INDUCTION MOTOR DRIVES

Induction motors, particularly squirrel cage IM, have many advantages when compared to DC
motors. They are,

 Ruggedness
 Lower maintenance requirements
 Better reliability
 Low cost, less weight and volume
 Higher efficiency
 Also induction motors are able to operate in dirty and explosive environments.
 Because of the above said advantages, induction motors are predominantly used in many
industrial applications. But induction motors were used only for applications requiring
constant speed.

 DC motors were used for variable speed applications as their speed control is cheap and
efficient when compared to induction motors.

 After the advent of power electronic converters, it was able to design variable speed drives
for induction motors. Because speed control of IM using power electronic converters have
become cheap and less costly when compared to dc drives.
 SPEED CONTROL

The conventional methods of speed control of induction motors are,

Stator Side
 Stator voltage control
 Variable frequency control
 Stator current control
 V/f control
 Changing the number of poles on stator

Rotor Side

 Rotor resistance control

 Injecting emf in the rotor
 VOLTAGE / FREQUENCY CONTROL (OR) VOLTS / HERTZ CONTROL

Varying the voltage alone or frequency alone has some disadvantages with regards to the
operation of induction motor

The maximum torque in an induction motor is given by,

Here K is a constant and Ls & Lr’ are the stator and stator referred rotor inductances

From above equation, it is clear that if the ratio (V / f) is kept constant, the motor
can produce a constant maximum torque, Tmax. i.e constant torque operation
 This volts / Hertz control offers speed control from standstill up to rated speed of IM.

 This (V/f) control is achieved by using VSI and CSI fed induction motor drives.

 If a six step inverter is used, the frequency alone can be varied at the inverter output and the
output voltage is controlled by varying the input dc voltage.

 If a PWM inverter is used, both voltage and frequency can be varied inside the inverter itself
by changing the turn on and off periods of the devices
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

 In voltage source inverters, the input voltage is kept constant.

 The magnitude of output voltage of VSI is independent of the load.
 But the magnitude of output current depends on the type of load.
 A VSI converts the input dc voltage into an ac voltage with variable frequency at its output
terminals

VSI using normal transistors is shown in below Fig. Any other self commutated device can be
used in place of transistors
VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

 MOSFET is used in low voltage and low power

inverters.

 IGBTs and power transistors are used up to

medium power levels.

 GTO and IGCT are used for high power levels.

 VSI may be a six step inverter or a PWM

inverter.
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

 When VSI is operated as a six step inverter, the transistors are turned ON in the sequence of
their numbers with a time interval of T/6 seconds if T is the total time period of one output
cycle.
 Frequency of the inverter output is varied by varying the time period (T) of one cycle
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

If the supply is dc, then a variable dc voltage is obtained by connecting a chopper between input
dc and the inverter as shown in below Fig. a

If the input supply is ac, then a variable dc is obtained by connecting a controlled rectifier
between the input ac and the inverter as shown in below Fig. b

The output voltage waveform of a

six step inverter is shown in below
Fig.
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

 When VSI is operated as a six step inverter, the transistors are turned ON in the sequence of
their numbers with a time interval of T/6 seconds if T is the total time period of one output
cycle.
 Frequency of the inverter output is varied by varying the time period (T) of one cycle
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

Disadvantages of six step inverter

 Low frequency harmonics are more and hence the motor losses are increased at all speeds.
 Motor develops pulsating torques due to 5th, 7th, 11th and 13th harmonics.
 Harmonic content increases further when the motor rotates at low speeds. This will overheat
the machine

The above said problems are rectified when a PWM inverter is used.
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

If a PWM inverter is used as VSI as shown in below Fig c & d, then the input voltage may be a
constant dc which is obtained from a simple diode rectifier. The output of a PWM inverter is a
variable voltage and variable frequency

In a PWM inverter, it is possible to control the output voltage and frequency as well as the
harmonic content can be minimized.
The output voltage waveform of a PWM inverter is shown in Fig. 4.12
The motors having high leakage inductance are used when a VSI is used to feed the induction
motors
 VOLTAGE SOURCE INVERTER (VSI) FED INDUCTION MOTOR DRIVES

 In a PWM inverter, it is possible to control the output voltage and frequency as well as the
harmonic content can be minimized.
 The output voltage waveform of a PWM inverter is shown in below Fig. c
 The motors having high leakage inductance are used when a VSI is used to feed the
induction motors
Cycloconverter Control
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 It employs an inner slip speed loop and an outer speed loop as shown in Below Fig.
 The slip speed loop acts as inner current control loop. It also ensures the motor to operate
between synchronous speed and the speed at which maximum torque occurs for all
frequencies.
 Thus a high torque will be produced for a small current drawn from supply.
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 The drive uses a PWM inverter fed from a dc source. Regenerative braking and four
quadrant operation of drive is possible because of the use of PWM inverter.
 The speed error is processed through a speed controller, usually a PI controller, and a slip
regulator.
 P controller reduces the steady state error and I controller reduces the peak overshoot and
settling time so that the response will be faster.
 PI controller gives good steady state accuracy and reduces the noise.
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 Slip regulator set the slip speed command ωsl*. This command controls the inverter current
to its maximum allowable value.
 The synchronous speed obtained by adding actual speed ωm and slip speed ωsl* determines
the frequency of inverter output voltage.
 Reference signal V* for controlling the output voltage of inverter is generated using a flux
control block.
 This reference signal ensures a constant flux operation below base speed and constant
voltage operation above base speed.
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 If the motor speed is to be increased, then the reference speed ωm* will be set to the required
speed.
 Now the comparator compares the actual speed and reference speed and produces a positive
error.
 This will set the slip speed command ωsl* at its maximum value.
 Hence the motor starts accelerating (i.e speed increases) at the maximum inverter current and
hence the speed error decreases.
 When the actual motor speed reaches the reference value, the drive finally settles at that
speed. At this speed, the motor torque equals the load torque.
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 If the motor speed is to be decreased, then the reference speed ωm* will be set to the required
speed.
 Now the comparator compares the actual speed and reference speed and produces a negative
error.
 This will set the slip speed command ωsl* at its maximum negative value.
 Hence the motor starts decelerating (i.e speed decreases) at the maximum inverter current
and hence the speed error decreases. Here regenerative braking is applied.
 When the actual motor speed reaches the reference value, the drive finally settles at that
speed. At this speed, the motor torque equals the load torque.
 Closed Loop Speed Control of Induction Motor Fed From Voltage Source Inverter

 For operation below base speed, the ratio (V/f) is kept constant.

 For operation above base speed, the terminal voltage is kept constant and frequency is

increased.

 For low frequency operation, the ratio (V/f) is increased to maintain constant flux operation

 When a fast response is required, the drive can be made to accelerate at a current more than

the rated current of induction motor.

 But the power electronic switches present in the inverter must be selected such that they can

withstand for those high currents. Any device with increased current rating will be more

costly. This will increase the cost of total drive system.

 When fast response is not required, current ratings of inverter and rectifier can be chosen to

be marginally higher than that of the motor.

 CURRENT SOURCE INVERTER (CSI) FED INDUCTION MOTOR DRIVES
 A large inductance is connected to make this inverter as current source inverter.
 Capacitors C1 to C6 are used for commutating the thyristors. These thyristors are fired in
sequence with 600 intervals.
 Diodes D1 to D6 are connected in series with thyristors to prevent the discharge of
capacitors through load.
 The inverter output frequency is controlled by adjusting the period T through triggering
circuits of thyristors.
 CURRENT SOURCE INVERTER (CSI) FED INDUCTION MOTOR DRIVES
The fundamental component of motor phase current shown in below Fig. is

For any given speed, the motor torque is controlled by varying the dc current Id. This Id can be
varied by varying Vd.
Different types of circuit configurations are shown in Fig. a and b.
When the available supply is AC, then a controlled rectifier is connected between the input
supply and the inverter as shown in Fig. a

Fig. a Fig. b

 The output of fully controlled rectifier will be a variable DC which will vary Id. This DC
current is converted into AC using a CSI and it is given to the induction motor.
 CURRENT SOURCE INVERTER (CSI) FED INDUCTION MOTOR DRIVES

If the available supply is a fixed DC, then a chopper may be added between the supply and the
inverter as shown in Fig. b.

Fig. b

 Chopper will give a variable DC voltage Vd which further varies Id. This DC current is
converted into AC using a CSI and it is given to the induction motor.

 In VSI, in case of commutation failure, two SCRs in the same leg may conduct. This will short
circuit the input supply and hence the current through SCRs will rise to a high value.

 Hence high speed semiconductor fuses are needed to protect the devices and thus making the
system costly.
 CURRENT SOURCE INVERTER (CSI) FED INDUCTION MOTOR DRIVES

 In case of CSI, no such problem arises even if two devices in same leg conduct. Because the
current is controlled by the large inductance connected in series with the source.
 Hence CSI is more reliable than VSI.
 The output current of CSI shown in below Fig. rises and falls very rapidly. This creates a
huge voltage across the leakage inductance of the motor windings. Hence a motor with less
leakage inductance is used.

 Using large values of commutation capacitors can reduce these voltage spikes. But because
of large values of capacitors and inductors, the CSI drive becomes expensive and bulky.
 These types of auto sequentially commutated inverters are used widely in medium and large
power current source inverter drives.
CLOSED LOOP CONTROL OF CURRENT SOURCE INVERTER (CSI) FED INDUCTION
MOTOR DRIVES
The closed loop CSI shown in below Fig. consists of an inner slip speed loop and outer speed
loop as in the case of VSI.

The drive operates at constant flux up to base speed. Hence it gives constant torque operation.

Is Vs sf curve
  Terminal voltage is kept constant above base speed which gives constant power operation

 The actual speed ωm is compared with the reference speed ωm*.

 The speed error is processed through a speed controller (normally a PI controller) and a slip
regulator.
 Slip regulator controls the slip speed (Ns – Nr). The sum of rotor speed ωm and slip speed ωsl
gives the synchronous speed. This determines the frequency of the inverter output.
 Constant flux operation below base speed is obtained when the slip speed (or rotor frequency)
and inverter current Is have the relationship as shown in Fig. b
 This relationship is maintained by flux control block. Flux control block produces a reference
signal Id* based on the value of ωsl*.
 This Id* will adjust the dc link current Id through a closed loop to maintain constant flux

 Both speed and current controllers use PI controllers to get good steady state accuracy
 If the speed of the drive is to be increased, then the required speed is set as reference speed
ωm*. Now the speed error is positive and slip speed (Ns – Nr) also positive.

 The drive now accelerates at maximum current in motoring mode. When the motor speed
equals the reference speed, the motor continues to rotate at that speed where the motor torque
equals load torque.

 If the speed of the drive is to be decreased, then the required speed is set as reference speed
ωm*. Now the speed error and slip speed (Ns - Nr) are negative

 The drive now decelerates at maximum current in braking mode. When the motor speed
equals the reference speed, the motor continues to rotate at that speed where the motor torque
equals load torque.

 Above base speed, the terminal voltage is kept constant to get constant power operation.

 Now flux control block and closed loop control of Id become ineffective. Hence Id may
increase to high value which is not appreciable.

 To control Id, the slip speed limit of slip regulator must increase proportional to inverter
frequency

 This achieved by adding a signal proportional to frequency with the slip regulator output.
Comparison of Current Source Inverter (CSI) & Voltage Source Inverter (VSI) drives
 Current regulated voltage source inverter control

Current Regulated Voltage Source Inverter operates with current controlled PWM.

In current controlled pulse-width modulation, machine phase current is made to follow a

sinusoidal reference current within a hysteresis band

Below Fig. (a) shows a sinusoidal reference current i*A = Im sin ωt. Two bands, separated from
i*A by an amount Δl, are shown in the figure.
 Current regulated voltage source inverter control

Switching in the inverter is carried out such that the actual motor current iA remains within these
two bands. For this voltage source inverter of below Fig. (b) is employed

In this inverter phase A current iA is shaped by transistors Tr1 and Tr4. When Tr1 is on (Tr4 is off),
phase A is connected [Link] positive terminal of dc source, hence the rate of change of current
iA will be positive and when Tr4 is on (Tr1 is off), phase A is connected to negative terminal of the
dc source, hence rate of change of current iA will be negative
 Current regulated voltage source inverter control

In below Fig. (a) current iA is falling along the path mn when Tr4 is on. When iA reaches the lower
band at n, Tr4 is turned off and Tr1 is turned on. This makes rate of change of iA to be positive and
it rises along the path no. When iA reaches the upper band at 0, Tr1 is turned off and Tr4 is turned
on. This makes rate of change of iA to be negative and it falls along op. This way actual current
iA is constraint to remain within two hysteresis bands.
 Current regulated voltage source inverter control

Reference current for phases B and C are chosen to be i*B = Im sin(ωt -120∘) and i*C = Im sin(ωt –
240∘) and by controlling respective transistors iB and iC are made to follow i*B and i*C within
hysteresis bands.

When the band is small, motor currents will be nearly sinusoidal. As the band reduces, harmonic
content in phase currents reduces but then switching frequency increases. Thus, inverter with fast
switching devices will have lower harmonic content.
Fig. (b) gives block diagram of Current Regulated Voltage Source Inverter. Based on current
amplitude command I*m and frequency command f*, reference current generator generates
sinusoidal reference currents i*A, i*B and i*C. These reference currents are compared with
respective motor currents, iA, iB and iC in comparators with hysteresis to generate base drives for
switches.
Since the magnitude and waveforms of motor currents are independent of changes in motor
impedance and source voltage, the inverter essentially operates as a current source inverter. The
closed-loop speed control scheme of CSI drive is therefore used for Current Regulated Voltage
Source Inverter drive also and is shown in below Fig.. A servo drive for closed-loop position
control is obtained by adding a position loop around the speed loop in below Fig.

Although Current Regulated Voltage Source Inverter operates as a CSI, it does not use large dc
inductor and filter capacitors, hence it has lower weight, volume and cost and faster dynamic
response. This drive has applications in servo control systems.
 Speed Control of Single Phase Induction Motors

Speed of a single-phase induction motor is generally controlled by controlling its stator voltage
which can be controlled by connecting a variable resistance in series with the stator. Because of
poor efficiency the resistance control is now rarely used.

Stator voltage can, also be controlled by the use of ac voltage controllers

By reducing Stator Voltage Control of Induction Motor, speed of a high-slip induction motor can
be reduced by an amount which is sufficient for the speed control of some fan and pump drives

method is suitable for applications where torque demand reduces with speed, which points
towards its suitability for fan and pump drives.
Domestic fan motors, which are always single-phase, are controlled by a single-phase triac
voltage controller below Fig. (a).

Speed control is obtained by varying firing angle of the triac. These controllers, commonly
known as solid state fan regulators, are now preferred over conventional variable resistance
regulators because of higher efficiency. Industrial fans and pumps are usually driven by three-
phase motors.
Below Fig. (b) shows a commonly used thyristor voltage controller for speed control of 3-phase
motors. Motor may be connected in star or delta. In delta connection, third harmonic voltage
produced by motor back emf causes circulating current through the windings which increases
losses and thermal loading of motor. Speed control is obtained by varying conduction period of
thyristors. For low power ratings, anti-paralleled thyristor pair in each phase can be replaced by a
triac
The speed of the motor can also be controlled by variable frequency control. However, it is rarely
used because for most of the variable speed applications of single-phase motors, the stator
voltage control is good enough
A 1-phase, 220 V, 50 Hz, 1425 rpm induction motor has following parameters:
Rs= 2Ω, Rʹr = 52Ω, Xs = Xʹr = 6Ω and Xm = 60Ω
It drives a fan load at rated speed when full voltage is applied. Motor speed is controlled by
the stator voltage control. Calculate the motor terminal voltage for a speed of 1200 rpm.
 Solution

Figure shows equivalent circuit of a single

winding single-phase induction motor

Rotor equivalent circuits accounting for the

forward and backward rotating fields are
indicated in the figure.

When rotor moves in forward direction with a slip ‘s’ (with respect to forward rotating field) then
the slip ‘sn’ (with respect to backward field) will be
 Solution

Figure shows equivalent circuit of a single

winding single-phase induction motor

Rotor equivalent circuits accounting for the

forward and backward rotating fields are
indicated in the figure.

Hence for backward field the rotor resistance has been divided by (2- s) in the equivalent circuit
from which stator current Is can be computed for any assumed value of slip when the motor
impedances and applied voltage are known.

Let

and
Therefore,
Solution

At the rated operation

Slip = (Ns- N) / Ns

Slip = (Synchronous Speed- Rotor Speed) / Synchronous Speed

Solution

At the rated operation

Slip = (Ns- N) / Ns

Slip = (Synchronous Speed- Rotor Speed) / Synchronous Speed

Forward Field Impedance Zf =

Backward Field Impedance Zb =
Backward Field Impedance Zb =
The total input impedance is given as
The supply or input current to the motor is:

Net Torque
For Speed of 1200rpm

Net Torque
A 2-pole, 120V, 50hz, single-phase induction motor is running at 3420 rpm. The equivalent
circuit parameters are:

R1 = 3.5Ω, R2 = 3.2Ω, X1 = 4.1Ω, X2 = 4.1Ω, Xm = 80Ω, Prot = 42.5W

Calculate the input current, input power, power factor, output power and efficiency
This is a 2-pole 60hz motor, therefore synchronous speed and forwards slip are given by
To find current, first find phase impedance

Forward field impedance

Forward field impedance

Backward field impedance

Backward field impedance
Phase impedance

Input current
 The power factor can be found from the angle of the input impedance;

given by cos(44.3);

pf=0.717lagging

Remembering that this is a single phase system

The power input of the motor is given as:

To find output power:

The internal mechanical power or power converted into mechanical is:

where Rf and Rb are real parts of Zf ’ and Zb’

The output power of the motor or the shaft output power is:
Therefore efficiency is given by
The efficiency and power factor of single phase machines is typically low, relative to three-phase
machines. The low efficiency is due to the additional losses due to the backwards field, the low
power factor because reactive power is required to support the backwards field.
Assignment

A 1-phase, 220 V, 50 Hz, 1425 rpm induction motor has following parameters:
Rs= 1.5Ω, Rʹr = 3Ω, Xs = Xʹr = 2Ω and Xm = 45Ω
It drives a fan load at rated speed when rated voltage is applied. Motor speed is controlled by
the stator voltage control. Calculate the motor terminal voltage for a speed of 1260 rpm.
 SYNCHRONOUS MOTOR DRIVES

Synchronous motor is an AC motor which rotates at synchronous speed at all loads. Construction
of the stator of synchronous motor is similar to the stator of an induction motor. But the rotor has
a winding.

Types of synchronous motors

Wound field synchronous motor

Rotor of this motor has a winding for which a dc supply is given.
Rotor may have either cylindrical structure or salient pole structure. Motors with cylindrical
construction are used for high power and high speed applications.
Salient pole construction is used for low power and low speed applications due to low cost.
 SYNCHRONOUS MOTOR DRIVES

Permanent magnet synchronous motor

 It is similar to a salient pole synchronous motor without field winding on the poles.
 Field flux is produced by permanent magnets mounted on the rotor.
 Ferrite magnets are used to construct the permanent magnets.
 Cobalt – samarium made magnets may be used if the volume and weight of the motor is to
be reduced.
 The motor losses are less because of the absence of field winding and two slip rings.
 For the same size, a PMSM has higher pull-out torque and more efficiency as compared to
salient pole motor.
 These motors are used in medium and low power applications like robots and machine
tools.
 The main disadvantage in this motor is the inability to adjust the field current
 SYNCHRONOUS MOTOR DRIVES

Synchronous reluctance motor

 It has salient poles. But there is no field winding or permanent magnet.
 A salient pole synchronous motor connected to a voltage source runs at synchronous speed.
 If its field current is switched off, it continues to run at synchronous speed as a reluctance
motor.
 The motor is operated by the reluctance torque. This torque is produced by the alignment of
the rotating flux with the stator flux at synchronous speed.
 These motors are used for low power drives where constant speed operation is required.
 SYNCHRONOUS MOTOR DRIVES

Hysteresis synchronous motor

 These motors are employed in low power applications requiring smooth start and noise less
operation.
 The motor has low starting torque and hence it is suitable for high inertia loads
 Synchronous Motor Variable Speed Drives

Variable Frequency Control

We know that, the synchronous speed is given by,

 From the above equation, it is clear that the speed of a synchronous motor can be
controlled by varying the frequency of the supply.
 As in the case of induction motors, the stator flux is maintained constant by keeping the
(v/f) ratio constant in this motor also. Constant flux operation ensures that the maximum
torque at all frequencies is same.
 v/f ratio is increased at low frequencies to increase the torque producing capability of
motor.
 Above rated speed, the stator voltage is kept constant and the frequency alone is increased.
In this case, the torque produced by the motor may be reduced.
 Synchronous Motor Variable Speed Drives

Modes of Variable Frequency Control

Variable frequency control may be achieved by any one of the methods listed below.
1. True synchronous mode (or) separate controlled mode.
2. Self synchronous mode (or) self controlled mode.
 Synchronous Motor Variable Speed Drives

True synchronous mode (or) Separate controlled mode

 In this mode of speed control, the stator supply frequency is controlled from outside by using
a separate oscillator.
 The frequency is changed from one value to the other gradually so that the difference between
synchronous speed and rotor speed is small during any speed change.
 This gradual change in frequency helps the rotor to follow the stator speed properly at all
operating points.
 When the desired speed is reached, the rotor gets locked with the stator flux speed (rotor pulls
into step) after hunting oscillations
 Synchronous Motor Variable Speed Drives

Self Control Mode of Synchronous Motor Drive

Self control mode of synchronous motor drive

 In self control, the stator supply frequency is changed proportional to the rotor speed.
 Hence the stator rmf rotates at the same speed as the rotor speed.
 This ensures that the rotor moves in synchronism with stator at all operating points.
 Consequently a self controlled motor will never come out of synchronism or step.
 It does not suffer from hunting oscillations
 Variable Frequency Control of Multiple Synchronous Motors

The block diagram of True synchronous mode (or) Separate controlled mode control of
multiple synchronous motors is shown in below Fig.

 Here a voltage source inverter is used to feed the

synchronous motors. It may be either a stepped wave
inverter or a PWM inverter.
 A rectifier is used to supply dc voltage to the inverter.
The rectifier will be a full converter if a six step
inverter is used.
 If a PWM inverter is used, then a diode rectifier is
sufficient at the input side.

 A smoothing inductor is used to filter out the ripples present in the dc link voltage.
 The frequency command f* is applied to the VSI through a delay circuit. This delay circuit
ensures that the rotor follows the stator speed
 Variable Frequency Control of Multiple Synchronous Motors

Disadvantages of open loop control

 Hunting of motor
 Problems of instability
 Poor dynamic behavior
 Harmonic distortion
All the above disadvantages except harmonic distortion may be completely eliminated by using
the motor in self control mode.