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A SLIDING MODE CONTROLLER FOR INDUCTION

MOTOR DRIVES

A thesis submitted to National Institute of Technology, Rourkela,

for the award of the degree of

Master of Technology
In
ELECTRICAL ENGINEERING
(Power Control and Drives)

by

PRAGYANSHREE PARIDA

DEPARTMENT OF ELECTRICAL ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY
ROURKELA-769008, ORISSA
MAY, 2009
A SLIDING MODE CONTROLLER FOR INDUCTION
MOTOR DRIVES

A thesis submitted to National Institute of Technology, Rourkela,

for the award of the degree of

Master of Technology
In
ELECTRICAL ENGINEERING
(Power Control and Drives)
by
PRAGYANSHREE PARIDA

Under the guidance of

Prof. K. B. Mohanty

DEPARTMENT OF ELECTRICAL ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY
ROURKELA-769008, ORISSA
MAY, 2009
 CERTIFICATE

This is too certify thatt the work in

n this thesis entitled “A SLIDING M
MODE CON
NTROLLER
FOR IN
NDUCTION
N MOTOR DRIVES”
D submitted byy Ms. PRAG
GYANSHRE
EE PARIDA
A,
has beenn carried outt under my supervision
s in partial fuulfillment off the requirements for thhe
degree off Master of Technology
T Control andd Drives’ durring session 2008-2009 in
in ‘Power C i
the Department o
of Electriccal Engineeering, Naational Institute of Technologyy,
Rourkelaa(Deemed unniversity) annd is an auuthentic work by her unnder my sup
pervision annd
guidancee.
T the best of
To o my know
wledge and belief,
b this work
w has noot been subm
mitted to anny
other uniiversity or in
nstitution forr the award of
o any degreee or diplomaa.

Place: Proff. K.B.Moha

anty
Dept. off Electrical Engineering
E
National IInstitute of Technology,
T
Rourkelaa – 769008, Orissa
 ACKNOWLEDGEMENTS

On the submission of my Thesis report of “A Sliding Mode Controller for

Induction Motor Drives”, I wish to express my deep sense of gratitude to my supervisor Dr.
K. B. Mohanty, Asst. Professor, Department of Electrical Engineering for his constant
motivation and support during the course of my work in the last one year. I truly appreciate
and value his esteemed guidance and encouragement from the beginning to the end of this
thesis. His knowledge and company at the time of crisis would be remembered lifelong.
I am grateful to Prof. B.D. Subuddhi, present head of the Department and Prof. S.
Ghosh, ex-Head of the Department for extending me all the possible facilities to carry out the
research work.
I want to thank all my teachers for providing a solid background for my studies and
research thereafter. They have been great sources of inspiration to me and I thank them from
the bottom of my heart.
I will be failing in my duty if I do not mention the laboratory staff and administrative
staff of this department for their timely help.
I would like to thank all whose direct and indirect support helped me completing my
thesis in time.

Date: Pragyanshree Parida

Place: NIT, Rourkela MTech (Power Control and Drives)
 ABSTRACT

Induction motors are being applied today to a wider range of applications requiring
variable speed. Generally, variable speed drives for Induction Motor require both wide operating
range of speed and fast torque response, regardless of any disturbances and uncertainties (like
load variation, parameters variation and un-modeled dynamics). This leads to more advanced
control methods to meet the real demand. The recent advances in the area of field-oriented
control along with the rapid development and cost reduction of power electronics devices and
microprocessors have made variable speed induction motor drives an economical alternative for
many industrial applications. These AC drives are nowadays replacing their DC counter part and
are becoming a major component in today’s sophisticated industrial manufacturing and process
automation. Advent of high switching frequency PWM inverters has made it possible to apply
sophisticated control strategies to AC motor drives operating from variable voltage, variable
frequency source. The complexity in there mathematical model and the consequent need for the
sophisticated algorithms are being handled by the computational power of low cost
microprocessors to digital signal processors (DSPs).
In the formulation of any control problem there will typically be discrepancies between
the actual plant and the mathematical model developed for controller design. This mismatch may
be due to un-modeled dynamics, variation in system parameters or the approximation of complex
plant behavior by a straightforward model. The designer must ensure that the resulting controller
has the ability to produce required performance levels in practice despite such plant/model
mismatches. This has led to an intense interest in the development of robust control methods
which seek to solve this problem. One particular approach to robust-control controller design is
the so-called sliding mode control methodology.
In this dissertation report, a sliding mode controller is designed for an induction motor
drive. The gain and band width of the controller is designed considering rotor resistance
variation, model in accuracies and load disturbance, to have an ideal speed tracking. The
chattering effect is also taken into account. The controller is simulated under various conditions
and a comparative study of the results with that of PI controller has been presented.

i
 TABLE OF CONTENTS

ABSTRACT i
TABLE OF CONTENTS ii
LIST OF SYMBOLS iv
LIST OF FIGURES vi

1. INTRODUCTION 1
1.1 Introduction 1
1.1.1 Scalar control 1
1.1.2 Vector control 2
1.2 Flux observer and speed estimation 3
1.3 Necessity of a robust controller 5
1.4 Sliding mode controller 6
1.5 Organization of the thesis 7

2. MODELLING OF INDUCTION MOTOR 9

2.1 Introduction 9
2.2 Induction motor model 9
2.3 The field oriented control 13
2.4 Estimation of speed 14
2.5 Chapter conclusion 17

3. DESIGN OF A SLIDING MODE CONTROLLER 18

3.1 Introduction 18
3.2 Sliding mode controller 19
3.2.1 Derivation of control law 24
3.2.2 Design of controller gain 24
3.2.3 Reduction of chattering 25
3.2.4 Design of band width, λ 26
3.3 Chapter conclusion 28

ii
4. SIMULATION RESULTS AND DISCUSSIONS 29

5. CONCLUSION AND FUTURE WORK 43

REFERENCES 44

APPENDIX-A 47

iii
 LIST OF SYMBOLS

d Disturbance or noise in the sliding mode controller

E Error vector in sliding mode controller
e Error in a state (say, speed)
f Supply frequency in Hz
G A function in sliding mode controller which is estimated
ia, ib, ic Stator phase (a, b, c) currents
J Polar moment of inertia of the motor
K Gain of sliding mode controller
Kmax Maximum gain of the sliding mode controller
Kp, Ki Proportional gain and integral gain of the P-I controller
Kt Torque constant of the motor
Ls, Lr Self inductance per phase of stator and rotor referred to stator
Lm Magnetizing inductance per phase referred to stator
ls, lr Leakage inductance per phase of stator and rotor referred to stator
P No. of pole pairs
Rs, Rr Resistance per phase of stator and rotor referred to stator
S Sliding surface
s Distance of a state (say speed) from the sliding surface
Te Electromagnetic torque developed by the motor
Tl Load torque
u Input control voltage vector
Va*, Vb*, Vc* Reference voltage for a-b-c phase of the inverter
Vdc DC link voltage
Vm Peak of the supply voltage per phase
Vab, Vbc Line to line voltage of the motor
Vds, Vqs d- and q-axis stator voltages
X State vector
y Out put vector

iv
ωr Rotor mechanical speed (rad/sec)
ωr* Reference/set speed (rad/sec)
ωe Speed of the reference frame (rad/sec)
ωsl Electrical slip speed (rad/sec)
ψdr, ψqr d‐axis and q‐axis rotor flux linkages
ψαr, ψβr Components of rotor flux linkage vector in stationary α‐β reference
frame
ψαs, ψβs Components of stator flux linkage vector in stationary α‐β reference
frame
λ Band width of the sliding mode controller
Width of the boundary layer for the reduction of chattering
β Viscous friction coefficient
σ Leakage coefficient
η A positive constant used in sliding mode controller

Note:
signifises the estimation of x and signifies the derivative of the x.

v
 LIST OF FIGURES

Fig. 2.1 Phasor diagram for rotor and stator flux components 15
Fig. 2.2 Induction motor drive system with sensorless speed control scheme 16
Fig. 3.1 The sliding condition 22
Fig. 3.2 Graphical interpretation of equation (3.13) and (3.14) 23
Fig. 3.3 Sliding mode principle with boundary layer 27
Fig. 3.4 Induction motor drive system with sliding mode controller 28
Fig. 4.1 Speed and speed error for Step change in reference speed
with P-I controller 31
Fig. 4.2 q- axis stator input voltage and d- and q-axis stator current for
Step change in reference speed with P-I controller 32
Fig. 4.3 Stator phase current (Ia) for step change in reference speed
with P-I controller 33
Fig. 4.4 Speed response and speed error for Step change in reference speed
with Sliding mode controller 34
Fig. 4.5 q- axis stator input voltage and d- and q-axis stator current for
Step change in reference speed with Sliding mode controller 35
Fig. 4.6 stator phase current and control input for
Step change in reference speed with Sliding mode controller 36
Fig. 4.7 speed response and q- axis stator voltage for
trapezoidal speed tracking with P-I controller 37
Fig. 4.8 d- and q-axis stator current and stator phase current for
Trapezoidal speed tracking with P-I controller 38
Fig. 4.9 Speed response and speed error for Trapezoidal speed tracking
with Sliding mode controller 39
fig. 4.10 q- axis stator voltage and d- and q-axis stator current for
trapezoidal speed tracking with Sliding mode controller 40
Fig. 4.11 stator phase current and control input, u for
trapezoidal speed tracking with Sliding mode controller 41
Fig.4.12 Performance of the drive system under load torque variation
with PI and sliding mode controller 42

vi
 Chapter-1

INTRODUCTION

1.1 Introduction

The industrial standard for high performance motion control applications require, four
quadrant operation including field weakening, minimum torque ripple, rapid speed recovery
under impact load torque and fast dynamic torque and speed responses. DC motors with thyristor
converter and simple controller structure have been the traditional choice for most industrial and
high performance applications. But they are associated with certain problems related to
commutation requirement and maintenance. Low torque to weight ratio and reduced unit
capacity add some more negative points to DC machine drives. On the other hand AC motors,
especially induction motors are suitable for industrial drives, because of there simple and robust
structure, high torque to weight ratio, higher reliability and ability to operate in hazardous
environments. However there control is a challenging task because the rotor quantities are not
accessible which are responsible for torque production. DC machines are decoupled in terms of
flux and torque. Hence control is easy. If it is possible in case of induction motor to control the
amplitude and space angle (between rotating stator and rotor fields), in other words to supply
power from a controlled source so that the flux producing and torque producing components of
stator current can be controlled independently, the motor dynamics can be compared to that of
DC motor with fast transient response. Presently introduction of micro-controllers and high
switching frequency semiconductor devices, and VLSI technology has led to cost effective
sophisticated control strategies.

1.1.1 Scalar control

The name scalar control indicates the magnitude variation of control variables only. The
control of an induction motor requires a variable voltage variable frequency power source. With
advent of the voltage source inverter (VSI), constant voltage/hertz (V/f) control has become the
simplest, cheapest and hence one of the popular methods for speed control of induction motor.

1
This aims at maintaining the same terminal voltage to frequency ratio so as to give nearly
constant flux over wide range of speed variation. Since flux is kept constant the full load torque
capability are maintained constant under steady state condition except low speed(when an
additional voltage boost is needed to compensate for stator winding voltage drop ).In this control
scheme, the performance of machine improves in the steady state only, but the transient response
is poor. More over Constant voltage/hertz control keeps the stator flux linkage constant in steady
state with out maintaining decoupling between the flux and torque. So due to inherent coupling
effect the dynamic response of the drive is poor. To avoid open loop speed fluctuation due to
variation in load torque and supply voltage, a closed loop V/f speed control scheme with slip
regulation is normally used for stable operation of the drive under steady state [1].
Scalar control drives were widely used in industry, because it is simple to implement. But
inherently there exists a coupling effect between both flux and torque (both are function of
voltage or current and frequency), which gives sluggish response and the system becomes prone
to instability. The importance of scalar control drives has diminished now a day because of the
superior performance of the vector controlled drives.

1.1.2 Vector control

By splitting the stator current into two orthogonal components, one in the direction of
flux linkage, representing magnetizing current or flux component of current, and other
perpendicular to the flux linkage, representing the torque component of current, and then by
varying both components independently, the induction motor can be treated as a separately
excited DC motor. This concept was invented in the beginning of 1970s. The implementation of
vector control requires information regarding the magnitude and position of the flux vector.
Depending upon the method of acquisition of flux information, the vector control or field
oriented control method can be termed as: direct or indirect. In the direct method the position of
the flux to which orientation is desired is strictly measured with the help of sensors, or estimated
from the machine terminal variables such as speed and stator current/voltage signals. The
measured or estimated flux is used in the feedback loop, thus the machine parameters have
minimal effect on the overall drive performance. But the measurement of flux using flux sensors
necessitates special manufacturing process or modifications in the existing machines. Also direct

2
field orientation method have its inherent problem at low speed where the voltage drops due to
resistances are dominant, and pure integration is difficult to achieve [1].
The indirect vector control was originally proposed in [13], eliminates the direct
measurement or computation of rotor flux from the machine terminal variables, but controls its
instantaneous flux position by summing the rotor position signal with a commanded slip position
signal (also known as slip frequency control or feed forward control scheme). The direction of
rotor position need an accurate rotor speed information and the commanded slip position is
calculated from the model of the induction motor, that again involves machine parameters which
may vary with temperature, frequency and magnetic saturation. To get ideal decoupling, the
controller should track the machine parameters and for this various adaptation methods have
been proposed [3, 8, 12, 18, 20]. However it has been reported that the controller performance is
adequate within normal operating temperatures for most of the high performance applications,
and the parameter adaptations methods may be essential only in the case of critical applications.
In contrast to direct method the indirect method controls the flux in an open loop manner.
Field orientation scheme can be implemented with reference to any of the three flux
vectors: stator flux, air gap flux and rotor flux. It has been shown that out of the three the
orientation with respect to rotor flux alone gives a natural decoupling between flux and torque,
fast torque response and better stability. Hence in this work orientation along rotor flux is
considered.

1.2 Flux Observer and speed Estimation

There are many techniques involved in implementing different types of field oriented
control. Most of the methods require precise estimation of either the rotor position or speed. This
implies the need for speed sensors such as shaft mounted tacho-generators or digital shaft
encoders. The speed sensors increase the cost and size of the drive, lower the system reliability,
and also require special attention to measure noise. Some methods (direct field orientation)
require the rotor flux, which is measured using Hall effect sensors or search coils. The Hall effect
sensors degrade the performance and reliability of the drive system. The estimation of rotor flux
by integration of the open loop machine voltages arise difficulties at low speed.

3
Finally, although the indirect field orientation is simple and preferred, its performance is highly
dependent on accurate knowledge of the machine parameters. Research in induction motor
control has been focused to remedy the above problems. Much work has been reported in
decreasing the sensitivity of the control system to the parameter variation and estimating, rather
than measuring the rotor flux and speed from the terminal voltages and currents. This eliminates
the flux or speed sensor, there by achieving sensorless control. Many speed estimation
algorithms and speed sensorless control schemes have been developed during the past few years.
One of the major problems with the terminal quantities-based flux observers designed in the past
is their sensitivity to the machine parameters, specifically, to rotor resistance for the current
model observer and to stator resistance in case of the voltage model flux observer. To overcome
these problems various control techniques have been tried to improve the rotor flux estimation.
Some are discussed bellow.
The Kalman filter algorithm and its extensions are robust and efficient observers for
linear and nonlinear system respectively. An extended Kalman filter is used in [15] for speed
estimation of vector controlled induction motor drive. Unfortunately, this approach contains
some inherent disadvantages such as its heavy computational requirements and difficult design
and tuning procedure.
A number of Model Reference Adaptive System based speed sensorless schemes have
been described in the literature for field oriented induction motor drives [24 , 27 ], where one of
the flux estimators acts as a reference model, and the other acts as the adaptive estimator.
Rotor saliency method based on signal injection is one of the techniques to determine
rotor position and speed. This has been developed using high frequency measurements based on
machine saliencies, rotor slotting and irregularities. High frequency signals are injected into
stator terminals. Proper signal processing and filtering of the resulting high frequency stator
current are used to detect the induced saliencies present in the stator model of the induction
motor. These approaches have been shown to have the potential for wide speed range and
parameter insensitive sensorless control, particularly during low speed operation. But the
saliency-based technique with fundamental excitation [2, 4] often fails at low and zero speeds.
When applied with high frequency signal injection [9, 10], this method may cause torque
ripples, vibrations, and audible noise. Also, the saliency-based technique is machine specific.

4
 The direct self control or direct torque control (DTC) [5] is a variation of sensorless field
oriented control, where the flux position and the error in flux and torque are directly used to
choose the inverter switching state.
Recently, substantial research efforts have also been devoted to intelligent controllers
such as artificial neural networks (ANN) and fuzzy logic to deal with the problems of
nonlinearity and uncertainty of system parameters. The fundamental characteristics of neural
networks are: ability to produce good models of nonlinear systems; highly distributed and
paralleled structure, which makes neural-based control schemes faster than traditional ones;
simple implementation by software or hardware; and ability to learn and adapt to the behavior of
any real process. On the other hand it was shown that fuzzy controllers are capable of improving
the tracking performance under external disturbances, or when the IFO drive system experiences
imperfect decoupling due to variations in the rotor time constant. Neural network and fuzzy logic
are gaining potential as estimators and controllers for many industrial applications, due to the
fact that they posses better tracking properties than conventional controllers.

1.3 Necessity of a robust controller

To achieve decoupling is the main aim of vector control. The ideal decoupling
will not be obtained, if the rotor parameters used in the decoupling control law can not track
there true values. As a result of detuning of rotor parameters, the efficiency of the motor drive is
degraded owing to the reduction of torque generating capability and the magnetic saturation
caused by over excitation. The dynamic control characteristics are also degraded. On-line
adaptation of parameters to achieve decoupling is possible, but very difficult and complex
process. To reduce effects of rotor parameter variations, various on-line tuning techniques have
been reported [3, 8, 12, 14].
A robust control technique is a good solution for the rotor parameter detuning problem.
In addition to the above problem, there are also other problems associated with induction motor
drives which necessitate a robust control technique. These are load torque disturbances,
approximations in the model used in analysis and design of the controller, and necessity to track
complex trajectories, not only step changes. Under these conditions a robust control technique is
essential. Sliding Mode is one such control technique.

5
1.4 Sliding Mode Controller

Sliding mode controller is suitable for a specific class of nonlinear systems. This is
applied in the presence of modeling inaccuracies, parameter variation and disturbances, provided
that the upper bounds of their absolute values are known. Modeling inaccuracies may come from
certain uncertainty about the plant (e.g. unknown plant parameters), or from the choice of a
simplified representation of the system dynamic. Sliding mode controller design provides a
systematic approach to the problem of maintaining stability and satisfactory performance in
presence of modeling imperfections. The sliding mode control is especially appropriate for the
tracking control of motors, robot manipulators whose mechanical load change over a wide range.
Induction motors are used as actuators which have to follow complex trajectories specified for
manipulator movements. Advantages of sliding mode controllers are that it is computationally
simple compared adaptive controllers with parameter estimation and also robust to parameter
variations. The disadvantage of sliding mode control is sudden and large change of control
variables during the process which leads to high stress for the system to be controlled. It also
leads to chattering of the system states.
Soto and Yeung [23] and Utkin [25] have applied sliding mode control to induction
motor drive. In [7, 25] sliding mode control methods are applied to an indirect vector controlled
induction machine for position and speed control. It is also applied in [11] to position control
loop of an indirect vector control induction motor drive, without rotor resistance identification
scheme. A sliding mode based adaptive input output linearizing control is presented in [21] for
induction motor drives. In this case the motor flux amplitude and speed are separately controlled
by sliding mode controllers with variable switching gains. A sliding mode controller with rotor
flux estimation is presented in [28-29] for induction motor drives. Rotor flux is also estimated
using a sliding mode observer.
Although many speed estimation algorithms and sensorless control schemes are
developed during the past few years, development of a simple, effective and low sensitivity
speed estimation scheme for a low power IM drive is lacking in the literature. Sliding mode
controller is a good choice for handling this type of problems.

6
1.5 Organization of the Thesis

The following presents the outline of the work in details.

Chapter 1 presents a review on the available literature on scalar control and vector
control stating their limitations. Various types of observer and speed estimation scheme are also
described. The application aspect of sliding mode controller to induction motor drive is also
presented. Lastly it sets forth the objectives of the present work and outlines the organization of
the thesis.
Modeling of induction motor is discussed in Chapter 2. The differential equations of the
motor are expressed in synchronously rotating (d- q) reference frame with stator current and
rotor flux components as state variables. The developed torque is used as a state variable in place
of q- axis stator current. The drive system is transformed to two linear and decoupled
subsystems; electrical and mechanical. There are two PI controllers for the mechanical
subsystem and one for the electrical.
A reduced order (Gopinath type) rotor flux observer has been designed to estimate rotor
flux. This observer estimates both the components of rotor flux in the synchronous reference
frame. But the q-axis flux linkage is zero at the steady state and nearly zero during transients. So
its computation is not needed and a simpler observer for estimating only the d-axis rotor flux is
developed. The computation needed is decreased and thus preferable for real time estimation. A
simple, effective and low sensitivity speed estimation technique has been proposed [19] for the
drive is described here. The speed is calculated from the estimated stator flux linkage
components in the stationary reference frame.

Development of a sliding mode controller for robust control of induction motor drive
under model inaccuracy, load disturbances and parameter variations is described in Chapter 3.
The theory of sliding mode control is briefly reviewed and control law is derived. The controller
gain and band width are determined considering various factors, such as rotor resistance
variation, model inaccuracy and load disturbances to have an ideal speed tracking. The control
law is modified to reduce the chattering of the control input and states. The width of the
boundary layer, introduced for this purpose, is determined to reduce chattering as well as to keep
the tracking error at its minimum value.

7
 The PI controller and sliding mode controller are simulated for an induction motor drive
using Matlab/simulink in Chapter 4. The PWM inverter is simulated assuming all the devices to
be ideal switches. The results of both the controllers are compared.

Finally in chapter 5, some concluding comments summarizing the advantages and

limitations of the proposed controller are presented. This also includes few suggestions for future
research work.

8
 Chapter- 2

MODELLING OF INDUCTION MOTOR

2.1 Introduction

Although construction of induction motor is simple, its speed control is considered to be far
more complex than that of DC motors. The reason is nonlinear and highly interacting
multivariable state space model of the motor. The rapid and revolutionary progress in
microelectronics and variable frequency static inverters with application of modern control
theory has made it possible to build sophisticated controllers for AC motor drives. The design
and development of such drive system require proper mathematical modeling of the motor to
optimize the controller structure, the inputs needed and the gain parameters. In this chapter the
modeling of induction motor is presented.

2.2 Induction Motor Modeling

A proper model for the three phase induction motor is essential to simulate and study the
complete drive system. The model of induction motor in arbitrary reference frame is derived in
[16-17].
Following are the assumptions made for the model:
1. Each stator winding is distributed so as to produce a sinusoidal mmf along the airgap, i.e.
space harmonics are negligible.
2. The slotting in stator and rotor produces negligible variation in respective inductances.
3. Mutual inductances are equal.
4. The harmonics in voltages and currents are neglected.
5. Saturation of the magnetic circuit is neglected.
6. Hysteresis and eddy current losses and skin effects are neglected.

The voltage equations of the three phase induction motor in synchronous reference frame are:

9
 2.1

2.2

2.3

2.4

The developed torque Te is:

3
2.5
2
The torque balance equation is:

2.6

Where, in the above equations, all voltages (v) and currents (i) refer to the arbitrary reference
frame. The subscripts ds, qs, dr and qr corresponds to d and q-axis quantities for the stator
and rotor respectively. Ψ denotes flux linkage. ωe and ωr are the speed of the reference frame
and the mechanical speed of the rotor in rad/sec. Rs and Rr are the stator and rotor resistances
per phase of the motor respectively. P is the number of pole pairs. J is the moment of inertia
and β is the coefficient of viscous friction. Te is the developed torque and Tl is the load
torque.
The above equations can be written in matrix form as follows:
0 0
2.7
0 0

0 0
2.8
0 0

3
2.9
2
Squirrel cage induction motor is mostly used and its rotor windings are short circuited,
0
2.10
0
neglecting iron losses, the flux linkage equations in matrix form are

10
 0 0
2.11
0 0

0 0
2.12
0 0

Where Ls and Lr self inductances of stator and rotor respectively and Lm is the mutual
inductance between stator and rotor.
From equation (2.12)
1
0 0
2.13
1
0 0

Substituting (2.13) in (2.11),

0 0

0 0

0
0
2.14
0
0

Where 1 = Leakage coefficient.

Using (2.10) and substituting (2.13) in (2.8) and then re arranging, we get

0 0
0
0
0 0

or

11
 0
2.15
0

Where , and (2.15a)

Substituting (2.14) in (2.7) and again substituting (2.15) and them simplifying and rearranging,
we get
0
2.16
0

Where

(2.16a)

Combining (2.15) and (2.16), the state space model of the induction motor in terms of stator
current and rotor flux linkages is given as follows:

0
0
2.17
0 0 0
0 0 0

Using (2.14) and (2.9) and simplifying, we get

3
2

or 2.18

12
2.3 The Field Oriented control
To achieve field orientation along the rotor flux, the flux component (d-axis
component) of stator current, ids is aligned in the direction of rotor flux, ψr , and the torque
component of stator current, iqs is aligned in direction perpendicular to it. At this condition:

0 and 0 (2.19)

Ψdr = Ψr = rotor flux.

Hence the developed electromagnetic torque is given by:
3
2.20
2

With field orientation, the dynamic behavior of the induction machine is given by:

2.21

2.22

2.23

Slip frequency for obtaining indirect field orientation is given by :

. 2.24

Where

With these conditions the decoupling of torque and flux is guaranteed in field oriented
control and it can be controlled linearly as a separately excited DC motor. However due to the
presence of rotor time constant (Rr/ Lr) in equation (2.24), the indirect field orientation control is
highly parameter sensitive. Along with this, unpredictable parameter variations, external load
disturbances, unmodelled and nonlinear dynamics adversely affect the control performance of
the drive system.

13
2.4 Estimation of Speed

It is desirable to avoid the use of speed sensors from the standpoints of cost, size
of the drive, noise immunity and reliability. So the development of shaft sensorless adjustable
speed drive has become an important research topic. Many speed estimation algorithms and
sensorless control schemes [22] have been developed during the past few years. The speed
information required in the proposed control technique is estimated by the algorithm described
in this section. The speed of the motor is estimated by estimating the synchronous speed and
subtracting the command slip speed. The synchronous speed is estimated using the stator flux
components, because of its higher accuracy compared to estimation based on rotor flux
components.
The rotor speed of an induction motor is expressed in terms of synchronous and slip
(angular) frequencies is as follows:

The estimation of rotor speed is accomplished by an estimation of either synchronous, or slip

frequency, with the other being known. In the proposed speed estimation scheme, the
synchronous frequency is estimated and slip frequency is assumed as command. So the
estimated rotor speed of the sensorless drive is obtained from the above equation as:

Where,
ω̂r = estimated rotor frequency in rad/sec.
ω̂e = estimated synchronous frequency in rad/sec.
ω*sl = command value of slip frequency in rad/sec.
The estimated synchronous frequency is derived based on the rotor flux model, or the stator flux
model. The principles of both the methods are briefly explained bellow.
If ψβr and ψαr are the two components of the rotor flux vector in the stationary (α-β)
reference frame as shown in Fig. 2.1 (a), the electrical angle of the rotor flux vector is defined as:

tan

14
The derivative of this rotor flux angle (with respect to time) gives the instantaneous angular
frequency.

β β
Ψs
Ψr ψβs
ψβr

θψ r θψ s

ψαr α ψαs α
(a) (b)
Fig. 2.1 Phasor diagram for rotor and stator flux components

If ψβs and ψαs are the two components of the stator flux vector in the stationary (α-β) reference
frame as shown in Fig. 2.1(b) the electrical angle of the stator flux vector is defined as:

tan

The derivative of this rotor flux angle (with respect to time) gives the instantaneous angular
frequency.

From the basic equation of induction motor in stationary (α-β) reference frame, the stator and
rotor flux linkages are given by

2.25

2.26

15
Equation (2.25) shows that the stator flux depends on the stator resistance and measured stator
voltages and currents. Equation (2.26) shows that the rotor flux depends on the estimated stator
flux and requires the knowledge of the inductances of the machine, especially the stator leakage
inductance (σ Ls). Usually the stator resistance can be measured fairly accurately. Hence stator
flux can be estimated more accurately compared to the rotor flux. Therefore the estimated stator
flux can be used to derive the synchronous frequency.

The block diagram of the described speed estimation algorithm with the sensorless speed
control scheme is shown in fig 2.2

3 phase, PWM
Diode Inverter IM
50 Hz
Rectifier
supply

2-phase
1 To
3-phase
Transformation

3-phase
to
From the
1 Frequency 2-phase machine
Estimator transformation terminal

Fig 2.2 Induction motor drive system with sensorless speed control scheme

16
2.5 Chapter Conclusion

In this chapter the induction motor model in arbitrary reference frame is discussed in
detail. Because a dynamic model of the machine subjected to control must be known in order to
understand and design vector controlled drives. Condition to achieve indirect vector control is
derived. The speed estimation algorithm is studied in detail in order to apply the sensorless
technique in the present drive system.

17
 Chapter – 3

DESIGN OF A SLIDING MODE CONTROLLER

3.1 Introduction
In control theory sliding mode control, is a form of variable structure control (VSC). It
is a nonlinear control method that alters the dynamics of a nonlinear system by application of a
high-frequency switching control. The multiple control structures are designed so that
trajectories always move toward a switching condition, and hence the ultimate trajectory will not
exist entirely within one control structure. Instead, the ultimate trajectory will slide along the
boundaries of the control structures. The motion of the system as it slides along these boundaries
is called a sliding mode.

Intuitively, for a dynamic system sliding mode control uses practically infinite gain to
force the trajectories to slide along the restricted sliding mode subspace. The main strength of
sliding mode control is its robustness. Because the control can be as simple as a switching
between two states (e.g., "on"/"off" or "forward"/"reverse"), it need not be precise and will not
be sensitive to parameter variations that enter into the control channel. Additionally, because the
control law is not a continuous function, the sliding mode can be reached in finite time (i.e.,
better than asymptotic behavior). Sliding mode control is an appropriate robust control method
for the systems, where modeling inaccuracies, parameter variations and disturbances are present.
It is computationally simple compared to adaptive controllers with parameter estimation.
Induction motor with sliding mode control performs well in the servo applications, where the
actuator has to follow complex trajectories. Sometimes sliding mode control has a demerit of
chattering of the control variable and some of the system states.

The strengths of SMC include:

• Low sensitivity to plant parameter uncertainty
• Greatly reduced-order modeling of plant dynamics
• Finite-time convergence (due to discontinuous control law)

18
The weaknesses of SMC include:

• Chattering due to implementation imperfections

3.2 sliding Mode Controller

With sliding mode controller, the system is controlled in such a way that the error in the
system states always moves towards a sliding surface. The sliding surface is defined with the
tracking error (e) of the state and its rate of change (e˙) as variables. The distance of the error
trajectory from the sliding surface and its rate of convergence are used to decide the control input
(u) to the system. The sign of the control input must change at the intersection of the tracking
error trajectory with the sliding surface. In this way the error trajectory is always forced to move
towards the sliding surface.
The basic equations (2.20 – 2.24) of vector controlled induction motor are simplified by
assuming, the rotor flux ψdr to be constant. From (2.23) the steady state value of the rotor flux
can be obtained as

3.1

From (2.15a), we get

3.1

Using (3.1a) in (3.1), steady state value of rotor flux is obtained as

3.1

The speed dynamic equation is given by

1
3.2

Using (2.20) in (3.2) we get,

19
Assuming the load torque, Tl to be a disturbance to a system, the speed dynamic equation is
simplified as:

3.3

or
3.3
Where,

3.4

and

3.4

In this vector controlled induction motor drive, speed is taken as the output variable. To track the
speed accurately in the second order speed control system, the conditions to be satisfied are:
0 0 3.5
From equation (4.2)

3.5

Substituting . in (2.22), the following equation is obtained.

3.6

It can be shown using (2.24) and (3.1), that

Simplifying (3.6), we get

1
or
3.6
Where
1 3.7
Substituting (3.2) and (3.6a) in (3.5a), we get

20
or
3.8
Where d = total disturbance
and u = b c vqs = control input. (3.8a)

and 3.9

G is a function, which can be estimated from measured values of current and speed.
u is directly proportional to vqs and decides the modulating signal and hence output voltage of the
PWM voltage source inverter.
Let
∆ 3.10

Where is an approximate estimate of G, and ΔG is the estimation error due to modeling

imperfection.
The control problem is to obtain the system states,

to track a specific time varying state,

in the presence of modeling imperfection and disturbances.

Let 3.11
and 3.12
be the tracking error in the speed and its rate of change respectively.

Let be the tracking error vector.

A time varying surface, s(t) is defined in the state space by the scalar equation ,
, 0

Where , 3.13

21
Where λ is a positive constant, which determines the band width of the system.

Starting from the initial condition, E(0) = 0, the tracking task, X Æ X*, which means x
has to follow X* with a predefined precision, is considered as solved, if the state vector, E
remains in the sliding surface, S(t) for all t ≥ 0 and also implies that scalar quantity s is kept at
zero. A sufficient condition for this behavior is to choose the control law, u of (3.8) and (3.8a) so
that
1
| | 3.14
2

Where η is a positive constant. The value of η determines the degree to which the system state is
attracted to the switching line. Essentially, equation (3.14) states that the squared distance to the
sliding surface, as measured by s2 decreases along all system trajectories. Thus it constrains the
trajectories to point towards the surface S(t), as shown in the figure bellow [11].

S(t)

Fig.3.1 The sliding condition

For a second order system, the switching surface is a line and different control structures
are applied according to the position of the tracking error vector with respect to the line. The
control is designed to drive the state in to the switching line, and once in the line the system state
is considered to remain on the line. The state trajectory is defined by the algebraic equation of
the line.

22
 Equation (3.14) is the ‘sliding condition’. S(t) satisfying (3.14) is referred to as a sliding
surface. And the behavior of the system, once on the surface is called ‘sliding mode’.

Graphical interpretation of equations (3.13) and (3.14) is shown in Fig. 3.2

Finite
time X(0)
reaching
phase
X(t)

S= 0 Sliding mode
exponential convergence

Slope λ

Fig. 3.2 Graphical interpretation of equation (3.13) and (3.14)

Starting from any initial condition, the state trajectory reaches the sliding surface in a
| |
finite tine smaller than , and then slides along the surface towards X* exponentially with a

time constant equal to 1/λ. In the sliding mode, behavior of the system is invariant despite
modeling imperfections, parameter variation and disturbances. However the sliding mode causes
drastic changes of the control variable, which is a major drawback for the system.

23
 3.2.1 Derivation of Control Law

Referring to equation (4.13), the condition for sliding mode is

. | |
or alternatively, . 3.15
where
1 0
1 0
From equation (4.12) and (4.11)
3.16
Substituting (3.8) in (3.16),
3.17
Substituting (4.16) in (4.14) and simplifying,
. 3.18
To achieve the sliding mode of (4.14), u is chosen, so that
. 3.19
Where the gain, K is a positive constant. The first term in (3.19), is a compensation
term and second term is the controller. The compensation term is continuous and reflects the
knowledge of system dynamics. The controller term is discontinuous and ensures the sliding to
occur.

3.2.2 Design of Controller Gain

Substituting (4.18) in (4.17), we have

3.20
or
|∆ | | | 3.21
Where,
|∆ | = upper bound of the estimation error,
| | = upper bound of the noise, d, and
v = upper bound of command acceleration,
24
The controller gain K is determined from the maximum amount of imperfection in the estimation
process and maximum noise due to parameter variations and disturbance (load torque). If
modeling imperfection and parameter variation is large, the value of K should be large. Then
discontinuous or switched component . has a more dominant role than the continuous
or compensation component, and lead to chattering. Conversely, better knowledge of
the system model and parameter values reduces gain, K and results smooth control response. If
large control bandwidth is available, poor knowledge of dynamic model may lead to respectable
tracking performance, and hence large modeling efforts may produce only minor improvement in
tracking accuracy.

3.2.3 Reduction of Chattering

In a system, where modeling imperfection, parameter variations and amount of noise are
more, the value of K must be large to obtain a satisfactory tacking performance with sliding
mode controller. But larger value of K leads to more chattering of the control variable and
system states. A boundary layer of definite width on both sides of switching line is introduced to
reduce chattering. If is the width of the boundary layer on either side of the switching line, as
shown in fig. 3.3, the control law of (3.19) is modified as:

. 3.22

Where

| |
| |
This accounts to a reduction of the control gain inside the boundary layer and results in a smooth
control signal.

25
 3.2.4 Design of Bandwidth, λ

From equation (4.21), for | | ,( )

∆ 3.23

Substituting equation (3.23) in (3.17), the filter function is obtained as

∆ 3.24

Where d is the disturbance and ΔG is the model imperfection.

Suppose the solution of the filter equation (3.24) is s0 . Then the distance from the state vector, E
to the switching line, s=0 is:
1
| | 3.25
√1
Since slope of the switching line, s=0 is λ, the guaranteed tracking precision is:

3.26

The break frequency, υ of filter (3.24) is:

3.27

The design rule for bandwidth, λ is that the largest acceptable value of λ should be more than or
equal to the break frequency, υ of filter (3.24). From (3.27) the balance condition is obtained as:

3.28

This case corresponds to critical damping. Further more the design rule for λ with regard to
sample rate, fsample and time constant, τplant of the plant is denoted as

3.29
2 1 .
λ is selected keeping equations (3.26), (3.28) and (3.29)in view. The ratio of boundary layer ( )
to bandwidth (λ) should be as small as possible, the ratio being equal to specified tracking
precision. There product should be equal to the maximum value of controller gain, Kmax . If time
constant of the system is known, λ should satisfy (3.29).
To have a tracking precision, θ = 1 rad/sec, from (3.26)
3.30

26
From (3.28)
Hence

From equation (3.8a)

/ 3.31
without boundary layer.

And with boundary layer it is given by,

/ 3.32

Where is the estimate of voltage gain parameter b, which is unknown but has known bounds.
0
Here is the geometric mean of the above bounds.

K
θ

‐
‐K
S=+

S=0
S= -

(a) (b)

Fig. 3.3 sliding mode principle with boundary layer

27
 3 phase, PWM
Diode Inverter IM
50 Hz supply
Rectifier

Sliding
e u
Mode G1
Controlle 2-phase
To
3-phase
Transformation

3-phase
to
1 Frequency 2-phase
Estimator transformation

Fig. 3.4 Induction motor drive system with sliding mode controller

3.3 Chapter Conclusion

In this chapter the theory of sliding mode controller is briefly reviewed. The equations in
the induction motor model are reorganized so as to apply the control technique. The controller
gain and bandwidth are designed, considering various factors such as rotor resistance variations,
model inaccuracies, load torque disturbance, to have ideal speed tracking. In the next chapter the
simulation results are presented and discussed to validate the proposed control scheme.

28
 Chapter – 4

SIMULATION RESULTS AND DISCUSSIONS

The induction motor drive system is simulated with (i) P-I controller and (ii) sliding
mode controller in the mechanical subsystem. Both the controllers are tested for speed tracking
and load torque variation conditions. Results are compared among both types of controllers. The
drive is subjected to load disturbance to test the robustness of the sliding mode controller.

The rating and parameters of a 3-phase induction motor drive system are given in Appendix –A.

Different cases under which the simulation tests are carried out are:
(a) Step change in reference speed.
(b) Tracking of reference speed in trapezoidal form.
(c) Robustness test against load torque variation.

The comparative study of the results with P-I and SMC are shown bellow.

(a) Step change in reference speed

The reference speed is changed from 1000 rpm to 1200 rpm at time, t = 1 sec, and again 1200
rpm to 1500rpm at time, t = 3 sec. The reference d-axis rotor flux linkage is kept at 0.45
V.sec and load torque is kept at zero. The simulation responses of the drive system with P-I
controller are shown in Fig. 4.1, Fig. 4.2 and Fig. 4.3 and those with sliding mode controller
are shown in Fig. 4.4, Fig 4.5 and Fig. 4.6. The responses of speed, speed error, d- and q-axis
stator currents, stator phase current (ia), the control voltage (‘u’ in SMC) and q-axis stator
input voltage (Vqs) are shown.
From the figures it is clear that in case of sliding mode controller, the speed error of the
system comes to zero faster than fixed gain controller. The q-axis input voltage at the time of
transition from one level to anther is nearly 20times larger in case of sliding mode controller

29
 than P-I controller. Similarly the q-axis stator current is much larger in case of sliding mode
controller than P-I controller.

(b) Tracking of reference speed in trapezoidal form.

A periodic trapezoidal reference speed is used here to study the tracking performance of
the drive system. It is shown in Fig. 4.7 and Fig. 4.8 for fixed gain P-I controller and Fig. 4.9,
Fig. 4.10 and Fig. 4.11 for sliding mode controller. The command speed is increased linearly
from 0 at t = 0.6 sec to 157rad/sec at t = 1.1 sec. It is kept constant at 157rad/sec till t = 2.6 sec,
and decreased linearly to -157rad/sec at t = 3.6 sec. Then command speed is kept constant at -
157rad/sec till t = 5.1sec and increased linearly to zero at t = 5.6 sec. Same trajectory is used to
study the performance of fixed gain P-I controller and sliding mode controller, and results are
compared.
Compared to P-I controller the speed tracking performance of sliding mode controller is
much better. For both the cases, the q-axis stator voltage, d-and q-axis stator current are shown
in the figure. For the sliding mode controller the control input is also shown in the figure.

Fig. 4.12 shows the responses of the controllers during variation of load torque. It is clear
that the P-I controller speed response is affected by the load disturbance, where as the sliding
mode controller has proved its robustness against load variations.

30
 160

140

120
speed in rad/sec

100

80

60

40

20

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time in sec

(a)

35

30

25
Speed error (rad/sec)

20

15

10

-5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(b)

Fig. 4.1 Step change in reference speed with P-I controller

(a) Speed ,
(b) Speed error,

31
 220

200

180

q-axis stator input voltage (volts) 160

140

120

100

80

60

40

20

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(a)

10

8
d- and q-axis stator current (Amp)

7 Iqs

4 Ids

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time ( sec)

Fig. 4.2 Step change in reference speed with P-I controller

(a) q- axis stator input voltage
(b) d- and q-axis stator current

32
 6

2
Phase current, Ia (Amp)

-2

-4

-6

-8
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (Sec)

Fig. 4.3 stator phase current (Ia) for step change in reference speed with P-I controller

33
 160

140

120
Speed (rad/sec)

100

80

60

40

20

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(a)

35

30

25
Speed Error (rad/sec)

20

15

10

-5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (Sec)

(b)
Fig. 4.4 Step change in reference speed with sliding Mode controller
(a) Speed ,
(b) Speed error,

34
 4000

3500
q-axis stator input voltage (volts)

3000

2500

2000

1500

1000

500

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(a)

60

50
d- and q-axis stator input current (Amp)

40
Iqs

30

20

Ids
10

-10
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(b)
Fig. 4.5 Step change in reference speed with sliding mode controller
(a) q- axis stator input voltage
(b) d- and q-axis stator current

35
 35

30

25
stator phase current, Ia (Amp)

20

15

10

-5

-10
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

(a)
4
x 10
6

2
Control Input, u

-2

-4

-6
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (Sec)

(b)
Fig. 4.6 Step change in reference speed with sliding Mode controller
(a) Stator phase current in Amp
(b) Control input, u in rad/s3

36
 200

150

100

50
Speed (rad/sec)

-50

-100

-150

-200
0 1 2 3 4 5 6
Time ( sec)

(a)

200

150

100
q-axis stator voltage (volts)

50

-50

-100

-150

-200
0 1 2 3 4 5 6
Time (sec)

(b)
Fig. 4.7 Trapezoidal speed tracking with P-I controller
(a) Speed response
(b) q-axis stator voltage

37
 3

2
d- and q-axis stator current (amp)

1 Ids

-1
Iqs

-2

-3
0 1 2 3 4 5 6
Time (sec)

(a)

2
stator phase current, Ia (Amp)

-1

-2

-3

-4
0 1 2 3 4 5 6
Time (sec)

(b)
Fig. 4.8 Trapezoidal speed tracking with P-I controller
(a) d- and q-axis stator current
(b) stator phase current

38
 200

150

100

50
Speed (rad/sec)

-50

-100

-150

-200
0 1 2 3 4 5 6
Time (Sec)

(a)

0.6

0.4

0.2
Speed Error (rad/sec)

-0.2

-0.4

-0.6

-0.8
0 1 2 3 4 5 6
Time (Sec)

(b)
Fig. 4.9 Trapezoidal speed tracking with sliding mode controller
(a) Speed response
(b) Speed Error

39
 200

150

100
q-axis stator voltage (volts)

50

-50

-100

-150

-200
0 1 2 3 4 5 6
Time (sec)

(a)

Ids
2
d- and q-axis stator current (Amp)

0
Iqs

-1

-2

-3
0 1 2 3 4 5 6
Time (sec)

(b)
Fig. 4.10 Trapezoidal speed tracking with sliding mode controller
(a) q-axis stator voltage
(b) d- and q-axis stator current

40
 4

stator phase current, Ia (Amp) 2

-1

-2

-3

-4
0 1 2 3 4 5 6
Time (sec)

(a)
4
x 10
6

2
control input, u

-2

-4

-6
0 1 2 3 4 5 6
Time (sec)

(b)
Fig. 4.11 Trapezoidal speed tracking with sliding mode controller
(a) Stator phase current
(b) Control input, u
41
 200

150
Speed (rad/sec) and Load Torque (N.m)

100

50

-50

-100

-150

-200
0 1 2 3 4 5 6
Time (Sec)

(a)

200

150
Speed (rad/ Sec) and Load Torque (N.m)

100

50

-50

-100

-150

-200
0 1 2 3 4 5 6
time (Sec)

(b)
Fig: 4.12 Performance of the drive system under load torque variation
(a) With P-I controller
(b) With Sliding Mode controller

42
 Chapter- 5

CONCLUSION AND FUTURE WORK

In this thesis the theory of sliding mode controller is studied in detail. The equations
of the induction motor model are reorganized so as to apply the control technique. The controller
gain and band width are designed, considering various factors such as rotor resistance variation,
model in accuraies, load torque distrubance and also to have an ideal speed tracking. Considering
the case such as load disturbance, the response of the designed sliding mode controller is
satisfactory. It also gives good trajectory tracking performance. The speed regulation characteristic
is also satisfactory.

Only load distrubance is the problem considered in this case and the robustness of the
controller is verified. Since the machine rating is small, the resistance variation effect is very
small. Hence has negligible effect. As a future work this controller can be applied to any other
drive system with higher rating where parameter variation effect can be studied. Fuzzy logic
Principle can be incorporated to this controller to make it more efficient and robust.

43
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 APPENDIX- A

Parameters of Typical Induction Machine

Three phase, 50 Hz, 0.75kW, 220V, 3A, 1440rpm

Stator Resistance Rs = 6.37Ω
Rotor resistance Rr = 4.3Ω
Stator inductance Ls = 0.26H
Rotor Inductance Lr = 0.26H
Mutual Inductance Lm = 0.24 H
Number of Poles P=4
Moment of inertia of motor and load J = 0.0088Kg.m2
Viscous friction coefficient B = 0.003 N.m.s/rad

Proportional cum Integral controller parameters

Speed loop PI controllers

KP1 = 0.35 KI1 = 1
KP2 = 100 KI2 =29877

Flux loop PI controller

KP3 = 151.27 KI3 = 43649

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