Open Loop V/f Control of Induction Motor

Theory
Scalar Control:
As the name indicates, it only controls or manipulates the magnitude of the variable or electrical quantities,
not the phase. Scalar control drives are easy to implement but provides low quality performance. Previously,
scalar control drives were widely used in industries but superior performance of vector control drives replaced
the whole technology. In scalar control drives, voltage is controlled to control the flux and frequency/slip is
controlled to control the torque. But flux and torque are dependent on voltage and frequency. The result is
that, scalar control drive does not provide decoupled control of flux and torque.

Open Loop V/f control:

Above control is most suited for a pump or fan-type drive where precision speed control is not necessary.
For such application, frequency command i.e. ωe∗ is varied in order to vary speed of the machine. VS∗
command is derived from frequency command (ωe∗ ); by gain factor G which is shown in Figure 1.

Figure 1: Open loop V/f control[1]

In this control, v/f ratio i.e. stator flux (= VS /ωe ) maintained constant by neglecting stator resistance RS
drop. At low speed, as frequency becomes too small the stator resistance tends to absorb the major amount
of stator voltage, thus weakening the flux. In this case, Boost voltage (VO ) is added to maintained rated
flux and corresponding torque available down to zero speed.

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Note:
1. Effect of Boost voltage (VO ) becomes negligible at higher frequency.
2. Speed control can be possible upto field weakening region where VS saturates.

3. Acceleration or deceleration of motor depends on the load inertia. Higher the inertia, lower will be the
acceleration or deceleration and vice-versa.

Implementation in MATLAB
Circuit Overview
Figure below shows the V/f control of Induction machine. Whole simulation is carried out for time of 1
second. During time period of 1 second; mechanical torque and speed reference has been changed from 0.5
pu to 1 pu at time 0.3 seconds and from 1 pu to 0.5 pu at time 0.5 seconds respectively.

Figure 2: MATLAB Model for V/f Control of Induction Machine

Setting parameters for various blocks used:

1. Solver type (model configuration parameters  solver)
(a) Type: variable-step
(b) Solver: ode23tb
(c) Max. step size: 50e-6

2. Powergui (Simulink Library Browser  Simscape  SimPowerSystems  Powergui)

(a) Simulation type: continuous

3. DC Voltage Source (Simulink Library Browser  Simscape  SimPowerSystems  Electrical sources
 DC voltage source)

(a) Amplitude(V): 565.7

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 4. Universal Bridge (Simulink Library Browser  Simscape  SimPowerSystems  Power Electronics
 Universal Bridge)
(a) Number of bridge arms: 3
(b) Snubber resistance Rs (Ohms): 1e5
(c) Snubber capacitance Cs (F): inf
(d) Power Electronic device: IGBT/diodes
(e) Ron (Ohms): 1e-6
(f) Forward voltages [ Device Vf(V) , Diode Vfd(V)]: [0 0]
(g) [ Tf (s) , Tt (s) ]: [ 1e-6 , 2e-6 ]
5. Three phase VI measurement (Simulink Library Browser  Simscape  SimPowerSystems  Mea-
surements  Three-Phase VI Measurement)
(a) Voltage measurement: phase-to-phase
6. Asynchronous Machine SI Units (Simulink Library Browser  Simscape  SimPowerSystems  Ma-
chines  Asynchronous machine Si units)
(a) Preset model: 15: 5.4 HP (4KW) 400V 50Hz 1430RPM
(b) Mechanical input: torque Tm
(c) Reference frame: rotor
(d) Mask units: SI
7. RPM (Simulink Library Browser  Simulink  Math operations  Gain)
(a) gain = 60/(2*pi)
8. Tm (Simulink Library Browser  Simulink  Sources  Step)
(a) Step time: 0.3
(b) Initial value: 26.71*0.5
(c) Final value: 26.71
9. We (Simulink Library Browser  Simulink  Sources  Step)
(a) Step time: 0.5
(b) Initial value: (2*pi*50)*1
(c) Final value: (2*pi*50)*0.5
10. V/We (Simulink Library Browser  Simulink  Math operations  Gain)
(a) gain = 230/(2*pi*50*1)
11. MATLAB Function (Simulink Library Browser  Simulink  User-Defined Functions  MATLAB
function)
(a) function [Va,Vb,Vc] = fcn(Vs,THETAe)
(b) Va=[sqrt(2)*Vs*sin(THETAe)]/326;
(c) Vb=[sqrt(2)*Vs*sin(THETAe-(2*pi/3))]/326;
(d) Vc=[sqrt(2)*Vs*sin(THETAe+(2*pi/3))]/326;
12. PWM Generator (Simulink Library Browser  Simscape  SimPowerSystems  Control and Mea-
surement Library  Pulse and Signal Generators  PWM generator (2-level))
(a) Generator type: three-phase bridge (6 pulses)
(b) Mode of operation: unsynchronized
(c) Carrier frequency (Hz): 4000
13. RMS (Simulink Library Browser  Simscape  SimPowerSystems  Control and Measurement Li-
brary  Measurements  RMS)
(a) Check “true RMS value”
(b) Fundamental frequency (Hz): 50
(c) Initial RMS value: 400

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MATLAB Simulation Plots
Figures below shows the simulation results for open loop v/f control of induction motor drive. As mention
before; in order to test the above drive we varied mechanical torque from 0.5 pu to 1 pu at 0.3 second. which
results in sudden rise in three phase currents Iabc and reduction in RPM of the motor. We also consider
the change in speed reference from 1 pu to 0.5 pu at 0.5 second and this shows decrease in frequency of Iabc
and RMS value of 3 phase voltages (Vabc).

Figure 3: a) three phase currents (Iabc) b)motor speed and speed reference c)electromagnetic and mechanical
torque

Figure 4: a)three phase voltages (Vabc) b)three phase rms voltage

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Implementation in PSCAD
Circuit Overview

Figure 5: PSCAD Model for V/f control of Iinduction Machine

Setting parameters for various blocks used:

1. Run Time Setting

(a) Duration of run: 2 s

(b) Solution Time Step: 2.5 × 10− 6 s
2. Voltage Source (Master Library  Sources  [single phase voltage source model 2])

(a) Source Impedance: Ideal

(b) Source Type: DC
(c) Magnitude: 5657 V
(d) Ramp up Time: 0 s
3. IGBT (Master Library  HVDC Facts  IGBT)

(a) Enable snubber circuit: No

(b) Thyristor ON Resistance: 1e-4 Ω
4. Diode (Master Library  HVDC Facts  Diode)
(a) Enable snubber circuit: No
(b) Thyristor ON Resistance: 0.01 Ω

5. Induction Machine (Master Library  machines  induction machine)

(a) General data

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 i. Rated power: 1.119 MVA
ii. Rated voltage ( L-L ): 4000 V
iii. Base angular frequency: 314.159 rad/sec
iv. Stator/rotor turns ratio: 1.33
v. Angular moment of inertia: 0.7267 s
vi. Mechanical damping: 0.01 pu
(b) Options
i. External connection to the rotor: no
ii. Multimass interface: Disable
iii. stator winding neutral grounded: no
iv. Rotor squirrel cage exists: no
(c) Stator and Rotor Resistances
i. stator resistance: 0.01 pu
ii. wound rotor resistance: 0.012 pu
(d) Stator and Rotor Inductance
i. Magnetizing inductance: 4.154 pu
ii. Stator leakage inductance: 0.072 pu
iii. Wound rotor leakage inductance: 0.074 pu
(e) Internal Output Variables
i. Mechanical speed: W
ii. Electrical torque: Te
iii. Mechanical torque: Tm
6. Two Input Selector (Master Library  CSMF  Two input selector)
7. Single input level comparator (Master Library  CSMF  Single input level comparator)
(a) S to T
i. Threshold input level: 0.5
ii. low output level: 1
iii. High input level: 0
(b) SW 1
i. Threshold input level: 1
ii. low output level: 0
iii. High input level: 1
(c) Speed Reference
i. Threshold input level: 1.5
ii. low output level: 314.1
iii. High input level: 157.05
8. Integrator (Master Library  CSMF  PI)
(a) Integral time constant = 1
(b) Max Limit = 10000
(c) Min Limit = -10000
9. Signal Generator(Master library ¿¿CSMF ¿¿signal generator)
(a) Frequency of signal : 50Hz
(b) Maximum output level: 1
(c) Minimum output level: -1
10. Comparator (Master Library  CSMF  comparator)
(a) Output Type: Level

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Note:
1. Three phase rms voltage meter are available in Meters (master library  meters)
2. In order to create a block we have to go to component wizard as shown below in Fig. 6. Here we have
to click on ”module” and enter the ”number of ports left= 2 and right= 3” and then click on ”add
ports” a dialog box will appear on the screen as shown below:

Figure 6: Component wizard

Figure 7: Internal schematic of component

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PSCAD Simulation Plots

Figure 8: a)3 phase currents b)RPM reference and machine RPM c)mechanical and electrical torque

Figure 9: 3 phase voltages a)Vline-line b)Vrms

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Implementation in PSIM
Circuit Overview
Figure illustrates the PSIM model for V/f control of 3 phase Induction machine.

Figure 10: Power Circuit

Figure 11: Control Circuit

Setting parameters for various blocks used:

1. Simulation Control (Simulate  Simulation Control)
(a) Time step = 2.5 × 10−6
(b) Total time = 1

2. MOSFET [MOS1,MOS2,MOS3,MOS4,MOS5,MOS6]
(a) Diode Threshold Voltage = 0.0

3. Squirrel-cage Induction Machine [IM] (Elements  Power  Motor Drive Module  Squirrel-cage
Ind. Machine)

(a) Rs = 1.405
(b) Ls = 5.839 × 10−3

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 (c) Rr = 1.395
(d) Lr = 5.83 × 10−3
(e) Lm = 0.1722
(f) No.of Poles = 4
(g) Moment of Ineria = 0.0131
4. Mechanical load (ext.controlled) [MLOAD EXT1] (Elements  Power  Mechanical Loads and Sen-
sors  Mechanical load (ext.controlled))

5. Step

(a) VSTEP1
i. Vstep = 13.355
ii. Tstep = 0.3
(b) VSTEP2
i. Vstep = −157.0796
ii. Tstep = 0.5
6. Speed Sensor [WSEN1] (Elements  Power  Mechanical Loads and Sensors  Speed Sensor)
7. RMS [RMS1, RMS2, RMS3] (Elements  Control  Computational Blocks  RMS)

8. Constant [C1] (Elements  Sources  Constant)

9. Integrator [B1] (Elements  Control  Integrator)
(a) Time Constant = 1
10. Sine(in rad.) [SIN R1, SIN R2, SIN R3] (Elements  Control  Computational Blocks  Sine(in
rad.))
11. Triangular wave voltage generator [VTRI1]
(a) V peak to peak = 2
(b) Frequency = 4000
(c) Duty Cycle = 0.5
(d) DC Offset = −1
12. Label [P1, P2, P3, P4, P5, P6] (Edit  Place Label)
13. On-Off Controller [ON1,ON2,ON3,ON4] (Elements  Other  Switch Controllers  On-Off Con-
troller)

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PSIM Simulation Plots

Figure 12: a)Motor input currents b)Motor speed and Reference speed c)Motor torque and Reference me-
chanical torque

Figure 13: a)Motor input line-line voltages b)Motor input RMS line-line voltages

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Implementation in SaberRD
Circuit Overview
The circuit diagram in Fig.14 shows the implementation in SaberRD.

Figure 14: SaberRD model for V/f Control of Induction Machine

Setting parameters for various blocks used:

Power Section
1. Simulation Control
(a) Time step = 2.5 × 10−6
(b) End time = 1
(c) Step-size Control: Variable(Go to Advanced Simulation Options)
2. Induction Motor:
(Libraries  Generic Parts  Motors & Drivers  Motor  [Motor,3-Phase Induction,Saturation])
(a) j = j motor
(b) xm = 2*math pi*f*Lm
(c) xs = 2*math pi*f*Ls
(d) xr = 2*math pi*f*Lr
(e) rs = rs
(f) rr = rr

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 (g) p = poles
(h) fb = f
(All the above parameters are defined in the Saber Include File)

3. DC Link Source:
(Libraries  Generic Parts  Sources  Electrical  [Voltage Source,Exponential])

(a) pulse = v dc
(b) tr tau = 1 msec
(c) tf tau = 5 ksec
(d) tr delay = 1µsec
(e) tf delay = 5 ksec
4. 3 Phase Graetz Bridge:
(Libraries  Generic Parts  Electrical  Bridges  [Bridge,3-Phase,Switch])

5. Speed Sensor(RPM):
(Libraries  Generic Parts  Measurements & Detection  Rotational  [Sensor,Rotational Velocity,
2port,Vel. Port])

(a) k = 60/(2*math pi)

6. Torque Sensor:
(Libraries  Generic Parts  Measurements & Detection  Rotational  [Sensor,Torque,Vel. Port])

7. Load Torque:
(Libraries  Generic Parts  Mechanical  Load  [Mechanical Load,Three Setting])
(a) posseq = [(time=0.0,posval=1),(time=0.3,posval=2)]
(b) level1 = 13.355
(c) level2 = 26.71
(d) level3 = 100 (can be any arbitary value other than 0, not used in simulation)
(e) load type: torque
(f) period = 1

8. Same Page Connector:

(Libraries  Generic Parts  Schematic Connections  [Same Page Connector])
This is similar to Goto-From block in MATLAB.

Global Parameters
1. Saber Include File:
(Libraries  Generic Parts  Globals  [Saber Include File])
(a) rs = 1.405
(b) rr = 1.395
(c) Lr = 5.839m
(d) Ls = 5.839m
(e) Lm = 0.1722
(f) j motor = 0.0131
(g) poles = 4
(h) v dc = 565.7
(i) freq sw = 4000
(j) math pi = 22/7

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Control Section
1. Speed Reference:
(Libraries  Generic Parts  Sources  Continous Control  [Control Source, PWL])

(a) data table = [(time = 0.0,output = 314.1592),(time = 0.5,output = 314.1592),(time = 0.500001,out-

put = 157.0796)]
2. Gain:
(Libraries  Generic Parts  Control Systems  Continous  [Gain,Triangular Symbol])

(a) k1 = 0.7312
(b) k2 = 60/(2*math pi) [rad/s to rpm conversion]
√
(c) k3 = 1.4414213 ( 2)
(d) k4 = 3.06748m
3. Constant:
(Libraries  Generic Parts  Sources  Control  [Control Source,Constant])
(a) k1 = 2.094395 (1200 in radians)
4. Summing Point:
(Libraries  Generic Parts  Control Systems  Math Operations  [Difference])

5. Gain:
(Libraries  Generic Parts  Control Systems  Continous  [Gain,Triangular Symbol])

(a) k = 314.1593
6. Integrator:
(Libraries  Generic Parts  Control Systems  Continous  [Integrator,Pure])

(a) k = 1
7. Sine Function:
(Libraries  Generic Parts  Control Systems  Math Operations  [Sine])

8. Multiplication Operator:
(Libraries  Generic Parts  Control Systems  Math Operations  [Product])
9. Var To Voltage Converter:
(Libraries  Generic Parts  Domain Converters  [Interface, Var to Voltage])

Sine PWM Generator

1. Comparator:
(Libraries  Generic Parts  Digital  [Comparator, Ideal Logic Out])
Three Comparators are used.
2. Triangular Wave Generator:
(Libraries  Generic Parts  Sources  Electrical  [Voltage Source,Triangle])

(a) ampl = 1
(b) period = 1/freq sw

3. Logic Clock:
(Libraries  Generic Parts  Digital  [Logic Clock])
(a) duty = 1

4. Driver for one leg of 3 Phase Graetz Bridge:

(Libraries  Generic Parts  Electrical  PWM Sources  [PWM Cntrl/Src,Halfbridge ext/PW
(digital)])

(a) bt(Blanking or dead time) = 100 nsec

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SaberRD Simulation Plots
The Speed, Motor Torque, Load Torque & Phase Current waveforms of the simulation in SaberRD are shown
in Fig. 15:

Figure 15: Speed, Motor Torque, Load Torque & Phase Current

Conclusion
1. Less suitable for dynamic behavior/control of induction machine.

2. Open loop V/f control is quite simple to implement but not useful for precise speed control.

Acknowledgments
This work was carried out at IIT Bombay as a part of the project ”Simulation Centre for Power Electronics
and Power Systems,” through the National Mission on Power Electroincs Technology (NaMPET), Phase 2,
sponsored by the Department of Electronics and Information Technology, Govt. of India.

This specific document was contributed by:

1. Shrikant Mali (bb.shrikant@gmail.com)

2. V. Sai Suresh (saisuresh60@gmail.com)

3. Sandeep V. Nair (sandeepvnair89@gmail.com)

4. Ajinkya Sinkar (ajinkyasinkar@gmail.com)

References
1. Bimal K Bose, “Control and Estimation of Induction Motor Drives,” in Modern Power Electronics and
AC Drives, Delhi, India: PHI 2013, ch.viii, pp. 338-342.
2. M.B. Patil, et.al., Simulation of Power Electronic Circuits, Narosa Publishing House, 2009.

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