2015 International Conference on Electrical Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept.

2015

Transfer Function Modeling of Parallel Connected

Two Three-Phase Induction Motor Implementation
Using LabView Platform
R. Gunabalan1, Member IEEE, P. Sanjeevikumar2, Senior Member, IEEE, Frede Blaabjerg3, Fellow IEEE,
Patrick W.Wheeler4, Senior Member IEEE, Viliam Fedák5, Ahmet H.Ertas6, Member, IEEE
1
School of Electrical Engineering, VIT University, Chennai, India.
2
Research & Development, Ohm Technologies, Chennai, India.
3
Department of Energy Technology, Aalborg University, Denmark.
4
Power Electronics, Machines and Control Group, Department of Electrical & Electronics Engineering, Nottingham University, UK.
5
Department of Electrical Engineering & Mechatronics, Technical University of Kosice, Slovakia.
6
Biomedical Engineering Departments, Faculty of Engineering, Karabuk University, Karabuk, Turkey.

Abstract– This paper presents the transfer function modeling size and maintenance. Unbalance load condition arises in
and stability analysis of two induction motors of same ratings parallel operated drives whenever there is a change in wheel
and parameters connected in parallel. The induction motors are diameter or motor slip-torque characteristics [9] and is
controlled by a single inverter and the entire drive system is
mandatory to know the stability of the dual drive. To make
modeled using transfer function in LabView. Further, the
software is used to perform the stability analysis of the parallel the system stable for unbalanced load conditions, different
connected induction motor drive under unbalanced load control methodologies were presented in the literature [10–
conditions. It is very simple compared with the methods 11]. In this paper, two induction motors connected in parallel
discussed so far to study the performance of the drive under and controlled by a single inverter is modeled using transfer
unbalanced load conditions. Control design and simulation function and the performance of the drive system is proved
toolkits are used to model the drive system and to study the
for different operating conditions in LabView.
stability analysis. Simulation is done for various operating
conditions and the stability investigation is performed for
different load conditions and difference in stator and rotor II. TRANSFER FUNCTION MODELING OF VECTOR CONTROLLED
resistances among the two motors. INDUCTION MOTOR DRIVE IN PARALLEL
The transfer function model developed for vector control
Index Terms– Three-Phase Induction Motor, LabView Software, of single induction motor drive [12] is extended for two
Matlab Simulation, Transfer function model. induction motors connected in parallel and operated by a
single inverter. The transfer function of the induction motor
I. INTRODUCTION drive is derived under the assumption of constant rotor flux
MatLab (Matrix Laboratory) and LabView (Laboratory linkages. The block diagram representation of the vector
Virtual Instrument Engineering Workbench) are the modeling controlled drive system is framed by applying the transfer
softwares developed by Math Works and National functions of various subsystems, such as the induction motor,
Instruments respectively. Matlab is preferred by most of the inverter, speed controllers and feedback transfer functions.
engineers and scientists around the world for modeling and The simulation of transfer function model of the parallel
simulation of various power electronic circuits, electrical connected induction motor drive system is performed for
drives, digital signal processing, soft computing and power various load conditions and mismatch in stator and rotor
system analysis because of plenty of additional libraries and resistances. The speed response of the transfer function model
the simulink add-on. LabView is a graphical programming is similar to the response obtained by constructing the drive
language preferred for measurement and data acquisition
system with conventional state space model. The transfer
systems. It is also preferred for real time data processing and
functions of various subsystems are represented as follows:
for interaction with the hardware. It was employed to simulate
The approximate transfer function model of induction
the direct torque control (DTC) of asynchronous motor using
fuzzy logic [1]. It was used to identify the induction motor motor is given by:
௄ೌ
parameters [2-3], on line determination of single/two phase  (1)
induction motor drive characteristics [4], to study the ଵା௦்ೌ
asynchronous motor functional characteristics [5], dc-dc The q-axis stator current which produces the
converter [6], vector control of induction motor drive [7], electromagnetic torque is derived from the d-q model of the
power quality monitoring [8] etc. induction motor as follows:
Inverter fed induction motor drive is used in major ‫ܭ‬௔
௘ ௘
industries for simple control. Induction motors are connected ݅௤௦ ൌ ൛ܸ ௘ െ ߱௥ ‫ܮ‬௦ ݅ௗ௦ ൟ (2)
ͳ ൅ ‫ܶݏ‬௔ ௤௦
in parallel and driven by a single inverter to reduce the cost,
978-1-4673-7376-0/15/$31.00 ©2015 IEEE
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2015 International Conference on Electrical D
Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept. 2015

Fig. 1. Coonfiguration of parallel-connected induction motor drives.

ଵ ௅ ௅ ‫ܭ‬௜௡
whereǡ ‫ܭ‬௔ ൌ ோ , ܶ௔ ൌ ோೌ , ܴ௔ ൌ ܴ௦ ൅ ௅ ೞ ܴ௥ .  (6)
ೌ ೌ ೝ ͳ ൅ ܵܶ௜௡
The Electromagnetic torque is given by: where,
௘
ܶ௘ ൌ ‫݅ ்ܭ‬௤௦  (3) ܸ஽஼
‫ܭ‬௜௡ ൌ ͲǤ͸ͷ ‫כ‬  (7)
ܸ௖௠
where, torque constant is given by: ்೎ ଵ
͵ ܲ ‫ܮ‬ଶ௠ ௘ ܶ௜௡ ൌ ൌ ଶ௙  (8)
‫ ்ܭ‬ൌ ݅  (4) ଶ ೎
ʹ ʹ ‫ܮ‬௥ ௗ௦ Transfer function of mechanical system is given by:
A Proportional Integral (PI) controller iss used to process ͳ
the speed error between the speed reference ssignal and filtered  (9)
‫ ܤ‬൅ ܵ‫ܬ‬
speed feedback one. The transfer functioon of PI speed
controller is obtained as: The feedback signals are curreent and speed, which are
‫ܭ‬௦ ሺͳ ൅ ܵܶ௦ ሻ processed through first-order filterss. The feedback gains are
 (5) assumed as unity. The block diagraam of the vector controlled
ܵܶ௦ parallel connected induction motor drive is illustrated in Fig.
The inverter is modeled as a gain Kin withh a time lag of Tin. 1. With the measured speeds of both h motors, torque reference
The gain is derived from the given DC voltagge to the inverter. is calculated from the speed error using PI controllers. The
The time lag in the inverter is equal to thee average carrier reference speed which is common to both induction motors is
switching cycle time. compared with the actual running speed. The speed error is
The transfer function of inverter is given bby: processed in the PI controller and d the torque reference is
developed from the average outputt of the PI controller. The

Fig. 2. Block diagram codes for modeliing of two induction motors connected in parallel (LabView Software Developments).

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2015 International Conference on Electrical Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept. 2015

output of the inverter is proportional to the torque reference ƒ Simulation time waveform in graph utilities.
and it drives the induction motors in parallel. ƒ Numeric indicator in front panel.
Table I presents the parameters and ratings of the induction
III. SIMULATION OF TRANSFER FUNCTION MODELING motor. The developed block diagram codes after substituting
OF INDUCTION MOTORS CONNECTED IN PARALLEL WITH LABVIEW the ratings and parameters in Eqs. (1) - (9) are shown in Fig.
The transfer function model of the parallel connected 2. It is constructed with minimum number of components in
induction motor drive is developed in LabView. It is framed LabView using transfer function and is very simple. The
by the following block diagram codes in control and conventional state space model of induction motor with
simulation loop: controller equations for constructing the parallel connected
ƒ Step signal in signal generation. motor drive modeled in Matlab/Simulink. It is very complex
ƒ Gain, summation in signal arithmetic. and involves many subsystems, Simulink libraries and power
ƒ Transfer function in continuous linear systems. system blocksets. Once the drive is modeled; its performance
1200

1000

800

Sp e e d (rp m )
600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a) Reference speed.
1200

1000

800
Speed (rpm )

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b) Speed response of motor 1.

1200

1000

800
Sp e ed (rp m )

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c) Speed response of motor 2

Fig. 3. Speed response for step change in speed in LabView. Fig. 4. Speed response by conventional method in Matlab.

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2015 International Conference on Electrical Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept. 2015

is obtained under diverse operating conditions to confirm its response obtained from the conventional state space model
performance. with speed estimation [10] as shown in Fig. 4. It indicates that
the speed response is identical in both cases, which are state
III. a) Step Change in Speed space complex model and the simple transfer function model.
The speed command is set at 750 rpm and at t=4s, speed is Maximum overshoot exists in the speed responses in both
increased from 750 rpm to 1000 rpm (step command). The software packages.
speed responses of the motors for step change in speed
attained in LabView is illustrated in Fig. 3. It is inferred that III. b) Balanced Load
both motors follow the speed command with zero steady state The command speed is set at 1000 rpm and motors run at
error. The torque reference is generated by averaging the no load initially. At t=4s, a load of 2.5 Nm is applied to both
output of the PI speed controllers of motor 1 and 2 motors. The speed responses of the motors acquired in
respectively. The obtained speed waveform is identical to the LabView for balanced load are depicted in Fig. 5. It is
1200

1000

800

Sp ee d (rp m )
600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a) Reference speed.
1200

1000

800
Sp eed (rp m)

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b) Speed response of motor 1.

1200

1000

800
Speed (rpm)

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c) Speed response of motor 2.

Fig. 5. Speed response for balanced load in Labview. Fig. 6. Speed response for balanced load in both motors in Matlab.

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2015 International Conference on Electrical Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept. 2015

observed that both motors follow the speed and load VIs in control design simulation toolkit in LabView. It is
command with zero steady state error. For verification, the very simple and complicated d-q model, inverter circuits and
transfer function model of the drive system is constructed in PI blocks are not required. The average parameters are used
Matlab and the obtained speed response is shown in Fig. 6. and differential parameters between the induction motors are
not considered. It is possible to obtain speed, current, flux and
III. c) UnBalanced Load torque waveforms in state space model. But, in transfer
The command speed is set at 1000 rpm and motors run at function model, only the speed response is obtained. The
no load initially. At t=4s, a load of 2.5 Nm is applied to motor speed response is the required parameter to study the
2 alone. The speed responses obtained in LabView and performance under unbalanced load conditions. Complete set
Matlab are illustrated in Fig. 7 and Fig. 8, respectively. It is of both Matlab and LabView results are provided and show
observed that speed of heavily loaded motor drops to 927.5 good agreement with theoretical equations.
(§928) rpm from the command speed of 1000 rpm and the
speed of the motor under no load conditions raises to 1071.6 REFERENCES
(§1072) rpm. The speed difference between the induction [1] B. Gao, J. Wang, F. Cheng, G. Zhang, X. Yang, J. Liu, “The simulation
motors is 144 rpm and run at steady speed with stable running of direct torque control fuzzy control system based on Labview and
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IV. CONCLUSIONS [3] A. Singhal, A. Garg, S.S. Murthy, V. Sandeep, “Online parameter
The performance of two induction motors operated in determination and performance analysis of three phase induction motor
using virtual instrumentation”, in Proc. of the IEEE Intl. Conf. on
parallel and controlled by a single inverter based on transfer Power Electronics, Drives and Energy Systems, IEEE-PEDES’12, pp.
function approach is discussed for the very first time for 1-6, 16-19 Dec. 2012.
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virtual instrumentation-based on-line determination of a single/two
controllers, inverter and feedback gains are modeled using phase induction motor drive characteristics at coarse start-up”, in Proc.
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1200
1072 rpm
1000

800
Speed (rpm)

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)

(b) Speed response of motor 1

1200

1000

927.5 rpm
800
Spee d (rp m)

600

400

200

0
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c) Speed response of motor 2

Fig. 7. Speed response for unbalanced load in LabView. Fig. 8. Speed response for unbalanced load in Matlab.Lab

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Drives and Power Electronics (EDPE) The High Tatras, 21-23 Sept. 2015
IEEE-AQTR’08, vol. 3, pp. 440-443, 22-25 May 20008. Frede Blaabjerg (S’86---M’88---SM’97---F’03) was
[5] G. E. SubĠirelu, M. Dobriceanu, “Virtual Instrumeents (VIs) for study of with ABB-Scandia, Randers,
R Denmark, from 1987 to
asynchronous motor functional characteristics”, iin Proc. of the IEEE 1988. From 1988 to o 1992, he was a Ph.D. Student
Intl. Symp. on Advanced topics in Elect. Engg., IEE EE-ATEE’11, pp. 1-6, with Aalborg Univ versity, Aalborg, Denmark. He
12-14 May 2011. became an Assistantt Professor in 1992, an Associate
[6] G. S. Spagnolo, D. Papalillo, A. Martocchia, “Ann educational tool for Professor in 1996, and a Full Professor of power
dc–dc converter”, in Proc. of the IEEE Intl. Coonf. on Environ. and electronics and drivees in 1998. His current research
Elect. Engg., IEEE-EEEIC’11, pp. 1-4, 8-11 May 22011. interests include power electronics and its
[7] T. Wu, Y.L. Chi, Y. Guo, C. Xu, “Simulation of F FOC vector control of applications such ass in wind turbines, PV systems,
induction motor based on LabView”, in Prroc. Intl. Conf. on reliability, harmonicss and adjustable speed drives.
Information Engg. and Computer Science, IEEE-- ICIECS’09, pp. 1-3, He has received 151 IEEE Prize Paper Awards, the
19-20 Dec. 2009. IEEE PELS Distinguished Service Award in n 2009, the EPE-PEMC Council
[8] V. Dwivedi, D. Singh, “Electric Power Qualityy Monitoring (PQM) Award in 2010, the IEEE William E. Newelll Power Electronics Award 2014
using virtual instrumentation”, in Proc. of the IIEEE Intl. Symp. on and the Villum Kann Rasmussen Research Award
A 2014. He was an Editor-in-
Power Electronics, Electrical Drives, Automationn and Motion, IEEE- Chief of the IEEE TRANSACTIONS ON POWER ELECTRONICS from
SPEEDAM’10, pp. 431-436, 14-16 June 2010. 2006 to 2012. He has been Distinguished d Lecturer for the IEEE Power
Electronics Society from 2005 to 2007 7 and for the IEEE Industry
[9] B. K. Bose, “Modern Power Electronics and AC D Drives”, Upper Saddle
Applications Society from 2010 to 2011. He is nominated in 2014 by
River, NJ: Prentice-Hall, US, 2001.
Thomson Reuters to be between the most m 250 cited researchers in
[10] K. Matsuse, Y. Kouno, H. Kawai, S. Yokomizo,, “A speed-sensorless
Engineering in the world.
vector control method of parallel connected dual innduction motor fed by Email: [email protected]
a single inverter”, in IEEE Trans. Ind. Appl., voll. 38, pp. 1566–1571,
Nov./Dec. 2002. Patrick William Wheeler
W (M’00–SM’13), Fellow
[11] K. Matsuse, Y. Kouno, H. Kawai, J. Oikawa, “Chharacteristics of speed (IET, UK), receivedd the B.Eng. (Hons.) degree from
sensorless vector controlled dual induction motoor drive connected in the University of Bristol, Bristol, U.K., in 1990, and
parallel fed by a single Inverter”, in IEEE Trans. In
Ind. Appl., vol. 40, pp. the Ph.D. degree in i electrical engineering for his
153-161, Jan./Feb. 2004. work on Matrix Converters from the same
[12] R. Krishnan, “Electric motor drives modeling, aanalysis and control”, university in 1994 4. In 1993, he moved to the
PHI learning private limited, New Delhi, 2001. University of Nottinngham and worked as a Research
Assistant in the Department of Electrical and
Electronic Engineeering. In 1996, he became a
BIOGRAPHY Lecturer in the Power Electronics, Machiines and Control Group at the
University of Nottingham, Nottingham, U.K. Since January 2008, he has
Gunabalan Ramachandiran n (M’09) obtained his been a Full Professor in the same research grroup.
B.E. degree in Electricaal and Electronics His current research interests includee power electronics for power
Engineering from Manonm manium Sundaranar conversion, matrix converters, multi--level converters/multi-cellular
University, Tamilnadu in 20000 and M.Tech.degree converters for high power/voltage applicatio ons in the Electrical grid, power
in Electrical Drives & Contrrol from Pondicherry converters for power system applications tecchnologies for the ‘More-Electric
University in 2006. He is ccurrently pursuing his Aircraft’. He has published more than 400 0 plus academic publications in
Ph.D from Anna University, Chennai, Tamilnadu. leading international conferences and journalls.
He is working as an Assisttant Professor in the Dr. Wheeler is a Member-at-Large and d Distinguished Lecturer of the
department of Electrical and Electronics IEEE Power Electronics Society. Email: [email protected]
Engineering, School of Eleectrical Engineering, Viliam Fedák was born in Kosice, Slovakia, in
VIT University, Chennai, Indiia. 1948. He graduated from Technical University of
He has published/presented around 30 papers in Natioonal and International Kosice and in 197 72 he joined the Department of
Journals/Conferences. He is a member of IEEE andd ISTE (India). His Electrical Drives (current Dept. of Electrical
research interests are in the areas of power electronics and estimation and Engineering and Mechatronics)
M where he serves at
control of induction motor. Email: [email protected] the capacity of Asssociate Professor. His fields of
specialization and vast
v experiences in teaching and
Padmanaban Sanjeevikum mar (M’12, SM’15) research includes ellectrical drives and their control,
received B.E., M.Tech. (w with distinction), and in particular refereences to multi-motor drives of
Ph.D degree in electricall engineering from continuous producction lines, electromechanical
University of Madras (India), Pondicherry systems, advanced d methods of simulation and
University (India), and Unniversity of Bologna identification. He has published more than 200 scientific papers in referred
(Italy), in 2002, 2006, and 2012 respectively. After conference proceedings and journals. Since 1994 he has been assigned as the
completing his Ph.D degrree he worked as chairman of the EDPE conferences and chaairman of the EPE-PEMC’2000,
Associate Professor with V VIT University from Kosice, Slovakia. Email: [email protected]
August 2012 to May 2013. F Furthermore he joined
as Faculty with National Institute of Technology, Pondicherry, from July Ahmet Hanifi Erttas (M’15) received B.S. (with
2013 to December 2013. He was invited as visiting fellow at Department of distinction) degree in Mechanical Engineering from
Electrical Engineering, Qatar University, Qatar from m January 2014 to Ataturk University, Turkey in 1997; then M.S., and
February 2014. He continued his research activities witth Dublin Institute of Ph.D. degrees agaain in Mechanical Engineering
Technology, Ireland from March 2014 to September 22014. Presently, from from Bogazici Univ versity, Turkey in 2004, and 2009
September 2014, he is Project Head in Research & Development and respectively. Afteer completing his Ph.D. he
Consultant with Ohm Technologies, Chennai, India. continued his scienttific research activities with Ohio
He has published scientific papers in the field of poower electronics, with University, USA from
fr 2009 to 2011. In 2011 he
particular reference to multiphase and multilevel converrters. He has received joined Karabuk Un niversity as Assistant Professor
the Most Excellent Research Paper Award of IIET-4th International and worked until 2015. From 2015 he has beeen promoted and working at the
Conference on Sustainable Energy and Intelligent System m in 2013. capacity of Associate Professor with the sam me University. He has published
Dr.Sanjeevikumar is a Senior Member of the IEEE IIndustrial Electronics, more than 30 scientific papers in referred jou urnals/conferences in the field of
IEEE Power Electronics, and IEEE Power and Energy Soocieties. electro-mechanical engineering, with particular reference to his research
Email: [email protected] areas of interest in design and manufacturing g of structures, areas of electrical
drives. Dr. Ahmet H. Ertas is a member off IEEE and editor/editorial board
member of reputed journals. Email: ahertas@ @karabuk.edu.tr

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