Motor Starting

Factory Commissioning
Training
Djordje Savinovic
© ABB ATDM – 2005-04-05

ABB
Page 1
 Motor starting

„ Characteristics
„ Pulsating torque
„ Starting methods
„ Rotor heating
„ Low inrush designs
„ Starting motors on island mode networks
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ABB
Page 2
 Motor starting

Force on conductor in magnetic field

F=B*I*l
F = Force N
B = Flux density N/(A*m)
I = Current A
l = Length of the conductor m
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ABB
Page 3
 Motor starting
Induced voltage in a conductor
e=B*I*v
e = emf V
B = Flux density N/(A*m)
I = Length of conductor in the field m
v = Speed of conductor in the field m/s

F v
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Page 4

e
 Motor starting

Active power supply

MVA SCC

Generator
Steam turbine

Reactive power supply

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Generator field supply

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Page 5
 Motor starting

„ How to obtain rotating air gap field

Flux
V

AC-current

ÎTorque = flux density*current density*rotor volume

© ABB ATDM – 2005-05-05

(in the air-gap) (on rotor surface) (D2L)

ABB
Page 6
 Motor starting
Synchronous motor-
d-axis
asynchronous start
q-axis
S

N S S N

S
Average air gap torque
Torque

SMT 42 Machine1: AMS 800LH {Direct Asynchronous Start}

68

66

64

62
© ABB ATDM – 2005-05-05

60

58

56

54

52
Pulsating torque
Airgap torque (kNm)

50

48

46

44

42

40

38

36

34

32

30

28

26

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24

22

20
Page 7

1.542 1.544 1.546 1.548 1.55 1.552 1.554 1.556 1.558 1.56 1.562 1.564 1.566 1.568 1.57 1.572 1.574 1.576 1.578 1.58 1.582 1.584
Time (sec)
HP 2004-10-26 21:52:14

Speed
 Motor starting
Synchronous motor
d and q axis equivalent circuits of synchronous machine with solid pole structure
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ABB
Page 8
 Motor starting
Synchronous motor

Tstart = Taverage + Ttransient + Tpulsating

Salient pole rotor Cylindrical rotor

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Transient torque at Pulsating torque Synchronization

switching on the
ABB
2xfN to 0 Hz during start torque
Page 9

breaker, fN
 Motor starting

Synchronous motor
Circuit diagram

U1 U2 V1 V2 W1 W2

STATOR
WINDING

Diode current ROTATING PART

Exciter current

F1
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F2

Thyristor current
ROTOR CONTROL DIODE EXCITER EXCITER
WINDING

ABB
PULSE UNIT BRIDGE ROTOR FIELD
Page 10
 Motor starting

Control pulse unit

Thyristor B Thyristor A

K K-G K K-G +
150V
225V
300V
450V
600V
750V
900V
1 . 1kV
1 . 3kV
1 . 5kV
x Drawing number
x
Serial number

Connect to right firing level

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ABB
Page 11
 Motor starting

Control pulse unit - Induced field voltage

Induced field voltage

CPU triggering voltage

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ABB
Page 12
 Motor starting – synchronous motor
Direct on line start with recommended CPU triggering voltage
n = 100%

Istato
r

speed
Diode current

Ifield
Thyristor current
© ABB ATDM – 2005-05-05

ABB
Page 13
 Motor starting
Induction motor ”squirrel cage motor”

I1 I2’
R1 X1 sig ue X2 sig’ R2’/s

Zin
U1 Xh RFe
© ABB ATDM – 2005-05-05

Cos phi

ABB
Page 14
 Motor starting
Induction motor

I1 ue I2’
R1 X1 sig X2 sig’ R2’/s

Zin
U1 Xh RFe
Cos phi
© ABB ATDM – 2005-05-05

ABB
Page 15
 Motor starting
Induction motor air gap torque

Transient torque at switching

on the breaker, fN Maximum torque

SMT 42 Machine1: AMS 1250LA {Steady State}\ Machine2: AMB 710 {Direct Asynchronous Start}
61.515

1.15

1.1
49.212
1.05

36.909 0.95

0.9

0.85
24.606
0.8

0.75

12.303
Airgap torque (kNm)

0.7
Rotor speed (pu)

0.65

0.6
0

0.55

0.5
-12.303
0.45
© ABB ATDM – 2005-05-05

0.4

-24.606 0.35

0.3

0.25
-36.909
0.2

0.15

-49.212
0.1

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Page 16

0.05

0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Time (sec)
pn
 Motor starting
Induction motor air gap torque and current from test
6.0 p.u.

5.5

5.0

4.5
Stator current in p.u.
4.0

3.5

I_Un_pu 3.0

2.5

2.0

1.5

1.0

0.5

0.0
2.8 p.u.
2.6 Break down torque
2.4

2.2

2.0

1.8

1.6

1.4
M_Un_pu
© ABB ATDM – 2005-05-05

1.2

1.0
Break away torque
0.8

0.6

0.4
Torque in p.u.
0.2

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Page 17

0.0
-0.2

-2 0 2 4 6 8 10 12 14 16
s

02-07-04 20:42:38
 Motor starting
Transient Phenomena in Electrical Machines, Kovacs
© ABB ATDM – 2005-05-05

ABB
Page 18
 Motor starting – synchronous motor
Mean air gap torque at 3.5 – 4.5 – 10 kV
1.5
1.4

1.3
1.2
1.1
1.0
0.9
0.8

0.7
0.6
0.5

0.4
0.3
0.2

0.1
© ABB ATDM – 2005-05-05

0.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Calculated average torque Measured average torque 3.5 kV CPU=150V

Measured average torque 3.5 kV CPU=600V Measured average torque 4.5 kV CPU=150 V

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Page 19

Control Pulse Unit 150 – 600 V

 Motor starting
Synchronous motor
9 kV

UBUSBAR
VoltUW 0 Note !
1.0
Pre-setting of CPU
triggering level must be
-9
2.1 kA
Re
ac checked at site
to
r st

Un
ar
t

c
CurrentU 0.0

ou
ple
d
-2.1

sta
2 10^3 rpm

0,5

rt
RPM 1
Sta
tes rt and
t syn
chr
0
on
1.2 kV
iza
tio
n
© ABB ATDM – 2005-05-05

VRotor 0.6 CPU

0.0
0 5 10 15 20 25 30 35
s
Time s
00-12-21 23:34:14

ABB
Page 20
 Motor starting
„The choice of starting method depends on:
„Short circuit capacity on the network
„Maximum allowed voltage drop on the terminals during
start
„Minimum starting torque to give a safe acceleration and
synchronization for synchronous motors
„Maximum starting torque not to exceed the allowed shaft
torque during start
© ABB ATDM – 2005-05-05

ABB
Page 21
 Motor starting

Starting Methods

„ Direct on line start ( DOL)

„ Reactor start
„ Transformer start
„ Capacitor start
„ Reactor / Capacitor start
„ Transformer / Capacitor start
„ Frequency converter start
(LCI)
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„ Pony motor start

ABB
Page 22
 Motor starting

„ UN = 4.44 • q • n/c • f • Di • L • B • Fres ( see Electrical Machines Theory)

Synchronous machine
ƒ Low starting current, high transient reactance, power factor 1.0
ƒ Low starting torque
ƒ Lower pull out torque
ƒ Reduced stability
ƒ Larger size of machine
ƒ More copper in windings
ƒ Lower efficiency

Induction motor
ƒ Low starting current
ƒ Low break away torque
N
ƒ Low starting torque
ƒ Larger size of machine SS S
ƒ
© ABB ATDM – 2005-05-05

More copper in windings

ƒ Lower maximum torque N
ƒ Lower efficiency
ƒ Sensitive to voltage dips

ABB
Page 23
 Starting Methods
DOL Start Reactor start
Grid U L S SC 2
X L X T
U N
X = L

Grid U S 2 S T
S SC
L SC
U N
2
X = L
X X U U
S L T
e N
e E O

U X = S
SC K
T K
S T T
2
e U N X R
K
X = T
e K
U
U S E O X +X L T
100 (%)
U=
T

X +X + X + X
L T R M

SM X M
X R X M
SM

X +XL T

U= 100 (%)
U N
U N
X +X + X
L T M U N I N U N

X = SM X = M

SM P N
M
V3 I N I S P N I S
V3 I N I S

I N I S

Transformer start Reactor/capacitor start

Grid U L S SC 2
X L X T
Grid U L S SC
U
2
X L X T
U N
X =
N

X = L
L
S
S T S SC
S T
SC

2 2
e U E U U E U
K N
e O e N
e O
X = U X = S
K
T K T K

S T n T

X A X R

100 (%) X +X L T
X +X
© ABB ATDM – 2005-05-05

L T
U= U = 100 (%)
n 2 X M 2 1
U X +X + X + L SM T
X U X +X + SM X
n2
A L T M
N

X = A
N
e K
X
R
X = C 1 + 1
S A
M
Q C X +XR X M C

U N I N U N U N I N U N
SM X = M SM X =
P N I S
V3 I N I S P N I S
M
V3 I N I S

ABB
Page 24
 Motor starting
Synchronous motor
•D.O.L start is simple with high
Air-gap torque at different starting methods starting torque.
344MVA Short-circuit capacity and 24MW
motor •Start with Autotrafo give the
120 best current/torque relation at
Air-gap torque

100 and limiting of voltage drop.

80 Taps can be changed during
run up to give high
[%]

60 synchronizing torque.
40
20 •Reactor/Capacitor start is used
0 on net with low short circuit
capacity. Gives a good
1 0,8 0.6 0.4 0.2 0.02 synchronizing torque. The
Slip [p.u.] capacitor can be replace by
another over-excited
D.O.L U=100% D.O.L Sscc=344MVA
© ABB ATDM – 2005-05-05

synchronous motor.
Auto-trafo-start Reactor/Capacitor-start
Reactor start •Reactor start is often used to
limit the starting current.

ABB
Page 25
 Motor starting
Synchronous motor

System
J motor J load

k shaft

Excitation Response

Torsional resonance
© ABB ATDM – 2005-05-05

Transient impulse Sub synchronous

excitation resonance

ABB
Page 26
 Simulation of machine transients – line to shaft
Electro Mechanical System Model SMT 3.0
Three-phase sinusoidal Synchronous Shaft system
ideal voltage source machine with with 2 or up to 7
with system impedance solid poles rotating masses
(incl. synch mach)
~ MA1 LOAD1
Switchgear

~ MA2 LOAD2
SM Jl - Jn

~ Different
Brushless couplings and
rotating gearboxes can
exciter be added
~ regulator
PI, PID Calculation Results
Airgap torque - Time Shaft torque - Time
Transients
- Direct on line start
- Reactor start
- Transformer start
- Capacitor start
© ABB ATDM – 2005-05-05

- Three-phase short circuit

- Two-phase short circuit
- Synchronization out-of-phase

ABB
Page 27
 Motor starting
Generator in island operation
Start of induction motor
Generator speed
Bus bar voltage

SMT 42 Machine1: AMS 1250LC {Steady State}\ Machine2: AMB 710 {Direct Asynchronous Start}

1.15

1.1

1.05

0.95

0.9

0.85

0.8

0.75
Stator voltage amplitude (pu)

0.7
Rotor speed (pu)
Rotor speed (pu)

0.65

0.6

0.55

0.5

0.45

0.4
© ABB ATDM – 2005-05-05

Motor speed

0.35

0.3

0.25

0.2

0.15

0.1

ABB
Page 28

0.05

0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Time (sec)
pn 2002-12-16 09:05:26
 Motor starting
Generator in island operation
Start of induction motor
SMT 42 Machine1: AMS 1250LA {Steady State}\ Machine2: AMB 710 {Direct Asynchronous Start}
5.5

1.15

1.1
4.95
1.05

4.4
0.95

0.9

0.85
3.85

0.8

Stator current
Stator current magnitude (pu)

0.75
3.3
0.7
Rotor speed (pu)

0.65

2.75 0.6

0.55

0.5
2.2
0.45

0.4

1.65
0.35

0.3

Speed
© ABB ATDM – 2005-05-05

0.25
1.1

0.2

0.15
0.55
0.1

0.05

ABB
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Page 29

Time (sec)
pn
 Motor starting
Reactor start of synchronous motor
n = 100%

Istator

speed
Bypassing reactor

Ifield
© ABB ATDM – 2005-05-05

ABB
Page 30
 Motor starting
Reactor start of synchronous motor

Air gap torque

Tδ

Shaft torque
Tshaft
© ABB ATDM – 2005-05-05

ABB
Page 31
 Motor starting
Reactor start of synchronous motor Reactor start
Grid U L S SC 2
X X T
U N
L

X =
Starting
L

S T
S SC

2
method e U N
e E O
U
U X = S
K
T K

X R

X +X L T
100 (%)
U=
X +X + X + X
L T R M

X R X M
SM

U N I N U N
SM X = M
P N I S
V3 I N I S

Bypassing reactor

Start Field apply

© ABB ATDM – 2005-05-05

procedure Loading motor

No load current

ABB
Page 32
 Motor starting

Reactor start of synchronous motor - recording from site

URS

reading
IR

Ifield
© ABB ATDM – 2005-05-05

5 10 15 20 25 30 35 40

ABB
Page 33

Time [s]
 Motor starting –synchronous motor
Start of synchronous motor Reactor/capacitor start
2
Grid U L S SC
U N X L X T
X =
L
S SC
S T

2
e U N E U
e O

U X = S
K K
T

X R

Istator (p.u.) X +X L T
100 (%)
U=
2 1 SM X
X U X +X +
L T M

Bypassing reactor at X % speed

N
R
X = C 1 + 1
Q C X +XR XM C

U N I N U N
SM X = M
P N I S
V3 I N I S

Disconnecting capacitor
Field apply
No load current

Loading of machine
© ABB ATDM – 2005-05-05

ABB
Page 34

Time [s]
 Motor starting –synchronous motor

„ Excitation equipment
„ The excitation equipment provides excitation current
for operation of the machine
Overexcited
ÖVERMAGNETISERAD
1.0

0.8 2. 0.50
Alt ”Back-up”
0.70
0.6
AC DC AC 0.90

power (p.u.)
0.4

[p.u.]
0.2 1.

REAKTIVEFFEKT
0.1 0.3 0.5 0.7 0.9 1.1
Active
1.3
power
-0.0
(p.u.)

Reactive
-0.2
5. U =1.00

Control
-0.4
functions 3.
© ABB ATDM – 2005-05-05

0.90

-0.6
4.
-0.8 0.70
EXC SM
MOT
0.50
-1.0

ABB
Page 35

Underexcite
UNDERMAGNETISERAD
d
 Motor starting - synchronous motor
Recording from site Reactor - Capacitor start
Mvar not to scale
15000 Excitation in mA DC 4000

14000
Disconnecting capacitor 3500
13000

12000
Back-up Exc. 3000
11000

10000 Field apply

2500
Line voltage (V)

9000

Current (A)
8000
2000
7000 Bypassing reactor
6000
1500
5000

4000
1000
3000

2000 500
1000
© ABB ATDM – 2005-05-05

0 0
-4 -2 0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62
Time (s)
Voltage Excitation Current Mvar Startdetect

ABB
Page 36
 Motor starting – - synchronous motor
Recording from site Reactor - Capacitor start
Mvar not to scale
15000 Excitation in mA DC 4000
14000
Disconnecting capacitor
13000 3500

12000

11000 3000

10000 Field apply

2500
Line voltage (V)

9000

Current (A)
8000
Bypassing reactor 2000
7000

6000
1500
5000

4000 1000
3000
2000 500
1000

0 0
© ABB ATDM – 2005-05-05

-4 -2 0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62
Time (s)

Voltage Excitation Current Mvar Startdetect

ABB
Page 37
 Motor starting

At commissioning

URS
Include recordings Deviations more
Compare with
Make recordings in commissioning than tolerances must
technical spec
report be observed

IR

Ifield
© ABB ATDM – 2005-05-05

5 10 15 20 25 30 35 40

ABB
Time [s]
Page 38
 Motor starting
Temperature distribution in pole plate

During start Cooling down

© ABB ATDM – 2005-05-05

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Page 39
 Motor starting
Start with pole tip heating
© ABB ATDM – 2005-05-05

ABB
Page 40
 Motor starting
Temperature distribution in pole plate

Deg C
600
400
200
© ABB ATDM – 2005-05-05

40 Time

ABB
Page 41
 Motor starting
Example of starting sequence
No. of starts from cold or warm depends on the application and starting
method
© ABB ATDM – 2005-05-05

ABB
Page 42
 Motor starting
„ Locked Rotor
„ The condition existing when the circuits of a motor are energized but the
rotor is not turning
„ Locked Rotor Time
„ Maximum time for motor circuits to be energized but the rotor is not turning
© ABB ATDM – 2005-05-05

ABB
Page 43
 Motor starting
„ Stalled Rotor
„ The condition existing when the rotor of a synchronous motor is turning with
slip frequency and unable to accelerate up to synchronous operation

Accelerating slowly 0 - 1500 rpm, 30 sec

© ABB ATDM – 2005-05-05

ABB
Page 44
 Motor starting
Reactor start
Grid U L S SC 2
X X T
U N
L

X = L

S T
S SC

2
e U N E U
e O

U X = S
K
T K

X R

X +X L T
100 (%)
U=
X +X + X + X
L T R M

X R X M
SM

U N I N U N
Start method
SM X = M
P N I S
V3 I N I S

Bypassing reactor

Field apply
© ABB ATDM – 2005-05-05

Loading motor
Starting
Starting
sequence
procedure No load current

ABB
Page 45
© ABB ATDM – 2005-05-05
Page 46

ABB