INDUCTION MOTOR DRIVES

Power Electronic Drives

DC Drives

AC Drives

Classification :
 Induction motor drives
 Synchronous motor drives

2
Advantages of Induction motor Drives

1. AC motor are less expensive

2. Ac motors have low maintenance

3. For the same rating, ac motors are higher in weight as

compared to dc motors.

4. AC motors can work in hazardous areas like chemical,

petrochemical etc. whereas dc motors are unsuitable for
such environments because of commutator sparking.
3
 Disadvantages
Power converters for

1. the control of ac motors are more complex.

2. ac motors are more expensive

3. ac motors generate harmonics in the supply system &

load circuit. Hence AC motors gets derated

4
Torque Speed Characteristics

1. Motoring (0<=s<=1)
2. Generating (s<0)
3. Plugging action(1<=s<=2)

5
Torque – Speed Contd..

T Tmax

Generator Motor Plugging

Tc
Tst

2Ns Ns 0 -Ns
N

-Tmax

6
Speed – Torque Characteristics
Rotate Torque Speed characteristics by 90°
clockwise
 ωm ωms = 4πf/p
rad/sec
Generator Motor

ωms

0 Tst T

7
 Speed Control of Three Phase IM

1. Stator voltage Control

2. Stator frequency Control
3. Stator voltage & frequency Control
4. Stator Current Control (by CSI)
5. Static rotor resistance Control
(Rotor Voltage Control) Static Kramer Drive
6. Slip energy recovery control Static Scherbius Drive
(Slip Power Recovery)
1 to 4 are applicable to the SCIMs and WRIMs
5&6 are applicable to WRIMs
8
 Torque Equation

 Per phase equivalent circuit of 3phase IM referred to stator.

(stator impedance drop is generally negligible compared to V)
Pg = Gross power input to the rotor
Pm = Mech. Power output
Pcu = Rotor copper loss
Pm = Pg – Pcu
T = Torque developed by the motor
T = Pm/ωm

9
 Stator Voltage Control
Applications : Fans & Pump Drives

 Also


Therefore as voltage is reduced to reduce speed for the
same current motor develops lower torque.
If the motor terminal voltage is reduced to kV1 where k<1
then the motor torque is given by

10
Stator Voltage control contd..
If the stator copper loss , core loss and friction & windage
loss are ignored, then from equations

When speed decreases efficiency decreases.

11
Three phase & Single Phase voltage
controller

Single Phase IM
S in g le P h a s e A C IM Drive

12
AC Voltage Controllers contd..
By varying the firing angle speed control is achieved.
Single phase triac Controller
Three Phase star or delta connected motor
In delta connection the third harmonic voltage is
produced by motor back emf causes circulating current
through the windings which increases losses and thermal
loading of the motor
Also used for soft start of the motors
pf of an ac voltage controller is

13
AC voltage controllers contd..
With increase in firing angle ( low speed) both
distortion factor & displacement factor reduce, giving
low pf.

ωm Vr>V1>V2>V3
ωm

V3 Vr (k=1)
V2 V1

Tmax
K=0.5

TL
T
Speed – Load Torque chars Speed – Motor Torque chars

14
Stator Voltage & Frequency Control (Variable
Frequency Control) from Voltage Sources
By changing supply frequency, synch. Speed can be changed,
therefore motor speed can be changed.

Any reduction in supply frequency w/o change in the terminal
voltage, causes an increase in the air gap flux.

Increase in flux will saturate the motor. It will increase magnetizing

current, distort line current & voltage, increase the core loss &
stator copper loss and produce a high pitch acoustic noise.
The VFC control below rated frequency is generally carried out at
rated airgap flux by varying V with f so as to maintain the ratio V/f
as constant.

15
VFC contd..


Where K is constant and Ls & Lr’ are respectively the
stator & stator referred rotor inductances
+ve for motoring operation
-ve for braking operation
When f is not low
Equation suggests that with constant V/f ratio, motor
develops a constant Tmax except at low speeds

16
Contd..
When V reaches at rated value at base speed, it
cannot be increased further with frequency.
T decreases above base speed.
V speed
TL
ωs1
ωm1
ωs2
ωm2
ωs3
ωm3
f
Base frequency

Tmax Torque
V-f relation
Speed Torque characteristics

17
Contd.. ωm

Speed Torque
characteristics
Increasing f
Base
ωms frequency

-Tmax 0 Tmax
18
Contd..
Features of V/f Control
1. Speed control & braking operation are available
from zero to above base speed.
2. During transients the operation can be carried out
at the max torque with reduced current giving good
dynamic response.
3. Copper losses are low, and efficiency & pf are high
as operation is restricted between synch. Speed
& max torque point at all frequencies
4. Drop in speed from no load to full load is small.

19
Contd..

Supply

Vref

VFVS
Flux control

fr f ref

Delay

Variable frequency control

20
Slip Speed Control (Rotor Frequency)

Substituting voltage as kV and frequency as kf

(neglecting stator resistance drop)

21
Slip Speed Control contd..
If ks is maintained constant as k is varied then rotor
current Ir’ & T will remain constant.

Since the slip is small Ir’ will be in phase with voltage.

Since flux is constant, Im will also be constant.

Now = constant

Thus if the motor operation is carried out at constant

value of ks, as the frequency is varied then the motor will
operate at a constant current & torque.

22
Slip Speed Control contd..

Operation of the motor at a constant slip speed also

implies the operation at a constant rotor frequency.

Ks= ks (f)/(f) = fr /f = ωr/ ω

Where fr & ωr are the rotor frequency in Hz and
rad/sec respectively.

23
Slip Speed Control contd..
For s<sm, Rr’/ks>>Xs+Xr’ hence

T=Constant X ωsl

For s<sm speed torque curves are nearly parallel st.

lines.
Thus motor current & torque can be controlled by
slip speed.

24
 Variable Frequency Control (above base speed)
Above base speed the machine operates at constant
voltage

As f >f rated ,k>1 the operation is constrained b/w the ωms
and Tmax , The slip has a small value

Since the slip has small value



Hence or frequency for a given value of Ir’

25
Variable Frequency Control contd..
This behavior is utilized in closed loop speed control
for limiting current within the permissible value above
base speed.
Since the slip is small Ir’ is in phase with V.
If the machine copper loss is neglected, the
developed power Pm=3VIr’, consequently Pm is
constant for given Ir’ and therefore for a given Is.
Hence the drive operates in constant Power mode.

26
Torque & Power Limitations
ωm

ωmc

Constant
power
locus
Increasing f
f rated
ωms
Constant
torque locus

T
0
27
Contd..
Modes of operation

Is

Pm

0 Constant toque mode 1 Constant Power 2 k

mode

28
Voltage Source Inverter fed IM Drive

Transistor fed IM Drive

29
Contd..
Vab Vd
Stepped wave inverter
line voltage wave form

π ωt
Vab Vd -Vd

ωt
π
SPWM inverter line
voltage wave form -Vd

30
VSI contd..
 VVVF can be obtained either from VSI or cycloconverter
 VSI allows a variable supply to be obtained from dc supply
 VSI can be operated as stepped inverter or a PWM inverter.

 In stepped wave inverter mode each device is switched in

sequence with a time difference of T/6 period, and each device
is kept on for T/2 period. where T is one cycle period.

 Frequency of inverter is varied by varying T and o/p voltage is

varied by varying dc I/p voltage.

 A large electrolytic filter (DC link) capacitor is connected in dc

link to make the inv. Operation independent of rectifier or
chopper and to filter out harmonics in dc link voltage.

31
VSI contd..
Inverter o/p line & phase voltages for stepped wave
inverter are given by Fourier series

The RMS value of the fundamental phase voltage is

The torque for a given speed can be calculated by

considering only fundamental component

32
Contd..
 Main draw back of stepped wave inverter is large harmonics at
low frequency in the o/p voltage.

 A)because of low frequency harmonics the motor losses are

increased at all speeds causing deration of the motor.

 B) motor develops pulsating torques due to 5th , 7th ,11th & 13th
harmonics which causes jerky motion of the rotor at low
speeds.
 C) harmonic content in the motor current increases at low
speeds. The machine saturates at light loads at low speeds
due high v/f ratio.
 These two effects overheat the motor at low speeds ,thus
limiting the lowest speed around 40% of base speed

33
Contd.. Vab
Vd

ωt
π
SPWM inverter line
voltage wave form

 Adv. Of PWM inverters

 Harmonics are reduced. Harmonic associated losses are neglected.
 Smooth action is obtained at low speeds, When PWM technique is used, no
arrangement is required for variation of I/P voltage.

 The fundamental component in the output phase voltage of a PWM inverter

operating with sinusoidal PWM is given by

where m is the modulation index.

 For given harmonic content in the motor terminal voltage, the current
harmonics are reduced when the motor has higher leakage reactance, this
reduces derating and torque pulsations.

34
 PWM Inverters
PWM not only controls the voltage but also reduces
the harmonic content.
Elimination of lower order harmonics results in
reduced size of filter which saves the cost.

Different PWM techniques are

i) single pulse width modulation
ii) Multiple-pulse width modulation and
iii) sinusoidal PWM.

35
 SINGLE PULSE WIDTH MODULATION
There is only one pulse per half-cycle and the width of the
pulse is varied to control the inverter output voltage.

 
RMS output voltage, 2 2

Vo 
2 
 
Vs 2 d t  Vs

2
36
Single PWM Inverter contd..
By fourier analysis,
Output voltage wave has quarter-wave symmetry. [Half-
wave symmetry (n is odd) & odd symmetry (a o and an=0)].

  
cos n( )
8 2
8V 2 4V n
bn  
2  
V sin n td  t 
2 n

n
sin(
2
)
2


4Vs n
Vo  
n 1,3,5.. n
sin
2
sin nt

 If δ=120°, 3rd harmonics will be absent.

 If δ=72°, 5th harmonics will be absent.
 Disadvantage :- Only one harmonic can be eliminated at a time.

37
MULTIPLE PULSE WIDTH
MODULATION
1 /fc
vc
vr

 2 t

1 /2 fo

vo


V
t
 /2 p  /p
-V

38
MPWM contd..
 All the pulses have same width.
 Frequency of reference signal decides the output frequency fo and
the carrier frequency fc determines the number of pulses per half-
cycle.
 Modulation index controls the output voltage.
 Modulation index m varies from 0 to 1.
 (mf indicates the number of pulses per cycle)
 fc is usually odd multiple of reference signal. (For 3-phase inverter, fc
is odd multiple of 3)
 No. of pulses per second = fc
To fc
 No. of pulses per half cycle = p  f c  
2 2 fo
 

RMS output voltage 2p
2p 2
p
Vo 
2 
 
V 2 d t  V


2p 2

39
MPM contd..
T r ia n g u la r
D 1 S 3 D 3
S1 w ave
vo ig 2
T r ig g e r
LO A D c o m p a ra to r p u ls e
+ -
V g e n e r a to r ig 4
S 2
S4 D 4 D 2
S q u a re
w ave

g 1

t
g  2
2

t
g 3

t
g 4

v t
o

t

-V v o = V (g 2 -g 4 )

40
SINUSOIDAL PULSE WIDTH MODULATION
The width of each pulse is varied in proportion to the
amplitude of a sine wave evaluated at the center of
the same pulse.

1 /fc
v c

v r

 2 t

1 /2 fo

v o

V
t

-V

41
SPWM contd..
Gating signals are generated by comparison.
fr determines the inverter output frequency fo.
When fc >> fr , then the adjacent pulses are very close to each
other, consequently, the output is approximately sinusoidal.
RMS value of output voltage, p
m
Vo  V 
m 1 
The fundamental component in the output phase voltage of a
PWM inverter operating with sinusoidal PWM is given by

where m is the modulation index.

For given harmonic content in the motor terminal voltage, the
current harmonics are reduced when the motor has higher
leakage reactance, this reduces derating and torque
pulsations. hence
42
SPWM contd..
 Sinusoidal modulation eliminates lower order harmonics.
Dominant harmonics are the order of (2p±1).

 As lower order harmonics are eliminated and higher order

harmonics are easily filtered, output has very low harmonic
content.

 With over-modulation,(m>1, square wave) fundamental output

voltage increases but it causes more harmonics.

 As p increases, order or significant harmonic increases and the

filtering requirements are minimized.

 But higher values of p needs higher switching frequency and

hence switching loss increases and inverter efficiency decreases.
43
Closed loop speed control and converter rating
for VSI and cycloconverter IM drives

Closed loop slip controlled PWM inverter drive with

regenerative braking
44
Closed loop control contd..
 Inner slip (current) loop and outer speed loop
 Slip speed ensures motor operation b/w ωms and Tmax at all
frequencies.
 PWM inverter has the capability to operate in all four
quadrants.
 The drive is applicable to any VSI or cycloconverter.
 A step increase in speed
 A step decrease in speed
 Operation above base speed up to sm. Slip speed upto break
down torque
 Motor current can be allowed to carry several times the rated
current during transient operations.
 Converter and inverter should be capable to provide these
currents.

45
Variable Frequency Control from a current source

Equivalent circuit with current source

 Neglecting Stator impedance



 Im= ?

46
 Rotor Voltage Control for Wound-Field
Induction Motors..
In a wound-field induction motor the slip rings allow easy
recovery of the slip power which can be electronically controlled
to control the speed of the motor.
The oldest and simplest technique to invoke this slip-power
recovery induction motor speed control is to mechanically vary
the rotor resistance.
Slip-power recovery drives are used in the following
applications:
Large-capacity pumps and fan drives
Variable-speed wind energy systems
Shipboard VSCF (variable-speed/constant frequency) systems
Variable speed hydro-pumps/generators
Utility system flywheel energy storage systems
47
Rotor Voltage Control contd..speed torque curve
ωm
Increasing Rr’

R1 Tc
ωms R4 >R3>R2>R1
R2
R3

R4 Tmax

Torque
Ts
0

Speed Torque curves of motor with variable rotor resistance

48
 Rotor Voltage Control contd..

From this equation it is clear that the torque-slip

curves are dependent on the rotor resistance Rr.
The curves for different rotor resistances are shown
on the next slide for four different rotor resistances
(R1-R4) with R4>R3>R2>R1.
•Max torque is independent of rotor resistance
•Speed at which max. torque produced changes
with rotor resistance.
•Motor torque capability is unaltered even at low
speeds 49
Rotor Voltage Control contd..

50
 Rotor Voltage Control contd..
Although this approach is very simple, it is also very
inefficient because the slip energy is wasted in the rotor
resistance.
Rotor resistor can be varied stepless
AC voltage is rectified and fed to a fixed resistance and
the effective value of RAB can be varied by changing duty
ratio δ
Ld reduces the ripple and discontinuity in the dc link
current Id

51
 Rotor Voltage Control contd..
Ir

120

Id 120

0 π/6 5π/6 π 2π ωt
Id

The rms rotor current is

52
 Rotor Voltage Control contd..
Average value of resistance RAB = R(1-δ)
Power consumed by RAB is PAB = Id2 RAB
Power consumed by RAB /phase = PAB/3
= 0.5 R(1-δ) Ir2
 The equation suggests that the rotor circuit
resistance per phase is increased by 0.5 R(1-δ).
The total circuit resistance /phase will be R rT = Rr +
0.5 R(1-δ)
RrT can be varied from Rr to Rr + 0.5 R as δ is
changed from 1 to 0.

53
Closed loop Control

54
 Rotor Voltage Control closed loop contd..
It consists of inner current loop and outer speed loop.
Rotor current Ir and hence Id has contant value at max
torque point both during motoring and plugging.
If the current limiter is made to saturate at this current
the drive will accelerate and decelerate at max. torque,
giving very fast transient response.
Adv :
[Link] & stepless speed control.
[Link] response
[Link] maintenance
[Link] size
[Link] resistance remains balanced b/w the three
phase for all operating points
55
 Slip Power Recovery Scheme

WRIM operation with an injected voltage in the rotor.

Red arrow represents the polarity of Vr when Pr is –
ve.
Blue arrow represents the polarity of Vr when Pr is
+ve.
Assume stator to Rotor turns ratio is unity.
When Pcu is neglected , Pm= Pg- Pr. Where Pr is the
power absorbed by the source Vr.
56
 Slip Power Recovery Scheme contd..
When Pr = 0, motor runs at natural ωm -T chars.
When Pr = +ve, then Pm will decrease, hence motor
runs at reduced speed for the same torque.
When Pr = Pg, then Pm = 0, ωm=0
Thus Pr varies from 0 to Pg, speed varies from ω ms
to zero.
When Pr = -ve, then Pm >Pg hence motor runs at
higher speed than ωms.


57
 Slip Power Recovery Scheme contd..
Instead of wasting the slip power in the rotor
circuit resistance, a better approach is to convert
it to ac line power and return it back to the line.
 Two types of converter provide this approach:
1) Static Kramer Drive - only allows
operation at sub-synchronous speed.

2) Static Scherbius Drive - allows

operation above and below synchronous speed.

58
 Static Kramer Drive (cont’d)
A schematic of the static Kramer drive is shown
below:
 Static Kramer Drive (cont’d)
The slip power from rotor is rectified by dc
bridge.
Inductor Ld smoothens the ripples in the rectified
voltage.
DC voltage is converted to ac voltage at line
frquency by line commutated inverter.
As the power flow is from rotor circuit to supply
SKD offers constant torque.
Speed control is below wms only (approx. ½ of
wms).

60
 Static Scherbius Drive
Transformer source
side to converter side
turns ratio m : 1

Stator to
rotor turns
ratio n : 1

Vd1

Vd2

61
Static Scherbius Drive (cont’d)

62
 Static Scherbius Drive contd..
 The static Scherbius drive overcomes the forward
motoring only limitation of the static Kramer drive.
 Regenerative mode operation requires the slip
power in the rotor to flow in the reverse direction.
This can be achieved by replacing the diode bridge
rectifier with a thyristor bridge. This is the basic
topology change for the static Scherbius drive from
the static Kramer drive.
A portion of rotor ac power is converted into dc
by a Controlled Rectifier (diode bridge –speed
below ωms only) .

63
 SPRS contd.. Analysis
Power fed back Pr can be controlled by controlling
inverter counter emf Vd2
 The dc link inductor is provided to reduce ripple in dc link
current Id.
 Since slip power is fed back to the source , the drive has high
efficiency.
 To make analysis easy, assume the firing angle of the
controlled rectifier is zero ,so Vd1 is




 Where α is firing angle

64
 SPRS contd.. Analysis
Neglecting the drop across the inductor
Vd1 + Vd2 =0.
s = -n/m cosα = -a cosα where a=n/m.
Max. value α is restricted to 165° for safe
commutation of inverter.
Slip s varies from 0 to 0.966a when α varies
from 90° to 165°.
By appropriate choice of ‘a’ required speed
range can be obtained.
Transformer is used to match the voltages Vd1
to Vd2.
65
 SPRS contd.. Analysis
At the lowest speed required from the drive Vd1 will
have the max. value Vd1m=V smax /n where smax is the
value of slip at lowest speed.
If α is restricted to 165°, m is chosen such that the inv.
voltage has a value Vd1m when α =165°.
ie m = 0.966 n/ smax
Such a choice of m ensures inv. Operation at
highest firing angle at lowest motor speed, giving
highest pf and lowest reactive power.
This improves the drive pf and reduces the reactive
power at all speeds.

66
 SPRS contd.. Analysis
Operation :
Drive is started by resistance control by keeping the
rectifier circuit open.
When the speed is within the control range of the
drive the external resistance is removed and the
rectifier circuit is connected.

67
 SPRS contd.. Analysis
Power consumed by RAB /phase = PAB/3 = 0.5
R(1-δ) Ir2
When referred to dc link, resistance (sRs’ +Rr) will
be 2(sRs’ +Rr).
The approx. dc equivalent circuit of the drive is
Rd be the resistance of

dc link inductor

68
 SPRS contd.. Analysis
If the rotor copper loss is neglected.
sPg = |Vd2| Id .
 Pg = |Vd2| Id/ s
T =Pg/ωms = |Vd2| Id/ (s ωms)
This provides constant torque control .The
speed torque characteristics are shown below.
ωm α = 90

α1
α2 90< α1 < α 2 < 180

Torque
0
Speed Torque curves of sprs
69
SPRS closed loop control

70