Constant slip speed control

Let,
V = rated voltage of the motor
f = rated frequency of the motor
• When the motor is operated in constant v/f
control with the base speed.
– For a fz kf
– The motor terminal voltage will be kv
Where k is a factor such that 0<k<1 ,
fz is changes from 0 to rated fz ,
voltage changes from o to rated voltage V
K changes from 0 to 1
• The rotor current equation is,

• The torque equation is,

• In equation 1 & 2 , ks maintained constant then Ir’
& T will be constant.
• Since the slip is small value, rotor current Ir’ will be
inphase with the voltage
– Since flux is constant value, Im will also constant.
• Therefore stator current is,

• For constant value of ks and f is varied then the

motor will operate at constant torque and current.
• At frequency kf,
• Synchronous speed = kωS
• slip s is

• Where ωSl – slip speed

it is difference b/w rotating field speed kωS
and rotor speed ωm.
• It is defined as the drop in motor speed from
its no – load speed when the machine is
loaded.
• From the above discussion,
– For any value of torque T, slip speed is the same
for all frequencies.
– Hence, the motor speed torque char., for 0<s<sm
approximately parallel curves
– The operation of the motor at a constant slip
speed also implies the operation at a constant
rotor frequency as given below.

ks = (kf)s / f
where, fr – rotor fz in Hz
ωr – rotor fz in rad/ sec
• For s< sm,
– (Rr’/ks) >> (Xs + Xr’) here from above equation,

– Above equation suggests that for s<sm,

– The speed – torque curves are nearly becomes
straight lines.
From the above discussion, for a given slip speed
1.Motor current and torque are constant values at
all frequency
2.Motor current and torque can be controlled by
controlling the speed.
Variable frequency AC motor
drives
• The IM speed can be controlled by varying the
supply fz.
– This method is mainly applied to the squirrel cage
IM
• The variable fz control allows,
– Good running and
– Transient performance
• The variable frequency IM drives very popular
because of,
– Application involving explosive and dirty
environments such as mines and the chemical
industry
 – Special applications requiring maintenance free
operation, such as under ground & under water
installations.
• The variable fz ac drives applications are,
– Pumps
– Fans
– Mills runner
– Blower
– Spindle drives
– Conveyors
– m/c tools and so on..
• Due to availability of power semiconductor
devices such as power transistor, power
MOSFETs, IGBT & GTO etc.,
– Improve the ratings and characteristics
• The cost of the equipment is less compared to
the dc drives.
• The variable fz conversion can be made by
using.
1.VSI
2.CSI
3.cycloconverter
 VSI fed AC drives
• An inverter is defined as converter that
converts DC into AC.
– An inverter called VSI
– If viewed from load side, the AC terminals of the
inverter function as a voltage source.
i.e., the i/p voltage should be constant
• The VSI has low internal impedance.
– Because of this the terminal voltage of a VSI
remains constant with variations in load
• VSI allows a variable fz supply to be obtained
from a DC supply.
• MOSFETs is used in low voltage & power
inverters
– Power transistor & IGBT – medium power level
– GTOs, IGCTs – high power level
• Fig shows a VSI employing IGBTs
• Voltage source inverter can be operated as a
– stepped wave inverter or
– PWM inverter
• Inverter operated as a stepped wave inverter,
– IGBTs are switched in the sequence of T/6
– Each IGBT is kept an duration T/2
• Fig shows stepped wave inverter line voltage
waveform
• In the stepped wave inverter the o/p fz can be
varied by varying T.
– o/p voltage can be varied by varying i/p DC
voltage.
• When the i/p voltage is DC
– Variable DC i/p voltage is obtained by connecting
a chopper b/w DC supply and inverter.
– Shown fig
• Here dc supply is given to the DC chopper
– DC chopper – fixed DC to variable DC voltage
– This voltage is fed to the filter
– Filter – filter out the harmonics in DC link voltage
– The DC voltage is fed to the six step inverter.
• The Inverter o/p voltage is variable fz variable
voltage
– It is fed to the 3Φ IM
• When the i/p voltage is AC
– Variable DC i/p voltage is obtained by connecting
a controlled rectifier b/w AC supply & inverter
– It is shown in fig

• Here 3Φ AC supply is fed to the controlled

rectifier
– It converts fixed AC in to variable DC voltage
– This voltage is fed to the filter
– Filter reduces the harmonics.
• The filtered o/p is fed to the inverter,
– The inverter o/p voltage can be varied by varying
DC voltage.
• The o/p fz can be varied by time period of the
inverter.
• Inverter o/p line and phase voltages are given
by following Fourier series,
Drawbacks of stepped wave (VSI) inverter:
• Large harmonics of low fz in the o/p voltage.
• Because of low fz harmonics, the motor losses
are increased.
• Motor develops pulsating torque due to 5th,
7th, 13th harmonics.
• Harmonic content in motor current increases
at low speed and the m/c saturated at light
loads at low speeds due to high (V/f) ratio.
– These two effects overheat the m/c at low speeds.
• The above drawbacks are eliminated by using
PWM inverter.
• The advantages of PWM inverters are,
– Harmonics are reduced
– Losses are reduced
– Smooth motion is obtained at low speeds.

• Fig shows o/p voltage waveform for sinusoidal

PWM
• By using this method, the inverter o/p voltage
and fz can be controlled.
– There is no need of external control
– v/f can be controlled inverter itself.

• When the i/p voltage is DC , it is directly

connected to the PWM inverter.
– It is shown in fig.
• When the i/p voltage is AC, DC supply is get
from a diode bridge rectifier.
– It is shown below
• Here 3Φ supply is fed to the diode bridge
rectifier
– It converts fixed AC to fixed DC voltage
– This voltage is fed to the filter and then PWM
inverter
– PWM inverter gives variable an V & f
– By changing the v & f the motor speed can be
controlled.
CSI fed AC drives