INDUCTION MOTOR

DRIVES
Stator voltage control–energy efficient drive–v/f control–
constant airgap flux–field weakening mode – voltage / current
fed inverter-closed loop control

D.Citharthan
Assistant Professor
 Introduction
 An induction motor is essentially a constant-speed motor when connected to a
constant-voltage and constant-frequency power supply.

 If the load torque increases, the speed drops by a very small amount. It is
therefore suitable for use in substantially constant-speed drive systems.

 Many industrial applications, however, require several speeds or a continuously

adjustable range of speeds.

 Squirrel-cage induction motors, are cheap and rugged have no commutators, and
are suitable for high-speed applications. The availability of solid-state controllers,
although more complex than those used for dc motors, has made it possible to use
induction motors in variable-speed drive systems.

 In this section various methods for controlling the speed of an induction motor
are discussed.
 Speed control
 Pole changing
 Line voltage control
 Line frequency control
 Variable frequency constant voltage
 V/F control
 Closed loop control Six step VSI
 VSI fed induction motor drive
 CSI fed Inverter fed drive
PWM VSI
 Rotor resistance control
 Conventional method
 Static/solid state method Used only in wound rotor IM
 Slip power recovery scheme
 Kramer system
 Scherbius sytem
 STATOR VOLTAGE CONTROL/LINE VOLTAGE CONTROL
The torque developed in an induction motor is proportional to the square of the terminal
voltage. A set of T−n characteristics with various terminal voltages is shown in Fig. 2. If the rotor
drives a fan load, the speed can be varied over the range n1 to n2 by changing the line voltage.

The terminal voltage V1 can be varied by using a three-phase autotransformer or a solid-

state voltage controller, as shown in Fig. 1a. The auto-transformer provides a sinusoidal voltage
for the induction motor, whereas the motor terminal voltage with a solid-state controller is
nonsinusoidal.

 Speed control with a solid-state controller is commonly used with small squirrel cage motors
driving fan loads. In large power applications, an input filter is required; otherwise, large
harmonic currents will flow in the supply line. The thyristor voltage controller shown in Fig. 2b
is simple to understand, but complicated to analyze. The command signal for a particular set
speed fires the thyristors at a particular firing angle (α) to provide a particular terminal voltage
for the motor.

Open-loop operation is not satisfactory if precise speed control is desired for a particular
application. In such a case, closed-loop operation is needed. Figure 1c shows a simple block
diagram of a drive system with closed-loop operation. If the motor speed falls because of any
disturbance, such as supply voltage fluctuation, the difference between the set speed and the
motor speed increases. This changes the firing angle of the thyristors to increase the terminal
voltage, which in turn develops more torque.
FIGURE 1 :Starting and speed
control.

(a) Autotransformer voltage

controller.

(b) Solid-state voltage controller.

(c) Closed-loop operation of

voltage controller.
Figure 2 :Speed-torque characteristics of
various terminal voltage

Synchronous speed is not changing - Wide speed range is not possible

 Stator frequency control/line frequency control

The synchronous speed of an induction motor is given as,

Ns = 120f/p
Where,
f= frequency of the supply ;P= number of poles
 In this equation, synchronous speed of the motor is directly proportional to the
frequency of the supply voltage. Hence , as the supply frequency changes, the
motor speed also changes.
W.K.T
V= 4.44*f*phi*Tph*Kw ; phi= V/f
where,
Phi= flux/pole ;Kw= Winding Factor; f= Frequency of the stator supply and
Tph= Number of turns in the stator winding

Here we consider two cases.

i) low frequency operation at constant voltage
ii) High frequency operation at constant voltage
 i) Low frequency operation at constant voltage

If, V1 =constant ; f= decreases; phi= increases;

Due to this low frequency operation, the following effects are given below
1) It draws more magnetizing current.
2) Line currents and line voltages are distorted
3) Very low efficiency

ii) High frequency operation at constant voltage

V1= constant; f= increases; phi = decreases

By increasing the supply frequency of the motor, the following effects are
given below
4) The maximum torque decreases
5) No load speed increases
6) Starting torque reduces
7) Starting current decreases

Therefore, if the frequency of the stator supply changes, the magnitude of V should
also changed to maintain the same value of flux.
FIGURE-3: Line frequency control/ stator voltage
control with constant voltage

a se s
cre
ue De
Torq

Note: Torque cannot be maintained constant

 V/F (VOLTAGE/FREQUENCY) CONTROL

 To avoid high saturation in the magnetic system, the terminal voltage of the
motor must be varied in proportion to the frequency. This type of control is known
as constant volts per hertz.

At low frequencies, the voltage drop across R1 and X1 is comparable to the
terminal voltage V1. To maintain the same air gap flux density, the ratio V/f is
increased for lower frequencies. The required variation of the supply voltage with
frequency is shown in Fig. 5.

 In Figure 4, the machine voltage will change if the input voltage to the inverter
Vi is changed; Vi can be changed by changing the firing angle of the controlled
rectifier. If the output voltage of the inverter can be changed in the inverter itself
(as in pulse-width-modulated inverters), the controlled rectifier can be replaced by
a simple diode rectifier circuit, which will make Vi constant.
The torque–speed characteristics for variable-frequency operation are shown
in Fig. 6. At the base frequency fbase (frequency at which the rated voltage
occur) the machine terminal voltage is the maximum that can be obtained from
the inverter. Below this frequency, the air gap flux is maintained constant by
changing V1 with f1; hence, the same maximum torques are available.

Beyond fbase, since V1 cannot be further increased with frequency, the air gap
flux decreases, and so does the maximum available torque. This corresponds to
the field-weakening control scheme used with dc motors. Constant-
horsepower operation is possible in the field-weakening region.

 In Figure-6 the torque–speed characteristic of a load is superimposed on the

motor torque–speed characteristic. Note that the operating speeds n1 to n8 are
close to the corresponding synchronous speeds. In this method of speed control,
therefore, the operating slip is low and efficiency is high.

 The inverter in Figure-4 is known as a voltage source inverter. The motor

line-to-line terminal voltage is a quasi-square wave of 120 width. However,
because of motor inductance, the motor current is essentially sinusoidal
 If inverter is
PWM inverter,
then V &F can
be controlled in
inverter itself
and , instead of
controlled
rectifier we can
use bridge
rectifier

Figure-5 : Required variation in

Figure-4: Open-loop speed control of an voltage with change in frequency to
induction motor by input voltage and maintain constant air gap flux
frequency control. density.
 Figure-6: Torque–speed characteristics of an induction motor with variable-
voltage, variable-frequency control – Wide speed range is possible

V/F Constant, T= Constant

Rated voltage

V= Constant
F= varies,
T=decrease

Stiffness of torque , Advantages : 1) speed = constant even if load increases; 2) efficiency high
Detailed diagram of Figure 4: Closed loop Speed control system employing slip frequency
regulation and constant V/f operation.

Similar to inner torque loop in

DC motor

Similar to outer speed loop in DC motor

(what we can control)
(What we can actually measure )
 VSI (VOLTAGE SOURCE INVERTER) FED INDUCTION
MOTOR DRIVES
A three-phase variable voltage, variable frequency inverter supplying an
induction motor is shown in Figure 4.

There are two major types of switching schemes for the inverters, namely,
1) Square wave/six step switching and,
2) PWM switching.

Square wave/ six step switching:

 This scheme can only achieve frequency control.
The gating signals and the resulting line voltages for square wave switching are
shown in Figure 7.
The phase voltages are derived from the line voltages assuming a balanced
three-phase system.

PWM Switching:
It is possible to control the output voltage and frequency of the PWM inverter
simultaneously, as well as optimize the harmonics by performing multiple
switching within the inverter major cycle which determines frequency.
 Fig: 7 Square wave/six step
voltage source inverters (VSI)

Pole voltages:
VA0=VAN+VN0
VB0=VBN+VN0
VC0=VCN+VN0---(1)

For balanced three phase

operation,

VAN+VBN+VCN=0 –(2)
From the above equations,

VA0—VB0
VN0=VA0+VB0+VC0/3—
(3)
VB0-VC0
Then,
VC0-VAO VAN=VA0-VN0
VBN=VB0-VNO
VCN=VC0-VN0----(4)
Note: Frequency of firing
pulses decides the output
frequency of the inverter
Using a single-phase half-bridge inverter as a building block, a three-phase
inverter can be constructed, as shown in Figure 7 . The load is shown as connected
in star. The firings (and
hence the operation) of the three half-bridges are phase-shifted by 120 degree.

The pole voltages vA0, vB0, and vC0 are shown in Fig.7. When S1 fired at ωt=0,
pole A is connected to the positive bus of the dc supply, making vAO =V/2. When
S4 is fired at ωt=π, pole A is connected to the negative bus of the dc supply, making
vA0 =−V/2.

 Waveforms of vB0 and vC0 are exactly the same as those of vAO, except that
they are shifted by 120 degree.

The load phase voltages --

from equation (4) and (3)
 PWM VOLTAGE SOURCE INVERTER

Fig 7.1 Single phase pulse width modulation

 QUESTION: WHAT WE NEED TO INCREASE THE VOLTAGE??

SIMPLE, INCREASE THE PHASE ANGLE γ

Q: HOW TO INCREASE THE PHASE ANGLE γ???

SIMPLE, IN THE ABOVE DIAGRAM

TURN ON THE S2 FOR LONG TIME W.R.T TO S1

The resulting load voltage vAB has a pulse width of γ. By changing the shift
angle γ, the inverter output voltage can be changed.

Note that at lower values of the pulse width γ (i.e., lower output voltage) the inverter
output voltage will be rich in harmonic content. PWMinverters with multiple pulses in
each half-cycle of the inverter output voltages can reduce the harmonic content.
One method popular in industrial applications is known as the sinusoidal PWM
technique. This method will now be described.

In the sinusoidal PWM method a triangular carrier wave of frequency fc and a
modulating wave of frequency fm (the same frequency as that of the inverter
output) are used to modulate the pole voltage. Consider the single-phase inverter
circuit of Fig. 7.1. The triangular carrier wave ( fc) and the sinusoidal modulating
waves φA and φB are shown in Fig. 7.2. The pole voltage vA0 is switched between
positive and negative buses at the intersections of the carrier wave and the
modulating wave φA. Similarly for VB0.

 Then , VAB= VA0- VB0

Note that the pulses in each half-cycle have different widths. The central pulse is
wider than the side pulses. Fourier analysis of this inverter voltage waveform
reveals that it has less harmonic content than a single pulse per half-cycle inverter
voltage

Note that the pulses in each half-cycle have different widths. The central pulse is
wider than the side pulses. Fourier analysis of this inverter voltage waveform
The frequency ratio fc/fm is called the carrier ratio, and the amplitude ratio Am/Ac is called
the modulation index. Note that the carrier ratio determines the number of pulses in each half
cycle of the inverter output voltage (more number of pulses will give less harmonic) , and the
modulation index determines the width of the pulses—hence the rms value of the inverter
output voltage.

For a 3φ inverter (Fig. 7 ), using modulating waves phase-shifted from each other by 120
degree , a three-phase sinusoidal PWM inverter can be obtained.
 1) Open loop VSI with constant slip frequency regulation

 Constant slip frequency operation - For efficient operation of an induction

machine, it is desirable to operate it at a fixed or controlled slip frequency (which
is also the rotor circuit frequency).

 High efficiency and high power factors are obtained if the slip frequency f2 is
maintained below the breakdown frequency f2b, which is the rotor circuit
frequency at which the maximum torque is developed. Consider the block diagram
of Fig. 8. The signal fn represents a frequency corresponding to the speed of the
motor. To this a signal f2 representing the slip (or rotor circuit) frequency is added
or subtracted. The resultant f1 represents the stator frequency:
f1= fn ± f2

Synch speed/ /rotor speed

/slip speed

Figure-8: Constant slip frequency ( f2) operation.

 Addition of f2 to fn will correspond to motoring action, and subtraction of f2
from fn will correspond to regenerative braking action of the induction machine.
At any speed of the motor, the signal f2 will represent the rotor circuit frequency
—that is, the slip frequency.

2) Closed loop VSI speed control of IM with slip frequency regulation and
constant V/Hz operation
The arrangement of the outer speed-control loop (see Figure 8) is identical with
that of the d.c. drive : the actual speed (represented by the voltage generated by
the tacho generator) is compared with the target or reference speed and the
resulting speed error forms the input to the speed controller. The output of the
speed controller provides the input or reference to the inner part of the control
system, shown shaded in Figure 8.

 In both the d.c. drive and the induction motor drive, the output of the speed
controller serves as a torque reference signal, and acts as the input to the inner
(shaded) part of the system. We will now see that, as in the d.c. drive, the inner
system of the inverter-fed drive is effectively a torque-control loop that ensures
that the motor torque is directly proportional to the torque reference signal under
all conditions.
Figure 9: Closed loop Speed control system employing slip frequency regulation and constant
V/f operation.

Similar to inner torque loop in

DC motor

Similar to outer speed loop in DC motor

We have seen that if the magnitude of the flux wave in an induction motor is
kept constant, the torque in the normal operating region is directly proportional to
the slip speed. (We should recall that ‘normal operating region’ means low values
of slip, typically a few per cent of synchronous speed.)

So the parameter that must be controlled in order to control torque is the slip
speed. But the only variable that we can directly vary is the stator frequency (and
hence the synchronous speed); and the only variable we can measure externally is
the actual rotor speed. These three quantities (see Figure 9) are represented by the
following analogue voltages:

The above equations indicates how we must vary the stator frequency (i.e. the
synchronous speed) if we wish to obtain a given slip speed (and hence a given
torque): we simply have to measure the rotor speed and add to it the appropriate
slip speed to obtain the frequency to be supplied to the stator. This operation is
performed at the summing junction at the input to the shaded inner section in Figure
9
 CSI (CURRENT SOURCE INVERTER) FED INDUCTION
MOTOR DRIVES

Figure-10 Block diagram of current source inverter fed IM motor drive with
corresponding T-N characteristics
 The open-loop block diagram of a drive system using a current source inverter is
shown in Figure-10 (a). The current source inverter with controlled rectifier is shown
in Figure-11.

The magnitude of the current is regulated by providing a current loop around the
rectifier as shown in Figure-10. The filter inductor in the dc link smooths out the
current.

The motor current waveform is a quasi-square wave having 120 pulse width. The
motor terminal voltage is essentially sinusoidal.

The torque–speed characteristics of an induction motor fed from a current source

inverter are also shown in Figure-10 (c). These characteristics have a very steep slope
near synchronous speed.

Although a current source inverter is rugged and desirable from the standpoint of
protection of solid-state devices, the drive system should be properly operated,
otherwise the system will not be stable.
 Line currents are similar to
Line voltages in Figure 7
(VSI)

Figure 11: Force commutated Current Source Inverter fed Induction motor drive
The thyristors (S1−S6) are numbered in accordance with the sequence in which
they are fired. When a thyristor is fired, it immediately commutates the
conducting thyristor of the same group (upper group S1−S3−S5, lower group
S4−S6−S2).

For example, assume that S1 and S2 are conducting. Input current I will flow
through S1, D1, phase A load, phase C load, D2, S2, and back to the input source.
Capacitor C1 will now be charged with the polarity shown in Fig. 11.

If S3 is now fired, C1 will be connected across S1 and will reverse-bias S1 and
turn it off. The current from S1 will be transferred to S3. Eventually, the input
current will flow through S3, D3, phase B load, phase C load, D2, S2, and back to
the source. The diodes cause the charge to be held on the commutating capacitors.
Without these diodes a capacitor would discharge through two phase loads

 Another disadvantage is that the converter system cannot be controlled in open

loop like a voltage-fed inverter. also increases considerably.
 Fig 11.1 CSI using self controlled switches such as GTO thyristors/ IGBT

The current source inverter using self-controlled switches such as GTO-thyristors,

IGBTs, or MOSFETs is shown in Fig 11.1. The waveforms of currents iA, iB, and iC
are the same as those shown in Fig. 11. The on–off operation of the switches S1−S6 is
controlled by the gate voltages or gate currents of the switches.
The capacitor bank performs the following functions:
▪ During switchover of current between devices, the load current im is provided by the
capacitors, which assists the commutation process.
▪ The capacitors filter current harmonics and make the load current im essentially
sinusoidal.
▪ The voltage spikes are reduced significantly. The current loop adjusts the output
voltage of the controlled rectifier to maintain the dc link current at the desired set value
(i.e., Iset =I).
 Closed loop CSI with constant slip frequency regulation

Synch speed/ /rotor speed

slip speed/

Figure-12: Speed control system with constant slip frequency (using a current
source inverter).
 Refer Books/Notes
1) Rotor Resistance control
2) Slip Power Recovery Scheme
• Kramers System
• Scherbius System