Induction motor drives

Induction Motor – Scalar Control

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Outline
 Introduction
 Speed Control of Induction Motors
 Pole Changing
 Variable-Voltage, Constant Frequency
 Variable Frequency
 Constant Volts/Hz (V/f) Control
 Open-loop Implementation
 Closed-loop Implementation
 Constant Airgap Flux Control
 References

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Introduction
• Scalar Control - control of induction machine based on
steady-state model (per phase SS equivalent circuit)
Is Lls Llr’ Ir ’
Rs

+ +

Lm E1 Rr’/s
Vs

– –
Im

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 Quick review of Induction
motor concepts

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Induction Motor – Concept
• Stator supplied by balanced 3-phase AC source (frequency f Hz or  rads/sec )
• field produced rotates at synchronous speed s rad/sec

2 4 120
s    f ns  f
where P = number of poles P P P
• Rotor rotates at speed m rad/sec (electrical speed r = (P/2) m)
• Slip speed, sl – relative speed between rotating field and
rotor  sl   s   m
• Slip, s – ratio between slip speed
and synchronous speed  s  m
s
s

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 Induction Motor – Concept
• Relative speed between stator rotating field and rotor induces:
• emf in stator winding (known as back emf), E1
• emf in rotor winding, Er
• Frequency of rotor voltages and currents:

f r  sf
• Torque produced due to interaction between induced rotor currents and
stator field
• Stator voltage equation:

Vs  Rs I s  j 2πf Lls I s  E1
• Rotor voltage equation:

sEr  Rr I r  js2πf Llr I r

Er   Rr  I  j 2πf L I
 r
 s 
lr r

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6
Torque Speed Characteristics

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 Induction Motor – Power Flow
Airgap Converted
Power Mechanical
Power Pconv
Pag Power
Rr' P  3I ' 2 R '  1  s  Pout  TLm
'2
Electrical Pag  3I r conv r r
Power s  s 
Pin 
3VT I L cos

Rotational losses Prot

Rotor (Friction and windage, core and
Stator Copper stray losses) Note:
Copper Loss (RCL) Pconv  1  s Pag
Loss (SCL)
'2
PRCL  3I Rr' PRCL  sPag
PSCL  3I Rs
2
s
r
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8
Introduction
Te

Pull out
Torque Intersection point
(Tmax) Te (Te=TL) determines the
steady –state speed

TL
Trated

What if the load must

be operated here?
r
sm  

rated rotor s
’
s rotor
Requires speed
1 0 control of motor
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Speed Control of IM
• Given a load T– characteristic, the steady-state speed can be changed by
altering the T– curve of the motor

Te 
3R '
r Vs
2
2 Varying voltage
(amplitude)
ss  ' 2
Rr  
 Rs     X ls  X lr  
2

 s  

2 4
s    f 3 Varying line
frequency
P P

1 Pole Changing
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SPEED CONTROL OF IM
• 1.Stator voltage Control
• 2.Stator frequency Control
• 3.Stator voltage & frequency Control
• 4.Stator Current Control (by CSI)
• 5.Static rotor resistance Control
• (Rotor Voltage Control)
• 6.Slip energy recovery control
• (Slip Power Recovery)
•
1 to 4 are applicable to the SCIMs and WRIMs 5&6 are
applicable to WRIMs
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Torque Equation
• Per phase equivalent circuit of 3phase IM referred to stator.
• (stator impedance drop is generally negligible compared to V)
• Pg = Gross power input to the rotor
• Pm = Mech. Power output
• Pcu = Rotor copper loss
• Pm = Pg – Pcu
• T = Torque developed by the motor
• T = Pm/ωm

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 Speed Control of IM
Pole Changing
 Machines must be specially manufactured (i.e. called pole
changing motors or multi-speed motors)
 Need special arrangement of stator windings
 Only used with squirrel-cage motors
 Because number of poles induced in squirrel cage rotor will
follow number of stator poles
 Two methods:
 Multiple stator windings
 stator has more than one set of 3-phase windings
 only energize one set at a time
 simple, expensive
 Consequent poles
 Discrete step change in speed
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Three phase AC voltage regulator

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Summary-Stator Voltage
Control AC
Variable
Voltage
IM

Controlling Induction Motor Speed by

Sources  Td

Adjusting The Stator Voltage Vs

3 Rr' Vs2
Td 
 Rr' 
2


S s  Rs    X s  X r' 
2

 S  
Td
Vs > Vs1 > Vs2
Ii Xs Rs Xr’ Is=Ir’ Tmax

Im Ir’

Rr’/s
Vs
Po Tst TL
Pi
Tst1
Tst2
air
Stator rotor
gap

2 1 
S=1 S=0
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Nm =0 Ns
 Speed Control of IM
Variable-Voltage (amplitude), Constant
Frequency
 Controlled using:
 Transformer (rarely used)
 Thyristor voltage controller
 thyristors connected in anti-parallel
motor can be star or delta connected
 voltage control by firing angle control
(gating signals are synchronized to phase voltages and are
spaced at 60 intervals)
 Only for operations in Quadrant 1 and Quadrant 3
(requires reversal of phase sequence)
 also used for soft start of motors
 If the triggering of these SCRs is controlled , the voltage
across the stator terminals can be change from zero to
almost full voltage.

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Speed Control of IM
Variable-Voltage (amplitude), Constant Frequency
 Voltage can only be reduced from rated Vs (i.e. 0 < Vs ≤ Vs,rated)
 From torque equation, Te  Vs2
 When Vs , Te and speed reduces.
 If terminal voltage is reduced to bVs, (i.e. Vs = bVs,rated) :

Te 
3R '
r bVs  
2

s s  ' 2
Rr  
 Rs     X ls  X lr  
2

Note: b  1  s  

[Terminal voltage cannot exceed the rated value to prevent the damage to
the insulation winding]
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 The torque is proportional to the square of the stator supply
voltage,
For a same slip and frequency , a small change in motor
voltage results in a large change in torque.
Therefore a reduction in stator voltage will produce a reduction in
speed.
For a normal operation in the linear region , the figure shows
that the speed can be modestly changed when the voltage is
altered.
However a wide range of speed control cannot be
accomplished directly proportional to Stator voltage.

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 Speed Control of IM
Typical torque-speed characteristics for various values of b.
 Suitable for applications where
torque demand reduces with speed
(eg: fan and pump drives where TL 
m2)
 Suitable for NEMA Class D (high-slip,
high Rr’) type motors
 High rotor copper loss, low
efficiency motors
 get appreciable speed range

Note Practical
 Slip at the maximum torque remains speed range

unchanged
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since it is not the function of
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voltage.
 Speed Control of IM
Variable Voltage (amplitude), Constant
Frequency
 Disadvantages:
 limited speed range  when applied to Class
B (low-slip) motors
 Excessive stator currents at low speeds 
high copper losses
 Distorted phase current in machine and line
(harmonics introduced by thyristor switching)
 Poor line power factor proportional to firing
angle)
 Hence, only used on low-power, appliance-
type motors where efficiency is not
important
 e.g. small fan or pumps drives
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 The stator voltage can be varied by three-phase

1. AC voltage controllers,
2. voltage-fed variable DC-link inverters, or
3. pulse-width modulation (PWM) inverters.

 However, due to limited speed range requirements, the AC voltage controllers are normally used
to provide the voltage control.
 The ac voltage controllers are very simple. However, the harmonic contents are high and the
input PF of the controllers is low.
 They are used mainly in low-power applications, such as fans, blowers, and centrifugal pumps,
where the starting torque is low.
 They are also used for starting high-power induction motors to limit the in-rush current.

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A 400V, 50 HZ, 6-pole, 945rpm, delta connected squirrel cage induction motor has the following parameters referred to the
stator: Rs=2 ohms, Rr'=2 ohms, Xs= 3 ohms , Xr'=4 ohms, Xm=80 ohms. Motor speed is controlled by stator voltage control.
When driving a fan load it runs at rated speed at rated voltage. Calculate
i. Motor terminal voltage, current and torque at 800rpm.
ii. Motor speed, current and torque for the terminal voltage of 280 V.

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 Speed Control of IM
Variable Frequency
 Speed control above rated (base) speed
 Requires the use of PWM inverters to control frequency of motor
 Frequency increased (i.e. s increased)
 Stator voltage held constant at rated value
 Airgap flux and rotor current decreases
 Developed torque
decreases
Te  (1/s)
 For control below
base speed –
use Constant
Volts/Hz method
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 Constant Volts/Hz (V/f) Control
 Airgap flux in the motor is related to the induced
stator voltage E1 :
E1 Vs Assuming small voltage drop
ag   across Rs and Lls
f f

 For below base speed operation

 Frequency reduced at rated Vs - airgap flux saturates
(f  ,ag  and enters saturation region oh B-H curve):
- excessive stator currents flow
- distortion of flux wave
- increase in core losses and stator copper loss
 Hence, keep ag = rated flux
 stator voltage Vs must be reduced proportional to reduction
in f (i.e. maintaining Vs / f ratio)
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 Constant Volts/Hz (V/f) Control
 Max. torque remains almost constant
 For low speed operation: E1 Vs 2
Vs
 can’t ignore voltage drop across Rs and Lls ag   Tmax 
(i.e. E1  Vs) f f s
 poor torque capability
(i.e. torque decreased at low speeds shown
by dotted lines)

 stator voltage must be boosted – to

compensate for voltage drop at Rs and Lls
and maintain constant ag

 For above base speed operation (f >

frated):
 stator voltage maintained at rated value
 Same as Variable Frequency control (refer
to slide 13)
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Constant Volts/Hz (V/f) Control
Vs
Vs vs. f relation in Constant Volts/Hz drives Boost - to
compensate for
Vrated voltage drop at Rs
and Lls

Linear offset curve –

Linear offset
• for high-starting
torque loads
• employed for most
applications

Non-linear offset
curve –
• for low-starting
Non-linear offset – varies with Is torque loads
Boost
f
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Constant Volts/Hz (V/f) Control
• For operation at frequency K times rated frequency:
• fs = Kfs,rated  s = Ks,rated (1)
(Note: in (1) , speed is given as mechanical speed)

• Stator voltage: KVs ,rated , when f s  f s ,rated (2)

Vs  
 Vs ,rated , when f s  f s ,rated
•Voltage-to-frequency ratio = d = constant:
Vs,rated
d (3)
s,rated

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  Maximum torque or pullout torque occurs
when slip is:

Rr'
smax  
Rs 2  K 2  X ls  X lr 2

Te  The pullout torque can be calculated using:

Pull out
3 K 2Vs2
Torque Tmax 
(Tmax) 2 K s  R  Rs 2  K 2  X ls  X lr 2 
 s 

Trated  The Starting torque can be calculated using:

3Rr' Vs2
Tst 
r K s  R  R ' 2
 
 s r    X ls  X lr 
2

0 smax rated
s
 K 
 
 
s
1 0

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Constant Volts/Hz (V/f) Control
 For operation at frequency K times rated frequency:
Hence, the torque produced by the motor:
2
3R '
Vs (4)
Te  r
s s  ' 2
Rr  
 Rs    K  X ls  X lr  
2 2

 s  

 where s and Vs are calculated from (1) and (2)

respectively.
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Constant Volts/Hz (V/f) Control(Variable
frequency control-above base speed)
 For operation at frequency K times rated frequency:
The slip for maximum torque is:

(5)
Rr'
smax  
Rs  K 2  X ls  X lr 
2 2

 The maximum torque is then given by:

2
3 Vs
Tmax 
2 s  R  R 2  K 2  X  X 2  (6)
 s s ls lr 

where s and Vs are calculated from (1) and (2) respectively.

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Constant Volts/Hz (V/f) Control
Constant
Torque Area Field Weakening Mode (f > frated)
Rated (Base) (below base speed)
frequency • Reduced flux (since Vs is constant)
• Torque reduces
Constant Power Area
(above base speed)

Note:
Operation restricted
between synchronous
speed and Tmax for
motoring and braking
regions, i.e. in the
linear region of the
torque-speed curve.
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Constant Volts/Hz (V/f) Control
Constant Torque Area

Constant Power Area

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Comparative analysis
Rreakdown torque, Starting current and Torque for rated
conditions and for V/f control method.
2
3 Vs 3 K 2Vs2
Tmax  Tmax 
2 s  R  R 2   X  X 2  2 Ks  R  R 2  K 2  X  X 2 
 s s ls lr   s s ls lr 


I st  
V 3 Vs2 Rr' / K
( Rs  Rr' ) 2   X ls  X lr  2 Tst 

s (( Rs  Rr' ) / K ) 2   X ls  X lr 2 
3 Vs
I st 
Tst 
3

s ( Rs 
Vs2 Rr'
Rr' ) 2  X ls  X lr  2
 s ((R  R ) / K )
s
'
r
2
  X ls  X lr 2 

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 2. Rotor voltage control (Rotor resistance control)

• For a Wound rotor induction motor rotor circuit

accessible

• Therefore it is possible to insert a resistance or

connect the rotor to the external source,

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 2. Rotor voltage control (Rotor resistance control)

Wound rotor induction motor.

Breakdown torque peak is shifted to zero speed by increasing

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 2. Rotor voltage control (Rotor resistance control)

• The increase in rotor resistance does not change the synchronous

speed or magnitude of the maximum Torque

• It only skews the characteristics so that the max torque occurs at the
lower speed.

• For the same torque speed falls with the increase in rotor resistance
• Advantage is motor torque capability remains unaltered even at the
low speed.

Breakdown torque peak is shifted to zero speed by increasing

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ABD RAHIM 2008
 2. Rotor voltage control (Rotor resistance control)
 applicable for a wound-rotor motor type only.

 an external three-phase resistor may be connected thru slip rings as shown in figure:

The method may increase starting torque while limiting starting current.

 However, this is an inefficient method and there would be imbalance voltages and currents if the
resistances in the rotor circuit are not equal.

The increase in resistance does not affect the value of maximum torque but increases the slip at
maximum torque.

 The wound-rotor motors are widely used in application which need frequent starting and braking with
large motor torque (hoist, crane).

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 -Applicable for wound-rotor induction
motors only

-The shape of torque-speed curve is

altered by inserting extra
resistances to the rotor circuit

-Inserting extra resistances, will

seriously reduce efficiency of the
motor

-Usually applied for short period only.

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 2. Rotor voltage control (Static Rotor resistance
control)
• The three-phase resistor may be replaced by a three-phase diode rectifier and a dc
converter, as shown in Figure, where the gate-turn-off thyristor (GTO) or an
insulated-gate bipolar transistor (IGBT) operates as a dc converter switch.

• The inductor Ld acts as a current source Id and the dc converter varies the effective
resistance,

Re = R (l - k)

• where k is the duty cycle of the dc converter and the motor speed can be controlled
by varying the duty cycle.
• The portion of the air-gap power, which is not converted into mechanical power, is
called slip power. The slip power is dissipated in R.

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ABD RAHIM 2008
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 Slip power

• Most of the input power Pin is converterd to mechanical power

Pout to support the load.

• A part of Pin is lost in resistive element of the stator circuit Pcu1

• The rest of the power is transmitted to rotor via the airgap Pg

• A high speeds most of the Pg is converted to mechanical power

Pd =(1-s) Pg .

• The rest is known as the slip power Ps =sPg

• Slip power is an electrical power disipitated in the rotor

resistances in form of rotor copper losses Pcu1

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Slip power recovery scheme
• Slip power Ps can be substantial at low speeds.

• When resistance is used to reduce the rotor speed , the efficiency of the
motor is reduced very much.

• This speed reduction is due to the extra power dissipiated in the rotor
circuit

• Resulting in less mechanical power to the load.

• This principle can still be used to reduce motor speed , but instead of
dissipating the extra power in the rotor resistance , we can send it back to
the source.

• This is termed as Slip power Recovery scheme.

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 2. Rotor voltage control (Rotor resistance control)

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 Example
 A 4-pole, 3 phase, 400 V, 50 Hz, 1470 rpm induction
motor has a rated torque of 30 Nm. The motor is
used to drive a linear load with characteristic given by
TL = K, such that the speed equals rated value at
rated torque. If a constant Volts/Hz control method is
employed, calculate:
 The constant K in the TL - characteristic of the load.
 Synchronous and motor speeds at 0.6 rated torque.
 If a starting torque of 1.2 times rated torque is required,
what should be the voltage and frequency applied at start-
up? State any assumptions made for this calculation.
 Answers:
K = 0.195, synchronous speed = 899.47 rpm & motor speed = 881.47
rpm,
At start up: frequency = 1.2 Hz, Voltage = 9.6 V
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References
 Krishnan, R., Electric Motor Drives: Modeling, Analysis and Control, Prentice-Hall,
New Jersey, 2001.
 Bose, B. K., Modern Power Electronics and AC drives, Prentice-Hall, New Jersey,
2002.
 Trzynadlowski, A. M., Control of Induction Motors, Academic Press, San Diego,
2001.
 Rashid, M.H, Power Electronics: Circuit, Devices and Applictions, 3rd ed., Pearson,
New-Jersey, 2004.
 Nik Idris, N. R., Short Course Notes on Electrical Drives, UNITEN/UTM, 2008.
 Ahmad Azli, N., Short Course Notes on Electrical Drives, UNITEN/UTM, 2008.

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