Dsp based implementation of field oriented control of

IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 02 Issue: 09 | Sep-2013, Available @ http://www.ijret.org 179
DSP BASED IMPLEMENTATION OF FIELD ORIENTED CONTROL OF
THREE-PHASE INDUCTION MOTOR DRIVES
Marizan Sulaiman1
, Fizatul Aini Patakor2
and Zulkifilie Ibrahim3
1, 2, 3
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal,
Melaka, fizatulaini@gmail.com
Abstract
The objective of this paper is to presents a practical implementation of field oriented control of three-phase induction motor based on
Space Vector Pulse Width Modulation technique using Digital Signal Processing (DSP) board TMS320F2812. The control algorithm
for the drive application is built with Code Composer Studio version 3.1. The motor control is divided into two control loops; inner
current loop and outer speed control loop using PI controller. The rotor flux quantities are estimated using computational rotor time
constant, rotor angular velocity and stator current. As a feedback of field oriented control, an incremental encoder is attached at the
motor shaft and a Hall effect current sensor is used to detect the sent current to the motor. The performance of the drives system is
tested under different speed command and load disturbances
Index Terms: digital signal processor, field oriented control, induction motor, Space Vector Pulse Width Modulation
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1. INTRODUCTION
Induction motors are widely used in industrial application due
to their relatively low cost, high reliability and almost free
maintenance. The induction motor applications are very wide
spread from centrifugal pump, compressor, punching presses,
elevator and many more [1]. It is rugged, lower cost and
weight, reliable and almost free maintenance when compared
to DC motor. The control of induction in variety of speed
range become possible with solid state inverter and power
supply in variable frequency and voltage. The high
performance modern electrical drive must have the following
characteristics; fast transient response and small overshoot,
small steady state error, robust to parameter variation and
uncertainties of the system, wide range operation, direct and
fail-safe control algorithm and inexpensive implementation
and maintenance free operation [2].
In high performance drive systems, in which control variables
include the torque developed in the motor, vector control
(field orientation) technique are necessary [3]. Basic concept
of field orientation that introduced by Hasse in 1969 and
Blaschke in 1972, constitutes the most important paradigm in
the theory and practice of induction motor. The concept
showed that decoupled control of flux and torque was
theoretically possible in three-phase AC machine, thus
emulate the concept of controlling separately exited DC
motor.
However, this field oriented control strategies are extremely
complex and the analogue or the mixed analogue-to digital
scheme has some disadvantages such as the complication of
the circuit, poor consistency and zero drift [4]. Then, by using
a high-performance digital signal processor, it can be
represented in all-digital field control system and becomes a
popular research on digital control for ac drives [4-6]. With
digital signal processing board, TMS320F2812 [7] is a
specifically designed for 32-bit fixed-point DSP chip for
motor control. It has advantages such high speed 150MIPS
performance, 2 set of 12 outputs Pulse Width Modulation
(PWM), 2 set of 4 inputs Quadrature Encoder Pulse (QEP)
input and 16 channels 12-bit analogue to digital (A/D)
converter.
Pulse width modulation is a technique to generate pulses with
a certain rules and goals through supplying DC voltage for
inverter to obtain variable speed drive operations. It has been
shown that Space Vector Pulse Width Modulation (SVPWM)
generates less harmonic distortion in the output voltage and
currents, provides more efficient use of DC supply voltage
when compared to sinusoidal modulation technique [8, 9]. It is
possibly the best among all the PWM techniques for variable
speed drive application[10]. The aim of this paper is to present
a practical implementation of field oriented control based on
SVPWM technique in digital signal processor to control three-
phase induction motor. The dynamic response of speed, stator
q-axis current reference and phase ‘a’ stator current reference
are analyzed with different speed reference load disturbances.
It shows that excellent behaviour is verified in most cases.

__________________________________________________________________________________________
Figure 1: Overall block diagram for indirect field oriented controlled of induction motor drives using TMS320F2812 DSP
2. FIELD ORIENTED CONTROL OF THREE-
PHASE INDUCTION MOTOR
Three phase squirrel cage induction motor in synchronously
rotating reference frame can be represent in mathematical
form [10] as (1) –(8):
dse
qs
qssqs
dt
d
iRV ϕω
ϕ
++=
(1)
qse
ds
dssds
dt
d
iRV ϕω
ϕ
−+=
(2)
drre
qr
qrrqr
dt
d
iRV ϕωω
ϕ
)( −++=
(3)
qrre
dr
drrdr
dt
d
iRV ϕωω
ϕ
)( −++=
(4)
Where
,qrV 0=drV , and the flux equation:
)( qrqsmqsLsqs iiLiL ++=ϕ (5)
)( qrqsmqrlrqr iiLiL ++=ϕ (6)
)( drdsmdslsds iiLiL ++=ϕ (7)
)( drdsmdrlrdr iiLiL ++=ϕ
(8)
Where Vqs, Vds are the applied voltages to the stator, ids, iqs,
idr, iqr are the corresponding d and q axis stator current and
rotor currents. φqs, φqr, φds, φdr, are the stator and rotor flux
component, Rs, Rr are the stator and rotor resistances, Lls, Llr
denotes stator and rotor inductances, whereas Lm is the
mutual inductance. The electromagnetic torque equation is:
)(
22
3
dsqrqsdr
r
m
e ii
L
LP
T ϕϕ −=
(9)
Where P, denote the pole number of the motor. If the vector
control is fulfilled, the q-axis component of the rotor field φqr
would be zero. Then the electromagnetic torque is controlled
only by q-axis stator current and becomes:
)(
22
3
qsdr
r
m
e i
L
LP
T ϕ= (10)

__________________________________________________________________________________________
Figure 1 shows the block of indirect field oriented controlled
of induction motor drives. The control is divided into two
control loops; inner current loop and outer speed control loop.
The rotor flux quantities are estimate using computational
rotor time constant, rotor angular velocity and stator current as
in (11).
r
ds
qse
i
i
Trdt
d
ω
θ
+=
1
(11)
The rotor speed ωr is compared to rotor speed command ωr*
and the resulting error is processed in the PI speed controller.
The PI speed controller will generate stator q-axis current
reference iqs*. Both reference current in d-axis and q-axis is
compared to the feedback from the motor current through
Clark and Park Transformation. From the respective error the
voltage command signal is generated through PI controller and
converted to two phase voltage through Inverse Park
Transformation and fed to SVPWM which generates
switching signal for Voltage Source Inverter (VSI). These in
turn, control the stator winding current of induction motor, so
controlling the speed of the motor. The transformation
between stationary a-b-c frame, stationary α-β frame and
synchronously rotating d-q frame are describes as the
following equation [10].
• Clarke; convert stationary a-b-c frame to stationary α-β
frame.






















−
−−
=





c
b
a
I
I
I
I
I
3
1
3
1
0
3
1
3
1
3
2
β
α
(12)
• Clarke-1
; convert stationary α-β frame to stationary a-b-c
frame.






















−−
−
=










β
α
I
I
I
I
I
b
b
a
2
3
2
1
2
3
2
1
01
(13)
• Park; convert stationary α-β frame to rotating d-q frame.












−
=





β
α
θθ
θθ
I
I
I
I
ee
ee
q
d
cossin
sincos
(14)
• Park-1
; convert rotating d-q frame to stationary α-β frame.











 −
=





q
d
ee
ee
I
I
I
I
θθ
θθ
β
α
cossin
sincos
(15)
3. SPACE VECTOR PULSE WIDTH
MODULATION TECHNIQUE
Space vector pulse width modulation refers to special
switching sequence of the upper three device of three-phase
voltage source inverter. This special switching technique for
the power device results in three pseudo-sinusoidal currents in
the stator phase. As shown in Figure 2, when an upper
transistor is switched on, (S1, S3, S5 is 1) the corresponding
lower transistor is switched off (S2, S4, S6 is 0). Therefore,
the on and off states of the upper transistors S1, S3, S5 can be
used to determine the output voltage. The relationship between
the switching variable vector [a, b, c]t and the line-to-line
voltage vector [Vab,Vbc,Vca]t and phase voltage vector [Va
Vb Vc]t are given by (16)-(17).
Figure 2. Three-phase voltage source inverter




















−
−
−
=










c
b
a
V
V
V
V
dc
ca
bc
ab
101
110
011
(16)




















−−
−−
−−
=










c
b
a
V
V
V
V
dc
cn
bn
an
211
121
112
3 (17)
The three-phase bridge inverter has 23 permissible switching
states. Six nonzero vectors (V1 – V6) shape the axes of a
hexagonal as depicted in Figure 3, and feed electric power to
the motor. The angle between any adjacent two non-zero
vectors is 60 degrees. Meanwhile, two zero vectors (V0 and
V7) are at the origin and apply zero voltage to the load. The
eight vectors are called the basic space vectors and are
denoted by V0, V1, V2, V3, V4, V5, V6 and V7. The Vref is
the phase to centre voltage which is obtained by proper
selection of adjacent vectors V1 and V2 [11].

__________________________________________________________________________________________
Figure 3. Voltage Vector and Reference Vector
4. HARDWARE SETUP
Figure 4 shows the experimental setup of the drives system.
The hardware configuration for this work can be depicted in
Figure 5. The control and drives board is consist of DSP
TMS320F2812 and Digital Motor Control DMC1500 from
Texas Instrument and auxiliary circuit, Hall effect current
sensor and interface of encoder input. The computer is the
host during debugging the program and connected to DSP
using parallel port. The Code Composer Studio (CCS) version
3.1 is used to translate field oriented control in “C” language
or assembly language code for DSP controller. The DSP is
generating six pulse width modulation (PWM) signals by
means of space vector PWM for six power switching devices
in the inverter. Two input currents of the induction motor, ia
and ib are measured using current sensor and rotor speed was
monitored using an encoder. Then, the data are sent to the
DSP board via analogue-to-digital converters.
Figure 4. The experimental setup
Figure 5. Hardware configuration
The induction motor use for this experiment is 1.5KW,
1400rpm. The parameter of the motor are, Rs=4.6 Ω Rr=5.66,
Ls=0.3153H, Lr=0.3153H and Lm=0.3H. The stator q-axis
current reference is limit to 5A. The encoder type is
incremental optical encoder 500 pulses per revolution. The
load is give using hysteresis current brake from Magtrol Inc.
DC voltage is limited to 380V, the maximum value of the
Digital Motor Control DMC1500 can achieve, which means
that the rated speed is reduced to 900 rpm. It should be noted
that using higher dc voltage will result in a higher rate of
change of torque. The PI speed control is designed so that the
system can tolerate with load disturbances with less than 15
percent overshoot. The control system parameters are:
Kpw=7.5, Kiw=0.001, Kpq=0.08, Kiq=0.001, Kpd=2.0, and
Kid=0.15. The voltage source inverter switching frequency is
constant, fs=20 kHz.
5. EXPERIMENTAL RESULT
The first experiment is to run the motor from standstill in
different speed command. Three speed commands is
considered, which are 900rpm, 600rpm and 450rpm.
Figure 6 shows the response of the speed command and its
associate stator phase ‘a’ current and stator q-axis current
reference. From the figure, good tracking performance is
achieved, the rotor speed track the speed command with small
overshoot. Acceleration under no-load condition is extremely
rapid even for rated speed command. At initial state, the
current signal presents a high value because it is require a high
torque to increase the motor speed. When steady state occurs,
the motor torque has only to compensate the frictions, so the
current is low. As for motor torque, it has high at initial and
operates in the current limit given 5 A (when speed at
acceleration zone) and decreases in a constant region when
steady state is achieved. The second experiments is to observe
the performance of the motor when the speed is changes from
initial 450 rpm and then increased to 900 rpm and vice versa.
The speed, stator q-axis current reference and stator phase
current reference is presented in
Figure 7

__________________________________________________________________________________________
a)
b)
c)
d)
e)
f)
Figure 6 Experimental result; speed response, stator phase ‘a’ current reference and stator q-axis current
reference (a)-(b) 900rpm,(c)-(d) 600rpm, (e)-(f) 450rpm
.
Overshoot and undershoot appears when the speed is
increased and decreased. However the system can recover to
the speed demand less than two second. When the speed is
increased from 450rpm to 900rpm, the q-axis stator current
has a constant value in the initial state, then increases to its
maximum limit due to acceleration of the motor, and finally
remains constant again. When the speed is decrease from
900rpm to 450rpm, the q-axis stator current has a constant
value in initial state, and then decreases to its minimum limit
due to deceleration of the motor. The third experiment is to
investigate the transient of the drive when load 2.5Nm is
applied to the motor from standstill for speed 900rpm and
450rpm. From Figure 9, the speed tracking performance is
same with no-load condition. As for stator q-axis current
reference, it has high at initial and operates in the current limit
given 5A in acceleration mode and decrease to constant region
significantly higher than no-load condition, to compensate the
load given to the motor. The stator current phase ‘a’ is
significantly increased in the transient, compared to no-load
operation, and remain constant with slightly higher compared
to no-load condition when actual speed approaches the speed
command
The last experiment is to test the robustness of the system and
investigate the load rejection behaviour when load is applied
to the motor at steady state operation.
Figure9 shows the performance of the speed response during
750rpm, when 2.5Nm, 5Nm, 7.5Nm and rated load, 9Nm is
applied to the motor. Slight oscillation occurs when load is
applied and significantly affected when rated load, 9Nm is
applied. It may be observed that the motor can recover less
than 2.0 seconds. The stator phase ‘a’ current reference is
significantly increased as the load applied is increased and the
q-axis stator current, it has high value at initial when load is
applied and operates in different constant region depending on

__________________________________________________________________________________________
the load applied when actual speed approaches the speed command
a) c)
b) d)
Figure 7. Experimental result; speed responses, stator phase ‘a’ current reference and stator q-axis current
reference. (a)-(b): speed increase from 450rpm to 900rpm. (c)-(d): speed decrease from 900rpm to 450rpm
a)
c)
b) d)
Figure8. Experimental result, speed responses speed responses, stator phase ‘a’ current reference and stator q-
axis current reference, when loaded 2.5Nm from initial (a)-(b) 900rpm, (c)-(d) 450rpm

__________________________________________________________________________________________
.
(a) (b)
(c) (d)
Figure9. Experimental result, speed responses, stator phase ‘a’ current reference and stator q-axis current reference at
750rpm when load is applied (a) 2.5Nm, (b) 5Nm (c) 7.5Nm (d) 9Nm
CONCLUSIONS
The DSP implementation for field oriented control which
integrated Space Vector Pulse Width Modulation technique of
three-phase induction motor was successfully developed.
From the experimental result, the motor can operate in
different speed command and also different load disturbance
with the same PI controller setting. The results from this
practical experiment can be taken into consideration when
comparing with other types of advanced controller. The
success in creating programs for the entire algorithm in the
DSP is a good move to make an advanced control schemes
such as fuzzy control or sliding mode control.
ACKNOWLEDGEMENTS
The authors wish to thanks Universiti Teknikal Malaysia
Melaka for financing the research under the Grant
ERGS/2011/FKE/TK02/1-E0001
.
REFERENCES
[1] A. M. Trzynadlowski, Control of Induction Motor:
Academic Press, 2001.
[2] R. Soto-Rodriguez, "Modelling and Speed Control of
an Induction Motor Using Sliding-Mode Technique,"
Doctor of Philosophy, Faculty of Graduate School,
University of Texas Arlington, 1990.
[3] J. A. Santisteban and R. M. Stephan, "Vector Control
Methods for Induction Machines: An Overview,"
Education, IEEE Transactions on, vol. 44, pp. 170-175,
2001.
[4] X. Hu and G. Nan, "Research of Vector Variable
Frequency System Based on Tms320f2812," in
International Conference Intelligent Computation
Technology and Automation (ICICTA) 2008, pp. 34-38.
[5] L. Osmancfk, et al., "Digital Signal Processor
Tms320f2812 and Its Application in Electric Drives,"
in Applied Electronics, pp. 129-132.
[6] Y. S. Kung, "Design and Implementation of a High-
Performance Pmlsm Drives Using Dsp Chip,"
Industrial Electronics, IEEE Transactions on, vol. 55,
pp. 1341-1351, 2008.
[7] "Ezdsp F2812 Technical Reference," vol. Rev F, ed.
[8] S. K. Mondal, et al., "Space Vector Pulse Width
Modulation of Three-Level Inverter Extending
Operation into Overmodulation Region," Power

__________________________________________________________________________________________
Electronics, IEEE Transactions on, vol. 18, pp. 604-
611, 2003.
[9] R. Arulmozhiyal and K. Baskaran, "Space Vector Pulse
Width Modulation Based Speed Control of Induction
Motor Using Fuzzy Pi Controller," International
Journal of Computer and Electrical Engineering, , vol.
1, 2009.
[10] B. K. Bose, Modern Power Electronics and Ac Drives:
Prentice Hall, 2002.
[11] A. P. Fizatul, et al., "Comparison Performance of
Induction Motor Using Svpwm and Hysteresis
Current Controller," Journal of Theoretical and
Applied Information Technology, vol. 30, 2011.
BIOGRAPHIES
Marizan bin Sulaiman was born in April
16, 1962 in Kuala Besut, Terengganu. He
received the Bachelor of Science in
Electrical Engineering in May 1984, the
Master of Science in Electrical
Engineering in December 1985, and
Doctor of Philosophy in Electrical
Engineering in May 1989 from the University of Missouri-
Columbia. He is a registered member of the Board of
Engineers, Malaysia (BEM) and the Institution of Engineers,
Malaysia (IEM). He is Professor Electrical Engineering and
has been appointed as Dean of Faculty of Electrical
Engineering, the Dean of Centre for the Graduate Studies and
the Assistant Vice Chancellor for Student Affairs and Alumni
in UTeM. At present, the research interests include Electrical
Power System and Control Engineering.
Fizatul Aini Patakor was born in
Selangor, Malaysia in 1978. She received
the degree in electrical engineering (power
electrical) from Universiti Sains Malaysia,
in 2001 and Msc Occupational Safety and
Health from Universiti Utara Malaysia in
2008. She is a lecturer at Politeknik Sultan Abdul Halim
Muadzam Shah. Currently, she is a PhD research student of
Universiti Teknikal Malaysia Melaka. Her interest includes
safety and health in engineering education, power electronic
and drives control system.
Zulkifilie Bin Ibrahim was born in
January 7, 1966 in Singapore. He received
the B.Eng. (Electrical Engineering) from
UTM - Malaysia in 1989. He received the
Ph.D (Power Electronics & Control),
Liverpool John Moores University in
1999. He has been assistant Professor and
appointed as Dean of Faculty of Electrical Engineering,
UTeM. At now, he focuses on Power Electronics, Electric
Motor Drives, Fuzzy Logic, and Embedded Control Design &
Application

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