vS
Bibmbra
pf
Induction Motor Drives
Prasad Wadduwage
Department of Electrical Engineering
Concept of Electric Drive
• Complete production unit of many industry applications consists primarily of three basic
components.
Energy Transmitting Device Working (or Driven) Machine
• Delivers power from • Driven machine that
electric motor to the performs the required
Electric Motor
driven machine (or the production process.
• Source of motive power.
load). • Eg: Lathes, centrifugal
• Usually consists of shaft, pumps, drilling machines,
belt, chain, rope, etc. lifts, conveyor belts, food
voltage source inverters mixers, etc.
Thyristorbasedcontroller
any type ofmotor
Main Power Power Motor Working
Source Controller Machine
Electric Drive coupling 2
Modern Electric Drive Systems closed loop control system
Main Power
Source
Power Working
Motor
Electronic Machine
Command Controller
Rotor Position
or Speed
Sensor
3
Induction Motor Drives: Applications
Industrial Automation and Manufacturing
• Induction motor drives are widely used in manufacturing industries for conveyors,
compressors, pumps, and CNC machines.
• With VFD control, speed and torque can be precisely adjusted, improving productivity,
reducing energy consumption, and enabling automation.
• V/f control or vector control ensures constant torque operation.
4
Induction Motor Drives: Applications
HVAC Systems (Energy Efficient Buildings)
• In HVAC systems, induction motor drives control fans, blowers, and pumps.
• Variable speed operation reduces energy consumption significantly compared to fixed-speed
motors.
• Energy saving principle: 𝑝𝑜𝑤𝑒𝑟 ∝ 𝑠𝑝𝑒𝑒𝑑3 →
𝑠𝑚𝑎𝑙𝑙 𝑠𝑝𝑒𝑒𝑑 𝑟𝑒𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝑐𝑎𝑢𝑠𝑒𝑠 𝑙𝑎𝑟𝑔𝑒 𝑝𝑜𝑤𝑒𝑟 𝑠𝑎𝑣𝑖𝑛𝑔
5
Induction Motor Drives: Applications
Water and Waste Water Pumping Systems
• Induction motor drives regulate flow and pressure in pumping systems.
• VFD-based control avoids throttling losses and reduces mechanical stress.
• Benefits: soft starting, reduced water hammer, lower maintenance cost.
6
Induction Motor Drives: Applications
Transportation and Rail Traction
• Induction motor drives are used in railway traction systems due to robustness and high
torque capability.
• Vector control enables precise torque control during acceleration and braking.
7
Induction Motor Drives: Applications
Smart Motor Drives
• Modern induction motor drives integrate sensors and communication systems for predictive
maintenance and remote monitoring.
• Features: real-time condition monitoring, energy analytics, fault detection, cloud
connectivity
• Robust and rugged construction
• Compatible with VFD control
• Wide speed range
• High power applications
8
variable frequency drive
used in as motors to control speed and torque
Vary the voltage and frequency of the electricalsupply to the
motorconverterinvertoPCmotorspeed
s12ofe
N
P
feedback.P
no ofpoles in the
motor
keeps the V4 ratio of the motor constant
fe was broughtdown to 2547from 5017
for eg if the down from400Wto200
supply voltage also should be brought
the
is achieved by adjusting the carrier wave frequency
This
index of the inverter
and the modulation
a motor speed
Energy consumption by
reduction in speed saves a lot ofenergy
Even a small
softstarting andstopping
standard inductionmotor
Three-Phase Induction Motors: Theory
• Three-phase induction motors are of two types.
• Squirrel-Cage Induction Motors (SCIM) – rotor of SCIM is made of copper or aluminium bars short-
circuited by two end rings.
• Slip-Ring (Wound Rotor) Induction Motors (SRIM) – rotor of SRIM carries three-phase winding connected
to three slip rings on the rotor shaft.
• When three-phase supply is connected to three-phase stator winding, a rotating magnetic field, rotating at
synchronous speed 𝑁𝑠 is produced.
Stator winding
𝟏𝟐𝟎 𝒇𝟏
𝑵𝒔 = 𝒓𝒑𝒎 𝒇𝟏 = Supply frequency (Hz) magnetic field
𝑷 𝝎𝟏 = Supply frequency (rad/s)
𝟒𝝅𝒇𝟏 𝟐𝝎 Ns
𝝎𝒔 = = 𝟏 𝒓𝒂𝒅Τ𝒔 𝑷 = number of stator poles
𝑷 𝑷
𝑵𝒓 = rotor speed (rpm) Thereshould
𝑵𝒓 = 𝑵𝒔 𝟏 − 𝒔 be a magnetic
𝝎𝒎 = rotor speed (rad/s)
𝝎𝒎 = 𝝎𝒔 𝟏 − 𝒔 𝒔 = slip fluxspeeddiff
𝑵 −𝑵 𝝎 −𝝎
𝒔= 𝒔 𝒓= 𝒔 𝒎 sincetherenee
𝑵𝒔 𝝎𝒔
to be a magne
flux diff
9
Analysis and Performance
Per-Phase Equivalent Circuit Approximate Per-Phase Equivalent Circuit
u
a
srt𝒓𝟏
(𝒔𝒕𝒂𝒕𝒐𝒓 𝒗𝒐𝒍𝒕𝒂𝒈𝒆 𝒅𝒓𝒐𝒑 𝒊𝒔 𝒏𝒆𝒈𝒍𝒆𝒈𝒊𝒃𝒍𝒆 𝒄𝒐𝒎𝒑𝒂𝒓𝒆𝒅 𝒕𝒐
𝒙𝟏 𝒙𝟐 𝒕𝒆𝒓𝒎𝒊𝒏𝒂𝒍 𝒗𝒐𝒍𝒕𝒂𝒈𝒆)
𝑰𝟏 𝒓𝟏 𝒙𝟏 𝒙𝟐
𝑰𝟏 𝑰𝟐
𝒓𝟐
o
urt
𝑬𝟐 𝒙𝒎 𝑰𝟐
𝑽𝟏 𝒓𝟐
𝒔 𝒙𝒎
𝑰𝒆 𝑽𝟏
𝒔
𝑰𝒆
𝑟2 = rotor resistance referred to stator
𝑽𝟏
𝑥2 = rotor leakage reactance referred to stator 𝑰𝟐 = 𝒓
rotorohmicloss
𝑟1 + 𝑗𝑥1 = stator leakage impedance 𝒓𝟏 + 𝟐 + 𝒋 𝒙𝟏 + 𝒙𝟐
𝑥𝑚 = magnetizing reactance
𝒔
Air gap power, 𝑷𝒈 Z
R
L1
𝑅𝑐 = core loss resistance (negligible) 𝒓
𝑷𝒈 = 𝟑𝑰𝟐 𝟐 𝟐
𝒔
Developed power in the rotor, 𝑷𝒎
𝑷𝒎 = 𝑷𝒈 − 𝒓𝒐𝒕𝒐𝒓 𝒐𝒉𝒎𝒊𝒄 𝒍𝒐𝒔𝒔 =
𝟏−𝒔
𝟑𝑰𝟐 𝟐 𝒓𝟐 = 𝟏 − 𝒔 𝑷𝒈 10
𝒔
Analysis and Performance
Rotor torque, 𝑻𝒆
𝑷𝒎 𝟏−𝒔 𝟏 𝟑 𝒓 𝑷𝒈
𝑻𝒆 = = 𝟑𝑰𝟐 𝟐 𝒓𝟐 = 𝑰𝟐 𝟐 𝟐 =
𝝎𝒎 𝒔 𝝎𝒔 𝟏−𝒔 𝝎𝒔 𝒔 𝝎𝒔
Motor input power, 𝑷 = 𝑷𝒈 + 𝒔𝒕𝒂𝒕𝒐𝒓 𝒄𝒐𝒓𝒆 𝒍𝒐𝒔𝒔 + 𝒔𝒕𝒂𝒕𝒐𝒓 𝒄𝒐𝒑𝒑𝒆𝒓 𝒍𝒐𝒔𝒔
Output (or shaft) power, 𝑷𝒔𝒉 = 𝑷𝒎 − 𝒇𝒊𝒙𝒆𝒅 𝒍𝒐𝒔𝒔
𝑷𝒔𝒉
Motor efficiency, 𝜼 =
𝑷
Output, or shaft torque, 𝑻𝒔𝒉
𝑷𝒔𝒉 𝑷𝒔𝒉
𝑻𝒔𝒉 = =
𝝎𝒎 𝝎𝒔 𝟏−𝒔
Slip at which the maximum torque occurs, 𝒔𝒎
𝒓𝟐
𝒔𝒎 = Slip at maximum torque is directly proportional to
𝒓𝟐 𝟏 + 𝒙𝟏 +𝒙𝟐 𝟐
rotor resistance.
Maximum torque, 𝑻𝒆,𝒎
Maximum torque (pull-out torque, breakdown
𝟑 𝑽𝟐 𝟏 torque) is independent of the rotor resistance.
𝑻𝒆,𝒎 = 11
𝟐𝝎𝒔 𝒓𝟏 + 𝒓𝟐 𝟏 + 𝒙𝟏 +𝒙𝟐 𝟐
Speed-Torque Characteristics
generation prime mover moves Maximum Torque Point
torque
fasterthan the
speedcrullout
• Occurs at a certain slip (typically 0.2–0.3).
• Independent of rotor resistance (magnitude),
synchronous but slip at which it occurs depends on
resistance.
the shipat this happens canbeadjusted
Normal Operating Region
• Motor operates near synchronous speed
Starting Region (Slip = 1, Speed = 0)
(small slip ~1–5%).
• When the motor is switched ON, rotor
• Torque approximately proportional to slip.
speed is zero.
• Stable operation..
• The motor develops starting torque.
• High current flows in this region.
Reverse Plugging
• Part of the speed–torque characteristic
where the motor produces torque opposite
to the direction of rotation, causing the
motor to slow down rapidly.
12
Speed-Torque Characteristics
• When 𝒓𝟏 is negligible (large induction motors):
Slip at which the maximum torque occurs, 𝒔𝒎
𝒓𝟐
𝒔𝒎 =
𝒙𝟏 +𝒙𝟐 slip
Maximum torque, 𝑻𝒆,𝒎
𝟑 𝑽𝟐 𝟏 𝒓𝟐
𝑻𝒆 =
𝝎𝒔 𝒓𝟐 𝟐
𝒔
+ 𝒙𝟏 +𝒙𝟐 𝟐 𝒔 general torque
𝑻𝒆,𝒎 =
𝟑 𝑽𝟐 𝟏
𝟐𝝎𝒔 𝒙𝟏 +𝒙𝟐 maximum torque
𝑻𝒆 𝟐
= 𝒔 𝒔𝒎
𝑻𝒆,𝒎 + Drop in speed from no load to
𝒔𝒎 𝒔
full load depends on rotor
• For smaller values of the slip 𝒔 < 𝒔𝒎 ; resistance.
𝑻𝒆 𝟐𝒔 𝟐 𝝎𝒔 − 𝝎𝒎 𝒔𝒎 𝑻𝒆 𝒓𝟐 𝑻𝒆
= = → 𝝎𝒎 = 𝝎𝒔 𝟏 − = 𝝎𝒔 𝟏 − .
𝑻𝒆,𝒎 𝒔𝒎 𝒔𝒎 𝝎𝒔 𝟐𝑻𝒆,𝒎 𝒙𝟏 + 𝒙𝟐 𝟐𝑻𝒆,𝒎
13
Speed Control of Three-Phase Induction Motors
• Speed control techniques employed to three-phase induction motors through the use of
power-electronics converters:
• Stator voltage control verylimitedspeedrange inefficientdueto
• Stator frequency control highslip
used in low power
applications thefans
• Stator voltage and frequency control
• Stator current control
• Stator rotor resistance control wound rotor induction motor
14
Stator Voltage Control
• Rotor torque, 𝑇𝑒 at a reduced terminal voltage, 𝐾𝑉1 , 𝐾 < 1
3 𝐾𝑉1 2 𝑟2 2 impact of voltage onthe torque
𝑇𝑒 = 2 → 𝑇𝑒 ∝ 𝑉 1
𝜔𝑠 𝑟 +𝑟2 + 𝑥 +𝑥 2 𝑠
1 𝑠 1 2
• Magnitude of the stator supply voltage is varied using power electronic converters while frequency may be
constant or controlled depending on the method.
Principle:
• Phase-controlled thyristors vary the RMS stator voltage.
• Two SCRs per phase.
• Firing angle 𝛼 controls output voltage.
• Increasing firing angle → lower voltage → lower torque →
speed reduces.
• This method offers limited speed range.
• Used for low-power drives like fans, blowers and centrifugal
pumps requiring low starting torques.
objective control thevoltage
15
answer
Torque required by blower typeload is omega
tau
m
2
L
k
mechanical power developed in themotor Pm i s P
g
No load rotational losses are neglegible Pm Powerrequired
bymotor
gap
right
left
G
P
s1
loadairm
C
T
d
o
L
al
powercom Rightarrow
omega
right
sqrt
frac
left
m
C
Z
0
S
3
T
2
Ls1rI
omega
m
T
2
L
c
ks1
Rightarrow
gamma
omega
right
cdot
sqrt
frac
cos
left
m
S
3
2
ks1I
and gamma
omega
right
sqrt
frac
cos
left
S
3
2
s1l
Rightarrow
get the answer
8PMDerivate gamma
right
sqrt
frac
cos
left
K
S
3
2
1
Rightarrow
I
0
4
2
p1fi
4455 synchronous speed 1500
frac
frac
0
4
S
3
5
1
11
right
max
sqrt
frac
left
9
S
3
2
1I
for 1350 rpm
frac
0
S
3
5
2
1
Stator Frequency Control
• By changing the supply frequency, motor synchronous speed can be altered and thus the torque and the
speed of a three-phase induction motor can be controlled.
• The induction motor speed control with constant supply voltage and reduced supply frequency is rarely used
in practice.
• The induction motor performance at constant supply voltage and increased frequency:
Neglect 𝑋𝑚 and 𝑟1 from the equivalent circuit.
𝑉1
𝐼2 = 2
𝑟2
+ 𝑥1 +𝑥2 2
f
𝑠
𝜔𝑠 =
4𝜋𝑓1 2𝜔
= 1 𝑟𝑎𝑑 Τ𝑠 synchronous speed
𝑃 𝑃
𝑉 21
3 𝑟
𝑇𝑒 = 𝐼2 2 2 =
𝜔𝑠 𝑠
3𝑃
2
2𝜔1 𝑟2 + 𝑥 +𝑥 2 𝑠
𝑟2
C
P
2 We can increase or
𝑠 1 2 decrease frequency
𝑓2 𝜔2
𝑠=
𝑓1
=
𝜔1
→ 𝜔2 = 𝑠𝜔1 accordingls
𝑇𝑒 =
3𝑃
2
𝑉 2 1 𝜔1
2𝜔1 𝑟 2 𝜔1 +𝜔 2 𝑙 +𝑙 2 𝜔2
𝑟2
=
3𝑃 𝑉1 2 𝜔2
𝑟
2𝜔1 2 𝑟22 +𝜔2 2 𝑙1 +𝑙2 2 2
But lower frequency
Is not
consideredW
2 2 𝜔2 1 1 2
Slip at which the maximum torque occurs; 𝑠𝑚𝑡
𝑟 electricalfrequencyof the
𝑠𝑚𝑡 = 2
𝑥1 +𝑥2
statorwa
electrical frequency ofrotor
16
Stator Frequency Control
• Rotor frequency at which the maximum torque occurs; from the slip
𝜔2𝑚 = 𝑠𝑚𝑇 𝜔1 =
𝑟2 f
→ 𝒊𝒏𝒅𝒆𝒑𝒆𝒏𝒅𝒆𝒏𝒕 𝒐𝒇 𝒔𝒖𝒑𝒑𝒍𝒚 𝒇𝒓𝒆𝒒𝒖𝒆𝒏𝒄𝒚
𝑙1 + 𝑙2
• Maximum torque, 𝑇𝑒𝑚 ;
3𝑃 𝑉1 2 𝜔2𝑚
2
𝑙1 + 𝑙2 3𝑃 𝑉1 2
𝑇𝑒𝑚 = 2 2 =
2𝜔1 2 𝜔2𝑚 𝑙1 + 𝑙2 2 + 𝜔2𝑚 𝑙1 + 𝑙2 2 2𝜔1 2 𝑙1 + 𝑙2
• 𝑇𝑒𝑚 is inversely proportional to supply frequency squared.
2
3𝑃 𝑉1
𝑇𝑒𝑚 𝜔12 = → 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕 𝒂𝒕 𝒂 𝒈𝒊𝒗𝒆𝒏 𝒔𝒖𝒑𝒑𝒍𝒚 𝒗𝒐𝒍𝒕𝒂𝒈𝒆, 𝑽𝟏
2 𝑙1 + 𝑙2
• As the operating frequency 𝜔1 is increased, 𝑇𝑒𝑚 𝜔12 remains constant while reducing the maximum torque.
• With constant voltage and increased-frequency operation, the air gap flux gets reduced; thus the during this
control, the induction motor is said to be working in field weakening mode.
17
Stator Frequency Control
• Constant voltage and variable frequency control can be obtained by feeding three-phase induction motors
through three phase inverters.
• Constant 𝑽 and variable 𝒇, air-gap flux varies
resulting poor torque capability.
• Constant 𝑽ൗ𝒇 control, flux remains constant
resulting good torque capability.
• Modern drives use V/f control instead of
constant voltage control.
18
T
ef t e Te ift
omega
times
frac
m
N6
9
0
4
5
2
p
71
synchronous speed
times
frac
p
w0
4
2
d
p
avxs1ti
Rotor impedence at 1201ft
times
frac
6
0
4
8
3
5
2
1j
4000,15kW 1440 rpm soltz
frac
WT
P
efil
omega
right
frac
left
3
T
2
p
ev1rl
frac
S
2
1
omega
right
left
N
S
v
s1
omega
right
frac
left
3
T
2
p
ev1rl
0
1l
Tea
times
frac
4
3
2
x1f 20 times
frac
w6
0
5
2
1l
times
frac
6
0
5
2
e1
Matlab
simulateshow
stater voltage and frequency
contro
orapril
6