Response Analysis of Large Induction Motors at Different Voltages and Frequencies

K. G. Sabbir, M. A. Kashem, M. Negnevitsky School of Engineering, University of Tasmania, Hobart, Tasmania 7001, Australia. Email: kgsabbir@utas.edu.au
approach of the voltage and frequency based powerspeed characteristics and also the slip based powervoltage and power-frequency characteristics of a large induction motor.

ABSTRACT
An accurate model for an electrical load is very important for a power system. Loads such as induction motor, synchronous motor, lighting and heating show different characteristics with the change of voltage and frequency. This paper addresses the load characteristics of a large induction motor with the variation of voltage and frequency. Investigations on induction motor (IM) characteristic have been carried out with a static approach of voltage and frequency. Responses of a large induction motor (IM) at different voltages and frequencies are examined and results are presented.

2. INDUCTION MOTOR MODEL

The inertia and the rotor flux dynamics of motor are the key factors for the response of motors active power and reactive power, and also to the voltage and frequency. Motor acceleration in a weak power system results the significant voltage drop in the load bus, and also reduce the synchronizing power [1]. Fig.1 show a typical circuit diagram of an induction motor, which is running nearly at rated speed, and the motor parameters are mainly the stator and rotor impedances, magnetizing reactance, motor slip, and the input voltage to the stator. The magnetizing branch current is very small and the current, I 1 depends on the stator and rotor impedances [3].
RS L=LS +Lr

1. INTRODUCTION
In a power system, voltage and frequency at load bus always change due to the disturbances, which cause the fluctuation in the load power. This load power variation is not same for all the loads, and depends on the characteristics of the load connected to the load bus. For the purpose of stability analysis of a system, it is very essential to determine the effects of the changes of the loads due to the voltage and frequency change [1]. The power consumption by the motor loads of the power system is very significant. Among all motors, the induction motors (IM) consume about 90% of the motor energy [2]. Thus the accurate model of induction motor is very essential for the power system. In residential and commercial area, the main use of the small induction motors is for the compressor loads in the air-conditioners and refrigerators. However the large induction motors are usually used in the industrial area. The induction motor load is considered as dynamic load component or fast response device as they respond so quickly to the change of voltage and frequency [1], and are thus considered as hazardous from the view point of stability [5]. In this paper, investigation has been carried out with a static

Lm

Rm

I1

Rr/s

Fig. 1 A typical induction motor model (Rs: stator resistance, Rr: rotor resistance, Rm: magnetizing resistance, L: motor total inductance, Lm: magnetizing branch inductance).

By considering X as total leakage reactance, the expression for current I1 can be obtained as, sV (1) I =
1

(sR s + Rr )2 + (sX )2

The stator resistance Rs is small and the slip s at running mode is also very small. Neglecting the product of sRs, the Eq.(1) becomes, sV (2) I1 = 2 Rr2 + (sX )

3. VOLTAGE BASED RESPONSE OF IM

The active and reactive power consumption of an induction motor is greatly influenced by load voltage. The model of power-speed characteristics of induction motor at different voltage conditions is developed in the following subsections. 3.1 Active Power-Speed Characteristic The equation for the active power absorbed by the motor can be derived from Fig.1 as,
P= V 2 sV 2 (sRs + Rr ) + 2 Rm Rr2 + (sX )

the peak load consumption for 4.5 kV is about 3.9 MW, whereas it is 2 MW for 3.2 kV. 3.2 Reactive Power-Speed Characteristic Reactive power consumption of a motor greatly depends on its rotor speed. It initially consumes very high reactive power to form the magnetizing flux and to rotate the rotor. With the increase of the speed of motor, the reactive power consumption decrease to a very low nominal value. Thus the reactive load consumption of motor is a key factor for the voltage stability of a power system. The reactive power consumption of a motor can be derived as,

(3)

By neglecting the term sRs, we get, V 2 sRr V2 (4) P= + 2 Rm Rr + (sX )2 From Eq.(4), it can be seen that the active power is dependent on voltage and motor slip. Also the power consumption varies drastically with the change of speed. The power consumption rapidly increases after starting the motor, and reach to a peak point where the breakdown occurs. In this peak point, the motor slip is called as critical slip and the power consumption at this critical slip is called as peak load. The critical slip of an induction motor can be derived and found as s critical = Rr X [4]. The critical voltage for a given output power is derived as Vcritical =

V2 V 2s2 X + Q= X m Rr2 + (sX )2

(5)

2 Pmax X [4]. This peak load is a key

factor to drive the mechanical load. The peak load varies greatly with the given voltage, and for certain cases, the low voltage condition can cause motor to stall for a given mechanical load.

From Eq.(5), it can be seen that the reactive power-speed characteristic equation is also dependent to the voltage and motor slip. Fig.3 shows the reactive power-speed characteristic curve with the different voltages. From this figure, it can be seen that for a large induction motor, initially it draws almost constant reactive power, and after the critical slip, the reactive power consumption is drastically reduced to a very low nominal value. Due to very high consumption of reactive power for a certain period of time, it affects highly to the voltage stability, and thus the starting or accelerating of a large induction motor is considered a hazardous for a power system.

Fig. 3 Reactive Power-Speed characteristic curve of induction motor for a constant frequency of 50 Hz.
Fig. 2 Active Power-Speed characteristic curve of induction motor for a constant frequency of 50 Hz.

4. FREQUENCY BASED RESPONSE OF IM

The frequency variation causes a variation on motor speed, however, due to the inductances in the stator and rotor circuit, the active and reactive power consumption also varies with the frequency variation. 4.1 Active Power-Speed Characteristic The active power consumption given in Eq.(4) can be rearranged as,

To carry out investigation of power-speed characteristics, the motor parameters for a large induction motor are selected as below. The rated voltage is 6.9 kV and the rated power consumption is 5000 hp. The other parameters are Rs=0.083, Rr=0.08, Rm=600, L=0.0082H, and Lm=0.146 . Fig.2 shows the active power-speed characteristic curve for the different voltages with a constant frequency of 50 Hz. From Fig.2, it can be seen that

P=

V 2 sRr V2 + 2 Rm Rr + (s 2 (Ls + Lr ) f )2

(6)

cases. Thus the reactive power consumption of the motor has less effect to the frequencies.

The slip s of Eq.(6) is affected by the frequency. The equation for the synchronous speed ns = (120 f pole ) clearly shows the dependency between frequency and synchronous speed and thus with the slip. Fig.4 shows the effect of the active power consumption with respect to the speed for different frequencies. If frequency decreases, the speed of the motor also decreases and the breakdown power increases. The speed is mainly the great concern for the frequency effect, and frequency-decrease can cause the motor stall for a heavy mechanical load.

5. SLIP BASED VOLTAGE CHARACTERISTIC OF IM

The power-voltage characteristics of IM are different for different slips. In the following subsections, the power-voltage characteristics are discussed. 5.1 P-V Characteristics The active power-voltage characteristics can be derived from Eq.(4) as follows,

1 sRr = k pV 2 P = V 2 + 2 2 R m Rr + (sX ) sR 1 Where, k p = + 2 r 2 Rm Rr + (sX )

(8) (9)

Fig. 4 Active Power-Speed characteristic curve of induction motor for a constant voltage of 4.0 kV.

4.2 Reactive Power-Speed Characteristic

Fig. 6 P-V characteristics curve of a large induction motor for different slips.

Fig. 5 Reactive Power-Speed characteristic curve of motor for a constant voltage of 4.0 kV.

The effect of the reactive power consumption due to the frequency variation can be obtained from Eq.(5) as,

From Eq.(9), it can be seen that the coefficient kp is mainly dependent on the motor slip. Thus the power at a fixed voltage shows different characteristics with different slips. Fig. 6 shows slip based active power-voltage characteristics curves for different slips. From this figure, it can be seen that at 4.0 kV, the active power consumption P1 = 1.8 MW for slip s1= 0.01, P2 = 2.8 MW for s2= 0.02, P3 = 3.0 MW for s3= 0.04, P4 = 2.1 MW for s4= 0.08, P5 = 1.75 MW for s5= 0.1 and P6 = 0.95 MW for s6= 0.2. Initially the power consumption is increased for the increasing slip, but after some point it is decreased for the increasing slip. 5.2 Q-V Characteristics The reactive power-voltage characteristics can be derived from Eq.(5) as follows,

V2 V 2 s 2 (2L f ) + 2 Q= 2Lm f R2 + (2Ls f )2

(7)

From Eq.(7), it can be seen that the reactive power consumption is affected due to the variation of the reactances. Fig.5 shows the reactive power response with the speed due to the frequency variation, and it can be seen that the breakdown point is same for all

1 s2 X = k qV 2 Q = V 2 + 2 2 X m Rr + (sX ) 1 s2 X Where, k q = + 2 X m Rr + (sX )2

(10) (11)

Like kp, kq in the Eq.(11) is also dependent to the motor slip. Fig.7 shows the reactive power-voltage characteristics curves for different slips. In this figure, it can be seen that, for a fixed voltage, the reactive power consumption is increased due to the increasing slip. Thus motor stalling can cause a high reactive power demand and can influence on voltage stability.

6.2 Q-F Characteristics The reactive power consumption is less affected by the frequency. From Eq.(5), the reactive powerfrequency characteristic can be derived for a fixed voltage. Fig.9 shows the reactive power-frequency characteristic for a fixed voltage of 4.0 kV but different slips. In this figure, it can be seen that for slip s1 = 0.01, s2 = 0.02 and s3 = 0.04 the reactive power consumption Q is almost constant with the frequency changes, but for the slip s4 = 0.08, s5 = 0.1 and s6 = 0.2, the Q consumption varies almost linearly. The frequency increases, the Q consumption decreases.

Fig. 7 Q-V characteristics curve of a large induction motor for different slips.

6. SLIP BASED FREQUENCY CHARACTERISTIC OF IM

The power-frequency characteristics of an induction motor vary with the change in slip. The power-frequency characteristics for different slips are discussed below. 6.1 P-F Characteristics
Fig. 9 P-V characteristics curve of a large induction motor for different slips.

7. CONCLUSION
In this paper, responses of induction motors have been investigated for different levels of voltage and frequency. A static approach of voltage and frequency has been used to test voltage and frequency characteristics of induction motors. Slip based power-voltage and power-frequency characteristics have also been examined. Test results have proved that if the voltage is reduced, the active power consumption is also reduced, resulting in reduction of motor capability to drive the load. It is important to maintain the appropriate voltage level so that the motor can draw sufficient reactive power to drive.

Fig. 8 P-F characteristics curve of a large induction motor for different slips.

REFERENCES
[1] IEEE Task Force Report: Load Representation For Dynamic Performance Analysis, IEEE Trans. on Power Systems, Vol. 8, No. 2, 1993, pp. 472-482. [2] C.W. Taylor, Power System Voltage Stability, Electric Power Research Institute, McGraw-Hill, USA, 1994. [3] T. Wildi, Electrical Machines, Drives, and Power Systems, 3rd Ed., Prentice-Hall, Inc., USA, 1997. [4] B.M. Weedy, B.J. Cory, Electric Power Systems, 4th Edition, John Wiley & Sons Ltd., Chichester, England, 2001. [5] M.K. Pal, Voltage Stability: Analysis Needs, Modelling Requirement, and Modelling Adequacy, IEE Procs-C, Vol. 140, No. 4, 1993, pp. 279-286.

The active power consumption of an induction motor is greatly influenced by the frequency. The Eq.(4) can be used to describe the active powerfrequency characteristic for a fixed voltage. Fig.8 shows that active power-frequency characteristic for a fixed voltage of 4.0 kV but for different slips. In this figure, it can be seen that for slip s1 = 0.01, the active power consumption, P1 is almost constant for different frequencies, but it has a slight change for the slip of s2 = 0.02. For other cases, the P consumption is decreased with the increasing frequency.