50 EE 603 Electrical Drives and Control

MODULE 2
INDUCTION MOTOR DRIVE

Dr.R.Balamurugan/ASP/EEE/KSRCT
• A device which converts electrical energy into mechanical energy or
mechanical energy into electrical energy is known
as electromechanical energy conversion device.

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Review of speed control of 3 phase
Induction Motors
Induction Motor Speed Control From Stator Side:
1. By Changing The Applied Voltage:
From the torque equation of induction motor,

Rotor resistance R2 is constant and if slip s is small then (sX2)2 is so small that it can be
neglected.
Therefore, T ∝ sE22 where E2 is rotor induced emf and E2 ∝ V
This method is the easiest and cheapest, still rarely used, because
1. Large change in supply voltage is required for relatively small change in speed.
2. Large change in supply voltage will result in a large change in flux density, hence,
this will disturb the magnetic conditions of the motor.
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2. By Changing The Applied Frequency

where, f = frequency of the supply and P = number of stator poles

• Hence, the synchronous speed changes with change in supply frequency. Actual speed
of an induction motor is given as N = Ns (1 - s).
• However, this method is not widely used. It may be used where, the induction motor is
supplied by a dedicated generator (so that frequency can be easily varied by changing
the speed of prime mover).
• Also, at lower frequency, the motor current may become too high due to decreased
reactance.
• And if the frequency is increased beyond the rated value, the maximum torque
developed falls while the speed rises.
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3. Constant V/F Control Of Induction Motor
• This is the most popular method for controlling the speed of an induction motor.
• As in above method, if the supply frequency is reduced keeping the rated supply voltage, the
air gap flux will tend to saturate. This will cause excessive stator current and distortion of the
stator flux wave.
• Therefore, the stator voltage should also be reduced in proportional to the frequency so as to
maintain the air-gap flux constant.
• The magnitude of the stator flux is proportional to the ratio of the stator voltage and the
frequency. Hence, if the ratio of voltage to frequency is kept constant, the flux remains
constant. Also, by keeping V/F constant, the developed torque remains approximately
constant.
• This method gives higher run-time efficiency. Therefore, majority of AC speed drives employ
constant V/F method (or variable voltage, variable frequency method) for the speed control.
Along with wide range of speed control, this method also offers 'soft start' capability.
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4. Changing The Number Of Stator Poles
• From the above equation of synchronous speed, it can be seen that synchronous speed (and hence,
running speed) can be changed by changing the number of stator poles. This method is generally used
for squirrel cage induction motors, as squirrel cage rotor adapts itself for any number of stator poles.
Change in stator poles is achieved by two or more independent stator windings wound for different
number of poles in same slots.

For example, a stator is wound with two 3phase windings, one for 4 poles and other for 6 poles. For supply
frequency of 50 Hz
i) synchronous speed when 4 pole winding is connected, Ns = 120*50/4 = 1500 RPM
ii) synchronous speed when 6 pole winding is connected, Ns = 120*50/6 = 1000 RPM
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Speed Control From Rotor Side:
1. Rotor Rheostat Control
• This method is similar to that of armature rheostat control of DC
shunt motor.
• But this method is only applicable to slip ring motors, as addition of
external resistance in the rotor of squirrel cage motors is not possible.

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2. Cascade Operation
• In this method of speed control, two motors are used. Both are
mounted on a same shaft so that both run at same speed. One motor
is fed from a 3phase supply and the other motor is fed from the
induced emf in first motor via slip-rings. The arrangement is as shown
in following figure.

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• Motor A is called the main motor and motor B is called the auxiliary motor.
Let, Ns1 = frequency of motor A
Ns2 = frequency of motor B
P1 = number of poles stator of motor A
P2 = number of stator poles of motor B
N = speed of the set and same for both motors
f = frequency of the supply

Now, slip of motor A, S1 = (Ns1 - N) / Ns1

frequency of the rotor induced emf in motor A, f1 = S1f
Now, auxiliary motor B is supplied with the rotor induce emf

therefore, Ns2 = (120f1) / P2 = (120S1f) / P2

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now putting the value of S1 = (Ns1 - N) / Ns1

At no load, speed of the auxiliary rotor is almost same as its

synchronous speed.
i.e. N = Ns2.
from the above equations, it can be obtained that

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• With this method, four different speeds can be obtained
1. when only motor A works, corresponding speed = Ns1 = 120f / P1
2. when only motor B works, corresponding speed = Ns2 = 120f / P2
3. if commulative cascading is done, speed of the set = N = 120f / (P1 +
P2)
4. if differential cascading is done, speed of the set = N = 120f (P1 - P2)

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3. By Injecting EMF In Rotor Circuit
• In this method, speed of an induction motor is controlled by injecting a voltage in
rotor circuit. It is necessary that voltage (emf) being injected must have same
frequency as of the slip frequency. However, there is no restriction to the phase of
injected emf. If we inject emf which is in opposite phase with the rotor induced
emf, rotor resistance will be increased.
• If we inject emf which is in phase with the rotor induced emf, rotor resistance will
decrease. Thus, by changing the phase of injected emf, speed can be controlled.
• The main advantage of this method is a wide rage of speed control (above normal
as well as below normal) can be achieved.
• The emf can be injected by various methods such as Kramer system, Scherbius
system etc.
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3-Phase Voltage Source Inverter – Fed
Drives
• A basic three phase inverter is a six step bridge inverter.
• It uses a minimum of 6 thyristors. In inverter terminology, a step is
defined as a change in the firing from one thyristor to the next
thyristor in a proper sequence.
• For getting one cycle of 360°, each step is of 60° interval. This means
thyristors will be gated at a regular interval of 60° in a proper
sequence so that three phase AC output voltage is synthesized at its
output.

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 A three phase bridge
inverter is equivalent to
three half bridge inverters
arranged side by side. The
three phase load connected
to the output terminals a, b
and c of inverter is assumed
to be STAR connected.

In the circuit diagram, the

numbering of thyristors is
done in the sequence in
which they are triggered to
obtain voltages vab, vbc &
vca at the output terminals a,
b & c.

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Thyristors conduction
• There are two possible patterns of gating the thyristors. In one
pattern, each thyristor conducts for 180° and in other, each thyristor
conducts for 120°.
• But in both these patters the gating signals are applied and removed
at 60° interval of the output voltage waveform.

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180° Conduction Mode of Three Phase
Inverter
• In 180° conduction mode of three phase inverter, each thyristor
conducts for 180°.
• Thyristor pair in each arm i.e. (T1, T4), (T3, T6) and (T5, T2) are turned
on with a time interval of 180°.
• It means that T1 remains on for 180° and T4 conducts for the next
180° of a cycle.
• Thyristors in the upper group i.e. (T1, T3 & T5) conducts at an interval
of 120°. It implies that if T1 is fired at wt = 0° then T3 will be fired at
120° and T5 at 240°. Same is also true for lower group thyristors i.e.
(T4, T6 & T2).
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Conduction period of various thyristors of
three phase inverter

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• The first row of the above table that T1 conducts for 180° while T4
conducts for next 180° and then again T1 for 180° and so on.
• In the second row, T3 from the upper group is shown conducting 120°
after T1 starts conducting. After T3 conducting for 180°, T6 conducts
for the next 180° and again T3 for next 180° and so on.
• Further, in the third row, T5 from the upper group starts conducting
120° after T3 or 240° after T1. After T5 conduction for 180°, T2
conducts for next 180°, T5 for the next 180° and so on. In this way, the
pattern for firing of thyristors are identified.

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• From the above table, the six steps for firing of thyristors may be
formulated.
• The overlapping period of the three SCRs are only 60°, this is the
reason, it is said that each step for a three phase bridge inverter is
60°.

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• Step-I: In step-I, thyristors T1, T6 and T5 conducts.
• Step-II: T1, T2 and T6 conducts. Mind that T5 is turned off.
• Step-III: Now, will have to turn off T6. Therefore, this step will comprise of
conduction of thyristors T1, T2 and T3.
• Step-IV: This time, T1 has to be turned off and hence, T2, T3 and T4 shall
conduct is this step.
• Step-V: T4, T3 and T5 conducts and T2 is turned off.
• Step-VI: T4, T6 and T5 conducts and T3 is turned off.
In each step of 60°, only three SCRs are conducting – one from the upper
group and two from the lower group or two from the upper group & one
from lower group. 20
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• The line voltage
Vab = Vao + Vbo or Vab = Vao – Vbo
is obtained by reversing Vbo and adding it to Vao.
• This is shown in the output waveform (b). Similarly, line voltages Vbc &
Vca are plotted.

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• Following points may be noted from the output waveform of three phase bridge
inverter:
• Phase voltages have six steps per cycle.
• Line voltages have one positive pulse and one negative pulse each of 120° duration.
• The phase and line voltages are out of phase by 120°.
• The line voltages represent a balanced set of three phase alternating voltages. These voltages
are independent of the nature of load which may consists of any combination of resistance,
inductance or / and capacitance or load may be balanced or unbalanced, linear or non-linear.

• The purpose of diode D1 to D6 is to allow the flow of current through them when
the load is inductive in nature.
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• When the supply is DC, then the variable DC input is obtained by
connecting a chopper between DC supply and inverter.

• When the supply is AC, then the DC input voltage is obtained by

connecting the controlled rectifier between the AC supply and
inverter shown in the figure below. The capacitor C filter out the
harmonics in DC link voltage

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• The main drawback of the VSI induction motor drive is the large
harmonics of the low frequency in the output voltage. The harmonics
increases the loss in the motor and cause the jerky motion of the
rotor at low speed.

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Current Source Inverter
• The current source inverter is also known as current fed inverter
which converts the input dc into ac and its output can be three-phase
or single phase. According to the definition of the current source, an
ideal current source is the kind of source in which current is constant
and it is independent of voltage.

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• The circuit consists of six diodes (D1, D2, D3, D4, D5, D6), six capacitors
(C1, C2, C3, C4, C5, C6), six thyristors (T1, T2, T3, T4, T5, T6) which are fixed
with a phase difference of 600. The inverter output is connected to
the induction motor. For a given speed, torque is controlled by
varying the dc-link current Id and this current can be varied by varying
the Vd. The conduction of two switches in the same lag doesn’t lead
to a sudden rise of current due to the presence of a large value of
inductance Ld.

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CSI Induction Motor Drives

• When the source is available in dc source,

the chopper is used to vary the current. When
the source is available in ac source then there
fully controlled rectifier is used to vary the
output current.

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• The main advantage of CSI fed drive is, it is more reliable than voltage
source inverter fed drive and the disadvantage is, it has a lower speed
range, slower dynamic response, the drive operates always in closed-
loop and it is not suitable for multi-motor drive.

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• Variable Frequency Control is a method that is used to control the
speed of an induction motor. The synchronous speed and therefore,
the speed of the motor can be controlled by varying the supply
frequency. The synchronous speed of an induction motor is given by
the relation shown below:

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• The EMF induced in the stator of the induction motor is given by the equation shown
below.

• Therefore, if the supply frequency is changed, induced EMF will also change to
maintain the same air gap flux. The terminal voltage V1 is equal to the induced EMF
E1 if the stator voltage drop is neglected.
• In order to minimize the losses and to avoid saturation, the motor is operated at rated
air gap flux. This condition is obtained by varying the terminal voltage with frequency
so as to maintain the (V/f) ratio constant at the rated value. This type of control is
known as Constant Volts Per Hertz. Thus, the speed control of an induction motor
using a variable-frequency supply requires a variable voltage power source.
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The variable-frequency supply is obtained by the following converters.
• Voltage source inverter
• Current source inverter
• Cyclo converter

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Variable frequency control from voltage
source

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Variable frequency control from current source

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Multilevel converter-fed induction motor
drive
• Many industrial applications require high power. Some appliances in the
industries, however, require medium or low power for their operation.
• Using a high power source for all industrial loads may prove beneficial to
some motors requiring high power, while it may damage the other loads.
• Some medium voltage motor drives and utility applications require
medium voltage.
• The multi-level inverter has been introduced since 1975 as an alternative
in high power and medium voltage situations. The Multilevel inverter is
like an inverter and it is used for industrial applications as an alternative
in high power and medium voltage situations.

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• The need for the multilevel converter is to give high output power
from the medium voltage source.
• Sources like batteries, supercapacitors, the solar panel are medium
voltage sources.
• The multi-level inverter consists of several switches. In the multi-level
inverter, the arrangement switches’ angles are very important.

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Multilevel inverters are three types,
• Diode clamped multilevel inverter
• Flying capacitors multilevel inverter
• Cascaded H- bridge multilevel inverter

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Diode Clamped Multilevel Inverter
• The main concept of this inverter is to use diodes and
provides the multiple voltage levels through the
different phases to the capacitor banks which are in
series. A diode transfers a limited amount of voltage,
thereby reducing the stress on other electrical devices.
The maximum output voltage is half of the input DC
voltage. It is the main drawback of the diode clamped
multilevel inverter.
Applications of Diode Clamped Multilevel Inverter
• Static var compensation
• Variable speed motor drives
• High voltage system interconnections
• High voltage DC and AC transmission lines

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Flying Capacitors Multilevel Inverter
• The main concept of this inverter is to use capacitors. It is of a
series connection of capacitor clamped switching cells. The
capacitors transfer the limited amount of voltage to electrical
devices. In this inverter switching states are like in the diode
clamped inverter. Clamping diodes are not required in this type
of multilevel inverters. The output is half of the input DC
voltage. It is a drawback of the flying capacitors multilevel
inverter. It also has the switching redundancy within the phase
to balance the flying capacitors. It can control both the active
and reactive power flow. But due to the high-frequency
switching, switching losses will take place.
Applications of Flying Capacitors Multilevel Inverter
• Induction motor control using DTC (Direct Torque Control) circuit
• Static var generation
• Both AC-DC and DC-AC conversion applications
• Converters with Harmonic distortion capability
• Sinusoidal current rectifiers 44
Cascaded H-Bridge Multilevel Inverter
• The cascaded H-bride multilevel inverter is to use capacitors and switches and
requires less number of components in each level. This topology consists of a series
of power conversion cells and power can be easily scaled.
• The combination of capacitors and switches pair is called an H-bridge and gives the
separate input DC voltage for each H-bridge. It consists of H-bridge cells and each cell
can provide the three different voltages like zero, positive DC, and negative DC
voltages.
• One of the advantages of this type of multi-level inverter is that it needs less number
of components compared with diode clamped and flying capacitor inverters. The
price and weight of the inverter are less than those of the two inverters. Soft-
switching is possible by some of the new switching methods.
Applications of Cascaded H-Bridge Multilevel Inverter
• Motor drives
• Active filters
• Electric vehicle drives
• DC power source utilization
• Power factor compensators
• Back to back frequency link systems
• Interfacing with renewable energy resources 45
Rotor Resistance Control of Induction
Motor
• Speed-torque curves for Rotor Resistance Control of Induction Motor
are given in Fig. While maximum torque is independent of rotor
resistance, speed at which the maximum torque is produced changes
with rotor resistance. For the same torque, speed falls with an
increase in Rotor Resistance Control of Induction Motor.

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Static Scherbius Drive

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• It provides the speed control of a wound rotor motor below synchronous
speed. A portion of rotor ac power is converted into dc by a diode bridge.
The controlled rectifier working as an inverter converts it back to ac and
feeds it back to the ac source.
• Power fed back (i.e. Pr) can be controlled by controlling inverter counter
emf Vd2, which in turn is controller by controlling the inverter firing angle.
The dc link inductor is provided to reduce ripple in dc link current I d.
• Since Slip Power Recovery Scheme used in Induction Motor is fed back to
the source, unlike rotor resistance control where it is wasted in resistors,
drive has a high efficiency. The drive has higher efficiency than stator
voltage control by ac voltage controllers.
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 Static Kramer Drive
• Rotor slip power is converted into dc by a diode
bridge. The dc power is now fed to dc motor
mechanically coupled to induction motor.
Torque supplied to load is sum of torque
produced by induction and dc motors. Speed
control is obtained by controlling field current
of dc motor.
• Figure (b) shows variations of Vd1 and Vd2 with
speed for two values of dc motor field current.
The steady state operation is obtained when
Vd1 = Vd2, i.e. at A and B for field currents If1 and
If2. Speed control is possible from. synchronous
speed to around half of synchronous speed
• When larger speed range is required, diode
bridge is replaced by a thyristor bridge. Now
relationship between Vd1 and speed can be
altered by controlling firing angle of thyristor
rectifier (Fig.(c)). Speed can now be controlled
up to standstill. 49
Thank you…
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