Speed Control of Three Phase Induction motor By Using

PLC

Abstract -- This paper suggests the use of PLC for control the speed of a 3 phase induction
motor. The combination provides an efficient approach for getting a motor with continuous
running. It is cost effective method along with huge amount of energy saving. Zero impact of
overvoltage and under voltages, also economical, reliable and have a greater life.VFD is a
communication between PLC and a 3 phase induction motor. It carries out instruction of PLC
through a medium PC (Personal computer). Programme is installed in PC which enable
human operator to control entire operation.

1
 CHAPTER1

1. INTRODUCTION

1.1 Variable Frequency Drive

It is a device in electrical system which performs the conversion of single phase or three
phase supply of fix frequency into three phase supply with variable frequency. It is used for
the application of variable speed requirement .Due to smooth operation it has widely used in
circumstances of different speeds.
It can be controlled either manually or automatically. In over application it is controlled
automatically by using PLC. It helps the operator to vary the speed of motor automatically.
The operation is carried out by using PLC (Programmable Logic Controller). Reversing,
switching and braking are additional function performed by VFD.For connecting switches
and push buttons different I/O’s terminals are given.,
A port for serial communications is also provided which allow VFD to be controlled and
monitored by computer.
1.1.1 Driving operation:
Operates in all the four quadrants i.e. perform the operations like motoring, breaking,
generating, accelerating and decelerating.

Fig1. VFD internal structure

2
1.2 PLC (Programmable Logic Controller)

It is used in electrical system to improve the reliability and efficiency of electrical equipment
(electrical motor) in automation processes. To obtain accurate result PLC is interfaced with
converter, PC(Personal computer) and other electrical equipment. In this application PLC of
Allen Bradley is used which communicate with VFD and in turn it control 3 phase induction
motor. A control programme is developed to get required operation of motor and VFD.

Fig2. PLC used in setup

Fig3. Block diagram of PLC

3
 I. PROGRAMMABLE LOGIC CONTROLLER

A programmable logic controller (PLC) or programmable controller is a digital computer

used for automation of electromechanical processes, such as control of machinery on factory
assembly lines, amusement rides, or lighting fixtures. PLCs are used in many industries and
machines. Unlike general-purpose computers, the PLC is designed for multiple inputs and
output arrangements, extended temperature ranges, immunity to electrical noise, and
resistance to vibration and impact. Programs to control machine operation are typically stored
in battery-backed or non-volatile memory. A PLC is an example of a real time system since
output results must be produced in response to input conditions within a bounded time,
otherwise unintended operation will result.

Development

Early PLCs were designed to replace relay logic systems. These PLCs were programmed in
"ladder logic", which strongly resembles a schematic diagram of relay logic. This program
notation was chosen to reduce training demands for the existing technicians. Other early
PLCs used a form of instruction list programming, based on a stack-based logic solver.
Modern PLC’s can be programmed in a variety of ways, from ladder logic to more traditional
programming languages such as BASIC and C. Another method is State Logic, a very high-
level programming language designed to program PLCs based on state transition diagrams.
Many early PLCs did not have accompanying programming terminals that were capable of
graphical representation of the logic, and so the logic was instead represented as a series of
logic expressions in some version of Boolean format, similar to Boolean algebra. As
programming terminals evolved, it became more common for ladder logic to be used, for the
aforementioned reasons. Newer formats such as State Logic and Function Block (which is
similar to the way logic is depicted when using digital integrated logic circuits) exist, but they
are still not as popular as ladder logic. A primary reason for this is that PLCs solve the logic
in a predictable and repeating sequence, and ladder logic allows the programmer (the person
writing the logic) to see any issues with the timing of the logic sequence more easily than
would be possible in other formats.
Programming

4
Early PLCs, up to the mid-1980s, were programmed using proprietary programming panels
or special-purpose programming terminals, which often had dedicated function keys
representing the various logical elements of PLC programs. Programs were stored on cassette
tape cartridges. Facilities for printing and documentation were very minimal due to lack of
memory capacity. The very oldest PLCs used non-volatile magnetic core memory.
More recently, PLCs are programmed using application software on personal computers. The
computer is connected to the PLC through Ethernet, RS-232, RS-485 or RS-422 cabling. The
programming software allows entry and editing of the ladder-style logic. Generally the
software provides functions for debugging and troubleshooting the PLC software, for
example, by highlighting portions of the logic to show current status during operation or via
simulation. The software will upload and download the PLC program, for backup and
restoration purposes.

PART OF PLC
Power supply.
controller.
i/o interface.
programmable device.
back plane.

HARDWARE SET

Digital input module

Digital output module
Analog input module
Analog output module

FAMILY OF PLC
LX 7S
LX 7
LX 70
LX 700

Ladder logic

5
Ladder logic is a programming language that represents a program by a graphical diagram
based on the circuit diagrams of relay-based logic hardware. It is primarily used to develop
software for Programmable Logic Controllers (PLCs) used in industrial control applications.
The name is based on the observation that programs in this language resemble ladders, with
two vertical rails and a series of horizontal rungs between them.

-( )-- a regular coil, energized whenever its rung is closed

--(\)-- a "not" coil, energized whenever its rung is open
--[ ]-- A regular contact, closed whenever its corresponding coil or an input which controls it
is energized.
--[\]-- A "not" contact, open whenever its corresponding coil or an input which controls it is
energized.
EXAMPLE:

--+----[ ]--+----[\]----( )
| start | stop run Motor
| |
+----[ ]--+
run

PLC compared with other control systems

6
PLCs are well-adapted to a range of automation tasks. These are typically industrial processes
in manufacturing where the cost of developing and maintaining the automation system is high
relative to the total cost of the automation, and where changes to the system would be
expected during its operational life. PLCs contain input and output devices compatible with
industrial pilot devices and controls; little electrical design is required, and the design
problem centers on expressing the desired sequence of operations. PLC applications are
typically highly customized systems so the cost of a packaged PLC is low compared to the
cost of a specific custom-built controller design.

1.2.1 CPU(Processor):
1.It is brain of PLC.
2.It executes various logic and control function.
3.Consists of a number of data processing equipments that facilitates I/O processing.

1.2.2 Memory:

1.Contains all the programmes.

2.Holds the complete data of PLC
3.Coordinates i/o operations.

1.2.3 I/O Module:

Provides connections to the process that is to be controlled.

7
1.3 Induction Motor

In every industry there are industrial processes of some form that require adjustment
for their normal operation or for their optimum performance. Such adjustments are usually
accomplished with a variable speed drive system. Variable speed drive systems are an
integral part of automation. They help to optimize the process and to reduce investment costs,
energy consumption, and energy cost. There are three basic types of variable speed drive
systems: electrical drives, hydraulic drives, and finally mechanical drives. Only electrical
drives are focused here. A typical present day electric variable speed drive system consists of
three basic components: the electric motor, the power converter, and the control system.
Electric motor drives can be briefly classified as follows:
 DC drives
 AC drives
 Special drives
This classification is done according to the type of electric motor used.
The history [1] of electrical motors goes back as far as 1820, when Hans Christian
Oersted discovered the magnetic effect of an electric current. One year later Michel Faraday
discovered the electromagnetic rotation and build the first primitive D.C motor. Faraday
discovered the electromagnetic induction in 1831, but it was Tesla that invented the AC
Asynchronous motor in 1883.
Currently the main types of electric motors are
 DC motors
 AC Asynchronous motors
 AC Synchronous motors
all based on Oersted, Faraday, Tesla’s theories developed and discovered more than a
hundred years ago.
The thesis deals only with AC drives employing AC Asynchronous motor. Since its
invention AC Asynchronous motor, also named Induction Motor, has become the most
widespread electrical motor in use today. This is due to the fact that IMs are most
advantageous over the rest of the motors. The main advantage is that IMs do not require any
electrical connection between stationary and rotating parts of the motor. Therefore they do
not need any mechanical commutator (brushes), leading to the fact that they are maintenance

8
free motors. They also have low weight and inertia, high efficiency, and a high overload
capability. Therefore they are cheaper and more robust and less prone to any failure at high
speeds. Further they can work in explosive environments because no sparks are produced.
The only effective way of producing an infinitely variable IM speed drive is to supply
the IM with three phase voltages of variable frequency and variable amplitude. A variable
frequency is required because the rotor speed depends upon the speed of the rotating
magnetic field provided by the stator. A variable voltage is required because the motor
impedance reduces at low frequencies and constantly the current has to be limited by means
of reducing the supply voltages.
Before the days of power electronics, a limited speed control of IM was achieved by
switching the three stator windings from delta connection to star connection, allowing the
voltage at the motor windings to be reduced. IMs are also available with more than three
stator windings to allow a change of the number of pole pairs. However, a motor with several
windings is more expensive because more than three connections to the motor are required
and only certain discrete speeds are available. Another alternative method of speed control
can be realized by means of a wound rotor IM, where the rotor winding ends are brought out
to slip rings. However, this method obviously removes most of the advantages of IMs and
also introduces additional losses. By connecting resistors or reactances in series with stator
windings of IMs poor performance is achieved.
At that time the above described methods were the only ones available to control the
speed of IM, whereas infinitely variable speed drives with good performances for DC motors
also existed. These drives not only permitted the operation in four quadrants but also covered
a wide power range. Moreover, they had a good efficiency, and with a suitable control even a
good dynamic response. Its main drawback was the compulsory requirement of brushes.
Power electronics today is one of a wide range of well defined technologies. As the
motor drive is one of major application fields of power electronics, a lot of developments
have been achieved and evolutional systems have been produced. This is due to a steady
growth in the ratings and operating frequency of semiconductor devices like thyristors and
IGBTs. A static voltage source inverter (VSI) which is used to deliver variable-frequency
power to an IM must also vary the terminal voltage as a function of frequency in order to
maintain the proper magnetic conditions in the core. The applied voltage/frequency ratio
must be constant in order to maintain constant flux, and this mode of operation is known as
constant V/f. This open-loop operation of an IM at variable frequency provides a satisfactory
variable-speed drive when the motor is required to operate at steady speeds for long periods.

9
When the drive requirements include rapid acceleration and deceleration, an open-loop
system is unsatisfactory, since the supply frequency cannot be varied very quickly. When a
fast dynamic response is necessary, closed-loop feedback methods are essential.
The vector control or the field-oriented control was one of the important innovations
in AC motor drives. The field orientation concept implies that the current components
supplied to the machines should be oriented in phase (flux component) and in quadrature
(torque component) to the rotor flux vector. This is achieved by controlling not only the
magnitude and the frequency of the inverter output voltage but also its phase angle, thus the
instantaneous position of the rotor flux. In Germany, the basic concept of the IVC without
flux measurement was proposed by K. Hasse in1968, and the direct vector control, which
uses direct flux measurement to find the actual magnitude and position of the rotor flux, was
developed by F. Blaschke in 1971. Although these publications started long before, the
subsequent use of vector control had been fully developed in the 80s in Japan, using
sophisticated digital control units such as 32 bit microprocessors
In 1980, S. Yamamura proposed another torque control called the field acceleration
method. He showed that the d-q equations can be solved in closed form without coordinate
conversion, assuming the rotor frequency is constant in a short period, and that the stator
current is controlled instantly. The field acceleration method can change the phase angle of
the inverter output voltage like the vector control, and has similar transient torque response as
that of the vector control.
Intelligent techniques like Artificial Neural Networks (ANNs) have been applied for
various control, identification and estimation applications in power electronics and drives
such as converter PWM, Neural adaptive P-I drive controller, Vector rotation and inverse
rotation in vector control, Drive MRAC, Drive signal feedback estimation, FFT signature
analysis of waves etc. The thesis presently deals with application of neural networks to the
VSI control in the IVCIM drive. The research in this area has been stated around in 1985. Till
now neural networks that emulate various types of inverter controls such as HBPWM,
SPWM, Space Vector PWM etc have been developed and tested.
The history [1] of electrical motors goes back as far as 1820, when Hans Christian Oersted
discovered the magnetic effect of an electric current. One year later Michel Faraday
discovered the electromagnetic rotation and build the first primitive D.C motor. Faraday
discovered the electromagnetic induction in 1831, but it was Tesla that invented the AC
Asynchronous motor in 1883.
Currently the main types of electric motors are

10
  DC motors
 AC Asynchronous motors
 AC Synchronous motors
all based on Oersted, Faraday, Tesla’s theories developed and discovered more than a
hundred years ago.
--phd main
The matrix converter topology was first proposed by Gyugyi and Pelly in 1976 [11]. They
extended the principle of the cycloconverter to obtain an unrestricted output frequency by
using controllable bidirectional switching devices. T'he main ChapteIr Introduction
disadvantage of the original arrangement is that it generates large unwanted input current and
output voltage harmonics which cannot easily be removed by filters. This problem was
solved in [9-10,12] by Venturini who proposed a new PWM control
algorithm. This algorithm provides sinusoidal input currents and output voltages with
unrestricted output frequency and controllable input displacement factor. However,
unfortunately the maximum output to input voltage ratio is 50 %. The Venturini control
algorithm was extended by Mayturn and Colman [13] to increase the voltage ratio to 86.6 %.
In [14] Alesina and Venturini published a rigorous mathematical proof of the maximum
output amplitude capability along with modified version of Venturini original algorithm. This
modified version allows a maximum voltage ratio of 86.6 % and fully controllable input
displacement factor, within a limited range of voltage gain with respect to the output phase
displacement. Other publications [15- 181 have subsequently dealt with the modulation and
analysis of matrix converters operating with the Venturini algorithm. In 1985 Ziogas et al
[19-21] proposed some new algorithms in which the
conversion process is considered in two stages with an intermediate fictitious DC
link. Whilst these algorithms can produce a voltage ratio approaching 100 % the output
frequency is restricted and the input current contains increased low order harmonics.
Consequently, many of the attractive features of the matrix converter are lost.
In [24-27] a new class of algorithms called scalar algorithms were proposed. These are based
on the scalar comparison of the instantaneous input voltages and enable the drawing of
sinusoidal input currents by applying the principle that the current drawn from each phase is
proportional to the input voltage on each phase in every sampling time. The method used in
[24-261 provides synchronous and asynchronous operation of the matrix converter with
controllable input displacement factor. However, the real-time implementation of the control

11
algorithm requires a large number of comparisons to be made at each sampling instant which
is very demanding on processor time. The scalar algorithm proposed in [27] uses a twophase-
switching method instead of using three input line to line voltages. This Chapter Introduction
simplifies the real-time implementation of the algorithm, but sacrifices the control of the
input displacement factor.

Technical University Darmstadt's K. Hasse and Siemens' F. Blaschke

pioneered vector control of AC motors starting in 1968 and in the early 1970s, Hasse in terms
of proposing indirect vector control, Blaschke in terms of proposing direct vector
control. Technical University Braunschweig's Werner Leonhard further developed FOC
techniques and was instrumental in opening up opportunities for AC drives to be a
competitive alternative to DC drives.

Yet it was not until after the commercialization of microprocessors, that is in the early 1980s,
that general purpose AC drives became available. Barriers to use of FOC for AC drive
applications included higher cost and complexity and lower maintainability compared to DC
drives, FOC having until then required many electronic components in terms of sensors,
amplifiers and so on.

The Park transformation has long been widely used in the analysis and study
of synchronous and induction machines. The transformation is by far the single most
important concept needed for an understanding of how FOC works, the concept having been
first conceptualized in a 1929 paper authored by Robert H. Park Park's paper was ranked
second most important in terms of impact from among all power engineering related papers
ever published in the twentieth century. The novelty of Park's work involves his ability to
transform any related machine's linear differential equation set from one with time varying
coefficients to another with time invariant coefficients.

1.4 INDUCTION MOTOR DRIVES

The IM is the most widely used AC motor as it offers several advantages compared to
other motors. There are two types of three-phase IMs
 Squirrel-cage IM
 Wound -rotor IM

12
 From the electrical point of view, both the machines are identical except the former
has rotor winding terminals permanently shorted inside the machine. In case of wound-rotor
machine, the terminals of the rotor three-phase winding are externally available to the user.
The project deals with speed control of Squirrel-cage IM only. The block diagram of a typical
modern variable speed IM drive system is shown in Fig 1.1. The IM is connected directly or
indirectly (through gears) to the load. The power converter controls the power flow from an
ac supply to the motor by appropriate control of power semiconductor switches (part of
power converter).

Fig 31 Modern variable speed IM drive system

IM drives with cage type machines have been the workhorses in industry for variable-
speed applications in a wide power range that covers from fractional horse power to multi-
mega watts. These applications include pumps and fans, paper and textile mills, subway and
locomotive propulsions, electric and hybrid vehicles, machine tools and robotics, home
appliances, heat pumps and air conditioners, rolling mills, wind generation systems, etc. The
IM is preferable as they have such features, as being maintenance free in operation, are
rugged and reliable machines over their counterparts. They can be designed as totally
enclosed motors to operate in dirty and explosive environment.
The control and estimation of ac drives such as the IM in general are considerably
more complex than those of dc drives, and this complexity increases substantially if high
performances are demanded. The main reasons for this complexity are the need of variable-
frequency, harmonically optimum converter power supplies, the complex dynamics of ac
machines, machine parameter variations, and the difficulties of processing feed back signals
in the presence of harmonics.
The thesis deals only with AC drives employing AC Asynchronous motor. Since its
invention AC Asynchronous motor, also named Induction Motor, has become the most
widespread electrical motor in use today. This is due to the fact that IMs are most
advantageous over the rest of the motors. The main advantage is that IMs do not require any

13
electrical connection between stationary and rotating parts of the motor. Therefore they do
not need any mechanical commutator (brushes), leading to the fact that they are maintenance
free motors. They also have low weight and inertia, high efficiency, and a high overload
capability. Therefore they are cheaper and more robust and less prone to any failure at high
speeds. Further they can work in explosive environments because no sparks are produced.
The only effective way of producing an infinitely variable IM speed drive is to supply
the IM with three phase voltages of variable frequency and variable amplitude. A variable
frequency is required because the rotor speed depends upon the speed of the rotating
magnetic field provided by the stator. A variable voltage is required because the motor
impedance reduces at low frequencies and constantly the current has to be limited by means
of reducing the supply voltages.
Before the days of power electronics, a limited speed control of IM was achieved by
switching the three stator windings from delta connection to star connection, allowing the
voltage at the motor windings to be reduced. IMs are also available with more than three
stator windings to allow a change of the number of pole pairs. However, a motor with several
windings is more expensive because more than three connections to the motor are required
and only certain discrete speeds are available. Another alternative method of speed control
can be realized by means of a wound rotor IM, where the rotor winding ends are brought out
to slip rings. However, this method obviously removes most of the advantages of IMs and
also introduces additional losses. By connecting resistors or reactances in series with stator
windings of IMs poor performance is achieved.
At that time the above described methods were the only ones available to control the
speed of IM, whereas infinitely variable speed drives with good performances for DC motors
also existed. These drives not only permitted the operation in four quadrants but also covered
a wide power range. Moreover, they had a good efficiency, and with a suitable control even a
good dynamic response. Its main drawback was the compulsory requirement of brushes.
Power electronics today is one of a wide range of well defined technologies. As the
motor drive is one of major application fields of power electronics, a lot of developments
have been achieved and evolutional systems have been produced. This is due to a steady
growth in the ratings and operating frequency of semiconductor devices like thyristors and
IGBTs. A static voltage source inverter (VSI) which is used to deliver variable-frequency
power to an IM must also vary the terminal voltage as a function of frequency in order to
maintain the proper magnetic conditions in the core. The applied voltage/frequency ratio
must be constant in order to maintain constant flux, and this mode of operation is known as

14
constant V/f. This open-loop operation of an IM at variable frequency provides a satisfactory
variable-speed drive when the motor is required to operate at steady speeds for long periods.
When the drive requirements include rapid acceleration and deceleration, an open-loop
system is unsatisfactory, since the supply frequency cannot be varied very quickly. When a
fast dynamic response is necessary, closed-loop feedback methods are essential.
The vector control or the field-oriented control was one of the important innovations
in AC motor drives. The field orientation concept implies that the current components
supplied to the machines should be oriented in phase (flux component) and in quadrature
(torque component) to the rotor flux vector. This is achieved by controlling not only the
magnitude and the frequency of the inverter output voltage but also its phase angle, thus the
instantaneous position of the rotor flux. In Germany, the basic concept of the IVC without
flux measurement was proposed by K. Hasse in1968, and the direct vector control, which
uses direct flux measurement to find the actual magnitude and position of the rotor flux, was
developed by F. Blaschke in 1971. Although these publications started long before, the
subsequent use of vector control had been fully developed in the 80s in Japan, using
sophisticated digital control units such as 32 bit microprocessors
In 1980, S. Yamamura proposed another torque control called the field acceleration
method. He showed that the d-q equations can be solved in closed form without coordinate
conversion, assuming the rotor frequency is constant in a short period, and that the stator
current is controlled instantly. The field acceleration method can change the phase angle of
the inverter output voltage like the vector control, and has similar transient torque response as
that of the vector control.
Intelligent techniques like Artificial Neural Networks (ANNs) have been applied for
various control, identification and estimation applications in power electronics and drives
such as converter PWM, Neural adaptive P-I drive controller, Vector rotation and inverse
rotation in vector control, Drive MRAC, Drive signal feedback estimation, FFT signature
analysis of waves etc. The thesis presently deals with application of neural networks to the
VSI control in the IVCIM drive. The research in this area has been stated around in 1985. Till
now neural networks that emulate various types of inverter controls such as HBPWM,
SPWM, Space Vector PWM etc have been developed and tested.

15
 A. 1.5 Different Control Techniques of IM Drives

Overview of key competing VFD control platforms:

The different control techniques of IM drives are

 Scalar control or V/f control
 Vector or field oriented control
 Direct torque and flux control
 Adaptive control
 Intelligent controls with expert systems, fuzzy logic and the neural network.

1.6 MODELLING AND CONTROL OF 3-Ф IM

Here we discuss the mathematical modeling of 3-phase IM and principle of vector

control.
IMs have now replaced the dc motors not only since the speed control is possible with
the help of the semiconductor devices, but also because of control schemes such as the field-
oriented or the vector control schemes, which have made it possible to deliver a torque vs.
speed characteristics similar to that of a dc motor.
The per-phase equivalent circuit of the IM is valid only in steady state condition. In an
adjustable speed drive, the machine normally constitutes an element within the feedback
loop, and so its transient behavior has to be taken into consideration. High-performance drive

16
control, such as vector or field-oriented control is based on the dynamic d-q model [4] of the
machine. Therefore, to understand vector control principles a good understanding of the d-q
model is mandatory. The d-q modeling of IM can be done by using transformations proposed
by R.H Park called Park’s transformation; H.C. Stanley called Stanley equation, G.Kron
called Kron equation, D.S. Brereton, Krause and Thomson. This thesis deals with
dynamically modeling the IM using Park’s transformation.
Scalar control or V/f control of an IM drive, as the name indicates, is due to
magnitude variation of the control variables only, and disregards the coupling effect of the
machine. For example, the voltage of a machine can be controlled to control the torque.
However, flux and torque are also functions of frequency and voltage, respectively. In vector
control both the magnitude and phase alignment of vector variables are controlled. Though
scalar control is easy to implement, it gives inferior performance. Therefore, vector
controlled drives have almost recently replaced scalar controlled drives.
Recent developments in vector control led to sensorless vector control, which means
vector control without any speed sensor i.e. sensorless vector control eliminates the use of
incremental shaft-mounted speed encoder which is required for close loop speed or position
control in both vector and scalar control. The speed signal is estimated with the help of a DSP
from the machine terminal voltages and currents. But the estimation is normally complex and
heavily dependent on machine parameters. Although sensorless vector control drives are
commercially available at this time, the parameter variation problem, particularly near zero
speed, imposes a challenge in the accuracy of speed estimation.
In the mid-1980s, an advanced scalar control technique, known as direct torque and
flux control (DTFC or DTC) was introduced for voltage-fed PWM inverter drives. The
scheme, as the name indicates, is the direct control of the torque and stator flux of a drive by
inverter voltage space vector selection through a look up table. This technique was claimed to
have nearly comparable performance with vector controlled drives
Ideally, a vector-controlled ac drive can be considered linear, like a dc drive system.
However, in industrial applications the electrical and mechanical parameters of the drive
hardly remain constant. Besides, there is a load torque disturbance effect. A new control
called Adaptive control technique which takes into account all these problems is also
developed.
The section wise description of this Chapter is as follows:

17
 Dynamic d-q model of IM using Park’s transformation is reviewed in Section 2.2.
Principle of vector motor control, types of vector control and indirect vector control are
discussed in Section 2.3.

1.7 MODELING OF IM

Fig 3.3 Stator and Rotor axes orientation of a 3-phase IM

Consider a symmetrical three-phase induction machine with stationary stator as-
bs-cs axes and ar-br-cr axes at 2/3 apart. With the help of the coupled circuit approach, the
voltage equations of the magnetically coupled stator and rotor circuits can be written as

Stator Voltage Equations

das
vas  ias rs 
dt V 2.1
dbs
vbs  ibs rs 
dt V 2.2
dcs
vcs  ics rs 
dt V 2.3

Rotor Voltages Equations

dar
var  iar rr 
dt V 2.4
dbr
vbr  ibr rr 
dt V 2.5

18
 dcr
vcr  icr rr 
dt V 2.6

Flux Linkage Equations

In matrix notation, the flux linkages of the stator and rotor windings, in terms of the
winding inductances and currents, may be written as
sabc   Labc Labc  i s abc

 abc    abc abc   abc 

ss sr

r   Lrs Lrr  ir 

H 2.7
where
sabc  as bs cs 
t
2.8
rabc  ar br cr 
t
2.9
isabc  ias ibs ics 
t
2.10
irabc  iar icr 
t
ibr 2.11
and the superscript denotes the transpose of the array.
The sub matrices of the stator-to-stator and rotor-to-rotor winding inductances are of
the form
 Lls  Lss Lsm Lsm 
Labc
ss   Lsm Lls  Lss Lsm 
 Lsm Lsm Lls  Lss 
H 2.12
 Llr  Lrr Lrm Lrm 
Labc
rr   Lrm Llr  Lrr Lrm 
 Lrm Lrm Llr  Lrr 
H 2.13
and those of the stator-to-rotor mutual inductances are dependent on the rotor angle, that is,
 2 2 
 cos  r cos( r 
3
) cos( r  )
3 
 2 2 
sr  Lrs
Labc abc
 Lsr cos( r  ) cos  r cos( r  )
 3 3 
cos(  2 ) cos(  2 ) cos  r 
 r
3
r
3 
H 2.14
where
Lls = per phase stator winding leakage inductance
Llr = per phase rotor winding leakage inductance

19
 Lss = self-inductance of the stator winding
Lrr = self-inductance of the rotor winding
Lsm = mutual inductance between stator windings
Lrm = mutual inductance between rotor windings
Lsr = peak value of the stator-to rotor mutual inductance
From equations (2.1) to (2.6), it can be observed that the idealized IM is described by
six first order differential equations, one for each winding. These differential equations are
coupled to one another through the mutual inductances between the windings. In particular,
the stator-to-rotor coupling terms are functions of rotor position, and thus when the rotor
rotates, these coupling terms vary with time.

1.8.1 Park’s Transformation

The induction machine can be looked upon as an ac machine with a moving
secondary, where the coupling coefficients between the stator and rotor phases change
continuously with the change of rotor position r as from equation (2.14). The machine
model is described by six first order differential equations (2.1) to (2.6) with time-varying
mutual inductances, but such a model tends to be complex. So, an equivalent two-phase
machine where ds-qs correspond to stator direct and quadrature axes, and dr-qr correspond to
rotor direct and quadrature axes is employed to represent the three-phase machine. Although
it is somewhat simple, the problem of time-varying parameters still remains.
R. H. Park proposed a new theory of electric machine analysis [4] to solve this
problem. He formulated a change of variables which, in effect, replaced by the variables
(voltages, currents and flux linkages) associated with the stator and rotor windings of a
synchronous machine with variables associated with fictitious windings rotating at
synchronous speed. That is, the stator and rotor variables are transformed to a synchronously
rotating reference frame. With such a transformation, all the time-varying inductances that
occur due to an electric circuit in relative motion and electric circuits with varying magnetic
reluctances can be eliminated.
The transformation equation from abc to qd0 reference frame is given by

20
  fq   fa 
 d qdo 
 f   T ( )  f 
 b
 f o   f c 
2.15
where the variable f can be the phase voltages, currents or flux linkages of the machine and
the transformation angle, (t), is the angle between the q-axis of the reference frame rotating
at a speed of  and the a-axis of the stationary stator winding may be expressed as
t
 (t )    (t )dt   (0)
0 Elect. rad 2.16
Similarly, the rotor angle, r (t), between the axes of the stator and rotor a-phases for
a rotor winding with speed r, may be expressed as
t
 r (t )    r (t )dt  r (0)
0 Elect. rad 2.17
where angles (0) and r (0) are the initial values of the angles at the beginning of time t.
The transformation matrix [Tqd0()] is given by
 2 2 
cos( ) cos(  3 ) cos(  3 )
2 2 2 
 3

Tqd 0 ( )   sin(  ) sin(  
3
) sin(   )
3 
 1 1 1 
 2 2 2 
2.18
and its inverse is
 
 cos( ) sin(  ) 1
 2 2 
T qd 0 ( ) 
1
 cos(  ) sin(   ) 1
 3 3 
cos(   
) 1
2 2
) sin(  
 3 3  2.19

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 CHAPTER2

2.Overview of the proposed mechanism

2.1 V/F method

Variation in supply frequency leads to change in speed. Product of flux and supply frequency
is directly proportional to induced stator voltage. When stator drop is consider zero then
E≈V
V f.
If an induction motor is to be operated at different frequencies with practically constant
values of power factor, efficiency, a constant absolute slip, overload capacity and, then with
the iron unsaturated, it is essential that the supply voltage V be varied with the change in
frequency accordingly. Both output voltage and frequency vary as the speed if the automatic
correction is provided.

FIG.4.Torque speed characteristics of induction motor

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As induction motor follow the relation
T V/F
So for constant v/f ration a constant torque can be achieved. However, this control scheme
focus to ensure that any particular torque can be obtained at the same flux as operating at
normal frequency and voltage.
Ns = 120f/p
From above relation the induction motor speed can be changed by varying the frequency of
supply given because poles are inbuilt and cannot contribute in speed control. So for constant
v/f ratio torque developed is constant in entire operation. It is the only focus of this method.
Fig.4 shows the speed-torque characteristics of the IM with VF control.

FIG.5.Torque speed characteristics with v/f control

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 CHAPTER3

3.Experimental setup

Fig6.complete setup

FIG.7.Block diagram of complete setup.

24
Power Flex 4M AC drive of Allen Bradley is cost effective & smallest .which provides
powerful control of speed..

Table.1. VFD specifications used in the experiment.

Motor rating 0.4KW(0.5

H.P)
Output 3 phase,0-240
Hz
AC Voltage 0-230V
range
Continuous 2.3A
AMP
Overload Amp 3.45,60sec

The PLC used in this project is Allen Bradley Micro Logix 1400 series. The main parts of
this PLC are CPU, Power Supply, output Module and input Module.

Table.2. PLC specifications.

Number of I/O 20 inputs and 12 outputs (10 digital 2

analog)
Power supply voltage 24V DC

Power supply inrush 24V DC:

Current 15 A for 20 ms
Power consumption 60W

Table .3.Motor Specifications

25
 KW 0.37 (.5hp)
RPM 2820
Voltage 415±10%
Frequency 50+5%
Ambient 50ºC
Temperature
Ampere 1.1
Efficiency 88.6%

26
 CHAPTER4

4.Conduction of Experiment

Allen-Bradley PLC & Power Flex 4M VFD, a 3 IM moving freely is controlled by

software(ladder logic) installed in CPU of plc and frequency of input supply was varied and
speed of motor was tabulated. The complete data of experiment (which shows the relation
between frequency and motor speed) is given by following observation table.

Table.4.observation

Input supply Motor speed in rpm

frequency in Hz
4 230
9 520
14 840
19 1140
24 1395
29 1709
34 2000
39 2250

Input Supply Frequency

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 FIG.8.Frequency input vs. speed output

Fig.9. Rotor resistance starting

28
 Fig.10. Reduced voltage starting

Fig.11.starting with vf control.

From the above fig[9] it can be concluded that when the 3phase IM is started with rotor
resistance starter motor produces high starting torque and starting current gets reduced due to
high rotor resistances but because of the same cu ;losses become high which affect the
efficiency. Fig.10 shows reduced voltage starting characteristics represent that reduced
voltage provide much reduced torque because[T V²] thus starting current gets reduced but
constant torque cannot be achieved using this method which is required for many industrial
applications.
Fig.11. VF control which provides a smooth control of the speed of induction motor at a
constant value of torque. Reduced speed provides a huge amount of energy savings. By using
VFD, maintenance cost is affected largely because lower speed results in longer life for
bearing and motor.
A speed reduction in 20% results in energy savings of 50%.By using VFD thermal and
mechanical stress can be reduced on motor and belts during start, which is not possible in any
other method of speed control of three phase induction motor.

29
 CHAPTER5

5.CONCLUSION

The present work describe a mechanism to monitor VFD by PLC.A complete study of each
and every equipment along with their specifications is done. Software platform namely Allen
Bradley ladder logic programming RS Linx is implemented. A 0.5 Hp 3-phase IM was taken
for experimental setup. The drive used in this set-up offered various control modes of motor
operation. A PLC program is made and verified in RS Linx software. A thorough study of
operation of combination of PLC and VFD has imparted a good idea about automation
systems in industries.

30
REFERENCES

1. .Ashfaq Husain (2002),”Electric machines” by Dhanpat Rai Publications co.(pvt)Ltd.

Educational and Technical Publishers.
2.“Electrical Machinery” by Dr.P.S.Bimbhra, Khanna Publishers. (2013 edition)
3.“Electrical Machines 3rd edition (2011) ” by S.K.Bhattacharya by TATA MecGraw Hill
Publishers.
4.Theory and performance of Electrical Machines (2012 edition)” by J.B.Gupta by Kataria
Publishers.
5.“Programmable Logic Controller Principles and Applications (2013 edition)” by John
W.Webb.Ronald A.Reis by PHI Publishers.
6.“Power Electronic (2008 edition)” by M.D.Singh & K.B.Khanchandani by TATA McGraw
Hill Publishers.
7.“PLC Programming for Industrial Automation(2007 edition)” by Kevin Collins by
Exposure Publishers.

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