1

Speed Control of An Induction Motor Fed by an

Inverter Using dSPACE Controller
Abstract—This paper presents the design and implementation of inverter system for driving the three phase induction motor using
dspace DS1104 controller with the controlling objective sinusoidal pulse width modulation (spwm) and space vector pulse width
modulation (svpwm) technique. AC motor drives most commonly used for variable speed applications. This Paper will be commenced
by a basic understanding of spwm and svpwm inverters, components used in its design and study the mathematical equations of the
induction motor. The performance of SPWM and SVPWM based induction motor in open loop is presented with simulation and hard
were implementation of the inverter which is fed to a three phase induction motor driven by DSPACE DS1104 is implemented. In this
paper both Sinusoidal PWM and SVPWM feeding a induction motor are considered. These techniques are studied through simulation
using MATLAB software and Hard ware the performance and The THD values of both the techniques are compared

Index Terms—Pulse width modulation (PWM), Space Vector Pulse Width Modulation (SVPWM), Digital Signal Processor for Applied
and control Engineering (DSPACE)

1 I NTRODUCTION 2.1 SPWM Technique

In spwm technique, a triangle wave is compared with three
A C motor drives are commonly used over DC motor
drives because of their more advantages. Induction motor
is the most commonly used AC motor drive for various
phase sinusoidal waveforms for generation of gating pulses
which in turn is used to control the inverter. The pwm
industrial and domestic applications. Generally Pulse Width techniques and SPWM have been mainly used for operation is
Modulation (PWM) technique is used for driving a motor based on the inverter of the THD values of the output voltages
drive. In this paper design of variable speed induction motor and current.
drive using Space Vector Pulse Width Modulation (SVPWM)
and SPWM inverter. PWM signals are generated using a
DSPACE Controller.

1.1 Open loop Block diagram

Block diagram of three phase induction motor drive fed by an
inverter driving in open loop is given below.

THREE PHASE
THREE PHASE
DC SOURCE INDUCTION
INVERTER
MOTOR

Fig. 2. Sinusoidal pulse width modulation pulses

PULSE The duty cycle of the inverter switches is called the ampli-
GENERATION
tude modulation ratio ma.
SPWM/SVPWM

ma = Vref /Vcarrier

Fig. 1. Open Loop Block Diagram 2.2 Space vector pulse width modulation
Space vector pulse width modulation (SVPWM) technique is
2 I NVERTER used to apply to a three phase induction motor. The main
objective of this technique is to use a dc voltage source and
Depending on the supply inverters are classified in to two by means of six IGBT switches produce a three phase sine
types. They are waveform in which frequency and amplitude is adjustable. To
• Single-phase Inverter implement space vector pulse width modulation, the voltages
• Three-phase Inverter equations in abc reference frame can be transformed in to the
 2

stationary d-q reference frame that consists of horizontal and

vertical axis = V an − 1/2V bn − 1/2V cn

q axis Vq = 0 + V bn cos 30 − Vcn cos 30

b 3
√ √
3
=0− V bn − V cn
2 2

a
 
   −1 −1  V an
Vd 2 0 √2 √2  V bn 
=
d axis Vq 3 0 23 3
2 V cn
p
|V ref | = V d2 + V q 2
c
Vq
α = tan−1 ( ) = ωt = 2πf t
Fig. 3. Transformation of three axis to two axis reference Vd
frame
W heref = f undamentalf requency
In space vector pulse width modulation six non-zero vectors
(V1, V2, V3, V4, V5, V6) and two zero vectors (V0, V7)
are formed. These are called the space vectors. The objective
of space vector pulse width modulation technique is to ap-
proximate the reference voltage vector Vref using the eight
switching patterns.

Fig. 5. Transformation of three axis to two axis reference

frame

Step 2: Determine time duration of T1, T2, T0 From figure5,

the switching time duration can be calculated as follows:
Fig. 4. Transformation of three axis to two axis reference
Switching time duration at Sector 1
frame

Therefore, space vector pulse width modulation can be Z Tz Z T1 Z T1 +T2 Z Tz

implemented by the following steps: Vref = V1 dt + V1 dt + V0 dt
0 0 T1 T1 +T2
1) Determine Vd , Vq , Vref , and angle α
2) Determine time duration T1, T2, T0 Tz V ref = T1 V1 + T2 V2
3) Determine the switching time of each transistor (S1 to
S6)
     
Step 1: Determine the Vd , Vq , Vref , and angle α From figure cosα 2 1 2 cos(π/3)
5, the Vd, Vq, Vref, and angle () can be determined as follows: Tz |Vref | = T1 Vdc + T2 Vdc
sinα 3 0 3 sin(π/3)

Vref = Van − V bn cos 60 − Vcn cos 60 (where, 0 ≤ α ≤ 60)

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3 I NDUCTION MOTOR
sin π3 − α
T1 = Tz .a. An induction motor is an Ac electric motor in which electric
sin π3
current in the rotor needed to produce torque is obtained by a
sin α electro magnetic induction(EMI)An Induction motor works on
T2 = Tz .a. the principle of Electro Magnetic Induction (EMI). Stator and
sin π3
rotor are the two parts of induction motor which are separated
by an air gap. When a three phase supply is given to an
T0 = Tz − (T1 + T2 ) induction motor, it produces a constant amplitude and rotating
magnetic field (RMF). This field cuts the rotor conductor
1 |Vref | and induces an Electro Magnetic Force (emf) which drives
(where, Tz = and a = 2 )
fz current in short circuited rotor conductor.an induction motor
3 Vdc
√ can therefore be made without electrical connections to the
3.Tz .|Vref | π n−1 rotor.
T1 = (sin ( − α + π))
Vdc 3 3
√ 3.1 Dynamic Modelling of Induction Motor
3.Tz .|Vref | nπ nπ Dynamic model of an induction motor can be obtained from
= (sin cos α − cos sin α)
Vdc 3 3 two-axis theory of electrical machines. The following assump-
√ tions are made for dynamic model of induction motor.
3.Tz .|Vref | n−1
T2 = (sin α − π)) 1) Space harmonics are negligible.
Vdc 3 2) The slotting in stator and rotor produces negligible
variations in respective inductances.
√
3.Tz .|Vref | n−1 n−1 3) Mutual Inductances are equal.
= (− cos α sin π + sin α cos π) 4) Voltage and Current harmonics are neglected.
Vdc 3 3
5) Saturation, hysteresis and eddy current losses are negli-
gible.
T0 = Tz − (T1 + T2 )
Equations corresponding to the two axis representation of
Induction Machine are reduced through KVL as follows
where, n =1 to 6 (i.e. sector 1 to 6)
Vqs = Rq iqs +P (Lqq iqs )+P (Lqd ids )+P (Lqα id )+P (Lqβ iβ )
Step 3: Determine the switching time of each transistor (S1 (1)
to S6) Vds = P (Ldq iqs )+Rd ids +P (Ldd ids )+P (Ldd id )+P (Ldβ iβ )
(2)
Vα = P (Lαq iqs ) + P (Lαd ids ) + P (Lαα iα ) + P (Lαβ iβ ) (3)
Sector Lower Switches Upper Switches
Vβ = P (Lpq iqs )+P (Lpq ids )+P (Lβα iα )+Rβ iβ +P (Lββ iβ )
S4=T0/2 S1=T1+T2+T0/2 (4)
1 S6=T1+T0/2 S3=T2+T0/2
S2=T1+T2+T0/2 S5=T0/2 Lαα = Lββ = Lrr
S4=T2+T0/2 S1=T1+T0/2 Ldd = Lqq = Lss
2 S6=T0/2 S3=T1+T2+T0/2 Lαβ = Lβα = 0
S2=T1+T0/2 S5=T0/2
S4=T1+T2+T0/2 S1=T0/2 Ldq = Lqd = 0
2 S6=T0/2 S3=T1+T2+T0/2 Lαd = Ldα = Lsr cos θr
S2=T1+T0/2 S5=T2+T0/2 Lβd = Ldβ = Lsr sin θr
S4=T1+T2+T0/2 S1=T0/2
Lαq = Lqα = Lsr sin θr
4 S6=T2+T0/2 S3=T1+T0/2
S2=T0/2 S5=T1+T2+T0/2 Lβq = Lqβ = −Lsr cos θr
S4=T1+T0/2 S1=T2+T0/2
5 S6=T1+T2+T0/2 S3=T0/2 With respect to the fictitious rotor
S2=T0/2 S5=T1+T2+T0/2 iα = idrr cos(θr ) + iqrr sin θr
S4=T0/2 S1=T1+T2+T0/2
6 S6=T1+T2+T0/2 S3=T0/2 iβ = idrr sin(θr ) + iqrr cos θr
S2=T2+T0/2 S5=T1+T0/2 with respect to the arbitrary reference frame
ids = icds cos(θc ) + icqs sin θr
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iqs = icds cos(θc ) + icqs sin θr

Matrix Equation of the Induction Motor describing the voltage analysis

c c
Vqs Rs +Ls P −ωc Ls Lm P ωc Ls Iqs
c c
Vqr ωc Ls Rs +Ls P ωc Ls Lm P Iqr
c = Lm P −(ωc −ωr )Lm Rs +Ls P −(ωc −ωr )Lm c
Vds
c −(ωc −ωr )Lm Lm P −(ωc −ωr )Lm Rs +Ls P
Ids
c
Fig. 7. gate pulses
Vdr Idr

TorqueV = [R]i + [L]P i + [G]ωc i + [F ]ωc i 4.2 open loop three phase SVPWM Inverter:

I t .V = it [R] = it [L]P i + it [G]ωr i + it [F ]ωc i

it [L]P iRate of change of stored magnet energy
it [G]ωr iAir gap power = Mech Rot speed x Air gap
ωn Te = Pa = it [G]iωr
P
Te = it [G]i
2

0 0 0 0
 Fig. 8. simulink model of dspace
0 0 0 0 
[G]i = it 


 0 −lm 0 −lm 
lm 0 lm 0

I t [G]i = Lm [icqs icdr − icds icqr ]

3P
Te = Lm (icqs icdr − icds icqr )
22
3P 1 c c c c
Te = (ψ i − ψds iqr )
2 2 ωb qs dr
Through the above analysis speed, torque of an Induction
Motor can be controlled by voltage current parameters.

4 S IMULATION
Matlab is an interactive software program for numerical com-
putations and graphics. In this paper three phase SPWM and
SVPWM inverters are explained in open loop.

4.1 Open loop three phase SPWM Inverter: Fig. 9. simulation diagram of svpwm

Fig. 10. output phase voltage

Fig. 6. simulink model of dspace Fig. 11. output line voltage

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S.NO DC Input Voltage (V) THD (spwm) THD (svpwm) AC Output Voltage (V) Speed (rpm)
1 330 0.45 0.45 164.6 1128
2 330 0.48 0.45 164.0 1189
3 330 0.47 0.47 163.5 1250
4 330 0.47 0.47 162.1 1309
5 330 0.47 0.47 162.0 1410
6 330 0.47 0.47 161.9 1427

6 H ARDWARE R ESULTS
Fig. 12. output phase currents

Fig. 13. response of speed

5 DSPACE DS1104 C ONTROLLER

The hardware unit comprises of the DSPACE unit installed to a
desktop where in the MATLAB files can be interfaced through
the DSPACE package software. Single phase, Three phase
Inverter is been designed with an isolation circuit to protect the
controller board from the sudden voltage fluctuations feeding
back to the controller board. Pulses from the controller board
reaches the switches through the isolation circuit through opto-
couplers EL817, pulses passes through the EL817 by light
manner. Inverter feeds the induction motor. And it is well
suited for drive control. DSPACE unit operates for 250MHz
and the pulse width generated is of 2k frequency. DSPACE unit
comprises of 8 analog and 8 digital pins. 20 input and output
signals can be interchanged randomly. Input to the Inverter
unit is 440volts where the output of the Inverter received is
400 Volts 2 A and it is a standard board that can be plugged
into a PCI slot to PC.it is specially designed for development
of high speed multivariable digital contollers and real time
simulations in various field .and it is a complete real time
control system.
Fig. 15. Hardware unit of three phase inverter driving IM
using dspace
7 C ONCLUSION
In this paper Induction motor speed drive is designed using
DSPACE DS1104 Controller. Speed, output voltage, current
and THD of induction motor at different duty cycles are
obtained. The pulse width modulation (PWM) technique used
here is space vector pulse width modulation (SVPWM)and
sinusoidal pulse width modulation ( SPWM)Techniques. Sim-
ulation of three phase inverter fed induction motor in open loop
operation is explained and its respective output waveforms are
shown.
8 F UTURE S COPE
This paper can be further extended and improvised as follows.
1) Closed loop three phase inverter can be designed where
it can adjust its speed depending on the load.
2) The control technique can be further implemented to
multilevel configuration.
3) In order to ensure the same power quality at all levels of
consumer usage, the dedicated low cost integrated chips
for these kinds of applications could be developed and
manufactured in large scale. This makes the technology
is easily accessible to the common man.

R EFERENCES
[1] H. Kopka and P. W. Daly, A Guide to LATEX, 3rd ed. Harlow, England:
Addison-Wesley, 1999.
[2] DSPACE direct torque control Implementation for induction motor by
A.Abbou , Y Sayouti, H Mahmoudi M. Akherraz in 18th Mediterranean
Fig. 14. dspace controller board Conferenceon Control Automation.
 6

[3] M. Depenbrock, Pulse width modulation control of a three phase inverter

with non-sinusoidal phase voltages, in Proc. IEEE-IAS Int. Semiconduc-
tor Power Conversion Conference., Orlaando, FL, (1975),pp.389-398.
[4] Modern Power Electronics and AC Drives, by Bimal K. Bose. Prentice
Hall Publishers.
[5] Power Electronics by Dr. P.S. Bimbhra. Khanna Publishers, New Delhi.
[6] DSPACE CP1104 installer guide and model executions. DS1104 RD
Controller Board, ”Hardware Installation and Configuration”, CRC Press,
Release 4.1 - March (2004).
[7] L. Vinod Kumar and Syed Sarfaraz Nawaz, Design and Implementation
of Inverter System to Drive Induction Motor using DSPACE Interna-
tional Journal for Research in Applied Science Engineering Technology
(IJRASET) Volume 4 Issue XI, November (2016), ISSN: 2321-9653.