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/Simulink
model development
In the modern era, almost all the processes and techniques are at first simulated before their actual real time implementation.
This reduces a significant portion of effort and cost of real time implementation. The performance of the proposed
system/process/technique can be evaluated accurately by using proper simulation models. Thus the models should be flexible and
accurate to take into account the real time implementation issues as well. With the rapid development in computer hardware and
software, new simulation packages which are much faster and more user friendly are now available. This paper discusses the use
of one such software, the SIMULINK software of MATLAB. The main advantage of the SIMULINK over other programming
software is that, instead of compilation the simulation model is built systematically by means of function blocks. A set of machine
differential equations can be modelled by interconnection of appropriate blocks, each of which performs a specific mathematical
operation. Programming efforts are drastically reduced and the debugging of errors is easy. Since the SIMULINK is model
operation programme, the simulation model can be easily developed by addition of new sub-models to cater for various control
functions. The induction motor could be incorporated in the complete electric motor drive system from Simulink Library. Simulink
modelling of single-phase and three-phase voltage regulators of two types i.e., thyristor and IGBT based are done and the results
are evaluated in the subsequent sections.
2.1 Matlab
/Simulink
+ =
(
(
(1)
Note that V
o
can be varied from V
s
to 0 by varying from 0 to . The rms value of load current
R
V
I
o
o
= (2)
The input power factor
( )
2 1
2
2
1
/
s
o o
sin
V
V
VA
P
(
+ = =
(3)
The average thyristor current
( ) ( )
t d t sin V
R
I
s Thy , A
2
2
1
(4)
As each thyristor carries half the line current, the rms current in each thyristor is
2
o
Thy , o
I
I =
(5)
2.2 Matlab
/Simulink
+ =
(
(
(
(7)
The input current of Fig. 9 can be expressed in Fourier series as
( ) ( )
=
+ =
... , , n
n s
t n sin t i
5 3 1
2 (8)
where
0
1
= =
n
n
n
b
a
tan (9)
The rms value of the nth harmonic input current is given as
( ) |
\
|
= + =
2
2 2
2
1
2 1
2 2
n
sin I
n
b a I
a
/
n n sn
(10)
The rms value of the fundamental current is
|
\
|
=
2
2 2
1
sin I I
a s
(11)
The rms input current is found as
a s
I I = (12)
Harmonic factor
( ) ( )
2 1
2 1
2
1
1
1 4
1
/
/
s
s
cos I
I
HF
(
=
(
(
|
|
\
|
=
(13)
Displacement factor
Riyaz et al./ International Journal of Engineering, Science and Technology, Vol. 1, No. 1, 2009, pp. 90-105 97
( ) 1
1
= = cos DF (14)
Power factor
|
\
|
=
|
|
\
|
=
2
2 2
1
sin DF
I
I
PF
s
s
(15)
The advantage of using IGBTs is that due to same extinction angle as that of firing angle, the fundamental current in this case is
in phase with the voltage, hence displacement factor becomes unity. A plot of the power factor vs firing angle is illustrated in Fig.
10. It reveals that the power factor varies significantly with change in the firing angle especially for IGBT based soft starter.
Nevertheless, it is higher for thyristor based system.
Figure 10. Power factor vs firing angle for Thyristor and IGBT based soft starters.
A point must be noted here that the power factor vs firing angle curve shown above is of the case when no filter is incorporated
in the system, if the filters are also incorporated in the system, THD of the system reduces significantly and as already discussed
above displacement factor is unity for this case, hence overall power factor improvement will be there. Further, since the
harmonics in starters using IGBTs are of higher order, L and C requirement will be of lower value, hence of smaller size, on the
other hand starters with thyristors have lower order harmonics requires filters with larger value of L and C which are of large size
and non-economical in terms of both cost and area requirement. Thus while comparing the two types of starter based on filter
requirements, it can be concluded that the IGBT based starter is a cheaper option due to smaller filter components requirement.
2.3 Matlab
/Simulink
Model of Three-phase soft Starter using Thyristor
The basic three-phase induction motor drive scheme is illustrated in Figure 11, where the power switches can either be thyristors
or IGBTs.
3-Phase
INDUCTION
MOTOR
Three-phase Soft Starter
Analog
Interface
Gate
Drive
Figure 11. Schematic diagram of soft-starter controlled induction motor drive.
The simulation model of three-phase soft starter for three-phase induction motor is developed as shown in Figure 12 for thyristor
based circuit. Three-phase sinusoidal voltages are generated using three independent voltage sources having phase difference of
Riyaz et al./ International Journal of Engineering, Science and Technology, Vol. 1, No. 1, 2009, pp. 90-105 98
120
0
and magnitude of 220Vrms. The output of soft starter is given to a three-phase induction motor. The outputs response of the
motor is recorded and presented in Figure 13-15.
The output voltage waveform of thyristor based three-phase voltage regulator is shown in Figure 9 for = /6. The controllable
range of voltage regulator is from firing angle, = 0 to = /2.The Total Harmonic Distortion (THD) for higher values of
increases, which indicates increased harmonic content in the line current and voltage.
stator_fl ux_qd
Vs_qd
Vr_qd
v
+
-
Vc1
Vc
v
+
-
Vb1
Vb
v
+
-
Va1
Va
g
a
k
Thyri stor6
g
a
k
Thyri stor3
Te
In1
Out1
Out2
Subsystem3
In1
Out1
Out2
Subsystem2
In1
Out1
Out2
Subsystem1
In1Out1
Subsystem
Step
Scope4
Scope3
Scope2
Scope
Rotor_speed(rpm)
Rotor_fl ux_qd
Rotor_angl e_theta_m
In1
Out1
Out2
Out3
Out4
Out5
Out6
Out7
Out8
Out9
Out10
Out11
Mahi nes
Measurment
Demux
Is_qd
Is_abc
Ir_qd
Ir_abc
pi /6
Fi ri ng Angl e
i
+
-
Current Measurement
Tm
m
A
B
C
3 ph IM
g
a
k
Thyri stor5
g
a
k
Thyri stor4
g
a
k
Thyri stor2
g
a
k
Thyri stor1
Figure 12. Simulink Model of Induction Motor fed from thyristor based soft starter
a.
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
200
400
600
800
1000
1200
1400
1600
Time (sec.)
S
p
e
e
d
( r
p
m
)
b.
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
1
2
3
4
5
6
7
8
9
Time (sec)
T
o
r
q
u
e
( N
m
)
c.
Figure 13. Induction motor response for = /6; a. output voltage, b. Speed Vs Time curve and c. Torque Vs Time curve for no-
load.
Riyaz et al./ International Journal of Engineering, Science and Technology, Vol. 1, No. 1, 2009, pp. 90-105 99
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-2500
-2000
-1500
-1000
-500
0
500
Time (sec.)
S
p
e
e
d
(r
p
m
)
Figure 14. Speed vs. time curve for = /3 when load is applied at t=1.2sec.
0 200 400 600 800 1000 1200 1400 1600
-1
0
1
2
3
4
5
6
7
8
9
Speed (rpm)
T
o
r
q
u
e
(
N
m
)
for /6
for /4
for /3.1
Figure 15. Torque vs. speed curve for different value of firing angle at no-load.
The drive system shows a typical behaviour for different values of firing angle i.e., = /6, /4, /(3.1) . The motor is taking up
the load well with a reduction in the corresponding speed. There is a reduction in the peak torque for change in the firing angle as
expected. From Figure 13 it is observed that motor performs satisfactorily at = /6, but when the magnitude of is increased
beyond the value /3.1, the motor become unstable (as shown in Figure 14). Hence, the value of should be / (3), for a
thyristor based soft starter for stable operation of the drive system.
In Figure 15, the speed-torque characteristics of motor are shown under various loading conditions and the variations of torque
speed curves with respect to the applied voltage are shown. It can be noted that increasing the firing angle results in decrease in
starting torque. These curves show that the slip (hence speed) at maximum torque s remains same (in both transient as well as
steady state condition). The speed range for stable operation remains the same. The slope and shape of the characteristics are
dependent ultimately on the machine parameters. The curve shows both the transient as well as steady state characteristic. It is to
be noted here is that, if the applied voltage is reduced, the voltage across the magnetizing branch also comes down. This in turn
means that the magnetizing current and hence flux level are reduced. Reduction in the flux level in the machine impairs torque
production. If, however, the machine is running under lightly loaded conditions, then operating under rated flux levels is not
required. Under such conditions, reduction in magnetizing current improves the power factor of operation. Some amount of energy
saving may also be achieved.
It is also noted that the starting torque is also lower at lower voltages. Thus, even if a given voltage level is sufficient for
achieving the running torque, the machine may not start. This method of speed control is best suited for loads that require very
little starting torque. It is further noted that the torque response are identical under steady state conditions. Thus only the transients
are affected by the choice of the firing angle.
2.4 Matlab
/Simulink