IET Power Electronics

Research Article

Induction motor drive for PV water pumping ISSN 1755-4535

Received on 20th November 2017
Revised 26th March 2018
with reduced sensors Accepted on 13th May 2018
E-First on 23rd July 2018
doi: 10.1049/iet-pel.2017.0856
www.ietdl.org

Bhim Singh1, Saurabh Shukla1

1Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi 110 016, India
E-mail: saurabh.shukla.ee@gmail.com

Abstract: This study presents the reduced sensors based standalone solar photovoltaic (PV) energised water pumping. The
system is configured to reduce both cost and complexity with simultaneous assurance of optimum power utilisation of PV array.
The proposed system consists of an induction motor-operated water pump, controlled by modified direct torque control. The PV
array is connected to the DC link through a DC–DC boost converter to provide maximum power point tracking (MPPT) control
and DC-link voltage is maintained by a three-phase voltage-source inverter. The estimation of motor speed eliminates the use of
tacho generator/encoder and makes the system cheaper and robust. Moreover, an attempt is made to reduce the number of
current sensors and voltage sensors in the system. The proposed system constitutes only one current sensor and only one
voltage sensor used for MPPT as well as for the phase voltage estimation and for the phase currents’ reconstruction.
Parameters adaptation makes the system stable and insensitive toward parameters variation. Both simulation and experimental
results on the developed prototype in the laboratory validate the suitability of proposed system.

1 Introduction switching table and not on current controller loop [14–16].

Flourishing industries and population explosion are the main
causes of increasing demand of electrical energy and depletion of
conventional sources. The consequences are quite evident in the
form of abrupt climate change and global warming. The ultimate
remedy of these problems is sought to be renewable power
generation [1–3]. Solar energy is the best available renewable
source of energy especially for driving motors for water pumping
[4, 5].
Photovoltaic (PV) energy generation is extensively being used
in electric power applications due to rapid growth in semiconductor
technology. The basic building block of PVpower generation
system is the PV cell. PV cells are grouped to form PV arrays.
Modelling of PV array in single diode model is explained in [6]
and two-diode model is reported in [7], where one more diode is
used to represent the recombination of carriers.
For the maximum power point tracking (MPPT) control, a DC–
DC converter is used, whereas the DC-link voltage is regulated by
three-phase voltage-source inverter (VSI) [8]. This solution enables
to maintain the DC-link voltage at a constant value with an
improved dynamic performance regardless of insolation level
unlike the single-stage PV array fed system as discussed in [9].
Two-stage topology needs the added sensing elements for MPPT
control [10].
Plenty of research is available for different motor-drive systems
and their applicability in the solar water pump. However, most of
them use sensorless open-loop scalar control for this application
[11, 12]. Moreover, a DC–DC converter is used in two-stage PV
system with fixed DC-link voltage to increase the robustness,
reliability and stability of the system. Therefore, a technique is
proposed for two-stage system with MPP control based on output
current and duty ratio, bounded between a fixed upper and lower
threshold values. Moreover, the DC-link current is also used to
reconstruct three-phase motor currents, which reduces the sensor
cost, size and space requirement of the system [13].
Direct torque control (DTC), as the name suggests, has
simultaneous flux and torque control. Fundamentally, DTC
requires only stator resistance and does not depend on other
machine parameters. Therefore, it is insensitive to parameters’
variations as compared with conventional vector control. It
provides fast torque response as the switching depends on
However, this switching table approach has some demerits. To
limit the flux error and torque error in the desired error band, the
sampling frequency has to be high, which makes the filter design
very tedious. Moreover, the torque ripple is significantly high as
the zero-voltage vector is not invoked in the switching table.
Therefore, space vector modulation (SVM) technique is used with
DTC of induction motor drive (IMD) to implement constant
switching frequency for the inverter and different levels are
generated by cascading the two-level inverters in [17, 18].
However, here a constant switching frequency is used by
modifying the conventional SVM technique incorporating the
averaging technique in double-sided modulation technique.
Therefore, no extra vector is inserted in the error band of each
sector as explained in [19] or using a sinusoidal oscillator as an
observer for proper current reconstruction as explained in [20].
The modified SVM technique is necessary for the proper
sensing of DC-link current especially when the reference voltage
vector (Vref) is in the vicinity of any one of the active vectors in
any sector. The minimum time required for the reliable DC-link
current sensing must not be less than the sum of the inverter dead
time (Tb), the reverse recovery time (Tr) of the diode and the
sensor's analogue–digital acquisition time (TA/D). Therefore, active
voltage vectors in each sector are slightly modified to ensure the
reliable detection of phase currents.
Therefore, the proposed system is designed, modelled and
implemented to achieve the desired performance of the water
pump. An emphasis is given toward making the system robust and
economical. The two-stage PV array scheme makes the water
pumping system stable and less prone to insolation variation. The
speed sensorless scheme makes the proposed system reliable for
submersible pumps. Moreover, the use of one voltage sensor and
one current sensor makes it economically viable.
2 System design
Fig. 1a demonstrates the block diagram of a conventional system
constituting the motor-pump system energised by PV array with
modified SVM technique for DTC using two voltage sensors and
four current sensors. Fig. 1b shows the block diagram of a
proposed system for the same system; however, with only one
voltage sensor and one current sensor.

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 where fs is the switching frequency and ΔI1 is the ripple allowed in
the current.
The DC-link capacitor is estimated by using fundamental
frequency term as

ωrated = 2 × π × f rated = 2 × π × 50 = 314 rad/s (4)

6aV pIt 6 × 1.2 × 132.8 × 6.4 × .005

Cdc = 2 2 =
V dc − V dc 1 4002 − 3602
(5)
= 1006.48 μF

where Vdc is the DC-link voltage, Vdc1 is the minimum voltage, t is

the time for attainment of the voltage to minimum allowable DC-
link voltage and I is the phase current of the motor and phase
voltage (Vp) = 132.9 V.
Therefore, Cdc = 1000 µF is selected.

3 Phase current reconstruction

The voltage and current components in a stationary frame of
reference (α–β) are obtained by the DC-link voltage (Vdc) and
three-phase currents as

V dc V dc
vα = × 2Sa − Sb − Sc vβ = × 3 Sb − Sc (6)
3 3

where switching logic (Sa, Sb and Sc) is either 0 or 1 of VSI

1
iα = 2i − i − i iβ = 3 ibr − icr (7)
3 ar br cr

Fig. 1  Block diagram where iar, ibr and icr are balanced three-phase currents
(a) Conventional system, (b) Proposed system, (c) Scheme of the proposed system reconstructed from DC-link current (Idc).
The stationary components of flux and their values are given as
The schematic representation of the proposed system is shown
in Fig. 1c. The details of the design of various parts of the proposed
system are given here. ψα = ∫ vα − Rs × iα dt ψβ = ∫ vβ − Rs × iβ dt (8)

2.1 Solar PV array design 2

ψs = ψα 2 + ψ β (9)
For the appropriate design of solar PV array, 11 modules are
connected in parallel and 22 modules are connected in series to 3.1 Phase currents reconstruction
form PV array of 2.5 kW in order to feed an IMD of 2.2 kW. The
slightly overrated PV array is selected to meet the desired The reliable and economical solution of current sensing is the use
requirement and losses incurred in the system. The detailed of only one current sensor placed on DC bus. The reconstruction of
specifications of PV array are given in the Appendix. phase current is achieved by modified SVM technique in order to
ensure proper sampling even at the edge of sectors. It is known that
2.2 DC-link voltage selection in each switching period, DC-link current contains the information
of any two-phase currents. The third current can be constructed
The DC-link voltage is selected higher than the peak amplitude of from the relation that the sum of all three line currents is equal to
phase voltage of the motor for proper current flow [21] zero. Different approaches can be adopted to obtain the current
information in these error boundaries. Filters can serve the purpose,
V dc > 2 × V L − L = 2 × 230 = 325 V (1) but it does not eliminate the problem completely. Other approach
includes the use of an observer. However, in this paper, an attempt
Therefore, the selected value of PV voltage is 325 V, which is is made to use a modified SVM technique, which serves both
boosted to the value of open-circuit voltage (Voc), i.e. 400 V. purposes, namely switching of VSI for speed control and current
estimation. In addition, the current sampling at the centre of
2.3 Design of boost converter parameters double-sided modulation provides an easy way of measuring the
average value.
The duty ratio (D) for the boost converter is calculated as Therefore, the proposed method modifies the vector sequence
for all the sectors in the following way. Fig. 2 shows the vector
V 0 − V in 325 sequence for sector 1
D= =1− = 0.18 (2)
V0 400
Sector I: 000 → 100 → 111 → 111 → 100 → 000 to
Hence, the value of a boost converter inductor is calculated as 000 → 100 → 101 → 111 → 111 → 110 → 100 → 000
follows: Sector II: 000 → 110 → 111 → 111 → 110 → 000 to
000 → 010 → 011 → 111 → 111 → 110 → 010 → 000
V mpp × D 325 × 0.18 Sector III: 000 → 010 → 111 → 111 → 010 → 000 to
L1 = = ≃ 3.65 mH (3)
ΔI1 × f s 0.25 × 6.4 × 10, 000 000 → 010 → 110 → 111 → 111 → 011 → 010 → 000

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Sector IV: 000 → 011 → 111 → 111 → 011 → 000 to
000 → 001 → 101 → 111 → 111 → 011 → 001 → 000
Sector V: 000 → 001 → 111 → 111 → 001 → 000 to
000 → 001 → 101 → 111 → 111 → 011 → 001 → 000
Sector VI: 000 → 101 → 111 → 111 → 101 → 000 to
000 → 100 → 110 → 111 → 111 → 101 → 100 → 000

This method reduces the noise sampling and the average value
of the phase current is estimated. The sampled current in the centre
of the active vector at one switching time interval is given as

Idc(ts1) + Idc(ts4)
I H(tc) = (10)
2

Idc(ts2) + Idc(ts3)
I L(tc) = − (11) Fig. 2  Current waveform reconstruction from averaging technique
2
through modified SVM method
where IH(tc) and IL(tc) are the instantaneous reconstructed currents
of two phases calculated at the time tc in the centre of double-sided
modulation.

3.2 Stator resistance (Rs) adaptation

Fig. 3  Closed-loop system of Rs estimation
The state-space representation of the machine in the stationary
reference frame with stator current and rotor flux is given as
T
where i¯s = iα iβ and Δɛ are d–q axes stator current error
Ẋ = AX + BU (12) equations.
Considering only the d-axis component, the final equation
Y = CX (13) becomes

where [A], [B] and [C] are given in the Appendix. Δεd = GR1(s)i¯sΔRs (19)
The state error equations after linearising (12) and (13) are
given as The final closed-loop transfer function is given as

ΔẊ = AΔX + BΔU + ΔAX0 (14) KI

R̄s GR1(s)i¯s KP +
s
ΔY = CΔX (15) = (20)
Rs KI
1 + GR1(s)i¯s KP +
s
T
where X0 = iα0 iβ0 ψ αr0 ψ βr0 and
ΔU = ΔV α ΔV β 0 0T Therefore, the transfer function of the stator resistance estimator
for the single-input–single-output control system is given in the
−1/ ρLs 0 0 0 equation below: (see (21)) where
2
Lm Rs Lm
0 −1/ ρLs 0 0 a= + , b= , h.
ΔA = ΔRs ρLsLrτr ρLs ρLsLrτr
−Lr′/Lm 0 0 0 1 Lm Lmωm
= , i = ωm, j = , e=
0 −Lr′/Lm 0 0 τr τr ρLsLr
The stability of the estimated parameter is proved by the
By taking Laplace transform of (14) and (15), the final equation is Nyquist plot.
given as
−1
3.3 Model Reference Adaptive System (MRAS)-based rotor-
ΔY = C sI − A X0ΔA + BΔU (16) time constant (τr) adaptation scheme

The stator resistance equation from the machine dynamic equation In a similar manner, τr can be adapted. As per the previous
is given as discussion, the error matrix [W] is represented as (see (22)) .

R̄s = Kp iαeiα − iβeiβ + KI ∫ iαeiα − iβeiβ dt (17) W Te = eTW =

1 1
−
τr τr
(23)
T T K M iα + K N ψ αr eiα + K M iβ + K N ψ βr eiβ
where eiα eiβ = iα − iα iβ − iβ .
Fig. 3 represents the block diagram of Rs estimation. It is clear + Lmiα − ψ αr eψαr + Lmiβ − ψ βr eψ βr
from this figure that 2
where K M = −Lm / ρLsLr and K N = −Lm / ρLsLr .
Δε = GR (s)i¯ sΔRs (18)

S3 + S2 2h + a + S h2 + 2ah − i2 − b j + a h2 − i2 − j ei + hb
GR1 =
S + 2S3 a + h + S2 a + h 2 + 2ah − i2 − 2b j
4
(21)
2 2 2 2 2 2
+S 2 a + h ah − b j − 2i e j + ai + a h − i + j b − e − 2a j ei + hb
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−Lm 1 1 Lm 1 1
− 0 − 0
ρLsLr′ τr τr ρLsLr′ τr τr
2 iα
−Lm 1 1 Lm 1 1
0 − 0 − iβ
ρLsLr′ τr τr ρLsLr′ τr τr
ΔAX = W = (22)
1 1 1 1 ψ αr
Lm − 0 − − 0
τr τr τr τr ψ βr
1 1 1 1
0 Lm − 0 −
τr τr τr τr

The hyperstability of the system is studied by analysing the
location of the poles of forwarding path matrix Moreover, the
[F(jω) + FT(–jω)] is strictly positive Hermitian.
Therefore, the system has forward path matrix with strictly
positive real. Now, to check the stability of non-linear feedback
path matrix, Popov's inequality criterion has to be satisfied.
By Popov's inequality
advantage of constant DC-link voltage [21]. This method is based
on the continuous adjustment of duty cycle and monitoring the DC-
link current (Idc). The present value of DC-link current Idc(n) is
compared with past value Idc(n−1). Similarly, the present duty
cycle D (n) is compared with the previous value D (n−1) and the
difference updates the value of D for the next cycle.
The difference signal updates a value in such a way that:
If {sign (ΔIdc)} = {sign (ΔD)}

∫
t1
d f n2 0 Update D = D + δ and flag X = 1
f n(t) f n(t)dt ≥ − (24)
0
dt 2 Else update D−δ and flag X = 0
where δ is the step size. The value of the flag (X) is set in order
Popov's inequality is satisfied and the solution can be derived as to remember the last perturbation direction. This is used when ΔIdc 
= 0. In this case, the duty ratio (D) is perturbed in the same

∫
t1 direction as of the last iteration and the current value remains the
1 1 1 2
a02
Re eTW dt ≥ − − ≥ − (25) same. The duty ratio (D) is limited between upper and lower limits
0
2 τr τr 2
(Du and Dl, respectively). Each time the value of D hits the limit,
Therefore, the following inequality satisfies the Popov's theorem. the limiting value is updated.
The adaptive rotor-time constant is identified as The error signal Vdce(k) and output of voltage proportional–
integral (PI) controller as the resultant is reference speed at the kth
t1 sampling instant are as

τrini
1
= ∫ dtd τ1 dτ + τ1 (0)
r r
∗
V dce(k) = V dc − V dc (29)
0 (26)
KI ω1(k) = ω1(k − 1) + K pdc V dce(k) − V dce(k − 1) + KidcV dce(k) (30)
= Kp + i e −i ψ L
S α ψαr β βr m
The other part of the reference speed is obtained from the affinity
3.4 Method of speed estimation law of the pump as
The speed estimation involves estimation of motor fluxes in 1/3
stationary rotor reference frame from DC-bus voltage and ω2 = Ppv /K1 rad/s (31)
switching signals. The equations involved in estimation are as
follows. where K1 is the proportionality constant.
The slip speed (ωslip) and synchronous speed (ωsyn) are The reference speed is estimated as
estimated as
ωref = ω1 + ω2 (32)
2 2 Lm
ωslip = ψ αriβ − ψ βriα / ψ αr + ψ βr × and
τr 4.2 Electromagnetic torque equation
(27)
d d 2 2 The electromagnetic torque is estimated through the stationary flux
ωsyn = ψ αr ψ − ψ βr ψ αr / ψ αr + ψ βr
dt βr dt vectors as

where ψαr and ψβr are rotor fluxes in stationary reference frame 3 P
Te = × × iβψ αr − iαψ βr (33)
calculated in [21]. Rs is the  estimated stator resistance, 2 2
2
ρ = 1 − Lm /LrLs Lr is the rotor inductance, Rr is the rotor
resistance referred to the stator. 4.3 Speed control of IMD
The motor speed is given as As explained earlier, the exciting component and torque producing
component are controlled separately in DTC.
ωm = ωsyn − ωslip (28) The speed error is used to estimate reference torque [Te(k)] as

4 System control ωerror = ωref − ωm (34)

The system control is classified into two parts: (i) MPPT control
for the PV array and (ii) the motor speed control achieved by DTC
of IM drive with SVM switching scheme. The details of the control
mechanism are described here.
4.1 MPPT control algorithm
Fig. 4a presents the flowchart of MPPT algorithm. This MPPT
method is simple and cost-effective. Moreover, it takes the
T ref (k) = T ref (k − 1) + Kpω ωerror(k) − ωerror(k − 1) + Kiωωerror(k) (35)
As shown in Fig. 4b, the reference torque (Tref) is compared with
estimated torque (Te). The error signal is passed through a torque
PI controller, which ultimately gives reference voltage quantity
(Vms*). Similarly, Fig. 4c shows the flux error signal, which is
passed through a PI controller, which generates a voltage as (Vns*)
given here

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 ∗
V ms ∗
(k ) = V ms(k − 1) + KpT T er(k ) − T er(k − 1) + K iTT er(k ) (36) 1
VR = T u vs(100) + T v vs(110) (38)
T sw
∗ ∗
V ns(k) = V ns(k − 1) + Kpψ ψ se(k) − ψ se(k − 1) + Kiψ ψ se(k) (37)
2 2
VR = V α∗ + V β∗ (39)
Therefore, the stationary reference quantities thus obtained are
used in modified SVM technique. θ = tan−1 V β∗ /V α∗ (40)
Fig. 4d represents the space vector technique and hexagon
formation with the reference voltage vector (VR) moving in the where Tu and Tv are ‘on’ time for [vs(100)] and [vs(110)],
sectors. respectively, in sector 1 (Q1). The remaining time (T0) is used by
The VR is the average voltage vector and calculated at a
zero-voltage vectors [vs(000)] and [vs(111)]
particular instant as
T 0 = T sw − T u − T v (41)

Tu and Tv are calculated as

3 VR 1
Tu = cos θ − sin θ T sw (42)
2 V dc 3

1 VR
Tv = 3 sin θ T sw (43)
2 V dc

where Vdc is the DC-link voltage, which is constant for a given

insolation level.
Therefore, in sector 1 (Q1), Tu and Tv and T0 determine the
turn-on time for S1 and S3 and S5 with voltage (Vdc/2) and lower
switch of leg 3 is on with voltage (–Vdc/2) across it. Similarly, this
sequence is repeated for other sectors and pulse-width modulation
voltage output is obtained.

5 Simulation results
The proposed topology is modelled and simulated in MATLAB/
Simulink with sim-power system toolbox and the results are plotted
for different operating conditions, namely starting, steady state and
dynamics at the varying insolation. The performance of the drive is
also validated through test results.

5.1 Performance of the proposed system at starting and

steady-state condition
The detailed analysis of the drive performance is given here. Figs.
5a and b present the starting performance of the drive. The solar
insolation is fixed at 1000 W/m2 and the MPPT tracking is
observed soon after the system is started. The performance indices,
namely DC-link voltage (Vdc), MPP voltage (Vpv), current at MPP
(Ipv) and thus MPP power (Ppv), are found to be satisfactory for
rated insolation (S) of 1000 W/m2. The success of the proposed
system lies in capability how fast the drive acts to the changing
load. The IMD achieves its estimated rated speed (ωm) quickly
corresponding to reference speed (ωref). The corresponding rated
torque (Te) is attained, which is required for the pump to deliver
the water (Tp). The motor phase currents are sinusoidal in nature
with initial amplitude 15–25% more than the rated peak amplitude
of the current.

5.2 Dynamic performance of the system

Fig. 4  Control of the system
(a) Modified perturb and observe control algorithm, (b) Torque controller, (c) Flux
controller, (d) Space vector hexagon with reference vector VR in sector 1 (Q1)
Figs. 6a and b show the dynamic performance of the proposed
system. Fig. 6a shows the changes in PV array indices as the
insolation is decreased. The DC-link voltage (Vdc) is maintained at
the rated value of 400 V. However, the PV voltage (Vpv) as well as
the PV current (Ipv), changes according to the insolation change
and settle to a new operating point corresponding to the MPP at
500 W/m2. The reference speed (ωref) is obtained from PV power,
which is used in DTC of an IMD operating a water pump, as
shown in Fig. 6b. The decrease in speed leads to decrease in phase
currents as well as a decrease in electromagnetic torque (Te). The
suitability of the drive with the desired characteristics as per
change in insolation (S) is shown in these figures.

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Fig. 5  Performance indices
(a) PV array during starting to steady state at 1000 W/m2, (b) IMD indices at 1000 W/m2
Similar analysis is made for insolation increment and suitability
of the system is verified for wide range of dynamic performance.
Figs. 6c and d show the performances indices of the system for
insolation increment.
5.3 Machine parameters’ adaptation
Figs. 7a and b show the adaptability of the proposed system to
parameters’ variation. It can be seen that the system has capability
to perform satisfactory even in extreme case, when the machine
resistance (Rs) and time constant (τr) become five times and half
the rated value, respectively. The adapted values of Rs and τr follow
the machine values with the stable machine performance.
5.4 Stability analysis of Rs adaptation
The stability of the system is obtained by creating a perturbation in
the stator resistance. It is assumed that the actual resistance value is
constant. If the estimated value after perturbation comes back to
the reference value, then the system is stable. Fig. 8a shows the
Nyquist plot at rated condition and the stability is judged by
observing the encirclement of the point ( − 1 + j0). It is observed
that there is no encirclement of ( − 1 + j0) in the clockwise direction
by the Nyquist contour. This proves that the system is stable when
the stator resistance is at its rated value of 0.607 Ω. The
adaptability of the system is verified for one more operating
condition, in which the motor resistance is fixed at five times the
rated resistance. Fig. 8b demonstrates the stability of the system for
this given operating condition. This case validates the robustness of
the proposed system.
6 Experimental validation
The developed prototype in the laboratory to validate the suitability
of the proposed system includes a PV simulator (AMETEK make
ETS600 × 17 DPVF Terra SAS), a Hall-effect voltage sensor
(LV-25P) and current sensor (LA-55P) for sensing the DC-link
voltage and DC-link current, respectively. The VSI (SEMIKRON
MD B6CI 600/415–35F), real-time digital signal processor
controller (dSPACE 1104) are used to perform the motor speed
control. A four-channel Digital Storage Oscilloscope (DSO)
(Agilent make model) is used to record the waveforms. The
characteristic of water pump is comprehended using separately
excited DC generator with resistive load coupled to an induction
motor.
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6.1 Experimental verification of tracking efficiency
The tracking efficiency of 2.5 kW PV array required for a 3 hp
(2.2 kW) induction motor feeding a water pump, being realised by
separately excited DC generator with resistive load, as shown in
Figs. 9a and b. The plot between Ppv–Vpv and Ipv–Vpv at 1000 and
500 W/m2 justifies that the tracking efficiency is always >99.5%.
6.2 Performance during starting and steady-state condition
The starting and steady-state performances of the drive at 1000 and
500 W/m2 are recorded and detailed analyses are given as follows.
Fig. 10a shows the waveforms for the starting and steady state
of the drive at 1000 W/m2. It is quite obvious from these
waveforms that soft starting is achieved at rated condition as soon
as MPP is tracked. The solar PV array indices Vpv, Ipv are recorded.
The speed reaches its rated value, i.e. (ωm) quite smoothly. Stator
phase current (ia) achieves its desired value within quick
succession. Fig. 10b exhibits the performance indices of Vpv, Ipv, ia
and ωm at 500 W/m2. These waveforms justify the satisfactory
operation of the drive during starting. Figs. 10c and d exhibit the
steady-state performance of the drive in terms of DC-link current
(Idc) and the reconstructed motor three-phase currents (iar, ibr and
icr) at 1000 and 500 W/m2, respectively.
6.3 Dynamic behaviour of the drive
Figs. 11a and b demonstrate the performance of the drive when
there is a change in solar insolation level from 1000 to 500 W/m2
and vice versa. The change in insolation level results the operation
of PV array on a new operating point. This leads to change in drive
speed. Consequently, the corresponding load applied to the
induction motor is decreased resulting in reduced motor phase
current. The recorded indices are in terms of PV voltage (Vpv), PV
current (Ipv), the corresponding phase current (ia) and the rotational
speed (ωm). Figs. 11c and d represent the waveforms during
dynamic condition of insolation change. The estimated reference
speed is fed to the speed controller. The synchronous speed (ωsyn)
and slip speed (ωslip) are estimated by the expression, described in
the previous section. These variables constitute to estimate ωm.
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Fig. 6  Performance indices during insolation change 1000–500 W/m2
(a) PV array, (b) IMD indices 500–1000 W/m2, (c) PV array (d) IMD indices

Fig. 7  Adaptation mechanism

(a) Rs adaptation at rated speed and insolation, (b) τr Adaptation at rated speed and rated insolation

6.4 Intermediate signals during dynamic conditions
This section deals with the change in intermediate signals as the
insolation is varied. All intermediate signals are estimated by
sensing DC-link voltage and DC-link current. These signals are
generated and used consequently for speed control. Final outcome
is in terms of indices shown in previous waveforms deciding the
good drive performance.
Figs. 12a and b show the speed controller output waveform.
The reference torque (Te*) and the actual torque (Te) are observed

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Fig. 8  Nyquist plot of Rs estimation
(a) ωm = 150 rad/s, Rs = 0.603 Ω and S = 1000 W/m2, (b) ωm = 150 rad/s, Rs = 3.0 Ω and S = 1000 W/m2
Fig. 9  Test results for MPPT efficiency
(a) 1000 W/m2, (b) 500 W/m2
to be changing as per the speed variation, which is the result of
insolation variation. The reference torque (Tref) and the estimated
torque (Te) are compared and the controller output is the reference
voltage Vms*.
Figs. 12c and d show the similar variation; however, in terms of
Vdc, Vpv, reference flux (ψs*) and the estimated flux (ψs). The DC-
link voltage (Vdc) is maintained constant and the PV voltage (Vpv)
slightly changes as per the change in insolation. However, fluxes
are nearly constant up to base speed. The reference flux component
(ψs*) and the actual flux (ψs) are compared and the controller
output drives the error to a value, which is the voltage Vns*. These
are converted to reference voltage components (va* and vb*) and
used for SVM of three-phase VSI for switching control.
6.5 Analysis of estimated currents and measured currents
Fig. 13a shows the waveforms of estimated currents and measured
currents during starting of the drive at rated insolation of 1000  simple structure, control, cost-effectiveness, fairly good efficiency
W/m2. Figs. 13b and c demonstrate the waveforms of
experimentally verified estimated and measured output stator
currents at 1000 and 500 W/m2, respectively. The successful
reconstruction of stator phase currents is shown with the output
measured stator currents. It is, therefore, justified that the currents
reconstruction is possible at different insolation levels. Small
disturbances in the estimated current are observed, which is mainly
due to the reduced filtering capability.
Fig. 13d shows the boost converter indices at 1000 W/m2,
which shows satisfactory performance of a DC–DC converter.
7 Conclusion
The modelling and simulation of the proposed system has been
carried out in MATLAB/Simulink and its suitability is validated
experimentally on a developed prototype in the laboratory. The
8 IET Power Electron.
system comprises of one voltage sensor and one current sensor,
which are sufficient for the proper operation of the proposed
system. The motor-drive system performs satisfactorily during
starting at various insolations, steady-state, dynamic conditions
represented by changing insolation. The speed estimation has been
carried out by flux components in stationary frame of reference.
The flux and torque are controlled separately. Therefore, successful
observation of the proposed system with satisfactory performance
has been achieved without the mechanical sensors. This topology
improves the stability of the system. The stability of the system at
rated condition toward stator resistance variation is shown by
Nyquist stability curve and the stability toward the rotor-time
constant perturbation is shown by Popov's criteria. The DTC of an
induction motor with fixed frequency switching technique reduces
the torque ripple. The line voltages are estimated from this DC-link
voltage. Moreover, the reconstruction of three-phase stator currents
has been successfully carried out from DC-link current. Simulation
results are well validated by test results. Owing to the virtues of
and compactness, it is inferred that the suitability of the system can
be judged by deploying it in the field.
8 Acknowledgments
The authors acknowledge the contribution and render their
thankfulness to Department of Science and Technology (DST), GoI
for financing this project under Grant no. RP02926.
© The Institution of Engineering and Technology 2018
Fig. 10  Performance indices of the drive
(a) Starting at 1000 W/m2, (b) Starting at 500 W/m2, (c) Steady state at 1000 W/m2, Fig. 11  Dynamic performance of the drive under variable insolation
(d) Steady state at 500 W/m2 (a) 1000–500 W/m2, (b) 500–1000 W/m2, (c) Intermediate speed signals at 1000–500 
W/m2, (d) Intermediate speed signals at 500–1000 W/m2

IET Power Electron. 9

© The Institution of Engineering and Technology 2018
Fig. 12  Intermediate signals in terms of Fig. 13  Reconstructed and measured current waveforms of phases a and b
at
(a) Te* and Te at 1000–500 W/m2, (b) 500–1000 W/m2, (c) Reference stationary
(a) Starting performance at 1000 W/m2, (b) 1000 W/m2, (c) 500 W/m2, (d) Boost
components of flux and estimated flux at 1000–500 W/m2, (d) 500–1000 W/m2
converter parameters at 1000 W/m2

10 IET Power Electron.

© The Institution of Engineering and Technology 2018
9 References
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10 Appendix
 
10.1 Solar PV array
Voc = 430 V, Vmp = 370 V, Isc = 7.0 A and Imp = 6.64 A.
10.2 Specification of induction motor
2200 W, three-phase, 230 V, four poles, Rs = 0.603 Ω, Lls = 
0.00293 H, Rr = 0.7 Ω, Llr = 0.00293 H, Lm = 0.07503 H, J = 0.011 
kg m2, DC-link voltage controller gains Kpdc = 0.3, Kidc = 1.46,
speed controller gain Kpω = 0.02, Kiω = 1.2, torque controller gain
KpT = 0.11, KiT = 0.2, flux controller gain, Kpψ = 2.0, Kiψ = 0.4.
10.3 State-space matrices for dynamic equations of IMD
From the dynamic machine modelling, [A], [B] and [C] are
obtained as (see equation below).

2
Lm Rs Lm Lmωm
− + 0
ρLsLrτr ρLs ρLsLrτr ρLsLr
2
Lm Rs Lmωm Lm
0 − + −
ρLsLrτr ρLs ρLsLr ρLsLrτr
A=
Lm −1
0 −ωm
τr τr
Lm 1
0 ωm
τr τr
T
1
0 0 0
ρLs 1 0 0 0
B= C=
1 0 1 0 0
0 0 0
ρLs
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© The Institution of Engineering and Technology 2018