Chapter 15: Control of A.C.

Drives

SOLVED EXAMPLES
Example 15.1 A 3-phase, star connected, 50 Hz, 4-pole induction motor has
the following parameters in ohms per phase referred to the stator:
R 1 = R 2 = 0.034 and X 1 = X 2 = 0.18
The motor is controlled by the variable frequency control with a constant (V /f ).
Determine the following for an operating frequency of 15 Hz:
(a) The breakdown torque as a ratio of its value at the rated frequency for motor-
ing and braking.
(b) The starting torque and rotor current in terms of their values at the rated
frequency.

15
Solution: From Eq. (15.34) of the book, K = = 0.3
50
(a) From Eq. (15.52) of the book, the ratio of breakdown torques for K = 0.3 and K = 1, is
2
Tmax ( K = 0.3) 0.034 (0.034 ) + (0.36)2
= 2
Tmax ( K = 1) 0.034 0.034
+ (0.36)2
0.3 0.3

Tmax ( K = 0.3)
For motoring, = 0.806
Tmax ( K = 1)
Tmax ( K = 0.3)
For braking, = 1.24.
Tmax ( K = 1)
(b) Substitution of s = 1 in Eq. (15.51) of the book gives an expression for the starting
torque T 2. Thus,

2
3 Vrated ( R2 / K )
Ts = (i)
w s R1 + R2 2 2

+ ( X1 + X 2 )
K
From Eq. (136), of the book the ratio of starting torques for K = 0.3 and K = 1 is,
(0.034 0.3)
Ts ( K = 0.3) (0.068 0.3) 2 + (0.36) 2
= = 2.472
Ts ( K = 1) 0.034
2 2
(0.068) + (0.36)
The starting rotor current is given by

Vrated
I2 = (ii)
2
R1 + R2 2
+ ( X1 + X 2 )
K

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The ratio of starting currents for K = 0.3 and 1 is

2 2
I 2 ( K = 0.3) (0.068) + (0.36)
= = 0.86
I 2 ( K = 1) 2
0.068
+ (0.36)2
0.3
The above calculations of the ratios of starting torques and starting rotor currents
show that the constant (V/f ) control provides a high starting torque with a reduced
motor current.
Example 15.2 For the motor Example 15.1, if the rated slip is 4% then determine
the motor speed for rated torque and f = 25 Hz. The motor is controlled with a
constant (Vf ) ratio.
25
Solution: K = = 0.5
50
From Eqs (15.49) of book for rated torque and f = 50 Hz,

0.034
2
Vrated
2
3 0.04 3Vrated
T rated = 2 = (0.933) (i)
ws ws
0.034 + 0.034 + (0.18 + 0.18)2
0.04
and for 25 Hz from Eq. (15.51) of the book,
0.034
2
Vrated
3 0.5 S
T rated = 2 (ii)
w s 0.034 0.034
+ + (0.36) 2
0.5 0.5 S
Equating Eqs (i) and (ii) gives,
(0.034 0.5 S )
= 0.933
2
0.034 0.034 2
0.5 + 0.5 S + (0.36)

or
(0.034 0.5 S )
= 0.933
2 2
0.034 0.034 0.034 0.34 2
0.5 + 2 0.5 0.5 S + 0.5 S + (0.36)

or S 2 0.4742 S + 0.0344 = 0

0.4742 ( 0.4742) 2 4 0.0344

or S= = 0.384 or 0.089
2
The slip on the stable part of the speedtorque curve will be 0.089.
Now, synchronous speed for
2 50
25 Hz = = 25 rps = 1500 rpm.
4
Therefore, the motor speed = 1500 (1 0.089) = 1366.5 rpm.

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Example 15.3 A three-phase, 460 V, 50 Hz, 4-pole, 1420 rpm, star-connected

induction motor has the following parameters per phase referred to the stator:
R 1 = 0.66 W, R 2 = 0.38 W, X 1 = X 2 = 1.14 W, X m = 32 W.
The motor is controlled by a variable frequency control at a constant flux of rated
value. Determine the following:
(a) The motor speed and the stator current at half the rated torque and 25 Hz.
(b) By assuming the speedtorque curves to be straight lines, solve for part (a),
for S < S m .
(c) The frequency, the stator current, and voltage at a rated braking torque and
1200 rpm.
Solution: From the rated conditions of operation:
120 f 120 50
Synchronous speed, Ns = = = 1500
P 4
1500 2 p 1500 1420
ws = = 157.08 rad/s and \ S = = 0.05
60 1500
R2 0.38
Rotor impedance, Z2 = + j2= + j 1.14 = 7.6 + j1.14 = 7.69 8.53.
S 0.05
Stator impedance, Z 1 = 0.66 + j 1.14 = 1.32 59.93
Z2 Zm
\ Machine impedance, Z in = Z i +
Z2 + Z m

(7.6 + j 1.14) ( j 32)

= (0.66 + j 1.14) + = 6.91 + j3.01 = 7.54 23.54 W
(7.6 + j 1.14 + j 32)
460 3
\ Stator current, I1 = = 66.4 A
4

Zm j 32 32
\ I2 = I1 = 66.4 = (66.4) = 62.49 A
Zm + Z2 j 32 + 7.6 + j 1.14 34
\ E = I2 |Z 2| = 62.49 (7.69) = 480.55 V
3 2 R2 3 2 0.38
\ Rated torque = I2 = (62.49 ) = 566.81 N-m
ws S 157.08 0.05
25
(a) At 25 Hz, K== 0.5
50
Substituting the known values in Eq. (15.41) of the book yields
2
566.81 3 (480.55) (0.38 0.5 S )
= = S = 0.0535
2 157.08 (0.38) (0.5 S )2 + (1.14)2
2

From Eq. (15.39) of the book, w r = Kws (1 s)

or N = K Ns (1 s) = 0.5 1500 (1 0.0535) = 709.88 rpm
At 25 Hz, E = 0.5 480.55 = 240.28 V

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R2 0.38
Z2 = + jKX2 = + j 0.5 1.14 = 7.102 + j0.57 = 7.125 4.59
S 0.0535
Now, taking E as a reference vector,
E 240.28
I2 = = = 33.72 4.59 A
Z 2 7.1254.59
E 240.28
\ Im = = = 15.0290A
jKX m j 0.5 32
\ I1 = I 2 + I m = 33.72 4.59 + 15.02 90A
Hence, I 1 = 38 A
(b) Slip speed in rpm at the rated torque and frequency
N ss = sNs = 0.05 1500 = 75 rpm.
Since the speedtorque curve is a straight line, slip speed at half the rated torque,
N ss2 = 0.5 75 = 37.5 rpm.
25
At 25 Hz, N= 1500 = 750 rpm.
50
Since the slip speed remains constant for a given torque,
Motor speed, N = N s N ss2 = 750 37.5 rpm = 712.5 rpm.
Now, for a constant flux, the (V /f ) ratio must be constant.
Hence, at 25 Hz,
N ss2 37.5
E = 0.5 480.55 = 240.28 V. \ S = = = 0.05
Ns 750
R2
Z2 =
+ jk X2 = 7.6 + j0.57 = 7.62 4.29 W
s
Now, taking E as a reference vector,
E 240.28
I2 = = = 31.53 4.29 A.
Z 2 7.624.29
E 240.28
Im = = = 15.02 90 A.
jKX m j16
\ I1 = I 2 + I m = 31.53 4.29 + 15.02 90 = 35.92 28.93.
Hence I1 = 35.92 A
(c) Now, at the rated braking torque, the slip speed will be the negative of the slip
speed at rated motoring torque.
\ Therefore slip speed, N ss3 = 75 rpm.
Synchronous speed N + N ss3 = 1200 75 = 1125 rpm.

1125 37.5
Frequency = 50 = 37.5 Hz. \ K= = 0.75.
1500 50

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37.5 - 75
At 37.5 Hz, E = 480.55 = 360.41 V, S = = 0.067.
50 1125
R2
Z2 = + jkX2 = 5.67 + j 0.855 = 5.73 171.42 W
s
E 360.41
Now, taking E as a reference vector, I 2 = = = 62.9 171.42 A
Z 2 5.73171.42
I m remains the same as the foregoing.
I1 = 62.9 171.42 + 15.02 90 = 62.2 j24.4 = 66.81 158.58.
\ V = E + Z1 I1 = 360.41 + (0.66 + j0.75 1.14) 66.81 158.58
or V = 340.22 j69.28 = 347.2 11.51
Since the phase-angle between V and I1 is more than 90, therefore, power flows
from the motor to the source.
Example 15.4 The motor in Example (15.3) is fed by a variable frequency
current source. The motor is made to operate at the rated flux at all operating points.
Determine the following:
(a) Slip speed for I1 80 A
(b) The frequency and stator current for operation at 750 rpm for the following
torque values:
(i) 520 N-m
(ii) 566.81 N-m.
(c) Also, obtain the solution of b(ii) assuming speedtorque curves to be straight
lines in the region of interest.
Solution: From Example (15.3), for 50 Hz operation, N s = 1500 rpm. ws = 157.08
rad/s. Rated torque = 566.81 N-m. Slip speed at rated torque = 75 rpm. E at rated
conditions = 480.55 V
E 480.55
(a) Im = = = 15.02 A
Xm 32
Substituting the known values in Eq. (15.66) of the book gives:
0.38 2
+ (1.14) 2
s
(15.02)2 = (80) 2 \ S = 0.061
0.38 2
+ (33.14)2
s
Slip speed in rpm = S N s = 0.061 1500 = 91.5 rpm.
(b) (i) As the flux is constant for a given torque, the slip speed will also be constant
for all frequencies. Hence, the slip speed can be obtained from the rated frequency
operation.
2
Erated
3 R2 / s
Now, T= 2 2
ws ( R2 / s ) + X 2

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Substituting the given values yields

3 (480.55)2 0.38/ s
520 = S = 0.045
157 08 (0.38) 2 + (1.14) 2
Slip speed, N ss1 = 0.045 1500 = 67.5 rpm.
Now, for operation at 750 rpm,
synchronous speed, N s = N + N ss1 = 750 + 67.5 = 817.5 rpm.
817.5 27.25
Frequency = 50 = 27.25 Hz K = = 0.545
1500 50
N ss1 67.5
S= = = 0.0825, K s = 0.545 0.0825 = 0.045
Ns 817.5
Now, substitute all the determined values in Eq. (15.68) of the book.
1/ 2
(0.38) 2 /(0.045) 2 + (32 + 1.14) 2
\ I1 = 15.02 2 2 2 or I1 = 60.28 A.
(0.38) /(0.045) + (1.14)
(ii) The given torque value is the rated braking torque. Therefore, the slip-speed
will be the same as for the rated motor torque but of the opposite sign.
\ N ss2 = 75 rpm., N s = N + N ss2 = 750 75 = 675 rpm.
675 22.5
Frequency = 50 = 22.5 Hz., K = = 0.45
1500 50
N ss2
- 75
\ S= = = 0.11, k s = 0.05
Ns 675
Now, substitute all the determined values in Eq. (15.68) of the book,
1/ 2
( 0.38) 2 /( - 0.05) 2 + (32 + 1.14) 2
\ I 1 = 15.02 2 2 2 = I1 = 66.45 A
(0.38) /( - 0.05) + (1.14)
(c) As, speedtorque curve for different frequencies are straight lines at a constant
flux, therefore, slip speed,
520
N ss3 = 75 = 68.81 rpm.
566.81
Hence, synchronous speed, N s = N + N ss3 = 750 + 68.81 = 818.81 rpm
818.81 N ss3 68.81
Frequency = 50 = 27.29 Hz, S = = = 0.084
1500 N s 818.81

27.29
K= = 0.545 \ S k = 0.045
50
Now, substituting all the determined values in Eq. (15.68) of the book yields
1/ 2
(0.38) 2 /(0.045) 2 + (32 + 1.14) 2
I 1 = 15.02 2 2 2 = 60.28 A
(0.38) /(0.045) + (1.14)

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Example 15.5 An inverter supplies a 4-pole, three-phase cage induction motor

rated at 220 V, 50 Hz. Determine the approximate output required of the inverter for
motor speeds of (i) 900, (ii) 1200, (iii) 1500, (iv) 1800 rpm.
Solution: The slip may be neglected, approximately with the output inverter
frequency related to synchronous speed.
\ Frequency, f = (speed pairs of poles)/60
Also, at each condition, the voltage/frequency ratio = 220/50.
Hence, the required inverter outputs are
900 2 220
(i) f= = 30 Hz, \ Voltage, V = 30 = 132 V.
60 50

1200 2 220
(ii) f= = 40 Hz. \ V = 40 = 176 V.
60 50

1500 2
(iii) f= = 50 Hz. \ V = 220 V.
60

1800 2 220
(iv) f= = 60 Hz \ V = 60 = 264 V.
60 50

Example 15.6 A three-phase, 400 V, delta connected induction motor has the
following parameters at 50 Hz.
R 1 = 0.5 W, R 2 = 1.5 W,
X 1 = X 2 = 2.5 W, X m = 130 W.
This motor is fed from a square-waved inverter. The voltage waveform is such that
its fundamental is equal to the rated voltage of the motor. Determine, input current
waveform corresponding to a rotor frequency of 2 Hz when the supply frequency is 50
Hz and 10 Hz and the voltage applied is proportional to frequency. What waveform do
you expect at 10 Hz if the voltage is varied to keep air gap flux constant?
Solution: (i) Voltage proportional to frequency
At 50 Hz, V = 400 V, slip S = 2/50 = 0.04.
1.5
Secondary impedance at this slip = + j 2.5 = (37.5 + j 2.5) W.
0.04
Mutual reactance = 130 W.
Total impedance of the motor,
j 130 (37.5 + j 2.5)
Z t = 0.5 + j 2.5 + = 3.625 + j5.736.
37.5 + j 132.5
400
Fundamental RMS current = = 60.61 57.71 A
3.625 + j 5.736
Instantaneous value of fundamental current

= 2 60.61 sin (w t 57.71) A. = 85.72 sin (w t 57.71) A.

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Slip for fifth harmonic,

5 50 48
S5 = = 1.192
5 50
400
Voltage applied = = 80 V
5
1.5
Secondary impedance = + j12.5 = (1.258 + j12.5) W.
1.192
j 650 (1.258 + j 12.5)
Total impedance, Z t = 0.5 + j12.5 + = 1.734 + j 24.76 = 24.82 85.99.
1.258 + j 662.5
80
Fifth harmonic rms current = = 3.223 85.99
24.82 85.99

Instantaneous value of fifth harmonic current

= 2 3.223 sin (5 w t 85.99) = 4.557 sin (5 w t 85.99) A
350 48
Slip for seventh harmonic, S 7 = = 0.863
350

1.5
Secondary impedance = + j17.5 ohms
0.863

j 910(1.738 + j 17.5)
Total impedance = 0.5 + j 17.5 +
1.738 + j 927.5
= 2.206 + j 34.67 = 34.74 186.35 W

57.143
RMS value of seventh harmonic = 86.35 = 1.645 A
34.74
Instantaneous value of current = 2.326 sin (7 w t 86.35) A
Thus the total armature current,
= 85.72 sin (w t 57.71) + 3.223 sin (5 w t 85.99 )
+ 2.326 sin (7 w t 86.35) A.
(ii) Current waveform at 10 Hz:
Fundamental voltage at 10 Hz = 80 V. Slip = 2/10 = 0.2
15
.
Secondary impedance = + j 0.5 = (7.5 + j 0.5) W
0.2
X m = 130/5 = 26 W

j 26(7.5 + j 0.5)
\ Total impedance, Z t = 0.5 + j 0.5 + W
7.5 + j 26.5

= (2.926 + j 7.172) = 7.53 67.82

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Instantaneous value of fundamental current

80
= 2 sin (10 p t 67.82) = 15.02 sin (10 p L 67.82)
7.53
Fifth harmonic voltage = 16 V
5 10 8
Slip for fifth harmonic = = 1.16.
5 10
Secondary impedance = (1.293 + j2.5) W
X m = 13 W
j 130(1.293 + j 2.5)
\ Total impedance = 0.5 + j2.5 + = 5.259 70.343 W.
1.293 + j 132.5
Instantaneous value of fifth harmonic,
16
i5 = 2 sin (5w t 70.343) = 4.3 sin (5w t 70.343) A
5.259
Seventh harmonic:
Voltage of seventh harmonic = 11.428 V
7 10 8
Slip for seventh harmonic = = 0.886, X m = 182 W
7 10

j 182(1.693 + j 3.5)
Total impedance, Z t = 0.5 + j3.5 +
1.693 + j 185.5
= 2.171 + j 6.934 = 7.266 72.62.
Instantaneous value of seventh harmonic

2 11.4286
= sin (7 w t 72.62)
7.266
= 2.22 sin (7 w t 72.62)
The total armature current
= 15.02 sin (w t 67.82) + 4.3 sin (5 w t 70.343)
+ 2.22 sin (7 w t 72.62)
If the voltage is varied to keep air gap flux constant, we get the same current
waveforms both at 50 Hz and 10 Hz for a rotor frequency of 2 Hz.
Example 15.7 A three-phase, 400V, 50 Hz, 4-pole, 1450 rpm, star-connected
squirrel-cage induction motor has the following parameters per phase referred to the
stator:
R 1 = 0.11 W, R 2 = 0.09 W, X 1 = 0.4 W,

X 2 = 0.6 W, and X m = 12 W.
The motor is controlled by a six-step inverter. The d.c. input to the inverter is
provided by a six-pulse, fully-controlled rectifier.
(a) What should be the rectifier firing angle for getting the rated fundamental
voltage across the motor if the rectifier is fed by an a.c. source of 400 V, 50 Hz.

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(b) If the machine is operated at a constant flux then determine

(i) the inverter frequency at 560 rpm. and rated torque
(ii) the inverter frequency at 460 rpm and half the rated torque.
Also determine the motor current
Solution: The fundamental RMS line voltage of a six-step inverter is given by
6
E1 = Edc (i)
p
3
where, Edc = Em cos a (ii)
p
Em is the peak of a.c. source line voltage.

3 6 E1 p 2
\ E1 = 2 Em cos a , \ cos a = (iii)
p Em 3 6

Here, E1 = 400 V, Em = 400 2 V.

p 2 400
cos a = , \ a = 18.25
3 6 400 2
(b) (i) As discussed in previous sections that for a given torque the motor operates at
a fixed slip speed for all frequencies when the flux is maintained constant.
\ Slip speed in rpm at the rated torque,
120 50
N ss = N s N = 1450 = 50 rpm.
4
Hence, synchronous speed at 560 rpm
N s = N + N ss = 560 + 50 = 610 rpm.

610
The inverter frequency = 50 = 20.33 Hz
1500
(ii) The back emf at the rated operation
Erated = I2 [(R 2 /S )2 + X 22]1/2

E1 / 3
where I2 =
( R1 + R2 / S ) 2 + ( X1 + X 2) 2

1500 - 1450
Also, S= = 0.033
1500
400 / 3
\ I2 = = 76.98 A
2
0.09 2
0.11 + + (0.4 + 0.6)
0.033
1/ 2
0.09 2 2

Erated = 76.98 + (0.6) = 214.99 V

0.033

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Now, torque at a constant flux is given by Eq. (15.41) of the book

2
3 Erated R2 ( KS )
\ T= 2 (iv)
w s R ( KS )2 + X 2
2 2

Note that ws and X 2 in this Eq. are for rated frequency

3 2 1500
where T= I2 R 2/S but ws = 2p = 157.08 rad/s
ws 60

3 0.09
\ T= (76.98)2 = 308.66 N-m.
157.08 0.033
Equation (iv) becomes
0.09
(214.99) 2
308.66 3 KS
\ = 2

2 157.08 0.09 2
KS + (0.6)

2
0.09 0.514
or + (0.6)2 =
KS KS
2
1 1
or - 63.46 + 44.44 = 0
KS KS
1
which gives = 62.75 (v)
KS
wr 460 0.31
Now, K= = =
w s (1 - S ) 1500(1 - S ) (1 - S )
Substituting from Eq. (v), for K, gives
1 0.31
\ =
62.75 S (1 - S )
which gives S = 0.048
\ From Eq. (v), k = 0.332
Thus, frequency = 0.332 50 = 16.6 Hz.
Substituting the known value in Eq. (15.38) of the book yields
214.99
I2 = = 37.86 A
(0.09) (62.75) 2 + (0.6) 2
2

Machine fundamental phase voltage,

2 1/ 2
R
V 1 = I2 R1 + 2 K 2 ( X 1 + X 2) 2
S
2 1/ 2
0.09
= 37.86 0.11 + + (0.332) 2 (0.4 + 0.6) 2 = 76.19 V.
0.048

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Now, taking V 1 as a reference vector,

K ( X1 + X 2 ) 0.332(0.4 + 0.6)
I2 = I2 tan 1 = 37.86 tan1 = 37.86
( R1 + R2 / S ) (0.11 + 0.09 / 0.048)
9.5
E1 76.19
** = 90 = 90
k Xm 0.332 12
= 19.12 90
Now, I1 = I 2 + I m = 31.86 9.5 + 19.12 9 0 or I1 = 45.14A
RMS harmonic current is given by
12

1
V1
In =
K ( X 1 + X 2 ) h
h4
= 5,7,11,13

Neglecting harmonics higher than 13 gives

0.046 V1
Ih = (vi)
K ( X1 + X 2 )
0.046 76.19
\ Ih = = 10.56 A.
0.332 (0.4 + 0.6)
\ The RMS input current = (I1 + I4) 1/2
= [(45.14)2 + (10.56)2]1/2 = 46.36 A
Example 15.8 A three-phase, 400 V, 50 Hz, 980 rpm, six-pole, star-connected,
squirrel-cage induction motor has the following parameters per phase referred to the
stator:
R 1 = 0.20 W, R 2 = 0.12 W, X1 = 0.18 W, X 2 = 0.4 W, and X m = 10.3 W.
The current source inverter controls the motor. At the rated value, flux is maintained
constant. Compute the following:
(a) The stator current and d.c. link current, when the machine operates at rated
torque and 50 Hz.
(b) The inverter frequency and d.c. link current for a speed of 500 rpm and rated
torque.
(c) The motor speed, stator current, and d.c. link current for half of the rated
torque and inverter frequency of 25 Hz.
Solution: At the rated operations,
120 f 120 50
Synchronous speed, Ns = = = 1000 rpm = 104.72 rad/s.
P 6

1000 980
Rated slip = = 0.02
1000
0.12
Rotor impedance, Z2 = + j 0.4 = 6 + j 0.4 = 6.01 3.81 W
0.02

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Z2 Zm (6 + j 0.4) ( j 10.3)
Machine impedance = Z1 + = 0.20 + j 0.18 +
Z2 Zm 6 + j 10.7
= 4.43 + j2.94 = 5.32 33.57 W

400 3
I1 = = 43.41 33.57 A
5.32 33.57
Zm 10.3 90
I2 = I1 = 43.41 33.57 = 36.44 4.29 A
Zm + Z2 12.27 60.72
Zm 6.01 3.81
Im = I1 = (43.41 33 57) = 21.26 90.48
Zm + t2 12.27 60.72
3 2 3 0.12
Torque = . I 2 ( R2 S ) = (36.44)2 = 228.24 N-m.
ws 104.72 0.02
(a) For the three-phase current source inverter (six-step), the fundamental RMS
current is given by

6
I1 = Id (i)
p
p Id p
\ Id =
= 43.41 = 55.68 A
6 6
Also, RMS stator current is given by the relation,

Irms = ( )
2 3 Id = ( )
2 3 (55.68) = 45.46 A (ii)

(b) We know that when the motor is controlled at a constant flux for a given torque,
the slip speed has a constant value.
Therefore, slip speed at the rated torque and frequency is N ss = S N s = 0.02 1000 =
20 rpm.
Therefore, at the motor speed of 500 rpm,
synchronous speed, N s = 500 + 20 = 520 rpm.
Inverter frequency = (520/1000)50 = 26 Hz
Also, when the motor is controlled at a constant flux, for a given torque, the stator
current remains constant at all speeds. Since the stator current is constant, the d.c. link
current also remains constant at 55.68 A.
(c) The slip-speed is constant at all frequencies as the flux is constant for a given
torque.
The slip speed for 25 Hz operation at half the rated torque can be determined from
50 Hz operation. For 50 Hz operation,
Erated = Im X m = 21.26 10.3 = 218.98 V
2
Erated
3 R2 S
Now, T= 2 2
ws ( R2 S ) + X 2

228.24 3 (218.98) 2 0.12/ S

=
2 104.72 (0.12 S )2 + (0.4)2

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2
0.12 2 1.44
or + (0.4) =
S S
\ 0.0144 x 2 1.44 x + 0.16 = 0, where x = 1/S.
\ x = 100, which gives S = 0.01.
Slip speed, N ss = S N s = 0.01 1000 = 10 rpm
25
Now, consider the operation at 25 Hz, K = = 0.5
50
\ Synchronous speed, N s = 0.5 1000 = 500 rpm.
Hence, motor speed = 500 10 = 490 rpm
N ss 10
\ S= = = 0.02
N s 500
K Erated 0.5 218.98
\ I2 = 2 2
= = 18.24 A
( R2 S ) + ( K X 2 ) (0.12 2
0.02 ) + (0.5 0.4) 2
From Eq. (15.62), of the book we have

I12 I m2 I12 (21.26) 2

I22 = or (18.24)2 =
22 2 0.4
1+ 1+
Xm 10.3

or I1 = 28.47 A
Also, d.c. link current Id can be given by the formula
p I1 p 28.47
Id = = = 36.51 A (iii)
6 6
The RMS stator current Irms = 2 3 36.51 = 29.81 A.

Example 15.9 A cycloconverter is operating on 415 V, 50 Hz three-phase system

and is controlling an induction motor in the speed range 5 to 20 Hz (non-reversible)
using constant V /f control. Load power factor is 0.8 and the input displacement factor
is 0.7. Determine
(a) Range of variation of firing angle of cycloconverter
(b) Worst value of input power factor
(c) Highest value of distortion-factor.
Solution: As the drive is operating in constant torque zone only, V /f will be
constant, since the output frequency only varies from 5 to 20 Hz, i.e. 10% to 40% of
rated frequency, RMS value of output voltage will also vary from 10% to 40% of rated
value, i.e. 41.5 V to 166 V.
\ The corresponding maximum value of output voltage is

Emax 1 = 2 41.5 and Emax 2 = 2 166

Now, Emax = 1.35 E cos q

or 1.35 415 cos q1 = Emax1 = 2 41.5 \ q1 = 84.

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 Control of A.C. Drives !#

Similarly, 1.35 415 cos q2 = 2 166 \ q2 = 65.3.

Hence, range of variation of firing angle is 65.3 to 84.
(b) Input power factor is given by
cos q
cos f = cos q0
2
where cos f0 is load power factor.
Worst value of input power factor i.e. lowest value will occur for lowest values of cos
q. Hence,
cos q
cos f = cos f0
2

1.1044
Here, cos q = 0.1044, cos f0 = 0.8 = 0.0592
2
(c) Distortion factor is given by
cos q cos f0 cos q m cos f0 0.4178 0.8
m= . \ mm = = = 0.339.
2 cos fi 2 cos fi 2 0.7

SOLVED EXAMPLES
Example 15.10 A three-phase, 400 V, 50 Hz, 960 rpm, six-pole, star-connected,
wound-rotor induction motor has the following parameter per-phase referred to the
stator:
R 1 = 0.3 W, R 2 = 0.5 W, X 1 = X 2 = 1.6 W, X m = 35 W, stator-to-rotor turns ratio is 2.
The motor speed is controlled by the static rotor resistance control. The filter
resistance is 0.01 W. The value of external resistance is chosen such that a = 0, the
breakdown torque is obtained at standstill. Determine the following:
(a) The value of the external resistance.
(b) a for a speed of 750 rpm at 1.5 times the rated torque.
(c) The speed, for a = 0.5 and 1.5 times the rated torque.
Neglect friction and windage loss.
Solution:
120 f 120 50
Ns = = = 1000 rpm, V = 400 3 = 230.94 V.
P 6

1000 2p
ws = = 125.66 rad/s
50
1000 960
Full-load slip = = 0.04
1000
Without rotor resistance control,

3 V 2 ( R2 S )
T= 2

w s ( R1 + R2 S ) + ( X 1 + X 2 ) 2

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 !$ Power Electronics

0.5
(230.94)2
3 0.04
Full load torque, = = 91.43 N-m
125.66 0.5
2
2
0.3 + + (3.2)
0.04

(a) From Fig. 15.28(b), of the book
Rm
= [(R 1 + R k )2 + (X 1 + X 2)2]1/2
S
when the breakdown torque occur at standstill,
(R m)2 = (R 1 + Rk )2 + (X 1 + X 2)2
or
(Rm)2 = R2k + 2 Rk R1 + R 21 + (X 1 + X 2)2 (i)
From Eqs (15.89) and (15.90),

p2
Rk = 1 Rm = 0.0966 Rm (ii)
9
Substituting from Eq. (i) and known values in Eq. (iii, Ex. 15.8) gives
(Rm )2 9.33 103 (Rm)2 0.0579 Rm 0.09 10.24 = 0
0.9906 Rm 2 0.0579 Rm 10.33 = 0
\ Rm = 3.26 W and \ Rk = 0.315 W
From Eq. (15.90) of the book,
Re* = Rm R2 = 3.26 0.5 = 2.76 W.
2.76
R e* = = 0.69 W
aT21
From Eq. (15.81) of the book, for a = 0,
R = 2 R e* R d = 2 0.69 0.01 = 1.37 W
(b) With rotor resistance control, from Eq. (15.95), of the book

3 V 2 ( Rm S )
T= 2 2

w s ( R1 + Rk + Rm S ) + ( X 1 + X 2 )

From Eq. (i), Rk = 0.0966 Rm
1000 750
S= = 0.25
1000
\ Substituting all known values in above equation yields

3 (230.94) 2 ( Rm 0.25 )
1.5 91.43 = 2 2
125.66 (0.3 + 0.0966 Rm + Rm /0.25) + (3.2)
or 0.504 Rm2 0.927 Rm + 0.31 = 0

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 Control of A.C. Drives !%

which gives Rm= 1.4 W or 0.44 W

The latter value is not feasible because it is less than R 2.
Hence, Rm = 1.4 W.
From Eq. (15.90) of the book,
1.4 0.5
R e* = ( Rm R2 aT21 = = 0.225 W
(2)2
From Eq. (15.81) of the book,
2 Re * Rd 2 0.225 0.01
(1 a) = = , \ a = 0.68
R 1.37
(c) From Eq. (15.81) of the book
R e* = 0.5 [0.01 + (1 0.50) 1.37] = 0.35 W
Rm= R 2 + aT12 R e* = 0.5 + 4 0.35 = 1.9 W
Rk = 0.0966 1.9 = 0.184 W
Substituting all known values in torque equation,

2
3 (230.94) (1.9/ S )
1.5 91.43 = 2
125.66 1.9 2

0.3 + 0.184 + + (3.2)
S
2
1.9 17.64
or 0.484 + + 10.24 =
S S
which gives S = 0.28 or 1.23.
The 1.23 value is not feasible.
\ N = N s (1 S) = 100 (1 0.28) = 720 rpm

Example 15.11 A three-phase, four-pole, 50 Hz induction-motor has a chopper-

controlled resistance in the rotor circuit for speed control. Load torque is w2. When the
thyristor is ON, the torque is 30 N-m at a slip of average 0.03. If T ON/ T OFF = 1, compute
the average torque and speed. The motor develops a torque of 80 per cent of ON
torque when the thyristor is OFF. The speed variation ranges down to 1200 rpm from
synchronous speed. Determine the ratio T ON/T OFF to give an average torque of 25 Nm.
Solution: The synchronous speed = 1500 rpm.
S = 0.03.
The speed of the motor at this slip = (1 0.03) 1500 = 1465 rpm.
When the thyristor chopper is OFF, the complete resistance is included in the
circuit.
When T ON/T OFF = 1,

30 1 + 24 1
the average torque, T av = = 27.
2

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 !& Power Electronics

30 27
Since T a N 2, therefore, = 2
(1465) 2 N 2
Speed when T ON/T OFF = 1 is,

27
N2 = (1465)2 = 1390 rpm.
30
When the speed is 1200 rpm for chopper OFF, torque would be

(1200) 2
30 = 20.13 N-m
(1405) 2

Average-torque = 25 N-m

30 TON + 20.13 TOFF T

25 = \ ON = 0.97
TON + TOFF TOFF

I MICROPROCESSOR CONTROLLED
A.C. DRIVES
Todays industry places high demands on control accuracies, flexibility, ease of
operation, repeatability of parameters for many drives applications. To meet these
requirements, use of microprocessors have become imperative. In a power-
electronic system, the microcomputer functions can in general be categorized as
follows:
Control of feedback loops
Gate firing control of phase-controlled converters
PWM or square-wave signal generation of inverters
Optimal and adaptive control
Estimation of feedback signals
General sequencing control
Protection and fault overriding control
Signals monitoring and warning
Data acquisition
Diagnostics
Miscellaneous computation and control.
The superiority of microcomputer control over the conventional hardware
based control can easily be recognized for complex drive control system. The
simplification of hardware saves control electronics cost and improves the system
reliability. The digital control has inherently improved noise immunity which is
particularly important here because of large power switching transients in the
converters. The software control algorithms can easily be altered or improved
without changing the hardware. Another important feature is that the structure
and parameters of the control system can be altered in real time making the
control adaptive to the plant characteristics. The complex computation and decision

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 Control of A.C. Drives !'

taking capabilities of microcomputer make possible to apply the modern optimal

and adaptive control theories to optimize the drive system performance. In addition,
powerful diagnostics can be written in the software.
Microcomputer technology is moving at such a fast rate that the use of efficient
high level language with large hardware integration already is possible, and possibly
VLSI implementation of the controller is the next goal. Unlike dedicated hardware
control, a microcomputer executes control in serial fashion, i.e. multitasking
operations are performed in time multiplexed method. As a result, the slow computation
capability may pose serious problems in executing the fast control loops. However,
the problems can be solved by multi-microprocessor control, where judicious
partitioning of the task can significantly enhance the execution speed.
Microcomputers are having a major impact on industrial applications, including
the areas of testing, control, instrumentation, data acquisition, numerical machine
control, and even robotics. The microprocessor controlled a.c. drives are widely
used in the following industrial applications:
Fans and pumps
Compressors
Travel and hoist drives in cranes and conveyors.
Roller tables in rolling mills.
Paper machines
Write drawing machines in metal industry etc.

1 Control of Induction Motor Drive

It is essential to keep ratio of voltage to frequency (V /f ) constant for any motor
if constant torque is required throughout the speed range. This task is achieved
through pulse-width modulation (PWM) technique. Interest has been growing
in microprocessor-based PWM schemes for a.c. drive systems in recent years.
Modern PWM a.c. drive systems are continually seeking improvement of
performance and reliability with reduction of control and power conversion
cost. In a conventional hardware modulator, the PWM waveforms are generated
by comparing the sine reference wave with the triangular carrier wave by the
natural sampling process. As the linear PWM region is exceeded into the transition
region, the harmonic quality of the waves deteriorates seriously with the
introduction of the lower order harmonics. In addition, the dropping of pulses
near the middle of the wave causes a current surge problem.
In a microprocessor-based modulator, the wave can be fabricated precisely
in the transition region controlling the harmonics and voltage jump, and the
nonlinearity problem can be easily overcome. However, precision PWM wave
generation in real time, as required by the drive system operation, remains a
challenge because of the time critical performance requirement of the
microcomputer.
A basic block diagram of the control is shown in Fig. 15.1. The microprocessor
performs all the functions of closed-loop control using software. A suitable
software and digital logic are used to develop the necessary PWM waveform.

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 " Power Electronics

The uniform sampling techniques are used to develop the necessary PWM
waveforms. A microprocessor system may be evolved to provide the real time
simulation besides implementing the control programs. The real time aspects of
the processor ADCs, DAC, parallel interfaces and the capability of the system to
provide control and other functions are taken to advantage. The system can be
designed with a flexibility to provide monitoring functions to change the parameters
such as sampling rates of ADCs. The functions of a microprocessor in a PWM
control are:
(a) Processing of speed signals obtained from a shaft encoder. Comparing
this with set speed in a controller and to provide an output of current
based on the speed error (speed controller program), the necessary lim-
iting may also be accomplished.
(b) The analog signal of measured signal is processed after conversion to
digital signal by ADC. This is compared with the output of speed con-
troller in current controller. The output of this controller determines the
firing instants of the inverter which gives the desired voltage waveform.
However, the speed of microprocessor may set a limit on the maximum
frequency of operation. This may be overcome by a hard wired digital
logic. Wherever the speed of a microprocessor is not sufficient to per-
form a given task, it can be accomplished using a suitable hardware.
(c) The microprocessor controller must be capable of performing control
tasks as it interacts with the system. This includes selection and

Fig. 15.1 Block-diagram of microprocessor based speed control

of induction motor

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 Control of A.C. Drives "

sampling of signals, mathematical computation to implement control, the

necessary A/D and D/A conversion. Here, if the execution speed of the
microprocessor is slow, the control may not be accurate because some
input measurements may be missed or false timing of signals may be
generated. The multi-task requirement of a microprocessor may lead to
reduced reliability. The task may be executed in parallel almost simulta-
neously by developing algorithms which may be performed indepen-
dently by a multiprocessor system. The control tasks to be performed
simultaneously may be recognized and separate processors be used to
execute these.
The trends in the design and development of microprocessor based controllers
for induction motors operating on PWM inverters include 16-bit processors,
special purpose processors with on board data conversion and additional hardware
functions, faster processor. These trends in microprocessor hardware and
software may be applied to power electronic controls, more efficient algorithms
may be developed and applied which require computer implementation, as in the
case of harmonic elimination, would become relatively simple.
2 Control of Synchronous Motor Drive
In recent years, increasing interest has been shown for the commutatorless d.c.
motor (also known as self-controlled synchronous motor) which consists of a
synchronous machine fed from a current-source inverter or cycloconverter.
The advent of microprocessor has raised interest in the digital control of power-
converter systems and electronic motor drives since the microprocessor provides
a flexible and low-cost alternative to the conventional approach. For motor drive
systems, microprocessor control offers several interesting features, principally
improved performance and reliability, versatility of the controller, reduced
components count and reduced development and manufacturing cost.
1. Drive System A block diagram of the microprocessor-controlled
synchronous motor drive is shown in Fig. 15.2. The synchronous machine is
fed from a current source d.c. link converter system, which consists of a thyristor
bridge rectifier connected to a three-phase thyristor inverter through a smoothing
inductor. The input rectifier is powered from three-phase a.c. supply lines, and
its gating signals are provided by a digitally controlled firing circuit. The optical
encoder which is composed of a coded disk attached to the motor shaft and four
optical sensors, providing rotor speed and position signals. The inverter triggering
pulses are synchronized to the rotor position reference signals with a delay angle
determined by an 8-bit control input. The inverter thyristors are naturally
commutated by the machine voltages during normal operation. The speed signal,
which is a pulse train of frequency proportional to the motor speed, is fed to a
programmable counter used for speed sensing. The machine field current is supplied
by a d.c. source through a chopper which is under the microprocessor control.

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 " Power Electronics

The stator and field currents are detected by current sensors, and amplified
by optically-isolated amplifiers. The output signals are multiplexed and converted
to digital form by a high speed analog-to-digital converter. The principal functions
of the microprocessor are monitoring and control of the system variables for the
purpose of obtaining desired drive features. It can also perform various auxiliary
tasks, such as protection, diagnosis and display.

Fig. 15.2 Block diagram of micropocessor synchronous motor drive

Since the self-controlled synchronous motor is unable to start by itself, the
microprocessor has to ensure forced-commutation of the inverter from standstill
up to speeds about 10 per cent of the nominal speed, when the machine voltages
are sufficient to commutate the thyristors. In normal operation, commands are
fetched from the input-output terminal, and system variables (the d.c.-link current,
the field-current, the rotor position and speed) are sensed and fed to the CPU.
After processing, the microprocessor issues control signals to the input rectifier,
the machine inverter and the field chopper, so as to provide the programmed
drive characteristics.

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 Control of A.C. Drives "!

2. Digital Control of Power Circuits The digital control of the power

converters requires suitable interface circuits between the CPU and the power
stages. Pulse generation is accomplished by hardware logic circuits, with a view
to save the CPU time for monitoring and control tasks. These circuits convert
the CPU commands to appropriate triggering pulses for the converters.
(a) Input Rectifier Firing Angle Control The d.c. link current is controlled
by varying the input rectifier firing angle. The schematic diagram of the digital
firing circuit which is used as interface between the microprocessor and the
thyristor bridge rectifier is shown in Fig. 15.3.

Fig. 15.3 Schematic diagram of digitally control firing circuit

It consists essentially of three delay control circuits and a pulse distributing

circuit. Phase-locked loop principle is used to synchronize control signals to
line-to-line voltages and the desired delay angle with respect to the a.c. input is
provided by a digital comparator. This angle is determined by the 8-bit control
input, providing a resolution of 0.7 over the range 0180.
(b) Rotor Position Sensing and Inverter Firing Angle Control In order to
obtain self-control feature, the inverter firing, signals must be synchronized to
the rotor position. This can be achieved by using as reference, either the machine

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 "" Power Electronics

voltages for the signals provided by a position sensor. Here, a simple optical
encoder is used to produce both speed and position reference signals necessary
for starting and normal operation. Figure 15.4 shows details of the encoder
construction and the output waveforms.
The encoder disk has 256 teeth on the outer perimeter and two 90 slots on
the inner perimeter. Each of the four sensors consists of light emitting diode and
a phototransistor mounted in a moulded housing. The phase reference signals
(P1, P2 and P3) are produced by three sensors positioned at 120 intervals. The
fourth sensor produces a higher frequency square wave (S 4) of frequency
proportion to the motor speed. As both rising and falling edges of this signal are
deleted, the number of pulses generated for every 360 of rotation is equal to
256. This pulse train is used in inverter firing angle control and speed sensing.
The schematic diagram of the inverter firing angle control circuit is shown in
Fig. 15.5 with the waveforms for one phase. It consists of three delay control circuits,
a thyristor address register, and a pulse distributing circuit. Linear digital ramp
technique is applied to convert the digital control input to corresponding delay angle
for the inverter triggering pulses. The 8-bit input control word contains mode
operation and delay angle informations, which are defined respectively by the first
bit and the remaining 7 bits. Depending on the mode bit, motoring or generation
operation is selected with a delay angle equal to f or (180 f). Idealized motor
voltage and current waveforms are shown in Fig.15.5.

waveforms

Fig. 15.4 Optical-Encoder. (a) Encoder disk (b) Output

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 Control of A.C. Drives "#

Fig. 15.5 Idealized motor voltage and current waveforms

(a) Motoring (b) regeneration

At the beginning of each half-cycle of the phase-reference signal, the delay angle
information f is loaded into the counter, and the count is incremented or decremented
by the speed pulses from the encoder. When the terminal count is reached, a pulse
is generated and applied to the clock input of the D-type flip-flop. The three-output
signals , with a delay angle f or (180 f) with respect to the phase reference signals,
are combined in the decoder to produce six modulated triggering pulse trains. These
pulse trains are 120 wide with 60 of phase-angle between each other. The
maximum count for each half-cycle is 127 so that the resolution in delay angle is
about 1.4 electrical degrees. If a higher resolution is desired, a more elaborate
encoder is required to generate a higher rate speed signal.
(c) Field-chopper control The machine field current is supplied by a d.c.
source through a transistor chopper which is controlled by a 010 V input
voltage. The bit command from the microprocessor is converted to corresponding
analog signal by a digital-to-analog converter. The obtained resolution for the
control voltage is 40 mV.
3. System Operation The characteristic of the drive depends on the d.c.
link current, the field current, and the inverter firing angle. These variables are
independently controlled by the microprocessor to provide the desired features
for all operation conditions. The converter system is symmetrical about the d.c.
link so that power can flow in both directions, making regeneration operation
possible.

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 "$ Power Electronics

(a) Motoring During motoring operation, the power flow is from the a.c.
supply lines to motor, and a positive torque is developed. The firing angle of the
input rectifier is between 0 and 90, resulting in a positive d.c. link voltage. The
firing angle of the machine inverter is between 90 and 180, and it is naturally
commutated by the motor terminal voltages. For constant stator and field
currents, the average torque is a function of the inverter firing angle, the maximum
value obtained for f = 180. Therefore, it is desirable that the inverter delay
angle is maintained as close as possible to 180 so as to develop maximum
torque. However, some margin is required to ensure reliable commutation.

Fig. 15.6(a)

The relation between the inverter firing angle and the stator current is stored
in a look-up table in the memory. Desired torquespeed characteristic is obtained
by varying the field current in terms of the stator current. A separately excited
d.c. motor is provided if the air-gap flux is kept constant. If the field current is

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 Control of A.C. Drives "%

made proportional to the stator current, a series d.c. motor characteristic results.
In this case, the commutation is improved as the machine voltage increases with
increased motor current. As for the delay angle, the relation between the field
current and the stator current is provided by a function generator in the form of
a look-up table stored in the memory.
(b) Regeneration During regenerative braking, the motor operates as an
alternator, supplying power to the a.c. lines. The developed torque is negative
with the effect of reducing the motor speed. Since the d.c. link current diction is
fixed, power flow reversal is achieved by reversing the d.c. link voltage. The
firing angles must be consequently changed to be in the 90180 range for the
input rectifier, and in the 090 range for the machine converter. Their functions
are then reversed. As in the motoring mode, the braking torque is determined by
the inverter firing angle and the field current.

Fig. 15.6 (b) and (c) Inverter delay angle control circuit various waveforms

(c) Starting At standstill, the machine terminal voltage is not available so that
the synchronous motor is unable to start itself. Consequently, the microprocessor
is required to commutate the inverter to start and accelerate the motor until the

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 "& Power Electronics

terminal voltage is sufficiently large to ensure reliable commutation. The forced

commutation can be accomplished either by an auxiliary commutating circuit or
by interrupting the d.c. link current prior to each commutation. The latter solution
is used in the present system for simplicity. During starting operation, the delay
counters are disabled, and the thyristor pairs are addressed directly by the CPU
through the thyristor address register. The phase-reference signals available at
standstill are used to determine the initial rotor position with a precision of 30
electrical degrees.
An appropriate thyristor pair is triggered to create a motor torque in the desired
direction. Immediately at the first change of state of the phase-reference signals,
the inverter delay angle is precisely fixed at 180, providing maximum starting
torque. At each change of state of the phase-reference signals, the forced
commutation is executed by microprocessor. The rectifier is forced into inverter
operation so as to reverse the d.c. link voltage until the current becomes zero.
Triggering pulses are directed to the following thyristor pair by the CPU which
writes an appropriate 3-bit address into the thyristor address register. Natural
commutation begins when the motor speed has reached a value which produces
sufficiently large terminal voltage to ensure reliable commutation. The delay
counters are then enabled, and the thyristors are triggered with a delay angle
determined by an 8-bit control word from the CPU.

Fig. 15.7 Idealized relation between average torque and inverter firing angle

(d) Reversing Reversal of rotation direction is achieved without any change in

power connections, by reversal of the triggering sequence of the inverter thyristors
as the frequency goes through zero value. This is accomplished by a simple
selection logic circuit added to the inverter pulse distributing circuit. Thus, full
four-quadrant operation of the drive is obtained.
4. Speed Control System Example In the proposed microprocessor-
based synchronous motor drive, the feedback configuration, as well as the
controller characteristics are defined by software. Therefore, they can be readily
modified without change in hardware to provide various drive characteristics in
order to satisfy particular applications requirements.
(a) System hardware: Here, a 4-pole 10 kVA synchronous motor with the
parametera mature current 27 A, field current 2.9 A, speed 1500 rpm,

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X m L = 3.5W, X md = 5.4 W, R a = 0.113 W, R f = 41 W, and 8-bit microcomputer

based on the 8080 CPU is used. The thyristor input rectifier is powered from a
three-phase, 50 Hz, 220 V line-to-line supply providing maximum d.c. link voltage
equal to 297 V. Its firing angle is determined by an 8-bit control word, resulting in
0.7 angle resolution. The smoothing inductor parameters are L d = 40 mH, and R d
= 0.9 W. The inverter firing angle is determined by a 7-bit control word, which
provides 1.4 of resolution. A d.c. generator supplying a resistor bank is used as a
load for the motor. The load torque is, therefore, proportional to the motor speed.
However, it can be considered as a constant for small speed variations. In order to
provide fast current acquisition, a high speed inputoutput module was built using
an 8-bit, 6 ms analog to digital converter. Motor speed information is provided by
a counter which is clocked by speed pulses from the optical encoder.
(b) Control scheme and software implementation: The feedback configuration
of the speed control system under consideration is depicted in Fig. 15.8. It

Fig. 15.8 Microprocessor based speed control system

consists of a main speed control loop including an inner current control loop,
and a field current control loop. This system is a non-linear sampled data one,

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 # Power Electronics

with multi-rate sampling, precise study of which requires hybrid or digital

simulation. Nevertheless, system behaviour can be predicted with acceptable
accuracy using linearized models for system components, and classical Z-
transform analysis (or statespace analysis).
Simplified control diagrams of the current regulating routine and speed
regulating routine are shown in Fig. 15.9. These routines are executed on interrupt
signals provided by the real-time clocks. The motor speed is sampled and
processed every 20 ms on interrupt signals generated by a programmable timer.
The motor speed is sensed and compared with the speed command provided by
the CPU. Speed error is processed by the speed controller which generates link
current command. Current limiter feature is provided by the limiter incorporated
in the speed controller.

Fig. 15.9 Simplified control diagrams

The digital proportional integral algorithm executed by the speed controller is

defined by the differential equation:
Ir(k) = Ir(k 1) k pen(k 1) + (k p + k i Tsn )en(k) (15.1)
where Ir(k) is the link current reference value at the k-th point, en(k) is the speed
error value at k-th point, Tsn is the speed sampling period, and k p and k i are,
respectively, the proportional and integral control gains.

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 Control of A.C. Drives #

Inverter and field current commands are derived from the link current
command by two function generators stored in the memory in the form of look
up tables.
An interrupt signal for the current regulating routine is generated on each
zero-crossing of the three-phase a.c. input voltage. Therefore, the link current is
sampled and processed every one-sixth of the a.c. input period, that is 3.33 ms
for 50 Hz supply. The reason for this sampling rate is that the thyristor rectifier
firing angle can be modified only at discrete instants with average period equal to
one-sixth of the a.c. input period. The link current is sensed and compared to
the reference value provided by the speed regulating routine. Current error is
processed by the current controller, producing firing angle command for the
thyristor input rectifier. The proportional integral algorithm executed by the current
controller is defined by the difference equation:
a(k) = a (k 1) K p ei (k 1) + (k p + k i T Si)ei(k) (15.2)

Fig. 15.10 Speed regulating routine Fig. 15.11 Current regulating routine

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 # Power Electronics

Fig. 15.12 Starting routine

where a (k) is the firing angle at k-th point, ei(k) is the current error at k-th
point, and T si is the current sampling period.
The flow charts of speed regulating routine, current regulating routine and
starting routine, are shown respectively in Figs 15.10, 15.11 and 15.12.

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