Induction Motor Scalar Control

By
Mr.M.Kaliamoorthy
Department of Electrical & Electroncis Engineering
PSNA College of Engineering and Technology

Outline
Introduction
Speed Control of Induction Motors
Pole Changing
Variable-Voltage, Constant Frequency
Variable Frequency

Constant Volts/Hz (V/f) Control

Open-loop Implementation
Closed-loop Implementation

Constant Airgap Flux Control

References
2

INDUCTION MOTOR DRIVES

Three-phase induction motor are commonly used in adjustable-speed

drives (ASD).

Basic part of three-phase induction motor :

Three-phase
windings

Rotor windings

Stator

Threephase
supply

Rotor

Air gap
Stator

Air gap

Rotor

Three-phase
windings

Rotor windings

Threephase
supply

Stator

Air gap

Rotor

The stator winding are supplied with balanced three-phase AC voltage,

which produce induced voltage in the rotor windings. It is possible to
arrange the distribution of stator winding so that there is an effect of
multiple poles, producing several cycle of magnetomotive force (mmf) or
field around the air gap.
The speed of rotation of field is called the synchronous speed s , which
is defined by :
s is syncronous speed [rad/sec]
2
Ns is syncronous speed [rpm]
s
or
p is numbers of poles
p
is the supply frequency [rad/sec]
f is the supply frequency [Hz]
120 f
Ns
Nm is motor speed
p

The motor speed

m s (1 S )

The rotor speed or motor speed is :

Where S is slip, as defined as :

Three-phase
windings

m
S S
S

Rotor windings

Threephase
supply

Stator

Air gap

Rotor

Or

NS Nm
NS

The motor speed

m s (1 S )

The rotor speed or motor speed is :

Where S is slip, as defined as :

Three-phase
windings

m
S S
S

Rotor windings

Threephase
supply

Stator

Air gap

Rotor

Or

NS Nm
NS

Equivalent Circuit Of Induction Motor

Three-phase
windings

Where :

Rotor windings

Rs is resistance per-phase of stator winding

Threephase
supply

Rr is resistance per-phase of rotor winding

Air gap

Stator

Rotor

s
Is

Xs

Xs is leakage reactance per-phase of the

winding stator
Xs is leakage reactance per-phase of the
winding rotor

Xr

Rs
Im

Xm is magnetizing reactance
Ir
Rr/s

Vs

Xm

Stator

Rm

Air gap

motor

Rm is Core losses as a reactance

Performance Characteristic of Induction Motor

Is

Xs

Xr

Rs
Im

Ir
Rr/s

Vs

Xm

Stator

Rm

Air gap

motor

Stator copper loss :

Ps cu 3 I s Rs

Rotor copper loss :

Pr cu 3 ( I r )2 Rr

'

Core losses :

V
V
Pc 3 m 3 s
Rm
Rm

'

Performance Characteristic of
Induction Motor
- Power developed on air gap (Power fropm stator to
'
rotor through air gap) :
' 2 R
Pg 3 ( I r )

'

R
- Power developed by motor : Pd Pg Pr cu 3 ( I r ) r (1 S )
S
' 2

Pd Pg (1 S )

or

- Torque of motor :

or

Td

Pd

Pd 60
Td
2 N m

or

Pg (1 S )

S (1 S )

Pg

Performance Characteristic of
Induction Motor

Input power of motor :

Pi 3Vs I s cos m
Pc Ps cu Pg

Output power of motor :

Po Pd Pno load

Pd Pno load
Po
Efficiency :
Pi Pc Ps cu Pg

Performance Characteristic of
Induction Motor

If

Pg ( Pc Ps cu )

and

Pd Pno load

so, the efficiency can calculated as :

Pd Pg (1 S )

1 S
Pg
Pg

Performance Characteristic of
Induction Motor
Generally, value of reactance magnetization Xm >> value Rm (core
losses) and also X m 2 ( Rs 2 X s 2 )
So, the magnetizing voltage same with the input voltage :

Vm Vs

Therefore, the equivalent circuit is ;

Is

Xs

Ii

Im

Xm

Xr

Rs

Rr/s

Xm

Vs

Rm

Po

Pi

Stator

Air gap

motor

Is=Ir
Ir

Im

Ir
Rr/s

Vs

Xs

Xr

Rs

Stator

Air gap

rotor

Performance Characteristic of
Induction Motor
Ii

Xs

Xr

Rs

Is=Ir
Ir

Im

Rr/s

Vs

Ir

Po

Pi

Stator

Air gap

Vs

'

Rr'
Rs
S

'
j X s X r

rotor

Xm

Ir

Vs

'

The rotor current is :

Rr'
'
Rs X s X r
S

1
2

Ii

Xs

Xr

Rs

Is=Ir
Ir

Im

Td

Rr/s

Vs

Po

Pi

Stator

Air gap

3 Rr' Vs2
' 2

R
S s Rs r X s X r'
S

rotor

Tmax

Td

Tst

TL
Tm=TL
Operating point

S=1
Nm =0

Torque speed Characteristic

Smax S=Sm S=0

m s
Nm Ns

Introduction
Te
Pull out
Torque
(Tmax)

Intersection point
(Te=TL) determines the
steady state speed

Te

TL

Trated

What if the load must

be operated here?

s
1

sm

rated
rotors
rotor
0

r
Requires speed
control of motor
15

Speed Control of IM
Given a load T characteristic, the steady-state speed can be
changed by altering the T curve of the motor
'
r

3R
Vs
Te
' 2
ss

Rr
2
Rs X ls X lr
s

2
4
s f
P
P

Varying voltage
(amplitude)

Varying line
frequency

Pole Changing
16

Speed Control of IM
Variable-Voltage (amplitude), Constant
Frequency
Controlled using:

Transformer (rarely used)

Thyristor voltage controller
thyristors connected in anti-parallel
motor can be star or delta connected
voltage control by firing angle control
(gating signals are synchronized to
phase voltages and are spaced at 60
intervals)
Only for operations in Quadrant 1 and
Quadrant 3 (requires reversal of phase
sequence)

also used for soft start of motors

17

Speed Control of IM
Variable-Voltage (amplitude), Constant Frequency

Voltage can only be reduced from rated Vs (i.e. 0 < Vs Vs,rated)

From torque equation, Te Vs2
When Vs , Te and speed reduces.
If terminal voltage is reduced to bVs, (i.e. Vs = bVs,rated) :
'
r

3R
Te
ss
Rr'
Rs
s

bV

2
X ls X lr

Note: b 1
18

Speed Control of IM
Variable-Voltage
(amplitude), Constant
Frequency
Suitable for applications

where torque demand

reduces with speed
(eg: fan and pump drives
where TL m2)
Suitable for NEMA Class D
(high-slip, high Rr) type
motors

High rotor copper

loss, low efficiency
motors
get appreciable
speed range

Practical
speed range
19

Speed Control of IM
Variable Voltage (amplitude),
Constant Frequency
Disadvantages:
limited speed range when
applied to Class B (low-slip) motors
Excessive stator currents at low
speeds high copper losses
Distorted phase current in machine
and line (harmonics introduced by
thyristor switching)
Poor line power factor
(power factor proportional to firing
angle)

Hence, only used on low-power,

appliance-type motors where
efficiency is not important
e.g. small fan or pumps drives
20

Speed Control of IM
Variable Frequency
Speed control above rated (base) speed

Requires the use of PWM inverters to control frequency of motor

Frequency increased (i.e. s increased)
Stator voltage held constant at rated value
Airgap flux and rotor current decreases
Developed torque
decreases
Te (1/s)

For control below

base speed
use Constant
Volts/Hz method
21

Constant Volts/Hz (V/f) Control

Airgap flux in the motor is related to the induced stator
voltage E1 :
E1 Vs
ag

f
f

Assuming small voltage drop

across Rs and Lls

For below base speed operation:

Frequency reduced at rated Vs - airgap flux saturates
(f ,ag and enters saturation region oh B-H curve):
- excessive stator currents flow
- distortion of flux wave
- increase in core losses and stator copper loss
Hence, keep ag = rated flux
stator voltage Vs must be reduced proportional to reduction
in f (i.e. maintaining Vs / f ratio)
22

Constant Volts/Hz (V/f) Control

Max. torque remains almost
constant
For low speed operation:
cant ignore voltage drop across
Rs and Lls (i.e. E1 Vs)
poor torque capability
(i.e. torque decreased at low
speeds shown by dotted lines)
stator voltage must be boosted
to compensate for voltage
drop at Rs and Lls and maintain
constant ag

E1 Vs
ag

f
f

Tmax

Vs

For above base speed operation

(f > frated):
stator voltage maintained at
rated value
Same as Variable Frequency
control (refer to slide 13)

23

Constant Volts/Hz (V/f) Control

Vs

Vs vs. f relation in Constant Volts/Hz drives Boost - to

compensate for
voltage drop at Rs
and Lls

Vrated

Linear offset curve

for high-starting
torque loads
employed for most
applications

Linear offset

Boost

Non-linear offset
curve
for low-starting
torque loads

Non-linear offset varies with Is

frated

f
24

Constant Volts/Hz (V/f) Control

For operation at frequency K times rated frequency:

fs = Kfs,rated s = Ks,rated
(1)
(Note: in (1) , speed is given as mechanical speed)
KVs ,rated , when f s f s ,rated
Stator voltage:Vs
(2)
Vs ,rated , when f s f s ,rated

Voltage-to-frequency ratio = d = constant:

d

Vs,rated

s,rated

(3)
25

Constant Volts/Hz (V/f) Control

For operation at frequency K times rated frequency:

Hence, the torque produced by the motor:

Te

'
r

3R
s s
Rr'
Rs
s

Vs

2
2
K X ls X lr

(4)

where s and Vs are calculated from (1) and (2)

respectively.
26

Constant Volts/Hz (V/f) Control

For operation at frequency K times rated frequency:

The slip for maximum torque is:

smax

Rr'

(5)

Rs K 2 X ls X lr
2

The maximum torque is then given by:

Tm ax

Vs

2 s R R K 2 X X
s
ls
lr
s

(6)

where s and Vs are calculated from (1) and (2)

respectively.
27

Constant Volts/Hz (V/f) Control

Rated (Base)
frequency

Constant
Torque Area
(below base speed)

Field Weakening Mode (f > frated)

Reduced flux (since Vs is constant)

Torque reduces

Constant Power Area

(above base speed)

Note:
Operation restricted
between synchronous
speed and Tmax for
motoring and braking
regions, i.e. in the
linear region of the
torque-speed curve.
28

Constant Volts/Hz (V/f) Control

Constant Torque Area

Constant Power Area

29

Example
A 4-pole, 3 phase, 400 V, 50 Hz, 1470 rpm induction
motor has a rated torque of 30 Nm. The motor is used to
drive a linear load with characteristic given by TL = K,
such that the speed equals rated value at rated torque. If
a constant Volts/Hz control method is employed,
calculate:
The constant K in the TL - characteristic of the load.
Synchronous and motor speeds at 0.6 rated torque.
If a starting torque of 1.2 times rated torque is
required, what should be the voltage and frequency
applied at start-up? State any assumptions made for
this calculation.
Answers:
K = 0.195, synchronous speed = 899.47 rpm & motor speed = 881.47 rpm,
At start up: frequency = 1.2 Hz, Voltage = 9.6 V
30

Constant Volts/Hz (V/f) Control

Open-loop Implementation

PWM
Voltage-Source
Inverter
(VSI)
Note: e= s = synchronous speed
31

Constant Volts/Hz (V/f)

Control Open-loop Implementation
Most popular speed control method because it is easy to
implement
Used in low-performance applications
where precise speed control unnecessary

Speed command s* - primary control variable

Phase voltage command Vs* generated from V/f relation
(shown as the G in slide 23)
Boost voltage Vo is added at low speeds
Constant voltage applied above base speed

Sinusoidal phase voltages (vabc*) is then generated from Vs* &

s* where s* is obtained from the integral of s*
vabc* employed in PWM inverter connected to motor
32

Constant Volts/Hz (V/f)

Control Open-loop Implementation
Problems in open-loop drive operation:
Motor speed not controlled precisely

P
m
2
P
s sl
2

primary control variable is synchronous speed s

actual motor speed r is less than s due to sl

sl depends on load connected to motor

sl cannot be maintained since r not measured

can lead to operation in unstable region of T- characteristic
stator currents can exceed rated value endangering inverterconverter combination

Problems (to an extent) can be overcome by:

Open-loop Constant Volts/Hz Drive with Slip Compensation
Closed-loop implementation - having outer speed loop with
slip regulation
33

Constant Volts/Hz (V/f) Control

Open-loop Implementation

Open-loop Constant Volts/Hz Drive with Slip Compensation

- Slip speed is estimated and added to the reference speed r*
Vdc = Vd

Idc

Slip
Compensator
sl
r*

Note: e= s = synchronous speed

34

Constant Volts/Hz (V/f)

Control Open-loop Implementation
Open-loop Constant Volts/Hz Drive with Slip Compensation
How is sl estimated in
the Slip Compensator?
Using T- curve, sl Te
sl can be estimated by
estimating torque where:
Te

Pag

Pin PSCL inverter losses

Pin Vdc I dc

Te
sl
Te,rated

(8)

sl ,rated

(7)
Note: In the figure,
slip= sl = slip speed
syn= s = synchronous speed

(9)
35

Constant Volts/Hz (V/f) Control

Closed-loop Implementation
Open-loop system
(as in slide 23)

Slip Controller

Note: e= s = synchronous speed

36

Constant Volts/Hz (V/f) Control

Closed-loop Implementation
Reference motor speed r* is compared to the actual speed
r to obtain the speed loop error
Speed loop error generates slip command sl* from PI
controller and limiter
Limiter ensures that the sl* is kept within the allowable slip
speed of the motor (i.e. sl* slip speed for maximum torque)

sl* is then added to the actual motor speed r to generate

synchronous speed command s* (or frequency command)
s* generates voltage command Vs* from V/f relation
Boost voltage is added at low speeds
Constant voltage applied above base speed

Scheme can be considered open loop torque control (since

T s) within speed control loop
37

Constant Airgap Flux Control

Constant V/f control employs the use of variable frequency voltage
source inverters (VSI)
Constant Airgap Flux control employs variable frequency current
source inverters or current-controlled VSI
Provides better performance compared to Constant V/f control with
Slip Compensation
airgap flux is maintained at rated value through stator current control

Speed response similar to equivalent separately-excited dc motor

drive but torque and flux channels still coupled
Fast torque response means:
High-performance drive obtained
Suitable for demanding applications
Able to replace separately-excited dc motor drives

Above only true is airgap flux remains constant at rated value

38

Constant Airgap Flux Control

Constant airgap flux in the motor means:

E
ag 1 Lm I m constant
2f

Assuming small voltage drop

across Rs and Lls

For ag to be kept constant at rated value, the magnetising current

Im must remain constant at rated value
Hence, in this control scheme stator current Is is controlled to
maintain Im at rated value
Controlled to maintain Im at rated
Rs

Lls

Is

Llr

+
Vs

Ir

Lm
maintain at rated

E1 Vs

Rr/s

Im

39

Constant Airgap Flux Control

From torque equation (with ag kept constant at rated value),
since ss = sl and ignoring Rs and Lls,
2

P Vs
Te 3
2 ss
Rr'
Rs
s

Rr'
P E1
3
2
2
'
2

sl

R
2
2
r
X ls X lr

s s Llr

sl

Rr'

By rearranging the equation:

2

PE
Te 3 12
2 s R '
r
sl

Rr'

sl

P 2

3
ag
e
2

R '
2

2
Llr
r

sl

Rr'

sl

2
Llr

Te sl sl can be varied instantly instantaneous (fast)

40
Te response

Constant Airgap Flux Control

Constant airgap flux requires control of magnetising current Im which is
not accessible
From equivalent circuit
' (on slide 31):
R
jslTr 1
js L'lr r
Is
Im ,
s
r
Im
Is
(10)
'

1
sl
r
R

js ( L'lr Lm ) r
1 r
s
From equation (10), plot Is against sl when Im is kept at rated value.
Drive is operated to maintain Is against sl relationship when frequency
is changed to control speed.
Hence, control is achieved by controlling stator current Is and stator
frequency:
Is controlled using current-controlled VSI

Control scheme sensitive to parameter variation (due to Tr and r)

L'lr
Lr
Note : Tr ' , r
, slelec selec r41
Rr
Lm

Constant Airgap Flux Control Implementation

Current Controlled VSI

3-phase
supply

Rectifier

Current controller options:

Hysteresis Controller
PI controller + PWM
r* +

PI

Voltage
Source
Inverter
(VSI)

IM

Current
controller
slip

|Is|

i*a
i*b

r
+

i*c

Equation (10)
(from slide 33)
42

Current-Controlled VSI
Implementation
Hysteresis Controller
i*a

i*b
i*c

+
Voltage
Source
Inverter
(VSI)

+
+

Motor
43

Current-Controlled VSI
Implementation
PI Controller + Sinusoidal PWM
i*a

i*b
i*c

PI
+

PWM

PI
+

Due to interactions between phases

(assuming balanced conditions)
actually only require 2 controllers

Voltage
Source
Inverter
(VSI)

PWM

PI

PWM

Motor
44

Current-Controlled VSI
Implementation
PI Controller + Sinusoidal PWM (2 phase)
i*a
i d*

i*b

abcdq

PI
dq abc

i q*

PI

PWM
Voltage
Source
Inverter
(VSI)

i*c
iq
id

abcdq

Motor
45

References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Bose, B. K., Modern Power Electronics and AC drives, PrenticeHall, New Jersey, 2002.
Trzynadlowski, A. M., Control of Induction Motors, Academic
Press, San Diego, 2001.
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3rd ed., Pearson, New-Jersey, 2004.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
46