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I. Introduction
Induction motors have been used in the past mainly in applications requiring a constant speed because
conventional methods of their speed control have either been expensive or highly efficient. Variable speed
applications have been dominated by dc drives. Availability of thyristors, power transistors, and IGBTs has
allowed the development of variable speed induction motor drives. The main drawback of dc motors is the
presence of commutator and brushes, which require frequent maintenance and make them unsuitable for
explosive and dirty environments. Induction motors, particularly squirrel-cage type are rugged, cheaper, lighter,
smaller, more efficient, require lower maintenance and can operate in explosive and dirty environments.
Although variable speed induction motor drives are generally expensive than dc drives, because of other
advantages, they are preferred in all most all the applications. All most all the industrial drives, fans, blowers,
cranes, conveyors, traction, under ground and under water installations are some of the applications of variable
speed induction motor drives.
AC Drives 1
load. Speed of a high-slip
slip induction motor can be reduced by an amount which is sufficient for the speed
control. Range of speed control is more with fan and pump type load. For constant demand torque loads, range
of speed control is small. In an AC regulator, V1 is reduced/varied (by varying triggering delay angle of static
switches). Both developed torque and slip (or speed) vary according to nominal Speed Vrs Torque
characteristics (Fig.1).
-----------------------------------------------------------
-------------------------------------------
Motor Speed (rad/s)
Load
torque
Vs=1pu
Vs=0.6pu Vs=0.9pu
Vs=0.75pu
T3’
T3
T5’
T5
Fig. 3 A 3-phase
phase voltage regulator for speed reversible drive
AC Drives 3
Rr
Speed (rad/s)
1.5Rr
3.5Rr
2.5Rr
Torque (N.m)
Fig. 5 Speed vrs Torque characteristics with variable rotor resistance
Starting
Resistances
Ld
Vd1
Vd2
AC Drives 4
n = stator to rotor turns ratio of induction motor
m = transformer turns ratio
α = inverter firing delay angle
Vd1 = dc output voltage of diode bridge rectifier
Vd2 = dc side voltage of line commutated inverter
s = slip
Neglecting stator and rotor drops:
3 6 sV 3 6 V
Vd1 = and Vd 2 = − cos α
π n π m
Since voltage drop across dc link inductor is negligible, Vd1 = Vd2
n
Hence, s = − cos α
m
By varying inverter delay angle α , inverter counter emf Vd2 is varied. Slip power feedback to ac mains is thus
varied, and speed is controlled. Theoretical maximum value of α is 180º. But it is restricted to 165º for safe
commutation of inverter thyristors. At start, α is maximum, and reduced to increase the speed. Maximum speed
is obtained at α =90º, which is synchronous speed. In (static) rotor resistance control scheme, slip power is
dissipated in external resistance. So, efficiency is low. But in this slip power recovery scheme, slip power is fed
back to ac mains. Hence, high efficiency is obtained, while speed is also variable.
AC Drives 5
Torque (N.m)
Speed (rad/s)
Fig. 7 Torque vrs. Speed characteristics with variable frequency
Phase Voltage
Controlled Source
Converter Inverter
Fig. 9 VSI controlled induction motor drive with front end phase controlled converter
DC
supply Chopper VSI
Fig. 10 VSI controlled induction motor drive with front end chopper
AC Drives 6
A cyclo-converter
converter is also used to provide variable frequency supply for induction motor control. But harmonic
content in output increases with frequenc
frequency.
y. So, maximum output frequency is limited to 40% of source
frequency. Thus, maximum speed is restricted to 40% of synchronous speed at mains frequency. A cyclo- cyclo
converter circuit is shown in Fig.11. Since cyclo
cyclo-converter
converter uses large number of thyristors, it is used for high
power and low speed drives.
Fully
controlled
converter CSI
AC Drives 7
VIII. Conclusion
Evolution of semiconductor devices has changed the scenario of induction motor control. Static control
techniques of induction motor using voltage controller, VSI, CSI and Cyclo-converter have improved
the performances of slip-ring and squirrel cage induction motors to a great extent. Modern drives using
these techniques have become obvious choice for all industrial drives, and all adjustable speed drive
applications. Static rotor resistance control scheme and static slip power recovery scheme have also
have offered many advantages for slip ring induction machines, for which slip rings are no more
handicap for this type of induction machines. Due to high efficiency, slip power control of wound rotor
induction machines is being a very good option for many high power industrial drives, and for wind
power applications (in generator control). With advent of high switching frequency and low switching
loss semiconductor switches, vector control and direct torque control are being employed to improve
the performance of induction machine further. Vector controlled and direct torque controlled induction
machines have become very common, where performance and precision are important.
Reference Books:
[1] Fundamentals of Electrical Drives, G. K. Dubey, Narosa Publishing House
[2] Modern Power Electronics and A.C. Drives, B. K. Bose, Pearson education
[3] Analysis of Electric Machinery, P. C. Krause, McGraw Hill
[4] Power Semiconductor Controlled Drives, G. K. Dubey, Prentice-Hall International
[5] Control of Electrical drives, W. Leonhard, Narosa Publishing House
AC Drives 8