UNIT III

INDUCTION MOTOR CONTROL

Speed control methods-PWM techniques- VSI fed three-phase induction motor- Fuzzy logic
Based speed control for three-phase induction motor- Embedded processor based three phase
induction motor speed control.

Speed Control of Three phase Induction Motor

A three phase induction motor is practically a constant speed motor like a DC shunt
motor. But the speed of DC shunt motor can be varied smoothly just by using simple
rheostats. This maintains the speed regulation and efficiency of DC shunt motor. But in case
of three phase induction motors it is very difficult to achieve smooth speed control. And if the
speed control is achieved by some means, the performance of the induction motor in terms of
its power factor, efficiency etc. gets adversely affected.
Fortheinductionmotorweknowthat,
Fromthis expression itcanbeseenthatthe speedofinduction motorcanbe changed either by

changing its synchronous speed or by changing the slip s.

Similarlytorqueproducedincaseofthreephase inductionmotoris given
by,
N = Ns(1-s)
So as the parameters like R2, E2 are changed then to keep the torque
constantforconstantloadcondition, motorreactsbychangeinitsslip. Effectively its speed
changes.
Thus speedofthe inductionmotorcanbecontrolledbybasicallytwo methods :
1. From statorside and
2. Fromrotorside
Fromstatorside,itincludes followingmethods:

a. SupplyfrequencycontroltocontrolNs, calledV/fcontrol.
b. Supplyvoltagecontrol.
c. ControllingnumberofstatorpolestocontrolNs.
d. Addingrheostats instatorcircuit.
From rotorside,itincludesfollowingmethods:

a. Addingexternalresistanceintherotorcircuit.
b. Cascadecontrol.
c. Injectingslipfrequencyvoltageintotherotorcircuit.
SupplyFrequencyControlorV/ fControl
Thesynchronousspeedisgivenby,
Ns = 120f / P
Thus by controlling the supply frequency smoothly, the synchronous speed can be
controlled over a wide range. This gives smooth speed control of an induction motor.
Buttheexpressionfortheairgapfluxisgivenby,

Thisisaccordingtothee.m.f.equationofa transformerwhere, K1 = Stator

winding constant
Tph1=Statorturnsperphase
V = Supply voltage
f=Supply frequency
It can be seen from this expression that if the supply frequency (f) is changed, the value
of air gap flux also gets affected. This may result into saturation of stator and rotor cores.
Such a saturation leads to the sharp increase in the (magnetisation) no load current of the
motor. Hence it is necessary to maintain air gap flux constant when supply frequency f is
changed.
To achieve this, it canbe seen fromthe above expression that along with f, V also must
be changed so as to keep (V/f) ratio constant. This ensures constant air gap flux giving speed
control without affecting the performance of themotor. Hence this method is called V / f
control.
 Electronic scheme forV/f control
Hence in this method, the supply to the induction motor requiredis variable voltage
variable frequencysupply and canbe achieved byanelectronic scheme using converter and
inverter circuitry.
The normal supply available is constant voltage constant frequency a.c.
supply.Theconverterconvertsthissupplyintoad.c.supply.Thisd.c.supplyis then given to the
inverter. The inverter is a device which converts d.c. supply, to variable voltage variable
frequencya.c. supply which is required to keep V / f ratio constant. By selecting the proper
frequency and maintaining V / f constant, smooth speed control of the induction motor is
possible.
If f is the normal working frequency then the shows the torque-slip characteristics for
the frequency f1> f and f2< f i.e. for frequencies above and below the normal frequency.

Torque-slipcharacteristicswithvariablefandconstant(V/f)
 Another disadvantages ofthis method is that the supplyobtained can not be used to
supply other devices which require constant voltage. Hence an individual scheme for a
separate motor is required which makes it costly.

SUPPLYVOLTAGECONTROL
Weknowthat,Tα(ksE22R)/2(R2+2(sX)2)2
Now
E2,the rotor induced e.m.f. at standstill depends on the supply voltage V
... E2 αV
Alsoforlowslipregion,whichisoperatingregionoftheinductionmotor, (s X2)2<<R2 and
hence can be neglected.
... Tα(sE2R)/R2)αsV2for constant R
2 2 2 2
Now if supply voltage is reduced below rated value, as per above equation torque
produced also decreases. But to supply the same load it is necessary to develope same torque
hence value of slip increases so that torque produced remains same. Slip increases means
motor reacts by running at lower speed, to decrease in supply voltage. So motor produces the
required load torque at a lower speed. The speed-torque characteristics for the motor using
supplyvoltage control are shown in the Fig. 4.4.3

Speed-torquecurvesformotorwith voltagecontrol
But in this method, due to reduction in voltage, current drawn bythe motor increases.
Large change in voltage for small change in speed is required is the biggest disadvantage.
Due to increased current, the motor may get overheated.
Additional voltage changing equipment is necessary. Hence this method israrely used in practice.
Motors driving fan type of loads use this method of speed control. Due to reduced voltage, E 2
decreases, decreasing the value of maximum torque too.

ControllingNumberofPoles
The method is called pole changing method of controlling the speed. In this method, it is possible
to have one, two or four speeds in steps, by the changing the number of stator poles. A continuous
smooth speed control is not possible by this method.
The stator poles can be changed by followingmethods:

1. Consequentpolesmethod
2. Multiplestatorwindingmethod
3. Poleamplitudemodulationmethod. Consequent
Poles Method

In this method, connections ofthe stator winding are changes with the help of simple switching.
Due to this, the number of stator poles get changed in the ratio 2 : 1. Hence either of the two
synchronous speed can be selected.
Consider the pole formation due to single phase of a three phase winding,
There are three tap in g points to the stator winding.The supply is given to two of them and third is kept open.

It can be seen that current in all the parts of stator coil is flowing in one direction only. Due to
this, 8 poles get formed as shown in the Fig. So synchronous speed possible with this arrangement with
50 Hz frequency is Ns = 750 r.p.m.

If now the two terminals to which supply was given either are joined
togetherandsupplyisgivenbetweenthiscommonpointandtheopenthird terminal, the poles are formed
as shown in the Fig.

pole winding

It can be seen that the direction of current through remaining two. Thus upward direction is
forming say S pole and downward say N. it can be observed that in this case only 4poles are formed. So
the synchronous speed possible is 1500r.p.m. for 50Hz frequency.

Thus series/parallel arrangements of coils can produce the poles in the ratio 2 : 1. But the speed
change is in step and smooth speed control is not possible. Similarly the method can be used only for
the squirrel cage type motors as squirrel rotor adjusts itself to same number of poles as stator which is
not the case in slip ring induction motor.

Multiple Stator Winding Method

In this method instead of one winding, two separate stator winding are placed in the stator core.
he windings are placed in the stator slots only but are electrically isolated from each other. Each
winding is divided into coils to which, pole changing with consequent poles, facility is provided.
Thus giving supply to one of the two windings and using switching arrangement, two speeds
canbe achieved. Same is true for other stator winding. So in all four different speeds can be obtained.
The various limitations of this method are,

1. Can be applied to only squirrelcage motor.

2. Smooth speed control is not possible. Only stepchanges in speed are possible.
3. Two different stator windings are required to be wound which increases the cost of the motor.
4. Complicated from the design point of view.
Typical speed-torque characteristics of pole changing induction motor are shown in the Fig.
 F

POLE AMPLITUDE MODULATION METHOD

The basic disadvantage of other methods which is non availability of smooth speed control, is
eliminated by this method. The ratio of two speeds in this method, need not be necessarily 2 : 1.
The basic principle of this method is the modulation of two sinusoidally varying m.m.f. waves,
with different number of poles.

Consider sinusoidally distributed m.m.f. wave one phase of the stator as, where
P = Number of poles and θ=Mechanical angle

This wave is modulated by another sinusoidal m.m.f. wave having PM number of poles,
expressed as,

The resultant m.m.f .wave after modulation is,

Thus the resultant wave is equivalent to two m.m.f. waves having two separate number of
poles as,
P1 =P-PM and P2 = P+PM
This is called suppressed carrier modulation.

If we succeed in suppressing one of the two poles then there exists rotating magnetic field with
number of poles as P1 or P2. And while suppressing, the method can be used such that the resultant
number of poles retained is as required from the speed point of view.
 Now if the three stator windings are placed such that angle between their phase axes
is(2π/3)rradianswhererisanintegerwhichisnotdivisibleby3

Then the phase axes angle for modulated poles is given by,
Now to suppress one of the two poles, the angle between its phases axes must be multiple of 2π.

So if r and n are selected so as to satisfy one of the above relations, then either P 1 or P2 get

suppressed and field corresponding to other pole exists.

So speeds corresponding to P poles without modulation and corresponding to either P 1 or P2 with
modulation, can be achieved. The negative sign in equation(1), gives suppression of P 2 and existence of
P2=P+PM while positive sign in equation (1), gives suppression P2 of and existence ofP1 = P - PM poles.
For example, stator has 8 poles while values of n and r are selected as 1 and 4 respectively. r is not
divisible by 3.
Adding Rheostats in Stator Circuit
We have seen that the reduced voltage can be applied to the stator by adding the rheostats in the stator
circuit. The arrangement is shown in the Fig. 1. The part of the voltage gets dropped across the
resistances and reduced voltage gets applied across the stator.

The reduction in stator voltage causes reduction in the speed. The rheostats can be varied as per
the required change in speed. But the entire line current flows through the rheostats and hence there are
large power losses. The method is not efficient from speed control point of view hence used as a starter
rather than as a speed control method.
 Stator resistance control

Adding External Resistance in Rotor Circuit We know,

Tα(sE2R)/(R 22 2
2 2+(sX) ) 2
For low slip region(sX2)2<<R2andcanbeneglectedand for constant supply voltage is also
constant.

Thus if the rotor resistance is increased, the torque produced decreases. But when the load on the
motor is same, motor has to supply same torque as load demands. So motor reacts by increasing its slip
to compensate decreases in T due to R2 and maintains the load torque constant.

So due to the additional rotor resistance R 2, motor slip increases i.e. the speed of the motor
decreases. Thus by increasing the rotor resistance R 2, speeds below normal value can be achieved.
Another advantage of this method is that the starting torque of the motor increases proportional to rotor
resistance.

The torque-speedcurves for rotor resistance control. But this method has following dis
advantages :
1. The large speed changes are not possible. This is because for large speed change, large resistance is
required to be introduced in rotor which causes large rotor copper loss due to reduce the efficiency.
2. The method cannot be used for the squirrelcage induction motors.
3. The speeds above the normal values cannot be obtained.
4. Large power losses occur due to large loss.
5. Sufficient cooling arrangements are required which make the external rheostats bulky be
expensive.
6. Due to large power losses, efficiency is low.
CACADECONTROL
This method is also called concatenation or tandom operation of the induction motors.
In this method, two induction motors are mounted on the same shaft. One of the two motors must
be of slipring type which is called main motor. The second motor is called auxiliary motor. The
auxiliary motor can be slip ring type or squirrel cage type.

Cascade control of two induction motor

The stator of the main motor is connected to the three phase supply. While the supply of the
auxiliary motor is derived at a slip frequency from the slip rings of the main motor.

This is called cascading of the motors. If the torque produced by both act in the same direction ,
cascading is called cumulative cascading.

If torques produced are in opposite direction , cascading is called differential cascading.

Now let ,PA=Numberofpoles ofmain motor
PB=Numberofpolesofauxiliarymotor

f = Supply frequency
NSA=120f/PA
 N=Speedoftheset
The speed N is same for both the motors as motors are mounted on the same shaft.
sA=( NSA- N)/NSA
Now fA= Frequencyofrotorinducede.m.f.ofmotorA fA = sA f as fr = s f.

The supply to motor B is at frequency fA,i.e.fB=fA

Now on no load, the speed of the rotor B i.e. N is almost equal to its synchronous speed NSB.

Key Point : Thus the speed N of the set is decided by the total number of poles equal to P A- PB.
This is possible for cumulatively cascaded motors.
If by interchanging any two terminals of motor B, the reversal of direction of rotating magnetic
field of B is achieved then the set runs as differentially cascaded set. And in such a case effective
number of poles are PA- PB.
Thus in cascadecontrol,fourdifferentspeedsarepossibleas,

a. With respecttosynchronousspeedofAindependently,
Ns=120f/PA
b. With respect tosynchronousspeed ofB independentlywith main motoris disconnected and B is
directly connected to supply,
Ns=120f/PB

c. Running set as cumulatively cascaded with,

N = 120f/(PA + PB)
d. Running set as differentially cascaded with,
N = 120f / (PA - PB )

Thismethodisalsorarelyusedduetofollowingdisadvantages:

1. Itrequirestwomotorswhichmakesthesetexpensive.
2. Smoothspeedcontrolisnotpossible.
3. Operationiscomplicated.
4. Thestartingtorque isnotsufficienttostarttheset.
5. SetcannotbeoperatedifPA= PB.

INJECTING SLIP-FREQUENCY E.M.F INTO ROTOR CIRCUIT

In this method, a voltage is injected in the rotor circuit. The frequency of rotor circuit is a slip
frequency and hence the voltage to be injected must be at a slip frequency.
It is possible that the injected voltage may oppose the rotor induced e.m.f. or may assist the rotor
induced e.m.f. If it is in the phase opposition, effective rotor resistance increases.
If it is in the phase of rotor induced e.m.f., effective rotor resistance decreases.
Thus by controlling the magnitude of the injected e.m.f., rotor resistance and effectively speed can
be controlled.
Practically two methods are available which use this principle. These methods are,
1. Kramer system 2.Scherbius system
KramerSystem
TheFig.1shows the scheme of a Kramer system.
It consists of main induction motor M, the speed of which is to be controlled. The two additional
equipments are, d.c. motor and rotary converter.

The d.c. side of rotary converter feeds a d.c. shunt motor commutator, which is directly connected
to the shaft of the main motor.
 A separate d.c. supply is required to excite the field winding of d.c. motor and exciting winding
of a rotary converter.

The variable resistance is introduced in the field circuit of a d.c .motor which acts as a field
regulator.

Kramersystem

The speed of the set is controlled by varying the field of the d.c. motor with the
rheostat R. When the field resistance is changed, the back e.m.f. of motor changes. Thus the d.c. voltage
at the commutator changes. This changes the d.c. voltage on the d.c. side of a rotary converter. Now
rotary converter has a fixed ratio between its a.c. side and d.c. side voltages. Thus voltageon itsa.c.
sidealsochanges. This a.c. voltage is given to the slip rings of the main motor. So the voltage injected in
the rotor of main motor changes which produces the required speed control.
Very large motors above 4000 kW such as steel rolling mills use such type of speed control. The
main advantage of this method is that a smooth speed control is possible. Similarly wide range of speed
control is possible. Another advantage of the system is that the design of a rotary converter is
practically independent of the speed control required. Similarly if rotary converter is overexcited, it
draws leading current and thus power factor improvement is also possible along with the necessary
speed control.
 ScherbiusSystem
The Fig.2 shows the scheme of a Scherbius system.

Fig. 4.4.8Scherbiussystem
This method requires an auxiliary 3 phase or 6 phase a.c. commutator machine which is called
Scherbius machine. The difference between Kramer system and this system is that the Scherbius
machine is not directly connected to the main motor, whose speed is to be controlled.
The Scherbius machine is is excited at a slip frequency from the rotor of a main motor through a
regulation transformer.
The taps on the regulating transformer can be varied, this changes the voltage developed in the
rotor Scherbius machine, which is injected into the rotor of main motor. This control the speed of the
main motor.
The scherbius machine is connected directly to the induction motor supplied from main line so
that its speed deviates froma fixed value only to the extent of the slip of the auxiliary induction motor.
For any given setting of regulating transformer,the speed of the main motor remains substantially
constant irrespective of the load variations.
Similar to the Kramer system,this method is also used to control speed of large induction
motors.
The only disadvantage is that these methods can be used only for slipring induction motors.
PWM techniques for Induction motor speed control

Speed Control of Induction Motor using Fuzzy Logic Controller

INTRODUCTION

Recent developments in science and technology provide a wide range scope of applications of high
performance DC motor drives in area such as rolling mills, chemical process, electric trains, robotic
manipulates and the home electric appliances. They require controllers to perform tasks. Hence, a fuzzy
 based DC motor control system was designed using MATLAB.
Almost every industry and household has motors used in their equipment or appliances. Motors that
are often controlled by computers have also become an essential part of many motion control systems

Fig 1. Block Diagram approach of the model developed

FUZZY CONTROL SYSTEM

Fuzzy Logic idea is similar to the human being’s feeling and inference process. The output of
a fuzzy controller is derived from fuzzifications of both inputs and output using the associated
membership functions.
A crisp input will be converted to the different members of the associated membership
functions based on its value. From this point of view, the output of a fuzzy logic controller is based
on its memberships of the different membership functions, which can be considered as a range of
inputs.
Fuzzy ideas and fuzzy logic are so often utilized in our routine life that nobody even pays
attention to them. For instance, to answer some questions in certain surveys, most time one could
answer with ‘Not Very Satisfied’ or ‘Quite Satisfied’, which are also fuzzy or ambiguous answers.
It is impossible. Computers can only understand either’0’ or ‘1’ and ‘HIGH’ or ‘LOW’.
Those data are called crisp or classic data and can be processed by all machines.
Applications in industrial manufacturing, automatic control, automobile production,
Hospitals, elevator control system, automatic transmission control, washing machine etcFuzzy logic
techniques have been widely applied in all aspects in today’s society
Knowledge Base
The knowledge base can be divided into two sub-blocks namely the Data Base and Rule Base.
The data base consists of the information required for Fuzzifying the crisp input and later Defuzzifying
the fuzzy outputs to a crisp output.
It consists of the membership functions for various fuzzy variables or sets used in the controller
design. The rule base consists of a set of rules, which are usually formulated from the expert knowledge
of the system.
The rules are typically of the form “If…., then…..” rules. The antecedent part of the rule may be
a simple statement or a compound statement using connectives like “and”, “or” etc. the consequent part
may contain a fuzzy set (Mamdani type and Tsukamoto type) or a linear or a quadratic function of the
crisp input variables (Sugeno type).
The knowledge base is the heart of fuzzy logic based system it has to be designed without most
care and require a lot of expertise in the knowledge of the system into which fuzzy logic controller is
being incorporated

Fuzzy Inferencing
 Fig 2. Structure of Fuzzy Logic Controller
Fuzzification
Fuzzification is the first step in the fuzzy inferencing process. This involves a domain
transformation where crisp inputs are transformed into fuzzy inputs. Crisp inputs are exact inputs
measured by sensors and passed into the control system for processing, such as temperature,
pressure, rpm’s, etc..
Defuzzification
Defuzzification involves the process of transposing the fuzzy outputs to crisp outputs.

There are a variety of methods to achieve this

 Centre of Area (CoA)

 Center of Sums (CoS)
 Center of Maximum (CoM)
 Mean of Maximum (MoM)

Center of Area (CoA)

Fuzzy logic controller first calculate the area under scale membership function and within the range of
output variable

The process of fuzzy reasoning is incorporated into what is called a Fuzzy Inferencing System. It is
comprised of three steps that process the system inputs to the appropriate system outputs[4].

These steps are

1) Fuzzification
2) Rule Evaluation
3) Defuzzification
Where CoA is the center of area x is the value of the linguistic variable, and 𝑥𝑚𝑖𝑛 and 𝑥𝑚𝑎𝑥
represent the range of the linguistic variable.

Fig 3. CoA Defuzzification method

Center of Sums
Fuzzy Logic Controller calculate the geometric center of area of each membership function and take see
weighted average of center of area of all membership function.

Fig 4. CoS Defuzzification method

Where CoA is the geometric center of area of area of the scaled membership function n and area is the
area of the scaled membership function n.

Fig 6. MoM Defuzzification method

DC Motor

Direct current (DC) motors are perhaps the most basic type of electrical motors. In any electric motor,
operation is based on simple electromagnetism. A current-carrying conductor generates a magnetic
field;

𝑉 = 𝐸𝑏 + 𝐼𝑎𝑅𝑎
 Center of Maximum

In center of maximum method the fuzzy logic controller determines the typical numerical value
for each scaled membership function and takes mean of numerical value corresponding to
degree of membership function. when this is then placed in an external magnetic field, it will
experience a force proportional to the current in the conductor, and to the strength of the
external magnetic field.

Voltage and power equation of DC motor