a) Explain the principle of generating a rotating magnetic field in a three-phase motor (1 point):

1. Structure:

• The stator has three windings spatially displaced by 120°.

• Each winding is supplied with a sinusoidal current that is phase-shifted by 120° electrically.

2. Principle:

• When three sinusoidal currents with a 120° phase difference are applied, each winding produces its own magnetic
field.

• Due to the phase displacement, the magnetic field strength of each winding varies with time.

• The superposition of the three individual magnetic fields results in a uniformly rotating magnetic field.

• The rotational speed of the magnetic field depends on the supply frequency and the number of pole pairs.

b) Operating principle of a variable frequency drive (VFD) (1 point):

1. Main structure:

• Rectifier stage: converts AC power to DC.

• DC link: filters and stabilizes the DC voltage.

• Inverter stage: converts DC back to AC with a variable frequency.

2. Operating principle:

• The AC supply is first rectified into DC.

• The DC voltage is filtered and stabilized by capacitors.

• IGBTs are switched on and off to generate PWM signals.

• The output voltage and frequency are controlled by adjusting the PWM duty cycle.

• A three-phase output voltage with controllable frequency and amplitude is generated.

• A BLDC motor is a type of permanent magnet motor.

Reasons:

• The rotor is made of permanent magnets (0.5 point).

 • The stator consists of electromagnetic windings (0.5 point).

• The motor is equipped with sensors to determine the rotor position (0.5 point).

• A controller sequentially excites the stator windings (0.5 point).

Role of the PLC (0.75 point):

• Communicates with the user.

• Outputs position and velocity commands to the servo amplifier.

• Receives feedback signals from the servo amplifier and outputs updated position and velocity commands for the
next control task.

• Controls the zero position and manages the zero point return (homing) process.

Role of the servo amplifier (0.75 point):

• Executes the servo control loops based on the position and velocity commands sent from the PLC.

• Controls safety mechanisms such as limit switches and overload protection.

Reason for using a trapezoidal motion profile (0.5 point):

• Provides controlled acceleration and deceleration to dissipate the motor’s kinetic energy safely.

• Controlled deceleration of kinetic energy allows the velocity to be reduced to zero at the target position, helping the
position control process achieve high accuracy.

1. Stepping Motor (Step Motor)

Description:
A stepping motor moves in discrete steps and is usually driven directly by a controller without feedback.

Advantages:

• Simple control structure (open-loop control).

• Low cost compared to servo systems.

 • Good positioning accuracy at low speed.

• Easy to interface with PLCs or controllers.

Limitations:

• Loss of steps can occur under heavy load (no feedback).

• Poor performance at high speed.

• Lower torque compared to servo motors.

• Vibration and resonance issues.

2. DC Servo Motor with DC Servo Amplifier

Description:
A DC servo motor uses feedback (encoder or tachometer) and a servo amplifier to achieve closed-loop position and speed
control.

Advantages:

• High positioning accuracy.

• Good torque control.

• Smooth operation.

• Simple control algorithms.

Limitations:

• Brushes and commutator require maintenance.

• Lower reliability compared to brushless systems.

• Limited maximum speed.

• Less suitable for harsh industrial environments.

3. AC Servo Motor with AC Servo Amplifier

Description:
An AC servo motor is a brushless motor with encoder feedback, controlled by an AC servo amplifier in a closed-loop system.

Advantages:

• Very high positioning accuracy.

• High speed and high torque capability.

• No brushes → low maintenance.

• High reliability and long service life.

• Excellent dynamic response.

Limitations:

• Higher cost compared to stepper and DC servo systems.

• More complex control and tuning.

• Requires a dedicated servo drive and proper parameter setup.

Control method:
Pulse-based speed and position control using an inverter (pulse frequency control).

Description:
The PLC generates a pulse train in which the pulse frequency represents the motor speed. This signal is converted to an
analog voltage (0–10 V) and sent to the inverter, which drives the induction motor. The motor rotates the ball screw to move
the load. Feedback pulses are returned to the PLC and counted by a high-speed counter to monitor speed and control the
travel distance. A trapezoidal speed profile is used to ensure controlled acceleration and deceleration.

Torque control of a DC motor:

In a DC motor, torque is directly proportional to the armature current

Therefore, torque control is achieved by controlling the motor current.

The measured armature current is fed back and compared with the desired current. The error signal is processed by a PI
controller, which generates a PWM signal. The PWM signal controls the power switches in the DC drive, adjusting the
motor voltage so that the armature current (and thus torque) follows the reference value.

Advantages of DC motor drives:

• Simple and accurate torque control.

• Fast dynamic response.

• Linear relationship between torque and current.

• Easy to implement control algorithms.

Limitations of DC motor drives:

• Brushes and commutator cause wear and require regular maintenance.

• Lower reliability compared to AC servo drives.

• Limited maximum speed.

• Not suitable for harsh or high-power industrial environments.