Industrial Drives and Applications-BEE702
Module-4
Induction Motor Drives cntd.
Synchronous Motors
Syllabus
Induction Motor Drives (continued):
• Voltage Source Inverter (VSI) Control
• Cycloconverter Control
• Closed Loop Speed Control Converter Rating for VSI Cycloconverter Induction
Motor Drives
• Variable Frequency Control from a Current Source
• Current Source Inverter (CSI) Control
• Current regulated voltage source inverter control
• Speed control of single phase induction motors.
Synchronous Motor Drives:
• Operation from fixed frequency supply-starting
• Synchronous motor variable speed drives
• Variable frequency control of multiple synchronous motors
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Induction Motor Drives cntd.
Voltage Source Inverter Control (VSI)
• A VSI converts the input dc voltage into an variable frequency ac voltage.
• VSI using normal transistors is shown in below Fig.
• 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.
Any other self commutated device can be used in place of transistors such as
✓ 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.
The output voltage waveform of a six step inverter is shown in below Fig.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
VSI can be operated as a stepped wave inverter or a PWM inverter.
Stepped wave inverter:
• 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 .
• 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.
• A large electrotytic filter capacitor C is connected in dc link to make inverter operation
independent of rectifier or chopper and to filter out harmonics in dc link voltage.
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 at low speeds. This will overheat the machine.
PWM inverter:
The above said problems are rectified when a PWM inverter is used.
• If a PWM inverter is used as VSI as shown in below Fig c & d, Where the harmonics are
reduced, low frequency harmonics are eliminated, losses are reduced and smooth motion
is obtained at low speeds
• when inverter is operated as a pulse width, 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.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Where m- modulation index
• When supply is dc: Inverter can be directly connected
• When supply is ac: Inverter is connected through Diode rectifier.
• The harmonics in the motor current produce torque pulsation and derate the motor.
• For a given harmonic content in motor terminal voltage, the current harmonics are
reduced when the motor has higher leakage inductance, this reduces derating and torque
pulsations.
• Therefore, when fed from VSI, Induction Motor with large (compared to when fed
from sinusoidal supply) leakage inductance are used
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Braking and Multi-quadrant Operation of VSI Induction Motor Drives
• The power input into the motor is given by
Where,
V = fundamental component of the motor phase voltage
Is = fundamental component of the motor phase current
Φ = phase angle between V and Is.
• In motoring operation : Φ < 90°, hence Pin is positive i.e. power flows from the inverter
to the machine.
• A reduction in frequency makes the synchronous speed less than the rotor speed and the
relative speed between the rotor conductors and air-gap rotating field reverses.
• This reverses the rotor induced emf, rotor current and component of stator current which
balances the rotor ampere turns.
• Hence, Φ >90° and power flow reverses.
• The machine works as a generator feeding power into the inverter, which in turn feeds
power into dc link by reversing the dc link current Id. Regenerative braking is obtained when
the power flowing from the inverter to the dc link is usefully employed and dynamic braking
is obtained when it is wasted in a resistance.
Dynamic Braking
• Generated energy flowing into the dc link charges the capacitor and its voltages rises.
• When it crosses a set value, switch S is closed, connecting the resistance across the link.
• The generated power and a part of energy stored in the capacitor flow into the resistance,
and dc link voltage reduces.
• When it falls to its nominal value, S is opened.
• Thus by closing and opening switch S based on the value of dc link voltage, generated
energy is dissipated in the resistance, giving dynamic braking.
Regenerative Braking
When the operation shifts from motoring to braking I d reverses but Vd remains in the same
direction.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
For regenerative braking, a converter with dc voltage of one polarity and dc current of either
direction is required.
A dual converter with this feature is conventionally used.
The recent drives use synchronous link converter (SLC) because it takes sinusoidal current at
unity power factor from the ac source, both during motoring and braking operations.
• A regenerative drive with a SLC and PWM inverter is shown in Fig.
• The inductors Ls and PWM inverter I constitute a SLC.
• 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.
Cycloconverter Control of Induction Motor
• Cycloconverter Control of Induction Motor allows variable frequency and variable voltage
supply to be obtained from a fixed voltage and frequency ac supply.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• Half-wave Cycloconverter Control of Induction Motor and its output voltage waveform is
shown in Fig.
• Because of low harmonic content when operating at low frequencies, smooth motion is
obtained at low speeds.
• Harmonic content increases with frequency. Thus, maximum speed is restricted to 40% of
synchronous speed at the mains frequency.
• A motor with large leakage inductance is used in order to minimize derating and torque
pulsations due to harmonics in motor current.
• The drives has regenerative braking capability. Full four-quadrant operation is obtained by
reversing the phase sequence of motor terminal voltage.
• Since cycloconverter employs large number of thyristors, economically suitable only
for large power drives, requiring good dynamic response but only low speed operation.
• The low speed operation is obtained by feeding a motor with large number of poles
from a Cycloconverter Control of Induction Motor operating at low frequencies.
• These drives are called gearless drives because, the low speed operation of load is
obtained without a reduction gear, thus eliminating the associated cost, space and
maintenance.
Closed Loop Speed Control of Induction Motor Drives
• A Closed Loop Speed Control of Induction Motor Drives is shown in Fig. It employs
inner slip-speed loop with a slip limiter and outer speed loop.
• Here, the Slip speed has a fixed value, the slip speed loop also functions as an inner
current loop.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• Here, the motor operation always occurs on the portion of speed-torque curve between
synchronous speed and the speed at the maximum torque for all frequencies, resulting
in high torque to current ratio.
• The drive uses a PWM inverter fed from a dc source, which has capability for
regenerative braking and four-quadrant operation.
• The drive scheme is applicable to any VSI or cycloconverter drive having regenerative
or dynamic braking capability.
• The speed error is processed through a PI controller and a slip regulator.
• PI controller is used to get good steady-state accuracy, and to attenuate noise.
• The slip regulator sets the slip speed command ωs1*, whose maximum value is limited
to limit the inverter current to a permissible value.
• The synchronous speed, obtained by adding actual speed ωm and slip speed ωs1*,
determines the inverter frequency.
• The reference signal for the Closed Loop Speed Control of Induction Motor Drives of
the machine terminal voltage V* is generated from frequency f using a function
generator.
• It gives constant flux - up to base speed ; constant terminal voltage - above base speed.
• A step increase in speed command ωm* produces a positive speed error. The slip speed
command ωs1* is set at the maximum value.
• The drive accelerates at the maximum inverter current, producing maximum torque,
until the speed error is reduced to a small value.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• The drive finally settles at a slip speed for which the motor torque balances the load
torque.
• The drive decelerates under regenerative braking, at the maximum current and the
maximum braking torque, until the speed error is reduced to a small value.
• Now the operation shifts to motoring and the drive settles at the slip speed for which
the motor torque equals the load torque.
Variable Frequency Control From Current Source
• Consider the motor control by Variable Frequency Control From Current Source
(VFCS).
• An equivalent circuit for motor fed from a current source is obtained when voltage
source V is replaced by a current source Is.
• Motor speed-torque curves for various values of Is and natural speed-torque curve, at rated constant
flux is shown.
• For a given Is, motor operates above the natural characteristic- for a flux higher than rated ; motor
operates below the natural characteristic – at less than rated flux.
• Since rated flux operation is preferred, the natural characteristic is locus of preferred, operating
points.
• Fig (b) shows stator current Is and rotor frequency (sf), when frequency is changed to control the
speed.
• When operating at a constant flux, the operating points are located mostly on the part of speed
torque curve, which gives unstable operation with most loads.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• Hence, closed loop control is mandatory. Since motor is constraint to operate at constant
flux, its steady-state behavior is identical to that with VFVS.
• Thus at a given slip speed (or rotor frequency), the motor draws a constant current and
develops a constant torque at all frequency.
• The motor, therefore, operates in constant torque mode from zero to base speed. At base
speed, either rated machine voltage is reached or VFCS voltage saturates.
• In either case machine operates at a constant terminal voltage above base speed, providing
constant power mode.
• Variable frequency current supply is provided by a Variable Frequency Control From
Current Source inverter.
Current Source Inverter Control of Induction Motor
• A thyristor Current Source Inverter Control of Induction Motor (CSI) is shown in Fig.
• Diodes D1-D6 and capacitors C1-C6 provide commutation of thyristors T1-T6, which
are fired with a phase difference of 60° in sequence of their numbers.
• It also shows the nature of output current waveforms.
• Inverter behaves as a current source due to the presence of large inductance Ld in dc
link.
• The fundamental component of motor phase current from Fig. is
• For a given speed, torque is controlled by varying dc link current I d by changing the
value of Vd.
• Therefore, when supply is ac, a controlled rectifier is connected between the supply and
inverter and when supply is dc, a chopper is interposed between the supply and inverter.
• The maximum value of dc output voltage of fully-controlled rectifier and chopper are
chosen so that the motor terminal voltage saturates at rated value.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• The major advantage of Current Source Inverter Control of Induction Motor is its
reliability.
• In case of VSI , a commutation failure will cause two devices in the same leg (e.g.
Tr1 and Tr4) to conduct. This connects conducting devices directly across the source.
So, current through devices suddenly rises to dangerous values. Hence, Expensive high
speed semiconductor fuses are required to protect the devices.
• In case of CSI, conduction of two devices in the same leg does not lead to sudden rise
of current through them due to the presence of a large inductance L d.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• This allows time for commutation to take place and normal operation to get restored in
subsequent cycles. Further, less expensive HRC fuses are good enough for protection
of thyristors.
Regenerative Braking and Multiquadrant Operation:
Refer the same fig a and b:
• When inverter frequency is reduced to make synchronous speed less than motor speed,
machine works as a generator.
• Power flows from machine to dc link and dc link voltage Vd (Fig. ) reverses.
• If fully-controlled converter of Fig. (a) is made to work as an inverter, the power
supplied to dc link will be transferred to ac supply and regenerative braking will take
place.
• Thus, no additional equipment is required for regenerative braking of CSI drive of Fig.
(a).
• Change of phase sequence of Current Source Inverter Control of Induction Motor will
provide motoring and braking operations in the reverse direction.
• The drive of Fig.(b) can have regenerative braking capability and four-quadrant
operation if a two quadrant chopper providing current in one direction but voltage in
either direction is used
Closed Loop Speed Control of CSI Drives
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• A closed loop Current Source Inverter Control of Induction Motor drive is shown in Fig
a)
• Actual speed ωm is compared with the reference speed ω*m.
• The speed error is processed through a PI controller and slip regulator.
• The slip regulator sets the slip speed command ω*s1.
• The synchronous speed obtained by adding ωm to ω*s1, determines the inverter
frequency. Constant flux operation is obtained when slip speed ωs1 (or rotor frequency)
and Is have relationship as in fig b).
• Since Id is proportional to Is, as per eq.
• A relation similar to Fig b) exists between ωs1 and Id for constant flux operation.
• Based on the value of ω*s1, the flux control block produces a reference current I* d, which
through a closed-loop current control adjusts the dc link current Id to maintain a constant
flux.
• The limit imposed on the output of the slip regulator, limits Id at the inverter rating.
• Therefore, any correction in speed error is carried out at the maximum permissible inverter
current and maximum available torque, giving fast transient response and current protection.
• Beyond base speed, machine terminal voltage saturates .
• Flux control and closed-loop control of Id are made ineffective.
• To operate the drive up to rated inverter current, the slip speed limit of the slip regulator
must increase linearly with frequency.
• This is realized by adding to the slip regulator output a signal proportional to frequency.
b)
Is Vs sf curve
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Comparison of CSI (current source inverter )and VSI (drives voltage
source inverter)
Current Regulated Voltage Source Inverter
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• 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
Above Fig. (a) shows a sinusoidal reference current i *A = Im sin ωt.
Here, two bands, separated from i*A by an amount ΔI.
• Switching in the inverter is carried out such that the actual motor current iA remains
within these two bands.
• For this voltage source inverter Fig. (a1) 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 to the positive terminal of dc
source, hence the rate of change of current iA will be positive
• 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.
In 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 ‘o’ , 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.
• Reference current for phases B and C are : i*B = Im sin(ωt -120∘), i*C = Im sin(ωt –
240∘) and by controlling respective transistors i B 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.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• As the band reduces, harmonic content in phase currents reduces but 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, i A, iB and iC in
comparators with hysteresis to generate base drives for switches.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• Since the magnitude and waveforms of motor currents are independent of changes in
motor impedance and source voltage, the inverter operates as a current source
inverter.
• The closed-loop speed control scheme of CSI drive is used for Current Regulated
Voltage Source Inverter drive, is shown in Fig.c)
• 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 Motor
• 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 be controlled by the use of ac voltage controllers.
• By reducing Stator Voltage, speed of a high-slip induction motor can be reduced,
suitable for the speed control of some fan and pump drives method where torque
demand reduces with speed.
• Domestic fan motors, which are always single-phase, are controlled by a single-phase
triac voltage controller shown in 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.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
• 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.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Synchronous Motor Drives
Operations from Fixed Frequency Supply
• For any speed other than synchronous speed, the relative speed between air gap flux wave
and the rotor is not zero.
• δ varies from 0 to 360°, and torque fluctuates between positive and negative values, but its
average value remains zero.
• Frequency of torque fluctuations depends on the relative speed between air-gap flux wave,
which rotates at synchronous speed, and the rotor.
• When rotor is at stand-still, the frequency is too high for the rotor inertia to allow any
change in speed. The motor is not self starting.
• If rotor is brought close to synchronous speed by some starting method and then dc field
excited, the synchronous torque assisted by the damper winding torque is able to pull the
rotor into step with the rotating field after a short duration of hunting, and the machine
then works as a synchronous motor.
• The process of pulling rotor into step with the rotating field is called pull-in or
synchronisation.
Starting
• The purpose of starting method is to bring rotor speed close to synchronous speed.
• One widely used method is to start the synchronous motor as an induction motor with
field unexcited and damper winding serving as a squirrel-cage rotor.
Consider the following methods of starting
• Method-1 : The starting torque and current can be increased and reduced respectively,
by increasing the damper winding resistance. For successful pull-in, the motor speed
while running as an induction motor must be close to synchronous speed. For this the
damper winding resistance must be as low as possible.
• Method-2 : During acceleration as an induction motor, because of large number of
turns in field winding, the induced voltage in the field winding may reach several
thousand volts, thus overstressing the insulation of the winding and increasing the
voltage rating of the field supply converter. Here, the field circuit is closed through
small discharge resistance before dc excitation is applied. So the actual potential
difference between the turns is reduced to safe value.
• Method-3 : DC excitation should not be applied during acceleration as an induction
motor because while it produces no net motoring torque, it does produce braking torque.
So, dc field should be applied only after the motor has reached close to full speed.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Method-4 : When rotor has salient pole construction, the damper winding can have conductors
only over Pole arc. This leads to a dip in the speed-torque curve at half of synchronous speed.
Method-5 : When started with full supply voltage, the starting current can be 7 to 10 times of
full load value. In small size motors- It leads to fluctuations in supply voltage. In case of large
size motors- cause a large drop in the terminal voltage, thus reducing low starting torque
further. Starting current can be reduced by employing the reduced voltage starting methods.
When started at a reduced voltage, the transition to full voltage can be made before or after the
pull-in. Pull-in can be achieved faster and with larger motor loads.
Method-6: It uses a low power auxiliary motor coupled to the synchronous motor shaft. With
the help of auxiliary motor, the rotor speed is brought near, synchronous speed and then dc
field is switched-in. This method has a very low starting torque.
Pull-in (Synchronism)
• Pull-in process begins when the field supply is switched-in.
• When pull-in takes place at no load or at light loads, field supply can be switched-in
without regard to the value of torque angle at the instant of switching.
• This may give rise to considerable disturbance in line currents during the pull-in
process, with their magnitudes going well above the rated value.
• However, this would occur without regard to polarity of the rotor poles.
• If polarity is right, the pull-in will take place with minimum disturbance.
• If wrong, the rotor may slip several poles before pull-in is completed.
• Torque is negative: for δ from 0 to 180° leading, so the synchronous torque will
decelerate the rotor
• Torque is positive: for δ from 0 to 180° lagging, hence synchronous torque will
accelerate the rotor.
• Rotor will be subjected to the accelerating torque of longest duration : when the field is
excited at δ = 0 . Hence, it is the most favourable angle for exciting dc field.
Transients Due to Load Disturbance
Steady – State Stability Limit
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Braking
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Synchronous Motor Variable Speed Drives
Variable Frequency Control
• 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.
• Here, the stator flux is maintained constant by keeping the (v/f) ratio constant as that of
induction motors, . 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.
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.
1. 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 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
2. 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
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE
Industrial Drives and Applications-BEE702
Variable Frequency Control of Multiple Synchronous Motors
• A drive operating in true Variable Frequency Control of Multiple Synchronous Motors
• Frequency command f* is applied to a voltage source inverter through a delay circuit
so that rotor speed is able to track the changes in frequency.
• A flux control block changes stator voltage with frequency to maintain a constant flux
below rated speed and a constant terminal voltage above rated speed.
• This scheme is commonly used for the control of multiple synchronous reluctance or
permanent magnet motors in fiber spinning, textile and paper mills where accurate
speed.
Prepared by KAVYASHREE S, Asst Professor, Dept of EEE