THE PAPUA NEW GUINEA UNIVERSITY OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMMUNICATION ENGINEERING

EE462 ADVANCE MACHINES AND DRIVES

Lab #1: MATLAB SIMMULATION LABORATORY
Induction Motor Speed Control

NAME ID #
MERICK AGION 13300599

LECTURER: Dr. MOSES KAVI

Lab Due Date 14/09/2020……………Lab issued Date 27/08/2020

Full Marks
Pre Lab 5
Results 20
Discussions 10
Conclusion 5
Pre-lab
 Induction motor equivalent circuit;

Figure 1: Per-phase equivalent circuit of induction motor at any slip referred to the stator side.

This lab assumes the motor meets most of the design guidelines in section 9.5 of Electric Machinery
and Transformers.

Speed-Torque Characteristic formulas

Torque developed formula

Pd P ag R
 The electromagnetic torque developed by the motor is; T d= = =3 I 22 2
ωm ωs s ωs
2 R2
 ‘The starting torque developed by the motor is; T d s =3 I 2
ωs
E
 The magnitude of the rotor current; I 2= 2 1 2
√ R2 + X 2
V
 The per-phase applied voltage is; I 2= s
√3
120 f
 The synchronous speed of the revolving field is; Ns= ( rpm )
P
4 πf
ω s= (radps )
P

Data

A 460-V, 25-hp, 60-Hz, 4-pole, Y-connected wound-rotor induction motor has the following
impedances in ohms per phase referred to the stator:

R1 = 0.641Ω R2 = 0.332Ω

X1 = 1.106Ω X2 = 0.464Ω
 General MATLAB code of IM Torque-Speed Characteristics Curve

% M-file: torque_speed_curve.m
% M-file create a plot of the torque-speed curve of the
% induction motor of Example 7-5.

% First, initialize the values needed in this program.

r1 = 0.641; % Stator resistance
x1 = 1.106; % Stator reactance
r2 = 0.332; % Rotor resistance
x2 = 0.464; % Rotor reactance
xm = 26.3; % Magnetizing branch reactance
v_phase = 460/sqrt(3); % Phase voltage
n_sync = 1800; % Synchronous speed (r/min)
w_sync = 188.5; % Synchronous speed (rad/s)

% Calculate the Thevenin voltage and impedance from Equations

% 7-41a and 7-43.
j = sqrt(-1);

% Now calculate the torque-speed characteristic for many

% slips between 0 ans 1. Note that the first slip value
% is set to 0.001 instead of exactly 0 to avoid divide by-zero
problems.
s = (0:1:50)/50; % Slip
s(1) = 0.001;
nm = (1 - s)*n_sync; % Mechanical speed

% Calculate torque for original rotor resistance

for ii = 1:51
t_ind(ii) = (3*v_phase^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

% Plot the torque-speed curve

plot(nm,t_ind,'Color','k','Linewidth',2.0)

xlabel('\itn_{m} ,(RPM)','Fontweight','Bold');
ylabel('\tau_{ind}','Fontweight','Bold');
title('Induction motor torque-speed characteristic',...
'Fontweight','Bold');
grid on
hold off
 LAB Task #1: Speed Control by varying the rotor resistance R2

Modifying the MATLAB code by substituting the values of R2 as prescribed, i.e; R2, 1.5R2, 2R2 and
2.5R2, the following MATLAB code is generated:
o MATLAB code

% M-file: torque_speed_curve.m
% M-file create a plot of the torque-speed curve of the
% induction motor of Example 7-5.

% First, initialize the values needed in this program.

r1 = 0.641; % Stator resistance
x1 = 1.106; % Stator reactance
r2 = 0.332; % Rotor resistance
x2 = 0.464; % Rotor reactance
xm = 26.3; % Magnetizing branch reactance
v_phase = 460/sqrt(3); % Phase voltage
n_sync = 1800; % Synchronous speed (r/min)
w_sync = 188.5; % Synchronous speed (rad/s)

% Calculate the Thevenin voltage and impedance from Equations

% 7-41a and 7-43.
j = sqrt(-1);
v1 = v_phase;

% Now calculate the torque-speed characteristic for many

% slips between 0 ans 1. Note that the first slip value
% is set to 0.001 instead of exactly 0 to avoid divide by-zero problems.
s = (0:1:50)/50; % Slip
s(1) = 0.001;
nm = (1 - s)*n_sync; % Mechanical speed

% Calculate torque for original rotor resistance

for ii = 1:51
% t_ind1(ii) = (3*v_th^2*r2/s(ii))/...
% (w_sync*((r_th + r2/s(ii))^2 + (x_th + x2)^2));
t_ind1(ii) = (3*v_phase^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

% Calculate torque for double rotor resistance

for ii = 1:51
t_ind2(ii) = (3*v_phase^2*(1.5*r2)/s(ii))/...
(w_sync*((r1 + (1.5*r2)/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind3(ii) = (3*v_phase^2*(2*r2)/s(ii))/...
(w_sync*((r1 + (2*r2)/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind4(ii) = (3*v_phase^2*(2.5*r2)/s(ii))/...
(w_sync*((r1 + (2.5*r2)/s(ii))^2 + (x1 + x2)^2));
end
 % Plot the torque-speed curve
plot(nm,t_ind1,'Color','r','Linewidth',2.0)
hold on
plot(nm,t_ind2,'Color','b','Linewidth',2.0);
plot(nm,t_ind3,'Color','black','Linewidth',2.0);
plot(nm,t_ind4,'Color','green','Linewidth',2.0);
xlabel('\itn_{m} ,(RPM)','Fontweight','Bold');
ylabel('\tau_{ind}','Fontweight','Bold');
title('Induction motor torque-speed characteristic',...
'Fontweight','Bold');
legend('R_{2}','1.5R_{2}','2.0R_{2}','2.5R_{2}');
grid on
hold off

o Graphs of variable rotor resistance R2

 o Discussion

Observation of torque speed characteristics when varying the rotor resistance, R 2.

1. The mechanical rotor speed and the torque increases as the rotor resistance increases.
When the speed reaches maximum torque, the torque decreases as the rotor approaches
synchronous speed which in this case it is 1800 rpm.
2. The maximum torque remains the same when varying the rotor resistance. That means that
regardless of the value of rotor resistance the maximum torque remains the same.
3. To conclude, the important thing to remember when varying the rotor resistance is that, the
maximum torque developed remains the same for any value of rotor resistance.
Furthermore, the manner of increments of the starting torque decreases as approaching
maximum torque.
LAB Task #2: Speed Control by varying the line voltage V1

o MATLAB code

% M-file: torque_speed_curve.m
% M-file create a plot of the torque-speed curve of the
% induction motor of Example 7-5.

% First, initialize the values needed in this program.

r1 = 0.641; % Stator resistance
x1 = 1.106; % Stator reactance
r2 = 0.332; % Rotor resistance
x2 = 0.464; % Rotor reactance
xm = 26.3; % Magnetizing branch reactance
v_phase = 460/sqrt(3); % Phase voltage
n_sync = 1800; % Synchronous speed (r/min)
w_sync = 188.5; % Synchronous speed (rad/s)

% Calculate the Thevenin voltage and impedance from Equations

% 7-41a and 7-43.
j = sqrt(-1);
v1 = v_phase;

% Now calculate the torque-speed characteristic for many

% slips between 0 ans 1. Note that the first slip value
% is set to 0.001 instead of exactly 0 to avoid divide by-zero problems.
s = (0:1:50)/50; % Slip
s(1) = 0.001;
nm = (1 - s)*n_sync; % Mechanical speed

% Calculate torque for original rotor resistance

for ii = 1:51
t_ind1(ii) = (3*v1^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

% Calculate torque for double rotor resistance

for ii = 1:51
t_ind2(ii) = (3*(2*v1)^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind3(ii) = (3*(3*v1)^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind4(ii) = (3*(4*v1)^2*r2/s(ii))/...
(w_sync*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end
% Plot the torque-speed curve
plot(nm,t_ind1,'Color','r','Linewidth',2.0)
hold on
plot(nm,t_ind2,'Color','b','Linewidth',2.0);
 plot(nm,t_ind3,'Color','black','Linewidth',2.0);
plot(nm,t_ind4,'Color','green','Linewidth',2.0);
xlabel('\itn_{m} ,(RPM)','Fontweight','Bold');
ylabel('\tau_{ind}','Fontweight','Bold');
title('Induction motor torque-speed characteristic',...
'Fontweight','Bold');
legend('Vphase','2Vphase','3Vphase','4Vphase');
grid on
hold off

o Graphs of variable line voltage V1

o Discussion:
Observation of torque speed characteristics when varying the line voltage, V 1.

1. When the line voltage increases, the starting torque induced also increases. As the rotor
approaches its synchronous speed the torque increases rapidly with respect to the line
voltage.
2. The maximum torque induced also varies when the line voltage varies. As shown in the
graph above, notice even though the maximum torque varies the synchronous speed
remains constant.
 LAB Task #3: Speed Control by variable frequency, constant voltage f

o MATLAB code

% M-file: torque_speed_curve.m
% M-file create a plot of the torque-speed curve of the
% induction motor of Example 7-5.

% First, initialize the values needed in this program.

r1 = 0.641; % Stator resistance
x1 = 1.106; % Stator reactance
r2 = 0.332; % Rotor resistance
x2 = 0.464; % Rotor reactance
xm = 26.3; % Magnetizing branch reactance
v_phase = 460/sqrt(3); % Phase voltage
n_sync = 1800; % Synchronous speed (r/min)
w_sync = 188.5; % Synchronous speed (rad/s)

% Calculate the Thevenin voltage and impedance from Equations

% 7-41a and 7-43.
j = sqrt(-1);
v1 = v_phase;

w_sync1 = w_sync;
w_sync2 = 2*w_sync;
w_sync3 = 3*w_sync;
w_sync4 = 4*w_sync;

n_sync1 = n_sync;
n_sync2 = 2*n_sync;
n_sync3 = 3*n_sync;
n_sync4 = 4*n_sync;

% Now calculate the torque-speed characteristic for many

% slips between 0 ans 1. Note that the first slip value
% is set to 0.001 instead of exactly 0 to avoid divide by-zero problems.
s = (0:1:50)/50; % Slip
s(1) = 0.001;
nm = (1 - s)*n_sync; % Mechanical speed

nm1 = (1 - s)*n_sync1; % Mechanical speed

nm2 = (1 - s)*n_sync2; % Mechanical speed
nm3 = (1 - s)*n_sync3; % Mechanical speed
nm4 = (1 - s)*n_sync4; % Mechanical speed

% Calculate torque for original rotor resistance

for ii = 1:51
t_ind1(ii) = (3*v1^2*r2/s(ii))/...
(w_sync1*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

% Calculate torque for double rotor resistance

for ii = 1:51
t_ind2(ii) = (3*(v1)^2*r2/s(ii))/...
 (w_sync2*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind3(ii) = (3*(v1)^2*r2/s(ii))/...
(w_sync3*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind4(ii) = (3*(v1)^2*r2/s(ii))/...
(w_sync4*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end
% Plot the torque-speed curve
plot(nm1,t_ind1,'Color','r','Linewidth',2.0)
hold on
plot(nm2,t_ind2,'Color','b','Linewidth',2.0);
plot(nm3,t_ind3,'Color','black','Linewidth',2.0);
plot(nm4,t_ind4,'Color','green','Linewidth',2.0);
xlabel('\itn_{m} ,(RPM)','Fontweight','Bold');
ylabel('\tau_{ind}','Fontweight','Bold');
title('Induction motor torque-speed characteristic',...
'Fontweight','Bold');
legend('f','2f','3f','4f');
grid on
hold off

o Graphs of variable frequency f , constant voltage

 o Discussion:
Observation of torque speed characteristics when varying the frequency,f .

1. Changing the frequency of the induction motor changes the torque induced. Increasing the
frequency also increases the synchronous speed and reduces torque developed.
2. When varying the frequency maximum torque is induced at lower frequency with lower
synchronous speed whereas; minimum torque is induced with higher frequency at higher
synchronous speed.
3. The disadvantage of such IM speed control system is that;
a. When there is high torque at low speed the motor gets heat up and burns the coil
insulation causing the motor coil to short.
b. At higher speed the torque induced is very low making it incompetent when load is
introduce to the system.

It is very hard to control the torque or speed to suit the load, that means both
parameters are varied as frequency varies.
LAB Task #4: Speed Control by variable frequency, variable voltage (constant v/f)

o MATLAB code

% M-file: torque_speed_curve.m
% M-file create a plot of the torque-speed curve of the
% induction motor of Example 7-5.

% First, initialize the values needed in this program.

r1 = 0.641; % Stator resistance
x1 = 1.106; % Stator reactance
r2 = 0.332; % Rotor resistance
x2 = 0.464; % Rotor reactance
xm = 26.3; % Magnetizing branch reactance
v_phase = 460/sqrt(3); % Phase voltage
n_sync = 1800; % Synchronous speed (r/min)
w_sync = 188.5; % Synchronous speed (rad/s)

% Calculate the Thevenin voltage and impedance from Equations

% 7-41a and 7-43.
j = sqrt(-1);
v1 = 0.2*v_phase;
v2 = 0.4*v_phase;
v3 = 0.6*v_phase;
v4 = v_phase;

w_sync1 = 0.2*w_sync;
w_sync2 = 0.4*w_sync;
w_sync3 = 0.6*w_sync;
w_sync4 = w_sync;

n_sync1 = 0.2*n_sync;
n_sync2 = 0.4*n_sync;
n_sync3 = 0.6*n_sync;
n_sync4 = n_sync;

% Now calculate the torque-speed characteristic for many

% slips between 0 ans 1. Note that the first slip value
% is set to 0.001 instead of exactly 0 to avoid divide by-zero problems.
s = (0:1:50)/50; % Slip
s(1) = 0.001;
nm = (1 - s)*n_sync; % Mechanical speed

nm1 = (1 - s)*n_sync1; % Mechanical speed

nm2 = (1 - s)*n_sync2; % Mechanical speed
nm3 = (1 - s)*n_sync3; % Mechanical speed
nm4 = (1 - s)*n_sync4; % Mechanical speed

% Calculate torque for original rotor resistance

for ii = 1:51
t_ind1(ii) = (3*v1^2*r2/s(ii))/...
(w_sync1*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end
% Calculate torque for double rotor resistance
for ii = 1:51
t_ind2(ii) = (3*(v2)^2*r2/s(ii))/...
(w_sync2*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind3(ii) = (3*(v3)^2*r2/s(ii))/...
(w_sync3*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end

for ii = 1:51
t_ind4(ii) = (3*(v4)^2*r2/s(ii))/...
(w_sync4*((r1 + r2/s(ii))^2 + (x1 + x2)^2));
end
% Plot the torque-speed curve
plot(nm1,t_ind1,'Color','r','Linewidth',2.0)
hold on
plot(nm2,t_ind2,'Color','b','Linewidth',2.0);
plot(nm3,t_ind3,'Color','black','Linewidth',2.0);
plot(nm4,t_ind4,'Color','green','Linewidth',2.0);
xlabel('\itn_{m} ,(RPM)','Fontweight','Bold');
ylabel('\tau_{ind}','Fontweight','Bold');
title('Induction motor torque-speed characteristic',...
'Fontweight','Bold');
legend('0.2(v/f)','0.4(v/f)','0.6(v/f)','v/f');
grid on
hold off

o Graphs of variable resistance

 o Discussion:
Observation of torque speed characteristics when varying variable frequency, variable voltage
(Constant v/f ).

At constant v/f both the maximum torque and the synchronous speed simultaneously increases. In
other words v/f is directly proportional to both torque and synchronous speed. When keeping v/f
constant it caters for any amount of load applied. Meaning, for any load the system can be easily
adjust to the torque required and the rate of speed needed to smoothly run the load.

Conclusion
The following conclusion can be drawn by observation of the wave form generated when varying
the parameters of induction motor;
1. The first parameter discussed is the rotor resistance, R 2. When varying the R2, the peak
values of the maximum torque induced are same. In terms of its speed, to every value of R 2
it does not affect the synchronous speed of the motor.
2. The second parameter that is varied is the line voltage, V1. For any increasing value of the
line voltage injected the maximum torque also increases. In other words, the line voltage is
directly proportional to the maximum torque developed. However, the synchronous speed
remains the same.
3. Third parameter that is varied is the frequency. When varying the frequency we see that
the maximum torque is inversely proportional and synchronous speed is directly
proportional to the frequency. Meaning at lower frequency the maximum torque has the
highest peak while the synchronous speed is low. But as frequency increases, the maximum
torque reduces causing the synchronous speed to increase.
4. The final parameter that was varied is the constant v/f. by varying the constant v/f both the
maximum torque and the synchronous speed changes. In other words, both the maximum
torque developed and the synchronous speeds are directly proportional to the constant
v/f.
Hence, based on the result the safest parameter to vary in terms of the motor efficiency is to vary
the constant v/f.