Chapter 2

The Fundamental of Variable Voltage Variable

Frequency (VVVF) for Induction Motor
Xinglai Ge Ph.D
Email: xlgee@163.com
Train Control & Traction Drive Lab,
Southwest Jiaotong University
Electric Railway Traction AC Drive Systems Outline

 Torque-Speed Curve Characteristics

 The Equivalent Circuit of Induction Motor
 Constant Air Gap Flux Control Operation
创新、自主研发
 Constant Volts/Hz Control Operation
 Constant Rotor Flux Control Operation
 Constant Power Control Design with Flux Weakening
 Scalar Control of AC Induction Motor
 Harmonic analysis

2
Electric Railway Traction AC Drive Systems ◆ Torque-Speed Curve of Induction Motor
The torque-speed curve as a function of slip

3
Electric Railway Traction AC Drive Systems Torque-Speed Curve Characteristics

Tm
T

Tst

fs(Hz) fs(s=0)
Electric Railway Traction AC Drive Systems Torque-Speed Curve Characteristics

 60 f s
 n (1  s )
 np
T  CM  m I r cos  r

Pe  mE g I r cos  r
 The Equivalent Circuit of Induction Motor
Electric Railway Traction AC Drive Systems

Rs X ls X lr

Is Xm Ir

U s E r
E g Im Rr / s
Electric Railway Traction AC Drive Systems
Parameters of Induction Motor

E g  4.44 N s k Ns f s  m  C E f s  m

Eg
m 
CE fs
Us
m 
CE f s
fs fs
X ls  X lsN   f X lsN Xm  X mN   f X mN
f sN f sN
f s 1.3
X lr 
fs
X lrN   f X lrN Rm  RmN ( )  RmN  f
1.3

f sN f sN
 Per-Phase Equivalent Circuit Model: Power
Expressions
Input Power: Pin  3U s I s cos where cos is input power factor
Electric Railway Traction AC Drive Systems

Stator copper loss: P  3I 2 R

ls s s

Rotor copper loss: Plr  3I r Rr

2

Core loss: Plc  3E / Rm

2
g

P
Power across air gap: e  3 E I
g r cos  r  3 I 2
r Rr / s

Output power: Po  Pe  Plr  3I r2 Rr (1  s ) / s

Shaft Power: Psh  Po  PFw where PFw is friction and

windage power loss
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Electric Railway Traction AC Drive Systems Torque Equations

Power： Pe  mEg I r cos  r

Pe mn p
Torque： T  Eg I r cos r
 s 2 f s
T  CM m I r cos r
mn p
T I r2 Rr / s
2 f s
mn p U s2 Rr / s
T
2 f s  Rr 2 2
( R
 s s )  ( X ls  X lr ) 
 2 f s
Electric Railway Traction AC Drive Systems

Angular speed: s 
np
Eg
Ir 
Rotor current: Rr 2
( )  X lr
s
Rr / s
cos r 
Power factor: Rr 2
( )  X lr 2
s
Electric Railway Traction AC Drive Systems Torque Equations in VVVF mode

2
mn p U s  sf s Rr
T   
2  f s   sRs  Rr 2  s 2  X ls  X lr 2

2
mn p  E g   f sl Rr 
T    2 2
2  f s   Rr  (2 f sl Llr ) 

2
mn p  Er   f sl 
T    
2  f s   Rr 
Electric Railway Traction AC Drive Systems Constant Air Gap Flux Control peration

2
m n  Eg   f sl R r 
T  p
   2 
2 f
 s  R
 r
2
 ( 2  f sl L r ) 

Rr mn  Eg 
2
1
fm  Tm  p
2 L r  
2 f
 s  4 Lr

T 2

Tm ( f sl / f m )  ( f m / f sl )
Electric Railway Traction AC Drive Systems Constant Air Gap Flux Control peration
E g
Conclusions:  const
fs
T  f ( f sl ) f sl  const, T  const
Tmax  const
f max  const
Electric Railway Traction AC Drive Systems Constant Volts/Hz Control Operation

2
mn p  U s  sf s Rr
T   
2  f s   sRs  Rr 2  s 2  X ls  X lr 2

dT Rr
0 s m ax 
df sl R s2  [ 2  f s ( L l s  L l r )] 2

2
m n p U s  fs
T m ax   
4  f s  Rs  R s2  [ 2  f s ( L ls  L l r )] 2

2
mn p U s  f s Rr
T st    
2   f s   R s  R r 2   2  f s ( L ls  L lr ) 2
Electric Railway Traction AC Drive Systems Constant Volts/Hz Control Operation

Conclusions:

U s / f s  const

fm  f ( fs )
T  f ( f s , f sl )
T max  f ( f s )
Electric Railway Traction AC Drive Systems Constant Volts/Hz Control Operation

Breakdown and starting torque-frequency

curves at constant Volts/Hz
Electric Railway Traction AC Drive Systems Constant Volts/Hz Control Operation

Problem?
Problem: In low-frequency, this method is affected
by the stator resistance drop and can not maintain the
air gap flux constant， the maximum torque and start
torque decreace rapidly，the load capacity is limited.
Solution：Increasing the output voltage of the
inverter in low-frequency range to compensate the
stator voltage drop
 Constant Rotor Flux Control Operation
Er  4.44 f s N s k Ns  r
Electric Railway Traction AC Drive Systems

Er f s  const
 If rotor flux  r is kept
constant, we can get:
Te  f sl
 In the condition of constant Fig.3-6 Torque-slip frequency curve in
rotor flux, the torque is a three conditions
linear function with the slip a---constant volts/Hz mode
b---Constant air-gap flux mode
frequency fsl. c---Constant rotor flux mode
 How to keep rotor flux constant, which will be discussed in
the following chapter “rotor field-oriented control of
induction machine” in details.
18
Electric Railway Traction AC Drive Systems Constant Power Control Design with Field-Weakening

According to previous torque equation, we have

2
mn p E Rr
g
T
2 f s Rr 2
 sX lr2
s
Above the base frequency，slip s is very smaller,
Rr
so X lr  s , and X lr can be omitted.
 Then, torque equation can be rewritten as below:
2
mn p Eg
T f
2 Rr f s2 sl
 Constant Power Control Design with Field-Weakening
Electric Railway Traction AC Drive Systems

In high-frequency region, Eg  U s so

2
mn p  U s  m U s2
T   f sl P  T  f sl
2 Rr  f s  Rr f s
Traditionally, there are two constant power
control mode:
f sl
mode 1: U s  const s   const
fs
mode 2: f sl  const U s2
 const
fs
Electric Railway Traction AC Drive Systems Constant Power Control mode I

 In this mode, fsl /fs = constant, Us=constant.

 we can get
Te  1 f s Tem  1 f s
2

Te Constant Torque
Vs Is
Vs
Constant Power
Tem
Is

Te

fs fs
nsb nmax n 0 fsb n

(a) Torque-speed curve (b) voltage and current-speed curve

21
Electric Railway Traction AC Drive Systems Constant Power Control mode I

1
1
T
 2 v
v
1
Tmax  2
v
I s  const
 1 fs
1

v U s  const

The power capacity of motor is

bigger than inverter
Electric Railway Traction AC Drive Systems Constant Power Control mode II

 In constant power control mode II, we define

Us2/fs = constant, fls=constant
 we have
Vs2
Pout  Te f s  f sl  constant
fs

(a) Torque-speed curve (b) voltage and current-speed curve

23
Electric Railway Traction AC Drive Systems Constant Power Control mode II

T
1
T m ax T
v
U ss 
 fvs
1
T Tmax 
1 v
v
Us  v
1 v
1
Is  1 v Is 
v

The power capacity of inverter is

bigger than motor
 Traction characteristic of induction motor for
Electric Railway Traction AC Drive Systems
railway traction application

Us
Eg
Te

Is

fsl

Constant Torque Constant Power “Series DC motor”

Region Region Region

fsb fmc fs

Traction characteristic curve

25
Traction curve of EMUs Electric Railway Traction AC Drive Systems
Electric Railway Traction AC Drive Systems Scalar Control of AC Induction Motor

U a*  2U s* sin  e*

U b*  2U s* sin( e*  2 3)

U c*  2U s* sin( e* + 2 3)

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Electric Railway Traction AC Drive Systems Scalar Control of AC Induction Motor-II

Ud
- +

Us*

ωr * Inverter
ωsl* + ω s*
+ - Kp+Ki/S
P-I +
ωr ωr
Controller

Motor

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Electric Railway Traction AC Drive Systems Scalar Control of AC Induction Motor-III

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Electric Railway Traction AC Drive Systems Harmonic analysis

Harmonic mmf (magneto-motive force) in

asynchronous motor ( integer slot three-phase
winding)
 Time harmonic mmf
 Spatial harmonic mmf
Electric Railway Traction AC Drive Systems Harmonic equivalent circuit

Per phase motor equivalent circuit

Rs X ls X lr Rsk X lsk X lrk

 Xm   kX m 
Is Ir I sk I rk Rrk / sk
     
Us Eg Im Rr / s U sk Egk I mk

Equivalent circuit Harmonic equivalent circuit with

skin effect

The slip at the kth harmonic field can be given as

kn1  n (k  1)  s
sk  
kn1 k
Electric Railway Traction AC Drive Systems Harmonic equivalent circuit

Rs kX ls kX lr kX ls kX lr

 kX m 
 kX m 

I sk I rk Rr / sk I sk I rk
  
  
U sk U sk Egk I mk
Egk I mk

Harmonic equivalent
Harmonic equivalent circuit
circuit omitting Rs and Rr
without skin effect
k  X ls  X lr 
U sk  U k


Uk Ik
Isk  Ik
Harmonic equivalent circuit when
kXm approaches infinity
Electric Railway Traction AC Drive Systems Harmonic current

RMS harmonic ripple current is

Uk
Ik 
k ( X ls  X lr )

I h  I 52  I 72  I112  I132    I k2  

If RMS fundamental current is Is1，then the

total RMS current is

I r  I s21  I h2
Electric Railway Traction AC Drive Systems Harmonic current

Per unit for total leakage reactance：

X ls  X lr IN
xs   ( X ls  X lr )
U N IN UN
UN——Rated fundamental phase voltage；
IN——Rated fundamental phase current；
Electric Railway Traction AC Drive Systems Harmonic current

For square-wave voltage supply, we have：

Us
Uk 
k
then： Us
Ik  2
k ( X ls  X lr )
If Us= UN then

IN
U s  U N  ( X ls  X lr )
xs
Electric Railway Traction AC Drive Systems Power losses

The total stator and rotor copper losses due to

fundamental and ripple currents can be given as

Pls  3( I s21  I h2 ) Rs
Plr  3( I r21  I h2 ) Rr

Where Isl and Irl are the fundamental stator and

rotor currents, respectively.

36
Electric Railway Traction AC Drive Systems Power losses

Per phase stator core loss at fundamental

frequency can be given as
Pcs  K he m2  K ee2 m2
Where ψm=fundamental air gap flux linkage,
Kh=hysteresis loss coefficient, and Ke = eddy
current loss coefficient
Corresponding rotor core loss is given by
Pcr  K h se m2  K e ( se ) 2 m2

37
Electric Railway Traction AC Drive Systems Power losses

The total core loss is given as

1 s U 2
Pc  Pcs  Pcr  [ K h ( )  K e (1  s 2 )]U m2  m
e Rm
The equivalent core loss resistance can be written
as 1
Rm 
1 s
Kh ( )  K e (1  s 2 )
e
The equivalent core loss resistance at harmonic
frequency new can be given as
1
Rnm 
Kh
2
（  K e）
ne
38
 Torque pulsation
Constant harmonic torque
Electric Railway Traction AC Drive Systems

mn p Rrk
Tk  I2

2 kf s
rk
sk

k 1
sk 
k
mn p Rrk
Tk   I 2

2 kf s
rk
(k  1)
 40
pulsed harmonic torque
Torque pulsation Electric Railway Traction AC Drive Systems
 41
Torque pulsation Electric Railway Traction AC Drive Systems
Electric Railway Traction AC Drive Systems Torque pulsation

Interaction of fundamental flux with the 5th harmonic

current, per phase harmonic torque is given as:

np
TA51  2 I r 5 sin(5t  r )  2 Eg sin t
2 f s
np 2 2
TB 51  2 I r 5 sin[(5t  r )  ]  2 Eg sin(t  )
2 f s 3 3
np 2 4
TC 51  2 I r 5 sin[(5t  r )  ]  2 Eg sin(t  )
2 f s 3 3
Electric Railway Traction AC Drive Systems Torque pulsation

Considering trigonometric relationship , we have：

np
TA51  I r 5 Eg [cos(4t  r )  cos(6t  r )]
2 f s
np 4
TB 51  I r 5 Eg [cos(4t  r  )  cos(6t  r )]
2 f s 3
np 2
TC 51  I r 5 Eg [cos(4t  r  )  cos(6t  r )]
2 f s 3
Electric Railway Traction AC Drive Systems Torque pulsation

The 6th harmonic torque due to 5th harmonic current is

3n p
T51   I r 5 Eg cos(6t  r )
2 f s
3n p
 I r 5 Eg cos(6t    r )
2 f s

The 6th harmonic torque due to 7th harmonic current is

3n p
T7 1  I r 7 E g cos(6t  r )
2 f s
Electric Railway Traction AC Drive Systems

Simulation of VVVF characteristics with scalar

control

45