IMPLEMENTATION OF V/F CONTROL OF THREE PHASE INDUCTION MOTOR USING MICROCONTROLLER

By R.BRINDHA (Reg.No: 16104003)

A PROJECT REPORT Submitted to the Department of ELECTRICAL AND ELECTRONICS ENGINEERING in the FACULTY OF ENGINEERING & TECHNOLOGY

In partial fulfillment of the requirements for the award of the degree of MASTER OF TECHNOLOGY IN POWER ELECTRONICS AND DRIVES

S.R.M. ENGINEERING COLLEGE S.R.M INSTITUTE OF SCIENCE AND TECHNOLOGY Deemed University June/July, 2006

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BONAFIDE CERTIFICATE

Certified that this project report titled IMPLEMENTATION OF V/F CONTROL OF THREE PHASE INDUCTION MOTOR USING

MICROCONTROLLER the bonafide work of

R.BRINDHA (Reg. No.

16104003) who carried out the research under my supervision. Certified further, that to the best of my knowledge the work reported here in does not form part of any other project report or dissertation on the basis of which a degree or award was conferred on an earlier occasion on this or any other candidate.

Signature of the Guide (Ms.N.KALAIARASI, M.E)

Signature of the H.O.D (Prof.R.CHIDAMBARAM, M.E)

Signature of Internal Examiner Examiner

Signature

of

External

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ABSTRACT

This project deals with simulation and hardware implementation of scalar control (V/F control) of three-phase induction motor. The simulation work proves the concept of V/F control and the software used for simulation is MATLAB 7.0/Simulink package. For simulation the gating pulses of inverter are generated using Sinusoidal PWM.

The hardware implementation of V/F is also done and proved that the experimental results are same as that of simulation results. The hardware of V/F control comprises of three-phase MOSFET inverter, three-phase induction motor and SPWM pulse generator. Microcontroller is used for generation of Sinusoidal PWM pulses. It can be used in industrial drive control application.

ACKNOWLEDGEMENT

would

like

to

express

my

sincere

thanks

to

Prof.R.VENKATRAMANI, principal, and Prof.R.MUTHUSUBRAMANIAN Vice principal for bringing out this project successfully.

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wish

to

express

my

deep

sense

of

gratitude

to

Prof.R.CHIDAMBARAM, Head of the department, Department of Electrical and Electronics Engineering for his permission and encouragement accorded to carry out this project. I sincerely thank my project guide Ms.N.KALAIARASI, Lecturer/EEE who have had an untiring and active participation along the course of my project in selection of concepts and further development of the project with timely intervention I wish to give special thanks to my Class-in-charge and project coordinator Mr.S.VENKATESH, Lecturer Department of Electrical and Electronics for his valuable guidance and continuous encouragement in the course of my work. I am also grateful to MR.R.CHANDRAMOHAN and all teaching and non-teaching staff members of the Department of Electrical and Electronics Engineering for their help during the course of project work. I wish to thank the management of S.R.M Institute of Science and Technology (Deemed University) for their continuous support in my work.

TABLE OF CONTENTS

CHAPTER NO

TITLE
ABSTRACT LIST OF FIGURES LIST OF ABBREVIATIONS

PAGE NO
iii vii viii

INTRODUCTION 1.1 General 1.2 Overview of the Thesis 1.3 Objective of The Thesis 1.4 Organisation of The Thesis 1 1 2 2 3 3 3

INDUCTION MOTOR 2.1 Introduction 2.2 Basic Operation 2.3 Speed Torque Characteristics of Induction Motor 2.4 Summary

4 6 7 7 7 9 11

V/F CONTROL METHOD 3.1 Introduction 3.2 Scalar Control of Induction Motor 3.3 V/F Control Theory 3.4 Summary

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SIMULATION OF V/F CONTROL

METHOD

12 12

4.1 Introduction 4.2 V/F Open Loop Control of Induction Motor 4.3 Simulation Results of Open Loop V/F Control 4.4 V/F Closed Loop Control of Induction Motor 4.5 Simulation Results of Closed Loop V/F Control 4.6 Summary 5
HARDWARE IMPLEMENTATION OF V/F CONTROL METHOD

12

14

16

18 19

20

5.1 Introduction 5.2 Implementation for V/F control of Induction Motor 5.2.1 Rectifier Unit 5.2.2 Pwm-Voltage Source Inverter Circuit Diagram 5.2.3 Microcontroller Circuit Diagram for Sine Wave Generation 5.2.3.1 Power Supply for Microcontroller 5.2.3.2 Algorithm for Sine Wave Generation 5.2.3.3 Flowchart for Sine Wave Generation

20

20 21

21

22

24

25

25

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5.2.4 Sinusoidal Pulse Width Modulation (SPWM) 5.2.5 Drive Circuit 30 28

5.3 Hardware Results of Open Loop V/F Control of Three-Phase Induction Motor 5.3.1 Sinusoidal Waveform 5.3.2 Ramp Waveform 5.3.3 Comparing Sine with Ramp 5.3.4 PWM Pulses Waveform 5.3.5 Line Voltage (Vab) Waveform 5.4 Summary 6 CONCLUSIONS 32 32 33 33 34 34 35 36

APPENDICES 37
REFERENCES 45

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LIST OF FIGURES

FIGURE

DESCRIPTION

PAGENO

2.1 3.1 3.2 4.1 4.2

Speed Torque Characteristics of Induction Motor Open Loop Volts/Hertz Control Speed Torque Characteristics With V/F Control Open Loop V/F Control Block Diagram Simulation Diagram of Open Loop V/F Control of Three-Phase Induction Motor

5 8 11 12

13 14 15 15 16

4.3 4.4 4.5 4.6 4.7

Output Speed Waveform Output Gate Pulses Output Line Voltage Waveform Closed Loop V/F Control Block Diagram Simulation Diagram of Closed Loop V/F Control of Three Phase Induction Motor

17 18 18 20 21

4.8 4.9 5.1 5.2 5.3

Output speed Waveform Output Line Voltage Waveform Block Diagram of Hardware Implementation Rectifier Unit Circuit Diagram of PWM-Voltage Source Inverter Circuit Diagram

21

5.4 5.5 5.6

Hardware Circuit Of Microcontroller for sine wave Generation 23 Power Circuit Diagram of Microcontroller Flowchart for Sine Wave Generation 24 28

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5.7 5.8 5.9 5.10 5.11 5.12 5.13 5.14 5.15

Circuit Diagram for SPWM Pulse Generation Circuit Diagram for Ramp Wave Generator Drive Circuit Optocoupler Output Sinusoidal Waveform from Microcontroller Output Ramp Wave Form Comparing Sinusoidal Wave With Ramp Wave PWM Pulses Waveform Output Voltage Waveform

29 30 30 31 32 33 33 34 34

LIST OF ABBREVIATIONS

NO. 1 2 3 4 5 6 7 8

ABBREVIATIONS MOSFET PWM ADC m sl m* sl * SPWM

DESCRIPTION Metal Oxide Field Effect Transistor Pulse Width Modulation Analog to Digital Converter Actual Speed Slip Speed Speed Command Slip Speed Command

Sinusoidal Pulse Width Modulation

CHAPTER 1
INTRODUCTION

1.1 GENERAL Industrial drive applications are generally classified into constant speed and variable speed drives. Traditionally AC machines have been used in constant speed applications, whereas DC machines were preferred for variable speed drives. DC machines have the disadvantages of higher cost and maintenance problems with commutators and brushes. Commutators and brushes do not permit a machine to operate in dirty and explosive environment. An AC machine overcomes the draw back of DC machines. Although currently, the majority of variable speed drive applications use DC machines, they are progressively being replaced by AC drives.

While there are different methods of speed control of induction motor, Variable Voltage Variable Frequency (VVVF) or V/F is the most common method of speed control. This method is most suitable for applications without position control requirements or the need for high accuracy of speed control. Examples of these applications include heating, air conditioning, fans and blowers.

1.2 OVERVIEW OF THE THESIS

First, implementation of open loop and closed loop V/F control of induction motor has been done using MATLAB Simulink toolbox and corresponding waveforms are analyzed.

Finally, hardware implementation for open loop V/F control of threephase induction motor is carried out and waveforms are analyzed. A comparison is made between software implementation and hardware implementation.

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1.3 OBJECTIVE OF THE THESIS

To control the speed of three phase induction motor using V/F control stregery.

1.4 ORGANISATION OF THE THESIS

This thesis is organized into five chapters including introduction, brief description of the thesis and also it deals with the objective and Organisation of the thesis. Chapter 2 deals with the discussion in detail about basics theory of V/F control stregery of induction motor. Chapter 3 deals with simulation and results of V/F control of induction motor. Chapter 4 deals with hardware implementation and its results of V/F control of induction motor and finally Chapter 5 deals with conclusion of this project.

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CHAPTER 2
INDUCTION MOTOR

2.1 INTRODUCTION Induction motors are the most widely used motors in domestic appliances, industrial control, and automation. Hence they are often called the workhorse of the motion industry. They are robust, reliable, and durable. When power is supplied to an induction motor, it runs at its rated speed. However, many applications need variable speed operations. For example, a washing machine may use different speeds for each wash cycle. Historically, mechanical gear systems were used to obtained variable speed. Recently, power electronics and control systems have matured to allow these components to be used for motor control in place of mechanical gears.

2.2 BASIC OPERATION When the rated AC supply is applied to the stator windings, it generates a magnetic flux of constant magnitude, rotating at synchronous speed. The flux passes through the air gap, sweeps past the rotor surface and through the stationary rotor conductors. An electromotive force (EMF) is induced in the rotor conductors due to the relative speed difference between the rotating flux and stationary conductors.

The frequency of the induced EMF is the same as the supply frequency. Its magnitude is proportional to the relative velocity between the flux and the conductors. Since the rotor bars are shorted at the ends, the EMF induced produces a

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current in the rotor conductors. The direction of the rotor current opposes the relative velocity between rotating flux produced by stator and stationary rotor conductors. To reduce the relative speed, the rotor starts rotating in the same direction as that of flux and tries to catch up with the rotating flux. But in practice, the rotor never succeeds in catching up to the stator field. So, the rotor runs slower than the speed of the stator field. This difference in speed is called slip speed. This slip speed depends upon the mechanical load on the motor shaft. The frequency and speed of the motor, with respect to the input supply, is called the synchronous frequency and synchronous speed.

Synchronous speed is directly proportional to the ratio of supply frequency and number of poles in the motor. Synchronous speed of an induction motor is shown in the equation (2.1)

Where f = rated frequency of the motor p= number of poles in the motor

Synchronous speed is the speed at which the stator flux rotates. Rotor flux rotates slower than synchronous speed by the slip speed. This speed is called the base speed. The speed listed on the motor nameplate is the base speed. Some manufactures also provide the slip as a percentage of synchronous speed.

2.3 SPEED TORQUE CHARACTERISTICS OF INDUCTION

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MOTOR The x-axis shows slip speed, the y-axis shows torque and current, the characteristics shown in Fig 2.1 are drawn with rated voltage and frequency supplied to the stator. During startup the motor typically draws up to seven times the rated current. This high current is result losses in the stator and rotor windings, and losses in the bearings due to the friction.

At startup the motor delivers 1.5 times the rated torque of the motor. This starting torque is also called locked rotor torque .As the speed increases, the current drawn by the motor reduces slightly. At the base speed the motor draws the rated current and delivers the rated torque

At base speed if the load on the motor shaft is increased beyond its rated torque, the speed starts dropping and slip increases. If the load on the motor is increased further, it will not be able to take any further load and the motor will stall

In addition when the load is increased beyond the rated load, the load current increase following the current characteristics path .Due to this higher current flow in the windings inherent losses in the winding increases.
The speed torque characteristic curve is highly non linear as speed varies in application, the speed needs to be varied which makes the torque vary.

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Fig 2.1 Speed Torque Characteristics of Induction Motor The disadvantages like motor draws high current during start up, torque is highly non linear as speed varies. These drawbacks can be overcome by using V/F control.

2.4 SUMMARY
This chapter describes the principle of operation of induction motor and its speed torque characteristics. During startup the motor typically draws up to seven times the rated current. The speed torque characteristic curve is highly non linear as speed varies. These draw backs can be overcome by using V/F control.

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CHAPTER 3 V/F CONTROL METHOD

3.1 INTRODUCTION

The induction motor drives can be classified into two broad categories based on their applications. 1) Adjustable speed drives: one important

application of these drives is in process control

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by controlling the speed of fans, compressors, pumps, etc. 2) Servo drives: - by means of sophisticated control, induction motors can be used as servo drives in computer peripherals, machine tools and robotics.

However

by

means

of

power

electronic

converters, it is possible to change the speed of an induction motors. Even though the induction motors are desirable, their speed control is not as straight forward as that of a dc motor.

3.2 SCALAR CONTROL OF INDUCTION MOTOR

The

following

are

the

scalar

control

techniques of an induction motor are given. (1) (2) Voltage/frequency (V/F) control Stator current and slip frequency

control Scalar control, as the name indicates, is due to magnitude variation of control variables only and disregards the coupling effect in the machine.

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For example, the voltage of a machine can be controlled to control the flux, and frequency or slip can be controlled to control the torque. However, flux and torque are also the function of frequency and voltage, respectively. A simple and popular open loop

voltage/frequency control of induction motor is shown in Fig 3.1 .The power circuit consists of a phase-controlled rectifier (R) supplied with 3-phase supply. It is followed by a filter and a PWM inverter (I). The frequency e*, is the command variable and it is close to the motor speed. The scheme is defined as the volts/hertz control because the rectifier voltage command, Vs*, is generated

directly from the frequency signal through a volts/hertz gain constant (G).

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Fig. 3.1 Open Loop Volt/Hertz Control.

Here, sinusoidal PWM inverter is used because it can provide the constant volts/hertz supply required for constant-torque operation of an ac motor. An L-C filter is interposed between the rectifier and the inverter to maintain a ripple free dc voltage at the input of the inverter, and thus prevent the harmonics in the rectifier output voltage from getting coupled with the inverter.

3.3 V/F CONTROL THEORY

The base speed of the induction motor is directly proportional to the supply frequency and the number of poles of the motor. Since the number of poles is fixed by design, the best way to vary the speed of the induction motor is by varying the supply frequency. The torque developed by the induction motors is directly proportional to the ratio of the applied voltage and the frequency of supply. By varying the voltage and the frequency, but keeping their ratio constant, throughout the speed range. This exactly what v/f control tries to achieve.

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Other than the variation in speed the torque-speed characteristics of the V/F control from Fig 3.2 reveals the following. The starting current requirement is lower. The stable operating region of the motor is increased. Instead of simply running at its base rated speed, the motor can be typically from 5% of the synchronous speed up to the base speed .The torque generated by the motor can be kept constant throughout this region. At the base speed, the voltage and frequency reach the rated values. We can drive the motor beyond the base speed by increasing the frequency further. However, the applied voltage cannot be increased beyond the rated voltage. Therefore, only the frequency can be increased, which results in the reduction of torque. Above the speed the factors governing torque become complex. The acceleration and deceleration of the motor can be controlled by controlling the change of the supply frequency to the motor with respect to time. The induction motor draws the rated current and delivers the rated torque at the base speed. When the load is increased, while running at base speed, the speed drops and slip increases. The motor can take up to 2.5 times rated torque with around 20% drop in speed. Any further increase of load on the shaft can stall the motor.

The torque developed by the motor is directly proportional to the magnetic field produced by the stator. So the voltage applied to the stator is directly proportional to the product of the stator flux and angular velocity. This makes the flux produced by the stator proportional to the ratio of applied voltage and frequency of supply.

By varying the frequency, the speed of the motor can be varied. Therefore, by varying the voltage and frequency by the same ratio, flux and hence

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the torque can be kept constant through out the speed range. This makes constant V/F the most common speed control of the induction motor.

The equations (3.2) and (3.3) shows the relationship between the voltage and torque versus frequency. The voltage and frequency being

increased upto the base speed. At the base speed, the voltage and frequency reach the rated values. We can drive the motor beyond base speed by increasing the frequency further. However, the voltage applied cannot be increased the rated voltage.

Therefore,

only

the

frequency

can

be

increased, which results in the field weakening and torque available is being reduced. Above base speed, the factors governing torque become complex, since friction and windage losses increase significantly at highest speeds. Hence, the torque curve becomes non linear with respect to speed or frequency.

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Fig 3.2 Speed Torque Characteristics With V/F Control

3.4 SUMMARY
This chapter deals with the V/F control theory and its speed- torque characteristic states at the base speed, the voltage and frequency reach the rated values. The motor can be drive beyond the base speed by increasing the frequency. However, the applied voltage cannot be increased beyond the rated voltage. The starting current requirement is low. The stable operating region of the motor is increased.

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CHAPTER 4 SIMULATION OF V/F CONTROL METHOD

4.1 INTRODUCTION
The V/F is simulated on MATLAB/Simulink software. The actual system can be simulated with a high degree of accuracy in this package. It provides a user interactive platform and wide variety of numerical algorithm. This Chapter discusses the realization of V/F control using Simulink block .The Fig (4.2) and (4.8) shows the basic block Simulink diagram for V/F control of three-phase induction motor.

4.2 V/F OPEN LOOP CONTROL OF INDUCTION MOTOR

The induction motors are often operated in open loop with no velocity or position feed back. Fig.4.1 shows the open loop v/f control block diagram. The V/F ratio is maintained constant to provide a constant torque over the operating range. This form of control is relatively inexpensive and easy to implement.

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Fig.4.1 Open Loop V/F Control Block Diagram

The operation of an ac induction motor is governed by two principles:

1. Base speed is directly proportional to the frequency of the alternating current applied to the stator and the number of poles of the motor. 2. Torque is directly proportional to the ratio of applied voltage and frequency of the applied ac current.

The Fig 4.2 shows the simulation diagram of open loop V/F control of three-phase induction motor. It consists DC source, three -phase PWM inverter and three phase induction motor. Dc source is connected to the dc side of the converter. In this reference speed is set. From that reference speed frequency is determined using the formulae illustrated in the equation (2.1). V/F function block determines the amplitude corresponding to that frequency. This frequency and amplitude are used to update the PWM duty cycle. MOSFET based converter gives the supply of the induction motor. Connecting the scope through bus selector shows speed of the induction motor.

Torque step 2 T m A m B C Scope Induction Motor + v Vab In RM S

PWM
BLOCK

g + A B C Inverter s + Controlled Voltage Source Constant

f(u)

50 Mux Constan t Mux2 Scope 1 Cloc k

Discret eTs = ?

Discrete RMS

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Fig 4.2 Simulation Diagram of Open Loop V/F Control of Three-Phase Induction Motor

4.3 SIMULATION RESULTS OF OPEN LOOP V/F CONTROL

The Fig 4.3 shows the simulated speed waveform of open loop V/F control of three-phase induction motor. Reference speed is set at 1460 RPM. Speed reaches the steady state at 0.3 second.

Speed (RPM)

Time (sec)

Fig 4.3 Output Speed Waveform

The Fig 4.4 shows the gate pulses for PWM inverter consists of three legs, one for each phase. The gating signals for the three phase inverters have a phase difference of 120. The first pulse is given to the positive switch of phase A, the pulse is given to the positive switch of phase B the third to the positive switch of phase C.

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USWA Time (sec)

USWB

Time (sec)

USWC

Time (sec)

Fig 4.4 Output Gate Pulses

The Fig 4.5 shows the simulated line-to-line voltage waveform of open loop V/F control of three-phase induction motor. It is observed that the voltage waveform is almost sinusoidal.

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Voltage(V) Time (sec)

Fig 4.5 Output Line Voltage Waveform

4.4 V/F CLOSED LOOP CONTROL OF INDUCTION MOTOR

Fig 4.7 shows the block diagram of closed loop V/F control of three-phase induction motor. The speed error is processed through a PI controller and slip speed regulator .The slip speed regulator sets the slip speed command sl, whose maximum value is limited to limit the inverter current to a permissible value. The synchronous speed, obtained by adding actual speed m and slip speed sl, determines the inverter frequency .The reference signals for the closed loop control of the machine terminal voltage Vi* is generated from frequency f using a function generator .It ensures nearly a constant flux operation up to the base speed and the operation at a constant terminal voltage above the base speed.

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A step increased in speed command m* produces a positive speed error. The slip speed command sl * is set at a maximum value. The drive accelerated at a maximum permissible inverter current, producing the maximum available torque, until the speed error is reduced to a small value.

Fig 4.6 Closed Loop V/F Control Block Diagram

The Fig 4.8 shows the simulation diagram of closed loop V/F control of three-phase induction motor. It consists DC source, three -phase PWM inverter and three phase induction motor as open loop in addition to that it has PI controller, limiter. Connecting the scope through bus selector .Now the simulation circuit is run with closed loop control shows speed of the induction motor.

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PWM
Tm A m B C

g + A B C s +

BLOCK

f(u)

Controlled Voltage So rce

Scop

Induction Motor
v

Inverter
+

Vab Discrete, Ts = 3.255e-005 s.

In

RMS

Discrete RMS l Clock 1 MATLA B Functio n MATLAB F Discret eRate Limite Constant V/Hz Discret e Rate Control Limiter

Clock Scope 1

Mux

PI Discret PI speed e controller

-K-

flux control K Ts z-1

thet

Fig 4.7 Simulation Diagram of Closed Loop V/F Control of Three-Phase Induction Motor

4.5 SIMULATION RESULTS OF CLOSED LOOP V/F CONTROL

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The Fig 4.9 shows the simulated speed waveform of closed loop V/F control of three-phase induction motor. Reference speed is set at 1460 RPM. It reaches the steady state at 0.1 second

Speed (rpm)

Time (sec) Fig 4.8 Output Speed Waveform

The Fig 4.10 shows the simulated line-to-line voltage waveform of closed loop V/F control of three-phase induction motor. It is observed that the voltage waveform is almost sinusoidal

Voltage(V)

Time (sec)

Fig 4.9 Output Line Voltage Waveform The Fig 4.11 shows the output current waveform of phase A closed loop V/F control of three-phase induction motor. It is found that the output current waveform is distorted

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4.6 SUMMARY
This chapter describes the simulation of V/F control of induction motor using MATLAB/Simulink and simulation results were presented. From the outputs obtained it is clearly observed that the time taken for speed waveform for closed loop control reaches the steady state faster than open loop control. It is also observed that the average output of three-phase line-to-line voltage waveform is almost sinusoidal.

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CHAPTER 5 HARDWARE IMPLEMENTATION OF V/F CONTROL METHOD

5.1 INTRODUCTION
The V/F control of three-phase induction motor is implemented in hardware and the gating pulses for the inverter fed motor are generated through the PIC Microcontroller. The main controlling unit of the project is the microcontroller.

5.2 IMPLEMENTATION FOR V/F CONTROL OF INDUCTION MOTOR

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Fig 5.1 Block Diagram of Hardware Implementation Fig 5.1 shows the block diagram of hardware implementation. It consists of voltage source from the rectifier supply, three-phase inverter and with AC motor load. The rectifier rectifies AC voltage to DC voltage. In this bridge rectifier is used. This rectified output DC voltage fed to the three-phase inverter main circuit. The inverter main circuit consists of six switches. Gating signals are generated from the PWM. This signals fed to the MOSFET Gate terminals. Depends upon the Gating signal inverter operates, this output fed to the AC load or motor.

5.2.1 Rectifier Unit

The single-phase ac supply is given to Diode Bridge. The output of rectifier is dc. The filter capacitor (1000 F) is connected across the rectifier output.

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Fig 5.2 Rectifier Unit

5.2.2 PWM-Voltage Source Inverter Circuit Diagram

Fig 5.3 Circuit Diagram of PWM-Voltage Source Inverter Circuit Diagram The Fig 5.3 shows PWM-voltage source inverter circuit diagram. Inverters are employed to get a variable frequency as supply from a dc supply. For the control of ac motor, voltage should also be controlled along with frequency. Variation in output voltage can be achieved by varying the input dc voltage. Output voltage and current have stepped waveform. Consequently they have substantial amount of harmonics. Variable frequency and variable voltage ac is directly obtained from fixed voltage dc when the inverter is controlled by pulse width modulation the pwm control also reduces harmonics in the output voltage and also it eliminates the following draw back of 6-step inverter drives like the motor losses increases at all speeds causing derating of motor, torque pulsation at low speeds.

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In this method, several pulses per half cycle are used as in case of multiple pulse width modulation. Instead of maintaining the width of all pulses the same as in the case of multiple pulse modulation, the width of each pulses is varied proportional to the amplitude of a sine wave evaluated at the center of the same pulses. By comparing a sinusoidal reference signal with a triangular carrier wave frequency, fc, the gating signal are generated. The PWM control has the following advantages, (1) The output voltage control can be obtained with out any additional components (2) With this type of control, lower order harmonics can be eliminated of minimized along with its output voltage control. The filtering requirements are minimized as higher order harmonics can be filtered easily

5.2.3 Microcontroller Circuit Diagram for Sine Wave Generation

The PIC microcontroller is the main controlling unit of the project. The main features and sine wave generation of PIC microcontroller (16F877A) is explained section 5.3.3.a. Fig 5.5 shows the pin diagram of microcontroller, Digital to Analog (DAC) and Buffer. Microcontroller used is a 40 pin single chip IC. It has 5 ports, they are A, B, C, D and E. It has 3 Digital to Analog Converters (DAC) and 5 latches RAX, RBX, RCX, and RDX AND REX.

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Fig 5.4 Hardware Circuit of Microcontroller for Sine Wave Generation

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Design Features of Microcontroller 1. Input to DAC through PORT C 2. RB0 FIRST LATCH CONTROL BIT 3. RB1- SECOND LATCH CONTROL BIT 4. RB2- THIRD LATCH CONTROL BIT 5. Give the array a[ ] element to PORT C and enable first latch by setting RB0.by doing this R phase DAC produced its waveform. Give small delay in between switching two latches. Enable second latch by setting RB1 and give b[ ] input to DAC2.similarlygive input to DAC 3. 6. After giving to 3 DAC give a delay that will determine the frequency. This delay is obtained from the DAC

5.2.3.1. Power Supply for Microcontroller

All electronic circuits works only in low DC voltage, so we need a power supply unit to provide the appropriate voltage supply for their proper functioning. Fig 5.6 shows the power circuit diagram of microcontroller. This unit consists of transformer, rectifier, filter & regulator. AC voltage of typically 230v rms is connected to a transformer voltage down to the level to the desired ac voltage. A diode rectifier that provides the full wave rectified voltage that is initially filtered by a simple capacitor filter to produce a dc voltage. This resulting dc voltage usually has some ripple or ac voltage variation. A regulator circuit can use this dc input to provide dc voltage that not only has much less ripple voltage but also remains the same dc value even the dc voltage varies somewhat, for the load connected to the output dc voltages changes.

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Fig 5.5 Power Circuit Diagram of Microcontroller

5.2.3.2 Algorithm for Sine Wave Generation

Calculate the array elements using the formula 128+ 128sin(alpha), 128+128sin (120+alpha), 128+ 128sin(240+alpha) Array name a [], b [], c [] Initialize PORTC, PORT B as output port and port RA0 as input port, ADC Module Turn on ADC Wait till completion of conversion. Give phase A data to PORTC Turn on the phase A latch by setting RB0. Give phase B data to PORT C Turn on phase B latch by setting RB1 Give phase C data to port C Turn on phase C latch by setting RB2 Give a long delay. That delay period obtained from ADC which determines frequency (if ADC value Z=0 the frequency=12 hertz If ADC value Z=255 the frequency=50 hertz Until the first half cycle is reached, Repeat the above steps from step 4 Subtract the array element from 255 and give to ADC.for producing negative half cycle

5.2.3.3 Flowchart for Sine Wave Generation

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The main logic for sine wave generation using microcontroller is explained in the flow chart Fig 5.6

Start D Initialize Ports And ADC Convert ADC Results Into A Byte and Store It In Available Z Load Phase A Input To Port C [Input Stored In Array A [ ] ] B Set RB0 [Turn On Phase A Latch]

Load 2 Micro Second Delay Clear RB0 [Shunt Off Phase A Latch]

Load Phase B Input To Port C [Input Stored In Array B [ ] ]

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Set RB0 [Turn On Phase A Load 2 Micro Second Delay Period To ADC

Clear RB1 [Shunt Off Phase B Latch]

Load Phase C Input To Port C [Input Stored In Array C[ ] ]

Set RB2 [Turn On Phase C Latch]

Load 2 Micro Second Delay Period Clear RB2 [Shunt Off Phase C Latch] Load Delay Period Of Z+75 Milli Second

Increment I register

NO
B IF i < 90

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YES
Initialize K

PORT C = 255-a[i] = 255-b[i] = 255-c[i]

Set Port B

Load 2 Micro Second Delay Period To ADC Load Delay Period Z+75 Clear Port To B A Milli Second Increment K register

NO

IF K< 90

YES
Stop

Fig 5.6 Flowchart for Generating Sine Wave

5.2.4. Sinusoidal Pulse Width Modulation (SPWM)

Fig 5.8 shows the SPWM pulse generation circuit diagram. This circuit generates sinusoidal pwm pulse. The output wave of Microcontroller is given as the

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input to pin 3 of LM324 the circuit. The output got from the pin 1of (LM324) buffer in similar to that the input, which is then fed through a pin 5 of square wave converter (LM358) to produce square wave. When the sine wave is passed through precisition rectifier (LM38), it produces rectified output. This rectified output from pin 7 and the ramp wave generated from pin 5 of the Ramp generators (ICL8038) are compared and produces PWM pulses of the cycle at pin 7.

Some of the square wave when passed through a transistor is converted into an inverted square wave. The inverted square wave is fed through a AND gate (CD4053) and the output got is also in the form of inverted square wave with delay time, this delay is due to the diode present in the AND gate.

Some of the square wave directly fed to AND gate and produce square wave of the cycle with delay time due to diode action.

Two types of results were produced while comparing with PWM pulses. When the PWM pulses compared with the positive cycle square wave it produces the positive cycle PWM pulses.

When the PWM pulses compared with the negative cycle square wave it produces the negative cycle PWM pulses.

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Fig 5.7 Circuit Diagram for SPWM Pulse Generation

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Fig 5.8 Circuit Diagram for Ramp Wave Generator

5.2.5 DRIVE CIRCUIT

Drive circuit isolates power circuit (VSI) and microcontroller circuit. The main function of Drive circuit is isolation and amplification. The Fig 5.9 shows the drivecircuit

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Fig 5.9 Drive circuit The output of microcontroller is given to the Buffer IC (CD 4050). The signal is amplified and is given to optocoupler (MCT2E) circuit.

There are many situations where signals and data need to be transferred from one subsystem to another, without making direct ohmic electrical connection because the source and destination are at different voltages levels that is a microcontroller which is operating with 5v dc but being used to control a MOSFET which is switching 240v AC supply.

An Optocoupler contains a light emitting diode with a light sensitive device in package. One of the simplest example is LED packed with a phototransistor. The LED is illuminated by an input supply and the

phototransistor, responding to light, drives an output circuit. Thus the input and output circuits are coupled by light energy alone. The principal advantage of this arrangement is excellent electrical isolation is between input and output. These devices are often called optoisolators. One of the optocoupler is shown in Fig 5.10
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Fig 5.10 Optocoupler

The amplified signal from buffer circuit is fed to the optocoupler. When the optocoupler input signal is in high state, the optocoupler is activated. When optocoupler is activated the transistor T1 is activated through resistor (R3). When T1 is activated, the current flows through the supply-D-T1and supply. Due to the

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voltage drop across resistor (R4) the transistor T2 and T3 are activated .Now the current flows through the D-T2-T3-R7_supply.the pulse is taken across R8.

5.3 HARDWARE RESULTS OF OPEN LOOP V/F CONTROL OF

THREE-PHASE INDUCTION MOTOR The open loop V/F control of three-phase induction motor is implemented in hardware and the obtained results are shown below

5.3.1 sinusoidal Waveform

Fig 5.10 shows the sine waveforms obtained from microcontroller and its frequency is 50 HZ with 120-phase shift. The amplitude of sine wave of phase A obtained from microcontroller is 2.5V.

Voltage (V)

Time (millisecond)

Voltage (V)

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Time (millisecond) Fig 5.11 Output Sinusoidal Waveform from Microcontroller

5.3.2 Ramp Waveform

The fig 5.12 shows the ramp wave generated from ramp wave generator (ICL8038) and its frequency is 555 HZ. The amplitude of ramp wave obtained from PWM generator is 0.7V

Voltage (V)

Time (millisecond) Fig 5.12 Output Ramp Wave Form

5.3.3 Comparing Sine with Ramp

The fig 5.13 shows the comparison of sinusoidal wave and ramp wave for sinusoidal pulse width modulation pulse generation. Modulation index is 1

Voltage (V)

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Time (millisecond) Fig 5.13 Comparing sinusoidal Wave With Ramp Wave

5.3.4 PWM Pulses Waveform

The Fig 5.13 shows the pwm pulses obtained by comparing carrier and sine waveform.

Voltage (Volts)

time (m sec)

Fig 5.14 PWM Pulses Waveform

5.3.5 Line Voltage (Vab) Waveform

The Fig 5.1.6 shows the voltage waveform for Line-to- Line voltage Vab. The voltage is obtained from the inverter output terminals is 43V

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Voltage (Volts)

time (m sec) . Fig 5.15 Output Voltage Waveform

5.4 SUMMARY
This chapter describes the hardware implementation of the V/F control of an induction motor using microcontroller. It includes the development of hardware for microcontroller circuit, SPWM pulses generation, optocoupler circuit was explained. For SPWM pulses, the sine wave is generated from PIC microcontroller (16F877A) and ramp wave is generated through ramp generator The output of the controller is given to the optocoupler circuit which is used for protection and isolation purpose, in case of commutation failure and short circuit due to the improper trigger. From the optocoupler circuit the pulses are given to the appropriate switches of the MOSFETs inverter fed induction motor.

CHAPTER 6 CONCLUSIONS

The speed of three-phase induction motor is being controlled by varying supply voltage and frequency with constant (V/F) ratio. It is simple,

economic to easier to design and implement in open loop. But the drawbacks of open loop is it doesnt correct the change in output also it doesnt reach the steady state quickly.

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These drawbacks can be overcome by modifying an open loop into a closed loop system. In this project only open loop was implemented in hardware. The project can be extended in future to control the speed of induction motor in closed loop.

APPENDICES
//16F870.h Header File /////////Standard Header files for the PIC16F870 device//////// #device PIC16F870 #no list ////////// Program memory: 2048x14 Data Ram: 128 stack: 8 //////////I/O:22 Analog pins: 5 ////////// Data EEprom: 1024 ////////// C Scratch area: 20 ID locations: 2000

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/////////// Fuses: LP, XT,HS,RC,NOWDT,WDT,NOPUT,PUT,PROTECT,NOPROTECT,DEBUG ////////// Fuses: NODEBUG, NOBROWNOUT, BROWNOUT, LVP, NOLVP, CPD, NOCPD, WRT, NOWRT ////////////////////////////////////////////////////////////I/O // Discrete I/O functions: SET_TRIS_X (), OUTPUT_X (), INPUT_X () /// PORT_B_PULLUPS (), INPUT (), /// OUTPUT_LOW (), OUTPUT_HIGH () // OUTPUT_FLOAT (), OUTPUT_BIT () //CONSTANTS USED TO IDENTIFY PINS IN THE ABOVE ARE: #define PIN_A0 40 #define PIN_A1 41 #define PIN_A2 42 #define PIN_A3 43 #define PIN_A4 44 #define PIN_A5 45 #define PIN_B0 48 #define PIN_B1 49 #define PIN_B2 50 #define PIN_B3 51 #define PIN_B4 52 #define PIN_B5 53 #define PIN_B6 54 #define PIN_B7 55 #define PIN_C0 56 #define PIN_C1 57 #define PIN_C2 58 #define PIN_C3 59 #define PIN_C4 60 #define PIN_C5 61 #define PIN_C6 62 #define PIN_C7 63 //////////////////////////////////////////////////////////// Useful defines #define FALSE 0 #define TRUE 1 #define BYTE int #define BOOLEAN short int

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#define getc getch #define fgetc getch #define getcahr getch #define putc putchar #define fputc put char #define fgets gets #define fputs puts ///////////////////////////////////////////////////////////// control // control function: RESET_CPU (), SLEEP (), RESTART_CAUSE () // CONSTANTS RETURNED FROM RESTART_CAUSE () ARE: #define WDT_FROM_SLEEP 0 #define WDT_TIMEOUT 8 #define MCLR_FROM_SLEEP 16 #define NORMAL_POWER_UP 24 ////////////////////////////////////////////////////////// Timer 0 // Timer 0 (AKA RTCC) functions: SETUP_COUNTERS () OR SETUP_TIMER0 () // SET_TIMER0() OR SET_RTCC(), // GET_TIMER0() OR GET_RTCC() // CONSTANTS USED FOR SETUP_TIMER0() are: #define RTCC_INTERNAL 0 #define RTCC_EXT_L_TO_H 32 #define RTCC_EXT_H_TO_L 48 #define RTCC_DIV_1 #define RTCC_DIV_2 #define RTCC_DIV_4 #define RTCC_DIV_8 #define RTCC_DIV_16 #define RTCC_DIV_32 #define RTCC_DIV_64 #define RTCC_DIV_128 #define RTCC_DIV_256 #define RTCC_8_BIT 8 0 1 2 3 4 5 6 7 0

// constants used for SETUP_COUNTERS() are the above // constants for the 1st param and the following for // the 2nd param:

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//////////////////////////////////////////////////////////////// WDT // watch Dog Timer Functions: SETUP_WDT() or SETUP_COUNTERS() (see Above) // RESTART_WDT () // #define WDT_18MS 8 #define WDT_36MS 9 #define WDT_72MS 10 #define WDT_144MS 11 #define WDT_288MS 12 #define WDT_576MS 13 #define WDT_1152MS 14 #define WDT_2304MS 15 ////////////////////////////////////////////////////////////// TIMER 1 // Timer 1 Function: SETUP_TIMER_1, GET_TIMER1, SET_TIMER1 // constants used for SETUP_TIMER_1 () are: // (OR (via 1) together constants from each group) #define T1_DISABLE 0 #define T1_INTERNAL 0X85 #define T1_EXTERNAL 0X87 #define T1_EXTERNAL_SYNC 0X83 #define T1_CLK_OUT #define T1_DIV_BY_1 #define T1_DIV_BY_2 #define T1_DIV_BY_4 #define T1_DIV_BY_8 8 0 0X10 0X20 0X30

//////////////////////////////////////////////////////////// TIMER 2 // Timer 2 Function : SETUP_TIMER_2,GET_TIMER2, SET_TIMER2 constants used for SETUP_TIMER_2() are: #define T2_DISABLE 0 #define T2_DIV_BY_1 4 #define T2_DIV_BY_4 5 #define T2_DIV_BY_16 6 //////////////////////////////////////////////////////////CCP

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//CCP Functions :SETUP_CCPX,SET_PWMX_DUTY //CCP Variables :CCP_X,CCP_X_LOW,CCP_X_HIGH //constants used for SETUP_CCPX() are: #define CCP_OFF 0 #define CCP_CAPTURE_FE 4 #define CCP_CAPTURE_RE 5 #define CCP_CAPTURE_DIV_4 6 #define CCP_CAPTURE_DIV_16 7 #define CCP_COMPARE_SET_ON_MATCH 8 #define CCP_COMPARE_CLR_ON_MATCH 9 #define CCP_COMPARE_INT 0XA #define CCP_COMPARE_RESET_TIMER 0XB #define CCP_PWM 0XC #define CCP_PWM_PLUS_1 0XIC #define CCP_PWM_PLUS_2 0X2C #define CCP_PWM_PLUS_3 0X3C long CCP_1; #byte ccp_1 = 0X15 #byte ccp_1_LOW= 0X15 #byte ccp_1_HIGH= 0X16 /////////////////////////////////////////////////////////// PSP // PSP FUNCTIONS: SETUP_PSP, PSP_INPUT_FULL(), PSP_OUTPUT_FULL(), // PSP_OVERFLOW(), INPUT_D(),OUTPUT_D() // PSP VARIABLES: PSP_DATA //Constants used in SETUP_PSP() are: #define PSP_ENABLED 0X10 #define PSP_DISABLED 0 #byte PSP_DATA= 8

/////////////////////////////////////////////////////SPI //SPI Functions:SETUP_SPI,SPI_WRITE,SPI_READ, SPI_DATA_IN //Constants used in SETUP_SSP() ARE: #define SPI_MASTER #define SPI_SLAVE #define SPI_L_TO_H #define SPI_H_TO_L #define SPI_CLK_DIV_4 #define SPI_CLK_DIV_16 #define SPI_CLK_DIV_64 #define SPI_CLK_T2 0X20 0X24 0 0X10 0 1 2 3

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#define SPI_SS_DISABLED

///////////////////////////////////////////////////// ADC //ADC FUNCTIONS:SETUP_ADC() ,SETUP_ADC_PORTS() (aka SETUP_PORT_A), // SET_ADC_CHANNAL(),READ_ADC() //Constants used in SETUP_ADC_PORTS() are: #define NO_ANALOGS 0X86 //NONE #define ALL_ANALOG 0X80 //A0 A1 A2 A3 A5 E0 E1 E2 Ref=Vdd #define A_ANALOG_RA3_REF 0X81 //A0 A1 A2 A5 E0 E1 E2 Ref=A3 #define A_ANALOG 0X82 //A0 A1 A2 A3 A5 Ref=Vdd #define A_ANALOG_RA3_REF 0X83 // A0 A1 A2 A5 Ref=A3 #define RA0_RA1_RA3_ANALOG 0X84 //A0 A1 A3 Ref=Vdd #define RA0_RA1_ANALOG_RA3_REF 0X85 //A0 A1 Ref=A3 #define ANALOG_RA3_RA2_REF 0X88 //A0 A1 A5 E0 E1 E2 Ref=A2,A3 #define ANALOG_NOT_RE1_RE2 0X89 //A0 A1 A2 A3 A5 E0 Ref=Vdd #define ANALOG_NOT_RE1_RE2_REF_RA3 0X8A //A0 A1 A2 A5 E0 Ref=A3 #define ANALOG_NOT_RE1_RE2_REF_RA3_RA2 0X8B //A0 A1 A5 E0 Ref=A2,A3 #define A_ANALOG_RA3_RA2_REF 0X8C //A0 A1 A5 Ref=A2,A3 #define RA0_RA1_ANALOG_RA3_RA2_REF 0X8D //A0 A1 Ref=A2,A3 #define RA0_ANALOG 0X8E //A0 #define RA0_ANALOG_RA3_RA2_REF 0X8F //A0 Ref=A2,A3 //CONSTANTS USED FOR SETUP_ADC() ARE: #Define ADC_OFF 0 //ADC OFF #Define ADC_CLOCK_DIV_2 1 #Define ADC_CLOCK_DIV_8 0X41 #Define ADC_CLOCK_DIV_32 0X81 #Define ADC_CLOCK_INTERNAL 0Xcl //INTERNAL 2-BUS // constants used in READ_ADC() are: #define ADC_STRAT_AND_READ specified #define ADC_START_ONLY #define ADC_READ_ONLY 7 //This is the default if nothing is 1 6

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///////////////////////////////////////////////////////////INT // interrupt functuion : ENABLE_INTERRUPTS(), DISABLED_INTERRUPTS(), // EXT_INT_EDGE() // //Constants used in EXT_INT_EDGE() ARE: #define L_TO_H 0X40 #define H_TO_L 0 // constants used in ENABLE/DISABLE_INTERRUPTS() are: #define GLOBAL 0X0BC0 #define INT_RTCC 0X0B20 #define INT_RB 0X0B08 #define INT_EXT 0X0B10 #define INT_AD 0X8C40 #define INT_TBE 0X8C10 #define INT_RDA 0X8C20 #define INT_TIMER1 0X8C01 #define INT_TIMER2 0X8C02 #define INT_CCP1 0X8C04 #define INT_SSP 0X8C08 #define INT_PSP 0X8C80 #define INT_BUSCOL 0X8D08 #define INT_EEPROM 0X8D10 #define INT_TIMER0 0X0B20 #list // 3 phase sinewave generation #include <16f870.h> #Byte TRISA= 0X85 #Byte TRISB= 0X86 #Byte TRISC= 0X87 #Byte TRISD= 0X88 #byte ADCON0=0X1f #byte ADCON1=0X9f #byte ADRESH=0X1e #byte ADRESL=0X9e #bit ADCGO=0X1f.2 #bit ADON=0X1f.0 #BYTE PORTD=0X08 #BYTE PORTC=0X07 #BYTE PORTB=0X06 #BYTE PORTA=0X05 #fuses HS,NOWDT,NOPROTECT

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#use delay(clock=6000000) //#org 0x700,0x720 int8 i,k,x; int32 z; BYTE const a[90]= {128,132,137,141,146,150,154,159,163,167,171,176, 180,184,188,192,195,199,203,206,210,213,216,219,222, 225,228,231,233,236,238,240,242,244,246,247,249,250, 251,252,253,254,254,255,255,255,255,255,254,254,253, 252,251,250,249,247,246,244,242,240,238,236,233,231, 228,225,222,219,216,213,210,206,203,199,195,192,188, 184,180,176,171,167,163,159,154,150,146,141,137,132}; BYTE CONST b[90] {238,236,233,231,228,225,222,219,216,213,210,206,203, 199,195,192,188,184,180,176,171,167,163,159,154,150, 146,141,137,132,128,124,119,115,110,106, 102,97,93,89,85,80,76,72,68,65,61,57,53,50, 46,43,40,37,34,31,28,25,23,20,18,16,14,12,10, 9,7,6,5,4,3,2,2,1,1,1,1,1,2,2,3,4,5,6,7,9,10,12,14,16}; BYTE CONST c[90] {18,16,14,12,10,9,7,6,5,4,3,2,2,1,1,1,1,1,2,2,3,4,5,6,7, 9,10,12,14,16,18,20,23,25,28,31,34,37,40,43,46,50,53,57, 61,64,68,72,76,80,85,89,93,97,102,106,110,115,119,124,128, 132,137,141,146,150,154,159,163,167,171,176,180,184,188,192, 195,199,203,206,210,213,216,219,222,225,228,231,233,236} void main() { do { TRISB=0x00; TRISC=0x00; TRISA=0x01; ADCON0=0x81; //ADC MODE=fosc/32,i/p=A0 ADCON1=0x8e; ADCGO=0x01; //READ THE ADC INPUT while(ADCGO); z=make16(ADRESH,ADRESL); //PUT THE RESULT IN VARIABLE Z z=z/4; //SCALE Z VALUE i=0;

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do { if (i<90) { PORTC=a[i]; PORTB=0X01; Delay_us(2); PORTB=0X00; PORTC=b[i]; PORTB=0X02; Delay_us(2); PORTB=0X00; PORTC=c[i]; PORTB=0X04; Delay_us(2); PORTB=0X00; Delay_us(75); Delay_us(z); Delay_us(z/2);

//PHASE A DATA TO PORT C // LATCH ENABLE FOR Dacl(RB1)

//PHASE B DATA TO PORT C // LATCH ENABLE FOR Dac2(RB2)

//PHASE A DATA TO PORT C // LATCH ENABLE FOR Dac3(RB3)

//USE ADC INPUT VALUE TO CREATE DELAY //BETWEEN CONSECUTIVE DAC OUTPUTS //BASED ON REQUIRED OUTPUT FREQUENCY

} }While(++i<90); k=0; do ( if (K<90) //REPEAT FOR SECOND HALF CYCLE { PORTC=255-a[k]; PORTB=0X01; PORTB=0X00; PORTC=255-b[k] PORTB=0X02; PORTB=0X00; Delay_us(2); PORTC=255-C[K]; PORTB=0X04; PORTB=0X00; Delay_us(75);

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Delay_us(Z); Delay_us(Z/2); } }while(++k<90); } While (1); }

REFERENCES

1. Bimal.K.Bose (1982), Adjustable Speed Ac Drive-A Technology Status Review, IEEE Proceedings, Vol.70, pp.2-6, Feb. 2. Boys J.T., S.J.Walton (1988),Scalar Control: An Alternate Ac Drive Philosophy, IEE proceedings, Vol.135, pp.151-158, May 3. Edward Randolph Collins (1992), Torque and Slip Behavior of Single Phase Induction Motor Driven From Variable Frequency Supplies, IEEE Transactions on Industry Applications, Vol.28, pp.310-315, May/June. 4. Gordon R.Slemon (1989),Modeling Of Induction Machines For Electric Drives,IEEE Transactions On Industry Application, Vol 25,pp.36-39, Nov. 5. Iordanis Kioskeridis and Nikos Margaris (1996), Loss Minimization in Induction Motor Adjustable Speed Drives, IEEE Transactions on Industrial Electronics, Vol.43, No.1, Feb. 6. Sun Jin, Zhenga (2004), One Novel Scalar Control Scheme For Induction Motor, IEEE Industrial Electronics Society, pp. 2-6, Nov. 7. Technical details of induction motor and control www.microchip.com. 8. Werner Leonardo (1988),Adjustable Speed Ac Drives,IEEE Proceedings, Vol.76, No.4, pp.455-470, Apr.