Major Project - I Report on

Design of V/f Control based

Soft Start of Induction Motor
and using Analog Circuit and
TMS320F28335
Major Project –I Report submitted in partial fulfilment of
requirements for awardation 4 credits in VII semester

Bachelor of Technology
in
Electrical and Electronics Engineering

Submitted by
Mr. Kapil V.S. Amonkar : (Roll No.
14EEE1084)
Mr. Krishna Kadam : (Roll No.
14EEE1071)
Mr. D.Mohan Kumar : (Roll No.
14EEE1067)
Ms. S.Pravallika : (Roll No.
14EEE1083)

Under the Supervision of

Dr. B Venugopal Reddy
Asst. Professor

Department of Electrical and Electronics Engineering

National Institute of Technology, Goa
November 2017

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 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY GOA

GOA, INDIA-403401

CERTIFICATE

This is to certify that the work contained in this Report entitled “Design of V/f
Control based Soft Start of Induction Motor and using Analog Circuit and
TMS320F28335” submitted by Kapil V.S. Amonkar (Roll No: 14EEE1084) to the
Department of Electrical and Electronics Engineering, National Institute of
Technology Goa, for the partial fulfilment of the requirements for the awardation of
4 credits in VII Semester of Bachelor of Technology in Electrical and Electronics
Engineering.

The Major Project - I Report, in my opinion, has reached the standard fulfilling of
the requirements for the awardation of 4 credits in VII Semester of Bachelor of
Technology in Electrical and Electronics Engineering in accordance with the
regulations of the Institute.

Dr. B Venugopal Reddy

Assistant professor,
Dept. of Electrical and Electronics Engineering,
National Institute of Technology – Goa
E-mail: bvenugopal_reddy@nitgoa.ac.in
 Declaration

I hereby declare that the work which is being presented in this report entitled
“Design of V/f Control based Soft Start of Induction Motor and using Analog
Circuit and TMS320F28335” for partial fulfilment of the requirements for the
awardation of 4 credits in VII Semester of Bachelor of Technology submitted in the
department of Electrical and Electronics Engineering of National Institute of
Technology, Goa, is an authentic record of my own work. I have not submitted the
matter embodied in this report for the award of any other degree or diploma of any other
university or institute.

Name of the Students:

Mr. Kapil V.S. Amonkar (14EEE1084)

Mr. Krishna Kadam (14EEE1071)

Mr. D.Mohan Kumar (14EEE1067)

Ms. S.Pravallika (14EEE1083)

 CONTENTS

Serial Page
Subject
Number Number

1. Abstract 1

2. Literature Survey 2

3. Motivation 3

4. Objectives 4

5. Work Done 5

5.1 Theoretical Analysis 5

5.2 Simulations Results 6

5.3 Observations 10

5.4 Experimental Results 11

6. Work to be done 13

7. Road Map (Semester wise) 14

8. Components / Software Required 15

9. References 16
1. ABSRACT

An induction motor is an asynchronous motor. Squirrel cage induction motors are

cheap, rugged, have no commutators and brushes and are suitable for high speed
applications. The speed of the induction motor is constant and is very close to the
synchronous speed of the motor. The speed control of such a machine is of great
importance and can have a lot of applications in industrial area. Traditionally, dc motors
have been used in such adjustable speed drive systems. However, dc motors are
expensive, require frequent maintenance of commutators and brushes, and are
prohibitive in hazardous atmospheres. There are various speed control methods such as,
pole changing method, line voltage control, line frequency control, rotor resistance
control, constant (V/f) control and so on.

This project progress report presents the speed control of the induction motor using
(V/f) method. In this method we will be using sine PWM to generate a controlled three
phase sinusoidal output to the induction motor by taking a DC as input. The PWM and
induction motor simulations are done using MATLAB/Simulink. The practical
implementation of the sine PWM will be done using an analog model and also by using
DSP TMS320F28335 controller.

The constant (V/f) speed control method is chosen because in this method the torque of
the motor at starting is not much affected (reduced) compared to the other speed control
methods. This is very advantageous where the induction motor is started in loaded
condition. Along with being advantageous this method of speed control design is also
equally challenging. Changing the frequency of the sine wave by rectifying and the
using inverter brings in a lot of harmonic components in the resulting output voltage.
The main challenge is to eliminate as much harmonics as possible so that the output
voltage mainly contains the fundamental component.

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2. LITERATURE SURVEY

Induction motor are used in many applications such as HVAC (heating, ventilation and
air-conditioning), Industrial drives (motion control, robotics), Automotive control
(electric vehicles), etc.

In recent years, the speed and torque control of induction motor has become an
important research topic and a variety of control methods have been proposed.
1. V/f scalar control for speed regulation.
2. Speed-sensor less vector control of induction motors.
3. Closed loop control of Induction motor with feedback.

Direct torque control (DTC) is one method used in variable frequency drives to control
the torque (and thus finally the speed) of three-phase AC electric motors.

In the research paper “The Pulse Width Modulation and its use in induction motor speed
control” published at 2011 Fourth International Symposium on Computational
Intelligence and Design, there is an analysis of PWM signal generators. Also, the Power
MOS devices for variable speed control are analysed. To obtain high quality output
voltage, double edge modulated sine wave PWM technique is implemented for three
phase inverter.

PWM is a method of controlling the amount of power to a load without having to

dissipate any power in the load driver. The PWM signals can be generated in a number
of ways. There are several methods:
• Analog method
• Digital method
• Discrete IC
• Onboard microcontroller
The use of Onboard microcontroller such as DSP TMS320F28335, greatly simplifies
the process of generating the signals. In our project we will be using two methods, first
method is the analog design and the second is using the DSP TMS320F28335 controller
for sine PWM. We will be controlling the frequency of the fundamental wave along

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with the magnitude of the output voltage to drive the induction motor at required speed.
This method can also be used to soft start the induction motor.
3. MOTIVATION

The motivation behind doing the speed control of induction motor is that it has lot of
applications in the future. Speed control is required in almost every aspect in industries,
manufacturing plants etc. Induction motor being cheap and robust compared to other
motors, it is widely used. Most of the day to day appliances make use of induction
motor.

In near future we will be using electric vehicles instead of petrol or diesel vehicles. In
such applications speed control is required and the range of speed control should also be
large without affecting the starting torque of the motor.

Also, by using the (V/f) speed control method, soft start of an induction motor can be
done.

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4. OBJECTIVES

 To perform sine PWM to obtain the controlled output signals for IGBT switches
of the three-phase inverter to produce a three-phase input for induction motor.
 To control the speed of the induction motor with (V/f) control method using
analog circuit design.
 To write a code for Digital Signal Processor TMS320F28335 to vary voltage and
frequency of the output sine wave simultaneously of all three-phases such that
the (V/f) value remains constant.
 To soft start the induction motor using (V/f) speed control method.

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5. WORK DONE
5.1 THEORITICAL ANALYSIS:

We know the induction motor equation of the induced voltage:

E=√ 2 π ∅ fN (5.1)

where, ∅ is the airgap flux per pole.

f is the source frequency.
N is the number of turns in the winding.

The adjacent Fig 1 shows the speed-torque

characteristics of Induction motor on
varying the frequency. We can see that to
reduce frequency below the rated value we
need to reduce voltage as well
proportionally. The torque is largely
affected above base frequency if only the
frequency is varied. Fig 1: Torque speed curve of induction motor with
variable voltage, variable frequency control

a) Speed control by varying only the frequency of the source:

From equation (5.1), we can say that

the torque and speed of induction
motors can be controlled by changing
the supply frequency but keeping the
voltage constant. If the frequency is
decreased keeping the voltage
constant then the saturation of air gap
Fig 2: Speed-torque characteristics with
variable frequency

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 flux takes place. Refer to Fig 2. In this case we can clearly see that the maximum
torque is affected.

b) Speed control by constant (V/f) control by varying both source voltage and frequency:

The constant (V/f) control

method is the most popular
method of scalar control. To
reduce the saturation effect
occurring in the frequency
control method we also vary the
terminal voltage to maintain the
flux i.e. proportional to (V/f)
Fig 3: Speed-torque characteristics with constant
constant. Refer to Fig 3. In this
(V/f) control method
case the maximum torque is
same for all frequency values.

5.2 SIMULATION RESULTS:

The simulation is carried out with the help of MATLAB/Simulink. Fig 4 and Fig
5 represents the circuit diagram of the system. Fig (6 to 9) represent the results
of the simulation and FFT analysis of the output waveform.

5.2.1 Simulation of Power circuit:

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 Fig 4: Simulink Model of a H-Bridge inverter circuit

Fig 5: Simulink Model for Sine PWM generation

Waveforms:

Fig 6: Comparing Modulating (sine) and Carrier (Triangular) Waveforms

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 Fig 7: Output of the inverter when ma = 0.8, mf = 5

Fig 8: Comparing Modulating (sine) and Carrier (Triangular) Waveforms

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 Fig 9: Output of the inverter when ma = 0.8, mf = 21

5.2.2 Simulation of Induction Motor with Input from Three Phase Inverter:

The following circuit in Fig 10 is the MATLAB Simulink model of an Induction

motor fed by a three phase Inverter.

Fig 10: Simulink circuit of induction motor

5.2.3 Speed-Torque characteristics of Induction motor by simulation:

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 The below curve is plotted only by taking positive torque and speed values,
where as in actual plot, there are transients in the torque at the start of the motor.

Fig 11:Speed-torque curve with ma = 1 and mf = 21

Fig 12: Speed-torque curve with ma = 0.5 and mf = 21

5.3 Observations:

We can observe from the above waveforms that Sine PWM technique is a very flexible
method to have a controlled output over a wide range of speeds without affecting
overall torque of the motor. In the first two waveforms from Fig 6 and 8 we can observe

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that by varying ma and mf the amplitude and harmonic frequencies of the output
waveform can be varied.

As we can see from the Fig 11 and 12 that the speed-torque curve of the Induction
Motor remains similar to the curve when sine wave source is connected directly instead
of inverter. The torque of the motor almost remains constant. The slight drop in torque
is due to the drop in the voltage across leakage reactance and stator and rotor resistance
(referred to stator side).

By changing the frequency of modulating wave and carrier wave proportionally

(synchronous modulation), when we vary the value of ma we can vary the fundamental
frequency of the output. The change in frequency also reduced the synchronous speed of
motor thereby changing the overall speed of the induction motor.

5.4 EXPERIMENTAL RESULTS:

A sinusoidal wave and a triangular wave is generated and using comparator the
output sine wave PWM waveform is obtained.

5.4.1. Triangular wave output on Oscilloscope:

The triangular wave is generated by feeding

the square wave to an integrator circuit using
Op-Amp IC741. The magnitude of the wave
can be controlled by controlling the peak

value of the square wave. Refer to Fig 11.

The blue waveform is the required triangular
wave.
Fig 13: Triangular wave

5.4.2. Sinusoidal wave output on Oscilloscope:

The sine wave is generated by using Wien

bridge oscillator. IC741 Op-Amp is used.
Peak value of sine wave can be controlled by

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adjusting the gain (Rf / Rin) value in the circuit. Refer to Fig 12. The triangular wave
and the sine wave are shown.

Fig 14: Sine wave and Triangular wave

5.4.3. Pulse Width Modulation Output:

The PWM output is obtained by comparing

the triangular wave with the sine wave.

If |V(tri)| < |V(sine)|, then

V(out) = +Vcc

else if |V(tri)| > |V(sine)|, then

V(out) = -Vcc
Fig 15: PWM Output wave
Refer to Fig 13. The sine PWM output
waveform is shown in yellow colour and the inverted sine PWM is shown in blue
colour.

5.4.4. Introduction of Blanking Time in the Switch Pulses:

After obtaining PWM output it is necessary to introduce blanking time in between the
two switches, in order to avoid the shorting of the input DC source. Hence the signals
are then fed to AND gate with other input as high (+V cc). Refer to Fig 13 for blanking
time between two switch pulses. AND gate will give output as high only when the
certain threshold value is achieved by the switching pulse. Thus, the blanking time is
equivalent to time before the threshold value is reached for the AND gate to output
high. Refer to Fig 14 for AND gate output switch pulses.

Fig 16: Blanking time between two switch pulses

Fig 17: Output pulses from AND gate
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By changing the frequency of the sine wave (modulation wave) and keeping the
frequency of the triangular wave same, the frequency of the fundamental component of
the output waveform can be controlled.

*+Vcc and -Vcc are the voltages applied to the IC741 Op-Amp Comparator.

*The analog model of the PWM is designed in order to get the idea about how the
actual output will look when done using DSP TMS320F28335 controller.

6. WORK TO BE DONE:

1) Dynamic Modelling of Induction Motor

2) Understanding the architecture of TMS320F28335 DSP Controller

3) Generation of Sine PWM signal using DSP Controller

4) Soft Start of Induction Motor using DSP TMS320F28335 Controller.

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7. ROAD MAP (Semester wise)

Semester VII:

In this semester we understood the concept of sine PWM and have practically
designed and executed the circuit of the same using analog circuit design
method. IC741 was the key component used in the design of the circuit.

We also simulated the sine PWM using MATLAB-Simulink and the output of
the inverter was given to three phase Squirrel cage induction motor. Using (V/f)
speed control method we will soft start the induction motor.

In this semester we have finished the simulation part of the open loop speed
control of the induction motor. Also we have generated the sine PWM switch
pulses to be given to the H-bridge inverter module.

Semester VIII:

In this semester we will be using the simulations done in Semester VII to design
the actual model of the Final Project. The PWM will be carried out using
Onboard microcontroller DSP TMS320F28335 controller, in precise manner.
The gate pulses will be given to the three phase IGBT inverter module to
produce three phase sine waves to run the Induction Motor.

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8. COMPONENTS (SOFTWARE REQUIRED):

Available
Sr. No. Component/Software in Estimated Cost
institute?

Digital Signal Controller TMS320F28335

1. Yes -
(Texas Instruments)

2. Code Composer Studio version 7 – (IDE) No Free software

H-Bridge single phase Inverter module

3. Yes -
with 4 IGBTs
H-Bridge Three phase IGBT Inverter
4. Yes -
Power Module (2 level)

5. Single Phase Induction Motor Yes -

6. Three phase Induction Motor Yes -

7. Tachometer Yes -

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9. REFERENCES

[1] Xueqin LU, Shuguo Chen, Chenning Wu, Mingzhu Li, “The Pulse Width
Modulation and its use in induction motor speed control” published in
Computational Intelligence and Design (ISCID), 2011 Fourth International
Symposium, Hangzhou, China.

[2] Juan Moreano Peña, Edilberto Vásquez Díaz, “Implementation of V/f scalar
control for speed regulation of a three-phase induction motor”, published in
ANDESCON, 2016, IEEE, Arequipa, Peru.

[3] Textbook “Principles of Electrical Machines and Power Electronics” 2nd Edition
by P. C. Sen, published by John Wiley and Sons Canada 1997.

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