AC Drives (EPM 403)

Principals, Status and Technology

Prof. Mohab M. Hallouda
Faculty of Engineering
Cairo University
2023
e-mail: Hallouda@[Link]
 Introduction

Ac drive (VFD) AC Motor

 Drives Applications

Residential/commercial Industrial/Agriculture Transportation

• Home appliances • Fans • E Trains

• Tools • Pumps • EV, E-bus
• Dish washer • Conveyers • Underground
• Washing machines • Tools • Tram
• HVAC • Cranes • Metro
• Elevators • Centrifugal • Monorail
• Robotics • Elevators • E-Bike
• Escalators • Mills • Airplanes
• etc • Robotics • etc
• Extruders
• etc
 1- Introduction
Definition

• An Ac drive converts constant volt constant

frequency supply to variable volt variable
frequency VVVF supply to feed an Ac motor
• Alternative names (VSD, VFD, Drive frequency
changer, converter, inverter, adjustable speed
drive ASD, and others)
 1- Introduction

[Link]
[Link]
 Starting and Speed control methods developed
over the years for IM (VC, PC, VVVF)
Type Control Cost
Y-D starter Simple Low
Autotransformer Simple High
Soft starter Moderate Low

Double cage/Deep Bar No con Moderate

Rotor added R Simple High

Stator added R Simple Moderate

Voltage control Simple Low

Pole changing Simple Moderate

Slip energy recovery Complex high

VVVF control (VSI,CSI) Complex High

 Trends in the Past Decades

Reduction in volume Reduction in price

Volume dropped from Prices dropped

80’s to now to 10% more than half
Life Time Motor Operating Costs
Advantages of induction motor over DC motors:
1- Greater overload capability.
2- Greater power to weight ratio.
3- Higher maximum speed.
4- Lower maintenance.

Effect of technological advancements on AC drives

1. Gate controlled power switches

2. Microprocessors
3. Field oriented control
 General configuration

Ac Drive

Ac Motor

Rectifier Filter Inverter

VVVF
Constant volt, constant
frequency supply, 3ph-380V,
50 Hz
 Induction Motor
Per phase equivalent circuit and power flow

Electrical Mechanical
Pg,P12 output =Tω
Input power
Pin= 3 v I pf

stator cu losses No load (iron) rotor cu losses mechanical losses

losses
3I12 r1 3I22 r2 rotation & windage
3I2r m= 3v2/r m
T-n C/C (cont.)
 T-n C/C (cont.)

NEMA classification of IM

Constant load A- Starting (looked rotor)

B- Accelerating (pullout)
C- Maximum (Breakdown)
D- Full load (Nominal)
Tα ny
 Induction Motor Drives

Given a load T– characteristic, the steady-state speed can be

changed by altering the T– of the motor:

Pole changing Variable voltage (amplitude), variable

Synchronous speed change with no. frequency (Constant V/Hz)
of poles Using power electronics converter
Discrete step change in speed Operated at low slip frequency

Variable voltage (amplitude), frequency

fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced –
low efficiency
Variable Voltage Fixed frequency
 Modeling and Control of Electrical Drives

Variable voltage, fixed frequency

3–phase squirrel cage IM
600
V = 460 V Rs= 0.25 
500 Rr=0.2  Lr = Ls =
0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
Torque

300
f = 50Hz p=4

200 Lower speed  slip

higher
100
Low efficiency at low
speed
0
0 20 40 60 80 100 120 140 160
w (rad/s)
 2-Volts / hertz concept
• n1= 60 f1/p
• E= 4.44 N Ø f Kw
• Ø= K E/f
• T= k Is Ø
• For constant Ø below f1= V/f = constant (constant flux,
constant torque)
• For f>f1 = V= constant (flux weakening, constant power)

B, Ø

H, AT
 Torque speed c/c for a variable volt
variable frequency IM

Tem= 3 (P/2) (V/ω )2 (ω Rr/(Rr2+ω

e sm sm
2 L 2)
r
Volts/hertz control

Slip frequency
T-n curve E/f constant
T-n curve V/f constant
 Actual T-n C/C (V/F constant) and Voltage boost
700

600

500

Vrated
400

Torque
300
Linear offset
200

100

0
0 20 40 60 80 100 120 140 160

Non-linear offset – varies with Is

Boost

frated
Acceleration Deceleration Trajectory
Variable stator current/f T-n curves
Variable stator
current/ frequency
T-n curves

Variable stator
current T-n curve
 Features
• ASDs allow induction-motor-driven loads such as fans and
pumps to operate at speed ranges as wide as 10 to 300
percent of fixed speed.
• They replace dc drives in general and high performance
except in very special cases.
• By controlling motor speed so that it finely corresponds to
varying load requirements, the operation is optimized
• ASD installations can increase energy efficiency (in some cases
energy savings can exceed 50 percent),
• Improve power factor and process precision, and afford other
performance benefits such as soft starting and over speed
capability.
• They also can eliminate the need for high cost and energy
waste in throttling mechanisms such as control valves and
outlet dampers.
 GENERAL TRENDS IN AC DRIVES

1. Reliability, It is a measurement for

dependence on drive
2. Improved user interface
3. User friendliness
4. Communication with high level controls
5. Improved drive robustness
6. Expanded auxiliary features
7. Cost reduction
Electric Traction, E-mobility ‫الجر الكهربى – التحريك الكهربى‬

Off Grid On Grid

Electric Vehicle EV Suburban trains Electric High speed MagLev

Electric Buses
HEV Underground train
Elevators
Electric Bic/scoter-- Metro Trolley
convayers

-------
Batteries/Charging Supply/ V ratings
Motors-Drive- Traction motors-
H st Tor H st Tor
Initial cost Initial cost
Smooth-LC-L main-env Smooth-LC-L main-env
 AC drive Report (Turn in 17 December)
In groups of max 2 in the same sections prepare the following report.
1- Use Simulink model to run the variable speed machine at different
loads and then different speeds(4 speeds).
a. Show the model flow chart and parameters and type of control used
b. Print current, volt, torque, speed and flux with time
c. Print the T-n c/c for each speed a full load starting.
d. Print Q-D flux and voltage with time
2- Read required paper on e-transport: summarize paper in
maximum 2 pages (hand written) with drawings addressing:
a) Development of the EV
b) System description
c) Details of motor, PE, energy storage and control
d) Challenges
e) Conclusion on future prospects worldwide and in Egypt
3- Read any ref or paper on High speed train and summarize paper
in 2 pages (hand written) addressing same points as in 2 above
 General AC Drive Construction

FVFF
AC- Drive
VVVF
3-phase AC AC/AC converter
AC/DC DC/AC AC
supply
Converter Converter Motor
D
R

Driver Filter I
V
ct E
r

Elec. signals

Reference Controller
Command Tacho
Mech. signals
 Example 2
2) A 200 V, 10 A, 3-phase induction motor, with 10 KW output
drives a constant torque load at 960 rpm.
1. Find motor speed, synch speed, volt, frequency, torque,
current, slip and slip speed at 0.5, 0.9 and 1.2 p.u speeds (use
a table).
2. Draw clearly the 3 torque-speed curves representing the 3
operating states and the load curve.
3. Draw the acceleration trajectory for the torque as the motor is
accelerated from 0.5 to 0.8 p.u speed given the torque/current
does not exceed 1.2 p.u.
n (rpm) sn1 n1 S (%) f V I (A) T(Nm) region
0.5 n1 500 40 540 7.4 27 108 10 99.5 1
0.8 n1 800 40 840 4.76 42 168 10 99.5 1
1.2 n1 1200 50 1250 4 62.5 200 10 99.5 Assume 2
 Example 2 (cont.)
T Nm
0.5 n1
0,8 n1

99.5 Nm

1000 n rpm
500 800 960 1200
 2-Components of ASD

Machines
(Motors)
Adjustable speed drive
VVVF
Rectifier Inverter

Motor load

Electronic Voltage
gate drive and
circuit current

Power
Control sensing
board
n

Torque & Speed

reference Control
Electronics
Special Motors

Stepper Servo
 Motor comparison
Machine IM Synchronous Machine SRM
Type
Feature Wound field Synch PM
Reluctance BLDC-SPM

Efficiency low high low high medium

Power low low low high low

density
cost low high medium high medium

Max. speed high high v. high low v. high

Control Complex Complex Complex simple Complex

algor.
Noise high Low high low high

Reliability high high high medium high

Torq. low low high low high

ripples
Research Multiphase High power Torque Field weakening Torque
activity Special high speed pulsations regions & PM pulsations
design applications materials
 Evaluation of motors for EV and HEV
Features IM BLDC SRM PM hybrid

Power density 3.5 5 3.5 4

(kW/kg)
Efficiency 3.5 5 3.5 5
(O/I)
Controllability 4 4 3 4
(SSE/OS/ST/DY
Reliability 5 4 5 4
(F/T)
Maturity 5 4 4 3

Cost 5 3 4 3
(LE)
Total 26 25 23 23
 Example 3
• Select 3 different 10 Hp AC drives, one BLDC and one
Induction motor drive and one SRM
• Compare between both drives based on the table given
previously
• Set evaluation levels from 1-5
• Use the best value of each feature as the highest grade and
the lowest value as lowest grade and set the levels linearly
• Set a value for each motor
• Depending on the application multiply each feature by a
weight
• Calculate the score for each type of drive and select the most
suitable
 Motor Technology

• First design a basic motor matching general needs of

adjustable-frequency power and variable-speed operation.
• Second, this design must inherently have the adaptability
to be configured to match the specific needs of many
different drive applications.
• Third, by relaxing constraints associated with fixed-
frequency, fixed-voltage, fixed-speed applications to
VVVF, the design can be tailored to meet the performance
objectives by making the appropriate design tradeoffs. This
includes the typical design tradeoffs specified below
 Motor Design Trade Offs
Objective Parameter Change

Decrease current ripples Increase leakege inductance

Higher Peak Torque Oversize motor

Decrease stator and rotor inductances
Decrease stator resistance

Lower Primary Time Constant Increase stator resistance

Decrease leakage inductances

Higher Stator Resistance Increase stator coil turns

Decrease stator wire and slot size

Lower Inductances Decrease stator coil turns

Increase flux densities
Change slot shapes

Lower Flux Density Increase overall volume of core

Increase stator coil turns

Lower Magnetic Noise Level Decrease slot sizes

Decrease flux density
Alter shape and volume of material

Higher Efficiency Decrease stator resistance

Decrease rotor resistance
Reduce flux density
Current waveform for ASD and standard
Motor Design

Leakage Ind. standard Leakage Ind. high

Standard Design ASD Design

 Special Designs of I.M.
More suitable for inverter operation
1-Less rotor resistance
2- increase leakage inductance
3-Modified rotor slot geometry
4-Direct fan cooling
 Multiphase motors
• In ASD, no number of phase restriction
• Five six and nine are the most common
• Better reliability and redundancy
• Lower torque pulsations with higher freq. 5- ph inverter

• Reduced current harmonics and

amplitude
• Excellent for EHV Ships & Aerospace
• When loosing a phase ”Limp home” 5-ph
motor
• 32 voltage (30 non zero) space vectors
3. POWER ELECTRONICS

Source \ Load DC AC

AC Rectifier Cycloconverter

DC Chopper Inverter
 Power Electronics In drives

Power devices Power converters

Discrete Devices VSI

Circuit Integration CSI

Monolithic Resonant link

Hybrid Cycloconverter
 Power Devices

Uncontrolled On-controlled On-Off Controlled

Diode Thyristor

Transistor GTO
BJT

MOS & FETS

IGBT
 The device is integrated with
-Protection ct. -Driving ct.
P
P r
Dr ct r IGBT o
o t
t e
Thyristor
e c
c t
t i
i Dr ct
o
o n
n
Features BJT MOS IGBT
Max freq. med high Med
PWM BW small wide Small
Sw losses Med Low Low
On resistance Low Med Low
Cond losses Low Med Low
Driving signal Current 0.1- Voltage 5V- Voltage 5V-
10A High 100mA Low 100mA Low
Dr ct cost high low low
Drct comlexity complex simple simple
Avalaibility Excellent Excellent Excellent (more
expensive)
 Devices LV

• At LV IGBT has
the lead
• 1200 V, 200
khz, 1000A
• Limits of
discreet
devices are
almost reaches
 Devices H.V
• GCT and HVIGBT are Vrms

compared
• GCT at ultra high powers 6.6 kV
GCT
4.2kV
• HVIGBT at high power 2.4kV
HVIGBT

690
575
480 Conventional
240 IGBT
120

10 100 1000 10000

Arms
 Notes
• The switch maximum current Is is related to the
motor RMS current Im by Is>Im*sqrt(2)*1.1*1.5.
• The Best PWM frequency represents the industry
practice and it is the most economical compromise
between Current Ripple, Acoustic noise, Device
derating and Snubber losses.
• It isn’t Economical to use any of the devices to its
maximum ratings (better to use another one or some
combinations).
 Trends in Power Devices.
Development of discrete devices
• Increasing rating of IGBT allows it to dominate higher power
applications.
• Consolidation of BJT by improving their performance.
• Development of MOS gated devices.
• Faster diodes to take adv of IGBT high operation frequency.
• Development of new semi-cond material (SiC, GaAs) will increase
device junction operating temp and speed.

Advance in the AC Drives Industry is strongly related to

those great Breakthroughs In the field of Power electronics as
it is the milestone of this industry.
 Quiz 1
Name Sec BN

A 380V, 5 hp, 3-ph IM, rated speed

560 rpm uses a VSD to run a constant
torque load at 200, 400 and 600 rpm
for constant V/hertz find synchronous
speed, Inverter output frequency,
torque and Voltage for each speed
( x1=x2=3r1=3r2)
 Power converters (Drive Topologies)

Ac constant Volt & frequency Ac variable V, F

Rectifier Filter Inverter

q Conventional voltage source PWM converter.

q Current source load commutated & PWM converter.
q Resonant link converter (series and shunt)
q Cycloconverter
q Matrix converter.
 PWMVSI
Bridge Rectifier PWM Inverter

L
VVVF
3-phase input output

• Constant Dc bus Volt and output current depend on load

• L reduces AC line harmonics and improve the PF.
• C keeps constant voltage on the DC bus.
• H–controlled rectifier limit capacitor pre-charge currents
• Used for multi machine drives.
• PWM improves PF and reduces harmonica
• May operate on voltage or current controlled mode.
• Use power transistors and anti parallel diode
 CSI (LCI)
Bridge Controlled Rectifier Bridge Controlled Rectifier
L
VVVF
3-phase input output

Ci Co

• Constant Dc bus current (but adjustable) and output voltage depend on load
• L keeps the supply current almost constant
• limited to single motor drive
• LCI is popular in high power industrial drives
• Co and Ci are used to absorb leakage inductance and for load commutation of
induction motors
• May operate on voltage or current controlled mode.
• Mainly use SCR or GTO and no parallel diode
• Capable of regeneration without additional circuits
 VSI CSI
Converter Complex Simple
Control Ct Complex Complex
PF Good Poor
Speed range 0---3 0----1.5
Motor maint. V good V good
Performance Good (dynamics) V good(fast response)
Ratings Low & med (1.5M) High (20M)
Cost D-High M-Low D-Med M-low
Typical App Pumps, multi m/c Fans, comp, single m/c
 Trends in power converters
• Development in the topology of converters has slowed down.
• Traditional D.C rectifier – filter – PWM controlled inverter is
most common topology, development is to decrease its cost /
performance ratio.
• LC CSI is for high power applications.
• Cycloconverter development phased out.
• Resonant link converter is confined to very special application
• Enhancing PWM techniques to decrease harmonics.
• Inverter selection main parameters is Power (20% above
maximum load rating), Frequency range, input and output
voltage, size, environment (outdoor, indoor, etc)
2.3. AC DRIVE CONTROL
Action
 The decision on control strategy
• Type of power converter and its control HW
• Open loop, closed loop or sensorless
• Position speed or torque control
• One, Two or four Quadrant operation
• Accuracy, overshoot and response time required
• Single or multi-machine drive
• Range of speed, includes zero and field weakening
• Is the drive to give robust or parameter
insensitive response
• Do pulsation torque, harmonics and power factor
need control
 Control Technology
• Control Algorithms • Control Implementation
– Last step before trigger – DSP, mc, mp
• Voltage and current control – PLC, DCS, other
• PWM
Adjustable speed drive
– ---------------------------------------- Rectifier
VVVF
Inverter
– Open loop load
Motor
– Closed loop
 Scalar V/F
 Vector (FOC) Electronic
gate drive
DSP
Board
Voltage
and
– Direct circuit
Control
current
sensing n
– Indirect
Estimation
Algoritm
Torque & Speed
 Sensorless reference

– DTC
– Other
– Use of AI (FL, NN, GA)

AI AI AI
 INDUCTION MOTOR DRIVE CLOSED LOOP CONTROL

Scalar Control Vector Control

Const. V/Hz is=f(r) FOC DTC

Rotor Flux Stator Flux Circular DTC

Flux SVM
 Voltage regulation

• A voltage controlled PWM can be implemented

successfully in scalar and field oriented control
techniques, which are providing command voltages.
• The basic principle of the PWM voltage regulation can
be implemented on the PWM general form by
considering the reference, and carrier signals.
• Generally, the output voltage in the basic system is
suffering from harmonics. There are successful modified
techniques were very active to decrease these
harmonics.
 PWM
• Carrier and reference signal
• Frequency ratio
• Modulation index
• Over modulation
• FR = fc/fr
• MI= Ar/Ac Ac= 1

Va
Vb
Vd
Vc
 Three-phase sine PWM waveforms

 Frequency of vtri and vcontrol

vtri vcontrol_A vcontrol_ vcontrol_C
B
 Frequency of vtri = fc

A0
 Frequency of vcontrol = fr

V
where, fc = PWM (carrier) frequency

B0
V
fr=f1 = Fundamental frequency

C0
V
 Inverter output voltage
AB

 When vcontrol > vtri, VA0 = Vdc/2

V

 When vcontrol < vtri, VA0 = -Vdc/2

BC
V

where, VAB = VA0 – VB0

VBC = VB0 – VC0
CA
V

VCA = VC0 – VA0

t

Waveforms of three-phase sine PWM inverter.

 Current regulation
• A current controlled PWM converter operated with a switching
frequency in kHz range with good dynamic response and low
harmonic content. It is the most commonly used power converter
in the low to medium power range of high performance drives .
• The control circuit generates the sine reference current wave of
desired magnitude and frequency, which is compared with the
actual phase current. As the current exceeds a prescribed
hysteresis band, the upper transistor in the half-bridge is turned
off and the lower transistor turned on.
• As a result, the output voltage is transitioned from +0.5Vd to -
0.5Vd and the current starts to decay. As the current crosses the
lower band limit, the upper transistor is turned on, and the lower
transistor switched off. The actual current wave is thus controlled
to track the sine reference wave within the described hysteresis
band by back-and-forth switching of upper and lower transistor .
Current regulation
Hysteresis DC
block

I*as +
PWM

Controller
i*bs - Inverter
+ IM
i*cs -
+
-

Higher band
limit
Hysteresis
band

Lower band
Reference limit
wave
Actual
current

(b)

ωt

+ 0.5 Vd

PWM voltage
wave

- 0.5 Vd
 Control of ASD

Voltage /

Pulses either based on I ref or V ref

 Open loop VSI, volts/hertz control drives.

Rectifier Inverter

Scalar open loop VSI IM

V*S ω*e
e
+ + V/Hz For better op
Vo G
V*S Assume add a slip
- Vr=400, 4pole, speed const.
Controller Vo=10%, find G
V
ω* ω*e
+ + sl
The frequency * is the command variable and it is close to
the motor speed, neglecting the small slip frequency. The
scheme is defined as volt/hertz control because the inverter
voltage commands Vs* is generated directly from the
frequency signal through a volt/hertz constant gain G. In
steady state operation, the machine air gap flux m is
approximately related to the ratio Vs/e. Maintaining the
rated air gap flux will provide maximum torque sensitivity
with stator current which is similar to that of a dc machine.
As the frequency approaches zero near zero speed, the stator
voltage will tend to be zero and it will essentially be absorbed
by the stator resistance and needs a boost to attain the torque
Closed loop with Tacho FB and rectifier control
 CSI
(independent current and slip control)

VR Vd IM

Id
V*R ω* e

G1
Tacho
* + -
I d
*
+ + ωr
ω sl
Controller
Closed loop torque and flux control

Rectifier Inverter

IM

ω*e V*S

Controller G3
Tacho
ω* T*e+ ωsl Ψ*m
+ + +
G1 G2
v abc
- Te- + ωr - Ψm Te , Ψm
Estimator i abc
ωr
Ψ*
Closed loop control of CSI
 Vector or field oriented control
In FOC the ac motor is controlled like a separately excited
dc motor. In the dc motor when neglecting the armature
demagnetization effect, and field saturation the torque equation
is given by:
Te = Kt Ia If
Where Ia represents the torque component of the current,
and If represents the field component of the current. The two
currents Ia are If are completely independent. Normally If is
set to maintain the rated field flux, and the torque is changing
by changing Ia. Since, the change is independent; the torque
sensitivity remains optimum in both transient and steady state
operation. This technique can be implemented typically on the
ac machine. Generally, the three-phase to two-phase
transformation is the first step when implementing the FOC
technique
 Current phasor

a-axis
Is(vecto)

c-axis b-axis

q-axis d-axis
θs
In Y instantaneous i---
ia+ib+ic=0
Is(vector)= ia+ib+ic
 a-axis

Basics of abc- to dq0 transformation

c-axis b-axis

q-axis d-axis
θs DQ0-ABC Transformations
 
 *
 cos  s sin  s 1  *
i*as   2 2  i*ds 
ibs   cos( s  ) sin( s  ) 1 iqs 
dq0---abc  *  3 3  *
ics  cos(  2 ) sin(  2 ) 1 i0 s 
 s
3
s
3 
 2 2 
 * cos  s cos( s  ) cos( s  )
*
i*ds  ias
3 3
2  2 2   * 
i qs    sin  s sin( s  ) sin( s  )  ibs 
abc– dq0 * 3  3 3   *
i0 s   1 1 1  ics 
 2 2 2 
 Vector or FOC

ωe
ωe Vs
Vs
Iqs
I`qs q- axis
Iqs q- axis

I`ds I`s
Ids
I`s
Is Ids
Is
d- axis

(a) Increase of torque component (b) Decrease of field component

 Fundamentals of Field Oriented Control
inverter – fed Induction motor drive

DC
Ψ
-
Ψ*+ G1
Id* d-q
to Ias*
a-b-c ibs* IM
T* + G2
Iq*
Transform ics*
- T Sensed Parameters

{
Unit Vector


Controller
 Control Implementation
(MP, MC, DSP)
• Started in the 90’s
• High speed, acuracy and good interface
features
• 32 bit, 3.3 V, 30-100MIPS (30-10ns)
DSP-TC9486F/XB series
• A/D, PWM channels w/ dead time features
• Event manager and SW tools
• C and Asm programing

Cost Interfaces prog

DSP med good easy

mc low poor hard

 IT IS EXPECTED THAT WITH
DECREASING PRICE, DSP’S WILL BRING
A TRULLY COMPUTER POWER WITH
VERY HIGH PERFORMANCE
THIS COMPUTING POWER WILL BE
USED IN THE SPECIAL DRIVES TO
IMPROVE THE DRIVE DYNAMIC
PERFORMANCE
Comparison of Control Algorithms
Open Closed loop
loop
Scalar SensVector Sensorless
Low speed perf. Poor good Good (Ind) Medium
Poor (Dir)
Dynamic perf. V. poor poor excellent V. good
Param. sensitive No No Yes (Ind) Yes
No (Dir)
Cost V. low Low high low
Sp or pos sensor none simple complex none
Appl to HPDr No No Yes (Ind-Dir) Yes
 From an industrial catalog
Direct torque control (DTC) blocks
 3-Applications and Selection

• Overview
• Pumps
• Drive selection
• Others
 System Powers

Power electrical = I ×V x pf
Where: Power electrical = [W], V = voltage [V], I = Current [A]

Power mechanical=2 π* T* N/60

Where: N = Speed [rpm], T = Torque [Nm],

Power fluid = g Q H ρwater

Where: Power fluid = [W], g = 9.81 m/s2, Q = Flow quantity [m3/s],
H=Pressure head [m], ρwater= density of water
3.1- Application of ASD in pumps
The following table shows the theoretical power required as the motor
speed & system flow decrease since flow is proportional to n and head
is proportional to n2 p1/p2= (n1/n2)3

Speed Flow Q Power Required

100% 100% 100%
90% 90% 72.9%
80% 80% 51.2%
70% 70% 34.3%
60% 60% 21.6%
50% 50% 12.5%
40% 40% 6.4%
30% 30% 2.7%
 Comments on flow example
• The table shows that reducing motor speed results in a
reduction in the power required. Significant energy savings
are the result. For example, to reduce the flow from 100
percent to 50 percent cuts the required power to 12.5
percent. Eight times less power is used (8 = 100%
power/12.5% power).

• The power required drops exponentially when motor speed is

reduced, providing you with substantial energy savings.

• ASD energy savings are estimated using computer analysis.

The overall ASD energy savings is calculated as the theoretical
energy savings minus the losses due to running the ASD and
the drop in motor efficiency at lower speeds.
 ASD Systems
• If you have a system using a motor that serves a
varying load, an Adjustable Speed Drive (ASD) may
benefit you. Examples of such systems are fans that
reduce flow for non-design conditions or pumps that
use control valves to vary flow. ASDs tailor motor
performance to match present conditions.
• Advantages include:
– Energy savings
– Improved process flow
– Softer/easier motor starting
– Faster response than valves or dampers
Throttling verses Speed change for
pump system H-Q curves
 Throttling verses Speed change for pump
system H-Q curves and power savings
Throttled Operating Q N1
Point 
head Q2 N 2
Ps 2
Operating
H  N1 
Hs point  
H P H2  N2
3
P  N1 
H2  
P2 P2  N 2 
Reduced speed
operating point

q2 q
flow
 Example
• The following example show the energy saving
when operate a pump (rated flow=0.25m^3/sec,
at speed 1500rpm) with constant speed to fill a
canal with dimension (500m length, 5m width,
3m height).
– The volume of water required = 5 x 3 x 500=7500 m^3
– The number of hours required =7500/(.25 x 60 x
60)=8.33 hr
– Assume the input power to the pump = P kW
– The energy consumes 8.33P kWh
• If operate the pump with VSD to fill the same volume
Operate 2 hours at rated speed
q=0.25m3/sec, v1=0.25 x 2 x 60 x 60=1800m3
Operate 4 hours at 0.75 x 0.25 m3/sec v2=2700m3
V3=7500-2700-1800=3000m3
Operate at 0.5 x 0.25 m3/sec, it’s operating for 6.67 hr

• From affinity laws P proportional to cubic speed

P (at 0.25)=P kW, P (at 0.75 x .25)=0.42P kW, P (0.5 x
.25)=0.125P kW

• Energy required 2 x P+4 x 0.42 x P+0.125 x 6.67 x P=4.5P

kW

• Percentage of energy saving = 8.33P-4.5P/8.33P=45.8%

 Example 2
The opposite figure shows an
operating point of a pump at
speed n1=1450 rpm. By
using throttled valve it
operate at flow QM
=500m3/hr,h1=65m,and
eff.=75%. And by using
inverter to provide variable
speed operation its operate at
the same flow QM but at
head h2 = 12.5 m, and
eff.=85%.
Required

1. Power input with the valve control

2. Power input with the speed control
3. Power saving
4. Energy saving (assume the pump operate 8000 hr/year)
5. Saving and payback period (assume cost of kWh = 8 piaster)
 Solution
• power with valve = QM * h1*p*g/eff.1=118 kw

• power with VSD = QM *h2*p*g/eff.2=20kw

• power saving =(118-20)/.9=109kw

• energy saving = 109*8000 (op hours) =871000 kWh/y

• Operating cost saving = 871000*.08=6980 L.E.

• Payback period =10000 (ASD cost)/6980= 1.435 year

 Electric Traction, E-mobility ‫الجر الكهربى – التحريك الكهربى‬

Off Grid On Grid

Electric Vehicle EV Suburban trains Electric High speed MagLev

Electric Buses
HEV Underground train
Elevators
Electric Bic/scoter-- Metro Trolley
convayers

-------
Batteries/Charging Supply/ V ratings
Motors-Drive-H st Tor Traction motors-H st Tor
Initial cost Initial cost
Smooth-LC-L main-env Smooth-LC-L main-env
 EV

This is Hyundai's latest EV, a computer-sculpted ode to aerodynamic efficiency

and yet another effort by the South Korean manufacturer to ensure that not a
one of its cars looks anything close to humble. With 321 hp and 446 lb-ft of torque
in the dual-motor car. The Ioniq 6 can definitely move when you dip into that throttle.
Meanwhile, true one-pedal driving will keep many EV purists happily regenerating their
way to a stop at every light
 High Speed Trains
Amtrack –ABB X2000

The e-train draws its power from an 11KV, 25 Hz single phase

catenary, The ac voltage is rectified to 2400 Vdc for the DC link.
The GTO thyristors in the PWM converter generate a variable
frequency (0-120 Hz) and variable voltage (90-1870). They drive
four 815 kW, 3-ph induction motor. The loaded train is 140 m long
and has a mass of 343 t. It reaches speeds of 277 km/h , courtesy
of ABB Traction.
 High Speed Trains
Velaro Novo HSR Facts and figures
 A 70367 ton Super liner

This 70367 ton superliner MS Fascination contains a power plant composed of 6 diesel synchronous
generators. 4 rated at 10.3 MVA and 2 at 6.8 MVA. The 6.6 KV, 3-ph 60 Hz, 0.75 PF gen’s are driven by
four 12 cylinder and two 8 cylinder 512 rpm diesel engines. Number of diesel engines at service at any time
depends on the electric load, generators on line are automatically synchronized
The propulsion system comprises of two 14 MW, 1000 V, 3-ph, 14 pole synchronous motors directly
coupled to two propeller shafts, driven at speeds ranging from 50 rpm to 140 rpm. Each motor has two 3-
phase winding that can be operated separately or in tandem. Each winding has a rating of 7 MVA. The
excitation unit supplies the excitation from a 450 V network through a 450/400 V, 400 KVA transformer
A control unit controls both the excitation current and the output current of the cycloconverter, i.e. of the
propulsion motor stator current. In addition the control unit takes care of the motors speed control, overload
protection of the network and the synchronization of the propellers.
The 6.6 KV main bus voltage is stepped down to 1500V by transformers. The secondary side is connected
to the four (36 SCR) cycloconverters, two for each motor. The superliner passenger capacity is 2040 with a
crew of 920, it has a length of 260 m, a beam of 31.5 m and operates at speed of 15.5 knots.
 Closing Discussion
• Project
• Midterm
• Presentations
• Problems
• Finals

THANK YOU
 Off Grid
(Evs- HEVs-Ebus-Ebike---)

EV Architecture
 EV system blocks
The key blocks of an EV powertrain system are the electric motor, the traction
inverter drive, the DC/DC converter, the Li-ion battery, the AC/DC grid-tied
on-board charger (OBC), and controllers (MCU and PMIC), as shown in
Figure. The traction inverter system, highlighted in red, is described in detail in
the following sections. This system alone incorporates many of the protection
and monitoring features utilized to achieve high safety levels.
 EV traction inverter system architecture

The traction inverter system has multiple blocks including the power
management IC (PMIC) and the microcontroller (MCU), the high-power
IGBT or SiC MOSFET power modules and their temperature sensing
elements, the high-voltage (HV) battery, the DC-link capacitor, sensing
blocks, various protection and monitoring circuits and signal isolation,
shown in next Figure.
The high-power switches are the most critical component in the inverter as they
control the flow of current to the motor to generate motion. As such, the
switches' are monitored and protected by sensing their temperature, voltage and
current throughout their operation. The PWM signals are commonly generated
using the space vector modulation (SVM) scheme. As the motor operates, the
voltage, current and position signals are sensed and fed back to the controller to
modify the modulation of the inverter. One such feedback method is field
oriented control (FOC). A good modulation scheme, fast feedback and
accurately sensed signals are required for efficient motoring
Supply of electric rail systems
 Traction drives with IM
(underground)

This 36T wagon is driven by 4 3-ph 6 pole IM, 750 Vdc

are supplied to each PWM VVVF converter
‫ عادل شلتوت‬.‫د‬.‫ا‬
Year Introduction
‫ رمضان رجب‬.‫د مهاب هلوده د‬.‫ا‬
Motor selection DC and Ac drives principals and applications
 Course Outline
• Discussion (lessons learned, labs, reports, learning objectives)
– Define the fundamental elements of AC drive systems.
– Explain the performance of the AC drives.
– Explain how to design the control structures for drive systems.
– Analyze the steady-state characteristics of a few commonly used types of drives.
– Analyze and design important elements of a drive system.
– Apply modern techniques, skills and engineering tools to electrical drive systems.
– Apply the suitable drive system according to the application.
• Course sequence (DC Drives, AC Drives, Slection and Applications,)
• DC Drive systems , Dr. Ramadan Ragab
• AC Drives construction and operation, Prof. Mohab Hallouda
– Introduction, Induction motor features, General Trends
– AC drives components and blocks (Machines, converters, control)
– VVVF and its performance, Scalar, Vector and Sensorless control
• AC/DC drives Selection and Applications , Prof. Adel shaltoot
• Mini project Paper presentation and oral exam

• References
• Modern Power Electronics and AC drives, B. K. Bose
• Power Electronics, Mohan