Volume 3, Issue 8, August – 2018 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Speed Control of Induction Motors

Onah A. J.
Michael Okpara University of Agriculture,
Umudike, Nigeria

Abstract:- The electric drive systems used in industrial Thus variable frequency control is employed to achieve
applications are increasingly required to meet the higher efficient motor breaking and speed reversal, and to reduce
performance and reliability requirement. Today about the starting current.
90% of all industrial motor applications are induction
motors because they are simple in design, easy to II. MOTOR EQUIVALENT CIRCUITS
maintain, and less costly than other types of motors. The
load on induction motor is not constant, and varies as The rotor bars are shorted to represent squirrel cage
per load requirement. So speed must change as per load. induction motor, or it is wound rotor with shorted terminals.
The speed of induction motors can be controlled by the Three-phase squirrel cage induction motors in particular is
stator frequency (fs) and voltage (Vs). Although there are by far the most representative of the rotating electrical
different methods of speed control of induction motors, machines used in the present industrial driven equipment
Vs because of its roughness and versatility [7]. These machines
constant control is investigated in this paper. Of are structurally very robust and are a primary source of
fs motive power and speed control where dc machines cannot
course the most preferred technique in most variable be used [8]. The equivalent circuit is shown in Fig.1.
Vs
speed induction motor drive applications is the
fs Rs jX ls jX lr'
Is A I r'
Vs +
technique. In constant , we can vary the supply
fs
voltage as well as the supply frequency such that the
Vs Rr'
ratio remains constant, and the flux remains Vs jX m
fs s
constant too.

Keywords:– induction motor, speed control, frequency, -

voltage, flux. B
I. INTRODUCTION Fig 1:- Equivalent circuit
Demand-side energy management is one of the many
 R 
ways to cope with the increasing demand for energy in jX m  r  jX lr 
industrialized countries. Improving the efficiency of
Z in  Rs  jX s   s 
electrical motors and, more specifically, the induction Rr
motors is one aspect where there is a significant potential for  j  X lr  X m 
energy savings due to the large number of electrical motors s (1)
in the electrical power system of industrialized and
developing countries [1]. Induction motors are widely used Vs
in many residential, commercial, industrial and utility Is 
applications. This is because the motor has low Z in (2)
manufacturing costs, wide speed range, high efficiency and
robustness [2]. Motor-driven systems use two-thirds of the jX m I s
total electricity consumed by industry [3]. Induction motors, I r 
Rr
both three- and single-phase, are used extensively for  j  X lr  X m 
adjustable-speed drives applications. Actually, induction s (3)
machines dominate the scene of adjustable-speed pump
drives because of the cost-driven nature of such a motor Alternatively, we consider The venin equivalent circuit
application [4]. They consume a large percentage of the at terminal AB
electrical demands in industrialized countries [5]. The speed
of induction motors can be controlled by varying fs, which
controls the synchronous speed (and, hence, the motor
speed, if the slip is kept small), keeping the flux ϕ constant
by varying Vs in a linear proportion to fs [6]. So, we can get
different operating zones for various speeds and torques.

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When we subtract rotor copper loss, Prcu  3I r Rr

'2 '
Vs
VTH  jX m x 
Rs  j  X ls  X m  we get the mechanical output power Pm given by

Vs X m X  ' '
90 o  tan 1  s  Pm  Pa  Prcu  3I r'2 Rr  3I r'2 Rr'  3I r'2 Rr 1  s 
Rs2  X s  Rs  s s (10)
(4)
Synchronous speed is given by
where X s  X ls  X m
2 2 4 f
jX m Rs  jX ls  s    2 f  (11)
Z TH   p p p
Rs  j X ls  X m 
X m2 Rs jX m Rs2  X s X ls  Where f is the stator supply frequency and p is number
 of poles.
Rs2  X s2 Rs2  X s2 (5) If the motor speed is ωm, then ωm can be derived from
the definition of slip s as
Z TH  Rt  jX t
(6) 2
  m
where p
s
 
2
X m2 Rs X m Rs2  X s X ls  (12)
Rt  2 ; Xt  p
Rs  X s2 Rs2  X s2 (7)
 1  s 
2
m 
p (13)
The simplified equivalent circuit referred to the stator The torque can be estimated using measured stator
is shown in Fig. 2. currents and estimated stator flux [9]. Over the years,
considerable technology advances have been made in the
Rt jX t I r' jX lr' motor and drive areas resulting in major improvements in
+ their performance [10].

Mechanical Torque is

VTH  Vt Rr' Rr'

s Pm
3I r'2 1  s  3P R'
Tm   s  I r' 2 r
m 2
 s 1  s  2 s s
p (14)
-
Fig 2:- Simplified equivalent circuit referred to the stator 3P Rr' Vt 2
Tm 
2 s s  Rr' 
2

I 
' Vt  Rt  
  X t  X lr' 2

r
2  s  (15)
 Rr' 

 Rt    X t  X lr' 2

Minimum/maximum torque Tm max/min is obtained by

 s 
(8) differentiating Tm with respect to slip s to obtain slip at
which Tm is maximum or minimum by equating the
differential to zero:
The airgap power is the power dissipated in fictitious rotor
 
Rr'  
resistance
s d d  3P Rr' Vt 2 
Tm   0
ds ds 2 s s  Rr' 
2

Pa  3I r'2
Rr' 


 Rt    X t  X lr' 
2

s   s  
(9)

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ISSN No:-2456-2165

 
Rr'2 2
The reverse characteristic is obtained by the reversal of
2
 Rt2  X t  X lr'  0 the phase sequence of the motor terminals [11].
s
Rr' III. VARIABLE FREQUENCY CONTROL
S max/ min  

Rt2  X t  X lr'
2
 (16)
A. Constant Flux Control
Equation (12) shows that the synchronous speed is
directly proportional to the supply frequency. Therefore the
Positive sign gives Tmax and negative sign gives Tmin. synchronous speed and the motor speed can be controlled
below and above the normal full-load speed by changing the
Substituting Smax and Smin in the equation for torque gives supply frequency. If the stator drop is neglected the voltage
E induced in the stator is equal to the supply voltage Vs. It
3P Vt 2 can be shown to be:
Tmax/ min 
4 s R  R 2  X  X '
t t t lr  
2

(17) E  V  k f (19)

Plus sign gives Tmax and negative sign gives Tmin where k = constant, and ϕ =air-gap flux

When ωm = 0, i.e, s=1, we have starting torque Tms as From equation (19), any reduction in f without a
change in Vs causes an increase in ϕ which will saturate the
motor, leading to increase in magnetizing current, distortion
3P ' Vt 2
Tm  Rr of line current and voltage, core loss, stator copper loss, and
2 s  2
 
Rt  Rr'  X t  X lr'  2
(18)
production of high-pitched noise. However, decrease of ϕ
should be avoided in order to retain the torque capability of
the motor. Therefore, the variable frequency control below
At synchronous speed, i.e., s = 0, and Tm = 0 as shown the rated frequency is generally carried out by reducing the
in Fig. 3 and Fig. 4 machine phase voltage along with the frequency in such a
manner that the flux is maintained constant.
Torque [N.m]
In constant flux control, the magnetizing current is
Forward Reverse kept constant from zero speed to rated speed and then rotor
Forward
motoring plugging current or mechanical power is maintained constant above
regeneration
rated speed. Fig. 5 is used for this analysis.
s=0 s=1
Slip (s)
Is Rs aX ls aX lr I r
+
+
Reverse I ms
characteristics

Vs Ea=aEar aX m Rr
s

Fig 3:- Torque-slip characteristics - -

Fig 5:- Equivalent circuit for constant flux control

Torque [N.m] Torque [N.m]
f
a
fr (20)
s=1 s=0 speed [rad/s]
where fr is the rated frequency. The motor reactances,
X ls , X lr and X m are measured at rated frequency (fr). Ear
is rated induced emf.

aEar E
I ms   ar (21)
jaX m jX m

Fig 4:- Torque-speed characteristics

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Substituting in T we have that
E
Ims is therefore kept constant at its rated value I ms  ar
Xm 3P E ar
2
Tmax/ min   Constant (26)
Under this condition, rotor current is 4 s X lr

aE ar E ar E ar If we take many values of a between 0 and 1.0 (0 ≤ a ≤

I r    1.0), the nature of speed-torque curves for the variable
Rr Rr
 Rr 
2
 jaX lr  jX lr frequency operation at a constant flux are shown in Fig. 6,
   X lr
2
s as both for the motoring and braking operations. Thus the
 as  (22) torque-speed characteristics are approximately parallel
straight lines.
The torque becomes

1 s  
3I r 2   Rr Torque [N.m]
 s  3P Rr 2
T  I r
2 s as
a s 1  s 
2
P (23)

3P Rr E ar2 ωm [rad/s]

T
2 s as  Rr  2
   X lr
2

 
as (24)

Slip is defined as Tmin

P
a s  m
s 2 Fig 6:- Speed-torque curves with variable frequency control-
a s constant flux control.

P For a>1, rotor current is maintained at its rated value, that is

as s  a s   m   sl  slip speed
2 E ar
I r   Constant, (27)
(as) is kept constant from zero frequency to rated frequency. Rr
 jaX lr
This keeps both I r and T constant from zero speed to s
rated speed or zero frequency to rated frequency or from a=0
fr Pm is constant since I r is constant and s is constant.
to a=1=
fr Pm
Tm 
If (as) is kept constant then since ωs = constant, slip m (28)
speed in rad/s is also kept constant.
Since Pm is constant, Tm decreases linearly with a or ωm
Slip at which maximum/minimum torque occurs is given by

Pm  3I r
2 1  s  R 
  s
r

  (29)
d 3P Rr 2
3P Rr
  0
dT E ar E 2

  Tm  ar
ds ds 2 s as  Rr  2
2 s s  Rr  2
    X lr     aX lr 
2 2
  as    s  (30)

Rr For maximum torque

s min/ max  
alX lr (25)

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  where,
 
dTm d  3P Rr E ar2 0 Vs Vsr
  k
ds 
ds 2 s s  Rr  2  fs f sr
    X lr 
2

  s   Vsr is rated stator terminal voltage per phase, and fsr is rated
stator frequency.
Rr
s V = aVsr is applied to the stator at frequency f = afr where 0
aX lr (31) ≤a≤1

Thus, aVsr
I r  (35)
R 
2
2

 Rs  r   a  X ls  X lr 
3P E 2 2
Tmax/ min   ar

4 s aX lr (32)
 s 

and slip is always close to the rated value. Above base Air-gap power,
speed, Ear is kept constant. In most induction machines,
Rr
Rr Pa  3I r 2 (36)
 aX lr . s
s
Mechanical power,
sE
I r  ar
Rr Rr
(33) Pm  3I r 2 1  s  (37)
s
3P Rr s 2 E ar2 3P sE ar2
Tm   Motor speed,
2 s s Rr 2 2 s Rr
(34)
a 1  s 
2
m  (38)
p
Vs Developed Torque,
B. Constant Control
fs
Pm 3 p Rr Vsr2
Constant flux control is difficult to implement because Tm   (39)
m 2 as  Rs Rr  2
it is not feasible to accurately monitor the flux (or Im) and      X ls  X lr 
2

keep it constant. Therefore in the field, practical methods are  a as 

Vs
used for field control. One of the methods is to keep
fs The typical torque-speed characteristics are shown in
Fig. 8. As the frequency is reduced, a decreases and the slip
Vs for maximum torque increases. It can be observed that the
constant at the rated value and we call this constant
fs maximum torque (Tmax) decreases as a or ωm decreases
drive. The equivalent circuit used for analysis of this drive is while minimum torque (Tmin) increase with decrease in a or
shown in Fig. 7. ωm. By varying both the voltage and frequency, the torque
and speed can be controlled. The voltage at variable
Is Rs jaX ls jaX lr Ir
frequency can be obtained from three-phase inverters or
cycloconverters. The cycloconverters are used in very large
power applications, such as locomotives and cement mills,
Im where the frequency requirement is one-half or one-third of
the line frequency [10].
aVsr Rr
jaX m
s

Fig 7:- Per phase approximate equivalent circuit referred to

the stator

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Tm
T Pm

a or ωm

Ir

a
Fig 8:- Speed-torque curves with variable frequency control
Vs
– constant . Fig 9:- Plots of T, Pm, V, and Ir versus per unit frequency a
fs
For a ≥ 1 Vs must be kept constant at Vsr which is the
The maximum or minimum torque occurs at slip given by rated terminal voltage to prevent insulation damage. This
implies keeping operation constant at rated current or power
dTm to prevent overheating. For a >1, the equivalent circuit is
0 (40) shown in Fig. 10.
ds

  Is Rs jaX ls jaX lr Ir

 R r 
d  as 0 Im
ds   R s R r  2 
     X ls  X lr  
2
Rr
  a as   Vsr jaX m
s
Thus

R r
s max/ min  a (41) Fig 10:- per phase approximate equivalent circuit referred to
2 the stator
 R s    X  X  2
 a
 
ls lr
This gives Tm as

3p Vsr2 3 p Rr 2
And so T  (42) Tm  I r (43)
max/ min
4 R R 
2 2 as
  s    X ls  X lr 
s 2

a  a  3 p Rr Vsr2
Tm 
2 as  Rr 
2
Rs
  X ls  X lr  , making Tmax  s    a  X ls  X lr 
2 2
At low frequencies, R
a  s 
(44)
approach zero as a approaches zero and Tmin approaches ∞
as a approaches zero. This is different from the constant flux The torque-speed characteristics for various values of
drive where Tmin  Tmax for all as. Compare Fig. 6 and a are shown in Fig. 11.
Fig. 8.The variation of various variables such as developed
torque (T), power (Pm), terminal voltage (V), and rotor
current (Ir) with per unit frequency a are shown in shown in
Fig. 9.

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IV. CONCLUSION
Torque [N.m]

In this paper, the speed control of squirrel-cage

induction motor has been investigated. If the ratio of voltage
Vs
to frequency is kept constant at its rated value, the
fs
flux remains constant, and the maximum torque, which is
independent of frequency, can be maintained approximately
constant. However at low frequencies, the air-gap flux is
reduced due to the drop in the stator impedance and the ratio
has to be increased to maintain the torque level. This is
Vs
known as or volts/hertz control. It is the most popular
fs
method of induction motor speed control.
ωm [rad/s]
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ISSN No:-2456-2165
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