristics of d.c motor in an induction motor drive.
In vector control, both flux & torque are control
independently i.e both are decoupled in nature.
An a.c machine is not simple because of the
interaction between stator & rotor field, whose
orientation is not held at 90 degree but vary with
operating conditions. We can obtain d.c machine like
performance, by considering the induction motor in
synchronous rotating reference frame. Where all
sinusoidal variables appear like d.c quantity in steady
state.
The block diagram of indirect vector control method is
shown in figure 3.1. The control scheme generate
inverter switching commands to achieve the desired
electromagnetic torque at the shaft of motor

D. Vector control
The vector control scheme is being invented in 1970s,
and its demonstrate that an induction motor (Ac motor)
can be controlled like a separately excited dc motor,
brought a renaissance in the high speed performance
control of ac drives. The vector control is also known as
decoupling, orthogonal, or transvector control because of
the separately excited dc motor like performance. The
vector control is applicable to both induction and
synchronous motor drives. There are two methods of
vector control, Direct or feedback method &Indirect or
feed forward method [9].

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3.

The direct-axis stator current reference ids* is

obtained from reference rotor flux input |r|*.

4.

The rotor flux position

for
e required
coordinates transformation is obtained from the
rotor speed r and slip frequency sl. e is
calculated as

5.

The algorithm of indirect vector control is given as:

1. The induction motor is fed by a variable
frequency, variable voltage PWM inverter,
which operates in current control mode. The
motor speed is compared with the reference
speed * and the error is produced which is fed
to the speed controller. The output of speed
controller is electromagnetic torque Te*.
2. The quadrature-axis stator current reference iqs*
is calculated from electromagnetic torque
reference Te* as
)(

The slip frequency

is calculated from the
stator reference current iqs* and the motor
parameters.
is given by from eqn 4.31,

IV. S IMULATION RESULTS & D ISCUSSION

This section summarise the results of proposed
algorithms. The indirect vector control induction motor
models tested in MATLAB/Simulink & result of
proposed models are discussed in this section

4.1: Simulation Result of Induction Motor Using Open

Loop Model
The open loop model of induction motor was
implemented in MATLAB/Simulink in stationary
references frame. Simulation results are shown in figure
4.1 for stator voltage, rotor speed, electromagnetic torque
& stator current waveform.

Where
|r|est is the estimated value of rotor
flux linkage given by

Where, r =

6. The iqs* and ids* current references are

converted into phase current references ia*, ib*,
ic* using inverse park transform (two phase to
three phase conversion) & fed to the current
controller. The controller processes the
measured and reference currents to produce the
inverter gating signals.
The main role of the speed controller is to keep the
motor speed equal to the speed reference input in steady
state and to provide a good dynamic response during
transients & the closed loop current control operates the
voltage source inverter in current control mode which
ensures that the winding current follow same pattern as
that reference currents generated from control logic.

Figure 3.1: complete diagram of indirect vector control induction

motor

( ) ( )(

is the rotor time constant.

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Figure 4.1: Response of 50 hp three phase induction motor during

starting & at load torque = 200nm

(b) PID controller

4.2: Indirect Vector Control Simulation Result

The results shown below were obtained using different
speed controller from figure.4.2 to 4.4, for stator voltage,
stator current, rotor speed & electromagnetic torque.

Figure 4.2: Starting & full load (200 nm) response of Indirect
vector control induction motor drive (IVCIMD) with
(a): PI controller & (b): PID controller

(a) PI controller

(a) PI controller

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(b) PID controller

(b) PID controller

Figure 4.3: Performance of IVCIMD during speed reversal from

(+171 rad/sec) to (-171 rad/sec) with
(a): PI controller & (b): PID controller

Figure 4.4: Performance of IVCIMD during speed reversal from

(-171 rad/sec ) to (+171 rad/sec) with
(a): PI controller & (b): PID controller

4.3 Matlab Code Result

A MATLAB Code result is present below for Speed
Control of 3-phase Induction motor using Variable Rotor
Resistance, Variable Stator Voltage, Constant V/F
Control (Scalar control) & Variation of d-axis stator
current, q-axis stator current with change in voltage to
observe Torque-Speed characteristics.

Figure 4.5: Torque Vs Rotor Speed for variable rotor resistance

(a) PI controller

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2500

Id axis current

Torque(N-m)

2000

1500

1000

500

4
5
6
Rotor Speed(Rad/s)

Vrms (stator current)

10
4

x 10

(b) d-axis
Figure 4.6: Torque vs Rotor Speed for variable Stator Voltage

Figure 4.8: Variations in q-axis & d-axis stator currents with

change in stator voltage
(a): q-axis current Vs Vrms & (b): d-axis current Vs Vrms

900
800

4.5 simulation result discussion

The performance of open loop model of induction
motor & indirect vector control induction motor drive
(IVCIMD) has been simulated in MATLAB environment
using simulink & simpower toolboxes .A comparative
study has been made based on different operating
condition such as starting, loading, speed reversal. A
MATLAB code result for different speed control method
of induction motor is also present & compare with the
simulation results of IVCIMD.
The figure 4.1 & 4.2 shows starting & full load
response of open loop model & IVCIMD with PI & PID
speed controller. The Table-1, given below shows the
comparative results during starting.

700

Torque(N-m)

600
500
400
300
200
100
0

4
6
8
Rotor Speed(Rad/s) * 100

10

12
4

x 10

Figure 4.7: Torque Vs Rotor Speed for using Constant V/f

contro

Table 1 :Comparison of starting performance of indirect vector

control induction motor drive (IVCIMD) & open loop induction
motor model

Iq axis current

Open
loop
control

Vrms (stator current)

IVCIMD
using PI
controller

IVCIMD
using PID
controller

RMS A.C mains starting

current (A)
Speed (rad/sec)

620

452

397

187.7

186.3

134.1

Starting torque (Nm)

Settling time (sec)

1657
0.71

310.2
1.23

302.8
0.85

Current drawn during

loading condition (A)

81.76

94.2

88.1

The results of open loop control shows high starting

current as compare to IVCIMD. The ripple content in
speed waveform of open loop model during starting has
been eliminated in IVCIMD.

X104

(a) q-axis

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The IVCIMD reaches to steady state earlier & torque
settle faster as compare with open loop response. The
load torque of 200 Nm is applied at 1.51 sec, so the
momentary speed decreases is little less in IVCIMD with
PID as compare with open loop & IVCIMD with PI
controller response.
The figure 4.3 & 4.4 shows the IVCIMD response
during speed reversal with PI & PID controller & its
comparison is given in Table-2 shown below:

V. CONCLUSION
In this paper different speed control method of three
phase induction motor has been made under various
operating condition such as starting, speed reversal, load
perturbation. From the result of implementation , carried
out in MATLAB ,it has been found that indirect vector
control drive with PID controller has better response as
compare with PI controller. It obtained reduced starting
current, less ripple content in torque waveform & settle
faster. The open loop results contain high ripple during
starting of speed response. The indirect vector control
drive reaches earlier to steady state as compare with other
result of Matlab code. So, the overall performance of
indirect vector control induction motor drive is better &
gives quick torque response near zero speed. It control
both phase as well as magnitude & fulfil the requirement
of wide speed control range & individual torque control

Table 2 : Comparison performance of indirect vector control induction

motor drive (IVCIMD) using PI & PID controller during speed
reversal

Reversal time (sec)

Speed during reversal (rad/sec)
RMS A.C current drawn during
reversal (A)
Electromagnetic torque during
reversal (Nm)
Forward braking time duration
(sec)
Reverse motoring time duration
(sec)

IVCIMD
using PI
controller

IVCIMD using
PID controller

2.16

1.16

+186.3 to 186.3
120

+134.1 to -134.1

-303

-303

1.5 to 2.4

1.1 to 1.73

2.4 to 3.6

Acknowledgement
The authors would like to express their sincerest
gratitude to the Dr.Shailendra Sharma, SGITS indore &
Prof.Rahul Agrawal, Head of Department,VITs indore
for providing all the possible better facilities to carry out
the research work.

101

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[70] www.renesas.com
[71] www.mathwork.com

Rakesh Singh Lodhi presently working as

a Assistant Professor in Department of
Electrical & Electronics Engineering at
Vindhya Institute of Technology &
Science, Indore (M.P.) India. He is a
graduate of university of RGPV in
Bhopal. He was awarded a Masters
degree in Power Electronics from
SGSITS, Indore. Rakesh Singh Lodhi wrote 8 papers mostly in
2011s. His current research interests include power electronics,
electrical machines, Control and drives.
Payal Thakur was born in Madhya
Pradesh, India in 1987. She received the
B.E degree in Electrical & Electronics
Engineering from RGPV university,
Bhopal India in 2009.She is currently
working towards the M.Tech. degree in
the Department of Electrical &
Electronics Engineering at Vindhya
Institute of Technology & Science, Indore
(M.P.) India. Payal Thakur wrote 1 papers in 2013. Her current
research interests include power electronics, machines Control
and drives.

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