SPEED AND DIRECTION CONTROLLER OF SINGLE

PHASE INDUCTION MOTOR USING ARDUINO WITH

TEMPERAUTRE AND RPM DISPLAY

A thesis submitted by
MUHAMMAD AZEEM (Group Leader) 15EL20

KHALILULLAH AMEER (AGL) 15EL34

ALI ABBASS BHATTI 15EL36

MOHAMMED ABDELMAGEED 15EL69

IRFAN ALI 15EL49

IMTIAZ ALI 15EL61

Supervised by: Prof. Dr. Zubair Ahmed Memon
Co-Supervised by: Engr. Shoaib Ahmed Khatri
In partial fulfillment of the requirement for the degree of Bachelor of Electrical
Engineering
DEPARTMENT OF ELECTRICAL ENGINEERING
MEHRAN UNIVERSITY OF ENGINEERING & TECHNOLOGY
JAMSHORO
September 2018
 SPEED AND DIRECTION CONTROLLER OF SINGLE
PHASE INDUCTION MOTOR USING ARDUINO WITH
TEMPERAUTRE AND RPM DISPLAY

A thesis submitted by

MUHAMMAD AZEEM (Group Leader) 15EL20

KHALILULLAH AMEER (AGL) 15EL34
ALI ABBAS BHATTI 15EL36
MOHAMMED ABDELMAGEED 15EL69
IRFAN ALI 15EL49
IMTIAZ ALI 15EL61

In partial fulfillment of the requirement for the degree of

Bachelor of Engineering
in
Electrical Engineering
Department of Electrical Engineering
Faculty of Electrical, Electronics and Computer Systems Engineering

Mehran University of Engineering & Technology

Jamshoro
September 2018
 DEDICATION

To our parents,

Our teachers,

And all of friends

Without whom none of our success would be

possible.
 MEHRAN UNIVERSITY OF ENGINEERING & TECHNOLOGY
JAMSHORO

This thesis is written by the following students under the directions of their

supervisor, and approved by all the members of the thesis committee, has been

presented to and accepted by the Chairman, Department of Electrical Engineering, in

partial fulfillment of the degree of the requirements of the degree of Bachelor of

Electrical Engineering.

MUHAMMAD AZEEM (Group Leader) 15EL20

KHALILULLAH AMEER (AGL) 15EL34
ALI ABBAS BHATTI 15EL36
MOHAMMED ABDELMAGEED 15EL69
IRFAN ALI 15EL49
IMTIAZ ALI 15EL61

______________________ ______________________

Porf. Dr. Zubair Ahmed Memon Eng. Shoaib Ahmed Khatri

(Supervisor) (co-supervisor)

______________________ __________________

(External Examiner) (Chairman)

Date: ___________________
 ACKNOWLEDGEMENT

First of all, all prayers to Almighty Allah, with whose help and mercy we completed

this arduous task. We are whole heartily thankful to our supervisor Dr. Zubair Ahmed

Memon, Professor, Department of Electrical Engineering, and co-supervisor Engr.

Shoaib Ahmed Khatri, Lecturer Department of Electrical Engineering for their

cooperation and guidance in carrying out this project. It would not have been possible

for us to complete this Project without their guidance and suggestions. Lastly, Special

thanks to my beloved friends Mr. Shahzeb Memon and Mr. Rai Singh for their

precious time, encouragement, suggestions and help in improving the thesis.

.
 TABLE OF CONTENTS
Description Page No
List of Notations i
List of abbreviations ii
List of tables iii
List of figures iv
Abstract v
Chapter 1 INTRODUCTION 1
1.1 Introduction 1
1.2 objectives of the project 1
1.3 Problem statement 2
1.4 Methodology 2
1.5 Thesis Outline 2
1.6 Literature Review 3
1.7 Project background 5
1.7.1 Single phase induction motor 5
1.7.2 Pulse width modulation 5
1.7.3 Direction control 6
Chapter 2 INDUCTION MOTOR 7
2.1 Introduction 7
2.2 Three phase induction motor 7
2.3 Single phase induction motor 8
2.3.1 Construction 8
2.3.1.1 Stator 9
2.3.1.2 Rotor 9
2.3.2 Working 10
2.4 Double revolving field theory 10
2.4.1 Why SPWM is not self-starting 11
2.5 Starting of SPIM 12
2.5.1 Split-phase winding motors 12
2.5.2 Capacitor Start motors 14
2.5.3 Shaded pole motors 16
2.6 Applications and Advantages of SPIM 16
Chapter 3 METHODS OF CONTROLLING SPEED OF SPIM 18
3.1 Introduction 18
3.2 Constant volts/hertz (V/F) control 18
3.3 Vector control 20
3.4 Voltage control 22
3.4.1 Integral cycle control 23
3.4.1.1 Burst fire control 23
3.4.1.2 Single cycle control 24
3.4.2 Phase control 25
3.4.3 PWM control 25
3.5 Discussion 26
Chapter 4 HARDWARE AND ITS WORKING 28
4.1 Introduction 28
4.2 Components 28
 4.2.1 Arduino UNO 29
4.2.1.1 ATMEGA 328/p 29
4.2.2 MOC3021 30
4.2.3 ULN2003A 30
4.2.4 16x2LCD 30
4.3 Block diagram of the project 31
4.4 General description of circuit diagram 32
4.4.1 Circuit diagram part by part description 33
4.5 Coding of Arduino 36
Chapter 5 EXPERIMENTAL RESULTS 40
5.1 Experiments 40
5.1.1 When supply is turned on 40
5.1.2 Counter clock wise direction and speed control 41
5.1.3 Clock wise direction and speed control 42
5.2 Complete project 43

Chapter 6 CONCLUSION AND FUTURE WORK 44

6.1 Conclusion 44
6.2 Future work 44

REFERENCES 45
 LIST OF NOTATIONS

V = Voltage
I = Current
R = Resistance
C = Capacitance
F = Frequency
Te = Torque developed
Vg = Gate voltage
Ig = Gate Current
IL = Load Current
T NF = Off time
TM = Modulation time

1
 LIST OF ABBREVIATIONS

AC = Alternating Current
DC = Direct Current
PWM = Pulse Width Modulation
SPIM = Single Phase Induction Motor
SVPWM = Space Vector Pulse Width Modulation
EMF = Electro-Motive Force
RPM = Revolution Per Minute
LCD = Liquid Crystal Display
PIC = Programmable Integrated Circuit
LC = Inductor Capacitor
VSI = Voltage Source Inverter
mA = Milliampere

ii
 LIST OF TABLES

Table 4.1: Main components used in the hardware model 28

LIST OF FIGURES

3
Figure 2.1: Stator and rotor 9
Figure 2.2 Revolving fields at various instants 11
Figure 2.3: a) circuit diagram of SPIM with starting winding b) phasor diagram13
Figure 2.4: b) waveforms for auxiliary and main windings current 13
c) torque speed characteristic curves with and without auxiliary
winding
Figure 2.5: Torque speed characteristic of capacitor start motors 14
Figure 2.6: a) circuit diagram of capacitor-start-capacitor-run motor 15
Figure 2.7: (b) Torque speed characteristic of capacitor-start-capacitor-run 15
motor
Figure 3.1: Torque speed characteristic for constant v/f control 19
Figure 3.2: v/f control circuit diagram 20
Figure 3.3: Vector control of SPIM single-phase half bridge inverter 21
Figure 3.4: Space vector of SPIM 21
Figure 3.5: Voltage control Torque speed characteristics 22
Figure 3.6: Burst fire control 23
Figure 3.7: Waveforms of load voltage with single cycle control 24
Figure 3.8: Phase Control circuit 25
Figure 3.9: PWM waveforms 26
Figure 4.1: Block diagram of the project 31
Figure 4.2: Circuit diagram of the project 32
Figure 5.1: Motor in stop position 40
Figure 5.2: Motor running at 15% of the rated speed in counter clock 41
wise direction
Figure 5.3: Motor running at 30% of the rated speed in counter clock 41
wise direction
Figure 5.4: Motor running at 15% of the rated speed in clock wise direction 42
Figure 5.5: Motor running at 30% of the rated speed in clock wise direction 42
Figure 5.6: Complete project 43

4
 ABSTRACT

This work presents speed and direction control of single phase induction motor. Speed

is controlled through PWM signal generated with Arduino. The effective value of the

voltage applied to the motor is changed by PWM signal. Which in turn changes the

speed of SPIM. Direction of SPIM can be changed by just connecting one terminal of

supply voltage to either side of the capacitor. This terminal is connected to relay,

which adjusts terminal’s position to either side of the capacitor depending on the

control signal given by the user. Finally, rpm and direction of the rotor along with

temperature of the windings are shown on LCD.

5
 CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

Due to its simplicity and lower cost single phase induction motor is widely used for

domestic purpose. Although their use in big industries is limited, where three phase

induction motors are used, they are must for home and small industries. This project is

basically a control scheme for single phase induction motor. This control scheme

includes speed control and direction control. Some additional features like displaying

rpm of the rotor and temperature of the winding are also added so that the desired rpm

and temperature of the winding can easily be set. The choice of control scheme

depends on the cost, the process and the control needed. Mostly pulse width

modulation(PWM) technique is used to vary the rotational speed of induction motor.

whereas direction control of SPIM is quite easy as it depends on whether the magnetic

field due to auxiliary winding leads or lags the main magnetic field. This angle can be

set by making the current in the auxiliary windings lead or lag to the current in the

main windings by switching the connections of the auxiliary winding while leaving

the connections of main winding unchanged

1.2 OBJECTIVES OF THE PROJECT

The objectives of the project are:

 To control the speed of single phase induction motor by PWM

 To control the direction of rotation
 To display temperature of the windings and rpm of the rotor on screen
1.3 PROBLEM STATEMENT
1
 2

Due to simplicity, rugged construction and economic cost induction motor is

commonly used in small industrial applications. So, to get optimum production, it is

necessary to control the speed of SPIM. controlling the speed through PWM is

considered one of the best methods available. Manual controls are also available but

they are energy wasting, time consuming and less reliable.

1.4 METHODOLOGY
 Survey of literature
 Designing of Speed controller
 Designing of direction controller
 Development of Hardware model
 Results
1.5 THESIS OUTLINE

Chapter 2 describes single phase induction motors. Their construction, working and

types.

Chapter 3 gives different speed control techniques of SPIMs.

Chapter 4 contains design details, circuit diagram and Hardware details.

Chapter 5 concludes the whole thesis.

1.6 LITERATURE REVIEW

D.G. Holmes & A. Kotsopoulos (1993) suggest a method to control the speed of

SPIM using a three-phase voltage source inverter(VSI). The both auxiliary and main

windings of SPIM are connected across the bridge. These windings act as an

unbalanced three phase load. A three phase VSI bridge is used in this method. The
 3

rating of the switches is increased by times the motor rated current. This is so because

current from both the windings enter into the center phase. A modulation strategy for

supply frequencies ranging from 0 to motor rated frequency is proposed to get the

motor rated torque at any speed with low slip. This has been verified not only in

simulation but also experimentally [1].

Cunha, B. S, et al. (2001) studied the control of SPIM through PIC (programmable

integrated circuit), controlled sinusoidal PWM inverter. along with other controls, this

configuration can also vary the speed of single phase induction motor via PIC.

Without using microcomputer generation of PWM pulses is the beauty of this

configuration [2].

Asghar, M.S.J (1999)., describes here smooth speed control of SPIM through integral

cycle control as: Although ICC (integral cycle control) method of speed control of

SPIM introduces subharmonics in the line, it is better and more rugged as compared

to Ac phase controlled switching method of speed control, which produces large high-

order harmonics. however, discontinuous phase controlled switching mitigates these

subharmonics appreciably. Combination of phase controlled switching with ICC is

proposed here. By varying the number of on/ off cycles of supply voltage V, speed of

SPIM can be varied [3].

Sakina Tabassum, et al. (2017) describe the speed control of SPIM using Arduino

with the controlling objectives PWM and SPWM. Arduino generates the pulses

(voltage pulses), speed is varied by varying the width of these pulses. the width of the

pulses is changed by using inverter. the operating principle of DC-AC inverters is

 4

PWM (pulse width modulation). by using various methods like varying on or off time

of the pulses, width of the gate pulses are controlled in PWM technique [4].

T.pavani, et al. (2017) describe and illustrate the method of speed control of single

phase induction motor using solid state relay. 230v ac is stepped down through

transformer, that stepped down voltage is given to a rectifier. In turn, rectified output

is given to Arduino microcontroller. Considered microcontroller in their project has

two inputs and two outputs in order to control the speed of single phase induction

motor. In conjunction to Arduino microcontroller GSM module is also used to achieve

various speeds like 2000rpm, 4000rpm and 6000rpm remotely [5].

Deniz Yildirim et al. (2008) mentions PWM ac chopper technique to control the

speed of SPIMs and universal motors. Through PWM voltage applied to the motor is

changed and hence the speed of motor is varied in accordance with the applied pulse.

In this method, however, harmonics are generated. To minimize these harmonics a

filter is also added at the input side. This method is simple, effective, and cost

effective [6].

Mr. Aung Zaw Latt and Dr. Ni Ni Win (2009) describe here method to design

variable speed drive for SPIM by using controlling frequency. Design aspects, in this

drive, are divided into 4 parts: rectifier, PWM control circuit, driver circuit and H-

bridge inverter. Making a compact sinusoidal PWM inverter for varying the speed of

single phase induction motor is the main objective in this drive. By using H-bridge

inverter (composed of 4 IRF 840), the hardware of this drive is reduced to a

minimum. It is shown experimentally that proposed method can successfully control

the speed of of SPIM [7].

 5

1.7 PROJECT BACKGROUND

Overview of the project is described in this section

1.7.1 Single phase induction motor

Rotating magnetic is produced in three phase induction motors naturally. However, in

single phase induction motors it is not naturally available. What is available is just

fluctuating magnetic field i.e. it increases and decreases in horizontal direction. So

other means are applied to make rotating magnetic field in single phase induction

motors. Unavailability of rotating magnetic field is the cause of not self-starting of

this motor. in order to tackle this issue several techniques including shaded poles,

starting windings, capacitors etc. are used. Applications of single phase induction

motors include food mixer, hair drier, vacuum cleaners and electric shavers. Their

rating is generally less than one kilowatt hour.

1.7.2 Pulse width modulation

As its name indicates PWM is a technique to vary the width of the pulse. In PWM,

time period hence the frequency of the original signal is unchanged, however duty

cycle of the signal is varied. Given voltages are modulated by this technique. Square

wave is the special case of PWM signal, in which on and off times are same. It has

50% duty cycle. Whereas PWM signal can have any value of duty cycle ranging from

0-100%. For switching electrical power (on and off), pulse width modulation is an

efficient technique. Pulse width modulation is handy not only in controlling the

frequency and voltage across the load but also in reducing the harmonics in the output

voltage and current. Sinusoidal PWM is one of the most commonly used PWM

techniques. Owing to its on/off nature, PWM works well with digital control. In PWM
 6

duty cycle of the pulse is varied. According to this voltage applied to the motor is also

varied and hence speed is also varied.

1.7.3 Direction control

Controlling direction in single phase induction motor is very easy. Magnetic field in

the auxiliary winding peaks before the magnetic field in the running winding since

current in the auxiliary winding leads the current in the running winding. The space

angle between these magnetic fields, i.e. whether magnetic field due to auxiliary

winding leads or lags by 900 to magnetic field due main magnetic field, determines

the direction of rotation. By changing the connections of auxiliary winding this angle

can be set to lead or lag. Hence the direction of rotation of single phase induction

motor can be changed just by switching connections of the auxiliary winding.

 CHAPTER 2

INDUCTION MOTOR

2.1 INTRODUCTION

Induction motor is also known as asynchronous motor because it moves at speed

lower than synchronous speed. Working principle of Induction motor is Faraday’s law

of electromagnetic induction. Changing magnetic field in the stator induces EMF in

the rotor, which in turn produces current, this current interacts with the main stator

current. This is followed by revolution of the rotor. There are two types of induction

motor: Three phase induction motor and Single-phase induction motor.

2.2 THREE PHASE INDUCTION MOTOR

The stator of the three-phase induction motor consists of three phase field windings

separated from each other by 120. As soon as field windings are supplied with a 3-

phase supply, a rotating magnetic field is produced. According to faraday’s law of

electromagnetic induction this rotating magnetic field induces EMF in rotor

conductors. As rotor conductors in induction motor are either short circuited through

end rings or closed through external resistance, current starts flowing in the rotor

conductors. Due to interaction of magnetic fields of stator and rotor, rotor starts

rotating.as the cause of EMF generation in the rotor is relative speed between stator

and rotor, so according to Lenz’s law rotor rotates in the same direction as that of

rotating magnetic field. Three phase induction motor is also called rotating

transformer.

7
 8

An induction motor cannot achieve synchronous speed. If it does so then no EMF will

be generated in the rotor due to zero relative speed between rotating magnetic field

and rotor. Hence, no current and in turn no torque will be exerted on rotor to make it

rotate.

Three phase induction motor is:

 Self-starting
 Robust
 Economical
 Lacking commutator and brushes, hence less armature reaction.

2.3 SINGLE PHASE INDUCTION MOTOR

Unlike three phase induction motor, SPIM is not self-starting. This is because it does

not produce rotating magnetic field naturally. Some starting schemes are employed to

give it initial torque. Once it starts rotating, it does not require extra stuff.

2.3.1 Construction

Two main parts of single phase induction motor like are: stator and rotor.

2.3.1.1 Stator of single phase induction motor

In order to reduce hysteresis loss stator of single phase induction motor consists of

laminated stampings. Slots are made in stampings for stator windings. To reduce

hysteresis loss stampings are made from silicon steel. As soon as we apply single

phase ac supply to its stator magnetic field is produced, which rotates at speed Ns

given in equation 2.1.

 9

120 fe
Ns=
p

(2.1)

Where:

fe = frequency of supply voltage

P = no of poles on stator.

Stator of single phase induction motor has two windings:

1. Main field winding

2. Auxiliary winding.

Auxiliary windings are used for starting purpose only. These both windings are placed

at 900 to each other.

Figure 2.1: Stator and rotor [10]

2.3.1.2 Rotor

Rotor construction of SPIM is similar to that of three phase squirrel cage induction

motor. The cylindrical rotor has slots all over its periphery. Slots are made skewed.

skewed construction of slots not only prevents magnetic locking but also reduces

noise and makes the operation of induction motor smooth. The rotor conductors are
 10

made from either aluminum or copper bars. These bars are short circuited through end

rings. There are no slip rings and brushes.

2.3.2 Working

No sooner do we supply the stator winding with ac supply than alternating current

starts flowing in the stator windings. This in turn produces alternating magnetic field

in the stator. This flux links with the rotor. EMF gets induced in the rotor windings in

accordance with faraday’s law of electromagnetic induction. As rotor conductors are

short circuited through end rings, current starts flowing in the rotor conductors. As

magnetic field produced by stator is not rotating type rather a alternating type i-e

decreases and increases in a single direction. So, this flux is unable to rotate the rotor.

Rotor just buzzes at its initial position unless given a initial rotation through hand or

by any other means.

2.4 DOUBLE REVOLVING FIELD THEORY

To understand working of single phase induction motor and why it is not self-starting

double revolving field theory is used. This theory states that stationary pulsating

magnetic field can be resolved into two oppositely revolving magnetic fields. If one

moves in clock wise, another moves anti clock wise. Main magnetic field at any

instant is the sum of two oppositely rotating magnetic fields and net torque will be

sum of individual torques produced due to revolving fields. Mathematically flux

density of stationary magnetic field is given in equation 2.2.

B
(¿¿ max coswt ) j (2.2)
Bs (t )=¿
 11

Where,

Bs ( t ) = flux density of stationary magnetic field

B max = maximum flux density

Figure 2.2: revolving fields at various instants [11]

B
¿ (2.3)
¿
Bs ( t )=¿

Bcw = clock wise rotating field

Bccw = anti clockwise rotating magnetic field

2.4.1 Why SPWM is not self-starting

This fact could easily be understood with a help of double revolving field theory. At

the starting instant both clock wise rotating field and counter clock wise rotating

magnetic field are equal and opposite to each other, hence neutralize each other’s

effect. These produce zero starting torque, hence give no rotation.

 12

2.5 STARTING OF SPIM

As mentioned earlier single-phase induction motors are not self-starting. However,

once started its rotor keeps rotating. hence, it needs one initial push. This initial push

can even be given by hand but this method is neither suitable nor recommended.

There are mainly three methods for starting single phase induction motor. Each of

these methods consists in making one of the two revolving fields stronger than the

other, hence giving the rotor initial push in one direction. These methods are:

 Split-phase windings
 Capacitor-type windings
 Shaded stator poles

2.5.1 Split-phase winding motors

In this method one extra winding besides main field winding is wound on the stator.

This extra winding is called auxiliary winding. Both auxiliary and main field

windings are put at 90 to each other. A centrifugal switch is also provided in series

with auxiliary winding in order to cut the auxiliary winding off the circuit once rotor

has attained some set speed. auxiliary winding has more resistance to reactance ratio

to make the current in the auxiliary winding lead the current in the field winding.

High resistance to reactance ratio of auxiliary winding can be made larger by simply

using wire of smaller diameter for auxiliary winding. Current hence magnetic field of

auxiliary winding Ba peaks before the current hence magnetic field of main field

winding Bm. Hence, it gives initial rotation in the counter clock wise rotation.
 13

Figure 2.3 (a) circuit diagram of single phase induction motor with starting

winding b) phasor diagram [11]

Figure 2.4: b) waveforms for auxiliary winding current and main winding

current d) torque speed characteristic curves with and without auxiliary winding

[11]
 14

Split phase motors:

 Have a medium starting torque

 Not suitable for high starting torque application

2.5.2 Capacitor start motors

Capacitor start motors are used for high starting torque purposes. Capacitor start

motors can be subdivided into:

 Capacitor start motors

 Capacitor start capacitor run motors

Both Capacitor start motors and capacitor-start-capacitor-run induction motors have

Figure 2.5: torque speed characteristic curve for capacitor start motors [12]

same working principle. Only the difference is: In capacitor start motors capacitor is

disconnected when rotor attains 75% full load speed. however, in latter capacitor

remains permanently in the circuit and helps in improving the power factor and

running conditions for the motor. By selecting a proper capacitor size, the mmf of

starting current in the auxiliary windings can be made equal to the mmf of starting

current in the main winding and current in the auxiliary winding can lead the current
 15

in the main winding by 90 ° . 90 ° phase difference in current would produce a

uniform magnetic field since windings are separated also by 90 ° . It would be as if

motor were starting from a three-phase power supply. Figure 2.5 shows the torque-

speed characteristics of the capacitor start motor. In order to improve torque speed

characteristics of SPIM a smaller capacitor is left permanently in the circuit. This

configuration:

 Has no centrifugal switch

 At normal loads, they are more efficient
 Have a higher power factor

Figure 2.6 Circuit diagram of capacitor-start-capacitor-run motor [11]

Figure 2.7: capacitor-start-capacitor-run motor Torque speed characteristic [11]

 16

Permanent split capacitors have low starting torque than capacitor start motors

because capacitor must be sized to balance the current in the main winding at normal

loads.

2.5.3 Shaded pole motors

It has only one winding i.e. main winding. It has salient poles instead of an auxiliary

winding. A shading coil surrounds one portion of each pole. Shading coil is short

circuited. Main winding induces changing magnetic flux in the poles. Time-varying

flux induces voltage in the shading coil. As coil is short circuited, a current start

flowing in the coil. According to Lenz’s law induced current opposes the original

change in flux. This in turn opposes the change in flux under the main poles. Hence,

slight imbalance is created between two oppositely rotating magnetic fields. So, net

starting torque is produced in the rotor in the direction from unshaded to shaded

portion. Shaded pole motors:

 Produce less starting torque than other methods

 Less efficient
 Have a higher slip
 Have a difficulty in the reversing the direction

2.6 Applications and Advantages of Single-Phase Induction Motors

 Single phase induction motors are widely used in various commercial and

domestic applications. Although Single-phase induction motors’ performance

is inferior when compared with 3-phase induction motors, due to its zero-

starting torque and bigger frame size, yet they are used in small ratings, where

3-phase supply is not available or not preferred.

 17

 Because single-phase induction motors are single speed motors; In domestic

applications they are used in dishwashers, clothes washers, clothes dryers,

hermitic compressors, fans (half horse power), draft inducer etc.

 In industrial applications 3-phase induction motors come into picture, however

in residential applications single-phase motors are preferred due to wide

availability of single-phase supply.

 CHAPTER 3

METHODS OF CONTROLLING SPEED OF SPIM

3.1 INTRODUCTION

In this section, different ways of controlling speed of SPIM are discussed, keeping in

view advantages and disadvantages of different methods of speed control. While

keeping in view the advantages of PWM method over several other methods

discussed, comparing the results, why PWM method is used here for speed control

will be described. There are two main techniques for SPIM speed control:

1) Volt/Hertz kept constant control (v/f):

2) Vector control and Voltage control:

In first technique an inverter is used to provide a constant voltage and frequency (v/f)

in order to produce the required speed. On the other hand, vector control controls both

magnitude and phase of the variables. Lastly voltage control varies the speed of SPIM

by changing the effective value of the load voltage.

3.2 CONSTANT VOLTS/HERTZ(v/f) CONTROL

Like in Three Phase Induction Motor, we have variable speeds for different frequency

values, same is case in SPIM also. Therefore, constant V/F technique can be used in

control of SPIM. This type of control is mostly used in three phase induction motors.

In three phase induction motors, while neglecting the magnetizing inductance and the

iron losses, the torque developed ( Te¿ for constant V/f is given in equation 3.1.

18
 19

Rs+ Rr / s
2
Vs
2
+ we2 (Lls + Llr )2
¿ (3.1)
3 p Rr
Te=
2 Swe ( ) ¿

Where,

P =number of poles,

S =slip,

Rs∧Rr = Stator resistance and Rotor resistance respectively,

Lls ∧Llr =Stator and Rotor leakage inductances respectively,

Vs =Effective value of supply voltage,

W e =Electrical speed in radians,

Air gap flux Φm is related to v/f ratio in the steady state operations. Therefore,

maximum torque sensitivity and stator current will be achieved by keeping a constant

air-gap flux. From equation 3.1, by keeping v/f ratio constant, the air-gap flux can be

kept constant, therefore Torque-Speed characteristics can be seen in figure 3.1.

19
 20

Figure 3.1: Torque speed characteristics for constant v/f control [13]

By observing figure 3.1, it can be seen that Te (Torque equation) expressed in

equation 3.1 is approximately valid in high frequency region, where stator impedance

drops occur owing to reduced air-gap flux. In the region of low frequency, Auxiliary

Voltage will be injected due to the stator impedance drop effects, so that we can

maintain rated air-gap and full torque. The circuit diagram which is generally used for

open loop constant V/f control shown in Figure 3.2. The power circuit comprises a

phase-controlled rectifier with single- or three-phase ac power supply LC filter (DC

link) and an inverter.

Figure 3.2: V/f control circuit diagram [14]

3.3 VECTOR CONTROL

The component of the motor stator current can be controlled by controlling the vector

in the rotating reference frames d and q aligned with the rotor flux. The system
 21

requires dynamic model equations and returns instantaneous currents and voltages to

calculate and control variables [8]. The technique of vector control instead of

complexity has been popularly used in three phase AC motors (servo systems). This

technique is popular due to its superior performance. But in SPIM drives the vector

control techniques is not widely used, because of less use in literature. Single phase

half bridge inverter for the SPIMS and four space vectors is shown in figure 3.3.

Figure 3.3: vector control of SPIM single -phase Half Bridge Inverter [15]
 22

Figure 3.4: space vectors of SPIM [15]

3.4 VOLTAGE CONTROL

An induction motor’s speed can be controlled by varying the effective value of stator

voltage when frequency is kept constant. In figure 3.4 the torque-speed characteristics

are shown by varying the voltage.

Figure 3.5: voltage control torque-speed characteristics [14]

Usually this speed control method is used in fans or blower type motors with high

slips s. Such type of speed control operates by decreasing the air-gap flux value. By

increasing the slip air gap flux can be decreased. The stator voltage can be controlled

by following methods.
 23

3.4.1 Integral cycle control

In this technique we allow certain number of complete cycles of supply voltage

through the load. By turning on and off the source voltage, this task can be achieved.

Due to this Integral cycle control technique is also called On-Off control, Burst Fire

control, Single cycle control and Advanced single cycle control are three different

ways used in this technique.

3.4.1.1 Burst fire control

In this type of control, the burst of complete cycles of firing voltage are supplied to

the load.

Figure 3.6: burst fire control [16]

TF
The load power is proportional to . The off time (TNF) is also a series of entire
TM

supply cycles.

T M =T F +T NF (3.2)

The RMS value of the load voltage is given in equation 3.3

 24

V L ,rms =V I ,rms
√ TF
TM

(3.3)

The firing time is fixed in this firing mode and changing in the off time provides

subsequent changes in the load voltage.

3.4.1.2 single cycle control

Mode of firing control when only one firing and one non-firing cycles are used for

controlling speed such control is known as single cycle control.

Figure 3.7: waveforms of load voltage with single cycle control [16]

Firing is set to 50% of applied nominal power therefore the firing time and non-

firing time are equal. For a greater power set point firing time is increased more than

50% similarly for a lesser power set point non-firing time is increased more than 50%.
 25

3.4.2 Phase control

Phase control technique is one of the voltage-controlled techniques in which power

flows towards load and is controlled by delay of TRIAC firing angle shown in Figure

3.8.

Figure 3.8: phase control circuit [17]

The RMS load voltage (VL) value is given in equation 3.3.

1 1
( β−α ) + sin 2 α− sin 2 β
2 2
¿
1 (3.4)
¿
2π
L , rms=V m √ ¿
V¿

V m = Maximum supply voltage,

α= firing angle,

β= extinction angle,
Motor control
26
switches

3.4.3 PWM control

Pulse width modulation technique is one of the most widely used techniques of

controlling speed of SPIM. In this method effective value of voltage applied to the

motor is changed. As speed is directly proportional to voltage applied to motor, so

speed control is achieved through this method. In pulse width modulation width of the

signal is changed. In other words, duty cycle of the signal is changed.

Figure 3.9: PWM control [18]

If duty cycle of the signal is high, the speed obtained will be high. Conversely if duty

cycle is low, speed will also be low. This PWM signal is generally at 5v, so, it cannot

be directly given to motor. for this purpose, optocoupler is used.

3.5 DISCUSSION

The above-mentioned control techniques are used for SPIM Speed control. Each

control technique has advantages as well as disadvantages of its own. Selection of

method is done keeping in view the application for which speed control is required

and also relative advantages and disadvantages of different methods. The constant V/f
 27

control method is considered to be one of the best techniques for the speed control

applications. This technique, however, is not generally used due to increased cost and

complexity of control network.

The vector control technique is high performance speed control technique which is

mostly used in three phase Induction motors. Although this technique is applicable in

SPIMs, however control circuit becomes more complex than constant v/f control.

Besides this, voltage control method is simpler in structure, easy to control and cost

effective. Due to these advantages voltage control technique is more preferred in

industries for fan and blower applications. In this technique we vary the slip rate, this

is difference between rotors actual speed and synchronous speed. Increased slip rate

causes the decrease in speed. The increase in stator currents produces more copper

loss and machine heating.

The integral cycle control technique is based on providing supply and cutting the

supply for the instance. Therefore, in non-firing time motor is not supplied with

current which is a disadvantage of this technique. By increasing the total on and off

time this problem can be improved. Another effect of non-firing time in this technique

is that the stator voltage is reduced to zero in each control cycle and then increases to

the supply voltage which in turn increases the transient effects of motors.
 CHAPTER 4

HARDWARE AND ITS WORKING

4.1 INTRODUCTION

SPIMs are commonly used in homes and in small industries due to their rugged

construction and low cost. it is necessary to control the speed of single phase

induction motor in order to get maximum production and also for protection of

induction motor’s winding. Of many available methods to control the speed of SPIM,

pulse width modulation (PWM) technique is used here. PWM is more efficient than

other methods [4]. Pulse width modulation changes the magnitude of applied voltage

to the motor; hence it varies the speed. this PWM signal is generated through Arduino

UNO.

4.2 COMPONENTS

Table 4.1: Main components used in the hardware model

Component name Rating

SPIM ¼ hp,220v

Arduino UNO 5V, 28-pins

MOC3021 6-pins, 400volts peak,

ULN2003a 500ma, 50v

16x2LCD 16-pins, 5v

DC RELAY 5-pin, 12v, 10A

IND4007 700V, 1 AMP

28
 29

4.2.1 Arduino UNO

Arduinos are circuit boards that have microcontroller chips on them, but they have a

lot of other stuff on there too. Arduino UNOs use a series of microcontrollers called

ATMEGA AVRs. Connected to the microcontroller is a crystal resonator. This controls

how fast the microcontroller is running. There is another microcontroller in order to

upload the software. Through this chip USB cable is connected to the Arduino board,

and communicate via USB and once the program is running, this chip is what allows

to send message back and forth between computer and Arduino.

Arduinos can be powered purely from USB cable. But it can also be powered directly

through 9v dc power source with the barrel jack. The Uno has a built-in voltage

regulator that will reduce the voltage to 5v. there is reset button on Arduino to reboot

the program.

4.2.1.1 Atmega 328/p

This is microcontroller built in Arduino. its features are:

 32Kbytes of In-System Programmable Flash with Read-While-Write

capability
 1Kbytes EEPROM
 2Kbytes SRAM
 32 general purpose working registers

4.2.2 MOC3021
 30

To interface between electronic components and high-power AC circuits MOC3021

was designed. The MOC3021 is a Zero-Crossing TRIAC driven Optocoupler or opto-

isolator. The features of MOC3021 include:

 Zero crossing ability: this avoids direct peak voltage to the load. Thus

avoids damage.
 Appropriate rise and fall time.

Because of these features it is used to control high voltage AC loads with MPU or

MCU. We can control the speed of motor since the intensity of light can be controlled.

By turning LED on or off, loads can be switched with MOC3021. When TRIAC is

switched with PWM signal, output voltage across the load can be controlled hence the

speed of AC motor can be controlled.

4.2.3 ULN2003A

It is an array of seven NPN Darlington transistors. They have capability of 500mA

and 50V. If higher current capability is needed these drivers can be paralleled. It is,

generally, used for interfacing with motors, which require higher ratings.

4.2.4 16x2LCD

It is used for displaying various quantities on screen. In this project following

quantities are displayed:

 Temperature of windings
 Speed in % of full speed
 Direction of rotor
Power supply 31

4.3 BLOCK DIAGRAM OF THE PROJECT

Figure 4.1: Block diagram of the project

 32

4.4. General description of circuit diagram

As Arduino is operated on 7-12V dc, so 220v ac is stepped down to 12v and rectified;

then it is fed to the Arduino. Arduino here serves two purposes: 1. Generates PWM

signal 2. Drives LCD. The PWM signal generated at pin no:10 is used for speed

control. This PWM signal is 5v, whereas motor circuit is operated at 220v. So, these

two circuits cannot be connected directly. To solve this issue an optocoupler is used.

Through this opto-coupler the PWM signals are fed into the motor circuit. The output

connection of the optocoupler is fed into the gate of the TRIAC. The TRIAC is

connected in between 220v ac supply and the motor windings. The TRIAC is fired in

accordance with the PWM signal generated through Arduino. In this way voltage

supplied to the motor windings is controlled and in turn speed is controlled. The width

of the PWM signal is controlled through potentiometer connected at Arduino pin A.

For direction control relay is used. The output from Arduino is connected to uln2003a

(relay driver IC), Which drives the relay to alter the connections of the windings so as

to change the direction of the rotation.

 33

Figure 4.2: circuit diagram of the project

4.4.1 Circuit diagram part by part description

 Rectifier
 34

Figure 4.3: Rectifier

220v ac supply is stepped down to 12v and then rectified to be fed into Arduino pin

vin. The capacitor is connected in order to smoothen the dc output.

 Arduino and LCD

Figure 4.4: Arduino and LCD

The dc output from rectifier is given to Arduino through pin 22 Vin. Generally, 7-12

voltage dc are given as input to Arduino. Arduino has built in voltage regulator to

regulate the voltage to 5v dc inside. Arduino generates 5v on pin 25 which is used for
 35

different circuit components. Through this we power push buttons connected on pin

no: 7,8, and 9. On analog input A potentiometer is connected, which is also supplied

through 5v on pin25, through which the speed of SPIM is varied. The PWM signal is

generated on pin no 8, which is coupled to motor circuit. The speed depends on the

voltage applied to this pin. If the voltage is 0v, the speed will be zero. However, if

voltage is full(5V), the full speed (rpm) is obtained. Of these 6 analog pins only two

are used. Rx and Tx pins are used to communicate to LCD. Pins 7,8 and 9 are used as

input pins, where bush buttons are connected. Their programming is set such that

middle bush button stops the motor, one rotates the rotor clockwise, whereas last one

rotates the rotor counter clock wise.

From LCD’s data pins D4 to D7 are used which are read pins. Whereas write pins Do

to D3 are left unused. 5v dc Supply to LCD is given on VDD. On VEE variable

resistor is connected to set the contrast of the LCD screen.

 Opto-coupler and TRIAC

Owing to their different voltages Arduino circuit and motor circuit can not be

connected directly. This is done through opto-coupler (MOC 3021). Signal from the

DIAC is given to the gate of TRIAC, which is triggered in accordance with the PWM

signal. The TRIAC is connected to the winding of the motor which in turn changes

the speed of the SPIM.

 36

Figure 4.5: Opto-coupler and TRIAC

 ULN2003A and relay

Figure 4.6: ULN2003A and relay

Direction of single phase induction motor can easily be changed by just changing

auxiliary winding connection while leaving main winding connections unchanged.

For this purpose, 12v DC relay is used. Pin no 12 of Arduino is connected with relay

driver IC (ULN2003a), whose output is then connected to relay. Diode d1 is used for

protection purpose. It gives path to back EMF generated due to switching operation of

relay.
 37

4.5 CODING OF ARDUINO

int Temprature = A0; // Analog input pin that the Temprature Sensor is attached to
int TempVal ;
int TempVal2;
int potpin = A5; // analog pin used to connect the potentiometer
int val1;
int val2;
int val3;
int RT_Button;
int LF_Button;
int Stop_Button;
int VR_Stop = 1;
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin numbel.r it is connected to
const int rs = 6, en = 5, d4 = 4, d5 = 3, d6 = 1, d7 = 0;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup()
{
pinMode(7,INPUT);
pinMode(8,INPUT);
pinMode(9,INPUT);
pinMode(10,OUTPUT);
pinMode(12,OUTPUT);
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
lcd.clear();
lcd.setCursor(0, 1);
 38

lcd.print(" STOP");

delay(1000);
}

void loop()
{
RT_SW();
LF_SW();
Stop_SW();
Speed_Control();
Speed_Temprature();
}
//============================================================
====================
void RT_SW()
{
RT_Button = digitalRead(7);
if (RT_Button == HIGH )
{
VR_Stop = 0;
digitalWrite(12,LOW);
lcd.setCursor(0, 1);
lcd.print(" CLOCKWISE");
}
}
void LF_SW()
{
LF_Button = digitalRead(9);
if (LF_Button == HIGH )
 39

{
VR_Stop = 0;
digitalWrite(12,HIGH);
lcd.setCursor(0, 1);
lcd.print("COUNTERCLOCKWISE");
}
}
void Stop_SW()
{
Stop_Button = digitalRead(8);
if (Stop_Button == HIGH )
{
VR_Stop = 1;
lcd.clear();
lcd.setCursor(0, 1);
lcd.print(" STOP");
}
}
//============================================================
==================
void Speed_Control()
{
if (VR_Stop == 0)
{
val1 = analogRead(potpin); // reads the value of the potentiometer (value
between 0 and 1023)
val1 = map(val1, 0, 1023, 0, 100); // scale it to use it with the (value between 0
and 180)
digitalWrite(10,HIGH); // sets the Speed according to the scaled value
delay(val1);
digitalWrite(10,LOW);
 40

val2 = 100;
val2 = val2 - val1;
delay(val2);
}
else
{
digitalWrite(10,LOW);
}
}

void Speed_Temprature()
{
TempVal = analogRead(Temprature); // reads the value of the potentiometer
(value between 0 and 1023)
TempVal2 = map(TempVal, 0, 1023, 0, 50); // scale it to use it with the (value
between 0 and 180)
val1 = analogRead(potpin); // reads the value of the potentiometer (value
between 0 and 1023)
val1 = map(val1, 0, 1023, 0, 100); // scale it to use it with the (value between 0
and 180)aa
lcd.setCursor(0, 0);
lcd.print("Speed ");
lcd.print(val1);
lcd.print("% ");
lcd.print(T
empVal2);
lcd.print("C ");}
 CHAPTER 05
EXPERIMENTAL RESULTS

In this chapter, the real-time images of the experimental results, shows outcome of

successful manufacturing of Arduino based speed and direction control of single

phase induction motor. The experimental results shown below were conducted in

laboratory for the purpose of testing of hardware model.

5.1 EXPERIMENTS

Different experiments are given below.

5.1.1 When supply is turned on

41
Figure 5.1 shows when supply is turned on LCD starts indicating, it indicates that

motor is not started yet, hence its wiring temperature can be seen 25˚ Celsius.

Figure 5.1: Motor in stop position

42
 41

5.1.2 Counter clock wise direction and speed control

Figure 5.2 indicates that motor is started by pressing the extreme left button below

LCD display, it can be seen now that motor is running at 15% speed in counter-clock

wise direction, now to vary the speed we will regulate the potentiometer knob.
 42

Figure 5.2: Motor running at 15% of rated speed in counter clock wise direction
 43

Figure 5.3: Motor running at 30% of rated speed in counter clockwise direction

5.1.3 Clock wise direction and speed control

In Figure 5.4 motor is started by pressing the third button below LCD display, it can

be seen nowt that motor is running at 15% of the rated speed in clockwise direction.

Similarly, by regulating the potentiometer knob we will vary the speed and it can be

seen from Figure 5.5..

Figure 5.4: motor running at 15% of rated speed in clock direction

 44

Figure 5.5: motor running at 30% of rated speed in clockwise direction

In Figure 5.5, Motor is running at 30% of the rated speed in clock-wise direction

5.2 COMPLETE PROJECT

Complete project is given in figure 5.6.

 45

Figure 5.6: complete project

 CHAPTER 6

CONCLUSION AND FUTURE WORK

6.1 CONCLUSION

Single phase induction motors are widely used in homes and to some extent in

industries. In this project control of SPIM is designed. This control included speed

and direction control. For controlling speed PWM technique, being one of the most

widely used techniques for this purpose, is used. The PWM signal is generated

through Arduino, which is then coupled to the motor through opto-coupler. To control

direction DC relay is used. Which alters the connection of windings to the supply

according to the given command by the user. Lastly LCD is used to display speed,

direction and temperature of the windings of the motor.

6.2 FUTURE WORK

Future work is proposed for:

 Mitigating harmonics effects generated with PWM technique of speed control.

 Suppressing unwanted noise created.

44
 45

REFERENCES

[1] Holmes, D.G. and Kotsopoulos, A., 1993, October. “Variable speed control of

single and two phase induction motors using a three phase voltage source

inverter”. In Industry Applications Society Annual Meeting, 1993., Conference

Record of the 1993 IEEE (pp. 613-620). IEEE.

[2] Cunha, B.S., Camacho, J.R. and Bissochi, C.A., 2001. “Single-phase induction

motor speed control through a PIC controlled sinusoidal PWM inverter-the

mathematical model and various load conditions”. In Power Tech

Proceedings, 2001 IEEE Porto(Vol. 2, pp. 6-pp). IEEE.

[3] Asghar, M.S.J., 1999. “Smooth speed control of single-phase induction motors

by integral-cycle switching”. IEEE transactions on energy conversion, 14(4),

pp.1094-1099..

[4] Sakina Tabassum1, Syed Sarfaraz Nawaz2 and M.N Sandhya Rani. “Speed

Control of Induction Motor Using Arduino”. International Journal of

Innovative Science and Research Technology Volume 2, Issue 9, September–

2017.

[5] T Pavani, T., Devi, U.R., Revanth, I.K., Babu, K.S. and Kumar, K.S., 2017.

“Speed Control of Single Phase Induction Motor Using Solid State

Relay”. Asian Journal of Applied Science and Technology (AJAST), 1(6),

pp.79-81

[6] Yildirim, D. and Bilgic, M., 2008, November.” PWM AC chopper control of

single-phase induction motor for variable-speed fan application”. In Industrial

 46

Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE (pp. 1337-

1342). IEEE

[7] Latt, A.Z. and Win, N.N., 2009, April. “Variable speed drive of single phase

induction motor using frequency control method”. In Education Technology

and Computer, 2009. ICETC'09. International Conference on (pp. 30-34).

IEEE.

[8] Texas Instruments, “Digital Signal Processing for AC Induction Motor”.

Application Note BPRA043

[9] Jang, H. and Yoon D., 2003 "Space-Vector PWM Technique for Two-Phase

Inverter-Fed Two-Phase Induction Motors", IEEE Transactıons on Industry

Applications, 39, no. 2, March/April 2003

[10] [Online] https://learnengineering.org/working-of-single-phase-induction-

motors/

[11] Chapman, S., 2005. Electric machinery fundamentals. Tata McGraw-Hill

Education.

[12] [Online] https://circuitglobe.com/capacitor-start-induction-motor.html

[13] http://www.rroij.com/open-access/three-phase-induction-motor-drive-using

single-phase-inverter-and-constantvf-method.php?aid=42584

[14] Bose, B.K. 1986. “Power Electronics and AC Drives”, Prentice-Hall, New

Jersey.
 47

[15] Jang, H. and Yoon D., 2003 "Space-Vector PWM Technique for Two-Phase

Inverter-Fed Two-Phase Induction Motors", IEEE Transactıons on Industry

Applications, 39, no. 2, March/April 2003

[16] https://www.researchgate.net

[17] Yucel E., 2006. “Bir Fazlı Sürekli Kondasatörlü Asenkron Motorlarda Hız

Kontrolü”, (“Speed Control of A Single-Phase Permanent-Split Capacitor

Induction Motor”), M.Sc. Thesis, Đ.T.Ü. Fen Bilimleri Enstitüsü, Istanbul

[18] https://learn.sparkfun.com/tutorials/pulse-width-modulation