Ty: 1, ji Hence,

: desired
speed. drive
(The
ODrivemechanicalMotor-Load
The
2.System
3.1. Z3. onc
cquip of modiThe tivd CIRloadsincers
ent Ikely the 2.14 |
at mechanical
theTorque Torque Torque the the motor A carried
sehenatic EQUATIONS abovethe tobe are
desired
requiredrequired
to component
components load out motor load charactchearisatictesristics
which met call
against while to(uchine) of categorics. huve in moditied itas
to GOVERNING
Load motion TorcontquorolSpeedand drive has
speed. driving Fig. preiarctice. due stneicatrion,
torque accelerate
do shaft.of
to
toload
of losses 2.9.
Power
supply the otor-loud
develop
load, through
th described
Schematic
this ced , stictiontoBecaus
spHowever the
e
and a system MOTOR-
the overcometorques
- above
like zero
I,prescribed mechanical
the friction Mot
Drivoer thteorque some torque they dospccd.
is of'
=
Th load friction are ofmotor-load mechanirequi
cal red transmiasssionshoWn LOAD donot
shown stiction,
+T,+TM
mechanical theto and
: and
load
to coupling
Geared inDYNAMICS
characteri stic represent
represent figure
For
in a the

desired windage accelerate must Mechanical

losses
byFig.2.9,
system constant speed
all 2.8,
system Load
the typically
industia typea -
provide large torquetorque
work, speed. occurringcoupling).
(Geared Drive
the mechanical of
which grOupcharacteristics
i.e., loenough
ad belonging machines th type
in motor
to accompu torque the ofoad,l of
run torque system
work drives Drtvey
the lo tot to
b
the g
Characteristics
2.3.2. Drive
A
Mechanical
Load 4. 3. Converter
Power 2.
Electrical
Machine 1. modern
Motor-Load
Torque/Speed/Position Controllers:
Command
electrical
Schematic
Fig. matching
requirements. It motor
controls
2.10. drive using
Controller the Rectifiers shown Solld
Motor-Load Choppers
Inverters
Cycloconverter
the
motor DC AC
Currents/Voltages parameters in
State
Pressure/Torque/Temperature
etc.
Status and Fig.2.10
Torque/Speed/Position
drive Devices
power
Converter has
schematic
Power of
converter the four
load-drive vital

to components.
Motor meet
Load
system
the 2.15
load
for
 viz., rated Eficiency Selection Machi
El2.e3ct.3r.inces 2.16
Internal
friction The
values,
The
Torque-speed
(v) profile
Robustness (üi) Cost()
ElMachi
ectrince Based
theon
output power, Factors
Computation
torque:
and or i.voltage
e.,
spe d
windage shaft for of
a

torques. the
T,
of where
m
of
continuous
torque and for
speedElectric a
Machine
requirements
Machines
Special MachinesAC MachinesDC
motor N, P, the
steady-state
0
N,
2rSpeed
(rad/sec) Powermachine
(watts)
given capacity
(viThermal
(v) (ii)
) Efficiency of
is is
is the the the is 60 Machine
the
sum speed speed output
rad/sec
operation.
is,
the
in Power mechanical
name density
of in in
power load
rad/sec.
the rpm. plate and
in Po
N Wound-rotor
synchronousInduction
Permanent
magnet reluctance
Switched Compound Seriesfollowing
Separately
excited Shunt
output acceleration reluctance
Switched
machines
hp. details
torque machines
of
the
and motor are
the are
los a i Characteristics
Drive
Fig.2.11.Converters
Power
2.3.4.
The The
V Mostly
variable Inverters
Cycloconverters and Rectifiers
output internal
efficiency
phase used
for
torque
powerfrequency
supply provide
for control are power
fixed-frequency
Three-phase
Three-phase is
supplyDC
the computed
Efficiency, =
n
supplyac fed T,
provide variable
control ofconverters is
Fig. f AC the from
Controlled
Rectifier
(i) Ve- 3 for as, T,
2.41, f Ve
2
of d.singlec
Cycloconverter(ii) Voltage the alternating
a a.machines.
c are =
Schematics Cycloconverter Inverter(i) - Controller
Rectifier direct
controlmachines. Output
power Po To
Voltage
Frequency
command Inverter
control andrectifiers, power Input P,
+
magnitude signal
conversion
of voltages three-phase Tioss
a.c inverters
of 3
2
machines. N-m
power 3 command and
VdcControlled
voltage dc of ac
Three-phase
variable
variable
voltage,
frequency
output fixed
currents and Internal
converters Three-phase
variable
variable
voltage,
frequency
output Vab, =
K,
supply torque
(1,)
Output
torque
(T,)
b.e=f(VVafe.)
c= Ve cycloconverters.
f(Ve frequency at and
f) desired
provide
frequency
AC 2.17
to
a Refer
d.c
a
Drive Characteristics 2.47

V Fig.2.42 shows seven possible combinations of motor and load characteristics

and indicates which of them represent stable or unstable operation of the
electric drive.

T TA
T

TM
TM )
(0)

(a) Stable (b) Stable (c) Stable

TA TA

TM -TM

T TM

(d) Unstable (e) Unstable () Unstable

TM

-TL

(g) Intermediate

Fig. 2.42. Characteristics depletion of some stable and unstable drives

M8. PLANE
2.6. MULTIQUADRANT DYNAMICS IN THE SPEED-TORQUE
Anna University: May 07, May 08, Dec O8, Dec 09, May 10,
May I1, May 13, May 14, Dec 14, May 15
A motor can operate in wo modes - motoring and braking. In motoring, it
converts electrical energy to mechanical energy which support its motion. In
braking, it works as a generator converting mechanical energy to electrical
energy, and thus, opposes the motion. Motor can provide motoring and
braking operations for both forward and reverse directions.
For consideration of multiquadrant operation of drives, it is useful to establish
suitable conventions about the signs of torque and speed. Figure 2.42 shows
the torque and speed coordinates for both forward and reverse motions. The
power developed by a motor is given by the product of speed and torque.
 motoring.
reverse In
Four quadrant which Thedependsspeeds.The tends and speed In it.
load. In thteorque In the direction
process. 2.48
identified lIl sùpplying
quadrantcalled power quadrant the generat o r the quadra nt the
In negative In the first The rotating The The First
The
quadrant
is
opposes motor to have this fourth have
quadrant, operation
third Second
forward
as negative. corresponds motor
on
the attain quadrant quadrant devel o pi n g operatofion forward
where Quadrant
reverse mechanical the must action respectively.
motion opposite quadrant negative parts rot atio n Quadrant motor
I,
operation acts
braking". Hencedeveloped acceleration
asdevelop
dangerously
both
with
corresponds is
is
is driving
of in available
er breaki
tive ng,
to a signs direction valu es, a draws of
motoring energy. braking brake.
load this
The torque
countposi
Similarly,machine power quadrant
a itself. positive while to as ele ctr ic al the
and duetorque motor of to rque
electrical andbecause mechanism
This high
So in to and rotation motor
braking workscalled is power torque
positive. action whi c h in power
operations ),
under Four
2.
Fi
43.
g. reversed. is energy is this
spectively. "forward (), to
braking Hence (1I)
motoring
Reverse Forward
braking positive. the
in opposes negat ive. part corresponds
drive
in which
& reverse of the
motoringJ machine (LV) Operation motion. plane, The the to
opposing represents Speed(a0) ar e mechanical
Quadrant
operation direction torque-speed an
works
Reverse
braking Forward
used machi
The n e operation
torque
Load(T) that is State
Dri
Solid
and the In
IV
four brakihg similar theforkinetic
br load
both operates a
as
quadrant
motIVion, a
quadrans
speed
to braknenergy
couple in
he
Can b mu toi 0
a
f
l
occurs. counterthatweight is level of Quadrant Characteristics
Hoist
load Four Drive
2.6.1.
Fig. the
fourThe A
2.44. regeneration
Braking of torope hoist
up. up.
Operation Downward
againstcounter box quadrant
The Forward
hoistthe The fully aanother
Here SinceSpeed-Torque upward, first quadrant speed is
consists
gravity clock loaded tied
the quadrant direction
by box. level. to
counter
a in
means torque chosen
load the Speed
(o) a of
(1
Overhauling
loadby and wisewhich The operationsof a hoist hoist Operation
a
torque second diagram Other
to rope
Upward direction.
a operation torque of of curve
weight IV motoring corresponds upward motor
box. be box
Torque(T) is
higher end wound
is
shown hoistIn of
quadrant which of
nearly is and speed a
of In hoist on Motor
heavier hoist torque that, of and speed than the
is
zero downward
to a will drive in the rope used drum a
drives
is the the hoist variation below Driving
because thanobtained Four
2.45.
Fig. Couner
Cage
weight A Couner
weight occurs. be weight has to
load requires are a coupled
positive one figure four transport
an in arrows.
clearly a a
of TM
0 emptyCage A which of
counter Hoist
empty
of when a empty the of quadrant an
the motor the adepicted 2.44. empty to
hoistmotor motor gives man th e Load
absence case, an movement weight. motor
quadrant ) Speed(o) operation
variably in
empty driving weight
ACage
Couner
box
speed hoist material
or
it
weight upward is in
of is has shown figure shaft.
Oneend
case hoist Weight
box
load. able operation loadedCage Torque(T) loaded to
which of
TL be the motion of
for 2.44. but from
to is TM
A
moved of
moved
pull
A
hoist
is lower 2.49
each the one
in
it
 Solid State Drive
2.2 Drive Characteristics 2.3

System feedback
Electric Drive
2.1.2. General the principles of functions.
control
Figurteheony2.1
employing Driven

electric drive system

Motor
performing individual
Load
The several components
along with it has drive system.
the block diagramofan electrical Sensing
depicts load. The motor is supplied Supply Power Unit circuits for
the mechanical
motor drives
V An electric converter. The converter has necessary
controls
to from the
provide
a System the variables

thyristor power variable

motor. e.g. variable
voltage frequency Intermediate

required supplyto the

if the drive motor is ac motor.
Suppy. Constant
Voltage
control
quantities

accomplish a given task, e.g. fans.

machinery designed to
Y Load is usually a
Control
machines, machine tools, trains and drills
pumps, robots, washing
The load requirementscan be specified in terms of speed and torque demands Reference
characteristics and capabilities Values
A motor having speed - torque compatible
to
the load requirements is chosen. Fig. 2.2. Representation of electrical drive by blocks
Power Motor. Load
Source Modulator 2.1.3. Components of Electrical Drives
Anna University: May 12, Dec 08

Control Sensing Electrical drives has the following major components

Unit Unit
1. Electrical motors and mechanical load
Input command 2.. Power Modulator
3. Source
Fig. 2.1. AnElectrical Drive -Block Diagram 4. Control Unit
Functions of Power Modulator 5. Sensing Unit
() Modulates flow of power from the source to the motor in such a
manner that 1. Electrical Motors
motor is imparted speed - torque characteristics required by the load.
The possible forms of drive motors are
(in) During transient operations, such as starting,
restricts source and
braking and speed reversal. a de motors fed from dc supply
motor currents within permissible values.
(iii) Converts electrical energy of the source in the b. dc motors fed from ac supply
form of suitable to the motot.
(iv) Selects the mode of C. ac motors fed from ac supply
operation of the motor i.e., motoring or braking. Most commonly used electrical drives are
Figure 2.2 depicts the general
with each blocks representation of the controlled electrical a
performing individual functions. DC Motors: Shunt motor, series motor, compound motor and permanent magnet
motor.
 Switching
Circuits(c) Impedances
and Variable(b) Converters(a) moreModulators Power 2. 2.4
Motors:AC
Switching Variable Power
are than
(v) (iv) (iii) (ii) (i) also used.be
Brushless
modulators
one
To ToForstarting For operations
For resistors
needed of
disconnectprovide changing
operating operating these de )
and for are Cyclo Choppers
Inverters Synchronous Motor
(i)
ac
regulators ac modulators.
to
can motors,
interlocking braking are dynamic
commonly * * Induction
motors
dc be
motor motors motor motorrequired converters Permanent Wound Wound Squirrel
converters
or classified stepper Induction
Linmot
earo r
when connections
control.
and circuit braking dc
to to used dc
- motors
field rotor case
abnormalprevent drives (frequency in Magnet
achieve
parameters drives.
of for converters to
and
motor inductinoduct
n ion
according to the three
maloperation any change controlconversion) switched motor
operating
one kinds. motor motor
to in its
of of
adiscrete
quadrant the SOme reluctance
predetermined
nditions low
following
cost drives Drives
State
Solid
steps of
dc motors
occur. operations. may
for and
sequence are
automauw ac employ
drives also

Characteristics
3. Drive
4. farede Rest most Sources
5. which control
Unitsemiconductor
microprocessor
Sensing In
2.1.4. ControlsControl Unit
of lndia
This locations.
(i) V 110Vdrives
dc. Forsupply.
400V
from the
Speed employ unit
Advantages of
conjunction
amplification
Electrical Current
hall digitalschemes.
speed unit
characteristics
dynamic
requirements. of Sensing
Current(ii)
sensing
Speed() higher drives single
for for
effect, performs are
tachometersaccuracies sensing converters
when a a Very
particularpower
linear powered ratings, are phase
sensing Speed
drives (ii) powered low
with sophisticated
two
Electrical
Drives and is and
It is and modulator
ar e motors
from
power
have isolation involves employs
an required, required
are usually functions drive three
digital used, from
isolation used. depends a drives
flexible battery. may phase
tw o for control are 3
electrical
drives between the as
sensed th e phase
integrated provided be are 50
amplifier methods use in
implementation control on
control computer is Battery rated generally Hz,
source.
power of by required. the
using unitpower at ac
a in
characteristics. non (1) circuits voltage Low supplies
andwhich peripherals
use will the 3.3 fed
can - tachometers. of modulator KV,
controlinductive of control and from
shapedbe to has consists may are
closed and 6. 6 medium
current single
have KV, readily
cireuits an and trans1storsand unit.
The arrangement loop ofthat
resistance 24V, 11 powerphase
sensor
papermills, When firing Natureis available
steady speed used.
satisfy 48V
KV.
employing very circuits, source.
motors
When of Some 2.5
loadthe state shunt control and in
for the
high a
and etc.
an in
Converter/Chopper Fed DC Motor Drive 3.13

/ Ithas the advantages of improved power factor better commutating capability

and low cost due to diodes makes a semi converter drive applicable to all
cases where regeneration is not required.

VaA
T I
AC
SOurce

Vs = Vm sin ot T Ta

Fig. 3.11. Single Phase Fuly - Controlled Rectifiers

341/ Single Phase Fully Controlled Bridge Converter Control of Dc Separately
excited Motor

Vs Va E

TT 3Ra
Motor
TB I+0 21 0t
T3
V= Vm Sin wt
TT3 T2T4
(a) Power circuit diagram 1
half converter fed drived (b Discontiruous conduction waveforms
Vg = Vm sin ot

Va E Vs
Va E
2T 37 ot

la .
TL+. 2T

2T+O 0t

Va
T2T4
T 2T 2T+
(c) Continuous conduction waveforms

(d) Continuous waveforms

Fig. 3.12. Single phase fully controlled bridge converter fed de drive
 >n Discontinuous
Mode
>(n converter.
bridge 3.14

Continuous
V Y The | motor isThe
T;, V, are In
are forward conducts.) T+B, before When AsB>. some The When istors V, I,
conductionoperate Thyr The AC power
immediately
T,
turned
sinbiased.
continuous voltage
At
o T,
Motor contsin iannduous input also
, = angle getcurrent voltage
voltage shown. drive
are I, armature
bias a falls and T+a, jumps T, s in a>E. T,
triggered off Conduction are is
byconduction to
load
asfrom reverse
From
=
0. B, starts
connected
known discontsaiinduous ThyriandT,storsconduct
gate
are
d
ion and is When
circuit
natural zero,voltage per flowing tocurrent T, current
causing At T, V, ß
as to
be are at defined fieldshown
is
appears O= Mode V, T, sin biased
to
continuous. does given modes
extinction withthe T, of V, by
commutation.
turn
mode,
a,
changes V is ß+a,
triggered,
follows to source
conduction. gate and wavef= aorerms = control in
across T,T, ) after
Eas no not a,
off during the
fioWsignals theseshown
T, V, fiisgure
from shown ot angle, and turn of sin
of
T, At are the
thyristors V'load
thyristors
=
- When
th yri
are
sto rs inthe ot
require3.d,12(a).
andby ot turned positive
V,,
waveform in this
1, terminalitsv: on
load
Continuously, from giv en
figure motor
sin current figure thyristors continuous
current
T+= conducts, pair (r+a)signal
fromgate field The
yristofs. T, on. (T+B) current
starts 3.12
3.will12(b) tfhoer
discontinuo con ieci
equivalent
as Ashalf
T4 flows to
forward as commutated voltage fed
the get
cycle
a to
shown to (b). the delays andT,T 2-7 turned and from State
Solid
result,
a E mo
reverse thyrisos as build motor equals (c)
biased supply no in up at zas
to
or:
at dto
Thyn
a

th th igut agd tem of:

as Converter/Chopper
3.12(b).
figure
below In
Particular Complex
Function
(C.F) Using equation
(3.18),
From Drive Discontinuous
a
Therefore, motor
equation
(3.23),
From equation
From : operation (b) (a)
complex dl,
dt
PI’
integrals = Va
V,
E Zero Duty terminal
from P,»D function LR, R, current
is interval conduction Fed
DC
described voltage
equation C.F and=0
I, I,
(3.22), are + interval Motor
given = Lo (a
Rg and mode
(3.21)
V, d by < cycle, Drive
C,e-otcot ot
PI, = PI, as particular
+
sin
La ot tE the (B< sB)
(sin following
the )
to L -E = ot drive
ot(3.25), = 'a ¢ V, S
Rå Z integral Tta)
- sinot sin operates
)-R sin tan :"= equations
ot,
we
E get (o method,
- for for in
tCe ) a two
R ß<
we s
ot intervals
get totwt-otsI sB
solution +
a as
...(3.18) shown
(3.21). . 4 ...(3.20)
to 3...(3.19) 3.15
(3.24). . 1 (3.22). . 5
(?.26)..4 (3.20) in
(3.25) (3.23) 6
3. J
Comverter/Chopper Fed DC Motor Drive 3.55

28. CHOPPER FED DC DRIVES- CLASSIFICATION

Chopper fed dc drives are classified into
() First -quadrant drive (motoring) (or) TYPE -Achopper fed drive
(i) Second -quadrant drive (regenerative) (or) TYPE -Bchopper fed drive
(iii) Two - quadrant drives
a) TYPE-Cchopper fed drive,
b) TYPE- D Chopper fed drives
(iv) Four quadrant reversible drives (or) TYPE - E chopper fed drive

(O TYPE-AChopper Fed Drive (Motoring)

Operation
The armature current I, flows in to the armature. Both the armature voltage V
and armature current I, are positive. This is a single quadrant chopper and is
said to be operated as a rectifier.
When switch S, (thyristor) is on, V, = V, and armature current I, flows
towards the armature windinglas shown in figure 3.44.
the
(When thyristor S, is off, V, =0, but I, in the armature continue to flow in
same direction through free wheeling diode D,) It is thus seen that average
values of both armature voltage and current i.ef V, and I, are always positive.)
Switch (S1) Va
LJ

Ra Motor
Forward
Vs D Va La motoring

la

(a) (b)
SI - Thyristor act as chopper

Fig. 3.44. Power circuit - Type-A Chopper fed drive

 Operation (i) 3.56

supply). tonegutive. (Thyristor

Regenerative conduction, As E,+LdV,- r(aWnd hen is This voltage (The TYPE-
is said
therefore result a S, is
armV,
ature B
S2 S, to
Braking)(Kinetic
Power switch
thus
Fig.
of 3.45.
Thyristor
-
Switch (S>) D Inductadlnce is be
operat
also
is
on, ed singleposia tive,
Chopper
flowtreated
is as allowing
S, this
V. current Fed
V, Power exceeds
act (a)
may L, =quadrasant
be = chopper
as
stores 0, an but I, Drive
always
negative. onpower E, circuit but the flows
(or)
source inverter.
or to L,
+ enerargymature chopperar, mature out
energy from off, flow dlTYPE- - voltage of
Second
Since
of current
armature diode during back butcurrent the
the
V source)
the
to
D,Chopper
B
- Forward
braking
V,) oy emfE,operates armature
thron Quadrant
motor I, I¡ ,
to flows
is is 1S
Whperien od quatra in Regenerative
forward
drives thenegat(motor).
ive
always
SOurce.
is out fed V
convertedau (b) of second
drive S.
Thipositve
s armal of biased Current State
Solid

The
Drive
is arta
aso and

/
Operation
Converter/Chopper
i)
V(TYPE la/
+ operation)
above.)Therefore
chopper
O
of positive Armature I, wheeling
is (or)
on
otherwise Well as 3.46{indicating (The TYPE
drive
a positive.)
negative care class as armature
Fig. but current diode - -C
diode the must shown B A
3.46. drive or and Two Fed
(a) from average if D,supply chopper) current
is power S,conducts, D, be S,
TYPE Quadrant DC
Power used
armature is I,
conducts, taken and tw o Motor
SI, on is
load positive V,
S2 for or to D, -quadrant I,
circuit - flow wil B is Drive
Thyristors motoringand tocurrent D,armature the ensure operate either Chopper
be choppers
source may iswhen
- conducts*Average short
TYPE Moto bemay
armature that as operation) positive
act voltage
S, circuitedl a Drive
(second from be is the Class are
-C as
chopper regenerative on voltage two combined
-I¡ positive
source or
Chopper SzD1 Forward
braking or V, - T he
negative)as
quadrant D, = switches A
conducts. V, V When Chopper., armature
Va to
armature
or ) switch to
fed (b) 4 braking armature =
negative 0 are form
drive Forward operation)\
motoring
Armature
current
and not S, voltageshown
la
S,D
of (first
voltage S,
in fixed and class
as case is
de on, D, C in
Thisexplained is
motors) quadrant together, is the
of(or) operates
chopper always
always figure
type S,free 3.57
is
 Operation 3.8.1. Operation (ti) 3.58
V(Two (The V(Average (The [6/
figure
3.48. in known
armature) Drive
Fed Four
S1,
directionalways tiomfe choppers wheposin tive
reversible.)
alsois
TYPE-D
type
both armor ature
armature Quadrant
as Fig. posioftive (t,)voltage
rowyas a V,(switches)thyristonegat Two
-four the
C
choppersquadrantarmaturecurrent 3.47. (a)
r ive current
I,
Operation
Power
SI,
R
because is V,
negative is swiare tches Jas , Quadrant
V Motor
shown
can voltage
choppers whenpositive obfut shown is
is S4
chopper of circuit- La

combined
be either
DC Thyristors
-
E in Winen both S, in always Chopper
V,
drive. positive Drive figure and t,<o
diodesD,and figurposi
e tive,
TYPE SaL
is
)
also (or)
act
3.47( diodes
conducts)
cnopperS S,
Drive
-C as
are 3.47
to or
form either
negative TYPE choppers Ihe the
Chopper Ascan ,and armatureThe
a directureion turn
armat -Von 7
armature
class posit1ve -E - V,
conduct
(flow Four
Ia is on D,and
fed - reversible,
of (t)
Va Va
-
E V,
or in
to Quadrant drive (b) SS4 current voltage
cnoy is = State
Solid

negativmoe.de away
or OFF ON
POWer
Firsts only
voltage
V
TI Un
Quadrant
Reverse
Third Second Converter/Chopper
V V V
operated, For braking
operation. positive Note When operation time negative Here
reverseorQuadrant mode. canturned Here armature thyristor Quadrant
For
third that S, S, thyristor be both first
mode. and is controlled off, Fig.
polarity
quadrant - here is on. time quadrant
controlswitch - S1
positive V, Fed
turned Forward - Forward 3.48.
In
(E+L(dildt)) I, of S, and SI, DC
of that is in I, S,
operation, Power
operation, negative, off, S,, is ,
begins is S2, Motor
armature Motoring power current current
the are operated. Motoring
the operatedBraking S3,
current first positive flow. circuit S4 Drive
armature
is it is flows and mode quadrant, freewheels thyristor
thyristor
back fed ismore is With mode Thyristors -
emf back a fed giving TYPE Ra
second than inductancethrough S,, S,, S,
back and act V Motor
E, S, from S, through first S, is -C as
must is quadrant the to and operation kept choppers
kept armature to source ON, Chopper
source "L L S, quadrant
S, on,
be S, are armature
off, D,. thyristor
SA
S3
reversed voltage stores
S, operation through D,kept gives
operation, In fed
is source. and drive
energy forward this voltage
for kept V.
diodes E,
off.
manner,
S,
this on gives is
As duringDuring With when V=V,and kept D4
quadrant and motoring
forward the D,, S, off
S, V, VS and 3.59
D4. the the on,
is is is
 Motor Drives 4.23

LTAGEIFREQUENCY CONTROL (VIF)

Anna University: May 07, May 10, May 12, May 13, Dec 13
control of three phase induction motor this control
Thespeed mostly prepares
that, the increase in the supply frequency increases the motor speed nd
reducesthe maximum torque of the motor. But the increase in voltage results in
sAO
inthe maximum torque of the motor.
’ fincreases:Nincreases: T decreases
max

’ V
increases : lmax increases

combining the above two features to achieve a control design by which the
By
inccreases and the torque 'is kept the same. This is known as Voltage /
sd
Frequencycontrol(V. Speed
F2 V3 (3)
Figure 4.10 shows three torque speed curves. Load
Those described as -F2V2 (2)
reference
(i) Here, we consider the
voltage V, and frequency F,. For
the fan type load, the reference Torque
operating point is 1. It is indicated
as curve (1).
Fig. 4.10. Torque - Speed curves
to f, (new) while keeping the
(i) If we increase the frequency of the supply and the maximum
increases
voltage V, unch¡nged, the motor speed
decreases. The load larger in this case is higher than the maximum
*torque
by the motor. Thus, no steady - state operating point can be
torque provided
depicted as curve (2).
achieved and the motor eventually stalls. It is increase
let we keep the supply frequency to the new value of f,, but
(m) Now characteristics in this
magnitude of the voltage to V, (new). The motor
the
maximum torque increases. The motor operates at point
case stretch and
steady state point is achieved. It is depicted as a curve (3).
(2), and a new for speed control
is a powerful method
The change in voltage and frequency where the V/f ratio is also
are several variations
Induction motor. There
performance. The most common
adjusted to provide a spspecial operating
the fixed V/f ratio. The figure 4.11 depicts the speed-torque
Inethod is
Characteristics for fixed V/f ratio.
 writtenas 4.7.1.
The The |4.24
Relationship
relationship t main three magnitude
andinstant The supply
constantbreakdown air
particularly constant.also is In V/ffigure
The that, From
The features
The internal
phase V/f gap ratio.
damage voltage low
starting
maximunm control V/f flux V/fis The
relationV-(af)
Between
between inverters beyond torquesfrequency
faults. ratio.cannot at Fig.
of to increasing.
should be very maintained max relation
T 4.1t0,he frequency Base
current V/ f the method, 4.11.
torque orThe the considerably
the Therefore be low
=

Voltage
control cycloinsulationsratings operation between Torque
is voltage maintainedfrequency, maximum
applied
phase also should one constant,T
and converters.
scheme ofmust
Frequency
constant
be at of the
we
decreases at maximum Speed -
constant variable can
constant due a mar torque Speed
are tmotor.
he be
voltage motors, careful maintain
constant
to also curves
and this torqueshould
frequency The at remains
no-load low of
and increased notlow-Irequency
windings, the VIf and Vfcontrol
be F4
trequency, (b)
to ratio constant, constant
V/f
frequency B can V/f
increase current is
Fg

ratio is F1>F2>F3
bevoltage
leading Torque Fa
Drive
State
Solid
by
generalIn obtained increases the not and
the constant,
maintaining
startine
satisfacton ai..(429
r
keeping
to can voltage gap
fron shots caus fixe,
the T. n lux
Problems
) Y The / shown
Totor Lne wil The
speed, slp
less
be
speed
the
theyaraned The dc precise This
in offset frequency link
voltage speed
kiVolts/Hz
nd 4.12.
Fig. Three-phase
powerac
supply
Volints/Hz Opeloop:n equationIn(a),
Fig.4.control Kyf
where
asV
bnduction. MDortives
speed, Operation
cannot of
than multiplied voltage of Von O 12. =
the control
control Stator Ratio
voltage.
LoadStator
being thcannot
emotorbe command is strategy
controlled
be
synchronous Vn between
supply
of is Controlled rms
aintained. the by , strategy 2.22
Rectifier
Open not strategy
difference 2.22 added is necessary. f Ein Vden for
frequency
voltage
through the V, stator-phase Vas
Loop to enforced is is in Vdc C,
speed. obtain to used inverter-fed = input =
controlled inverter
Drive th e the + I,Rç V
between in Hz. per +
the front-end in low
(B) voltage voltage phase. Kyffs
fed and
precisely, d.c the InverterVWWF

applications
performance
where
induction induction Kyf=
the link
proportional inverter and
converter.
synchronous voltage. V stator
because ph
and motor motor
Induction frequency
to th e Motor
the in
and th e
corresponding drive
open
speed
rotor frequency,
electrical VHs
loop

is
 MotorDrives |4.43

speed controller of figure 4.27 sets the reference current proportionalto

The
speederror which is the difference of set speed and actual speed.
the the
current controller decides the chopper on and off periods based on
The
from speed
currenteTOr signal which is the difference of set reference current
controllerand actual current through the dc link.

Therangeof'speed control can be increased. If acombination of stator voltage

/
controland rotor resistance control is employed. When the load torque is
smallspeed control is obtained by variation of the stator voltage, and rotor
resistancecontrolis used in the high torque range.
connecting a capacitor in series with the external resistance, it is possible
By thus
obtain a variation in the effective resistance from zero to infinity,
to control is used
permittinga wider range of speed control. The rotor resistànce
inthe high torque range.

SLIPPOWER RECOVERY SYSTEM

41.
control and rotor resistance control
/ The methods of speed control by voltage application.
and find limited
have poor efficiency, particularly at low speeds either inherent in the rotor or
resistance,
The slip power is wasted in the rotor
connected in the rotor circujit.
can be returned to the mains, the system
/ On the other hand, if the slip power
drive can be increased.
can be made efficient and the capacity of the
of thespeed - torque characteristics using a variable rotor
The modification
poor efficiency, thus making it
resistance has the major disadvantage of
is not possible due to over
uneconomical Continuous low speed operation
the motor. These low speed can very effectively achieved with
heating of
power recovery schemes. The slip
reasonable efficiency using slip energy or the rotor circuit is
external resistance in
power which is wasted in the
returned tothe mains to the schemes.
slip power recovery employ rotating machines,
YThe conventional methods of
rotor circuit to
converters, alternators, dc machines, etc. in the
Such as rotary known as Scherbilis and Kramer
conventional schemes,
Convert the power at operated to
employed, the motor may be
Controls. When these methods are loads.
and constant power
drive both constant torque
 efficiency additional
motoLither
ris 4.11,1. 4.44
methodology where Rotor
ynchronous speed
- The the where This methodsystemenergy
discussed
resistance' theThe frequency
loss P,
input
Slip
of
slip rotor slip P,remains where P,and Power
system above Hence
is without limiteddissipation
owing
is is
of termed as power situation earlier. inandproportional
of supply P, power
the
superand the t¡
an
which
dissipating
constant
to the themc.or m
P P. ) P T 0, P are P,=Recovery P(or)
slip is in this inThe rotor most and = = = =
0T = the
extremely fed applications = Air
ring overal
slipthe l is the i.e. deliversto long so (1- S rotor
isSynchronous
So,T= speed, Torque mechanical
0,
induction
mechanically back largely
disadvantage, major
rotor circuit. common its the S) the speed
T Methodology
P
gap
power it power
nchronous large speed, slip as PRslip developed
to in drawback
circuit a th e SPR
recovery
the
the improved to
This
under load power is
extent. external th e practice
can motor
motor coupled supply fields speed and method this of by developed
giv en
of beconstant is
the
regions. can scheme consequently, resistance was condition. supplied
altered by
resistance. by control
source of motor the
be to utilising elevators, of to
controlled it the
torque and relation
This or by speed use by for rotorthe
improves based extracting
main used the cranes the low a andconstant a
is controlVariable Drive,
State
Solia
to slip rotor control
effticiency of
t the
called both moto r. etc .
copper
losS.
in suppy power resistant power rotor t
voltage .(4.50)
has external ...(449, ...(44)
cascut the Thus larg
is cone
sub t ben fron ani

operation.
They
are 11.2. pOWer 4S Ihe operates the Whenthe E, and
The Totary Ihe
at
Inmotor In -E)
(E, fFrom where the In can where
independent power operates The bnducMottioDinovres
slipVarioussuper-synchronous
conventional
slip sub-synchronous If in the o cascadeassumed
be
synchronous
torque region. electric :fthis at
condition
power frequency
converters, (E,
operatessub-synchronous
-E,) above
is the
is Z,
and
, under factor
motor connection.
Slip
in
positive.
equation,
connection,E,constant. of E,
rotor
constant
cos equation power
recoverythe on
Poweralternators,method the is frequency. are operates The
negative, speed, E, E,/Z, I,= , T T
tosuper-synchronous Power torque is the
Recovery power operation: operation: region
-Eet rotor
the at
of l,. = =
K, Is slip
of the and K, pumped motor power
system
mode of flows impedance
Hence, operation, a
at deslip the motor E, = Ko = constant
rotor L,
line
machinespower power K cos operates is
Schemes fromn is o at circuit to taken
has frequency. Slip Slip speed the (o, (o, a and rotor input , the
its employ power region. flows power
recovery
rotating -
particular
etc.
the external
is 0)- ao) rotor may rotor, theinfrom
classification rotor + current voltage,
from dependent the
in emf
E, emf
be the sub
to speed assumed
motor rotor
the I, the -
Goes to source Goes to source synchronous
rotor fed Z, is
on to and may also flux and
based of to operates
circuit of the rotor. torque, beconstant. remains be fedback
Rotor
side ’ E, E,
source
Main external assumeu region.
machines, such to unity.
to and the in
convert
the constant to
rotor the emf rotor The (4.51). . the the
constant Similarlysupply
motor Er: motor and super
the and emf 4.45
 magnet industry.
5.8.1. replaced 5.8. 5.26
Fig.5.24theof Permanent disadvantages
are:
The Advantages Ina Fig.
is Design Remagnetization
effect. 3 PERMANENT (
efficiency.
3)Higher More inertia. *) permanent
by Anna speed example,Typical 5.23.
attractive
usually Loss Lower
rotorHigher
Elimination
shows Higher
costs. a
of magnet of permanent University: reversing Self
designedPermanent robust of applications
power permanent fordrivescontrolled
flexibility magnet MAGNET
machines, construction of low
B-H density. field magnet. mil s
to synchronous May (PM) speed for
operate. curveMagnet
field
of magnets
copper 07,
requiring reversingsynchronous
of
Cycloconverter
Synchronous
particularly
flux of
SYNCHRONOUS
Dec
cycloconverter
operation
emagnetization the loss. are:
control. machine, 08, rapid mil s,
rotor.
at May and mine motor
low-power 09, acceleration is fed
the MACHINE
Machine
May frequently hosts,drives drive Synchronous
Motor
segment d.c employing
field etc.
1, and are
range, A
winding employed
May deceleration.
cycloconverterlarge
where are 12, a Drive
Siate
Solid
cycloconverter
glearless
drive,
widely Dec
the the of 13, large, in
permanc! useu rotor
is
May lon
drive

Y /Once
demagnetization
demagnetization
line
irrespective
distance
permanently
the
If intersection removed,
subsequent
In density.
materialbetween
flux effect demagnetization
air-gap
the
If
air-gap.
current shown
e When J
lincorresponding
the can
/
the
magnet
the
If/
SjmchroOusMoDrtiovres
the have Fig.
operating inmagnet
demagnetized of magnet flowing demagnetisation
Figure.
of of A'operation, point"A'to is5.24. Coercivity Worst-case
will curve, the a effect
further short-circuited Hc
the the and load is
be will point in The installed B-H
worst-casepermanent
negligible. the A. and
e demagnetization the slope
line threcover wil be curve (Oersted) H load
Full
recoil at reaches stator the available.
no-load andstable operating -
demagnetization limagnet along of in Permanent with loadNo
ne winding, the the
the
operating
operation, D' no
wil recoil the nomachine,
coincide is recoil and effect, the load point air-gap, Recoil
line

selected magnet
line. point the magnetic line B'
line. which wil the the
point. corresponding demagnetization wil will B(Gauss ) Rernnance B, 4
with The correspondair-gap maximum machine
to will be
axis Load
line
Therefore. the have magnet be smaller
determined further
armature
reaction
demagnetization will
flux
a to to
straight the is with the have
permanent therefore reduce density
effect no-load
vertical by higher some 5.27
line the the B,
is
 oxidation.
from are
Neodymium-Iron-Boron The
V
becauseof earth
The VVBarium
they
/
FeAlritni Fig.5.25
5.8.2 5.28

density, linear gh. Alnico

hidensity,
demagnetization
low Permanent
Cobalt-Samarium
samarium. are Cobalt-Samarium. 3. 1.
5. Alnico.
servicehighestdemagnetization easy and but has
shows
Barium
temperature
remnance,
inadequatean strontium
to Fig.
Its produce, disadvantageservice 5.25.
advantages(CoSm)
the high
keuntes characteristics
the

Strontium
and
Magnet

Materials
ferrites 10
characteristics.
supplyof andis Permanent
and and temperature, 8
magnet suited are is oersted)
(Kilo H
ferrites.

Cobalt-SmriuVedyInBo
(Nd-Fe-B)
there very are low of
Samarium. widely
coercive magnet
6
various
isgood high
a is or f
good
4

need But moderately made

coercivitymagnet
of
remnance,
the of
used
as
characteristics
force,
thermal
2
Ferit materials.
permanent
Neodymium
Ferrite. 2.

coating
(HC). has
material
high
iron, permanent
high
which
0.2 0.4 0.6 0.8a
B (Tesla)
1.0 1.2

magnet
fenie
nickel, stability,
to the
protect The energy
is
service makes o2 Iron 1- Drivey
State
Solid
highest
encig very cobalt, magnets
the and
disadvant
the ages density temperature. -
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mag because
and rats f

On5.8.4.1. 2. 684,
Permanent
Fig.5.26.
II synchronously
Dalancedlaminations. epoxy
Refer Y
SurfaceInteriorSurface
1.
Types transistor.
applications / nosition
Differentind1uced The
frequency sinusoidal ashaS /In (ii)
knownvoltage
oduced cvnTchheyroaenOPemoperusrmtomrasnanentent 683, Smchronous MDortives
three-phase
the
machine adhesive.
Mounted
SPM,
Permanent
Magnetof
or Mounted- inverter/converter voltage
sensors
speed the
Trapezoidally
orm er
()
Sinusoidally based
classified Permanent
magnet the
Burried- and
The voltage/current.
of magnetaMagnet
.c
rotating stator Inset
type
Projecting
type curent PMAC induced
is permanent
The The can are
is rotated Permanent
- GBT 1 be
very
sinusoidal rotor air-gap has Permanent Permanent
for
trend
employed
used
trapezoidal
motors
PMACand d excitedexcited on motors AC
close a voltage nature Motor
by ahs three-phase others.
circuits
is to They PMAC.
to prime a magnet'
flux. Magnet Sinusoidal to achieve for is
PMAC. PMAC
voltages, ans Magnet Magnet use are waveform.
trapezoidal has of Drives
one, operation controlled voltage
iron MOSFET for operated a -
and mover, Machine Machine self-control.
PMAC sinusoidal is
Since core are sinusoidal Machine Synchronous
Motors induced th e
magnets in PMAC These
which glued (SPM) for self-control in
motors
by notational
the the (IPM) (SPM)
Rotorfeeding motors.PMAC
onwinding low self-controlled mode. waveform in
relative
are stator is the
voltage are
mounted madesurface
rotorthe motors stator magnetfor
windings drawn mode. them
permeability which and as
up and are
on of Alternatively from
using in
low commonly
the generate punched creates variable the
powerpower
rotor of using later 5.29
a a
 modes. )Modes speeds, and the (5.7). a Motor 5.3.1. 5.magnetising
3. and (5.13). 5.2.3.
equation 5.8
Adjustable
frequency
control constantSynchronous Due Thus, winding.
(i)Self- () the FREQUENCY CONTROL
SUPPLY power This
of (5.13)Adjustable
Open True
adjustable
pull-out speed Anna to Synchronous
recorders,
kind and reduce Assmoothly SMoothly
As When
machjinepull-out and factor the Therefore, the the
synchronous
ynchronous loop can University: OF
current
of quiet. rotor to a
torque (5.14), speed
(Variable)
be SYNCHRONOUS absence
is
motor fans synchronous
zero, pull
stationary
as
volts/Hertz frequency lowerdrawn
torque.
iscontrolled Reluctance
an Small has as into an
decreases
the induction
operated for is May and
compared expression can smooth
highrating voltagesspeed step, motor
mode mode direc1ly of
Rated all Frequency 07,
from T=
be
control control types field
(or) (or)operation with at by May the Oms
3visualizedMotor inertia without
Separate
voltage
a proportional
varyingof
MOTORS to
excitation,
source.
V2 for non-salient are is motor is
hysteresis
-controlled rated
an 08, other torque reached, connected any and
increasesynchronous Control May applications. not
terminal is
the synchronous
ON
Theretore,
(Xy-Xsg)
XsX,
q 2 as hunting when
controlled may reached 09, is a motors induced the
salient construction, eddy
alf-gap to
employ in frequency. to ADJUSTABLE May Dec obtained itthe
frequency. frequency
are oscillations.
mode. voltage motors sin28
x in reaches
at
mode any the 13, 09, magnetising
motors. Tlux substitutionbypole current source.
the
this May May extensively rotor near
According
and base
is Smooth its
(or) of as (VARIABLE) motor hysteresisand it
variablespeed.gives 14, 10, operation synchronousaccelerates
the per produced
Dec May current
Drive
State
Solid
followng operation equation
to
without used
14, l1,
frequency. For equations =0
inof is
May May isonl. (5.14). . in \ossea speed
fast
highet with (56) field a tape
tmu 15, 12 i
and

Operation

frequency.Frequency
Circuit,
As
in Fig. reluctance
/This
mills Synchronous
synchronism. used
Variable
, Fig.5.7 / Synchronousspe d.rotorconvatlruSeparately
eocontrolled
lised In6.3.2. chronousMotDriovres
block
5.7.
he
changes for step,
into henthe spchanged
ed Open
is from
where mode
So
diagram Block smooth Loop
desiredshows
command
that frequency after
accurate or synchronous always an
is speed. in gradually Volts
diagram circuit
Delay permanent independent
the commonly frequency
Starting
hunting the
small. /
rotor Hertz
f* speed A control separates
is - oscillations. so
speed motor and synchronous
applied True magne! that
tracking used are not oscillator. Control
This
regenerative the
is synchronous control
Flux V* with slow only control
speed ormode allows
able to motors for difference
a between
voltage the damper
enough allows Frequency mode,
rotor
to
track in
control braking, frequency
or the fiber the the
winding for between
of speed
source Synchronous
separate motors AC
from its
or motors speed
rotor assynchronous
supply
spinning, stator
sense Inverter Rectifier of is to
inverter long
1o multiple
|
is is control,reached, synchronous track frequency
control to
used initial supply is
the required.)
or as
30 textile track it
through
changes is it themotor the
synchronous for desired
theto
mode changes ensured can
and pull-in rotor changesspeedand
a paper also scheme.
the
in
delay HH that pulls 5.9
to in be in
 5.10
Fig. Control
sothrough
(FG),
aV
frequencyinverter As Y(This VA
that
The 5.8. spinning
mitracking
l s. multiplecontrol An a
shown Characteristics reluctance
mil s constant flux
thewhere phase Open example
so is shown where mode controller
stator Othat inloop synchronous
voltagethvoltage
eis atFigure, Command essential or isflux
s the they volts/Hz
speed
in of accurate
separate ofpermanent below
flux command input. among Fig.5.8. Open commonly block
move all FG
speed rated
remains
the speed reluctance changes
essentially a frequency
It Loop magnet speed
in
machines number is tracking used
constant. synchronism control reluctance
V
orVolts/Hertz
motors
synch.
Permanent
the this
is for c
of PM control is betweenmotors
simplest
maintained generated are of the v/f: stator
DB
supplyAC30
10
or machinesmachine in
connectedmultiple magnet or )
Control the fibercontrol voltage
corresponding inverter
PWM
3-phase Rectifier
method loop
openthe
proportional PM for
drives, required.
motors TOaintain with
spinning,
applications of
inmotors
synchronous particularly
parallel ismultiplefrequency
where
functtogenerionator to yolts/Hz
speed
textile Drives
State
Solid

the the to suchcose Synchronoug

popular and to
coma the
frequeny sallk
as
fiber speA in
paper

lig. torque point

/Rdizero.efreerisctinigon,TheFig.5.9 /duringdamperthrough SThejmc/hronOusMoDtriv.es
5.9, load by
O
T In indicates the front
Volts/Hz is toFig.5.9, oror a
case
transient inverterend
gradually point Figure, diode
corresponding line the of
F B A the the normally
rectifier
built
speed assume underdamping
behaviour
winding
Constant
regiontorque motoring
response. voltage-fed
-Ter +Ter increased.slowlymachine
control that to and
E
can phasor mode prevent
!D
increasing initially LC
characteristics filter.
PWM
be r
easily thdiagram
e
as
weakening welloscillatory The
region Field the load
Motoring
torque
envelope stand-still
frequency. started
from is as
Speed,
(oe) machine
in
Vs
torque shown the is

torque-speed envelope
Braking
torque braking supplied
T, in is
At Fig.5.10. on mode
this the
from
plane point, machine in the
condition the
the utility
forward
shaft with 5.11
at a
 rofC'onirollersfor Drives 6.15

Ejuation(6.26))simplified as
1.35 V
K, = VCm VV (6.27)

CONverter is
The
&indication ofitstime
sampled-data
delay. Once a thyristor is switched
interval gives an
system. The samplingon, its triggering angle
cannotbechanged.

Thenewtriggering delay can be implemented with the succeeding thyristor gating-

meanwhile the delay
the
angle can be corrected and will be ready for
nlementation within 60°, i.e., the angle betvween twothyristor's gating.
Theddellay may be treated as one half of this interval: in time, it is equal to
60/2
1, 360 x (Time period of one cycle)
1
12 S (6.28)
Js
S a60Hz supply-voltage source, note that the time delay is equal to 1.383 ms.
Converter is then modelled with its gain and time delay as
G($) = K, e-T,s (6.29)
Fnation (6.29) can be approximated as a first-order time lag as
K,
G,(s) = (6.30)
(1 +s T,)
E43. Current and Speed Controlers
The current and speed controllers are of proportional-integral type.
K, (1 +s T) .. (6.31)
Current controller transfer function G,(s) s T
K,(1 +sT)
Speed controller transfer function G,() sT,
...
(6.32)
K= Current controller gain ; K, =Speed controller gain.
=Current controller time constant; T, = Speed controller time constant
4. Current Feedback
gan of thecurrent feedback is H, . No filtering isrequired in mostcases.
 wnfControllersfor Drives 6.31

(1 +s Tm) sT, (6.53)

K, =Gain of speed controller.
K, = Induced-e.m.f voltage
V/(rad/sec).
T. = Time constant of the speed filter, s.
T. = Time constant of the speed constant, s.
B, = Total friction coefficient N.m/(rad/sec).
T. = Mechanical time constant, s.
Approximating T, =T, +T , the gain function of the speed loop is
K (1 +s T)
GH,($) = ... (6.54)
s² (1 +s T4)
where K = K,K, H, /B, T (6.55)

Theclosed loop transfer function of the speed to its command is

K, K, (1 +s T)
m(S) 1 T,
K, K,
(6.56)
H
s³ T, +s² ts K, Ky +
T,

CONVERTER SELECTION AND CHARACTERISTICS

Anna University: May 08, May 09, Dec 09, May 10, Dec 13, May 14
Slection Factors

+Rating of the converter.

Power switches usage.
*Motor-load specifications.
sadvantages of Phase-Controlled Converters
More reactive power consumption.
More expensive.
Due to the reactive power consumption, also generate harmonics - which was
nacceptable to power utilities.
6.32
Solid State Drives
6.8.1. Controller Characteristics and Output Power
Let the maximunm current allowed in the notor be may: The rms
value of the
current in the power device is
max
= 0.577I,max
V3 (6.51)
The voltage rating is the maximum line to line voltage of the ac mains
V, =V2 v
.(6.
I, is the fundamental rms component of the a.c input current, which is derived e
58)
2\3 V3 V2 L= 0.781max
I = T max T
max
(6.59)

Theoutput power of the converter is given by

Po = V,a I,max
= {135 Vcos a} max

Po = 1.35 V In
max COS
...(6.60)

Neglecting loss in the converter, the input power equals the output powe.
Substituting for max ’
P, = P = 1.35 VImay c0S a.
=
V3 VI,cos a ...(6.61)

where the angle a gives the power factor angle.

...(6.62)
Reactive power Q, = V3 VI, sina = 1.35 VIma Sin c
The input apparent power is
PyA = VP,)2+(Q)2
...
(6.63)
PyA = 1.35 VImr = y3 VI,