Table of Contents

Introduction ............................................................................................................................................ 2
Tasks ....................................................................................................................................................... 3
Design and Simulation of Boost Converter ........................................................................................... 3
Value of Inductance and Capacitance................................................................................................. 4
Boost Converter Simulation ................................................................................................................ 5
Average Current and Efficiency of Converter ..................................................................................... 6
Closed-Loop Boost Converter ............................................................................................................. 8
Performance of Inverter-Fed Induction Motor Drive ......................................................................... 10
Performance of Induction Motor System ......................................................................................... 10
Torque Versus Slip Characteristic ..................................................................................................... 11
Constant V/f Control ......................................................................................................................... 14
Conclusion ............................................................................................................................................ 15
References ............................................................................................................................................ 16

1
Introduction
Over the recent years, power electronics has gone through various technological evolutions.
Most of the industrial, commercial, residential and power utility activities are performed utilizing the
applications of power electronics. Advancement in power semiconductor devices and microprocessor
control led to the widespread use of power electronics in industrial motor drives, energy storage
systems, power quality, high voltage direct current transmission, and much more. The combination of
electric power, electronics and control is referred as power electronics (Manias, 2016). According to
Rashid (2011), power electronics is the study of electric circuits while focusing on the control of
electrical energy flow. The main objective of power electronics is to perform highly efficient, reliable
and cost-effective power conversion from a source to an electrical load.

Power electronics has already gained its importance in modern technology and revolutionized
the control of power and energy (Rashid, 2011). The research shows that power electronics is as
important in the modern world technology as the information technology (Bose, 2008). These electric
power conversions are mostly performed using switches such as IGBT (Insulated Gate Bipolar
Transistors), MOSFETs (Metal Oxide Semiconductor Field Effect Transistors), thyristors, and diodes,
etc. These switches provide great precision, with extremely fast control times and low dissipated
power (Wilamowski & Inwin, 2011).

Based on power conversion and type of electrical power flow, power converters can be
classified as dc-dc converters, dc-ac inverters, ac-ac cycloconverters, ac-dc rectifiers. Their names are
sufficient enough to explain their purpose and application. Most of the times, dc-dc converters are
considered for research purpose and experimentation due to their common and simple topologies.
These power converters operates between two possible states i.e. on-state and off-state. During the
on-state, unlimited current flows across them while voltage is zero and during off-state, current is zero
while the voltage drop at their leads increase unlimitedly (Rosu, et al., 2017).

Power electronic system with 100% efficiency and reliability are the most desirable
(TutorialsPoint, n.d.) but that doesn’t happen in real world. A block diagram is presented below to
demonstrate the components of a power electronic system.

Figure 1 Power Electronic System (TutorialsPoint, n.d.)

Reliability of electronic power circuit or power converter depends upon the conversion, even
if the converter is reliable, its failure can cause problems for the load (Bush, 2018). Among various
applications of power electronics and power converters, one of the major application is control of
motor drives. A power converter provides an interface between input power and motor in order to
control the speed and position of motor (Lorenzo, 2020).

2
 Mostly variable speed drives direct current machines are utilized but with the advancement
in power electronics, induction motor drives are also used widely in industrial applications and much
more. Induction motors consumed a large amount of energy as large starting inrush current is required
for them. Thus, there is a need to control this current and different power converter topologies and
power electronics tools and techniques can be used to control this current and reduce the power
consumption. Different techniques to improve the performance of induction motors are involved, soft
starters (Kay, Paes, Seggewiss, & Ellis, 1999), voltage reduction methods (Jones & Lalemand, 2013),
slip compensation (Ben-Brahim, Trabelsi, Yokoyama, & Ino, 2010), and vector control (Nash, 1997). A
typical three-phase inverter-fed induction motor drive circuit is shown below.

Figure 2 Three-Phase Inverter-Fed Induction Motor (Dinakaran, 2015)

This report covers the design and simulation of boost converter, and performance of a space-
vector PWM IGBT inverter-fed induction motor drive. In design and simulation of boost converter,
various characteristics such as input and output voltage, switching frequency, peak-to-peak ripple, etc.
are considered to perform an analysis on boost converter and design and simulate it. For inverter-fed
induction motor drive, performance of motor is evaluated along with the torque vs slip characteristic
and verification that induction motors with constant V/f control have electromagnetic torque
proportional to the slip frequency for normal steady-state operation. For the simulation purposes,
MATLAB/Simulink is used which is a very powerful tool for design, testing, analysis and verification of
different systems.

Tasks

Design and Simulation of Boost Converter

One of the most simple and commonly used switch mode converter is referred as boost
converter (Component101, 2019). As name suggests, a boost converter acts as the step-up chopper
that increases or boosts the input voltage to a specified output voltage (Electrical4U, 2020). A typical
boost converter circuit is presented below.

Figure 3 Boost Converter

3
 A boost converter comprises of an inductor, capacitor, a switching device (mostly considered
MOSFET), and a diode. Voltage source is connected with the inductor, switching device is connected
across the voltage source, and the diode which acts as a second switch, is connected to a capacitor,
and the load. Where capacitor is connected in parallel with load. For the given task, dc-dc boost
converter is considered with the following specifications:
Table 1 Boost Converter Specifications

Specification Value
Resistive Load 20Ω
Input Supply Voltage 96𝑉
Output Voltage 240𝑉
Switching Frequency 100𝑘𝐻𝑧
A filtering inductor and smoothing capacitor is used to limit the peak-to-peak inductor current ripple
and output voltage, respectively.

Value of Inductance and Capacitance

Considering the given specifications and inductor ripple current limit to 0.04𝐴 and ripple
voltage limit to 0.04𝑉, the inductance and capacitance is calculated. To calculate the inductance and
capacitance, duty cycle is required. Duty cycle is defined as the ratio between on-time to complete
cycle length and off-time plus on-time, representing a simple relationship between input and output
voltage (Dostal, 2020). For the boost converter, duty cycle can be given as
Vin
𝐷 =1−
Vo

Where D is the duty cycle, Vin is the input voltage and Vo is the output voltage. Using given values,
duty cycle is calculated as
Vin 96V
D=1− =1−
Vo 240V

D = 0.6

Now to calculate the inductance and capacitance, inductance can be calculated as

Vin
∆iL = DT
L
Where ∆iL is the inductor ripple current, L is inductance, and T is the time period which can be given
by

1 1
T= =
f 100kHz
T = 1 × 10−5

Where f is the switching frequency. Now substituting the values gives

96V
0.04A = (0.6)(1 × 10−5 )
L
L = 0.0144H

4
Capacitance for boost converter can be calculated as
Vo
C= DT
R∆vc
240V
C= (0.6)(1 × 10−5 )
(20Ω)(0.05V)

C = 0.00144F

Boost Converter Simulation

Using the given values and calculated values for capacitance and inductance, simulink model
for the boost converter is designed as shown below.

Figure 4 Simulink Model of Boost Converter

Now to check whether the theoretical results match the simulation results, model is simulated
for 0.5s and inductor current, and output voltage is viewed through the scope. The output plots are
presented below. (Note: Output voltage is same as the capacitor voltage as voltage is same in parallel)

Figure 5 Output Voltage Waveform with Capacitor Ripple Voltage Waveform

5
 Figure 6 Inductor Current Waveform with Inductor Ripple Current Waveform

The waveforms plotted above show that the desired output voltage is obtained at the output
of boost converter which is 240V. The zoom-in plots, plotted in the above figures demonstrates the
ripples in current and voltage. Figure 5 shows that the ripple voltage of capacitor is less than 0.05V
and Figure 6 shows that ripple current of inductor is limited to 0.04A. Hence, the theoretical results
are verified through the simulation and it also verifies that the exact values for inductance and
capacitance is calculated.

Average Current and Efficiency of Converter

Now the inductor is not considered ideal and it has a resistance of 0.3Ω. The average current
drawn from the supply is equal to the inductor current.

iin = iL

The average value of inductor current can be calculated as

Vo
∆iL =
(1 − D)R

Here, the output voltage is unknown. Now the output voltage Vo can be calculated as
Vin
Vo =
RL
(1 − D) +
(1 − D)R

Substituting the values gives

96V
Vo =
0.3Ω
(1 − 0.6) +
(1 − 0.6)20Ω

Vo = 219.43V

6
Average inductor current will be,
Vo 219.43V
∆iL = =
(1 − D)R (1 − 0.6)20Ω

∆iL = 27.43A

Thus, the average current drawn from supply will be 27.43A. To calculate the efficiency of converter,
input power and output power is required to be calculated.

Input Power = Pin = Vin × iin

Pin = 96V × 27.43A

Pin = 2633.3W

Vo 2
Output Power = Pout =
R
(219.43V)2
Pout =
20Ω
Pout = 2407.48W

Efficiency can be calculated as

Pout 2407.48W
η= × 100 = × 100
Pin 2633.3W

η = 91.4%

To verify these calculations, simulink model is updated and simulated using MATLAB/Simulink. The
updated simulink model is shown below.

Figure 7 Updated Simulink Model

7
The output results can be seen in the given figure below.

Figure 8 Simulation Results

Hence, the calculated results are verified through the simulation and the same and accurate
results are obtained.

Closed-Loop Boost Converter

A constant DC output voltage can be obtained through closed-loop control of boost converter.
The output voltage heavily depends upon the switching frequency and duty cycle. In order to obtain
the desired output voltage, we have to control the duty cycle of the boost converter. Controller adjusts
the duty cycle and maintains the constant voltage at the output. Simulink model of closed-loop boost
converter is developed and shown below.

Figure 9 Simulink Model of Closed-Loop Boost Converter

8
The output voltage response of closed-loop boost converter is presented below.

Figure 10 Output Response of Closed-Loop Boost Converter

The output response shows that a constant voltage of 240V is maintained at the output due
to this closed-loop control. For the open-loop boost converter, output voltage is obtained as 219.43V
both analytically and numerically which shows that the desired output voltage cannot be obtained
through open-loop boost converter. However, integrating the closed-loop control gives the desired
output voltage. Hence, based on this comparison between open-loop boost converter and closed-loop
boost converter, we can say that closed-loop boost converter provides more efficient results. Further
results can be improved by adjusting the gains of controller. A comparison between output voltage
response of open-loop boost converter and closed-loop boost converter is presented below to further
clarify the need of closed-loop boost converter.

Figure 11 Results Comparison

The output voltage response comparison clearly shows that open-loop boost converter fails to
maintain 240V output voltage and also gives high percentage overshoot. As compared to that, closed-
loop boost converter maintains 240V at the output.

9
Performance of Inverter-Fed Induction Motor Drive
PWM IGBT inverters are gaining their importance in industrial application to control the
induction motor drives. PWM IGBT inverter-fed induction motor drives are more changeable, reliable
and provide a wide range of speed (Soni & Jain, 2016; Zhao & Lipo, 1995). For the second task, a
simulink model of induction motor drive is designed and simulation to observe the performance of
induction motor and various other aspects.

Performance of Induction Motor System

Using the given simulink block diagram and given values for different parameters, a simulink
model of detailed system is designed as shown below.

Figure 12 Simulink Model of Inverter-Fed Induction Motor Drive

A closed-loop V/f control drive for induction motors is represented by space vector PWM VSI
induction motor drive block. Here, IGBT is used as voltage source inverter (VSI). A closed-loop speed
control with slip regulation is present in the block. To analyse the performance of system,
corresponding output responses are plotted below.

Figure 13 Output Performance Plots

10
 Induction motors are designed for specific V/f ratio. V/f ratio is directly proportional to the
amount of magnetic flux produced in stator and rotor core laminations. Strength of rotating flux
decides the torque developed on motor shaft. The output waveforms generated above are PWM
waveforms as they are generated by multiple pulses of switches at short intervals. Rotor speed
depends upon the frequency of stator current. As the frequency increases rotor speed also increases.
There are fluctuations in stator current and motor torque, that’s clearly because of motor’s inertia
(C.S. Sharma, 2013). The results clearly demonstrates the working principle of inverter-fed induction
motor and exactly related to the theory of induction motor. Frequency is varied to control the rotor
speed. With increase in frequency rotor speed increases, a motor torque is produced with fluctuations
and a constant DC link voltage is maintained. Moreover, speed control integrated into Induction Motor
Drive block works efficiently to maintain the desired rotor speed at the output. As the per given speed
references and load torque to the system, it achieves that speed exact at the set time intervals.

Torque Versus Slip Characteristic

An approximate equivalent circuit is drawn for three-phase induction machine to demonstrate
the torque vs slip characteristics. An approximate equivalent circuit for three-phase induction machine
is typically presented as shown below.

Figure 14 Approximate Equivalent Circuit of Induction Machine (Ojaghi & Mardani, 2011; Vasudevan, Rao, & Rao, 2014)

Now for the given three-phase induction machine, such approximate equivalent circuit can be
drawn by calculating the parameters involved in this circuit. The stator resistance R s is given as 0.425Ω
with leakage inductance Ls as 2mH. Using the given parameters, equivalent circuit parameters are
calculated as shown below.

Stator Reactance = X s = 2πfLs

X s = 2(3.142)(60)(0.002)

X s = 0.75Ω

Magnetizing Reactance = X m = 2πfLM

Where LM is the mutual inductance.

X m = 2(3.142)(60)(0.068)

X m = 25.64Ω

For rotor reactance,

X r ′ = s(2πfLr )

11
 Where Lr is rotor inductance given as 2mH. We need to calculate the slip first to calculate
rotor reactance.

For the given induction machine, 2 pairs of poles are given and it operates at a frequency of
60Hz. Synchronous speed for the induction machine can be given as

120f
Ns =
P
Where f is frequency, P is number of poles and N is the synchronous speed given in rpm (rev/min).

120(60)
Ns = = 1800 (rev/min)
4
The given rotor speed for space-vector PWM induction motor drive is N = 1705 rev/min. Slip
for the induction machine can be calculated as

Synchronous Speed − Rotor Speed Ns − N

Slip (%) = s = × 100 = × 100
Synchronous Speed Ns
1800 − 1705
Slip (%) = s = × 100
1800
Slip (%) = s = 5.3%

Now slip is calculated, inserting into above equation,

X r ′ = (0.053)(2(3.142)(60)(0.002))

X r ′ = 0.04Ω

Thus, the equivalent circuit for given three-phase induction machine is obtained as shown
below.

Figure 15 Approximate Equivalent Circuit of Conventional Three-Phase Induction Machine

Determining these parameters will allow us to calculate the motor torque for induction
machine/motor. Using the approximate equivalent circuit for induction machine, motor torque will
be

3VS 2 (R r ′ /s)
T=
2π ′ 2 ′ 2
[(R (X ) ]
60 Ns s + R r /s) + s + X r
Where Vs is source voltage which can be given for three-phase induction machine as

12
 Vpk 230V
Vs = =
√3 √3
Vs = 132.79V

And R r ′ is the rotor resistance given as 0.820Ω. Inserting the value in above equation will give
the torque.

3(132.79)2 (0.820/0.053)
T=
2(3.142)
60 (1800)[(0.425 + 0.820/0.053)2 + (0.75 + 0.04)2 ]

Tm = 17.14Nm

For maximum torque,

3VS 2 (R r ′ /s)
Tm =
2π ′ 2 ′ 2
[(R (X ) ]
60 Ns s + R r /s) + s + X r
3(132.79)2 (0.820/1)
Tm =
2π 2 (0.75 + 0.04)2 ]
60 (1800)[(0.425 + 0.820/1) +
Tm = 26.78Nm

From starting torque to maximum torque when slip will be maximum. The values obtained for
torque demonstrates a linear relationship between torque versus slip. As it shows that when slip
increases, torque will increase. Hence, torque vs slip characteristic shows that it is linear for induction
machine at small slips for a given supply voltage and frequency. If slip value is varied and any value
between 0.053 to 1 will be put, it will give the torque value. And every time, increasing the slip will
increase the torque. Now the rotor frequency at 12Nm torque can be calculated as

fr = sfs

Where fs is stator frequency. Now slip at 12Nm torque is obtained below.

(1 − s)P
ωm =
T
(1 − 0.053)2300
ωm =
12
ωm = 181.5 rad/s
ωm f (181.5)(60)
N= =
2π 2(3.142)

N = 1733 rev/min

Slip will be
1800 − 1733
Slip = s =
1800
s = 0.04

13
Putting in the above equation gives the rotor frequency as

fr = sfs = 0.04(60)

fr = 2.4Hz

Using the formula for torque, the voltage applied to stator terminals to run motor at nominal
speed for same load can be calculated as shown below.

3VS 2 (R r ′ /s)
Tm =
2π ′ 2 ′ 2
[(R (X ) ]
60 Ns s + R r /s) + s + X r

1 3(R r ′ /s)
⟹ =√
Vs 2π
N [(R + R r ′ /s)2 + (X s + X r ′ )2 ]Tm
60 s s

1 3(0.820/0.053)
⟹ =√
Vs 2π 2 (0.75 + 0.04)2 ]12
60 (1800)[(0.425 + 0.820/0.053) +

⟹ Vs = 111.52V

⟹ V = Vs √3 = 111.52 × √3

⟹ V = 193.16V

Thus, 193.16V should be applied to the stator terminals to run the motor at nominal speed
for the same load.

Constant V/f Control

The applied voltage of full-loaded motor at 45Hz can be given by

1 3(R r ′ /s)
=√
Vs 2π ′ 2 ′ 2
[(R (X ) ]Tm
60 Ns s + R r /s) + s + X r

Synchronous speed and rotor speed at 45Hz can be calculated as

120f 120 × 45
Ns = =
P 4
Ns = 1350rpm
f 2.4
Where slip will be s = fr = 45
= 0.053, thus rotor speed will be
s

N = (1 − s)Ns

N = (1 − 0.053)1350

N = 1278.45rpm

Putting in the above equation,

14
 1 3(R r ′ /s)
=√
Vs 2π
N [(R + R r ′ /s)2 + (X s + X r ′ )2 ]Tm
45 s s

1 3(0.820/0.053)
=√
Vs 2π
(1278.45)[(0.425 + 0.820/0.053)2 + (0.565 + 0.03)2 ]12
45

Vs = 108.15V

⟹ V = Vs √3 = 108.15 × √3

⟹ V = 187.32V

This verifies that induction motors with constant V/f control have electromagnetic torque
virtually proportional to the slip frequency for normal steady-state operation. Now if motor is used to
drive a variable speed centrifugal pump, stator frequency will be

64% of rated load torque = 0.64 × 12 = 7.68Nm

(1 − 0.053)2000
ωm =
7.68
ωm = 246.61 rad/s
ωm f (246.61)(45)
N= =
2π 2(3.142)

N = 1766rpm
1800 − 1766
s= = 0.018
1800
fr 2.4
fs = =
s 0.018
fs = 133.3Hz

This will be stator frequency required at 64% of rated load torque.

Conclusion
In this report, a boost converter and three-phase induction machine is analyzed in two
separate tasks. For the boost converter, it shows that open-loop boost converter cannot maintain a
constant output voltage. In case if any disturbance or resistance occurs, the output voltage drops.
However, a closed-loop feedback control can be implemented to obtain the constant output voltage.
This closed-loop control adjusts the duty cycle and maintains a constant output voltage of boost
converter. This can be used in applications where constant output voltage is required. Moreover, the
analysis of induction machine shows that speed controller integrated into the machine drive block
effectively maintains the motor speed at desired level. Moreover, it has been verified that both torque
and slip are proportional to each other. Changes in slips frequency, changes the slip and in turn torque
also changes.

15
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