Electrical Machines Drives induction motor Drives

 Induction motor torque-speed

and torque-slip characteristics
 Methods of starting of squirrel
cage motors
 Induction motor drive
 Speed control
 Open loop and closed loop V/f
control
 Slip power recovery schemes

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Electrical Machines Drives induction motor Drives
Torque Equation of Induction Motor:
The torque produced by an induction motor depends on the following three factors:
1.The rotor power factor under the running condition.
2. The rotor current under the running condition.
3. The part of rotating magnetic field which induces emf in the rotor winding.

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Electrical Machines Drives induction motor Drives
Principle of Operation of a 3-Phase Ι.Μ.:
The principle of operation for a three phase induction motor is explained in this section.
The three phase induction motor consists of a stator or armature winding which is stationary
and a rotor or field winding which rotates.
Both the stator and rotor windings are three phase windings. Depending on the rotor
winding, the induction motors are classified into two categories:
1. Slip ring or wound rotor motor
2. Squirrel cage rotor motor
The rotor winding is wound such that the three phases are brought out to the three slip rings
on the motor shaft.
The motor in this case is called as slip rings or wound rotor motor.
Instead of winding, copper bars that form a cage is used as rotor. The rotor bars are short
circuited on one end by end rings. No electrical connections can be made to the rotor
conductors externally. The motor is then called as squirrel cage induction motor.
Principle of operation:
The sequence of events that takes place is as follows:
The three phase stator winding of induction motor is connected to the three phase ac supply
as shown in Fig. 7.6.1. Due to ac voltage applied, current starts flowing in the stator
conductors.
Due to the three phase stator current a Rotating Magnetic Field (RMF) of constant amplitude
and rotating at a constant speed is set up in the air gap between stator and rotor. (see Fig.
7.6.1). The rotating magnetic field rotates at a speed called as SYNCHRONOUS SPEED (NS)

Fig. 7.6.1: Principle of operation of induction motor

The synchronous speed N S = 120f1/P where f1= Stator supply frequency and P = Number of
poles of the motor.
The rotor winding is not rotating. So the rotating magnetic field cuts the stationary rotor
conductors and induces an emf in the rotor winding.

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The rotor induced voltage gives rise to rotor currents. The direction of the rotor current is
such that it will oppose the very cause that produces this current. And the cause behind
producing the rotor current is the "relative velocity" between the rotating field and the rotor.
So the rotor current will flow in such a direction that the rotor will experience a force that
accelerates it in the same direction as that of the rotating magnetic field as shown in Fig. 7.6.1

Torque Slip Characteristics of Induction Motor:

The torque slip or torque speed characteristics of an induction motor is as shown in Fig. 7.6.2.
The characteristic can be divided into three sections:
1. Forward motoring
2. Plugging and
3. Regeneration.
As seen from the characteristics, the torque has two maximas one is the stalling torque for
the motoring operation and the other for generating operation. The values of slip at which
these maximas occur are called as the critical slip "Sc"
The maximum torque does not depend on the value of rotor resistance R 2' The maximum
torque is also known as "pull out torque" or "breakdown torque".

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1. Forward motoring 0 <= S <= 1
In the forward motoring region of the characteristics shown in Fig. 7.6.2, the motor rotates
in the same direction as that of rotating magnetic field.
The torque produced by the motor is zero at synchronous speed or for S = 0 This is because
the induced voltage in rotor is zero when N = NS
The torque increase as the slip increases while the air gap flux remains constant. Once the
torque reaches its maximum value Tmax' at the critical slip S = SC the torque decreases, with
increase in slip due to reduction in air gap flux.
2. Plugging or counter current braking (S > 1) :
As shown in Fig. 7.6.2, the motor operates in the plugging or counter current braking mode
for values of S > 1
But therefore to get values of S > 1, N must be negative i.e. Ns and N must have opposite
directions i.e. the RMF (Rotating Magnetic Field) and rotor should rotate in opposite
directions. This is achieved by interchanging any two phases of the stator supply. S =(NS - N)
NS
3. Generating operation (Negative slip):
In order to make slip negative the speed of the rotor (N) should be higher than the
synchronous speed (Ns) with both RMF and rotor rotating in the same direction (Fig. 7.6.2).
In this mode the power is fed back and the machine works as a generator. The regenerative
braking (discussed later on) is possible in this region of operation.
The torque slip characteristics is similar to that of motoring but having negative values of
torque Maximum torque in the generating operation is obtained at S = - SC. The regeneration
is possible in the variable frequency drives.
Speed control techniques:
Control techniques for squirrel cage motor↓
• Stator voltage control
• V/f control
• Variable f, constant V control
• Variable current, constant f control
• Controlling number of poles
Control techniques for wound rotor motor↓
• Stator voltage control
 Variable I, constant V control

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Electrical Machines Drives induction motor Drives
 Variable current, constant f control
• Constant V/f control
• Rotor resistance control
• Slip power recovery system (Cascade control)
• Controlling number of poles

Stator Voltage and Frequency Control (Constant V/f Control) :

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Electrical Machines Drives induction motor Drives
Speed Control using External Rotor Resistance:

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Disadvantages:
1. A lot of power is wasted in the external rotor resistance.
2. This type of control is possible only for the slipring induction motors and not suitable for
the squirrel cage motors.
3. Large speed changes are not possible to obtain
4. It is not possible to obtain speeds above the base speed.
5. Low efficiency due to large power loss taking place in the external rotor resistance.
6. The size of rotor rheostat is large which makes the system bulky.
Starting methods:
Various types of starters are as follows:
1. Stator resistance starter
2. Star delta starter.
3. Autotransformer starting.
4. Saturable / Non saturable reactor starter.
5. Voltage controlled starters.
6. Rotor resistance starters. (this method is for slip ring motors)
7. Variable stator frequency starting.
The description in brief about these methods is as follows-
1. Stator resistance starter

The schematic diagram for the stator resistance starter is shown in Fig. 2.1.1.
A starter resistance is connected in each line in series with each phase winding of the stator.
Initially all the starter resistances are kept in the "Start" position so that they offer their
maximum resistance.
The switch is turned on to connect the three phase ac supply to the stator winding
Due to starter resistance in series, each phase winding will receive a reduced voltage. Due to
reduction in the value of V₁, the starting current is limited to a safe value.
As the motor accelerates, the starter resistance is reduced by moving the variable contact of
the resistance towards the "Run" position.
In the "Run" position, the starter resistance is shorted out and full (rated) stator voltage is
applied across the stator winding. The motor then operates normally.

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Electrical Machines Drives induction motor Drives

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Electrical Machines Drives induction motor Drives
SPEED CONTROL AND DRIVE CLASSIFICATIONS
Drives where the driving motor runs at a nearly fixed speed are known as constant speed or
single speed drives. Multi-speed drives are those which operate at discrete speed settings.
Drives needing stepless change in speed and multispeed drives are called variable speed
drives. When a number of motors are fed from a common converter, or when a load is driven
by more than one motor, the drive is termed as multi-motor drive.
Speed range of a variable speed drive depends on the application. In some applications it can
be from rated speed to 10% of rated speed. In some other applications, speed
control above ratedspeed is also desired, and the ratio of maximum to minimum speed can
be as high as 200. There are also applications where the speed range is as low as from rated
speed to 80% of rated speed A variable speed drive is called constant torque drive if the
drive's maximum torque capability does not change with a change in speed setting. The
corresponding mode (or region) of operation is called constant torque mode. It must be
noted that the term 'constant torque' refers to maximum torque capability of the drive and
not to the actual output torque, which may vary from no load to full load torque. The constant
power drive and constant power mode (or region) are defined in the same way. Ideally it is
desired that for a given speed setting, the motor speed should remain constant as load torque
is changed from no load to full load. In practice, speed drops with an increase in the load
torque Quality of a speed control system is measured in terms of speed-regulation which is
defined as
Speed regulation = No load speed - Full load speed Full load speed ×100% (3.1)
If open-loop control fails to provide the desired speed regulation, drive is operated as a
closed-loop speed control system.

3.3 CLOSED-LOOP CONTROL OF DRIVES

Feedback loops in an electrical drive may be provided to satisfy one or more of the following
requirements
(i) Protection
(ii) Enhancement of speed of response
(iii) To improve steady-state accuracy

This section describes various closed-loop configurations which find application in electric
drives. In all these schemes the converter and associated control circuit will be represented
by a single block marked converter.

Current-Limit Control

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Electrical Machines Drives induction motor Drives
Current-limit control scheme of Fig. 3.3 is employed to limit the converter and motor current
below a safe limit during transient operations. It has a current feedback loop with a threshold
logic circuit. As long as the current is within a set maximum value, feedback
loop does not affect operation of the drive. During a transient operation, if current exceeds
the set maximum value feedback loop becomes active and current is forced below the set
maximum value, which causes the feedback loop to become inactive again. If the current
exceeds set maximum value again, it is again brought below it by the action of feedback loop.

Thus the current fluctuates around a set maximum limit during the transient operation until
the drive condition is such that the current does not have a tendency to cross the set
maximum value, e g. during starting, current will fluctuate around the set maximum value.
When close to the steady-state operation point, current will not have tendency to cross the
maximum value, consequently, feedback loop will have no effect on the drive operation.
Closed-Loop Torque Control
Closed-loop torque control scheme of Fig 3.4 finds application in battery operated vehicles,
rail cars and electric trains. Driver presses the accelerator to set torque reference 7. Through
closed- loop control of torque, the actual motor torque 7 follows torque reference T. Speed
feedback loop is present through the driver. By putting appropriate pressure on the
accelerator, driver adjusts the speed depending on traffic, road condition, his liking, car
condition and speed limit.

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Closed-Loop Speed Control
Figure 3.5 shows a closed-loop speed control scheme which is widely used in electrical drives.
It employs an inner current control loop within an outer speed-loop. Inner current control
loop is provided to limit the converter and motor current or motor torque below a safe limit.
In some schemes the current is controlled directly. In others it may be controlled indirectly.
For example, in a variable frequency induction motor drives the current is controlled by
controlling the slip.

SLIP POWER RECOVERY

Figure 6.53 shows an equivalent circuit of a wound-rotor induction motor with voltage V
injected into its rotor, assuming stator-to-rotor turns ratio unity. When rotor copper
loss is neglected.
Pm = Pg – Pt …(6.92)
where Pt the power absorbed by the source
Vr The magnitude and sign of Pr can be controlled by controlling the magnitude and phase of
Vr When Pr is zero, motor runs its natural speed torque characteristic A positive Pr will reduce
Pm* and therefore, motor will run at a lower speed for the same torque. When Pr is made
equal to Pg' then Pm and consequently speed will be zero. Thus, variation of Pt from 0 to Pg
will allow speed control from synchronous to zero speed. Polarity of Vr for this operation
shown in Fig. 6.53 by a continuous line.

When Pr negative, i.e. Vr acts as a source of power, Pm will be larger than Pg and motor will
run at a speed higher than synchronous speed. Polarity of for speed control above
synchronous speed is shown by a dotted line in Fig. 6.53. When rotor copper loss is neglected,
Pr, is equal to slip power, sPg Speed control below synchronous speed is obtained by
controlling the slip-power the same approach was adopted in rotor resistance control.
However, instead of wasting power in external resistors, it is usefully employed here.
Therefore, these methods of speed control are classified as slip power recovery schemes.
Two such schemes are Static Sherbius and Static Kramer Drives.

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