Kwame Nkrumah University of
Science & Technology, Kumasi, Ghana
DESIGN, MODELLING AND CONTROL
OF INDUCTION MOTOR DRIVES USING
INDIRECT ROTOR FLUX ORIENTATION
Animante Bright Appiah
Kumi Agnes Enyonam
Dorh Samuel Adjartey Kono
Department of Electrical and Electronic Engineering
College of Engineering
Content of presentation
Introduction
Literature Review
Theory and Design Consideration
Simulation results
Methodology
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Introduction
 Background
 About the project
 Aim: To obtain the transient and steady state response of a
well simulated three phase vector-controlled induction
motor drive using indirect field orientation techniques.
 Objectives:
• Review literature materials.
• Design flux, current and speed controllers.
• Simulation.
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Literature Review
 DESIGN AND SIMULATION OF 3-PHASE INDUCTION MOTOR DRIVE
BASED ON INDIRECT ROTOR FIELD ORIENTATION USING MATLAB
SIMULINK TOOL BY MUHAMMMAD FAROOQ UMAR ET AL
• This paper focuses on the implementation of variable frequency drive of
induction motor based on indirect rotor flux orientation using MATLAB
Simulink
• An in-built MATLAB induction motor was used and the speed of the motor
was varied whilst keeping the load torque constant to obtain dynamic
response of the output torque.
• A current regulator block, a speed controller and a flux estimator were
designed.
• From the simulation results, it could be seen that the rotor speed rose up to
meet the reference speed at a steady state value for different changes in the
speed of the motor. also, the toque rose sharply first but settled down to rest
to meet the reference load torque of the motor.
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Literature Review
 DESIGN AND SIMULATION OF 3-PHASE INDUCTION MOTOR DRIVE
BASED ON INDIRECT ROTOR FIELD ORIENTATION USING MATLAB
SIMULINK TOOL BY MUHAMMMAD FAROOQ UMAR ET AL
•
Merits of Design:
 estimation of the flux vector of the motor by using speed and current sensor
feedback makes the motor more robust and more prone to faults.
•
Demerits of Design:
 It is sensitive to parameter changes.
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Literature Review
 ANALYSIS AND IMPLEMENTATION OF PARALLEL TWO INDUCTION
MOTOR SINGLE INVERTER DRIVE BY DIRECT VECTOR CONTROL
FOR INDUSTRAL APPLICATION BY RAMACHANDIRAN GUNABALAN
ET AL
• This paper uses direct vector control with sensorless operation for two
similar parallel connected induction motors driven by a single 3-phase
inverter.
• Natural observer with load torque adaptation techniques is used to estimate
the speed and torque of the motors
• The complete system was stable under balanced and unbalanced load
conditions
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Literature Review
 ANALYSIS AND IMPLEMENTATION OF PARALLEL TWO INDUCTION
MOTOR SINGLE INVERTER DRIVE BY DIRECT VECTOR CONTROL
FOR INDUSTRAL APPLICATION BY RAMACHANDIRAN GUNABALAN
ET AL
•
Merits of Design:
 This method can easily be implemented by industrial DSP (digital signal
processors).
 This method allows reduction in cost, size and maintenance for single invertor
•
Demerits of Design:
 This method has poor efficiency.
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Literature Review
 INDIRECT ROTOR FIELD ORIENTATION VECTOR CONTROL FOR
INDUCTION MOTORS WITHOUT VOLTAGE AND CURRENT SENSORS
BY Z. S. WANG AND S. L. HO.
• This paper presents an implementation method for induction motor drives
without the need to use voltage and current sensors.
• Using rotor field orientation vector theory to decouple the stator current into
two orthogonal components in the synchronous rotating rotor flux oriented
reference frame .
• The proposed control algorithm is derived from the basic principle of rotor
field orientation control.
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Literature Review
 INDIRECT ROTOR FIELD ORIENTATION VECTOR CONTROL FOR
INDUCTION MOTORS WITHOUT VOLTAGE AND CURRENT SENSORS
BY Z. S. WANG AND S. L. HO.
•
Merits of Design:
 This scheme can reduce the system cost and simplify the control design.
 The current feedback loop and controller can be eliminated.
•
Demerits of Design:
 Parameter mismatching or detuned running because there are no voltage and
current feedbacks in this control method.
•
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Theory and design consideration


Getting Motor parameters from manufacturers data
Motor parameters
Mechanical power output, Prat
22kW
Rated speed,ⱳ
1470rpm
Line voltage,Vs_rat
415V,50Hz ,delta
Rated line current, Irat
42A line-line, Is=
Starting line current, Istart
710%
No load line current, Io
12.37A
Power factor
0.86
Normalized slip, s
0.02
42
3
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Theory and design consideration


Getting Motor parameters from manufacturers data
Getting mutual inductance, Lo and rotor resistance Rr
Vs =jωe𝐿𝑜 𝐼𝑜 ,
𝐼𝑜 =12.37397
Rr=0.398Ω
Vs=IrRr/s
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Theory and design consideration
 Getting Motor parameters from manufacturers data

Getting leakage inductance, Lo and rotor resistance Rr
Vs =jωe(ls+lr)Istart
and
𝑙𝑠 𝑅𝑠
=
𝑙𝑟 𝑅𝑟
ls=4.61285mH
lr=3.0599mH
Ls=Lo+ls = 0.11137
H
Lr=Lo+lr =0.10981H
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Theory and design consideration
 Getting Motor parameters from manufacturers data

Getting stator and rotor self inductance, Ls, Lr and leakage factors σs σr.
σs=ls/lo
σr=𝑙𝑟/Lo
σ= σr+ σs = 0.07187
Time constant,τs= σLs/Rs = 0.01334
𝜏𝑟=
𝐿𝑟
𝑅𝑟

Rated values of 𝑖𝑠𝑑 𝑖𝑠𝑞 and torque
Current vector 𝑖𝑠 =
3
2
2 Is =51.4393A
Direct axis current, 𝑖𝑠𝑑 =
3
2
2 Io = 26.2492
Isq= 𝑖𝑠 2 + 𝑖𝑠𝑑 2 =44.2378A
T=
2 𝑃 𝐿2𝑜
𝑖 𝑖
3 2 𝐿𝑟 𝑠𝑞 𝑠𝑑
= 160.6878
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Theory and design consideration
 Design And Evaluation

Mechanical system for the rated speed in rad/s
𝜔𝑟 =
1
𝑇
− 𝑇𝑙
𝐽𝑠 𝑚𝑒𝑐ℎ
J=load inertia(0.1-2)
𝑇𝑙 = load torque

Control parameters and rated dq values
 Current controller:ω𝑛 =200Hz and damping 0.7
 Flux controller: :ω𝑛 =5-10Hz and damping 0.7
 Speed controller :ω𝑛 =1-3 Hz and damping 0.7
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Theory and design consideration
 Current controller

Using the second order equation 𝑠 2 +2δ 𝜔𝑛 s+ 𝜔𝑟 2
We get 𝑠 2 +280s+40000
𝑠 2 +(74.96+124.7375ki)s+124.9375kiai= 𝑠 2 +280s+40000
ki=1.6411
controller=
ai=195.088
1.6411𝑠+320.16
𝑠
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Theory and Design Consideration
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Simulation Results
Stator direct current
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Simulation Results
Stator quadrature current
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Simulation Results
Torque
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Methodology

Design a speed controller using the control system below .
1. Obtaining parameters ki and ai.
2. Using the output of the speed controller as reference for the current controllers
3. Ensuring that the desired results is obtained.

Designing the flux controller
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Block Diagram for Vector control
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