Constant V/f Control

Eng. Alfonso Monroy Olascoaga

Ph. D. Pedro Ponce Cruz
ITESM-CCM
 Equivalent circuit model
• The stationary equivalent circuit model per phase
for the induction motor is shown in the figure.
 Equivalent circuit model
• The equations that describe the operation of the
induction motor are

V1  ( R1  jX 1 ) I 1  E1 I1  I 2  (I m  I c )

e  r
E1  ( R 2  jX 2 ) I 2 s
e
Power flow in an induction motor
• The power flow in an induction motor can be
appreciated in the next figure
 Torque-speed profile
Curva Característica del
Motor de Inducción

Torque
Par Maximum
Par torque (Tm)
Máximo (m)
() Operation
Punto point
de operación

Reference
Par de referencia
torque

Synchronous
Vel. speed (s)
síncrona (s)
Speed
Vel
()
S

Deslizamiento (S)
Slip (s)
Torque-speed profile under input
voltage variation
Curva Característica
Variando Voltaje
Maximum
Par Máximotorque
(m) (Tm)
Torque
Par
() Operation
Punto point
de operación

Reference
Par de referencia
torque

Synchronous speed (s)

Vel. síncrona (s)
Speed
Vel
()
S

Deslizamiento
Slip (s) (S)
 Torque-speed profile under input
frequency variation
Curva Característica
variando Frecuencia
Maximum
Par Máximotorque
(m) (Tm)
Torque
Par
() Operation point
Punto de operación

Par de referencia
Reference
torque Synchronous speed (s)
Vel. síncrona (s)
Vel
()
S S S

Deslizamiento
Slip (s)(S)
 Approximated equivalent circuit
model
• In order to obtain de approximated equivalent
circuit model, we have to assume:

V1=(R1+jX1)I1+E1 E1
I1>>Im+Ic
Im+Ic k
Rc  0
 Approximated equivalent circuit
model
• Under the last assumptions, the approximated
equivalent circuit model may be drawn as follows
R1 jX1 R2/s jX2

V1  E1 jXm
 Constant V/f control principle
• From the expressions of emf and magnetic flux
d
E1 
dt
= max sin(et).

E1 = max e cos(et) = max 2f1 cos(et)

2f1
• Its RMS value is E1   max
2
 Constant V/f control principle
• From the assumption number one:
V1  E1
2f 1
V1   max  kf1 max
2

• It is possible to maintain a constant flux, if the

relation V1/f1 does not change:
V1
 k max
f1
 Boost voltage
• At low speeds, the assumption (R1 + jX1)I1=0 is not
valid.
• The voltage drop in the stator copper must be
considered.
• A voltage compensation is needed in low speed
operation.
• The voltage depends on the load conditions.
 Boost voltage
Voltaje [V]
Voltage
Flujo ( M)
[V] Flux

Lineal
Compensación Líneal
compensation

compensation
Compensación Relación no lineal
Non-linear relation

Boost Relación lineal

Voltaje Boost Linear relation
voltage Frequency [Hz]

Frecuencia [Hz]
Sinusoidal pulse width
modulation
 Closed loop operation
• If accuracy is needed in the speed control, a closed
loop scheme must be used.

PI controller

speed
reference V/f control Induction
motor
 Results (open loop)
• Current waveforms and harmonics content at 2396
rpm (left) and 2980 rpm (right).
 Results (open loop)
• Current and voltage waveforms at 3000 rpm
 Results (closed loop)
• No load start (2500 rpm)
 Results (closed loop)
• Speed change (819-3000 rpm) at constant
load torque (1.7 Nm)
 Results (closed loop)
• Torque change (1.9 - .2 Nm) at constant
speed (3100 rpm)
 Advantages
• Open loop operation
• Simple control algorithm
• Good closed loop operation
• Great for high speed and constant torque
applications
 Disadvantages
• Boost voltage needed
• Poor load speed operation
• Control scheme designed for steady state
operation