Zagazig University
Faculty of Engineering
Electrical Power & Machines Department
Electric Drive Systems
LECTURE NO. 10
By
Prof .Dr. Mohamed A. Enany
Chapter (3)
Induction Motor Drives
Chapter (3) Induction Motor Drives
Speed Control of Induction Motor
• The speed control of three-phase induction motor from stator
side are classified as: 3R ' V
2
Te r s
1. Number of stator poles control ss Rr'
2
Rs X ls X lr
2
s
2. Stator voltage control
2 4
3. Supply frequency control s f
P P
• The speed controls of three-phase induction motor from rotor
side are further classified as:
1. Rotor resistance control.
2. Rotor injected voltage / slip energy recovery.
3. Cascade control method.
Chapter (3) Induction Motor Drives
Slip Energy Recovery
• When the speed control of three-phase induction motor is
done by adding resistance in rotor circuit, some part of
power called, the slip power is lost as I 2 R losses. Therefore,
the efficiency of the motor is reduced by this method of
speed control
• This slip power loss can be recovered and supplied back in
order to improve the overall efficiency of motor and this
scheme of recovering the power is called slip power recovery
scheme
Chapter (3) Induction Motor Drives
Slip Energy Recovery
• This method of speed control is used in the large power
applications where the variation of speed over a wide range
involves a large amount of slip power.
• The two well known types of converter use the slip energy
recovery technique are:
1. Static Kramer drive: only allows operation at sub-
synchronous speed.
2. Static Scherbius drive: allows operation above and below
synchronous speed.
Chapter (3) Induction Motor Drives
Slip Energy Recovery
Static Kramer drive
Static Scherbius drive
Chapter (3) Induction Motor Drives
Static Kramer Drive
• A static Kramer drive is a method to obtain an injected voltage that is in
phase with the rotor current.
• The voltage at the slip rings is forced to be in phase with the rotor
currents by the diode rectifier.
• The magnitude of the slip ring voltage is set by the DC link voltage,
which is in turn set by the inverter connected back to the AC supply.
Chapter (3) Induction Motor Drives
Static Kramer Drive
Chapter (3) Induction Motor Drives
Static Kramer Drive
3 3
Vd
3 3
Er 2 Vdc Vc 2 cos
Er s Vs nm Vc Vs nc
3 3 3 3
Vd 2 s Vs nm Vdc 2 Vs nc cos
Chapter (3) Induction Motor Drives
Static Kramer Drive
3 3 3 3
2 s Vs nm 2 Vs nc cos
nc
s cos
nm
nc
N (1 s ) N s (1 cos ) N s
nm
Chapter (3) Induction Motor Drives
Static Kramer Drive
nc
N (1 cos ) N s
nm
90 o N N s
90 o N N s
Chapter (3) Induction Motor Drives
Example (1)
A three phase, 6-pole, 460 V, 60 Hz, star-connected, wound rotor induction
motor, with rotor to stator turns ratio nm = Nr / Ns = 0.9. The speed of the
motor is controlled by using a Static Kramer Drive. The turn ratio of the
converter ac voltage to supply voltage is nc = Na / Nb = 0.4. The load torque,
which is proportional to speed squared, is 750 N.m at 1175 rpm. If the
desired speed is 1050 rpm, determine the delay angle, 𝛼 of the converter
required for this speed and power fed back to the supply. (neglect motor
parameters)
Chapter (3) Induction Motor Drives
Example (1)
A three phase, 6-pole, 460 V, 60 Hz, star-connected, wound rotor induction
motor, with rotor to stator turns ratio nm = Nr / Ns = 0.9. The speed of the
motor is controlled by using a Static Kramer Drive. The turn ratio of the
converter ac voltage to supply voltage is nc = Na / Nb = 0.4. The load torque,
which is proportional to speed squared, is 750 N.m at 1175 rpm. If the
desired speed is 1050 rpm, determine the delay angle, 𝛼 of the converter
required for this speed and power fed back to the supply. (neglect motor
parameters)
1050 2
at N 1050 rpm TL 750( ) 598.9 N .m
1175
N s N 1200 1050
s 0.125
Ns 1200
nc 0 .4
s cos 0.125 cos 106.34 o
nm 0 .9
Chapter (3) Induction Motor Drives
Example (1)
A three phase, 6-pole, 460 V, 60 Hz, star-connected, wound rotor induction
motor, with rotor to stator turns ratio nm = Nr / Ns = 0.9. The speed of the
motor is controlled by using a Static Kramer Drive. The turn ratio of the
converter ac voltage to supply voltage is nc = Na / Nb = 0.4. The load torque,
which is proportional to speed squared, is 750 N.m at 1175 rpm. If the
desired speed is 1050 rpm, determine the delay angle, 𝛼 of the converter
required for this speed and power fed back to the supply. (neglect motor
parameters)
Power back to source Vd I d
Pg Pcur Vd I d
As Prot o Td TL Td TL
s s s s s
s sTL 3 3
So I d , but Vd 2 s Vs nm
Vd
460 4f
Vs , nm 0.9, s 125.6 rad / s
3 P
Chapter (3) Induction Motor Drives
Example (1)
A three phase, 6-pole, 460 V, 60 Hz, star-connected, wound rotor induction
motor, with rotor to stator turns ratio nm = Nr / Ns = 0.9. The speed of the
motor is controlled by using a Static Kramer Drive. The turn ratio of the
converter ac voltage to supply voltage is nc = Na / Nb = 0.4. The load torque,
which is proportional to speed squared, is 750 N.m at 1175 rpm. If the
desired speed is 1050 rpm, determine the delay angle, 𝛼 of the converter
required for this speed and power fed back to the supply. (neglect motor
parameters)
460
Vs , nm 0.9, s 125.6 rad / s, TL 598.9 N .m, s 0.125
3
3 3 3 3 460
Vd 2 s Vs nm 2 (0.125) 0.9 69.9 V
3
s sTL 0.125(125.6)598.9
So I d 134.5A
Vd 69.9
Power back to source Vd I d 9402.73W
Chapter (3) Induction Motor Drives
Static Scherbius Drive
• A Static Scherbius drive is another technique that employs the principle
of slip power returns to the supply. In this system the bridge rectifier in
static kramer drive is replaced by cycloconverter (or by three-phase duel
converter).
Chapter (3) Induction Motor Drives
Kramer and Schrebius drives
• For limited-range speed control applications, where the slip power is only
a fraction of the total power rating of the machine, Kramer and
Schrebius drives (slip-power recovery drives) have been 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
Chapter (3) Induction Motor Drives
Vector Control Methods
• All previous methods are Scalar control methods as involve controlling
the magnitude of voltage or frequency of supply fed to the motor and
based on principle of a way that the air gap flux magnitude is always
maintained at the desired value at the steady-state.
• Disadvantages of scalar control
1- the stator currents are not directly controlled.
2- Not suitable for applications requiring high dynamics [1].
3- the speed can not control as load change (need speed sensor )
4- the torque cannot be controlled. (need torque sensor lead high cost)
5- can not control over a wide speed range (used only in fans ,pumps)
Chapter (3) Induction Motor Drives
Vector Control Methods
• Vector control, is a variable-frequency drive (VFD) control method in
which the stator currents of a three-phase AC electric motor are
identified as two orthogonal components that can be visualized with
a vector. One component defines the magnetic flux of the motor, the
other the torque.
• As in DC motor, where the motor’s field flux and armature MMF are
always orthogonal to each other, independent of the speed
• Types ; Field oriented control (FOC),Direct Torque control (DTC)
• Advantages of Vector control;
1- the stator currents are directly controlled.
2- suitable for applications requiring high dynamics
3- the speed and the torque is precise controlled with a wide speed range
