IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

IMPLEMENTATION OF AC INDUCTION MOTOR CONTROL USING

CONSTANT V/HZ PRINCIPLE AND SINE WAVE PWM TECHNIQUE
WITH TMS320F28027

Ameya D. Chaudhary1, M. R. Bachawad2

1
PG student in Department of Electrical Engineering, Government College of Engineering, Aurangabad, India
2
Assistant Professor in Electrical Engineering, Government College of Engineering, Aurangabad, India

Abstract
This paper presents the hardware implementation of V/f control of induction motor using sine wave PWM method. Because of its
simplicity, the V/F control also called as the scalar control, is the most widely used speed control method in the industrial
applications. In this method the ratio between stator voltage to frequency is maintained constant so that the stator flux is
maintained constant. As the stator flux is maintained constant, the torque developed by the motor depends only on the slip speed
and is independent of the supply frequency. Thus we can control the speed and torque of induction motor by simply controlling the
slip speed of induction motor. The complete control is achieved with the help of TMS320F28027 Development Board. One of the
basic requirements of this scheme is the PWM inverter. The gating signals are generated using sine wave PWM technique.
Implementation issues such as PWM signal generation, ramp control, v/f control, inverter design are discussed. The results are
discussed based on the various waveforms.

KeyWords: v/f control, Induction motor, PWM, and Scalar control.

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1. INTRODUCTION frequency constant. As the stator flux is constant the torque

produced by motor depends only on the slip speed and
The electrical machine which converts electrical energy to independent of the supply frequency. Thus speed and torque
mechanical is the workhorse in a drive system. Earlier all can be controlled by simply regulating the slip speed. Thus
the variable speed control applications are dominated by the induction motor gives improved performance with higher
DC machines. But the evolution of power semiconductor torque producing capacity. Also the dynamic response
devices and power electronic converters, the scenario has becomes faster as the power electronic converter can control
now changed. Although the majority of variable speed the transient voltages and current applied to the motor under
applications use DC machines, progressively they are transient conditions.
replaced by ac drives. Among all types of AC machines One of the basic requirements of this method is the PWM
induction motor with cage type rotor is very popular in the inverter which allows the variation in stator voltage and
industrial applications. Induction motor cannot be ignored frequency. The output of PWM inverter is controlled by
because of their advantages such as less maintenance, pulse width modulated signals also called as gating signals.
rugged construction, higher efficiency, low cost etc. The gating signals are applied to the gate of power transistor
Induction machines are also available in the ranges from which generates the turn ON / turn OFF instances. These
fractional horse power (FHP) to multi-megawatt capacity. PWM signals are of variable pulse width with fixed
Single phase and multiphase motors are also available at frequency and magnitude. The PWM pulses will vary
ease.[1] according to the modulating signal. In every PWM period
Earlier the conventional speed control methods such as there is one pulse of fixed magnitude. The frequency of
stator voltage control, pole changing and frequency control PWM signal which is same as that of the carrier signal is
are used. But these methods are not able to provide highly much higher than that of the modulating signal having
precise and accurate demanded speed as required by the fundamental frequency. Thus the pulse pattern of PWM
industry. Due to the evolution and advances in the power signal will have the same pattern as that of the modulating
semiconductor devices and power electronic converters the signal. A modulating signal of sinusoidal nature will have
speed control of induction motor becomes highly precise PWM signal whose pulse width will vary in sinusoidal
and accurate. The switching power converters can easily manner. Also the energy delivered to the motor and load
regulate voltage and frequency of the supply voltage and will depend upon the modulating signal. Depending upon
thus higher performance can be achieved. Different speed the nature of the modulating signal different PWM methods
control methods have been developed. Among all these can be described. These methods involves sinusoidal PWM
methods, the V/Hz or scalar control is the most common and (SPWM), Sine + 3rd Harmonic PWM, space vector PWM
easy to implement. In this method stator flux is maintained (SVPWM) and current controlled PWM (CCPWM). The
constant by keeping the ratio between stator voltage to SPWM technique is used in this application. [2]
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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

1.1 V/Hz (Scalar) Controlof IM R

T = 3P ω2 I22 (3)
r
When an induction motor is supplied by ac voltage source
rotating magnetic field is set up in the stator winding. The where sω1 is the slip frequency.
stator magnetic field is then linked with the rotor winding The above two equations implies that the rotor current can
which produces torque and the motor starts rotating.The be limited by limiting the speed in turn limits the developed
normal operating speed of induction motor is always torque. In actual implementation, the ratio between the
belowthesynchronous speed which is determined by supply stator voltage V and frequency f is normally based on the
frequency and the no. of poles. Thus the speed of induction rated values, or motor ratings. The typical V/Hz profile can
motor can be varied by simply varying the supply frequency be shown in the figure 2. Inherently, there arethree speed
which can be easily varied with the help of sinusoidally ranges in the V/Hz control which are as follows:
modulated PWM inverter. The steady state equivalent At fc=0Hz: When the motor is operated at low speeds the
circuit of induction motor is shown in figure 1. As shown in voltage drop across the stator resistance cannot be
the figure the stator resistance Rs is assumed to be zero and ignored.As this drop is to be compensated the V/Hz profile
Ll is the total leakage inductance referred to stator. The is not linear in this region. This region is said to be
stator leakage inductance (Ls) is embedded into the rotor compensation region. The cutoff frequency (fc) and the
leakage inductance (Lr). suitable stator voltage required to nullify the voltage drop
may be theoretically calculated from the steady state
equivalent circuit with 𝑅𝑠 ≠ 0.
At fc = frated Hz:In this region the V/Hz profile maintain a
constant relationship. The stator voltage is proportionally
increased with the frequency. The slope corresponds to the
amount of air gap flux in the machine. This region is said to
be linear region.
At fc >frated Hz: In this regionthe V/Hz ratio cannot be
maintained constant because the stator voltages cannot be
exceeded beyond the rated values in order to avoid the
insulation breakdown at stator windings. Thus the resulting
Fig-1: Simplified Steady-State Equivalent Circuit of airgap flux would be reduced, and the developed torque
Induction Motor would also reduce correspondingly. This region is thus said
to be “field weakening region”. So to avoid this, constant
The magnetizing inductance Lm is moved in front of the V/Hz principle is disobeyed at such frequencies. [3]
total leakage inductance (Ll = Ls + Lr). If the voltagee drop
across stator resistor is neglected then the supply V1 will be
approximately equal to E1 given as

V1 ≈ E1 = 2πf λm (1)

whereλm is the stator flux linkage due to the airgap flux.

According to above equation the airgap flux is directly
proportional to the ratio of supply voltage V1 and frequency
f. Hence the supply voltage should be varied in proportion to
the frequency f such that the airgap flux is maintained
constant at all speeds. So in V/Hz control the supply voltage
V1 and the supply frequency f of the SPWM inverter are
proportionally increased. However at low input voltage
because of the voltage drop across stator impedance the
airgap flux reduces with loss of torque. At no load condition Fig-2: Stator Voltage Versus Frequency Profile Under V/Hz
where the slip is very small and the motor speed is near to Control
the synchronous speed compensation for stator resistance
drop is to be added to overcome the drop. However if the The torque speed curve of induction motor with constant
motor is lightly loaded at low speeds the airgap flux airgap flux is shown in figure 3. As shown in figure the
increases and the motor can overheat. From the equivalent torque produced is the function of slip speed only because of
circuit of figure 1 neglecting the rotor leakage inductance constant stator flux. It is independent of the supply
the equation for torque and rotor current I 2 can be given as frequency. Thus by adjusting the slip speed, the torque and
speed of an AC induction motor can be controlled with the
sω 1 E 1 λm constant V/Hz principle.
I2 = = sω1 (2)
R2ω1 R2

and

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2.2. Digital Implementation of SPWM:

Pulse Width Modulation (PWM) is a method of encoding a
voltage onto a fixed frequency carrier wave. The frequency
of the PWM will be fixed while the duty cycle will vary
between 0% and 100%. Thus the duration of on time will be
proportional to the output signal voltage. For example, a 0%
duty cycle produces a 0V output while a 100% duty cycle
produces a peak-to-peak voltage Vp-p equal to the
input/output supply voltage to the microcontroller which is
generally equal to 3.3 volts. So a 50% duty cycle would
produce an output voltage equal to 1.65V. The PWM
Fig-3:Torque Versus Slip Speed of an Induction Motor With method has an advantage of having low cost way of
Constant Stator Flux implementing a digital-analog converter (DAC). Thus by
time-varying the duty cycle percentage, a sine wave can be
2. Sine wave PWM Methodology: generated.
The basic idea of generating a sine wave using the PWM
The main purpose of static power converter is to produce an
technique is to first digitize the sine wave and encode the
AC waveform from a DC supply voltage. Static power
duty cycle corresponding to each sample point. The no of
converters, particularly inverters, are made from the power
samples can calculated as
electronic switches and the ac voltage obtained from them is
of discrete nature. To control the power on and off of the 𝐹𝑐
switches specific pulses are to be generated. These pulses 𝑇𝑜𝑡𝑎𝑙 𝑁𝑜 𝑜𝑓 𝑠𝑎𝑚𝑝𝑙𝑒𝑠 = 𝐹
(4)
are generated using modulation techniques. The modulation
technique also controls the amount of time and the switching Where Fc is the frequency of carrier signal and F is the
instants of a power switch. As the output waveform of frequency of modulating signal i.e. sine wave. See figure 5.
inverter is not sinusoidal, the modulation technique ensures For example if the frequency of carrierwave is 600Hz and
the fundamental component to behave as such. The frequency of sine wave is 50Hz then the total no of samples
modulating techniques are mostly of carrier-based type (e.g., will be 12 according to equation 3. 12 samples points means
sinusoidal pulse width modulation, SPWM), the space- that sample is taken at an angular step of 30° of a circle.
vector (SV) technique, and the selective-harmonic- The sine value of each sample and its corresponding duty
elimination (SHE) technique. In all SPWM is simple and cycle is shown in Table 1.
cost effective. [2]

2.1 Principle of Sine Wave PWM:

The sinusoidal PWM technique is very famous amongstthe
industrial converters. This is basically a carrier based PWM
technique. In this method the modulating signal is the
fundamental sine wave and the carrier signal is the high
frequency triangular wave. Figure 4 explains the general
principle of SPWM, where a high frequency triangle carrier
wave of frequency (fc) is compared with the modulating
wave (which is a fundamental frequency sine wave) and the
points of intersection determines the switching instances of
the power switches. [3]

Fig-5: 12 Sample Points Sine Wave With the Corresponding

Modulated PWM

Thus we can generate the sine wave with this method and
different values of carrier frequency can be taken. Higher
the carrier frequency means more the no of samples and less
is the quantization error.

Fig-4: Principle of Sinusoidal PWM for VSI

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Table-1:12-Sample Digitized Sine Table system, Experimental setup based on F28027 and the
Degree Radian sine(Radian) Normalize to 0 % Experimental results. The control algorithm has been
0 0.0000 0.0000 1.0000 0.50 implemented based on microcontroller TMSF28027 from
30 0.5233 0.4998 1.4998 0.75 Texas Instruments Company. The TMS320F28027 is a 32
60 1.0467 0.8658 1.8658 0.93 bit floating point microcontroller devoted for drive
application. The complete system is designed for 42V rms.
90 1.5700 1.0000 2.0000 1.00
120 2.0933 0.8666 1.8666 0.93
150 2.6167 0.5011 1.5011 0.75 4.1. Block scheme of implemented control system:
180 3.1400 0.0016 1.0016 0.50 The Block diagram of V/F drive is shown in the figure 7.
210 3.6633 -0.4984 0.5016 0.25 The AC supply is first rectified to get the DC link voltage.
240 4.1867 -0.8650 0.1350 0.07 In the scalar control mode the algorithm obtains the
270 4.7100 -1.0000 0.0000 0.00 command voltage vector based on the reference frequency.
300 5.2333 -0.8673 0.1327 0.07 The command voltage vector is realized by sine pulse width
330 5.7567 -0.5025 0.4975 0.25 modulation (SPWM). The three phase voltage source
inverter converts the DC link voltage to 3-phase AC using
The digitized sine wave is then compared with the triangular the command signals. The scalar control maintains the V/F
wave to get the PWM signals. These signals are used to ratio constant. The output 3-ph AC voltage is fed to the
switch the power devices which give the desired AC output induction motor which gives the desired motor
having the fundamental frequency.[3] characteristics.

3. F28027 Microcontroller:
The F28027 microcontroller is from the C2000 family from
Texas instruments. The kit has all the hardware and software
features required to build applications using F28027
microprocessor. It is a low cost experimenter board specially
made for motor control applications. It has 32K flash and
6K SARAM on chip memory. The clock frequency is
60MHz with a instruction cycle time of 16.67ns. the
Enhanced PWM makes it easier to generate the PWM
waveforms. The control algorithm is constructed in the Code
composer software and then dumped in the flash memory by
using the JTAG emulation tool which allows direct interface
with the PC for easy programming, debugging and testing. It
requires 5V supply to run the board through USB port. The Fig-7: Block Diagram of V/F Drive Scheme
detailed description of the board is given in the figure
below. 4.2. Experimental setup based on TMS320 F28027:
The Experimental setup of V/F control of induction motor
using Sine wave PWM technique is shown in figure 9. The
whole system is designed for 42 V for experimental
purpose. The 230V, 50 Hz mains AC supply is stepped
down to 42 volts and then it is rectified and filtered to obtain
DC link voltage. The DC voltage is then converted to AC
supply using 3 phase voltage source inverter. The gating
signals for power devices are generated using the F28027
microcontroller. The detailed explanation about the whole
system is given below:

Fig-6:LAUNCHXL-F28027 Board Overview

4. System Overview:
Thissection describes the complete implementation of V/F
control scheme of induction motor. It comprises of three
sections namely, block scheme of implemented control Fig-8: Structure of Experimental setup

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Fig-9: Experimental setup Fig-10: Rectifier Circuit

4.2.1. Rectifier: The rectifier converts the 42V single 4.2.2. Inverter: Inverter circuit is used to convert the Dc
Phase AC supply to DC. Single phase 400V, 25A bridge supply to AC. The gating signals generated from the
rectifier IC is used. The rectified voltage is then filtered microcontroller are fed to non-inverting buffer so as to drive
using capacitor to filter out the ripple voltage. The peak the LED of optical isolator. The optical isolator also serves
value of output secondary voltage from the transformer is the purpose of optical isolation between the control circuit
and the power circuit. The optical isolator used isTLP250.
Vp = 1.414 * Vrms (5) The output of isolator is then given to the MOSFET gate
driver IC IR2111. The output of driver IC is given to the
This voltage will be reduced due to the diode drop and the MOSFET’s which then produces the required AC output.
ripple voltage. The ripple voltage calculations must be done The detailed description of each component is given below.
to reduce the ripple content to a safe value. The current \
through capacitor is given by 1. Hex Buffer SN7407: The SN7407 is a TTL hex
bufferwhich has high-voltage open-collector outputs. This
δv helps to interface with high-level circuits such as MOS
i = c δt (6) logic circuits orfor driving high-current loads such as lamps
or relays. These devices perform the Boolean functionY = A
for a finite time interval the instantaneous slope (δv/δt) must in positive logic. The supply voltage Vcc is 5V and the high
be changed to a constant slope. Then the change in voltage level output voltage is 30V with an output current of 40mA.
is given by The output of buffer IC is given to optical isolator to drive
the LED. The SN7407 comes in 14 pin DIP package IC.
i∆t
∆v = (7)
C 2. Optical Isolator TLP250: The TLP250 consists of a
light emitting diode witha integrated photodetector. The
Where Δv is ripple voltage, i is load current, Δt is ripple TLP250 comes in 8 pin DIP package IC. TLP250 is suitable
interval. As in full wave rectification for each cycle there are for gate driving circuit of IGBT or power MOS FET. But in
two cycles of the rectified voltage. Hence the ripple this circuit it is used for optical isolation between the control
frequency will be twice the supply frequency. But in half circuit and the power circuit.
wave rectification, the ripple frequency is same as the
supply frequency. Thus the ripple interval Δt is 1/100 s for 3. MOSFET Driver IC IR2111: The IR2111(S) is a
full wave rectification and 1/50 s for half wave at 50Hz line high voltage, high speed power MOSFET and IGBT
frequency, and C is capacitance. driver.It has high and low side output channels designed for
half bridge applications. Also the CMOS technology enables
It may be more convenient to relate Δt as frequency instead. the monolithic construction.HVIC (High Voltage IC) is a
Substitute 1/f for Δt in equation (5) high voltage IC which can directly drives gates of power
device using the input signal from the microcontroller.The
i
∆v = (8) bootstrap method is used to drive the high side MOSFET.
f∗c One of the key features of this IC is that internal delay is
provided which prevents short circuit of the high and low
Now f represents ripple frequency (100Hz for full wave
side devices during transition. The floating channel can be
rectification and 50Hz for half wave rectification). Thus
used to drive an N-channel power MOSFET or IGBT in the
using equation (6) the voltage ripple can be calculated as
high side configuration which operates up to 600 volts. The
3A typical connection diagram is shown below.
∆v = = 5.88V
100Hz ∗ 5100μf

Figure 10 shows the complete rectifier circuit.

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Fig-10:Typical connection diagram.

The Diode D and the Capacitor C in the above figure forms

the bootstrap circuit. This circuit is used to generate the
floating voltage required for driving the high side circuitry.
(a)
4. MOSFET IRFP250: The IRFP250 isa N-channel
MOSFET with Drain-source Voltage VDSS is 200V and
output drain current ID is 33A at 𝑇𝑐 = 25℃. The maximum
gate to source voltage VGS is ±20. Because of the high
current and high switching speed it is suitable for the DC to
AC converters.

(b)
Fig-12 (a) PWM voltage waveforms at f=1Hz. (b) PWM
Fig-11: Inverter Circuit voltage waveforms at f=50Hz

The three phase output AC voltage from the inverter circuit

is used to drive the induction motor. The complete circuit of
inverter is shown in the figure 11.

5. Experimental Results
The Experimental results are explained in this sectionto
show the effectiveness of the discussed hardware circuit.
Figure 12 and figure 13 show the PWM waveforms obtained
for the sine wave PWM technique and voltage waveforms at
1Hz and 50Hz respectively. A motor controlled by digital
power converter is used in this setup. The TMS320F28027
launchpad is used to run the motor control algorithm. The
converter is designed to interface with the TMS320F28027
Launchpad using opto-isolator. The motor is 4-pole 3-phase
AC induction motor rated at 50Hz, 42V and 0.25Hp. It can
be seen that little or no harmonics are present at no load
condition in the voltage waveforms but ripple content upto
(a)
5% is noticed in the voltage waveform on load.

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[6]. Bilal Akin and NishantGarg, "Scalar (V/f) Control of 3-

Phase Induction Motors", Application Report-
SPRABQ8, July 2013.
[7]. Optimizing Digital Motor Control (DMC) Libraries
(SPRAAK2).

(b)
Fig-13 (a) output voltage waveforms at f= 1Hz. (b) output
voltage waveforms at f=50Hz

6. CONCLUSION
Induction motor drives are most widely used in the
industrial applications. Various speed controlled methods
have been developed. Out of which the V/HZ is the most
common and easy to implement. The work carried out in
this paper mainly focused to develop a V/Hz controlled
induction motor drive using the sine wave PWM technique.
The control is achieved with the microcontroller
TMS320F28027 of the C2000 family. Because of the safety
issues the overall work is done for 42V supply voltage. A
0.25 Hp, 42V, 3-phase, 50 Hz induction motor based V/Hz
drive circuit has been developed. The ramp control is used
to start the motor with some acceleration time which allows
limiting the starting current to a safe value. An
approximately 5sec acceleration time is set for this purpose.
The C2000 launch pad made it simpler to generate the
control signals for the power MOSFETS. It has been
observed that the induction motor operates smoothly and the
circuit woks properly. The respective waveforms are also
shown. As this model has been developed for 42V, it can be
made for the rated 440V, 3-phase as required for the
industrial applications.

REFERENCES
[1]. B. K. Bose, "Modern Power Electronics and AC
Drives", Englewood Cliffs, NJ: Prentice-Hall, 2001
[2]. M. H. Rashid, “Power Electronics Handbook”,
Academic Press, 2001
[3]. Zhenyu Yu and David Figoli, "AC Induction Motor
Control Using Constant V/Hz Principle and Space
Vector PWM Technique with TMS320C240",
APPLICATION REPORT SPRA284A, Digital Signal
Processing Solutions, April 1998.
[4]. Charles Tsai, "Sine Wave Generation Using PWM With
Hercules N2HETand HTU", Application Report-
SPNA217, May 2015.
[5]. Texas Instruments, "Piccolo Microcontrollers",
SPRS523I –November 2008–Revised July 2012.

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