Electrical Machines-II

[Ref. Electrical Machines- Mukherjee & Chakravorti]

Speed Control of Induction Motor
The principal methods of speed control of IMs are:
 Variation in supply voltage,
 Variation in supply frequency,
 Variation of number of poles,
 Variation in rotor resistance and reactance,
 Rotor slip power control.
Brief description are presented hereunder.
1. Variation in supply voltage:
r
Electromagnetic torque, Te ∝ V12 and smt = x2 , where slip at maximum torque is independent of V1 .
2
120f
Synchronous speed, ns = , which is independent of |V1 | magnitude.
P
If supply voltage, V1 is varied to V2 , then torque-speed characteristics of IM becomes:

Fig.1. Speed control by supply voltage variation.

For a constant load torque (TL), different speeds n1 and n2 can be obtained.
There are certain drawbacks in this method:
 Operation for higher than the rated voltage is not possible because of magnetic saturation.
 The developed torque reduces greatly with the reduction in supply voltage.
 The range of speed control is very limited. The application of this method is, thus, restricted
to very small motors, particularly to those driving fan type of load.
2. Variation in supply frequency:
120f
Synchronous speed, ns = , varies with variation in frequency, thereby varying rotor speed nr .
p
V1
Now, V1 = √2πfK w Nφ ⇒ ∝ φ , where φ is flux per pole i.e, operating flux changes for
f
variation in frequency f.
V1
To maintain magnetic flux constant, is kept constant by varying both frequency and supply
f
voltage.

𝐕𝟏
Fig.2. Speed control by variation in supply frequency for constant .
𝐟

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machines- Mukherjee & Chakravorti]
3V21 sr2
Te = ω 2 2
s (r2 +(sx2 ) )
2
𝑟2⁄
3V21 𝑥2 3V21 r
Temax = = 2ω [∵ smt = x2 ]
ωs (𝑟22 +(𝑟2 )2 ) s 𝑥2 2

ωs ∝ f , x2 ∝ f
V 2 V1
∴ Temax ∝ ( f1 ) , which is constant for constant ratio.
f

3. Variation of number of poles:

It is applicable for only Squirrel Cage IM (SCIM). Here, only stepped speed control is possible
as number of poles can be varied in even numbers only. Number of poles can be varied by:
 Multiple stator winding
 Use of consequent pole technique
 Use of pole amplitude modulation technique
4. Variation in rotor resistance and reactance:

Fig.3. Speed variation by varying rotor Fig.4. Speed variation by varying rotor/stator
resistance. reactance.
The speed of IM can be controlled by inserting additional resistances/reactances in the rotor
circuit. Variation of rotor resistance requires the use of a wound rotor connected to external resistances
through slip rings and hence this method is not applicable to SCIM.
Since maximum torque is independent of rotor resistance but slip for maximum torque is directly
proportional to the rotor resistance, the torque-speed characteristics will be such that the motor speed
decreases with the increase in the rotor resistance. Therefore, by this method control is provided from
the rated speed to the lower speeds in the downward direction.
This method of speed control is very simple, and it is possible to have large starting torque, low
starting current and large pull out torque at small values of slip.
Speed control by rotor resistance control has the following disadvantage:
 Sizeable power losses
 Less efficient
 Not suitable for speed control at constant torque
 Not favored for continuous speed control
 Speed regulation with change of load is poor
5. Rotor slip power control:
Speed control by external resistance in the rotor circuit for WRIM may cause sizeable amount of
slip-power i.e. the rotor power at slip frequency is lost as heat in the external resistances. As a logical
extension of this, an interesting method of speed control of WRIM is developed based on economical
use of slip-power through suitable slip-power converters. Principal methods are:
(i) Cascaded connection of IM:
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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machines- Mukherjee & Chakravorti]

If the two motors rotate in the same direction,

f2 = sf1
Speed of MIM = Speed of AIM
nr1 = nr2
120f 120f2
⇒ (1 − s1 ) = (1 − s2 )
p1 p2
120f 120s1 f
⇒ (1 − s1 ) = (1 − s2 )
p1 p2
⇒ p2 (1 − s1 ) = p1 s1 (1 − s2 )
p p2
⇒ s1 = p +p 2−p s ≃ p +p
1 2 1 2 1 2
120f 120f p2 120f
n𝑟 = (1 − s1 ) = (1 − p )=p
p1 p1 1 +p2 1 +p2
If the rotor rotates in an opposite direction, then
ns +nr
s2b = =2−𝑠
ns
nr(MIM) = nr(AIM)
120f 120f2
⇒ (1 − s1 ) = (1 − (2 − s2 ))
p1 p2
p2 p2
⇒ s1 = p ≃
2 −p1 +p1 𝑠 p2 −p1
120f p2 120f
∴ n𝑟 = (1 − p )=p , where p1 ≠ p2
p1 2 −p1 1 −p2
When the motor rotates individually,
120f
nr(MIM) = , and
p1
120f
nr(AIM) = p2

Fig.5. Cascade connection of IM.

(ii) Injection of slip frequency emf in the rotor circuit:
An induction motor can be operated at constant torque and any speed above and below the
synchronous speed by injecting positive or negative emf in the rotor circuit at the correct slip
frequency. If the injected is against the direction of induced emf then some portion of the rotor
power input is expended in driving current against this injected emf and the speed of the motor
will drop and the motor will run at sub-synchronous speeds. But when the injected emf is additive

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machines- Mukherjee & Chakravorti]
to the rotor induced emf then some more power at spli frequency is input to the rotor so that the
speed of the motor will rise and the motor will run at super synchronous speeds.
Rotor current I2 must be balanced by stator current component I1 ′ . Hence, if the injected
rotor emf is such that the rotor current is advanced in phase, then the consequent reaction of the
stator advances the phase of the stator current also. This very fact is often used for the pf
improvement of IM.
Historically the controllable electrical source in the rotor circuit was another auxiliary
machine. The slip power was recovered back either in mechanical form or in electrical form. The
former was proposed by Kramer and the latter by Scherbius in the same year (1906). These
schemes can be viewed in simplified forms as in Fig.7 and Fig.8. In Kramer drive, the torque
contribution of the ACM reduces the mechanical load taken by the induction motor. On the other
hand, electrical recovery by Scherbius scheme uses another induction generator which feeds back
the slip power to the grid at power frequency. In both cases slip is controlled by controlling the
voltage to ACM.
a) The Kramer system:
It is used for flexible speed control of motors of large power rating (as in the case of steel
rolling mills). ACM (Auxiliary commutator machine) always feeds power to slip ring of IM at
slip frequency irrespective of the actual speed of the rotor. Speed of the main motor can be
controlled by controlling the VRD/VCD (Voltage controlling device). pf can also be controlled
by shifting the brushes of ACM. Practically, this is restricted within a small range due to
commutation difficulties.

Fig.7. Kramer system speed control of IM.

Major disadvantage is that ACM must be designed for the same speed as that of the rotor
(may require too low rating mills or too high for turbo compressor).
b) The Scherbius system:
In this, the ACM (Auxiliary commutator machine) is not connected directly to the main motor
M. Therefore, the commutator machine may be designed to operate at a speed appropriate to its
function. The ACM is coupled to an AIM supplied from the main line so that the AIM drives the
ACM at a more or less constant speed which is slightly less than the synchronous speed of AIM.
ACM is excited at slip frequency from the rotor of M, develops a brush voltage of slip frequency
which is injected into the rotor circuit of M and speed of the main motor controlled. The
magnitude of the voltage available at the brushes of ACM is controlled by controlling the voltage
applied to the stator of ACM with the help of voltage regulating device. At sub synchronous
speed, ACM acts as a motor and AIM becomes an Induction generator.
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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machines- Mukherjee & Chakravorti]

Fig.8. The Scherbius system for speed control of IM.

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad