Proc.
of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017
Performance of Indirect Matrix Converter With
Improved Control Feeding To Induction Motor For
Speed Control By Using PI And Fuzzy Controllers
N. Lavanya
Electrical and Electronics Engineering
K L University
Guntur, India
lavanya.nannapaneni@kluniversity.in
Abstract— This paper presents Indirect Matrix Converter(IMC)
with improved control supplying power to different loads at
different frequencies. An improved switching technique is used at
the input stage of this proposed IMC so that a higher dc voltage is
obtained compared to the IMC with conventional control. The
fundamental input current is at unity power factor for all operating
conditions. In this IMC, the inverter switching states are selected
through its output space vectors such that the switching losses and
the output distortions are minimised. The performance of proposed
IMC with two separate inverters one supplying the R-L Load and
other feeding an Induction motoris studied. Speed control of
Induction motor using closed loop V/f control with PI controller
and Fuzzy Logic controller is analysed. Performance of the IMC
with improved control is analysed in Matlab/simulink software.
Keywords— Active load; Static load; Speed control; PI controller ;
Fuzzy controller;
I. INTRODUCTION
Matrix converters (MCs) provide direct ac-ac power
conversion without using energy storage elements at the dc-
link[1-2]. These MCs are an alternative to the conventional
back to back converters, that is a rectifier/ dc-link reactive
elements/ inverter combination, because of its several
advantages such as bidirectional power flow, the fundamental
input current is at unity power factor. MCs are more reliable,
low maintenance and robust due to absence of energy storage
elements at the dc-link.
These MCs are of two types: 1) Direct/ Conventional Matrix
converters, 2) Indirect Matrixconverters(IMC)[3]. Unlike
conventional MC, the IMC is more advantageous due to its
virtual dc link capability. Therefore IMC due to its virtual dc-
link ability can supply power to Multiple loads at different
voltages and different frequencies[4-5]. This IMC is divided
into 2 stages: Rectifier stage with 6 bidirectional switches and
inverter stage with 6 uni-directional switches[6-7] as shown in
Fig 1. The Rectifier stage switching technique explained in
references [8-11] uses largest and second largest input phase-
phase voltages in a given sector of duration , to produce dc
voltage at the Rectifier output. But this control strategy gives
more switching losses in Rectifier and high ripples in dc
978-1-5090-1134-6/17/$31.00 ©2017 IEEE
O. Chandra Sekhar, M. Ramamoorty
Electrical and Electronics Engineering
K L University
Guntur, India
sekhar.obbu@gmail.com
voltage which causes distortions (this may increase the size
and cost of the output filter) in inverter output voltage. To
overcome these deficiencies, IMC with improved control is
proposed.
An ideal transformer is used at the Rectifier to adjust the ac
input voltage to the Rectifier. An LC filter whose values are
given in Fig.1 at the inverter is used to reduce the output
voltage distortion[12]. The filter parameters are selected in
such a way that phase shift is negligible to the inverter output
for a given fundamental frequency[13-14]. In addition to this
the THD of the load voltage is improved by using the filter.
In this paper, IMC with two separate inverters are used to
supply the R-L Load and Squirrel Cage Induction
motor(SCIM)[15-20]. The performance of proposed IMC[21-
24] for speed control of the Induction motor is analysed by
using closed loop V/f control.
The performance of this IMC with improved control is
discussed in the next sections. Section-2 discuses the control
scheme for the Rectifier stage where an improved switching
configuration is used to obtain a higher dc voltage and the
fundamental input current is at unity power factor. Also a new
switching pattern for the inverter stage is described, such that
the output voltage distortion and switching losses of inverter
are reduced. The performance of this proposed IMC supplying
power to RL load and SCIM is analysed, where the speed
control of SCIM is performed with PI controller and Fuzzy
Logic controller with the simulation results as shown in
Section-3. The conclusion of this paper is discussed in section-
4.
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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

Table-I
DC-Link
Phase angle voltage (VPN)
Sector
(θi)
−π π (V − V )
1 to
6 6 =V

π π
2 to V
6 2

π 5π
3 to V
2 6

5π 7π
4 to V
6 6

7π 3π
5 to V
6 2

3π −π
6 to V
2 6

The proposed switching strategy gives maximum dc voltage

with low ripple at the output of the Rectifier stage compared to
that of Rectifier stage used in references[8-11]as shown in Fig
Fig.1. IMC Circuit topology
2. This method of control also ensures UPF for the
fundamental input current for both directions of power flow
II. CONTROL SCHEME FOR IMC with low ripple in the Rectifier output dc voltage. Fig.2a and
2b shows the input current waveform for both switching
A. Rectifier Control techniques with Resistive load connected at the Rectifier
output.
600
Voltage(V)

The three phase input supply voltages to the Rectifier are

400
given by
200
0.8 0.82 0.84 0.86 0.88 0.9 0.92 0.94 0.96 0.98 1
Time(sec)
v = V sin ω t 500
Voltage(V)

v = V sin(ω t − 120 ) 0
v = V sin(ω t − 240 ) (1) -500
0.8 0.82 0.84 0.86 0.88 0.9 0.92 0.94 0.96 0.98 1
where V and ω are the maximum voltage and the angular Time(sec)
10
C urrent(A)

frequency for input phase voltages.

0
The input stage of the IMC consists of 6 bi-directional
-10
switches i.e. (SaP- ScN). The upper switches SaP, SbP, ScP are 0.8 0.82 0.84 0.86 0.88 0.9
Time(sec)
0.92 0.94 0.96 0.98 1

connected to the positive pole and the lower switches SaN, SbN,
ScN are connected to the negative pole of the dc link (PN) as Fig.2a Rectifier DC voltage, Input supply voltage and current (THD=41.63%)
shown in Fig 1. The input phase angle θi(= ωt) which range at UPF
Voltage(V)

600
from (0 to 2π) is divided into six sectors each of 60 degrees 400
duration and their corresponding angles are shown in Table-1. 200
0.8 0.82 0.84 0.86 0.88 0.9 0.92 0.94 0.96 0.98 1
In this proposed control, maximum dc voltage is obtained by Time(sec)
500
Voltage(V)

using largest positive phase to phase input voltage in each 0

sector. In sector-1, the maximum voltage V is obtained at the -500
0.8 0.82 0.84 0.86 0.88 0.9 0.92 0.94 0.96 0.98 1
dc terminals by turning ON the switches S and S . The dc- Time(sec)
Current(A)

10
link voltages for the remaining sectors is shown in Table-1. 0
-10
0.8 0.82 0.84 0.86 0.88 0.9 0.92 0.94 0.96 0.98 1
Time(sec)

Fig.2b. Rectifier DC voltage, Input supply voltage and current(THD=

29.14%) at UPF with proposed method

Supply voltage v = 325 sin 314 t is given at the input of the

Rectifier stage. Average dc output voltage of 511.5 volt for

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017
Rectifier in references [8-11] and 537.5 volts for proposed
method are generated. Fig.2a and Fig.2b show the
corresponding dc voltages obtained using the two controls. It
can be observed from Figs 2a and 2b the output dc voltage of
the Rectifier explained in references [8-11] is highly distorted
compared to that IMC with proposed control strategy. With
static load (R= 100Ω), the input current to the Rectifier has
high THD(41.63%) for Rectifier used in references [8-11]
compared to that of input current THD(29.14%) for IMC with
proposed control strategy. The effect of this distortion will be
reflected in the output voltage of the Inverter. It will be
explained in the next section how the proposed control
strategies for both the Rectifier and Inverter will generate
improved waveforms at the inverter output. Of course both the
controls ensure UPF for the fundamental Rectifier input
current for all operating conditions.
B. Inverter control
Conventional Space vector Modulation Technique (SVM) is
used to control the inverter stage of IMC. The space vector
diagram for inverter is shown in Fig.3. There are 6 active
voltage vectors(Va- Vb) and 2 zero vectors(V0 or Vz).
Reference voltage vector Vref rotating in the anticlockwise
direction at the inverter output frequency ω makes an angle
θ (= ω t ) with the voltage vector Va. θ ranges from (0 to
2π) and is divided into 6 sectors each of 60 degrees duration as
shown in Fig.3.
Fig.3. Inverter stage Space Vector Diagram
Ta, Tb are the switching times for the active voltage vectors
(Va, Vb) and Tz is the switching time for zero voltage
vector(V0 or Vz) in sector-1 to generate the reference vector
Vref at the output of the inverter as shown in Fig.3.
Fig.3 also shows the switching states of the inverter which are
used to generate the active voltage vectors (Va-Vf). For any
given sector, the reference voltage vector Vref is realised by
two adjacent active voltage vectors and zero voltage vector
based on volt-sec principle. In sector-1, the reference vector
voltage Vref is generated through switching of space vectors Va
and Vb .The duty cycle for the switches S1, S5, S6 (Va) and S1,
S2, S6 (Vb) to generate reference vector Vref is given in
equation (2)
311
Vref= V +V +V (2)
where Ts is the sampling time
Where V0 or Vz are the zero voltage vectors with switching
states (000) or (111)respectively. The switching times Ta ,Tb
and Tz are given by equations (3) (4) and (5).
√ π
T = V T sin( − θ ) (3)
√
T = V T (sin θ ) (4)
and T = T − T − T (5)
where Vdc is the dc output voltage of the Rectifier.
Similar equations are obtained for other sectors (2 to 6). Since
the input dc voltage to the inverter is not constant as shown in
Figs.2a & 2b, the new switching times obtained above are
improved for the inverter and are given by equations (6) for
IMC with proposed switching control as shown below.
The new switching times for the IMC with proposed switching
control are given by
T′ = , T′ = , T" = , T " = , and T = T − (T + T )
(6)
It can be observed that the switching scheme for the IMC with
proposed control is simpler and independent of Rectifier
control. But in case of IMC explained in references[8-11] the
switching times of inverter are dependent on the Rectifier
switching times.
In Sector-1, the switching sequence for the associated vectors
is given by equation (7) for the proposed control as shown
V (for T ′ ), V for T ′ , V (for T ),
V for T " , V for T " (7)
For different values of θ , the switching times T , T and T
are calculated for other sectors. Similarly, T ′ , T ′ , and T are
evaluated for different sectors for both the controls of IMC.
Since the dc voltage ripple for Rectifier explained in
references [8-11] is more than the ripple in dc voltage for the
IMC with proposed control, the distortions in the output
voltage of inverter are more for IMC explained in
references[8-11] than for IMC with proposed control.
Table-2 gives the switching sequences for sectors 1 to 6 as
shown.
Table-2
Sector Number Switching Sequence
1 V −V −V −V −V
 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

2 V −V −V −V −V Fig.5.Inverter-I load voltage (THD= 4.98%) and current (THD= 0.41%) at

60Hz
3 V −V −V −V −V The closed loop control scheme for V/f control of IM is shown
in Fig.6. The reference speed(ωref) and the measured speed
4 V −V −V −V −V (ωm) are given as inputs to the comparator from which an error
signal is passed as input to the PI controller. The output of the
5 V −V −V −V −V PI controller sets the slip speed (ωsl) of the rotor required to
bring the motor speed (ωm) to the reference speed. This slip
6 V −V −V −V −V speed is now added to the reference speed to obtain the
Inverter output frequency(ωo). The reference voltage
magnitude (Vr) is accordingly changed to keep V/f constant.
In the proposed IMC with the improved control, this new Optimal PI values are chosen for a given motor parameters by
switching sequence is used to minimize output voltage considering a range of values for the P and I, through the best
distortion and also to reduce the switching losses. For a given choice of settling time and peak overshoot of the motor speed
sampling time each switch is commutated twice and the for step change in reference speed.
number of switchings required is 6 . The dynamic response of IM is analysed in two cases i) by
For the proposed IMC the reference voltage vector Vref is step change of speed from 1290 rpm to 1470 rpm with
given by equation (8) for Sector-1 constant load toque of 5 N-m as shown in Figs.7 and 8, ii) by
′ ′ " " step change of load torque from 5 N-m to 11 N-m are shown
V =V +V +V +V +V (8) in Figs.9 and 10.
Similar procedure is applied for the remaining sectors, by
using the corresponding voltage vectors and switching times.

III. IMC SUPPLYING POWER TO STATIC AND ACTIVE

LOADS

Fig.1. shows the circuit topology for this section. IMC with
two separate inverters are used to supply the R-L Load and
Induction motor at two different frequencies. Both inverters Fig.6. Block Diagram for speed control of IM
1800
have same switching logic, but the magnitude and angular
rotation speed(ω0) of reference voltage Vref are different. 1600

Inverter-I is used to feed power to static load (R=10Ω and 1400

1470rpm
L=30mH) at 60Hz frequency at constant voltage of 200V. 1200
1290rpm

Inverter-2 supplies power to 3 phase Induction motor with

Speed(rpm)

1000

constant V/f control. 800

Fig.4. shows the input voltage and current at Rectifier side. 600

The load voltage and current waveforms at Inverter-1 is shown 400

in Fig.5. The corresponding THD values for voltages and 200
currents are shown in the respective Figs. 0
500 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(sec)
Voltage(V)

Fig.7 Step change in speed from 1290 rpm and 1470 rpm at constant Torque
0 of 5 Nm

-500
0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 40
50
Current(A)

35

0 30

-50 25
Torque(Nm)

0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1

Time(sec) 20
Fig.4. Rectifier input voltage and current (64.88%) at UPF for Fundamental
300 15

200 10
Voltage (V) &

100
Current(A)

0
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100 Time(sec)

-200

-300
Fig. 8 Torque (=5Nm) for step change in speed
0.75 0.8 0.85 0.9 0.95 1
Time(sec)

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

Fig.9 and Fig.10 shows dynamic performance of Induction membership functions and the rules have to be designed by the
motor for step change in torque. programmer so as to achieve the desired results. The FIS
1600
program thus generated is to be fed to the FLC before
1400 proceeding with the simulation.
1200 Table-3 shows the Fuzzy rule table for deciding the output
1000
variables. It consists of 49 If-Then rules since there are 7
Fuzzy sets in each of the inputs as shown below. The 49 Fuzzy
Speed(rpm)

800
output variables based on the Fuzzy rule table are also shown
600
in Table-3.
400

200 Table-3 Fuzzy Rule Table

0
0 0.1 0.2 0.3 0.4 0.5
Time(sec)
0.6 0.7 0.8 0.9 1
e
e NB NM NS Z PS PM PB
Fig. 9 Speed response for step change in Torque with constant Reference NB NB NB NBM NM NMS NS Z
speed
40 NM NB NBM NM NMS NS Z PS
35
NS NBM NM NMS NS Z PS PMS
30
Z NM NMS NS Z PS PMS PM
25
Torque(Nm)

20 PS NMS NS Z PS PMS PM PBM

15
PM NS Z PS PMS PM PBM PB
10 11Nm

5
PB Z PS PMS PM PBM PB PB
5Nm

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time(sec)
Fig. 10 step change in Torque from 5 Nm to 11 Nm
From the Fig 7 to109, it is observed that the rotor speed settles
at the reference speed irrespective of the load torque within
the given permissible limits and traces the reference speed
irrespective of the disturbances caused by the load torque. The
optimal parameters corresponding to PI controller are KP=1.5
and KI=5.
From the closed loop control, it can be analysed that the IMC
with proposed control withstands dynamic change of inverter
output voltage and frequency and the Rectifier fundamental
input current of IMC is at unity power factor.
The closed loop speed control of IM is studied with a Fuzzy
controller in the feedback loop replacing the PI block in Fig 6.
The reference speed (ωref) is compared with the speed of the
motor (ωm) thus providing the speed error(e). The derivative
of the speed error(e) gives the rate of change of error (e).
Therefore the speed error (e) and rate of change of error are
given as inputs to the Fuzzy Controller. The Fuzzy control
system process these two inputs by using the fuzzy control
rules which are defined by choosing membership functions
and the fuzzy rule table, to produce an output fuzzy variable
whose membership functions are also defined. These fuzzy
outputs thus obtained are defuzzified to get output for the
Fuzzy controller. This output variable is then added to the
reference speed of motor (ωref) to get the inverter output
frequency ωo and the corresponding reference voltage Vref .
Before running the simulation in MATLAB/SIMULINK, the
Fuzzy Logic Controller(FLC) is to be designed. This is done
using the FIS (Fuzzy inference system) editor. The
0.8 0.9 1 where NB=Negative big, NM=Negative medium,
NS=Negative small, Z= Zero, PS=Positive small,
PM=Positive medium, PB=Positive big. All these are the
membership functions defined for the two input functions i.e.
error (e) and rate of change in error (e ). The range of error 'e'
is from -150 to 150 and for rate of change of error (e ) the
range is from -115 to 115 and output of fuzzy variable range is
given -75 to 75.
The functions NB= Negative big, NBM=Negative big
medium, NM= Negative medium, NMS=Negative medium
small, NS=Negative small, Z= Zero, PS=Positive small,
PMS=Positive medium small, PM= Positive medium,
PBM=Positive big medium, PB= Positive medium are the
variables defined for the output of Fuzzy controller.
The defuzzifier of the fuzzy output is necessary to obtain the
numerical value for the output variable of the Fuzzy controller
which is added to the motor reference speed. There are
different types of defuzzification processes of which the most
widely used technique is the Centroid of Area (COA) method
is used in the present analysis.
Figs.11 and 12 below shows the speed response curves for 3
phase Induction motor by using Fuzzy Logic Controller.

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1600
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The performance of IMC with inverter-1 supplying power to
R-L load at 60 Hz frequency and inverter-2 supplying power
to squirrel cage IM for speed control is analysed.
IV CONCLUSION
The proposed IMC uses an improved switching technique at
the Rectifier to get a maximum dc voltage as compared to
IMC with conventional control and the fundamental the input
current is at unity power factor for both directions of power
flow. This proposed IMC with improved control is used for
feeding power to passive load and 3 phase Induction motor at
different frequencies. Also, the speed control of Induction
motor with constant V/f control is discussed with PI and
Fuzzy controllers in MATLAB/SIMULINK software.
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