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Electric Drives: Understanding Basics: Ned Mohan
Electric Drives: Understanding Basics: Ned Mohan
Electric Drives:
Understanding Basics
Ned Mohan
Ned Mohan is Oscar A. Schott Professor of Power Electronics in the Department of Electrical
and Computer Engineering at the University of Minnesota, where he has been teaching for 31
years. He has written five textbooks; one of them is translated into several languages.
He is a Fellow of the IEEE. He received the Distinguished Teaching Award of the Institute of
Technology, and the Morse-Alumni Distinguished Teaching Award conferred by the
University of Minnesota.
Ned earned the following degrees: Indian Institute of Technology, Electrical Engineering, B.
Tech. 1967; University of New Brunswick (Canada), Electrical Engineering, MS 1969;
University of Wisconsin - Madison, Nuclear Engineering, MS 1972 ; University of Wisconsin Madison, Electrical Engineering, Ph.D. 1973; University of Wisconsin Madison, Electrical
Engineering, Post-doc 1973-1975.
Course Outline
This course will focus on the basics and analyze induction and permanent-magnet ac
machines in a way that clearly explains how these machines operate on a physical basis, and
hence how they ought to be controlled for optimum performance.
After completing this course you should be able to develop an understanding of:
Gained a basic understanding about the steady state operation of electric drives
Course Transcript
Course Transcript
and there are three of them and each switching power pole on an average basis can be
represented by an ideal transformer with controllable turns ratios, so this makes the
description of the power electronics very easy and that is covered in a separate course at the
University of Minnesota called Switch Mode Power Electronics and there is a textbook again
for that which we use it in this course.
Introduction to AC Machines
Now coming back to machines there are primarily two types of machines, DC machines and
AC machines and we will concentrate in module 1 and 2 only on AC machines and these AC
machines can be further categorized into induction machines and permanent magnet
brushless machines quite often called PMAC machines, sometimes they are also called
brushless DC machines.
Course Transcript
phase A axis and similarly for phase B and phase C they are respectively oriented along their
magnetic axis and the amplitude of the space vector is proportional to the current in that
phase. So this space vector is a very simple concept and a very physical concept, its telling
us is that wherever this sinusoidal distribution is peaking thats where we orient the space
vector and the amplitude of that distribution then it determines the length of that space vector.
So now we have three of these space vectors representing each of these three phases and
to find the combined or the resultant of all these three which is represented by a subscript S
we will vectorally add them as shown here in the slide and we can see here is that then this
resultant stator space vector is made up of individual phase space vectors added vectorally.
Physical interpretation
Now we can also give a physical interpretation to this mathematical definition of current
space vector for the stator and that we can do as shown here in the slide by putting a
hypothetical winding which is again sinusoidally distributed and has the same number of
turns as any of the other phase windings, but in this hypothetical winding the current flowing
is amplitude of the stator current space vector which is
oriented at the same angle as the stator current space vector and the advantage of doing this
is that when we come to calculate the torque on all these three phase windings and then we
will have to add that torque rather than doing that we can just calculate the torque on the
single hypothetical winding representing all three phases.
Course Transcript
would be along the magnetic axis of phase A and from there on it will keep on rotating at the
synchronous speed which is related to the frequency of excitation of these three currents.
Principle of Operation
Now, in order to produce torque from this machine what we need to do is to place this stator
current space vector 90 degrees ahead of the rotor flux density vector by 90 degrees in the
direction of rotation as shown here. Then we can make use of this physical interpretation of
what the stator current space vector means. It means is that we have a hypothetical winding.
This hypothetical winding is sinusoidally distributed and the current in that hypothetical
winding is Is , which is producing the same MMF as being produced by the individual phase
currents ia, ib, and ic following through their respective windings.
IEEE Expert Now Electric Drives: Understanding Basics Transcript pg. 8 / 17
Course Transcript
Torque Calculation
To calculate torque we can assume that angle m in the previous slide to be zero just to make
it simpler for us, it makes no difference and we can see that the rotor current flux density
space vector is horizontally located over here and is is perpendicular so, we can easily
calculate the torque produced in this machine, but since we have a permanent magnet rotor it
will be much easier to calculate the torque and the stator windings rather than on the rotor
and that is what is done here. We take some angle and in this differential angle d we have
certain number of conductors and these conductors are of length L and the current flowing in
all these conductors is
dropping off cosinusoidally from the horizontal axis. So we multiply all those and the radius R
would give us the differential torque and then we can integrate that from /2 to /2 and by
symmetry multiplied by 2 and we can get the total torque that is generated on the stator and
knowing that the torque is equal and opposite on the rotor, we can get the torque being
produced in this machine and that is given by the expression at the bottom here which shows
that this torque is proportional to the amplitude of the stator current space vector x a constant
because all these quantities within the brackets are constant including the flux being
generated by the power magnets.
Course Transcript
Structure
We should briefly discuss the structure of these machines, again we have a sinusoidally
distributed three-phase windings on the stator here and the rotor consists of a squirrel cage
that is bars which are placed along the periphery of the rotor and these bars are shorted on
both sides by end rings as shown here.
Course Transcript
speed. So as a consequence there will be induced voltages in the rotor bars and those are
shown here in this diagram lets say at time t=0.
Rotor MMF
So initially if we can assume that the rotor circuit has no leakage inductance then at time t=0
the top and the bottom rotor conductors are cutting the maximum amount of flux and
therefore they have maximum induced voltages and also therefore the maximum currents
that is the meaning of larger circles at the top and the bottom rotor conductors and
progressively smaller radii for the other conductors. So again we have a situation where the
current is distributed sinusoidally in these rotor bars and all these rotor currents combined
flowing through these bars would produce MMF and therefore the flux which is shown here,
the result would be that compensating currents would have to be drawn from the three stator
windings because we started out by saying that flux density distribution air gap is completely
dictated by the applied voltages and therefore this flux density distribution cannot change
because the rotor currents and if that is the case then equal and opposite MMF has to be
produced by the additional currents those are drawn from the three stator windings to nullify
the rotor produced MMF and that is shown in this space vector diagram on the right here
which shows that due to the rotor bar currents we have a space vector and due to the
additional currents those are drawn b the three-phase stator windings, this rotor MMF space
vector is nullified and these additional currents are shown by this space vector IR prime and
therefore the resultant stator current would be the vector sum of ir prime and the magnetizing
current IMS.
Course Transcript
Generator Mode
This physical description also shows how this machine which is so far described as a motor
can go into a generator mode. If you are to rotate this rotor at a speed faster than the
synchronous speed then the direction of voltages and currents would reverse and as a
consequence the torque would be in a direction opposite to the direction of rotation and thats
a generator mode of operation.
Course Transcript
an equivalent resistance and that equivalent resistance depends upon the rotor bar
resistance and the ratio of the synchronous speed to slip speed.
Operating
To appreciate how this machine can keep on operating at very high efficiency even at low
speeds we will look at the torque-speed characteristics for different applied frequencies, but
maintaining the air gap flux amplitude constant at its rated value. And what we see here is
that we have parallel lines for different frequencies where F1, F2, and F3 are progressively
Course Transcript
smaller compared to the rated frequency and what this slide is showing is that for any torque
that we are demanding from this machine we can operate it at any speed keeping the slip
speed small.
Maintaining
In the previous slide we were showing the torque-speed characteristics keeping the air gap
flux density constant and what that implies is that as we change the frequency we are to
change the amplitude of applied voltages to the three-stator windings and that can be
computed by looking at this phasor diagram in this slide here.
Adjusting Voltage
So as a rough estimate in order to keep the air gap flux density constant what one should do
is have a somewhat of a linear relationship between the amplitude of the applied voltages
and the frequency at which these voltages are being applied, but if one wants to be more
accurate we can see here that depending upon the torque on the machine the voltage being
applied may be larger or smaller compared to this linear V/F relationship.
Glossary
Space Vectors
At a given time, these represent sinusoidal distribution, for example of the flux density in the
air gap, with the vector orientated along the axis of the distribution peak, and the length
representing the amplitude of the distribution.
AC Motors
Unlike dc motors, ac motors require alternating (ac) voltages and currents.
Synchronous speed
It is the speed at which the flux-density distribution, produced by the stator-applied voltages
and currents, rotates in the air gap.
Slip speed
It is the difference between the synchronous speed and the rotor speed.
Slip frequency
It is the frequency of the voltage and currents induced in the rotor circuit of an induction
motor.
Glossary
Generator Mode
In this mode, an electric machine behaves as a generator where the electromagnetic torque
is developed in a direction opposite to the speed of rotation.
Voltage Boost
In ac motor drives operating at adjustable speeds, in order to maintain the air gap flux density
at its rated value, a boost in voltage is necessary to overcome the voltage drop across the
stator-winding resistance.
References