2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]
A Comparative Performance Study of Scalar
Controlled Induction Motor Using PID Controller
and Fuzzy PID Controller
Swagat Pati Abinash Panda
Dept. of Electrical Engineering ITER, Dept. of Electrical Engineering ITER,
SOA University Bhubaneswar, India. SOA University Bhubaneswar, India.
swagatiter@gmail.com abinash.3201@gmail.com
Abstract: Conventional PID controllers have been extensively
used for the control of induction motor drives in industries. But
the performance of these controllers are greatly affected by
parameter variation and modelling uncertainties. Also these
type of controllers have stability issues. But on the other hand
fuzzy logic based PID controllers are robust fast and accurate.
In this paper the performance of a scalar V/F controlled
induction motor drive is evaluated using conventional PID
controller and fuzzy PID controller and the results are
compared. The whole modelling and simulation work is done
using Matlab/Simulink environment.
Key words: induction motor, PID controller, Fuzzy logic
based PID controller, membership function, scaling factor.
Nomenclature:
ωe : Synchronous speed,
ω r : Electrical speed (rotor),
ωm: Mechanical rotor speed,
Lm: Mutual inductance,
Ls : Stator leakage inductance,
L r : Rotor leakage inductance,
Rs : Stator resistance,
R r : Rotor resistance,
P: Number poles of IM,
Te : Electromagnetic torque,
Tl : Load torque,
Iqs : Stator current in synchronous frame on q-axis,
Ids: Stator current in synchronous frame on d-axis
Idr: Rotor current in synchronous frame on d-axis,
Iqr : Rotor current in synchronous frame on q-axis,
Vqs: Stator voltage in synchronous frame on q-axis,
978-1-4799-2397-7/14/$31.00 ©2014 IEEE 904
Sattapriya Mohanty
Dept. of Electrical Engineering ITER,
SOA University Bhubaneswar, India.
sattapriya.mohanty@gmail.com
Vds : Stator voltage in synchronous frame on d-axis,
Vqr : Rotor voltage in synchronous frame on q-axis,
Vdr: Rotor voltage in synchronous frame on d-axis.
I.INTRODUCTION
Induction motor is the most widely used rotating machine in
the world. These efficient robust machines are commonly
used in industries. But in industrial application speed control
of the machine is common as well as important. So to choose
a proper and better controller is a vital factor influencing
production.
As scalar control is advantageous from economic and
implementation point of view, many applications are operated
with this control technique in the industry. The only demerit
of this control is the transient response. So to improve the
response various methods of control are adopted along with
many advanced controllers. One of the highly adopted
controller for speed control of induction motor is
conventional PID controller. [1], [12]
Although conventional PID controllers are widely used they
have stability issues and are not robust. So to make the PID
controller robust as well as fast some improvements have to
be done in the design of the controller. In this place fuzzy
logic provides a very effective tool for the improvement of
performance of a PID controller.
The advantages of using fuzzy logic controller is that, fuzzy
control is based on fuzzy logic, a logical system which is
much closer to human thinking and natural language than
traditional logical systems, so deals with less complexity
with better output of the system as the range of the input and
output parameters can be set by the developer. So the output
of the controller is more accurate and faster also more stable
than the conventional one.
In this paper a scalar v/f controlled induction motor drive is
considered. The performance of the drive is first evaluated
using conventional PID controller. Then a fuzzy logic based
PID controller is designed and implemented in the same
scheme for performance improvement.
The induction motor model that used in this topic is an
equivalent two phase converted model. And this motor fed
from inverter and assume to be ideal as the losses are not
 2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]

taken into account. In this paper it is found that fuzzy Logic

controller has better stability, small overshoot, and fast
ma : 2T1-1,
response with comparing to conventional PID controller mb : 2T3-1,
which is less immune to nonlinearity in the system.
II.INDUCTION MOTOR MODELLING mc : 2T5-1.
so to reduce the complexity of the modelling the three phase
quantities converted to two phase system. The modified
voltage equations [10] for the rotor and stator on the
synchronously rotating reference frame are as follows:-
d
Vds = Rs I d s + (ψ ds ) − ω eψ qs (1) Vdc
T1 T3 T5
dt 2

d Vdc
Vqs = Rs I qs + (ψ qs ) + ω eψ ds (2)
dt Vdc
d 2 T4 T6 T2
Vdr = Rr I dr + (ψ dr ) − (ωe − ω r )ψ qr (3)
dt
d
Vqr = Rr I qr + (ψ qr ) + (ω e − ω r )ψ dr (4)
dt
The above flux linkage in a synchronous rotating frame can Figure 1: Inverter Model
be expressed as
ψ ds = Ls I ds + Lm I dr (5) IV.THE CONTROL METHOD
The control method used in this is scalar control. Due to its
ψ qs = Ls I qs + Lm I qr (6 ) simplicity and cost effectiveness it is widely applicable for
industrial usage. As in scalar control, only the magnitude of
ψ dr = Lr I dr + Lm I ds (7 ) the variable is controlled so it is easy to design. Here the
ψ qr = Lr I qr + Lm I qs (8) control method is Volt/Hz [12] control. In this method both
supply voltage and frequency are controlled for speeds below
The electromagnetic torque of the Induction motor is given
base speed. Above the synchronous speed control the voltage
as:
cannot be increase above the rated so only frequency is to be
3 p
Te = L m (I qs I dr − I ds I qr ) (9 ) vary in that case. After getting the reference angular electrical
2 2 speed ωe* the voltage reference is calculated keeping the flux
And the torque balance equation of the motor is (ψ) constant i.e. keeping V/F ratio constant. So for this
d control a source is required which can supply both variable
Te = Tl + J (ω m ) + B ω m (10 ) frequency and voltage. Therefore a pulse width modulated
dt
(PWM) inverter [11] is used as a source. The control
structure is given in figure (2).
III.INVERTER MODEL
The PWM inverter [11] can supply power at variable
frequency and voltage as well. The modelling equation of the
VSI can be written as
V dc
V as = [2m a − mb − mc ] (11)
6
V
Vbs = dc [ 2 m b − m a − m c ] (12)
6
V
Vcs = dc [ 2 m c − m a − m b ] (13)
6
Where:
Vas, Vbsand Vcsare the phase voltages
T1 to T6: switching states of the sine switches which can
either
be 1 if the switch is on or 0 if the switch is off.

Figure 2: Block diagram for scalar speed control of induction motor

Vdc: DC supply voltage

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 2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]

The defuzzification method is adopted in this work is of

PID CONTROLLER DESIGN centroid type.
The output of a conventional PID controller is given by the DESIGN OF PID TYPE FLC
following equation The PID type FLC is a combination of both PD and PI type
de FLC. The complete structure of PID type FLC is given in the
U = Kp * e + Ki * ∫ edt + Kd * (14) figure below. The output of a PID type FLC is the sum of
dt both the PD and PI output. The output side has two scaling
Where e is the error given as e=wm -wm. wm* and wm being
*
factors ‘K0PI’ and ‘K0PD’for PI and PD type FLC respectively.
the reference speed and actual speed respectively. kp, ki, kd
are the proportional gain, integral gain, derivative gain
respectively. In this paper no special method is adopted for
the tuning of the controller. The gains are tuned manually by
trial and error method to give near optimum results.

FUZZY LOGIC CONTROLLER

The design of fuzzy logic controller described in 3 steps.
• Fuzzification
• Rule Base
• Defuzzification

In the fuzzification step the error and change in error signals

are normalized to values which lie in between -1 to 1. Then
the normalized inputs and outputs are described by different
membership functions. The membership functions for the
inputs and outputs are given in figure below. The triangular
and trapezoidal membership functions makes the calculations
easier and controller to be simple. The membership function
given in the figure 3.The rule base is made as per the table
(I).[2],[3],[6]
Figure 3: Membership Function
Figure 4: Block diagram of fuzzy logic controller
V.SIMULATION RESULT
The simulation of speed control of induction motor is done
using Matlab and various results are obtained. First the
simulation of motor is done using conventional PID
controller and then by the fuzzy logic based controller.
The simulation process done under two different conditions
those are
a).Step change in load torque at constant reference speed
b).Step change in reference speed command with constant
load torque.
In the first case step change in load torque is given at 6
second in which the torque changes from 0N-m to 5 N-m
maintaining the constant reference speed of 1200 rpm.
For the simulation the following data is set for inverter. The
maximum reference voltage is limited to 415V The PWM
strategy that is implemented for PWM signal generation is
sinusoidal pulse width modulation. The inverter was operated
at a switching frequency of 1KHZ and with modulation index
of 0.92. The dc source voltage was set at 250V.

e nh nm ns ze ps pm ph
Δe 1250

Nh nh nh nh nh nm ns ze
Nm nh nm nm nm ns ze ps
SPEED

Ns nh nm ns ns ze ps ps 1200

Ze nm nm ns ze ps pm Pm
Ps ns Ns ze ps ps pm ph
1150
Pm ps ze ps pm pm pm ph 1 2 3 4 5
TIME
6 7 8 9

Ph ze ps pm ph ph ph ph
Table 1 (a)

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 2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]

8 45

FREQUENCY
TORQUE

4
40
2

-2 35
4 4.5 5 5.5 6 6.5 7 7.5 8 4 4.5 5 5.5 6 6.5 7 7.5 8
TIME TIME

(b) (c)
Figure 6: Simulation result of IM using fuzzy PID controller
with step change in Torque (a) speed (b) Torque (c)
45
frequency.
Figure 5(a) and 6(a) shows the variation in speed when a step
FREQ UENCY

change in load torque is given. From the figures it can be

40
noted that during the step change in load the speed deviation
with conventional PID controller is 1.25% but no such speed
deviation can be seen with fuzzy PID controller. This shows
that the fuzzy PID controller is more robust than the
35 conventional PID controller.
4 4.5 5 5.5 6 6.5 7 7.5 8
TIME
Fig 5(b) represents the torque v/s time graph with PID
controller showing a settling time of 0.8 seconds when
(c) compared to the fuzzy PID controller has a settling time of
0.5 seconds (fig 6(b)). The frequency plot of both the
Figure 5: Simulation result of IM using PID controller with controller having similar output shown in fig 5(c) and fig
step change in Torque (a) speed (b) Torque (c) frequency. 6(c).
2000

1800
1250
1600
SPEED

1400
S PE E D

1200 1200

1000
2 3 4 5 6 7 8
TIME

1150
(a)
1 2 3 4 5 6 7 8 9
80
TIME
70
(a)
F REQ U ENCY

60

8 50

6 40
TORQUE

4 30
4 4.5 5 5.5 6 6.5 7 7.5 8
2 TIME
(b)
0
80
-2
4 4.5 5 5.5 6 6.5 7 7.5 8 60
TIME
TORQUE

40
(b)
20

-20
2 3 4 5 6 7 8
TIME

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 2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]

(c)

400 400

200 200

VO LTAG E
VO L T A G E

0 0

-200 -200

-400 -400
5.95 6 6.05 5.95 6 6.05
TIME
TIME
(d)

Figure 7: Simulation result of IM using PID controller with (d)

step change in Speed (a) speed (b) frequency (c) Torque Figure 8: Simulation result of IM using fuzzy PID controller
(d)voltage with step change in Speed (a) speed (b) frequency(c) Torque
(d) voltage.

1800
In the second case the load torque remain constant at 5N-m
1600 and the speed is varied from 1200 rpm to 1800 rpm after 6
S P EE D

seconds.
1400
Figure 7 and 8 shows the responses of different parameters of
1200 induction motor drive system with conventional PID and
2 3 4 5 6 7 8 fuzzy PID controllers respectively. Comparing the speed
TIME responses from figure 7(a) and 8(a) we can see that with
(a) fuzzy PID controller the settling time is 0.2 second which is
much smaller than that with conventional PID controller
70 which is 0.5 second. Again from the frequency graphs it is
clear that the overshoot in frequency with conventional PID
controller is more than that of fuzzy PID controller. The
F R EQ U EN C Y

60
settling time of frequency is also less with fuzzy PID
50 controller. Figure 7(c) and 8(c) gives the torque response with
conventional PID controller and fuzzy PID controllers
40 respectively. Comparing the above mentioned figures we can
see that the transient peak attained by the torque with both the
30
4 4.5 5 5.5 6 6.5 7 7.5 8 controllers being same for the settling time is less with fuzzy
TIME PID controller which is found out to be 0.3 second as
compared to 0.7 second with conventional PID controller.
(b) The PWM inverter voltage outputs are shown in the figure
7(d) and 8(d) with conventional PID and fuzzy PID
controllers respectively. As the machine goes from below
80 base speed (that is 1200 rpm)to above base speed(1800 rpm)
60
region can be noticed from the figures.
TORQUE

40
VI.CONCLUSION
20
In this paper we found that conventional PID has more
0 settling time than fuzzy PID controller, so fuzzy PID
controller makes the system faster. The maximum overshoot
-20
2 3 4 5 6 7 8 also in the conventional PID controller is found more than
TIME fuzzy PID controller. Again the variation in the system
parameters due to load disturbances are also less with fuzzy
PID controller, which proves that the fuzzy PID controller is
(c)
more robust than the conventional PID controller. So it can
be concluded that the fuzzy PID controller improves the

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 2014 International Conference on Circuit, Power and Computing Technologies [ICCPCT]

system performance and is better suited for high performance

drives.

I. APPENDIX

Rated 415V Stator 0.435Ω

voltage resistance
Rated 6.4 A Rotor 0.816 Ω
current resistance
Rated speed 1500 rpm Stator 0.07132H
inductance
Rotor 0.089 Rotor 0.01732H
inertia Kg.m inductance
Damping 0.001 Mutual 0.069347H
factor n.rad/sec inductance

pole 4 Rated power 3.5hp

Table 2

VII.REFERENCES
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