SPEED ESTIMATION TECHNIQUES FOR

INDUCTION MOTOR USING DIGITAL SIGNAL

PROCESSING

SOLLY ARYZA

Thesis submitted in fulfillment of the requirements

For the award of the degree of
Master of Engineering (Electrical)

Faculty Kejuruteraan Electrical Engineering

UNIVERSITI MALAYSIA PAHANG
2011

vi

ABSTRACT

Speed estimation is one of the methods of speed sensor-less control for three
phase induction motors. With the advancement of the power electronics switching
devices and digital technologies, the developments of speed estimation methods have
been intensively implemented from many researchers. Thus, this field of research has
become more interested to investigate. Speed sensor-less control techniques can make
the hardware simple and improve the reliability of the motor without the introducing the
feedback sensor and it becomes more important in the modern AC servo drive. It is one
of the attracting research directions in the high-precision servo control field because of
its robust characteristics, simple realization and excellent dynamic response. Several
common rotor speed estimation was introduced in the thesis. The model must accurately
represent both the electrical and electromagnetic interactions within the machine and
associated mechanical systems. In this Thesis, the neural networks controller for speed
estimation has been developed approach to induction motor that has been implemented
in digital signal processing controller (DSP) and gave the control signal to IGBT for run
three phase inductions motor. Analysis of speed estimation nonlinear characteristics is
carried out and makes a comparison with traditional linear method speed sensor less
method. First, the simulation of the proposed control system is performed by using the
MATLAB software and then the real time implementation is performed by using the
MATLAB and the hardware. According to the mathematical model of the induction
motor, the simulation of model and hardware implementation of speed sensor-less
induction motor had been successfully implemented. The design and implementation of
the speed estimation system for three-phase induction motor and the experimental
research is presented in this Thesis. Finally, this Thesis shows the implementation of the
speed estimation using DSP controller and the design of hardware and software for
speed sensorless of induction motor. The experiment is completed at different speed and
experiment results show that artificial neural network controller obtained a good
response when compared to conventional methods.

vii

ABSTRAK

Anggaran kelajuan adalah salah satu kaedah kawalan kelajuan sensor-kurang

selama tiga fasa motor aruhan. Dengan kemajuan elektronik kuasa menukar peranti dan
teknologi digital, perkembangan kaedah anggaran kelajuan telah dilaksanakan dengan
intensif daripada ramai penyelidik. Oleh itu, bidang penyelidikan ini telah menjadi lebih
berminat untuk menyiasat. Teknik sensor-kurang kawalan kelajuan boleh membuat
mudah perkakasan dan meningkatkan kebolehpercayaan motor tanpa sensor maklum
balas memperkenalkan dan ia menjadi lebih penting dalam pemacu servo moden yang
AC. Ia merupakan salah satu arah penyelidikan yang menarik dalam bidang kawalan
servo kepersisan tinggi kerana ciri-ciri yang teguh, kesedaran mudah dan gerak balas
dinamik yang sangat baik. Beberapa kelajuan biasa anggaran pemutar telah
diperkenalkan dalam tesis. Model harus secara tepat mewakili kedua-dua interaksi
elektrik dan elektromagnet dalam mesin dan sistem mekanikal yang berkaitan. Tesis ini,
pengawal rangkaian neural untuk anggaran kelajuan telah dibangunkan pendekatan
untuk motor aruhan yang telah dilaksanakan dalam pemprosesan isyarat digit pengawal
(DSP) dan memberi isyarat kawalan ke IGBT untuk jangka masa tiga fasa motor
induksi. Analisis ciri-ciri tak linear anggaran kelajuan dijalankan dan membuat
perbandingan dengan kelajuan tradisional kaedah linear kaedah sensor yang kurang.
Pertama, simulasi sistem kawalan yang dicadangkan dijalankan dengan menggunakan
perisian MATLAB dan pelaksanaan masa nyata dilakukan dengan menggunakan
MATLAB dan perkakasan. Menurut model motor aruhan matematik, simulasi model
dan pelaksanaan perkakasan kelajuan sensor-kurang motor aruhan telah berjaya
dilaksanakan. Reka bentuk dan pelaksanaan sistem anggaran kelajuan motor aruhan tiga
fasa dan penyelidikan eksperimen dibentangkan di dalam tesis ini. Akhirnya, Tesis ini
menunjukkan pelaksanaan anggaran kelajuan menggunakan DSP pengawal dan reka
bentuk perkakasan dan perisian untuk sensorless kelajuan motor aruhan. Eksperimen itu
selesai pada kelajuan yang berbeza dan hasil eksperimen menunjukkan bahawa
pengawal rangkaian neural tiruan mendapat sambutan yang baik berbanding dengan
kaedah konvensional.

viii

TABLE OF CONTENTS

SUPERVISORS DECLARATION
STUDENTS DECLARATION
DEDICATION
ACKNOWLEDGEMENTS
ABSTRACT
ABSTRAK
TABLE OF CONTENTS
LIST OF TABLES
LIST OF FIGURES
LIST OF SYMBOLS AND ABREVIATION

CHAPTER 1

INTRODUCTION

1.1 Background of Research

1.2 State Estimation Sensor less Electric Drives

1.2.1

Flux Estimation for Field Orientation

1.2.2

Flux Observers From State Space Control Theory

1.3

Problem Statements

1.4

Research Objectives

1.5

Scope of Thesis Work

1.6

Contribution

1.7

Thesis Outline

ix

CHAPTER 2

LITERATURE REVIEW

2.1 Induction Motor

2.2.1

Stator

10

2.2.2

Squirel Cage Rotor

11

2.2 Frequency Controller

11

2.3 Space Vector Pwm Control

12

2.4 Adaptive Pid Regulator

16

2.5 Artifial Neural Network

18

2.6 Digital Signal Processing Implementation Of Speed Sensorless

23

FOC
2.6.1 Hardware Implementation of FOC

24

2.6.2 DSP Software Implementation of FOC

25

2.7 Summary

CHAPTER 3

25

METHODOLOGY

3.1 Introduction

26

3.2 Speed Estimation Using Direct Torque Control

26

3.3 Speed Estimation Using Vector Control

27

3.4 Speed Estimation Using State Equations

28

3.5 Speed Estimation Using Rotor Slot/ Bar Harmonics

31

3.5.1

Tapped Windings

32

3.5.2

Stator Current

33

3.5.3

High frequency Injection

33

3.6 Strategy Controller Motor

35

3.6.1

Scalar Control

38

3.6.2

Vector Control

41

3.6.3

Direct Torque Control

43

3.6.4

Feedback Linearized Control

44

3.7 Intelligent Artificial Controller

47

3.8

Proposed Adaptive System Using Neural Networks

54

3.9

System Configuration

55

3.9.1 System Overview

55

3.9.2 Motor Controller

56

3.9.3 Synchronous Angle Calculator

57

3.9.4 Current Control of Voltage Converter

57

3.9.5 Inverter Controller

57

3.9.6 Speed Estimator

58

3.10 Voltage Model Compensated by Rotor FOC Model

CHAPTER 4

RESULTS AND DISCUSSION

4.1

Introduction

61

4.2

Simulation Result

61

4.3

Comparison of Induction Motor Operation

61

4.4

Hardware Experimental Setup

68

4.5

Performance

72

4.6

Result

73

4.7

Conclusion

76

CHAPTER 5

CONCLUSION AND FUTURE WORK

5.1

Conclusion

77

5.2

Suggestion Future Work

77

REFERENCE
APPENDIX

59

xi

LIST OF TABLES

Table No.

Title

Page

3.1

Parameter of three phase induction motor

59

4.1

Comparison Operation of Induction Motor Used ANN and

66

Modified Voltage Model Flux

xii

LIST OF FIGURES

Figure No.

Title

Page

1.1

Sensorless Speed Estimation Methods

2.1

Cross Section of An Induction machines

10

2.2

Resultant Vector Representation of The Three Phase Currents

11

2.3

Conducting Rotor Bars Without The Rotor

12

2.4

Open loop Voltage and Frequency Controller

14

2.5

Close Loop Speed Control With Volts/Hertz Control and slip

16

regulation
2.6

Current / Slip scalar Control scheme

19

2.7

Direct Torque Controlled Induction Motor Drive

20

2.8

Feed Back Linearization Control

20

2.9

Reference Frames and Representation of Stator current and Rotor

21

Flux as Space Vectors

2.10

Three Phase Voltages Sources Inverter

24

2.11

Configuration of Space Vector PWM

26

2.12 a

Example of Space Vector PWM Pattern Reference Voltage and

28

Projections
2.12 b

Example of Space Vector PWM Pattern in Sector 3

28

2.13

Adaptive PID Control

30

2.14

Schemes of ANN for Controller

33

2.15

Experimental Set Up for Sensorless Control System

38

3.1

Speed Observer Using State Equations

43

3.2 a

Rotor Flux Orientation Control Stator Reference Frame

49

3.2 b

Rotor Flux Orientation Control In Estimated Rotor Flux

49

Reference Frame

xiii

3.3

Typical Induction Motor Drive

55

3.4

Detailed Laboratory Set Up

56

3.5

Implementation Procedure of The Control and Estimation

57

3.6

Block Diagram of MRAS Speed Observer

57

3.7

Proposed System Configuration

60

3.8

Proposed Modified Voltage Model

64

4.1

Experiment Set Up Induction Motor Based On DSP

66

4.2

Block Diagram TMS320F28335

67

4.3

Induction Motor 3 phase

68

4.4

Experimental Set Up

68

4.5

Simulation Speed for High Voltage

70

4.6

Simulation for 35 V Constant Rotating Simulations

70

4.7

Simulation for Torque of speed Estimations IM with Percentage

71

Full Load
4.8

Modeling Speed Estimation Controlling Induction Motor

73

4.9

Stator Controlling Circuit

73

4.10

Estimatiors Adaptive in Controlling

74

4.11

Stator Current

74

4.12

Speed Result

75

4.19

Torque Result

75

xiv

LIST OF SYMBOL AND ABREVIATION

PWM

Pulse Width Modulation

AC

Alternating current

HP

HP Horse Power

ANN

Artificial Neural Network

Slip

R1

Stator resistance in ohms

R2

Rotor resistance referred to stator in ohms

R0

Equivalent resistance corresponding to the iron

losses in

ohms
L1

Leakage inductance of Stator in henry

L2

Leakage inductance of Rotor referred to stator in henry

L0

Magnetizing inductance of the stator in henry

X1

Leakage reactance of Stator in ohms

X2

Leakage reactance of Rotor referred to stator in ohms

X0

Magnetizing reactance of the stator in ohms

Vi

Input voltage in volts

V0

Output voltage in volts

V1

Voltage across the variable rotor resistance in volts

Vf

Output voltage due to forward field in volts

Vb

Output voltage due to backward field in volts

V0

Output voltage

Current flowing through the stator in Amps

I1

Iron-loss and magnetizing component of the noload current

in Amps due to forward field

I2

Rotor current referred to the stator in Amps due to forward

fiel

I3

Iron-loss and magnetizing component of the noload current

in Amps due to backward field

xv

I4

Rotor current referred to the stator in Amps due

to

backward field
Pgf

Airgap power developed by the motor due to forward field

Pgb

Airgap power developed by the motor due to backward field

Torque developed by the motor in Nm

TL

Load Torque in Nm

Ns

Synchronous speed in rps

Moment of inertia in Kgm2

Viscous friction in Nms

Number of Poles

Angular speed in rad/sec

Angular displacement in radians

Output vector of the hidden layer

Output vector of the output layer

Vji

weight matrix

Wkj

weight matrix

B1

Bias vector

B2

Bias vector

Tr

Input

Lr

Output

Rr

Secondary time constant

Lm

Secondary inductance per phase

Rs

Secondary resistance per phase

Ls

Magnetizing inductance per phase

Primary winding resistance per phase

CHAPTER 1

INTRODUCTION

1.1

BACKGROUND OF RESEARCH

With the power electronics technology, computer technology and digital signal
processing technology, the high-performance motor frequency control system should be
widely applied. AC variable speed drive system with excellent and starting and braking
performance and efficient energy-saving effect, the use of the motor frequency control
technology, its capacity, speed and voltage levels can be high; speed control system is
small, lightweight, inertia, high reliability, less maintenance, suitable for harsh working
conditions and low cost. The frequency conversion technology, especially vector
control salient features of the system technology, so from household appliances to
sophisticated servo robots, and even aviation, military space industry, frequency control
technology nothing less.

In the high-performance induction motor system, closed-loop motor speed

control is a necessary part of the general essential, often using a photoelectric encoder
speed sensor for detecting speed and feedback speed signal. However, the speed sensor
installation, maintenance, cost, and poor working conditions and other issues, are
shadowed ring to the induction motor speed control system simplicity and reliability,
limiting the scope of application of AC variable-speed system.

Thus, the use of detection of stator voltage, current, etc. easily measured
physical quantity's velocity estimation, namely, Speed sensor technology research has
important practicable significance and broad space for development (Bose B.K, 2007).

Although the induction motor has been developed to a very advanced stage, but its
speed sensor fewer control systems also need further research, there is a relatively large
space for development. Speed sensor-less Application, one can complete highperformance closed-loop control without the need for speed, on the other hand, reduces
the Install speed sensor in the system caused by increased hardware complexity and
reliability issues down. In earlier research in this area, and there are already useful
general-purpose inverter speed sensor products.

Therefore, development of independent intellectual property rights of speed

sensor less AC drive products have become when the service.

1.2

STATE ESTIMATION SENSORLESS ELECTRIC DRIVES

The speed estimation is particular interest with the induction motor drives where
the mechanical speed of the rotor is generally different with speed of the revolving
magnetic field. The advantages of speed sensor induction motor drives is reduction of
hardware complexity and cost, increase of circuit noise immunity and drive reliability,
and reduction of maintenance requirements ( lin F.J and Chiu S.L, 2007 ). Operations in
the hostile environments, mostly motor drives without speed/position sensors.

Many variable-speed electric drives used in general purpose applications ranging

from a simple servo system to the complex traction system require a capability of speed
variation with a pre-defined performance standard. In such applications, it is necessary
that the actual drive-speed measurements be available at every instant to control the
drive effectively. Therefore, many different kinds of speed sensors have been used to
include taco generators, optical encoders, resolves, etc.

Elimination of such a requirement of having the speed sensor on the motor shaft
represents a cost advantage, and also enhances the reliability of the drive owing to the
absence of a mechanical sensor and associated cable accessories. The identification of
the rotor speed is generally based on measured terminal voltages and currents. Various
dynamic models are used to estimate the magnitude and the spatial orientation of the
magnetic flux vector and for this purpose, open loop estimators or closed-loop observers

are used, which usually differ from respect to accuracy, robustness and sensitivity
against model guideline variations. Figure 1.1 shows the block diagram of the speed
sensor less induction motor control. Basically, there are two commonly used control
methods: the voltage-to-frequency (V/f) control and the field oriented control (FOC).
Both methods for the speed sensor less control required a speed estimation algorithm. In
the V/f control, the ratio of the stator voltage to stator frequency is kept constant using
feed forward control to maintain the magnetic flux in the motor at a desired level. This
control is simple but it only cans satisfy moderate motor dynamic requirements. On the
other hand, high motor dynamic performance can be achieved using FOC control,
which is also called the vector control.

The stator currents are injected at a well-defined phase angle with respect to the
spatial orientation of the rotating magnetic field, thus overcoming the complex dynamic
properties of the induction motor. The spatial location of the magnetic field, that is the
field angle, is difficult to measure.

There are several models and algorithms that can be used for the estimation of
the field angle, for example, the open-loop estimator such as model reference adaptive
system (MRAS), or the close loop observer such as the Kalman Filter. The induction
motor control using the field orientation usually refers to the rotor field.

Figure 1.1: Sensor-less Speed Estimation Methods

(Zhang Yan and Utkin V, 2005)

1.2.1

Flux Estimation for Field Orientation

Achieving high-quality torque and flux control in applications requiring both

zero and very high speed operation is difficult with existing approaches to induction
machines field orientation (Fitzgerald AE, 2006). There are two basic forms of field
orientation; direct field orientation (DFO) which relies on direct measurement or
estimation of the rotor or stator flux magnitude and angle and indirect field orientation
(IFO) which uses and inherent slip relation.

1.2.2

Flux Observers from State Space Control Theory

Numerous researchers have applied conventional linear observer theory from

modern state space control to the estimation of rotor flux for DFO systems, the
induction machines electric model in state space and the stationery reference frame is:

p[

][

or simply
px= Ax + Bu
Where:
p

= differential operator
= stator current
= rotor flux
= stator voltage in complex vector

1.3 PROBLEM STATEMENTS

Sensors are widely used in electric drives degrade the reliability of the system
especially in hostile environments and require special attention to electrical noise.
Moreover, it is difficult to mount sensor in certain applications besides extra expenses
involved. Therefore, a lot of researches are underway to develop accurate speed
estimation techniques. With sensor-less vector control we have decoupled control

structure similar to that of a separately excited dc motor retaining the inherent

ruggedness of the induction motor at the same time. Speed sensor-less control
techniques first appeared in 1975 (C.Ilas 2005). Several reviews and comparison paper
is available on sensor less control techniques (B. P. Panigrahi 2005). The commonly
used method for speed estimation is model reference adaptive system (MRAS) (Zhang
Yan 2008). Further, a high performance sensor less induction motor driver (G. Bartolini
2003) requires speed estimation besides estimating machine parameters most important
of which is the rotor resistance which varies during the operation of the motor. Very
few work have been reported on simultaneous estimation of speed and rotor resistance.
(A.E. Fitzgerald 2006).

1.4

RESEARCH OBJECTIVES

The primary objective of this research as follow:

-

To estimate induction motor speed using ANN

To design Hardware and Software of the speed and current controllers for
induction motor drive using ANN method

1.5

To build the real time controlling MATLAB of induction machine.

SCOPE OF THESIS

- Make a hardware prototype of the proposed speed sensorless control.

- To design a nonlinear feedback controller.
-

Use artificial neural network for speed estimation control and make the
comparison with another method.

1.6

CONTRIBUTION

In this thesis, some contribution has been provided as follow:

Develop speed estimation controller using digital signal processing (DSP).

Develop a real time speed estimation of induction machine, which can be used for
teaching purpose.

Develop hardware controller for speed estimation induction motor real time design.

1.7 THESIS OUTLINE

The Thesis introduction addressed the research trends in the area of controlling
motor drives for induction motor based on DSP (Digital Signal Processing) for speed
estimation. The research motivation and objectives were then explained in detail.

Chapter two describes the all the literature review, components selection and
sizing of the motor drive subsystems for the electric power transmission path, and
highlights the issues with these subsystems that have motivated this research.

Chapter three presents some method from speed estimation, mathematical model
for sensor less control induction motor , and modeling of an advanced induction motor
A literature review on existing parameter estimation methods to improve the
performance of propulsion motor drive system is also presented.

Chapter four describes the experiment laboratory and analysis calculation of

three phase induction motor, including software-in-the-loop simulation results in
experiment method of the induction Motor drive.

Chapter five concludes and future works this thesis, and presents future research
topics related controlling Motor Drives.

CHAPTER 2

LITERATURE REVIEW

2.1

INDUCTION MOTOR
The Torque speed characteristic of an induction motor is directly related to the

resistance and reactance of the rotor (Kubota H and Matsuse K, 2006). Hence, different
Torque- Speed characteristics may be obtained by designing rotor circuits with different
ratios of rotor resistance to rotor reactance.

In induction machines, the field circuit is on the stator. The armature circuit is
on the rotor, and the rotor poles are induced by transformer action. Both the stator poles
and the rotor poles rotate at the synchronous speed, but the rotor rotates physically at a
speed slightly less than a synchronous speed and slows down as the load torque and
power requirements increase.

A rotating magnetic field, produced by a stationary winding (called the stator),

induces an alternating, cmf and current in the rotor. The resultant interaction of the
induced rotor current with the rotating field of the stationery winding produces motor
torque Figure 2.1.

The stator is identical to a stator of a synchronous machine: three phases, P

poles, sinusoidal mmf and flux distribution, and synchronous speed. In induction
motors, the stator carries the field. The rotor is much different; in induction motors, the
rotor is an iron cylinder with large embedded conductors, which are shorted to allow the
free flow of current. The stator flux induces the ac current in the each of the rotor

conductors, and an ac voltage is induced in the rotor to drive the currents. The currents
in the conductor produce a magnetic.

Figure 2.1: Cross section of an Induction machines

Induction machine technology is a mature technology with extensive research

and development activities over past 100 years. Recent development in digital signal
processor and advanced vector control algorithm allow controlling an induction
machine like a DC machine without the maintenance requirements. Induction motors
are considered as workhorses of the industry because of their low cost, robustness and
reliability. Induction machines are used in electric and hybrid electric vehicle
applications because they are rugged, lower-cost, operate over wide speed range, and
are capable of operating at high speed.

The size of the induction machine is smaller than that of a separately excited DC
machine for similar power rating. The induction machine is the most mature technology
among the commutated fewer motor drives.

There are two types of induction machines: squirrel cage and wound rotor. In
squirrel cage machines, the rotor winding consists of short-circuited copper or
aluminium bars with ends welded to copper rings known as end rings. In wound rotor
induction machines, the rotor windings are brought to the outside with the help of slip
rings so that the rotor resistance can be varied by adding external resistance. If threephase voltages are applied to the stator, the stator magnetic field will cut the rotor
conductors, and will induce voltages in the rotor bars. The induced voltages will cause

rotor currents to flow in the rotor circuit, since the rotor is short-circuited. The rotor
current will interact with the air gap field to produce torque. As a result the rotor will
start rotating in the direction of the rotating field. The difference between the rotor
speed and the stator flux synchronous speed is the slip speed by which the rotor is
slipping from the stator magnetic (Xu Z and Rahma M.F, 2007).

2.1.1.

Stator

The stator is made up of this laminations of a highly permeable steel that

together yields high magnetic flux density and low core losses. The stator winding are
wound and placed into slots in the stator, 120 apart in space. These are wound to
create stator magnetic poles when current flows through them. The number of stator
poles in conjunction with the frequency of the applied three phase power determined the
speed of rotation og the stators magnetic field and thereby the speed of the induction
motor. Figure 2.2 shows a stat Ice. pictures of the flux and current direction when only
winding A of the stator is energized.

While normal operation of we-connected induction machine precludes having

the current through only one winding, this drawing illustrates the resultant flux vector.
During normal operation, three currents, oriented 120 degrees part in time, are applied
to the three windings and can be combined to form a
vector It is found to be. =

stator vector. The stator flux

/ R where R is defined to be the magnetic circuit

reluctance.

Figure 2.2: Resultant vector representation of the three phase currents.

10

It is important to note that a balanced three phase current applied to the stator
winding's results in a rotating stator current and therefore, a rotating flux vector. The
magnitude of the

Stator vector is constant as it rotates within a plane, it can be

represented by two components; x and y. Analysis can be greatly simplified if we

consider that the stator current has only these two components and represented it as

Is= [

2.1.2.

( 2.1 )

Squirel Cage Rotor.

The squirrel cage rotor is also made up of thin laminations of a highly permeable
steel that together yield high magnetic flux density and low core losses. The rotor bars,
or windings, are placed in the rotor slots and shorted together at each end as shown in
Figure 2.3. The rotor is mounted on a shaft so that it can rotate and is placed inside the
stator. The number, size, skew and depth of recess of the rotor conductors influence
motor performance.

Figure 2.3: Conducting rotor bars without the rotor.

2.2

FREQUENCY CONTROLLER

The speed of an induction motor is very near to its synchronous speed. The
difference between the two being characterized by the slip speed. If the synchronous
speed of the induction motor is changed, there is corresponding change in the speedof

11

the motor and this can be done by changing the supply frequency of the a.c.source. The
relationship between the synchronous speed and the frequency is given by

s =

(2.2)

where s is the synchronous speed in rev/min, fs is the supply frequency in Hz and P is

the number of poles.

The a.c. supply available for the utility purpose is of a constant frequency and
when an induction motor is operated with utility supply, it runs at a constant speed. For
the purpose of speed control, a frequency changer is required to change the speed of the
induction motor. The electrical motor drives which use frequency changers to achieve
the speed control are referred to as Frequency-Controlled Electric Drives (Briz F 2002) .

2.3

SPACE VECTOR PWM CONTROL

Space vector pulse width modulation (PWM) technique has become a popular
PWM technique for the control of three phase voltage source inverters (VSI) for
applications such as induction motor drives. In comparison to the direct sinusoidal
PWM techniques, the space vector PWM technique generates less harmonic distortion
in the output voltages and currents and provides more efficient use of the dc supply
voltage to the inverter (Trzynadlowski. A 2005).

Figure 2.4. Shows abasic three phase power inverter circuit, where Va, Vb, Vc is
the voltages applied to the induction motor, and where Vdc is the inverter dc input
voltage.

12

Figure 2.4: Three Phase Voltages Sources Inverter

The six switches Q1 to Q6 is insulated gate bipolar transistors IGBT). The ON-OFF
sequence of these switches follows the conditions below:

Three of the switches must be always ON and three are always OFF.

The upper and the lower switches of the same leg are driven with two
complementary pulsed signals with a dead band betwee n the two signals to
avoid short circuit.

The induction motor is supplied with the required three phase voltages for the
designed operating conditions using PWM technique. In this research paper, the
space vector PWM method is used to generate the gating signals for the switches
in the VSI inverter that drives the induction motor with high performance in
terms of fast response to changes of loads and speed commands.

The relationship between the switching variable vector [a b c]T and the line to line
output voltage vector [ Vab Vbc Vca]T and the phase voltage vector [Va Vb Vc]T is given
by the following equations.

] = Vdc[

[ ]=

][ ]

][ ]

(2.3)

(2.4)

13

Where Vab = Va * Vb, Vbc = Vb * Vc, Vca = Vc*Va. The stator - voltages
corresponding to the three phase voltages are:

Vsa = Va
Vs =

(2.5)
Va +

Vb

(2.6)

The above equation can also be expressed in matrix form by using the equation

Va+Vb+Vc = 0.

]= [

][ ]

(2.7)

There are eight (23) possible combinations for the switch commands. These
eight switch combinations determine the eight phase voltages vectors, of which the
results are six non zero vector (V1-V6) and two zero vectors(V0, V7) as shown in
Figure 2.5.

Figure 2.5: Configuration Of Space Vector PWM

14

The objective of space vector PWM technique is to generate the desired

instantaneous reference voltages from the corresponding basic space vectors based on
the switching states. Figure 2.5. It shows that the basic space vectors divide the plan
into six sectors. Depending on the sector that the reference voltages are in, two adjacent
basic vectors are chosen. The two vectors are time weighted in a sample period T
(PWM period) to produce the desired output voltage (Buja 2004).

Assuming that the reference vector Vout is in the sector 3 as shown in Figure 2
6a, the application time of two adjacent vectors is given by:

T = T4+T6+T0
=

(2.8)

(2.9)

Where T4 and T6 are the duration of the basic vectors V4 and V6 to be applied
respectively. T0 is the duration for the zero vectors (V0 or V7). Once the reference
voltage Vout and the PWM period T are known, T4, T6 and T0 can be determined
according to the above equation (3).

T4 =

(3

(2.10)

T6 =

(2.11)

T0= T (T4 + T6)

(2.12)

Where Vsa, Vs is - component of Vout. The voltage Vout is an approximation of

the desired output voltage based on the assumption that the change of output voltage is
negligible within a PWM period T.. Therefore, it is crucial that the PWM period is
small with respect to the change of Vout. In practice the approximation is very good
because the calureculation is performed in every PWM period (200s).

15

2.4. ADAPTIVE PID REGULATOR

A motor drive based on the field oriented control needs two inputs; the torque
component reference isqref and the flux component reference isdref. The classical
proportional and integral (PI) regulator is often used to regulate the motor torque and
flux to the desired values(Leksono Edi 2000). This regulator which is implemented in
this thesis, is capable of reaching constant references by correctly setting both the P
term (Kp) and the I term(K1). The P term and I term respectively regulate the error
sensibility and steady state error. The regulation can be improved with the adaptive
proportional integral derivative (PID) regulator (Lin F.J 1999).

To design a digital PID controller for the motor control, it may first consider the
transfer function of an analog PID regulator:

D(s)= Kp +K1 +KDs

(2.13)

Where Kp is the proportional gain, Kt is the integral gain, and KD is the

derivative gain. Similar to the Laplace Transform in continues time domain, the
integrator and differentilator can be represented by pulse transfer function in discrete
domain.

Where Kp is the proportional gain, Kt is the integral gain, and KD is the

derivative gain. Similar to the laplace transform is continous time domain, the integrator
and differentiator can be represented by pulse transfer function in discrete domain.

Integrator=

(2.14)

Differentiator =

(2.15)

Where T is the sampling period. Thus the transfer function of a digital non
adaptive PID controller is

16

D(z)= Kp +K1

+KD

(2.16)

(2.17)

Where

a0 =Kp+

(2.18)

a1=-Kp+

(2.19)

a2=

(2.20)

Figure 2.6. It shows the block diagram of an adaptive control system. The r is
input or set point, c is the output feedback, y is the output and D(z) is the adaptive PID
controller. The adaptive control scheme consists of two parts. First, the regulator uses
initial (or updated) PID parameter and feedback input samples to determine the
regulation. Second, the regular updates the PID parameters until the error signal e2 are
approaching zero.

Figure 2.6: Adaptive PID control

17

A quadratic objective function is used to minimize e2 with respect to the

regulator parameters.

f(a0,a1,a2) = (e2)2
(z)] 2

=
= [

]2

(2.21)

The first order partial derivatives with respect to the regulator parameter a 0,a1,a2
are given below:

)e1 + (

)(

)e12

(2.22)

Where a0,a1,a2 can be solved according to the steepest decent method of the
gradient techniques, so that the following equation can be obtained.

An(k+1) =an(k) +

2.5.

n= 0,1,2;

k=0,1,2

(2.23)

ARTIFICIAL INTELLIGENT CONTROL

Intelligent control is a class of control techniques, that use various AI computing

approaches like neural networks,

Bayesian probability,

fuzzy logic, machine

learning, evolutionary computation and genetic algorithms(Qinghui Wu 2009). Before

we begin with what an intelligent control is, it is important to note what an intelligent
agent essentially means. An intelligent or a rational agent is one who simply does the
right things. This leads to a definition of an ideal rational agent: For each possible
percept sequence (Fitzgerald. A 2006), an Agent ideal rational agent should do whatever
action is expected to maximize its performance measure, on the basis of the evidence
provided by the percept sequence and whatever built-in knowledge the agent has.
Intelligent control achieves automation via the emulation of biological intelligence(B.K

18

2007). It either seeks to replace a human who performs a control task (e.g., a chemical
process operator) or it borrows ideas from how biological systems solve problems and
applies them to the solution of control problems (e.g., the use of neural networks for
control).

Intelligent control can be divided into the following major sub-domains:

Neural network control

Bayesian control

Fuzzy (logic) control

Neuro-fuzzy control

Expert Systems

Genetic control

Intelligent agents (Cognitive/Conscious control)

New control techniques are created continuously as new models of intelligent

behavior are created and computational methods developed to support them.

Neural network controllers

Neural networks have been used to solve problems in almost all spheres of science
and technology. Neural network control basically involves two steps:

System identification

Controlling

It has been shown that a feed forward network with nonlinear, continuous and
differentiable

activation

functions

have universal

approximation capability(Buja

2004). Recurrent networks have also been used for system identification. Given, a set
of input-output data pairs, system identification aims to form a mapping among these
data pairs. Such a network is supposed to capture the dynamics of a system(Qiang Lu
and Proceedings of the CSEE 2006).

19

Artificial neural networks are a computational tool, based on the properties of

biological neural systems. Neural networks excel in a number of problem areas where
conventional von Neumann computer systems have traditionally been slow and
inefficient (Lascu C 2005). This thesis is discussed the creation and use of artificial
neural networks for give signal in trigger and make open thyristor to be gave current to
induction motor 3 phase.
Artificial Neural Networks, also known as Artificial neural nets, neural nets,
or ANN for short, are a computational tool modeled on the interconnection of the
neuron in the nervous systems of the human brain and that of other organisms.
Biological Neural Nets (BNN) are the naturally occurring equivalent of the ANN (Lee
K.B 2001). Both BNN and ANN are network systems constructed from atomic
components known as neurons. Artificial neural networks are very different from
biological networks, although many of the concepts and characteristics of biological
systems are faithfully reproduced in the artificial system. Artificial neural nets are a type
of non-linear processing system that is ideally suited for a wide range of tasks,
especially tasks where there is no existing algorithm for task completion. ANN can be
trained to solve certain problems using a teaching method and sample data. In this way,
identically constructed ANN can be used to perform different tasks depending on the
training received. With proper training, ANN is capable of generalization, the ability to
recognize similarities among different input patterns, especially patterns that have been
corrupted by noise(Mohamadian M 2003)

Most of the control theory developed with linear time invariant systems. And
powerful methods for designing controllers for such systems are currently available.
However, as applications become more complex, the processes to be controlled are
increasingly characterized by uncertainty in the system model. Non-linarites, presence
of noise and effect of have distributed sensors and actuators with their associated delays
and other problems. One approach used for handling a non-linear system has been to
linearize it around an equilibrium point, and then use the well-established linear control
theory to study issues like stability, controllability, and design controllers to function in
an approximate linear region around the equilibrium point.

20

In most cases where ANNs have been used in the control of induction motors,
online training has been preferred. On line training has the potential to adapt to
changing motor parameters, but it is computationally very expensive, and it is very
difficult to run an average sized ANN in real time with on line training.

On way to control a plant using ANNs is to train the ANN off line to mimic an
existing controller. This implies that the ANN must have as input, all the quantities that
are input to the existing controller (with suitable number of previous values)

The ANN is trained off line to produce the same outputs as the controller and
after sufficient training; the ANN should be able to replace the controller. A block
diagram of this scheme is shown in Figure 2.7.

Figure 2.7: Schemes of ANN for controller.

Fuzzy Logic controllers

Fuzzy control is a methodology to represent and implement a (smart) humans
knowledge about how to control a system. The fuzzy controller has several components:
The rule-base is a set of rules about how to control.
Fuzzification is the process of transforming the numeric inputs into a form that can be
used by the inference mechanism.

21

The inference mechanism uses information about the current inputs (formed by
fuzzification), decides which rules apply in the current situation, and forms conclusions
about what the plant input should be.
Defuzzification converts the conclusions reached by the inference mechanism into a
numeric input for the plant.

Genetic Control

To understand what Genetic control is, one must suffice oneself with the theory of
genes and the importance of its study in an artificially intelligent machine Genes are the
blueprint of our bodies, a blueprint that creates the variety of proteins essential to any
organisms survival. These proteins, which are used in countless ways by our bodies,
are produced by genetic sequences, i.e. our genes, as described in the cell biology
section, protein synthesis pages. Utilization of Genetic Information All cells have
originated from the single zygote cell that formed it, and therefore possess all the
genetic information that was held in that zygote. This means that an organism could be
cloned from the genetic information in the nucleus of one cell, regardless of the volume
of cells that make the organism (be it one or billions).

However, this brings about the following question, how can cells become
differentiated and specialized to perform a particular function if they are all the same?
The answer to this is each cell performing its unique role has some of its genes
'switched on' and some 'switched off'.
In light of this, the cells in our body still contain the same genetic information,
though only a partial amount of this information is being used in any one cell. Switched
On and Switched off Some genes are permanently switched on, because they contain the
blueprint for vital metabolites (enzymes required for respiration etc). However, since
cells become specialized in multi-cellular organisms such as us, some genes become
switched off because they are no longer required to be functional in that particular cell
or tissue.

22

For instance, insulin is produced in pancreas cells, which must have the gene that
codes for insulin switched on, and perhaps other genes that are un-related to the role of
the pancreas can be switched off.

Some other genes that will be functional during specialization determine the
physical characteristics of the cell, i.e. long and smooth for a muscle cell or indented
like a goblet cell.

Genetic control then transforms all of this available information into an algorithm to
design and texture genes for avoiding mitotic growth and/or identifying probable threats
to the proposed gene. This branch of science deals with protection, regeneration and
transformation of the analytical information collected.

Bayesian controllers

Bayesian probability has produced a number of algorithms that are in common use
in many advanced control systems, serving as state space estimators of some variables
that are used in the controller.

The Kalman filter and the Particle filter are two examples of popular Bayesian
control components. The Bayesian approach to controller design requires often an
important effort in deriving the so-called system model and measurement model, which
are the mathematical relationships linking the state variables to the sensor
measurements available in the controlled system. In this respect, it is very closely linked
to the system-theoretic approach to control design.

2.6

DIGITAL SIGNAL PROCESSING IMPLEMANTATION OF SPEED

SENSORLESS FOC

The fixed point DSP TMF28335 is the core of the control system designed in this
thesis. The following provides an overview of the DSP FOC operations.

23

DSP operates its analog-to-digital converter (ADC) to collect the instantaneous

induction motor input currents measured by a current transducer at the motor
terminal.

DSP carries out a specific d-coordinate chosen to be in line with the rotor flux,
using the - currents and the flux angle, to compute the d-coordinate and qcoordinate currents.

DSP carries out an inverse d-q transformation, using the d-q reference voltages,
to compute the stator and reference voltages.

DSP executes three feedback regulators for the motor speed, the rotor torque,
and the rotor flux, to determine the d-coordinate and the q-coordinate stator
reference voltages.

DSP executed the space vector pulse width modulation (PWM) module, using
the - reference voltages, to compute the PWM control signals.

DSP finally outputs the PWM control signal to the gating circuit of the power
electronic inverter that drives the induction motor.

2.6.1

Hardware Implementation of Field Oriented Control

Figure 2.8 shows the set up general of DSP block diagram of the hardware
required to

implement a sensorless speed control system, for an induction motor.

The DSP control system designed in this Thesis consists of the following major
hardware components:

1. DSP controller
2. Power Inverter
3. Induction Motor

Figure 2.8: Experimental Set up general of DSP

24

DSP is the key control element in this thesis for design of the FOC of induction
motors. Setting DSP TMF28335 given as follows.

Development/Emulation: Code Composer 4.1. Support real time debugging.

CPU clock: 30 MHZ.

PWM frequency :5 kHz.

PWM mode: Symmetrical with the dead band 1,8s.

Interrupts

System time base.

2.6.2

DSP Software Implementation of Field Oriented Control

DSP control software developed in this thesis is based on two modules: the
initialization and the run module (Song J 2000). The initialization module is performed
only once at the beginning of the software execution. The run module is based on a user
interface loop interrupted by the PWM underflow.

The benefits of structured modulator software are well known. This is especially
true for large complex system, such as the FOC motor control, with many sub-block. It
reduces the developing time, and could be reused in the future a project. Therefore, a
new method use DSP driver incremental build process is used in this research thesis.

2.7

SUMMARY

Modeling of Induction motor is the first and essential step for its identification
and control. The mathematical model of the machine should on one hand have such a
structure so as to completely describe the characteristics of the machine and on the other
hand, be convenient to use it for implementing estimation algorithms. In this chapter,
literature review is discussed. The chapter starts with parts of induction motor like
stator, rotor, squire cage and, etc., introduction of the reference frames. Then principal
operation.Differential equation, hardware DSP and software implementation.