A New Integrated Education

Environment for Induction

Motor Drives
SERVET TUNCER
Technical Education Faculty, Department of Electronic and Computer Science, Firat University, Elazig, Turkey

Received 18 June 2008; accepted 11 February 2009

ABSTRACT: This paper presents an integrated education environment (IEE) developed

for field-oriented controlled induction motor (IM). This educational environment helps
students to develop knowledge about field-oriented control algorithms for IM through the
study of analysis and design. It also increases the effectiveness of the teaching of subjects. The
control of IM using field-orientation methods is implemented on the DS1103 controller board
from dSPACE. In the proposed IEE, the controller gains and other numerical parameters such
as speed reference and d-axis current reference, etc. are easily adjusted through the developed
graphical user interface (GUI) in dSPACE’s ControlDesk environment. The output voltage and
current waveforms and their harmonic spectra can be shown on the developed GUI and can
also be stored as a MAT file. ß 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ; Published online in
Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20335

Keywords: integrated education environment; induction motor; field-orientation methods

INTRODUCTION microprocessor technologies and various user-

Experimental study is a very important part of
education in electrical engineering. It not only acts
as a bridge between theory and practice but also
solidifies the theoretical concepts presented in the
classroom [1]. Experimental study also prepares
students for the real world where they will design,
build, test, or use real hardware.
In the prospect of attracting students, the
modernization of the laboratory environments is
essential. Recently, with the fast development of
Correspondence to S. Tuncer (stuncer@firat.edu.tr).
ß 2009 Wiley Periodicals Inc.
friendly software packages, new education environ-
ments have been used in electrical engineering
education. Nowadays, many universities have been
using laboratories in which computers are integrated
to hardware for the laboratory experiments. Related
works have been reported in Refs. [2
18]. Integration
of software tool and real-time control for laboratory
experiments will appeal to a broader range of students
than classical teaching methodologies. In the integra-
tive approach, the students can effectively perform
their simulation and experimental studies using the
same environment.
The electrical drives and power electronics topics
are the most important fundamental topics for

1
2 TUNCER
electrical engineering education [3]. These topics
have been regarded as difficult and hazardous
discipline by many students, in which there exist the
risk of short circuits, damage to devices and equip-
ment, and, most important injury to students [7,18].
The integrated real-time control and simulation
environments are provided to perform the simulations
and real-time experiments for electrical drives and
power electronics in a simple manner. In these
environments, the use of a high-level rapid prototyp-
ing tool, for example, a DS1103 controller board from
dSPACE [19,20], provides several advantages such as
no knowledge of coding in C or assembly language is
needed, the same simulation blocks are used in the
hardware implementation. The designed easy-to-use
graphical user interface (GUI) allows students real-
time monitoring and parameter adjustments [21]. In
traditional laboratory environments, to build, control,
and measurement processes of experiment require a
lot of time. However, integrated education environ-
ments decrease many time-consuming issues, such as
wirings in the traditional teaching methodology. Thus,
the students are able to carry out their experiments in a
short time.
This paper introduces a new integrated education
environment (IEE) to be used by electrical engineering
students for the speed control of induction motor (IM)
using field-oriented control (FOC) algorithms. The
FOC algorithms are one of the most important topics
of electrical drives and power electronic courses. The
proposed IEE consists of a functional interface and
flexible usage. For this aim, a GUI is developed by
using ControlDesk software from dSPACE. By using
this GUI, the simulation and experimental results can
be compared and examined on the same screen. The
proposed environment helps students through the
analysis, design, and real-time operation to develop
knowledge about field-orientation methods. In this
study rotor, stator, and air-gap field-orientation methods
for IM speed control can be tested and compared
without making modification in the hardware.
FIELD-ORIENTATION METHODS FOR
IM DRIVES
FOC-controlled IM drives are used widespread in
electromechanical systems. The concept of FOC is a
torque
flux decoupling technique applied to IM
control with field orientation. With the field-orientation
methods, the control of an IM is transformed into the
control of a separately excited dc motor by creating
independent channels for flux and torque control
[22
24].
Figure 1 (a) Field-orientation control method and
(b) phasor diagram of rotor field orientation.
The IMs can be controlled referring to either rotor
flux, stator flux, or air-gap flux frame by orienting the
d-axis of the associated reference frame, and there-
fore, the q-axis component of flux vector is equal to
zero as shown in Figure 1a. Each of these field-
orientation methods has its own advantages as the
parameter sensitivity and computational cost [22].
Therefore, most suitable field-orientation method may
be selected by a designer.
In Figure 1a, the flux is kept at a constant level by
controlling the d-axis component of flux vector and
thus, the torque is controlled by the q-axis component
of stator current. Figure 1b shows rotor flux
orientation. As shown in figure, d-axis stator current
ids is oriented in the direction of flux c^ and thus the q-
r
axis current iqs perpendicular to it. For well orienta-
tion, slip frequency osl is crucial which is the
difference between synchronous speed oe and rotor
speed or. In the well-orientation condition, aligning
the associated flux on the d-axis of its two-axis
coordinate system can be achieved by controlling
the synchronous frequency, which is equal to
the summation of the slip frequency and rotor
speed [22,25].
Field-Orientation Referring to Rotor
Flux Frame
An IM is modeled using voltage and flux equations
referring to a general reference frame. Stator and rotor
voltage equations [22,25,26],
vs ¼ is Rs þ jog Cs þ dC s
dt ð1Þ
vr ¼ 0 ¼ ir Rr þ jðog
or ÞCr þ dC r
dt
where Rs and Rr are the stator and rotor resistances; og
is general reference frame angular speed; or is rotor
speed; Cs and Cr are stator and rotor fluxes,
 IEE FOR INDUCTION MOTOR DRIVES 3

respectively. Flux equations: where s is a Laplace operator. The stator voltage

equations for rotor flux-oriented control can be
Cs ¼ Ls is þ Lm ir
ð2Þ derived as follows:
Cr ¼ Lm is þ Lr ir
where Ls and Lm are stator and mutual inductances; is vrds ¼ ðRs þ sLs sÞirds
oe sLs irqs þ ð1
sÞLs simr
and ir are stator and rotor currents, respectively. The vrqs ¼ ðRs þ sLs sÞirqs þ oe sLs irds þ ð1
sÞLs oe imr
mechanical equation of IM is
ð11Þ
Te
TL ¼ Jm dodt þ Bm or
r
ð3Þ To achieve linear control of stator voltage, it is
Te ¼ 32 P2 ReðCs  is Þ
necessary to remove the coupling terms between d-
where Jm and Bm are inertia and friction of the motor, and q-axis components. The reference terms of dq
respectively. Referring to the rotor flux frame, the voltage components are calculated by
dynamic model of IM becomes  R 
vr r r r
ds ¼ vds
dec: þ kp Dids þ ki Dids dt 

 R ð12Þ
r r dirs r Lm r dCrr vr r r r
qs ¼ vqs
dec: þ kp Diqs þ ki Diqs dt
vs ¼ Rs is þ sLs þ joe Ls is þ joe Cr þ
dt Lr dt
ð4Þ where kp and ki are proportional and integral gains of
PI controllers, respectively. The decoupling of voltage
terms is shown as follows:
dCrr Lm r Cr
¼ Rr is
josl Crr
r ð5Þ vrds
dec: ¼
oe sLs irqs
dt Lr tr ð13Þ
vrqs
dec: ¼ oe sLs irqs þ ð1
sÞLs oe imr
where s is the total leakage factor It is essential to orient the rotor flux on the d-axis
ðs ¼ 1
ðL2m =Ls Lr ÞÞ and osl is the sleep frequency of rotor flux frame for the rotor flux-oriented con-
(osl ¼ oe
or). Substituting the flux equation (5) into troller. This can be achieved by calculating the slip
the voltage equation (4) and rearranging it, yields frequency osl and sensing or estimating the rotor speed

 in drive system based upon a rotor flux-oriented
dirs 1 1 L2m
¼
Rs þ þ joe sLs irs control.
dt sLs tr Lr

  ð6Þ The design of stator and air-gap flux-oriented
Lm 1 r r controller is similar to rotor flux-oriented controller.
þ jor
c
vs
Lr tr s In these controllers, stator and air-gap fluxes are
oriented on the d-axis of their flux frames. Moreover,
it is required to calculate the voltage command for a
where tr is the rotor time constant. The condition for
voltage source inverter. The calculations required for
rotor flux-oriented control is
stator and air-gap flux-oriented control include slip
crr ¼ crdr þ jcrqr ¼ crdr frequency, decoupling of voltage and current, and
ð7Þ
crqr ¼ 0 magnetizing current calculations. These calculations
are given in Table 1 [25].

d-axis component of stator current and slip frequency

can be derived from Equation (6) as
THE INTEGRATED EDUCATION
irqs ENVIRONMENT
osl ¼ cr
ð8Þ
tr Lmdr
Hardware and Software Features
crdr tr dcrdr This section describes the hardware and software
irds ¼ þ ð9Þ
Lm Lm dt features of the proposed IEE to do simulation as well
as experiments on field-orientation methods of IM.
Through this environment, students can effectively
Using Equations (4), (5), and (7), magnetizing current
understand the field-orientation concepts and the
is derived as follows:
knowledge’s are transferred to real-time implementa-
tion.
crdr irds In the developed IEE, the control circuit
irmr  ¼ ð10Þ
Lm ð1 þ tr sÞ is DS1103 controller board from dSPACE. The
4 TUNCER

Table 1 The Calculations Required for Stator Flux-Oriented Control and Air-Gap Flux-Oriented Control
Calculation Stator FOC Air-gap FOC
h  i  
ð1 þ st r sÞ s st r vsl s 1 þ 1
LLmr t r s 1
LLmr t r vsl
Magnetizing current isms ¼ i
i iama ¼ iads
iaqs
ð1 þ t r pÞ ds ð1 þ t r pÞ qs ð1 þ t r sÞ ð1 þ t r sÞ
 
st r vsl s 1
LLmr t r vsl
Current decoupling isds
dec:  i iads
dec: h   i iaqs
ð1 þ st r sÞ qs 1 þ 1
LLmr t r s

vsds
dec: ¼ 0 vads
dec: ¼
ve ðLs
Lm Þiaqs

Voltage decoupling
vsqs
dec: ¼ ve Ls isms vaqs
dec: ¼ ve ðLs
Lm Þiads þ ve Lm iama
h   i
Lm
ð1 þ st r sÞLs isqs
1 þ
r 1
Lr s iaqs
Slip frequency vsl ¼ !sl ¼ h a   i
t r ðcsds
sLs isds Þ

r Ldam
1
LLmr iads

dSPACE’s hardware and software is an extremely
powerful package designed for high-speed real-time
applications. It allows programming real-time sys-
tems with Matlab/Simulink environment. The
DS1103 controller board is a complete real-time
control system based on the Motorola PowerPC 604e
processor running at 333 MHz. The board also
includes a slave DSP subsystem based on the Texas
Instruments TMS320F240 DSP microcontroller.
The power circuits of the developed IEE are
implemented as a two-level inverter and a five-level
cascade inverter. These inverters are constructed by
using PM20CSJ060 intelligent power module from
Mitsubishi Corporation. The gate signals of these
inverters, which are used in both simulations and
experiments, are produced by Matlab/Simulink blocks
and then sent to the experimental rig via dSPACE
digital I/O port and pulse width modulation (PWM)
unit. The dSPACE PWM unit is used to drive the two-
level inverter, and the digital I/O unit is used to drive
the five-level inverter. Some circuits of the proposed
IEE such as current and voltage measurement devices
and an incremental encoder attached to IM are
commonly used for each inverter. For sensing the
currents and voltages in the experimental ring, hall-
effect transducers are used. Two LA 25-NP current
transducers and two LV 25-P voltage transducers are
used to measure the currents and voltages, respec-
tively, both from LEM Corporation. An incremental
encoder (NOC-S5000-2MHT) supplying 5,000
pulses/revolution is used for speed feedback. A
4.5 ms dead time for the power switches of the
inverters is obtained using IXDP630PI integrated
circuits. The signals from the experimental rig are sent
to the computer environment via ADC and ENC
blocks of the dSPACE board. These signals can also

Figure 2 Block diagram of the proposed IEE.


Figure 3 Experimental setup picture of the proposed
IEE (1—two-level inverter circuit, 2—five-level inverter
circuit, 3—isolated power supplies for five-level inverter,
4—control unit of the system, 5—dead-time tuning and
protection circuits, 6—current and voltage measurement
circuits, 7—encoder and IM).
be monitored by a 100 MHz digital oscilloscope and
can be sent to the PC via RS232. The block diagram of
the complete IEE system is given in Figure 2 and
experimental setup picture is given in Figure 3.
Development Procedure
In the development process of the proposed IEE, first,
the mathematical models for field-orientation meth-
ods are obtained and the Simulink models are created
from the mathematical models in Matlab/Simulink
environment. Then selecting a fixed sampling time in
the Simulink solver parameters window and clicking
of the build button on the Matlab/Real-Time Work-
shop (RTW) parameters page, the RTW converts the
Simulink model to real-time C code. The C code is
automatically compiled to the assembly language of
the target processors, assembled, link-edited, and
downloaded to the DS1103 controller board program
memory and automatically starts the real-time simu-
lation. dSPACE/Real-Time Interface (RTI) [19] soft-
ware provides a link between the dSPACE-based real-
time system and the Matlab/Simulink software. The
RTI contains a library of blocks, which connects the
Simulink model to the physical world. Figure 4 shows
the stages of the development procedure for the
proposed IEE [27].
In order to control, tune, and monitor all the
variables and parameters in simulation and real-time
operation, a GUI is designed using dSPACE’s
ControlDesk software [20]. The dSPACE Control-
Desk software lets the user create virtual instruments
for data collection and experiment management. This
GUI is described in the following section.
IEE FOR INDUCTION MOTOR DRIVES 5
Figure 4 Development procedure.
Description of the Developed GUI
The developed GUI in dSPACE ControlDesk environ-
ment to control IM’s speed using rotor, stator, and air-
gap field-orientation methods is shown in Figure 5.
Through radio buttons in FOC Selection window,
which is fit in the left-top corner of the GUI, the field-
orientation method can be selected. After completing
the system description files related to the field-
orientation methods, these files are loaded into the
ControlDesk software. Students can examine the
controller performance in simulation before real-time
operation. In the simulation environment, students can
easily check possible design errors and the dynamics
of the system, such as the IM voltage, current, and/or
speed. While the system is running, with using this
GUI, the simulation and experimental results are
visualized on the same screen. It is possible to see the
behavior of each variable and modify the parameters
of the system online. All the variable data in Working
Area can easily be saved and reloaded.
The descriptions of the units on the developed
GUI are as follows [20]. The Working Area is used to
display and edit the FOC application. For this reason,
a new layout window is opened from ControlDesk
File menu and then suitable windows such as plotters,
radio buttons, and other instrument panels are created
in this area according to the needs of the application.
The Tool Window on the GUI is a variable manager,
6 TUNCER
Figure 5 The developed GUI in ControlDesk environment.
which enables the selection of variables from FOC
Simulink model. The Instrument Selector Window is
used to monitor and/or control variables interactively
or display data captures. Instruments can be arranged
freely in one or more windows in the GUI. To show
the graph between two variables or any input/output
signal, Plotter and XYPlotter are used that are located
in data acquisition instruments of the Instrument
Selector. In the GUI, the Capture Settings Window is
used to control the data capture in ControlDesk. The
length (duration) of the data that will be captured is
defined in second in this window [20].
The simulation blocks, experimental blocks, or
both of them are activated through radio buttons in
Sim./Exp. unit in the left-top corner of the GUI. The
constituted Simulink blocks for simulation and
experimental studies are of the same structure. The
basic difference between them is the obtained PWM
signals are sent to real world using DS1103 controller
board and they are used as gate pulses for power
switches of the inverters. In simulation study, both
inverters and IM are modeled in Simulink environ-
ment and the obtained PWM signals are directly
applied to the inverter models. For example, when the
experimental radio button of the Sim./Exp unit is
selected, the Simulink blocks that created for
experimental study will be active and the other blocks
for simulation study stay passive.
The selection and adjusting of the parameters
for flux PI, speed PI, and dq-current controllers may
be online performed according to the numerical
input using Controllers unit of the GUI. The Filter
Adj unit of the GUI is used to obtain currents and
speed with or without filtering. If filter is chosen
then a first-order low-pass filter is applied to the
waveforms.
 IEE FOR INDUCTION MOTOR DRIVES 7

All the required selection arrangements are

performed in the Matlab/Simulink models of the
proposed IEE. However, to prevent from possible
errors and mistakes that could damage any device or
student, all required precautions are located in
hardware and software. If a parameter value is
mistyped or the current exceeds a predefined value,
the PWM signals to the switches are automatically
stopped [27].

Simulation and Real-Time Implementation

Models of the Developed IEE
Figures 6
10 show some Matlab/Simulink models for
simulation and real-time implementation of the
developed IEE. The real-time implementation model
including dSPACE’s RTI blocks is given in Figure 7.
In Figure 8, the real-time implementation model
created for the selection of inverter type is given.
Here, the control algorithms are prepared as a
different Simulink block. The control algorithm of
the five-level inverter is more complex than that of the
two-level inverter. Students can see the basic differ-
ences of the algorithms of two inverters. The PWM
signals for each inverter are produced using sinusoidal
PWM technique [28]. Figure 9 shows the created real-
time implementation model for the selection of field- Figure 6 The simulation and real-time implementation
orientation methods and the rotor FOC model is given model created in Matlab/Simulink environment.
in Figure 10.

Figure 7 The real-time implementation model of the FOC algorithm.

8 TUNCER
Figure 8 The created Matlab/Simulink model for the
selection of inverter type for experimental study.
SOME SIMULATION AND EXPERIMENTAL
RESULTS
Using the proposed IEE to save and reload real-time
data allows the student’s to face real subjects in
Figure 9 The created real-time implementation model for
the selection of field-orientation methods.
Figure 10 The created Matlab/Simulink model for the
rotor FOC.
electrical drives and power electronics topics. In this
environment, the simulation and experimental results
can be visualized comparatively on the same screen
and then these results can be saved as MAT files for
the later use.
In Figures 11
13, the simulation and experi-
mental results of the rotor speed and the q-axis
currents are shown using rotor, stator, and air-gap
field-orientation methods. The results are obtained
under no load condition and with speed reference 300
rad/s, switching frequency 1 kHz, and the
sampling time 100 ms. The parameters of the used
IM are given in Table 2.
In the proposed IEE, the field-orientation
methods are also tested for changing speed refer-
ences and load disturbance rejection. In Figure 14,
the waveforms of rotor speed and torque currents for
the rotor FOC-controlled IM are shown. Here, the
speed references are changed as steps (0

100
200
300
0 rad/s) under no load. Figure 15
shows the load disturbance rejection capability of
the rotor FOC-controlled IM. Initially, IM is started
up with no load. After the speed reference is
reached to steady state, a 2.1 Nm load disturbance is
applied at 2.7 s and removed at 6 s. As can be seen
in Figure 15, the motor speed is recovered back to
reference value without steady-state error. In the
proposed IEE, the spectra of the voltage end current
can also be visualized in the same GUI. Figure 16
shows the GUI designed for this purpose. Here,
waveforms of phase voltage, stator currents for five-
level inverter, their harmonic spectra, and total
harmonic distortion (THD) values are shown.
 IEE FOR INDUCTION MOTOR DRIVES 9

Figure 11 Step response of the rotor FOC-controlled IM. (a) Simulation and (b) experimental.

EDUCATIONAL CONTRIBUTION
To determine the effectiveness and shortcoming of the
proposed IEE, a group with 10 students has been
allowed to use the developed IEE. The students have
been asked to evaluate the IEE as an educational tool.
The great majority of the students felt that using the
proposed IEE, this educational environment would be
helpful to improve and reinforce student knowledge
about field-orientation methods. From the point of
view of an educational tool, several features of the
proposed IEE have been taken into account:
*
The proposed IEE allows students to apply
fundamental topics for electrical drives and
power electronics.
*
The IEE provides understanding of the operating
principles of the two- and five-level inverters and
their drive circuits, signal measurement devices,
filter devices, protection devices, IM, etc. The
students have practical experiences about these
devices using the introduced environment.
*
Students gain ability to analyze and design
feedback control for IM using field-orientation
methods.

Figure 12 Step response of the stator FOC-controlled IM. (a) Simulation and (b) experimental.
10 TUNCER

Figure 13 Step response of the air-gap FOC-controlled IM. (a) Simulation and (b) experimental.

Table 2 Induction Motor Parameters

Parameter Value
Rated 1.1 kW; 2 poles; 220/380 V; 2,820 rpm; 4.5/2.6 A
Nominal torque, T 3.72 Nm
Stator resistance, Rs 8.5 V
Rotor resistance, Rr 4.59 V
Stator inductance, Ls 599.9 mH
Rotor inductance, Lr 599.9 mH
Magnetizing inductance, LM 578.7 mH
Inertia, j 0.0019 kg m2
Friction, B 0.000263 kg m2/s

Figure 14 Waveforms for rotor FOC-controlled IM when speed references are changed. (a)
Simulation and (b) experimental.
 IEE FOR INDUCTION MOTOR DRIVES 11

Figure 15 Waveforms for rotor FOC-controlled IM when load disturbance is applied. (a)
Simulation and (b) experimental.

Figure 16 The constructed GUI for the harmonic analyses of the voltage and current quantities.
12 TUNCER
*
The dSPACE environment allows students to
gain knowledge about modern digital signal
processing technologies.
*
The proposed IEE provides possibility to off-line
simulations using virtual instruments.
*
Students may directly observe the effect of the
parameter values in the current and speed
controllers on the dynamics performance of the
system.
*
The students can use the IEE to develop and test
their algorithms at any time because of its stand-
alone feature.
CONCLUSION
In this paper, a new IEE for controlling IM using field-
orientation methods is introduced for electrical
engineering students. The proposed IEE might fill
the gap between textbooks and physical systems. It
also provides a workbench for students to perform the
simulations and real-time experiments for FOC-
controlled IM in structured and simple manner. In
this way, it will increase the effectiveness of the
teaching of the subject and help students to develop
and test their own FOC algorithms.
With the GUI developed in dSPACE’s Control-
Desk environment, the simulation and experimental
results can be visualized on the same screen and data
can easily be saved and reloaded. In the proposed IEE,
the simulation blocks used in Matlab/Simulink are used
in the hardware implementation, and allow students
real-time monitoring and parameter adjustments.
ACKNOWLEDGMENTS
The author would like to thank Dr. Besir Dandil
and Dr. Hanifi Güldemir at the University of Firat, for
valuable support, suggestions, and comments.
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BIOGRAPHY
Servet Tuncer received the BSc and MSc
degrees in electrical and electronic engineer-
ing from Firat University, Elazig, Turkey, in
1993 and 1999, respectively, and the PhD
degree in the area of power electronics at the
same University in 2004. He is currently an
assistant professor in the Department of
Electronics and Computer Science, Technical
Education Faculty, Firat University, Elazig,
Turkey. His main research interest is in power electronics, electrical
machines and drives, intelligent control and digital signal
processing.
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