Professional Documents
Culture Documents
By
Mr.M.Kaliamoorthy
Department of Electrical & Electroncis Engineering
PSNA College of Engineering and Technology
1
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
supply
Stator Air gap Rotor
m T
s
Three-phase
windings Rotor windings
Three-
phase
supply
Stator Air gap Rotor
m T
s
The motor speed
Three-phase
windings Rotor windings
Three-
phase
supply
Stator Air gap Rotor
m T
s
Equivalent Circuit Of Induction Motor
Three-phase
windings Rotor windings Where :
Rs is resistance per-phase of stator winding
Three-
phase Rr is resistance per-phase of rotor winding
supply
Xs is leakage reactance per-phase of the
winding stator
Stator Air gap Rotor
m T Xs is leakage reactance per-phase of the
s winding rotor
Is Xs Rs Xr’ Xm is magnetizing reactance
Im Ir’
Rm is Core losses as a reactance
Rr’/s
Vs
Xm Rm
Is Xs Rs Xr’
Im Ir’
Rr’/s
Vs
Xm Rm
Ps cu 3 I s Rs
2
Stator copper loss :
Pr cu 3 ( I r ) 2 Rr
' '
Rotor copper loss :
2 2
V V
Core losses : Pc 3 m 3 s
Rm Rm
Performance Characteristic of
Induction Motor
S
or Pd Pg (1 S )
Pd Pd 60
- Torque of motor : Td or Td
m 2 N m
Pg (1 S ) Pg
or
S (1 S ) s
Performance Characteristic of
Induction Motor
Po Pd Pnoload
Efficiency :
Pi Pc Ps cu Pg
Performance Characteristic of
Induction Motor
If Pg ( Pc Ps cu )
and Pd Pnoload
Is Ii Xs Rs Xr’ Is=Ir’
Xs Rs Xr’
Im Ir’
Im Ir’
Rr’/s Rr’/s
Vs Xm
Vs
Xm Rm Po
Pi
Ir’
Im Vs
Ir
'
'
Rr’/s
Vs Rr'
Po Rs j X s X r
Pi
S
Stator Air gap rotor
Xm
Vs
Ir
'
1
2
The rotor current is : Rr'
2
2
Rs X s X r
'
S
Ii Xs Rs Xr’ Is=Ir’
3 Rr' Vs2
Im Ir’ Td
' 2
Rr
Rr’/s
S s Rs X s X r'
2
Vs
Po
Pi
S
Stator Air gap rotor
Tmax Td
Tst TL
Tm=TL
Operating point
Pull out
Torque Intersection point
(Tmax) Te (Te=TL) determines the
steady –state speed
TL
Trated
Te
3R '
r Vs
2
2 Varying voltage
(amplitude)
ss ' 2
Rr
Rs X ls X lr
2
s
2 4
s f 3 Varying line
frequency
P P
1 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) :
Te
3R '
r bV s
2
ss Rr'
2
Rs X ls X lr
2
s
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 Practical
speed range 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 Assuming small voltage drop
ag across Rs and Lls
f f
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
2
For low speed operation: E1 Vs Vs
can’t ignore voltage drop across
ag Tmax
f f s
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
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
Vrated voltage drop at Rs
and Lls
Non-linear offset
curve –
• for low-starting
Non-linear offset – varies with Is torque loads
Boost
f
frated 24
Constant Volts/Hz (V/f) Control
s
26
Constant Volts/Hz (V/f) Control
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
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)
Vdc = Vd Idc
Slip
Compensator
sl
r*
Slip Controller
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:
E1 Assuming small voltage drop
ag Lm I m constant across Rs and Lls
2f
• 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
Lls Is Llr’ Ir ’
Rs
+ +
Lm Rr’/s
Vs E1 Vs
maintain at rated 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 2
P Vs Rr' P E1 Rr'
Te 3 3
2 ss Rr'
2
2 '
2
X ls X lr s s Llr
sl R
Rs
2 r 2
Voltage
3-phase Source
Rectifier
supply
C Inverter IM
(VSI)
42
Current-Controlled VSI
Implementation
• Hysteresis Controller
i*a +
Voltage
Source
i*b + Inverter
(VSI)
i*c +
Motor
43
Current-Controlled VSI
Implementation
• PI Controller + Sinusoidal PWM
i*a +
PI PWM
Voltage
Source
i*b + Inverter
PI PWM
(VSI)
i*c + PWM
PI
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, Prentice-
Hall, 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.
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