ANNEXURE I
NOTES OF LESSON PLAN
Solid State Drives
Unit III
Induction Motor Drives
TOPIC: Speed control of three phase induction motor using stator voltage control &
frequency control
EVOCATION
INDUCTION MOTOR DRIVES
Three-phase induction motor are commonly used in adjustable-speed
drives (ASD).
Basic part of three-phase induction motor :
Three-phase
windings
Rotor windings
Stator
Threephase
supply
Rotor
Air gap
Stator
Air gap
Rotor
AC DRIVES
AC motor Drives are used in many industrial and domestic
application, such as in conveyer, lift, mixer, escalator etc.
The AC motor have a number of advantages :
Lightweight (20% to 40% lighter than equivalent DC motor)
Inexpensive
Low maintenance
The Disadvantages AC motor :
The power control relatively complex and more expensive
There are two type of AC motor Drives :
1. Induction Motor Drives
2. Synchronous Motor Drives
Three-phase
windings
Rotor windings
Threephase
supply
Stator
Air gap
Rotor
The stator winding are supplied with balanced three-phase AC voltage,
which produce induced voltage in the rotor windings. It is possible to
arrange the distribution of stator winding so that there is an effect of
multiple poles, producing several cycle of magnetomotive force (mmf) or
field around the air gap.
The speed of rotation of field is called the synchronous speed s , which
is defined by :
s is syncronous speed [rad/sec]
2
Ns is syncronous speed [rpm]
s
or
p is numbers of poles
p
is the supply frequency [rad/sec]
f is the supply frequency [Hz]
120 f
Ns
Nm is motor speed
p
The motor speed
m s (1 S )
The rotor speed or motor speed is :
Where S is slip, as defined as :
Three-phase
windings
m
S S
S
Rotor windings
Threephase
supply
Stator
Air gap
Rotor
Or
NS Nm
NS
Equivalent Circuit Of Induction Motor
Three-phase
windings
Where :
Rotor windings
Rs is resistance per-phase of stator winding
Threephase
supply
Rr is resistance per-phase of rotor winding
Air gap
Stator
Rotor
s
Is
Xs
Xs is leakage reactance per-phase of the
winding stator
Xs is leakage reactance per-phase of the
winding rotor
Xr
Rs
Im
Xm is magnetizing reactance
Ir
Rr/s
Vs
Xm
Stator
Rm
Air gap
motor
Rm is Core losses as a reactance
Performance Characteristic of Induction
Motor
Is
Xs
Xr
Rs
Im
Ir
Rr/s
Vs
Xm
Stator
Rm
Air gap
motor
Stator copper loss :
Ps cu 3 I s Rs
Rotor copper loss :
Pr cu 3 ( I r ) 2 Rr
'
Core losses :
V
V
Pc 3 m 3 s
Rm
Rm
'
Performance Characteristic of
Induction Motor
- Power developed on air gap (Power fropm stator to
'
rotor through air gap) :
' 2 R
Pg 3 ( I r )
'
R
- Power developed by motor : Pd Pg Pr cu 3 ( I r ) r (1 S )
S
' 2
Pd Pg (1 S )
or
- Torque of motor :
or
Td
Pd
Pd 60
Td
2 N m
or
Pg (1 S )
S (1 S )
Pg
Performance Characteristic of
Induction Motor
Input power of motor :
Pi 3Vs I s cosm
Pc Ps cu Pg
Output power of motor :
Po Pd Pno load
Pd Pno load
Po
Efficiency :
Pi Pc Ps cu Pg
Performance Characteristic of
Induction Motor
If
Pg ( Pc Ps cu )
and
Pd Pno load
so, the efficiency can calculated as :
Pd Pg (1 S )
1 S
Pg
Pg
Performance Characteristic of
Induction Motor
Generally, value of reactance magnetization Xm >> value Rm (core
2
2
2
losses) and also X m ( Rs X s )
So, the magnetizing voltage same with the input voltage :
Vm Vs
Therefore, the equivalent circuit is ;
Is
Xs
Ii
Im
Xm
Xr
Rs
Rr/s
Xm
Vs
Rm
Po
Pi
Stator
Air gap
motor
Is=Ir
Ir
Im
Ir
Rr/s
Vs
Xs
Xr
Rs
Stator
Air gap
rotor
Performance Characteristic of
Induction Motor
Total Impedance of this circuit is :
Ii
Xs
Xr
Rs
Is=Ir
'
Ir
Im
Rr/s
Xm
Vs
Po
Pi
Stator
Air gap
rotor
Ir
'
The rotor current is :
R
X m ( X s X r ) jX m ( Rs r )
S
Zi
'
Rr
'
Rs
j( X m X s X r )
S
'
Vs
2
Rr'
'
Rs X s X r
S
1
2
Ii
Xs
Xr
Rs
Is=Ir
Ir
Im
Td
Rr/s
Vs
Po
Pi
Stator
Air gap
3 Rr' Vs2
' 2
R
S s Rs r X s X r'
S
rotor
Tmax
Td
Tst
TL
Tm=TL
Operating point
S=1
Nm =0
Torque speed Characteristic
Smax S=Sm S=0
m s
Nm Ns
Three region operation :
1. Motoring :
0 S 1
2. Regenerating :
S 0
3. Plugging :
1 S 2
Torque
Forward
regeneration
Forward
motoring
Reverse
plugging
Tmax
m s
m s
m s
Tst
S=Sm
-Smax
s
S=-1
s Smax
S=0
Ns
-Tmax
s =0
S=1
Nm =0
s
S=2
Performance Characteristic of
Induction Motor
Starting speed of motor is m = 0 or S = 1,
Starting torque of motor is : Tst
3 Rr' Vs2
' 2
R
s Rs r X s X r'
S
Slip for the maximum torque Smax can be found by setting :
So, the slip on maximum torque is : S max
d Td
0
dS
Rr'
R X X
2
1
2
'
2
r
Performance Characteristic of
Induction Motor
Torque maximum is :
Tmax
3 Vs2
2s Rs Rs X s X r'
And the maximum regenerative torque can be found as :
Tmax
3 Vs2
2s Rs Rs X s X r'
Where the slip of motor s = - Sm
Speed-Torque Characteristic :
Td
Rr'
S s Rs X s X r'
S
For the high Slip S. (starting)
So, the torque of motor is :
3 Rr' Vs2
Td
And starting torque (slip S=1) is :
' 2
r
R
Rs
S
'
r
3 Rr' Vs2
S s X s X
Tst
' 2
r
3 Rr' Vs2
s X s X
' 2
r
For low slip S region, the motor speed near unity or synchronous
speed, in this region the impedance motor is :
2
R'
So, the motor torque is :
'
X
s
r
3Vs2 S
Td
s R 'r
And the slip at maximum torque is :
S max
Rr'
R X X
1
' 2 2
r
The maximum motor torque is :
Rs
Td
3 Rr' Vs2
' 2
Rr
S s Rs X s X r'
S
Stator Voltage Control
AC
Variable
Voltage
Sources
Controlling Induction Motor Speed by
Adjusting The Stator Voltage
Td
IM
Td
Vs
3 Rr' Vs2
2
Rr'
S s Rs X s X r'
S
Td
Vs > Vs1 > Vs2
Ii
Xs
Xr
Rs
Tmax
Is=Ir
Ir
Im
Rr/s
Vs
Po
Pi
Stator
air
gap
Tst
Tst1
Tst2
TL
rotor
S=1
Nm =0
2 1
S=0
s
Ns
Frequency Voltage Control
Controlling Induction Motor Speed by
Adjusting The Frequency Stator Voltage
AC
Variable
Voltage
Sources
IM
Vs
Td
Td
3 Rr' Vs2
Rr'
S s Rs
S
X s X r'
Td
fs2 < fs1 < fs
Tmax
Ii
Xs
Xr
Rs
Ir
Im
Vs
Tst2
Is=Ir
Rr/s
TL
Po
Pi
Stator
Tst1
Tst
Air
gap
rotor
S=1
m =0
2
S=0
fs2
1
S=0
fs1
S=0
fs
If the frequency is increased above its rated value, the flux and torque
would decrease. If the synchronous speed corresponding to the rated
frequency is call the base speed b, the synchronous speed at any other
frequency becomes:
s b
And :
b m
1 m
b
b
The motor torque :
Td
Td
3 Rr' Vs2
' 2
R
S s Rs r X s X r'
S
3 Rr' Vs2
Rr'
S b Rs
S
X s X r'
If Rs is negligible, the maximum torque at the base speed as :
Tmb
3 Vs2
2S b X s X r'
And the maximum torque at any other frequency is :
2
Vs
3
Tm
2S b X s X r' 2
Sm
At this maximum torque, slip S is :
Rr '
X s X r'
Normalizing :
Vs
3
Tm
2S b X s X r' 2
Tmb
3 Vs2
2S b X s X r'
Tm
1
2
Tmb
And
Tm 2 Tmb
Puzzle
How many possible combinations are there in a 3x3x3
rubics cube?In other words, if you wanted to solve the
rubics cube by trying different combinations, how many
might it take you (worst case senerio)?
How many for a 4x4x4 cube?
There are 20 people in your applicant pool, including 5
pairs of identical twins.If you hire 5 people randomly,
what are the chances you will hire at least 1 pair of
identical twins? (Needless to say, this could cause
trouble ;))
