syllabus

• Induction Motor Drives- Stator control-Stator voltage and

frequency control

• AC chopper, Inverter and cycloconverter fed induction motor

drives

• Rotor control - Rotor resistance control

• Slip power recovery schematic control of rotor resistance

using DC chopper.
 Induction Motor
Why induction motor (IM)?
 Robust; No brushes. No contacts on rotor shaft.
 High Power/Weight ratio compared to DC motor
 Lower Cost/Power
 Easy to manufacture and increased power ratings
 Almost maintenance-free, except for bearing and other mechanical parts
Disadvantages
Essentially a “fixed-speed” machine
Speed is determined by the supply frequency and poles
To vary its speed need a variable frequency supply
 Introduction - Induction Motor
 Three-phase induction motors are the most common and
frequently encountered machines in industry
 simple design, rugged, low-price, easy maintenance
 wide range of power ratings: fractional horsepower to 10
MW
 Run essentially as constant speed from no-load to full load
 Its speed depends on the frequency of the power source
• not easy to have variable speed control.
• requires a variable-frequency power-electronic drive for
optimal speed control.
 Construction
• An induction motor has two main parts
– a stationary stator
• consisting of a steel frame that supports a hollow,
cylindrical core
• core, constructed from stacked laminations (why?),
having a number of evenly spaced slots, providing the
space for the stator winding

Stator of IM
 Construction
 Rotor

• composed of punched laminations, stacked to create a

series of rotor slots, providing space for the rotor winding

• Two types of rotor windings.

• conventional 3-phase windings made of insulated wire

(wound-rotor) » similar to the winding on the stator.

• aluminum bus bars shorted together at the ends by two

aluminum rings, forming a squirrel-cage shaped circuit
(squirrel-cage).
 Principle of operation
• This rotating magnetic field cuts the rotor windings and
produces an induced voltage in the rotor windings
• Due to the fact that the rotor windings are short circuited, for
both squirrel cage and wound-rotor, and induced current
flows in the rotor windings
• The rotor current produces another magnetic field
• A torque is produced as a result of the interaction of those
two magnetic fields

τ=
ind kBR × Bs

Where τind is the induced torque and BR and BS are the magnetic
flux densities of the rotor and the stator respectively
 Induction motor speed
• At what speed the IM will run?

– Can the IM run at the synchronous speed?

– If rotor runs at the synchronous speed, which is the same speed

of the rotating magnetic field, then the rotor will appear
stationary to the rotating magnetic field and the rotating
magnetic field will not cut the rotor. So, no induced current will
flow in the rotor and no rotor magnetic flux will be produced so
no torque is generated and the rotor speed will fall below the
synchronous speed

– When the speed falls, the rotating magnetic field will cut the
rotor windings and a torque is produced
 Induction motor speed

• So, the IM will always run at a speed lower than the

synchronous speed
• The difference between the motor speed and the
synchronous speed is called the Slip

n=
slip nsync − nm

Where nslip= slip speed

nsync= speed of the magnetic field
nm = mechanical shaft speed of the motor
 Slip

nsync − nm
s=
nsync
Where s is the slip
Notice that : if the rotor runs at synchronous speed
s=0
if the rotor is stationary
s=1
Slip may be expressed as a percentage by multiplying the above
eq. by 100, notice that the slip is a ratio and doesn’t have units
Speed VS Torque
 Speed VS Torque

 Motoring region (0<=S<=1)

 Generating region (S<0)

 Plugging region (1<=S<=2)

 Analysis and Performance of IM

Pag is total power transferred across the air gap,

The rotor current & copper loss is,

The electrical power converted into mechanical power (developed power Pm) is,
 Simplify the equation and the Pm is,

Then the developed torque is

Sub the value of Pag in the torque eqn,

 Now sub the value rotor current Ir’ in Torque eqn,

Then the power input to motor is sum of air gap power(Pag), stator core and copper loss,

The output power of the motor is equal to the difference between the developed torque
and fixed loss
Sm is directly proportional to rotor resistance. Sub the sm in torque eqn,

From the eqns, the nature of speed-torque and speed-rotor current drawn.
At syn speed both rotor current and torque are zero.
 Speed Control of Induction Motor

 Stator Voltage Control

 Supply Frequency Control

 Voltage / Frequency Control

 Rotor Resistance Control

 Slip Power Recovery Scheme

 Injecting Voltage in Rotor Circuit

 Eddy current coupling

 Pole changing
 Stator Voltage Control
 Induction motor speed can be controlled by varying the stator
voltage, and the supply frequency is kept constant.

Torque is proportional to square of its stator voltage, and rotor

current proportional to voltage.

10% reduction in voltage – causes 19% reduction developed torque

as well as starting torque.
Excellent method for reducing starting current and increasing
efficiency during light load conditions.
 ωm
Stator Voltage Control

TL
ωms V decreasing

T
 The losses are decreased – mainly core loss which proportional to square
of the voltage.
 Only suitable for speed control below the rated speed. variable voltage for
speed control is obtained by using ac voltage controllers.

variable terminal voltage control variable frequency control

Low speed range Wide speed range
Lower rated speed Lower & higher rated speed
 Varying supply voltage

• Maximum torque changes T

• The speed which at max torque •V1
occurs is constant (at max V decreasing

torque, XR=RR/s •V2 V1> V2 >V3

• Relatively simple method – uses •V3

power electronics circuit for

voltage controller
T

• Suitable for fan type load

• Disadvantage :Large speed
nr3 nr2 nr1
regulation since ~ ns
ns~nNL
n

•20
 AC voltage controller
1) on-off control (or) Internal cycle control
2) Phase angle control

on-off control (or) Internal cycle control

Phase angle control

In phase control, the power flow to the load is controlled by delaying
the firing angle in each cycle.
 How stator voltage is controlled?
Torque of an induction motor varies as the square of the voltage.

To maintain the torque of an induction motor, if the voltage reduced then
slip will increase (the speed will decrease). The variation of voltage, thus
the results in speed control.

Domestic fan motors which are always

single phase – controlled by a single phase AC
voltage controller. Speed control is obtained by
varying firing angle of the thyristor.
 How stator voltage is controlled?

Industrial fans and pumps- which are usually driven by three phase –
controlled by a three phase AC voltage controller. Speed control is obtained
by varying firing angle of the thyristor. The motor may connected to star or
delta connection.

In delta connection- 3rd harmonic voltage produced by motor back emf
causes circulating current which increases the losses and thermal loading of
motors. And for low power ratings, the anti-parallel thyristor pair can replaced
by TRIAC.
 Advantages of stator voltage control
• The control circuit is very simple.

• More compact and less weight

• Its response time is quick

• Considerable savings in energy and it is a economical method.

Disadvantages of stator voltage control

• The input power factor is very low

• Performance is poor under running condition at low speeds

• Operating efficiency is low as resistance losses are high

• Voltage and current waveforms are highly distorted due to harmonics.

• Maximum torque available from the motor decreases in stator voltage.

 Stator frequency control
 In this method of speed control – vary the input frequency of the
motor.
 Under steady state condition, the induction motor operates in small-
slip region, where the induction motor is always close to the syn
speed.
Ns = (120 f) / P
(f- frequency and P – no of poles)

 The emf V1 induced in the stator winding of the induction motor is

equal to,

 If frequency of stator supply is changes, the magnitude of V1 should

also be changed to maintain the same value of flux.
 Stator frequency control

• Low frequency operation at constant voltage

-Decreasing the supply frequency at constant voltage V1, the value of
air gap flux increases. (very low efficiency, more losses).

• High frequency operation at constant voltage

-Increasing the supply frequency at constant voltage V1, the value of
air gap flux decreases. (starting torque & current reduces).

 The base speed ( ) is defined as the syn speed corresponding

to the rated frequency. The syn speed at other frequency is,
=

- per unit frequency

 Stator frequency control
Slip is derived as

The torque eqns becomes,

Speed torque curve for different values of

* The max torque at base speed
(rated freq)

* The max torque at other freq,

The ratio between Tm and Tmb is,

 Voltage / frequency control (V/F)
• Mostly prepared speed control method for induction motor.

• Increase in supply freq – increases the motor speed and also

reduces the maximum torque of the motor.

• Increase in voltage results in an increase in the maximum torque

of the motor.

f increases = N increases = Tmax decreases

V increases = Tmax increases

• By combining the above 2 features to achieve a control design by

which speed increases and torque is kept the same.
 Voltage / frequency control (V/F)

 curve 1 – reference voltage V1 and frequency f1, (fan type load)

 curve 2 – increase freq to f2, and voltage V1 unchanged = the

speed increases and the maximum torque decreases.

 curve 3 – the freq to f2 and increase the magnitude of the

voltage to V2
 Voltage / frequency control (V/F)

 The maximum torque should be

constant by keeping fixed v/f ratio.
The relation b/w max torque and
v/f is,

• During the low freq operation v/f ratio is not satisfactory– the
starting torque and current decreases and no load current increases
and air gap flux cannot maintain constant.
• Must be careful not to increase the voltage magnitude beyond the
ratings of the motor. If its increased cause instant damage to
insulations of the motors, windings, leading to short and internal
faults.
 The max torque should be constant
 The starting current is also constant
 Varying supply voltage and supply frequency (v/f)
T
• The best method since supply f decreasing

voltage and supply frequency is

varied to keep V/f constant.

• Maintain speed regulation. T

• uses power electronics circuit for

frequency and voltage controller nr3 nr2 nr1 nNL1 n

• Constant maximum torque.

 ωm speed – torque characteristics

ωms

aωms

T
Braking Motoring
 Slip speed control
The rotor current and developed torque
of an induction motor,
The syn speed at the frequency ks is,

So the per unit freq ks is,

Operation of the machine at a constant slip speed also implies the operation at a
constant rotor frequency as,

The developed power of the implies,

speed – torque characteristics

V-f relation
Variable frequency control
 Voltage Source Inverter (VSI) fed induction drives
 An inverter which converts dc voltage into ac voltage and act as a
voltage source - Voltage Source Inverter (VSI).

 Its capable of supplying variable frequency variable voltage for the

speed control of induction motor.

 VSI can be operated as a stepped wave inverter (or) pulse width

modulated (PWM) inverter. VSI allows a variable freq supply to be
operated from a dc supply.

 When operated as a stepped wave inverter, thyristors are switched in

the sequence of their numbers with a time difference of T/6 and each
transistor is kept on for the duration T/2. (where T – time period for one
cycle).
VSI fed induction motor
 VSI fed induction motor

 When operated as a stepped wave inverter, thyristors are switched in the

sequence of their numbers with a time difference of T/6 and each
transistor is kept on for the duration T/2. (T – time period for one cycle).

 The inverter output line and phase voltages are given by the following
Fourier series.
 Drawbacks of stepped wave (VSI) inverter fed drive

o large harmonics of low freq in the output voltage.

o Low freq harmonics, the motor losses are increased of all speeds
causing derating of the motor.

o motor develops pulsating torques due to 5th, 7th, 11th, 13th order
harmonics.

o Harmonic content in motor current increases at low speeds. The

machine saturates at light loads at low speeds due to high (v/f)
ratio.
 VSI controlled induction motor drives

• Harmonics are reduced, low frequency harmonics are eliminated

associated losses are reduced and smooth motion is obtained at
low speeds also when inverter is operated as a PWM inverter.

• The fundamental component in the output phase voltage of

PWM inverter operating with sinusoidal PWM is given by,
Various schemes of VSI fed induction drives
Various schemes of VSI fed induction drives
1 & 3 phase VSI controlled induction motor drives
 CSI fed induction motor
• In a VSI fed induction motor the applied voltage to the stator is proportional
to the freq and the flux is constant.
• The current drawn by an induction motor does not depend on the freq
when the air gap flux is constant.

• There exists a fixed relationship b/w the slip freq and stator current for
rated flux in the air gap, by controlling the slip of the motor, the stator
current can be controlled.
• PWM inverter can be controlled to provide the desired currents in the
motor.

• In a dc link converter, if the dc link current is controlled the inverter is called

CSI. And it is suitable for loads which a low impedance to harmonic currents
and have unity power factor.
 Various schemes of CSI fed induction motor
Bridge rectifier fed CSI

Chopper fed CSI

Chopper based 1 & 3 phase CSI fed induction motor
 Comparison between CSI and VSI

VSI (voltage source inverter) CSI (current source inverter)

o Its not reliable  More reliable than VSI

o Conduction of 2 devices in a same leg  It has inherent protection against a

due to commutation failure does not lead short ckt across the motor terminals.
to sharp rise of current through them.

o Cost is higher (large inductance, and  Cost is lower

large inverter capacitors)

o It is not suitable for multimotor drives.  It is suitable for multimotor drives.

Cycloconverter fed induction motor
 Cycloconverter fed induction motor

• A cycloconverter is a single freq conversion device which

converts ac line freq to a variable frequency.

• Cycloconverter is capable of power transfer in either direction

b/w an ac source and motor load. It can feed power to a load of
any power factor.

• The output frequency of the cycloconverter is limited to 1/3 of

input frequency.

• Its operates by means of line commutation. Losses due to forced

commutation can be eliminated.
Closed loop speed control of VSI fed drives
Closed loop speed control of VSI fed drives
 Rotor control - Introduction
 In a wound-field induction motor the slip rings allow easy
recovery of the slip power which can be electronically
controlled to control the speed of the motor.

 The oldest and simplest technique to invoke this slip-power

recovery induction motor speed control is to mechanically
vary the rotor resistance.
 Introduction (cont’d)

Slip-power recovery drives are used in the following

applications:

• Large-capacity pumps and fan drives

• Variable-speed wind energy systems

• Shipboard VSCF (variable-speed/constant frequency) systems

• Variable speed hydro-pumps/generators

• Utility system flywheel energy storage systems

 Speed Control by Rotor Resistance
Recall that the torque-slip equation for an induction motor is given
by:

From this equation it is clear that the torque-slip curves are

dependent on the rotor resistance Rr. The curves for different rotor
resistances are shown on the next slide for three different rotor
resistances (R1-R3) with R3>R2>R1.

 “while max torque is independent of rotor resistance, speed at

which the max torque is produced changes with rotor resistance”
 Varying rotor resistance
• For wound rotor only
•T
• Speed is decreasing
•R1< R2< R3
• Constant maximum torque •R1 •nr1< nr2< nr3
•R3 •R2

• The speed at which max •T

torque occurs changes

• Disadvantages: •nr3 •nr2 •n

r1
•ns~nNL

– large speed regulation

– Power loss in Rext – reduce

the efficiency
•55
 Speed Control by Rotor Rheostat (cont’d)

 for small value of slip (near syn speed)

for a given torque, slip increased by
increasing the rotor resistance .

 at low slip,

At high slip

• From the characteristics,

 Max torque is independent of Rr.

 Speed at which Tm is produced

chances with Rr.
 Conventional method of rotor resistance control

Disadvantages

Reduced efficiency slip power is wasted in the rotor ckt resistance.

Speed changes very widely with load variation.
Unbalance in voltage and current, if rotor ckt resistance are not equal.
 Static rotor resistance control

• The ac output voltage of rotor is rectified by a diode bridge

and fed to a parallel combination of a fixed resistance and
chopper.

• The effective value of resistance varied by varying duty ratio

of the chopper

• When the chopper always off. The supply voltage is always

connected to resistance R, the duty ratio is 0 and effective
resistance connected is R.
Static rotor resistance control
 Static rotor resistance control

• When the chopper is always ON, the resistance is short ckted.

The duty ratio is 1 & the effective resistance connected is 0.

• By varying the duty ratio from 0 to 1- the resistance can varied

from R to 0. and Ld is added to reduce ripple and discontinuity
in the dc link current Id.

• Equivalent resistance,

Where it can be varied to vary the equivalent

resistance.
 Static rotor resistance control

During off condition of chopper

Power consumed by the resistance

From the current waveform,

The ripple is neglected , the rms value of

current Ir’
 Static rotor resistance control

• Power consumed by the resistance per phase

Sub the value of Id

From the above eqn, the rotor ckt resistance per phase increased

So, Total rotor resistance per phase becomes

Rrt can be varied from

 Advantages of rotor resistance control
• Stepless speed control is possible.
• Rotor resistance remain balanced b/w the 3-phase for all operating
points.
• Improved power factor is possible with wide range of speed control.
• Speed control range is limited by the resistance.

Disadvantages of rotor resistance control

• Speed control is inefficient (slip energy wasted)
• Rotor current is non-sinusoidal.
• The harmonics of the rotor current produce torque pulsations.
• More heating is produced in the rotor winding (rotor ckt is
accompanied with high value of harmonics)
Closed loop speed control of static rotor resistance control
 Slip power recovery system

• The speed control by voltage and rotor resistance control have

poor efficiency, particularly at low speeds.

• The slip power is wasted in the rotor resistance, either inherent

in the rotor or connected in the rotor circuit. And poor efficiency.

• The conventional methods of slip power recovery employ

rotating machines, such as rotary converters, alternators & dc
machines in the rotor ckt to convert the power at conventional
schemes - kramer and scherbius control system.
 Slip power recovery methodology
 Rotor input power (or) air gap power is, Pag = Pm + Pc
Where, Pm and Pc- mechanical power & rotor copper loss.
 air gap power is (Pag)= ωsT
and mechanical power Pm = ωT
wkt, copper loss = S* Pag ; Pc = S* ωsT = S* Pag

so , Pm = (1– S) Pag
 Pag remains constant, so as long as the motor is supplied for a
constant voltage and freq supply and delivers a load of constant
torque and rotor copper loss Pc proportional to the slip under this
condition.
 The speed of the slip ring IM can be controlled by both sub-
synchronous and super synchronous regions.
 Various Slip power recovery schemes
Instead of wasting the slip power in the rotor circuit resistance, a better
approach is to convert it to ac line power and return it back to the line.
 Kramer control system
conventional kramer method

static kramer method (only allows operation at sub-

synchronous speed)

 Scherbius control system

conventional scherbius method

static scherbius method (allows operation above and

below synchronous speed)
conventional kramer method
 Static Kramer Drive system
“Instead of wasting the slip power in the rotor resistance, it can
be converted to 50Hz ac supply and pumped back to the line.
Here slip power can flow only in one direction”.

This system offers speed control only for sub-synchronous speed

(control of speed is possible only when it is less than synchronous
speed).
In this method, the slip power is taken from the rotor and it is rectified
to dc voltage by using diode bridge rectifier. And inductor Ld smooth the
ripple in the rectified voltage Vd.
Slip power flows from rotor circuit to supply – constant torque drive.
Static Kramer Drive system
 Static Kramer Drive

 The voltage Vd is proportional to slip, s and the current Id is

proportional to torque. At a particular speed, the inverter’s firing
angle can be decreased to decrease the voltage VI.
 Rotor emf under running condition per phase (Vph)= S E2
The dc o/p voltage of the uncontrolled 3 phase rectifier is Vd

 The Vd can be return as,

 To get E2, use the relation,

 Static Kramer Drive

• The Vd can be return as,

• The dc o/p voltage Vdc is (from analysis)

• The slip can derived from the above eqn is, Vd = Vdc
slip (S) = --(1/b) cos α
Then it can modified into,
slip (S) = --(btr/b) cos α
where, btr = (voltage V2/ per phase voltage V1)

Motor speed ωm is, ωm = ωs (1-S)

ωm = ωs (1+ (btr/b) cos α )

 Static Kramer Drive

 At zero speed (s=1) the motor acts as a transformer and all the
real power is transferred back to the line (neglecting losses). The
motor and inverter only consume reactive power.

 At synchronous speed (s=0) the power factor is the lowest and

increases as slip increases. The PF can be improved close to
synchronous speed by using a step-down transformer. The
inverter line current is reduced by the transformer turns ratio ->
reduced PF.
closed loop operation of Static Kramer Drive
 Static Scherbius Drive

 The static Scherbius drive overcomes the forward motoring only

limitation of the static Kramer drive.

 Regenerative mode operation requires the slip power in the

rotor to flow in the reverse direction. This can be achieved by
replacing the diode bridge rectifier with a thyristor bridge. This is
the basic topology change for the static Scherbius drive from the
static Kramer drive.
Conventional scherbius system
Static scherbius drive system
 Static scherbius drive system

• The static Scherbius drive quite similar to the static Kramer drive, which
achieved by replacing the diode bridge rectifier with a thyristor bridge.
• The motor can operate on both sub-syn regions and super syn regions, but
kramer method can operate only in sub-syn region.

• During sub-syn region the SCR bridge 1 as rectifier and SCR bridge 2 as
inverter – the slip power returned to the supply.
• During super-syn region the SCR bridge 2 as rectifier and SCR bridge 1 as
inverter – the slip power is pumped to the rotor.

• The advantage of the s/m is the machine speed can be controlled

continuously about 50% above and below the syn speed with a converter
rating of about 50% of the machine capacity.
 Speed- torque of Static scherbius drive system

 The mathematical analysis for Static scherbius drive system is same of

static karmer drive system.
Closed loop operation of Static scherbius Drive