EET413 ELECTRIC DRIVES

Sebin Davis K
Asst. Professor
Electrical Dept.
Sahrdaya College of Engineering and Technology , Kodakara
Module IV
• Three phase induction motor drives: Stator voltage control - Stator frequency
control – v/f control - below and above base speed
• Voltage Source Inverter (VSI) fed v/f control using sine-triangle PWM
• Static rotor resistance speed control employing chopper – static slip power
recovery speed control scheme for speed control below synchronous speed.
Principle of operation
• When a 3 phase supply is given to 3 phase stator winding, a rotating
magnetic field is produced in the stator. The speed of rotation of rotating
magnetic field is called synchronous speed(Ns)
Ns = (120f )/P
• This rotating magnetic field links the stationary rotor windings and
produces an induced emf in the rotor windings an induced emf in the rotor
windings
• Since the rotor windings are short circuited for both squirrel cage and
wound-rotor, a large current flows through the rotor windings
• The current carrying conductor placed in a magnetic field experiences a
mechanical force/torque
• Thus rotor conductors experiences a force/torque, and it tends to rotate
the rotor in the same direction of rotating magnetic field
Principle of operation
• Due to inertia of rotor, motor will run at a speed which is less than
synchronous speed
• The difference between the actual motor speed and the synchronous
speed is called Slip Speed

• Slip (S) is expressed as the % of synchronous speed.

• Equivalent circuit of an Induction motor

Torque developed in the motor

Speed control of Induction motor
Different methods employed for speed control of
• Induction motor are
1. Pole changing
2. Stator voltage control2. Stator voltage control
3. Supply frequency control
4. Rotor resistance control
5. Slip power recovery
• Methods 1, 2 & 3 are applicable for both SQIM & SRIM
• Methods 4 & 5 are applicable only to SRIM
Stator voltage control
• The speed of a three-phase
induction motor can be varied by
varying the supply voltage.
• The Torque-Speed Characteristics
of the three-phase induction motors
for varying supply voltage and also
for fan load are shown
• The voltage is varied until the
torque required by the load is
developed, at the desired speed.
Stator voltage control
• This stator voltage control method is suitable for applications where the
load torque decreases with the speed.
• This method gives a speed control only below the normal rated speed as
the operation of the voltages if higher than the rated voltage is not
admissible.
• The variable voltage for speed control of small size motors can be
obtained by the following methods
• By connecting an external resistance in the stator circuit of the motor.
• By using an Auto-transformer.
• By using a Thyristor voltage controller.
• By using a Triac Controller.
Stator voltage control by using AC voltage controller
• AC voltage controller produces a variable voltage AC voltage of same
frequency from a fixed AC voltage
• The speed of fans & pumps are commonly controlled by a single phase or 3
phase AC voltage controller
• Domestic fans & pumps are always single phase & we use a single phase
AC voltage controller to control speed
• Industrial fans & pumps are usually 3 phase & we use a 3 phase AC voltage
controller
• AC voltage controller use either TRIAC (for low power rating motors) or
anti parallel thyristors.
• Since AC voltage controller allow a step less control of voltage from its
zero value, they are used for soft starting also
• In AC voltage controller two control strategies are possible
1. Integral cycle control or ON-OFF control
2. Phase control

Integral cycle control or ON-OFF control

• Here thyristors are employed as switches to connect the load circuit
to the source for a few cycles of source voltage and then disconnect it
for another few cycles
• In industry, integral cycle control is used in applications in which
mechanical or thermal time constant is high
• 2. Phase control
• Here the power flow from source to the load is controlled by varying the firing angle
of the thyristor/TRIAC in each cycle
• Phase angle control induces more harmonics in to the supply system than ON-OFF
control
• Different configurations of phase controlled AC voltage controllers - Different
configurations of phase controlled AC voltage controllers are
• 1 phase half wave AC voltage controller
• 1 phase full wave AC voltage controller
• 3 phase half wave AC voltage controller
• 3 phase full wave AC voltage controller3 phase full wave AC voltage controller
 1 phase half wave AC voltage controller
It consist of one thyristor and an anti
parallel diode
Voltage applied to motor stator is
varied by varying the firing angle of
thyristor
1 phase full wave AC voltage controller
• Used for the speed control of 1 phase
fans/pumps
• Uses anti parallel thyristors/TRIAC
• 1 quadrant drive
3 phase full wave AC voltage regulator for star connected load
• Usually anti parallel thyristors are used for large
power rating motors
• 1 quadrant drive
• Each thyristor pair carries line current
• This connection can be used for both star &
delta connected stator windings
• In delta connection, line current is more & we
need to use thyristors of large current rating
• For delta connection we use - So for delta
connection we use another configuration as
shown in fig
• Here each thyristor pair carries the phase current
• Advantages of stator voltage control Advantages of stator voltage
control
• Simple circuit
• Compact & less weight
• Quick response
• Economical
• Provides step less control of voltage- Provides step less control of voltage
• Can be used for soft starting of motors
• Drawbacks
• Input power factor is low
• Voltage & current waveforms are distorted due to harmonics
• Maximum torque decreases because stator voltage decreases
• At low speeds motor current is high & arrangements needed to limit the
current
• Regeneration is not possible
Stator frequency control
• Variable Frequency Control is a method that is used to control the
speed of an induction motor.
• The synchronous speed and therefore, the speed of the motor can be
controlled by varying the supply frequency. The synchronous speed of
an induction motor is given by

• The EMF induced in the stator of the induction motor is given by the
equation shown below.

• If the supply frequency is changed, induced EMF will also change to

maintain the same air gap flux. The terminal voltage V1 is equal to the
induced EMF E1 if the stator voltage drop is neglected
v/f Control
• Any reduction in the supply frequency, without a change in the
terminal voltage, causes an increase in the air-gap flux.
• Induction motors are designed to operate at the knee point of the
magnetization characteristic to make full use of the magnetic material.
Therefore, the increase in flux will saturate the motor.
• This will increase the magnetizing current, distort the line current and
voltage, increase the core loss and the stator copper loss, and produce
a high-pitch acoustic noise.
• While an increase in flux beyond the’rated value is undesirable from
the consideration of saturation effects, a decrease in flux is also
avoided to retain the torque capability of the motor.
v/f Control
• Therefore, the Variable Frequency Control of Induction Motor Drive
below the rated frequency is generally carried out at rated air-gap flux
by varying terminal voltage with frequency so as to maintain (V/f)
ratio constant at the rated value.

where K is a constant, and Ls and L′r are, respectively, the stator and
stator referred rotor inductances. Positive sign is for motoring operation
and negative sign is for braking operation.
When frequency is not low, (Rs/f) ≪ 2π(Ls + L′r) and therefore,
v/f Control
• With a constant (V/f) ratio, motor develops a constant maximum
torque, except at low speeds (or frequencies).
• Equation suggests that with a constant (V/f) ratio, motor develops a
constant maximum torque, except at low speeds
v/f Control
• The Variable Frequency Control of Induction Motor Drive provides good
running and transient performance because of the following features:
[Link] control and braking operation are available from zero speed to
above base speed.
[Link] transients (starting, braking and speed reversal) the operation
can be carried out at the maximum torque with reduced current giving
good dynamic response.
[Link] losses are low, and efficiency and power factor are high as the
operation is restricted between synchronous speed and maximum
torque point at all frequencies.
[Link] in speed from no load to full load is small.
[Link] allows a variable speed drive with above-mentioned good running
and transient performance to be obtained from a squirrel cage
induction motor.
 Block diagram of Variable Frequency Control
of Induction Motor Drive scheme
• The motor is fed from a variable frequency variable voltage source
(VFVS). V* and f* are voltage and frequency commands for VFVS.

The variable-frequency supply is obtained

by the following converters.
•Voltage source inverter
•Current source inverter
•Cyclo converter
Voltage Source Inverters
Voltage Source Inverters
Voltage source inverter (VSI) fed induction motor drives

• VSI allows a variable voltage variable frequency AC supply obtained

from a DC supply
• Normally self commutating devices like MOSFET, IGBT, power
transistors are used in VSI
• Voltage Source Inverter Control of Induction Motor can be operated
as a stepped wave inverter or a pulse-width modulated (PWM)
inverter.
Voltage source inverter (VSI) fed induction motor drives

The fundamental component in the output phase voltage of a PWM inverter operating with
sinusoidal PWM is given by

where in is the modulation index.

Braking of VSI Induction Motor Drives
• Dynamic Braking: In dynamic braking, the switch SW and a self-
commutated switch in series with the braking resistance R are
connected across the DC links.
• When the operation of the motor is shifted from motoring to braking
switch SW is opened. The energy flowing through the DC link charges
the capacitors and its voltage rises.
Braking of VSI Induction Motor Drives
• When the voltage crosses the set value, switch S is closed, connecting
the resistance across the link
• The energy which is stored in the capacitor flows into the resistance
and reduces the DC link voltage.
• When it falls to its nominal value S is opened. Thus the closing and
opening of the switch depends on the DC link voltage, and the
generated energy is dissipated in the resistance gives dynamic braking.
 Braking of VSI Induction Motor Drives
• Regenerative Braking: Let us
consider the regenerative braking of
pulse width modulation of inverter
drive.
• For regenerative braking, the power
supplied to the dc link must be
transferred to the ac supply. When
the operation shifts from motoring to
braking Id reverses but Vd remains in
the same direction.
PWM inverter I is operated to produce voltage VI of required magnitude and phase
and with a low harmonic content, so that source current Is is nearly sinusoidal and in
phase with Vs for motoring and 180° out of phase for braking, thus giving unity power
factor.
Rotor Resistance Control of Induction Motor
• Speed-torque curves for Rotor Resistance
Control of Induction Motor are given in Fig.
• While maximum torque is independent of
rotor resistance, speed at which the maximum
torque is produced changes with rotor
resistance.
• For the same torque, speed falls with an
increase in Rotor Resistance Control of
Induction Motor.
• Advantage of Rotor Resistance Control of
Induction Motor is that motor torque
capability remains unaltered even at low
speeds.
Static rotor resistance speed control employing
chopper
• The ON and OFF time of chopper is adjusted in order to get desirable speed
of the motor.
• The three phase rectifier converts AC into DC.
• The function of the inductor is to reduce ripple at the output of the rectifier.
• The average external resistance can vary by switching chopper.
• The AC output voltage of the rotor is rectified by diode bridge rectifier and
fed to parallel combination of fixed resistor R and a semiconductor
switching transistor Tr.
• Effective value of resistance across terminal A and B i.e., RAB is varied by
varying duty cycle of the transistor Tr, which in turn varies the resistance of
the rotor circuit
Static rotor resistance speed control employing chopper
• Inductance is added to the circuit to reduces the ripple and
discontinuity in the dc link current Id
• Thus the rms value of the current will be
Static rotor resistance speed control employing chopper
• Resistance between A and B terminal will be zero when the transistor is
on and it will be R when it is off.
• Therefore average value of resistance between the terminals is
given by

• Where, δ is the duty ratio of the transistor.

Static slip power recovery speed control
Static Scherbius Drive
• Slip Energy Recovery is one of the methods of controlling the speed of
an Induction motor. This method is also known as Static Scherbius
Drive.
• In the rotor resistance control method, the slip power in the rotor
circuit is wasted as I2R losses during the low-speed operation. The
efficiency is also reduced.
• The slip power from the rotor circuit can be recovered and fed back to
the AC source so as to utilize it outside the motor. Thus, the overall
efficiency of the drive system can be increased.
Static Scherbius Drive
• The figure below shows the connection and method for recovering
the slip energy and power recovery of an Induction Motor.
Static Scherbius Drive
• The basic principle of slip power recovery is to connect an external source
of the EMF of the slip frequency of the rotor circuit
• The slip energy recovery method provides the speed control of a slip ring
induction motor below its synchronous speed.
• A portion of rotor AC power (slip power) is converted into DC by a diode
bridge.
• The smoothing reactor is provided to smoothen the rectified current.
• The output of the rectifier is then connected to the DC terminals of the
inverter.
• The inverter inverts the DC power to the AC power and feeds it back to the
AC source. The inverter is a controlled rectifier operated in the inversion
mode.
Static Scherbius Drive
• Operating Modes of Static Scherbius Drives
• Sub-synchronous Motoring – In this mode of operation the slip and torque
both are positive and hence the injected voltage is in phase with rotor current.
The power flows into the stator and feedback into the rotor circuit.
• Super-synchronous Motoring – When the speed of the motor is above the
synchronous speed, then the slip is negative. Thus, the voltage and current are out
of phase with each other. The power feeds into the rotor from the drive circuit
along with input power flowing into the stator.
• Sub-synchronous Generating – For sub-synchronous speed, the torque is
required to be positive, although the slip is positive. The power is fed into the
rotor through the slip ring.
• Super-synchronous Generating – When the speed of the motor above the
synchronous speed, then the slip and torque becomes negative. Thus, the
injecting voltage is in phase with the rotor.
 Static Kramer Drive
• The static Kramer-drive is the method of
controlling the speed of an induction
motor by injecting the opposite-phase
voltage in the rotor circuit.
• The injected voltage increases the
resistance of the rotor, thus controlled the
speed of the motor.
• By changing the injected voltage, the
resistance and speed of an induction
motor are controlled.
Static Kramer Drive
• The static Kramer-drive converts the slip power of an induction motor into AC
power and supply back to the line. The slip power is the air gap power between the
stator and the rotor of an induction motor which is not converted into mechanical
power.
• Thus, the power is getting wasted. The static Kramer drives fed back the wasted
power into the main supply. This method is only applicable when the speed of the
drive is less than the synchronous speed.
• The speed control is possible only when speed is less or half of the synchronous
speed.