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I. INTRODUCTION
Electrical drives based on induction motors are the most
widely used electromechanical systems in modern industry.
Due to their reliability, ruggedness, simple mechanical
structure, easy maintenance and relatively low cost, induction
motors are attractive for use in a new generation of electrical
transportation systems, such as cars, buses and trains [1], [2].
From the variety of electric energy consumers in industry
one of the largest is without any doubt the induction
machine operating as motor. Besides the classical
destination of the induction machine as motor this machine
is more and more used in the latest period as generator in the
conversion chain of wind or micro-hydro-energy into
electricity [3], [4], [5].
Variable voltage operation of a squirrel cage induction
machine at part load is receiving considerable attention as an
energy conservation measure. In particular, the power factor
controller has created an interest in energy-saving schemes for
all types of electric motors [6]. The switching of three-phase
induction machine under different operation conditions is one
of the processes frequently performed through speed control,
soft starting , energy-saving and in renewable energy
applications. It is well-known that the transient behavior
associated with frequent switching of induction machines is
characterized by high current peaks and pulsating torques.
Such performance is most undesirable for both electrical
supply and mechanical gearing systems [7].
Direct online induction machine starts have many
disadvantages. Torque pulsations are often large and modify
from positive to negative values. These torque transients in a
motor shaft are transmitted to the load, resulting in mechanical
wear in the motor bearings and load couplings. Therefore,
27
1582-7445 2010 AECE
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a)
b)
(3)
(4)
k
(5)
+ ' + j k sdq r' rdq ,
dt
Ts
Ts
d rdq k s
1
u rdq =
' sdq + ' + j ( k ) rdq . (6)
T
dt
Tr
r
a)
b)
28
d sdq
L's = Ls , L'r = Lr , = 1
L2m
,
L s Lr
(7)
L's
Lm
Lm
L'r
'
'
ks =
, kr =
, Ts =
, Tr =
.
Ls
Lr
Rs
Rr
Equation of electromagnetic torque of induction machine
expressed in base quantities is:
k
(8)
Te = 'r sq rd sd rq .
Ls
(9)
VY WA SWB SWC u BN ,
uWZ SWA SWB SWC u CN
where : [uUX uVY uWZ ] are the phase voltages of the
machine; [u AN
u BN
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Value
17 A
400 V
7.5 kW
150500% IN
50 W
6.7 kg
By convection
80 A
TABLE II
Electric machine
Characteristics
PN [kW]
UN [V]
IN [A]
Connection
cos
nN [rot/min]
Urotor [V]
Irotor [A]
M1
M2
3
380/220
12.6/7.26
/Y
0.77
945
-
3.5
380/220
17.8/10.3
/Y
0.75
910
204
12.2
29
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itself
TABLE III
Current Ib (A)
Voltage Vb (V)
Ia
(A)
(A)
(A)
Ic
Current
Ib
(ms)
(V)
(A)
Voltage
Current
Vb
Ib
(ms)
30
45
60
Voltage
Vb
Voltage
(V)
(V)
(V)
Va
Current Ia (A)
Voltage Va (V)
(ms)
Vc
(ms)
(ms)
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250
7
200
6
5
150
4
100
0
-50
-100
2
Current I (A)
Voltage V (V)
50
1
0
-1
-2
-3
-4
-150
-200
-5
-6
-7
-250
-300
-320
-8
-9
-10
0
Time (ms)
40
80
320
300
Time (s)
Fig. 12. Interaction plot of the initial voltage load value and
control mode
Since the initial value of the voltage it seems to have an
influence we will analyze by means of simulation the
influence of this parameter over the transients of the
induction machine.
V. SIMULATION RESULTS
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max , k = 0
a k = 0,
k = N - 1
L (t k , qi ), k = 1..N - 2
represent the
i = 1..N
piecewise
slopes,
{a k }k = 0..N - 1 are
(10)
the
characteristic
Ql =
{q1,..., qN }l = 1..m
Time (s)
Time (s)
0.5
1.5
2.5
Time (s)
0
3
Time (s)
32
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[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
33