INTERNATIONAL JOURNAL FOR RESEARCH IN EMERGING SCIENCE AND TECHNOLOGY, VOLUME-2, ISSUE-7, JULY-2015 E-ISSN: 2349-7610

Review on Field Oriented Control of Induction Motor

Ayman Y. Yousef 1 and S.M. Abdelmaksoud2
1
Electrical Engineering Department, Shoubra Faculty of Engineering, Benha University, Cairo, Egypt.
Ayman.youssef@feng.bu.edu.eg
2
Electrical Engineering Department, Shoubra Faculty of Engineering, Benha University, Cairo, Egypt.
Samir.abdelmaksoud@feng.Bu.edu.eg

ABSTRACT
The field oriented control (FOC) of induction motor provide one of the most suitable and popular speed control technique
presently used. The principle of field oriented control is based on the control of both the magnitude and the angle of each phase
current and voltage. The control of torque is normally achieved by controlling the armature with constant field current. The Field
weakening is employed to increase the speed beyond a base peed. The simplicity and flexibility of control of dc motors have made
them suitable for variable speed drive applications. In the field oriented control, a d-q coordinates reference frame locked to the
rotor flux vector is used to achieve decoupling between the motor flux and torque. They can be thus separately controlled by stator
direct-axis current and quadrature-axis current respectively, like in a dc motor. In this paper, the principle, classification, and the
most common of the field oriented control are presented.

Keywords — Flux Vector, Reference Frame, FOC, Decoupling Control.

1. INTRODUCTION change the stator frequency [3]. Since the speed is close to

The induction motor is a rugged, reliable, and less expensive synchronous speed the operating slip is small, and slip power

ac machine. It has been the economical workhorse for use in loss in the rotor circuit is small. However, this will require a

ac motor drive application. It has been used for both low frequency converter, which is expensive.

performance as well as high performance drive application. It

can be operate in the most adverse circumstances and giving In drive systems, it is desired that the machine flux is

excellent service with little maintenance. regulated to provide better utilization of the machine. A
requirement for maximum possible transient dynamics is to
The closed loop control of the induction motor is normally
operate the motor at its rated flux level. Indirect flux
required to satisfy the steady state and transient performance
regulation schemes such as the volt/hertz control and the slip
specification of ac drives. The control strategy can be
current control use variable frequency control and have been
implemented as follows [1]:
extensively used in industry [4]. Both the volt/Hertz and
1- Scalar control: where the control variables are dc
current slip frequency control provide satisfactory steady state
quantities and only their magnitudes are controlled.
performance. The volt/hertz control scheme is quite simple to
2- Vector control: where both magnitude and phase of the
implement. On the other hand, the current slip frequency
control variables are controlled.
control scheme require closed loop current regulation as well
A simple and economic method of induction motor control is
as accurate speed measurement and, therefore, is somewhat
to vary the stator voltage at supply frequency. This method of
complicated to implement. However, both these methods fail
control is characterized by poor dynamic and static
to provide satisfactory transient performance. This control
performance. Although it is inefficient because of high slip
strategy is called "Scalar control" which employs general non
power loss [2], it is used in fans, pump, and blower drives. An
vector controlled drive schemes. These include simple voltage-
efficient method of speed control for induction motors is to

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fed and current-fed inverters. Scalar control relates to the Resolution 1 : 1000 1 : 1000
magnitude confrol of a variable only [5]. High performance Non-Linearity ± 12% ± 12%

drives, such as robotics, rolling mills, and machine tools Repeatability ± 12% ± 12%
(Tref → Tact)
require fast and precise torque response. To achieve this, the
Torque Step Rise Time 150 ms 10 to 20 ms
dynamic structure of the machine has to be taken into account.
Speed Control:
The induction machine is a nonlinear multivariable highly
Resolution 1 : 20000 1: 2000
coupled device. Several methods have been proposed to obtain
Speed Range 1 : 40 1 : 1000
fast torque response with flux regulation [6, 7]. However, the
(Mmin / Nmax)
emerging consensus is to use field-oriented control (FOC). Static Accuracy ± 0.01% ± 0.01%
(Mact / Nref)
2. FIELD ORIENTED CONTROL Dynamic Accuracy 3% sec 0.3% sec

The concept of field oriented control (FOC) which was Table-1: Deference between Scalar and Vector Control
introduced by Siemens company several years ago is recently
The performance figures listed in the table depend on the
receiving wide attention. This is also known as transvector
proportional gain and integration action time constant (PI time
control [2], because the control implementation is based on
constant) set by means of parameters according to the
vector transformation from rotating to stationary reference
application or process requirements. This table show that, the
frame and vice versa. The field oriented control (FOC) method
vector control strategy has much better performance than the
permits optimum transient response of the drive and it has a
scalar control method. Also several literatures such as [5, 9]
good dynamic response.
show that, the vector control methods for induction motor
On the other hand, field orientation is a technique that
drives allow a better dynamic performance than the scalar
provides a method of decomposing the stator current into
control method.
magnetizing component, IM which producing the flux and
torque component, IT which producing the torque. These
components are then decoupled and controlled individually. In 3. PRINCIPLE OF FIELD ORIENTATION
general, the magnetizing component, IM varies slowly and is The stator phase currents are controlled in a fictitious
kept constant for fast response [8]. On the other words, the synchronously rotating reference frame (aligned with the flux
other component, IT varies rapidly. It may be concluded that, vector) and are transformed back to the stator frame to feed the
IM varies with the magnetizing inductance and IT with transient machine as shown in Fig.1.
inductance of the machine. Therefore, it provides independent
control of torque and flux, which is similar to a separately
exited dc motor. The magnitude and phase (vector control) of
the stator currents are controlled in such a way that the flux
and the torque components of current remain decoupled during
dynamic and static condition [4]. In order to indicate the
deference between the scalar and vector control, a typical
performance for torque and speed control of the system
described in reference [9] shown in table-1. Fig-1: Stator current components in d-q Frame.
Field orientation can be achieved by aligning the rotor flux
TABLE-I linkage vector along the d axis of the reference frame. With
Control Method Required
Motor Scalar Motor Vector this arrangement, the control dynamics of the highly coupled
by
Control Control nonlinear structure of the induction motor becomes linearized
the Application or Process
and decoupled. Finally, the induction motor is controlled like
Torque Control:

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an armature controlled dc motor, with Isq analogous to the controllers [29]. This scheme is simpler to implement than the
armature current and Isd analogous to the field excitation. direct method of (FOC). Hence, there is an increasing
popularity towards the indirect method of (FOC).
4. CLASSIFICATION OF FIELD
ORIENTATION
The field oriented control (FOC) system schemes can be
classified into two groups:
1- Direct method of field orientation.
2- Indirect method of field orientation.

Fig-3: Indirect flux sensing of induction motor vector control

4.1. Direct Field Orientation
system
The direct method of field oriented control, which was
originally proposed by BLASCHKE [10] is shown in Fig. 2.
5. DETERMINATION OF FLUX VECTOR
This technique utilizes direct sensing of the air gap flux vector
POSITION
by using one of the measurement techniques which explained
It is decisive for field oriented control (FOC) to have up-to-
briefly in section (5).
date information [12] on the instantaneous magnitude  and
angular position of the flux wave  . This is the first problem
of the field orientation. The solution is discussed in the
following subsections which described some of flux sensing
schemes.

5.1. Air Gap Hall Sensors

Hall-effect sensors are mounted in the air gap at the stator
surface. There are also known as direct field sensitive devices
[13]. These sensors are produce signals representing the local
Fig-2: Direct flux sensing of induction motor vector control
flux density at the measuring points. One of the (FOC)
system
systems depending on the air gap hall sensors method is
The measured air gap flux signal is feedback to the control and
described in reference [10]. These signals are highly distorted
used to decouple the torque producing component of stator
by effect of the rotor slots and the thermal and mechanical
current from the producing component. Since this method uses
stresses on the sensing devices [14]. Generally, the accuracy of
feedback control and direct sensing of the regulated variable, it
a torque signal computed from this information is likely to be
is essentially insensitive to variations.
poor [15].

4.2. Indirect Field Orientation

5.2. Sensing Coils
The indirect method of field oriented control, was originally
Sensing coils having width of full pole pitch have been
proposed by HASSE [11] is shown in fig.( 1.3). This method
installed in the stator, in order to avoid the effect of rotor slots
avoids the requirement of flux acquisition (sensing devices) by
by filter out the undesirable slot harmonics [13]. This produces
using known motor parameters to compute the appropriate
emf signals proportional to flux change which, after
motor slip frequency to obtain the desired flux position [1].
integration, taken as representing the main flux of the motor.
On the other hands, the rotor flux is estimated from the stator
By adding suitable components of the stator currents, signals
current vector, voltage vector and or rotor speed, and then this
for the rotor flux are obtained [15]. The disadvantage that,
estimate is, in effect, fed forward to the flux and torque

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when the drift of the integrators become too large; this would The equivalent circuit of an induction motor is shown in Fig.
prevent the application to drives with position control such as 4, where the stator, mutual and rotor fluxes are identified.
machine tool feed drives [13]. The complete implementation
of the control system depending on this method is described in
work [16].

5.3. Stator Winding as Sensing Coils

The last mentioned drawback is avoid by measuring the
Fig-4: Equivalent circuit of induction motor.
terminal voltages i.e. using the stator windings as a sensing
The equations for a balanced symmetrical three-phase
coils. The difficulties arise from the resistance voltage drop
induction motor can be written as:
which dominates at low frequency [12]. This disadvantage is
offset by compensating the IR-drop prior to integration [15]. U s  Rs i s  d  s / dt (1)

Since, the stator resistance is temperature dependent, the

U r  Rr i r  d  r / dt (2)
scheme in this method becomes quite difficult. Some of the
field orientation control systems depending on this method are Te  (3 / 2) Lm [is (ir e j )* ] (3)
discussed in references [17].
Where: dθ/dt = ω, which is the rotor speed.

5.4. Machine Model:

This method is remove the limitations in the low speed range, 6.1. Orientation Based on Stator Flux Reference
it was made possible because in the meantime microprocessors Frame
had advanced sufficiently to permit a computational solution.
The vector diagram of stator current and stator flux is shown
There are two types of machine (flux) model; voltage and
in Fig .5, and the stator flux is given by;
current machine models. The principle of this method depends
upon computing the magnetizing current Imr and the flux  s  Ls i s  Lm i r  Lm i ms (4)
position φ, from the measured signals (voltage & current or Where
current & speed) depending on the type of the model.
ims  (1   s )i s  i r (5)

6. REFERENCE FRAMES FOR FIELD  s  ( Ls / Lm )  1 (6)

ORIENTATION

The control of induction motor using the principle of field-

orientation gives control characteristics similar to that of a
separately exited dc motor. The torque component and the flux
component of current are identified and control is exercised on
them. The control variables can be decoupled by processing
them appropriately, or a natural decoupling can be achieved by Fig-5: Stator Flux and Current components
properly orienting the current vector [18]. The magnitude and
with Stator Reference Frame.
phase of the stator current determines the flux produced and
the torque generated in the machine. These two parameters can If the stator current is projected in phase and quadrature to the
be controlled by properly orienting the stator current and it can stator flux, then:
be done with respect to one of the three specific synchronous
reference frames [19]. These specific reference frames are the is  isd  isq (7)
stator flux, the air gap (mutual) flux, and the rotor flux vectors.

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Substituting from equations (4) to Eq. (7) in equations (1) to

Eq. (3) and separating out the real and imaginary parts;
Rs isd  Lm (dims / dt)  U sd
(8)

Rs isq  Lm1ims  U sq (9)

isd  Tr (disd / dt)  ( s / Ls ) (10)

 s1Tr isq  (Tr / Ls )[ds / dt]
Fig-6 : Induction motor model with stator field orientation.
s1  [isq  Tr (disq / dt) /[(Tr / Ls )s (11)
 Tr isd ] 6.2. Orientation Based on Air Gap Flux Reference
Te  (3 / 2) Lm [ims isq )  (3 / 2) s .isd ] (12) Frame

UΦsd and UΦsq are the voltage components, ωs1 is the slip
The mutual flux is defined by;
angular frequency, σ is the total leakage factor, T r is the total
rotor time constant, where:
 m  Lm (i s  i r )  Lm i m (19)
 s1  1   (13) Where

  1  [1 /(1   s )(1   r )] (14) im  i s  i r (20)

It can be shown in a similar way that the relationships between
Tr  Lr / Rr (15) the stator voltage and currents, flux build-up, and the torque
produced are given by:
Equation (8) and Eq. (9) define the relation ship between the
stator voltages and currents, Eq. (10) defines the build-up of
flux and Eq. (12) defines the electromagnetic torque produced. imd  Ts1 (dimd / dt)  (U nd / Rs ) (21)
It is seen from Eq. (10), that the flux built-up not only depends  s1Ts1isq  (1 / Rs )[dm / dt]
on iΦsd, but also on iΦsq and thus a coupling exists between the imq  Ts1 (dimq / dt)  (U nq / Rs ) (22)
currents in the two axes. The equations (10), Eq. (11) and Eq.
 s1Ts1isd  (1 / Rs )m
(12) representing the structure of the induction motor in case
of stator field orientation. These equations can be simplified imd  Tr1 (dimd / dt)  (Tr / Lm )(dm / dt) (23)
to;  ( m / Lm )  s1Tr1isq

(1  Tr D)isd  Trs1isq s1  [imq  Tr1 (disq / dt)] /[(Tr / Lm )s (24)

 (1 / Ls )(1  Tr D)s
(16)  Tr1imd ]
Te  (3 / 2) Lm (im imq )  (3 / 2) m .imq (25)
s1  (1  Tr D)isq /[(Tr / Ls )s
(17)
 Tr isd ] Where
Tr1  ( Lr  Lm ) / Rr (26)
Te  (3 / 2) s .isq (18)
From Eq. (23), it can be inferred that the flux dynamics
Equation (16), Eq. (17) and Eq. (18) are used to construct the depends on both the current components of stator current iΦmd
block diagram shown in Fig. 6 which describe the complexity and iΦmq the coupling is exist. Also equation (23), Eq. (24) and
of the control with stator field orientation due to the coupling Eq. (25) can be simplified to:
between iΦsd and iΦsq

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(1  Tr1 D)imd  Tr1s1imq for the flux and the torque are completely decoupled. Equ. 30
(27)
gives:
 (1 / Lm )(1  Tr D)m
imr  r / Lm (38)
s1  (1  Tr1 D)imd /[(Tr / Lm )m (28)
 Tr1imd ] Substituting from Eq. (37) in Eq. (34) and from Equ. 31 in Eq.
(36)
Te  (3 / 2) m .imq (29)
ird  (1  Tr D)(m / Lm ) (39)
From these equations the block diagram describe the control
with air gap field orientation can be constructed as shown in and
Fig. 7. Te  (3 / 2)(Lm / Lr )(r .irq (40)

Then, from Eq. (39) and Eq. (40), the model of the induction
motor with rotor field orientation can be drawn in the simple
block diagram shown in Fig. 8.

Fig-7: Induction Motor Model with Air Gap Field Orientation.

6.2. Orientation Based on Rotor Flux Reference

Frame
Fig-8: Induction Motor Model with Rotor Field Orientation.
The rotor flux is defined by; Finally, the rotor flux machine model shown in Fig. 8 contains
 r  Lr i r  Lm i s  Lm i mr (30) two major paths. The control input iΦrd is related to the rotor
Where flux through a first order time delay which is the rotor circuit

i mr  (1   r )i r  i s (31) time constant Tr. If the flux is kept constant, only the
quadrature component of stator current i Φrq is used to control
And the torque. This relationship is analogous to a separately
 r  ( Lr / Lm )  1 (32) excited dc machine in which torque is proportional to armature
current if the flux is held constant. Unlike the rotor flux case,
ird  Ts (dird / dt)  (U md / Rs )
(33) Fig. 6 and Fig. 7, show that the flux path is also affected by the
 1Ts imq  (1   )Ts [dimr / dt]
quadrature component of stator current. This intercoupling is
due to the inherent rotor leakage inductance Lr in the case of
irq  Ts (dirq / dt)  (U rq / Rs ) (34)
the air gap flux model and both the stator and rotor leakage (Ls
 1Ts ird  (1   )Ts1imr
& Lr) in the case of stator flux model [19]. Consequently, only
Tr1 (dimr / dt)  i rd  imr (35) for the rotor flux orientation and for a constant rotor flux there
is no coupling between the flux and torque in the sense that the
1  irq / Tr imr (36)
rotor flux is produced by a constant direct component of stator
current (field current) whereas the torque is produced by the
Te  (3 / 2)[ Lm /(1   r )]im r irq (37)
quadrature component of stator current (torque component)
 (3 / 2)[ r /(1   r )].irq
which is varied as desired [15]. A detail comparison between
From Eq. (35) and Eq. (37), it is evident that the flux dynamics
the three method of field orientation is discussed in reference
are very simple and the stator current components responsible
[5].

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7. INDUCTION MOTOR DECOUPLING

CONTROL

The complex nonlinear coupling structure of induction motor

can be decoupled by controlling the machine with a suitable
stator mmf vector. This can be done by feeding the machine
with unique sets of currents and frequencies generated by
decoupling control schemes [19]. The decoupling controllers
are obtained by taking the inverse of the machine flux models Fig-11: Decoupling controllers with current fed induction
shown in Fig. 6, Fig. 7 and Fig. 8. The result of this inversion motor for stator, air gap, and rotor flux orientation
is called a decoupling network. This decoupling circuit is These decoupling control schemes utilize an estimated slip
necessary to obtain an independent control of the flux and angle plus the feedback rotor angle for the prediction of the
electromagnetic torque of the induction motor. Fig. 9 and Fig. flux vector position (for the alignment of the flux vector along
10 shows the decoupling networks for rotor, stator, and air gap the d-axis). In the stator and air gap flux decoupling control
flux orientation respectively. schemes, a step change in command torque will case the
generation of delta function due to disq/dt in Fig. 10. In
practice, the rate of rise of machine currents are limited by the
stator leakage inductance, therefore a very small first-order
time delay is incorporated in the torque input path to ensure a
smooth function of isq [19].
Then, the stator and air gap flux decoupling control schemes
shown in Fig. 10 require differentiation of isq in calculating
Fig-9: Decoupling circuit for rotor flux orientation
command slip frequency. A large command slip frequency is
The decoupling circuit obtained for the indirect field oriented
required during torque transient for the correct adjustment of
controller can also be used in the case of direct field
the current vector angle φ. In order to avoid differentiation and
orientation [20].
simplify the complexity of the decoupling control scheme of
Fig.11, the command slip frequency is employed instead of
command torque. The modified decoupling control scheme
shown in Fig. 12 utilizing command slip frequency as input.
With this scheme, differentiation is eliminated and the two
first order blocks can share an identical subroutine. Hence, the
overall complexity is reduced.

Fig-10: Decoupling circuit for stator and air gap

flux orientation

The decoupling controllers based on stator, air gap, and rotor

flux methods with current impressed scheme are shown in
Fig. ll. Fig-12: Modified decoupling controller scheme for stator and
air gap flux orientation

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In case of voltage impressed schemes (voltage-fed induction The machine parameters (Rs, Rr , Lm, and Lr) will vary due to
motor), the voltage vectors Usd and Usq can be generated from temperature, frequency, and saturation effects. The indirect
the current and flux vector by the following relationships for vector controller dependent on the rotor resistance Rr, the
stator, air gap and rotor flux orientation respectively: mutual inductance Lm, and self inductance of the rotor, Lr. In
particular, the rotor resistance value changes 100% with
U sdq  Rs I sdq  ( D  js )s (41) temperature and frequency. This causes the actual flux and
torque deviate from their set values. Also, the inductances
U sdq  Rs I sdq  ( D  js )(Ls1 I sdq  m ) (42)
change with the saturation of magnetic material.

U sdq  Rs I sdq  ( D  js )(Ls I sdq (43)

 Lm r / Lr ) 8.1. Parameters Sensitivitv with CSI

In the system with machine fed by impressed currents, the

The voltage decoupling circuit (assume stator field orientation)
drive dynamics are independent of the stator supply frequency.
depending on Usd* and Usq* of Eq. (41) is shown in Fig. 13. It
The amount of deviation in the machine flux due to parameter
incorporate also the current decoupling network to produce i sd*
variations increases with larger load values. At no-load, the
and isq* furthermore, the frequency ω1 of the flux linkage Ψ
variation in the ratio of actual to command flux is minimal,
must be computed. The structure of ω1-calculator depends on
However, the machine torque is being adversely affected. In
the choice of control [8]. If indirect control is used, then ω 1 is
practice, an outer loop speed controller can be used to
calculated from ωs1* produced by the current decoupling
compensate the discrepancy in torque for particular desired
circuit added to the rotor speed ω as shown in Fig. 13.
speed.

8.2. Parameters Sensitivitv with VSI

In the system with Voltage impressed scheme, the

performance is speed dependent. At higher speed, the degree
of sensitivity is very much lower. With voltage impression at
high speeds, the machine air gap voltage is approximately
equal to the terminal voltage. Therefore, variations on the rotor
Fig-13: Decoupling controller with voltage-fed induction
resistance do not affect the machine flux model. However, at
motor
low speeds, the stator impedance voltage drop becomes
significant when compared to the air gap voltage. Hence, the
effect increases with varying the rotor resistance. Finally, the

8. EFFECT OF MACHINE PARAMETERS parameter sensitivity characteristics are similar in all the three
methods of flux control (stator, air gap, and rotor flux). Also it
VARIATION
similar with the current impressed scheme and the voltage
The performance of decoupling control methods based on impressed scheme at zero speed. However, at higher speeds,
inverting machine models can be influenced by a mismatch the latter has an edge over the former scheme [19].
between the parameters values being used in the controller and
the actual machine parameters [19]. On the other hand, the
9. MACHINE PARAMETERS
parameters of the machine may change during the operation of
the drive, causing deviation between the corresponding signals IDENTIFICATION
of the model and the machine [21]. From the discussion of the previous section, the parameter
sensitivity of the indirect vector controlled induction motor
results in steady state errors in torque and flux in the addition

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of enhanced losses reducing the output of the drive system and 11. MICROCONTROLLER BASED FLUX
transient oscillations in flux and torque. Consequently, the
VECTOR CONTROL
efficiency of the motor drive decreases [22]. The incorporation
of parameter adaptation schemes is required to off-set these The microprocessor implementation of the field oriented

effects. These schemes are classified depending on the extent controllers has the advantages that the hardware can be

of the use of the induction motor model. The Various schemes simplified and as a result system reliability can be improved

which have been proposed for parameter adaptation in such [2]. The main advantage of digital control with

drives can be summarized based on one of the following microprocessors is that the same standard hardware can be

strategies; used for many different applications because the function of

the processor determined by a flexible custom designed
1- Direct monitoring of the alignment of the flux and software program [15]. Several types of the fast
torque producing stator current component axes. microprocessors are used in the implementation of field
2- Continuous real time measurement of the instantaneous oriented schemes such as INTEL (80386 & 80486), ZILOG
rotor resistance. 8000 or MOTOROLA 68020 to perform the machine model
3- Measurement of modified reactive power with field and the digital controller [2]. Some of the suggested systems
angle or a combination of the rotor flux and torque based on the microprocessors 8085 and 8086 are implemented
producing component of the stator current. in references [12,18]. In the past, the highest performance real-
time control applications have employed 8-, 16- and 32-bit
Many systems of field oriented control are implemented with microprocessors together with interrupt handler chips,
the parameter adaptation schemes are indicated in the previous programmable timer chips, and ROM and RAM chips, to
works such as [11,23]. A complete review on the parameters achieve what can now be achieved in a single microcontroller
adaptation of the indirect vector controller is discussed in chip. The microcontroller such as INTEL 8096, MOTOROLA
details in reference [24] 68HC11and SAB80C166 can be considered as microprocessor
with different peripherals integrated internally with them in the

10. DIGITAL SIGNAL PROCESSING same single chip, has simplified many industrial and control
application. Consequently, microcontrollers are present on a
The signal processing required for the field oriented control
commercial scale and used extensively in various industrial
(FOC) of ac motors as well as the flux acquisition (section 5)
applications.
using a dynamic model is of considerable complexity and
representing the second problem of the field orientation [15].
11. SPEED ESTIMATION FOR
In the earlier implementation schemes of field oriented control
systems, the analog methods had been used to perform the
SENSORLESS FIELD ORIENTED
necessary operations [14]. In particular, the various CONTROL SYSTEMS
multipliers, division and function generators needed for the
It is well known that, there are two major techniques for high
coordinate transformation are expensive and difficult to adjust
performance control of induction motor. These two techniques
when they are realized with analogue components, in view of
are, the slip frequency controlled type vector control and the
the necessary high accuracy [15]. These field oriented schemes
field orientation control. The field oriented control system uses
had complicated hardware, not practical and had gained little
an electromechanical speed transducer coupled to the motor
industrial interest. The solution of this problems could be
shaft to measure the rotor speed. The transducer encumbers the
solved by converting from analog to digital techniques, using
mechanical drive, and spoils the general characteristics of
software algorithms implemented on microcomputers and
ruggedness and mechanical simplicity of the induction motor
signal processors [13].
drive [25]. These speed sensors restrict the applications of
vector control system, For example, if there is no space for the

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INTERNATIONAL JOURNAL FOR RESEARCH IN EMERGING SCIENCE AND TECHNOLOGY, VOLUME-2, ISSUE-7, JULY-2015 E-ISSN: 2349-7610

sensor connected, the vector control system can not be adapted an entirely open loop basis. In the first, the angle φ of the rotor
for these system. Also, the problems for practical use, such as flux vector is defined as follows:
a low speed behavior, have been found with speed sensors
[26]. For this regard, a speed sensorless system is preferred. (48)

The advantages of sensorless induction motor drives are lower The derivative of the above equation gives the synchronous
cost, reduced size of the machine set, elimination of the sensor
speed ω1:
cable, and increased reliability. The method of vector control
without any rotational transducer (sensorless) has been
1  d / dt  [ (d / dt) 
developed, employing the flux calculated from the stator (49)
 ( d / dt)] /[   ]
2 2
voltages (Usα & Usβ) and the stator currents (Isα & Isβ). Since,
this method required two sensors only for measuring the stator
currents and voltages. In order to obtain an accurate dynamic Substituting for (dΨα/dt) and (dΨβ/dt) from Eq. (46) and Eq.

representation of the motor speed, it is necessary to base the (47) in Eq. (49), then:

calculation on the coupled circuit equations of the induction

motor [28]. Since, the motor voltage (Usα & Usβ) and currents 1    ( Lm / Tr )[is   is  ]
(50)
(Isα & Isβ) are measured in a stationary frame of reference, it is
/[   ]
2 2

also convenient to express these equations in the stationary

frame (i.e. there are two different equations to estimate the Then, the rotor speed is given by;
rotor flux in the α-β frame).
  1  ( Lm / Tr )[is   is  ]
d / dt  ( Lr / Lm )U s  Rs is (44) (51)
/[   ]
2 2

 Ls (dis / dt)

Equation (51) indicate that the instantaneous rotor speed cd
d / dt  ( Lr / Lm )U s  Rs is (45)
can be obtained using rotor flux estimated in Eq. (44) and Eq.
 Ls ( dis / dt)
(45). This process is illustrated in the block diagram shown in
and
Fig. 14.

d / dt  (1 / Tr )    ( Lm / Tr )is (46)

d / dt    (1 / Tr )  ( Lm / Tr )is (47)

Where:
Ls, Lr : are the stator and rotor self inductances.
Lm : is the mutual inductance.
Rs : is the stator resistance.
Tr : is the rotor time constant.
ω : is the rotor electrical angular velocity.
σ; is the motor leakage coefficient. Fig-14: Block diagram for open loop calculation of rotor
Ψ, is, Us, : are the rotor flux, stator current, and stator voltage speed.
respectively This open loop calculation process requires knowledge of four
constants that depends on the motor parameters. The
Equation (44) and Eq. (45) does not contain the rotor speed ω. parameter sensitivity can be reduced by calculating the slip in
However, Eq. (46) and Eq. (47) does. Thus, by using these two rotating reference frame (d-q frame) that is locked to the rotor
equations, the instantaneous rotor speed ω can be calculated flux vector. There are two problems for this speed estimation
directly from the measuring values of voltages and currents on technique related to the rotor flux estimation in Eq. (44) and

  tan (  /  )
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INTERNATIONAL JOURNAL FOR RESEARCH IN EMERGING SCIENCE AND TECHNOLOGY, VOLUME-2, ISSUE-7, JULY-2015 E-ISSN: 2349-7610

Eq. (45). The first problem is the need of an ideal integral [7] I. Takahashi & T. Noguchi "A New Quick Response and
where the calculated rotor flux does not work so that it is High Efficiency Control Strategy of an Induction
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