The document discusses various methods of speed control for induction motors, including rotor resistance control. Rotor resistance control involves connecting a variable external resistance to the rotor circuit of a wound rotor induction motor to control its speed. This is done by varying the effective rotor resistance using a chopper. The torque-speed characteristics show that increasing rotor resistance increases slip and reduces motor speed at constant torque. However, rotor resistance control is not suitable for squirrel cage motors and has low efficiency due to losses in the external resistance.
Part of Lecture series on EEE-413, Electrical Drives (DC Drives) delivered by me to students of VIII Semester B.E. (Electrical), Session 2018-19.
Z. H. College of Engg. & Technology, Aligarh Muslim University, Aligarh.
Missing materials will be uploaded shortly.
Please comment and feel free to ask anything related. Thanks!
The document discusses automatic load frequency control (ALFC) in a power system. ALFC aims to maintain system frequency by matching generator output to changing load. It does this through a feedback control loop involving the speed governor, hydraulic actuator, turbine, and generator. The speed governor senses deviations in frequency and power setting to adjust the hydraulic actuator. This controls the turbine output to balance generator power with load demand and regulate frequency. The control loop maintains small, slow load changes but not large imbalances. The document analyzes the static performance of the speed governor control loop under different network conditions.
The document discusses permanent magnet brushless DC motors, including their construction with a permanent magnet rotor, electronic commutation instead of a mechanical commutator, and applications in automotive, industrial, computer and small appliance uses. It provides details on the operation, classifications based on pole arc and waveform, and common controller circuits used for permanent magnet brushless DC motors.
This document provides an overview of automatic generation control (AGC) in power systems. It includes:
1) Block diagrams showing the components of AGC including speed governors, turbines, generators and load control. The diagrams model the dynamics of these components.
2) Descriptions of the turbine speed governing system, including flyball governors, hydraulic amplifiers and linkage mechanisms used to control steam flow based on generator speed.
3) Equations modeling the dynamics of the speed governor, turbine, and generator-load system and their interaction under different conditions like a load change when the speed changer is fixed.
4) Explanations of concepts like droop characteristic and steady-state frequency deviation from a load
The document discusses power system stability, including classifications of stability (steady state, transient, and dynamic) and factors that affect transient stability. It also covers topics like the swing equation, equal area criterion, critical clearing angle, and multi-machine stability studies. Some key points:
1) Power system stability refers to a system's ability to return to normal operating conditions after disturbances like faults or load changes.
2) Transient stability depends on factors like fault duration and location, generator inertia, and pre-fault loading conditions.
3) The equal area criterion states that a system will remain stable if the accelerating and decelerating area segments on the power-angle curve are equal.
4)
Working principle of synchronous generator,Synchronous motor, Working princip...Prasant Kumar
#Working principle of synchronous generator
#Working principle of synchronous motor
#Working principle of alternator
#Synchronous machine kaise work karta hai
A generator is a device that convert Mechanical energy into electrical energy using electromagnetic induction.
A DC generator produces direct power based on fundamental principle of Faraday's laws of electromagnetic induction.
According to this laws, Whenever a conductor is moved within a magnetic field in such a way that the conductor cuts across magnetic lines of flux, voltage is generated in the conductor.
Syllabus
Introduction of Machine
Classification of Machine
Construction of DC, Induction & Synchronous machine
Working Principle of
DC Machine
Induction machine
Synchronous machine
EMF Equation of all machine
………
A transformer works on alternating current, while a DC machine works on Direct Current
It has two main parts :
Stator – It is the stationary part. It does not move or rotate.
Rotor – It is the rotating part of the machine.
YOKE
It is the outermost part of a DC motor. It is made of cast iron or cast steel.
It provides mechanical protection to the inner parts of the machine.
Provide low reluctance path for the magnetic flux.
Pole core
These are made of cast steel laminations.
The main purpose is to hold the field windings .
The end portion of the pole is called pole shoe.
FIELD WINDING
They are enameled copper wires wound around the poles
When current passes through series connected windings then adjacent poles attain opposite polarity
Armature core
This is the rotating part of the machine
It is a cylindrical structure with slots around its outer periphery.
It houses conductors in the slots.
It provides easy path for magnetic flux
Introduction of Machine,Classification of Machine,Construction of DC, Induction & Synchronous machine,Working Principle,DC Machine,Induction machine,Synchronous machine,EMF Equation of all machine
Speed Torque Characteristics of BLDC Motor with Load Variationsijtsrd
Nowadays, Brushless DC motors are in high demand due to its high efficiency and other significant features. As there is no use of brushes, this type of motor is having many advantages like high torque to inertia ratio, high speed, and power density and low cost compared to conventional brushed motors. This paper determines speed torque characteristics of brushless dc motor with different load variation by using the proposed method and the developed controller. The variation in motor speed torque characteristics for half load, full load, and overloading condition is analyzed. This research has been conducted to analyze the model and compared with the simulation results which are very useful in studying the performance of motor system. The simulation is carried out in MATLAB Simulink environment. Ishita Gupta | Akash Varshney "Speed-Torque Characteristics of BLDC Motor with Load Variations" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd31197.pdf Paper Url :https://www.ijtsrd.com/engineering/electrical-engineering/31197/speedtorque-characteristics-of-bldc-motor-with-load-variations/ishita-gupta
Part of Lecture series on EEE-413, Electrical Drives (DC Drives) delivered by me to students of VIII Semester B.E. (Electrical), Session 2018-19.
Z. H. College of Engg. & Technology, Aligarh Muslim University, Aligarh.
Missing materials will be uploaded shortly.
Please comment and feel free to ask anything related. Thanks!
The document discusses automatic load frequency control (ALFC) in a power system. ALFC aims to maintain system frequency by matching generator output to changing load. It does this through a feedback control loop involving the speed governor, hydraulic actuator, turbine, and generator. The speed governor senses deviations in frequency and power setting to adjust the hydraulic actuator. This controls the turbine output to balance generator power with load demand and regulate frequency. The control loop maintains small, slow load changes but not large imbalances. The document analyzes the static performance of the speed governor control loop under different network conditions.
The document discusses permanent magnet brushless DC motors, including their construction with a permanent magnet rotor, electronic commutation instead of a mechanical commutator, and applications in automotive, industrial, computer and small appliance uses. It provides details on the operation, classifications based on pole arc and waveform, and common controller circuits used for permanent magnet brushless DC motors.
This document provides an overview of automatic generation control (AGC) in power systems. It includes:
1) Block diagrams showing the components of AGC including speed governors, turbines, generators and load control. The diagrams model the dynamics of these components.
2) Descriptions of the turbine speed governing system, including flyball governors, hydraulic amplifiers and linkage mechanisms used to control steam flow based on generator speed.
3) Equations modeling the dynamics of the speed governor, turbine, and generator-load system and their interaction under different conditions like a load change when the speed changer is fixed.
4) Explanations of concepts like droop characteristic and steady-state frequency deviation from a load
The document discusses power system stability, including classifications of stability (steady state, transient, and dynamic) and factors that affect transient stability. It also covers topics like the swing equation, equal area criterion, critical clearing angle, and multi-machine stability studies. Some key points:
1) Power system stability refers to a system's ability to return to normal operating conditions after disturbances like faults or load changes.
2) Transient stability depends on factors like fault duration and location, generator inertia, and pre-fault loading conditions.
3) The equal area criterion states that a system will remain stable if the accelerating and decelerating area segments on the power-angle curve are equal.
4)
Working principle of synchronous generator,Synchronous motor, Working princip...Prasant Kumar
#Working principle of synchronous generator
#Working principle of synchronous motor
#Working principle of alternator
#Synchronous machine kaise work karta hai
A generator is a device that convert Mechanical energy into electrical energy using electromagnetic induction.
A DC generator produces direct power based on fundamental principle of Faraday's laws of electromagnetic induction.
According to this laws, Whenever a conductor is moved within a magnetic field in such a way that the conductor cuts across magnetic lines of flux, voltage is generated in the conductor.
Syllabus
Introduction of Machine
Classification of Machine
Construction of DC, Induction & Synchronous machine
Working Principle of
DC Machine
Induction machine
Synchronous machine
EMF Equation of all machine
………
A transformer works on alternating current, while a DC machine works on Direct Current
It has two main parts :
Stator – It is the stationary part. It does not move or rotate.
Rotor – It is the rotating part of the machine.
YOKE
It is the outermost part of a DC motor. It is made of cast iron or cast steel.
It provides mechanical protection to the inner parts of the machine.
Provide low reluctance path for the magnetic flux.
Pole core
These are made of cast steel laminations.
The main purpose is to hold the field windings .
The end portion of the pole is called pole shoe.
FIELD WINDING
They are enameled copper wires wound around the poles
When current passes through series connected windings then adjacent poles attain opposite polarity
Armature core
This is the rotating part of the machine
It is a cylindrical structure with slots around its outer periphery.
It houses conductors in the slots.
It provides easy path for magnetic flux
Introduction of Machine,Classification of Machine,Construction of DC, Induction & Synchronous machine,Working Principle,DC Machine,Induction machine,Synchronous machine,EMF Equation of all machine
Speed Torque Characteristics of BLDC Motor with Load Variationsijtsrd
Nowadays, Brushless DC motors are in high demand due to its high efficiency and other significant features. As there is no use of brushes, this type of motor is having many advantages like high torque to inertia ratio, high speed, and power density and low cost compared to conventional brushed motors. This paper determines speed torque characteristics of brushless dc motor with different load variation by using the proposed method and the developed controller. The variation in motor speed torque characteristics for half load, full load, and overloading condition is analyzed. This research has been conducted to analyze the model and compared with the simulation results which are very useful in studying the performance of motor system. The simulation is carried out in MATLAB Simulink environment. Ishita Gupta | Akash Varshney "Speed-Torque Characteristics of BLDC Motor with Load Variations" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd31197.pdf Paper Url :https://www.ijtsrd.com/engineering/electrical-engineering/31197/speedtorque-characteristics-of-bldc-motor-with-load-variations/ishita-gupta
Load Frequency Control of Two Area SystemManash Deka
This is a synopsis presentation on a project of designing and analyzing Load Frequency Control (LFC) of a two area system. This is useful for students, basically of Electrical Engineering branch. This project will be simulated in simulink of MATLAB.
1) The document describes speed control of an induction motor using vector control. Vector control allows independent control of the flux and torque producing components of stator current.
2) A Clarke transformation converts the 3-phase stator currents to a 2-phase stationary reference frame. Then a Park transformation aligns one component with the rotor flux to control flux and the other to control torque.
3) Simulation results show the rotor speed, torque, stator currents in the direct-quadrature frame, and calculated three-phase voltages matching the objectives of vector control.
Automatic generation control (AGC) is a system for adjusting the power output of multiple generators at different power plants, in response to changes in the load. Since a power grid requires that generation and load closely balance moment by moment, frequent adjustments to the output of generators are necessary. The balance can be judged by measuring the system frequency; if it is increasing, more power is being generated than used, which causes all the machines in the system to accelerate. If the system frequency is decreasing, more load is on the system than the instantaneous generation can provide, which causes all generators to slow down.
This document discusses energy efficient motors and provides details on various factors that affect their efficiency. It describes how energy efficient motors have efficiencies 4-6% higher than standard motors due to design improvements that reduce losses. These improvements include using more copper to lower resistance, thinner steel laminations, and optimized slots. The document also covers motor loading calculations, effects of voltage variations, the importance of proper maintenance during energy audits, and methods for improving power factor and controlling motor speed to match varying loads.
The document provides information on power system stability and transient stability studies. It introduces key concepts such as stability, transient stability studies, rotor dynamics, the swing equation, and the power-angle equation. The swing equation describes the acceleration of a generator's rotor and relates the mechanical input power to the electrical output power. The power-angle equation models the relationship between generator output power and the power angle during transient stability studies.
Transient stability refers to the ability of a power grid to maintain synchronism during severe disturbances. Methods to improve transient stability include increasing generator rotor size, reducing transmission line reactance, using dynamic braking resistors, independent pole operation of circuit breakers, single pole switching, fast excitation control, fast governor action, generator and load tripping, regulated shunt compensation using static VAR devices, HVDC transmission, and increasing the short circuit ratio. The inertia constant of generators also impacts stability but increasing it is not practical due to increased machine size and cost.
- Electrical drives enable control of motors in all aspects including starting, speed control, and braking. Control is necessary as these operations involve large transient changes in voltage, current, etc. that could damage the motor.
- Electrical drives operate in three modes: steady-state, acceleration, and deceleration. Closed-loop control is used for protection, fast response, and accuracy. Common closed-loop controls include current limiting, torque control, and speed control using feedback loops. Speed control is widely used and can involve inner current and outer speed loops.
Physical Description
Mathematical Model
Park's "dqo" transportation
Steady-state Analysis
phasor representation in d-q coordinates
link with network equations
Definition of "rotor angle"
Representation of Synchronous Machines in Stability Studies
neglect of stator transients
magnetic saturation
Simplified Models
Synchronous Machine Parameters
Reactive Capability Limits
Consists of two sets of windings:
3 phase armature winding on the stator distributed with centres 120° apart in space
field winding on the rotor supplied by DC
Two basic rotor structures used:
salient or projecting pole structure for hydraulic units (low speed)
round rotor structure for thermal units (high speed)
Salient poles have concentrated field windings; usually also carry damper windings on the pole face.Round rotors have solid steel rotors with distributed windings
Nearly sinusoidal space distribution of flux wave shape obtained by:
distributing stator windings and field windings in many slots (round rotor);
shaping pole faces (salient pole)
Input output , heat rate characteristics and Incremental costEklavya Sharma
This document discusses the input-output, heat rate, and incremental cost characteristics of thermal power plants. It defines input-output characteristics as a plot of fuel input versus power output. Heat rate is the ratio of fuel input to energy output and is the slope of the input-output curve. An incremental fuel rate curve plots the incremental fuel rate, or change in input divided by change in output, versus output. The incremental cost curve multiplies incremental fuel rate by fuel cost to determine incremental cost in monetary terms per unit of output. Economic dispatch of power plants aims to minimize total incremental costs while meeting demand.
This document presents an overview of reactive power compensation. It defines reactive power compensation as managing reactive power to improve AC system performance. There are two main aspects: load compensation to increase power factor and voltage regulation, and voltage support to decrease voltage fluctuations. Several methods of reactive power compensation are discussed, including shunt compensation using capacitors and reactors, series compensation, static VAR compensators (SVCs), static compensators (STATCOMs), and synchronous condensers. SVC and STATCOM technologies are compared, with STATCOMs having advantages of smaller components, better control, and transient response.
The document discusses the construction and operation of synchronous generators. It describes how a synchronous generator works by applying a DC current to the rotor to create a rotating magnetic field, which induces a 3-phase voltage in the stator windings. It also discusses the rotor, field windings, armature windings, brushless excitation systems, equivalent circuits, phasor diagrams, and the effects of load changes on generators operating alone or connected in parallel.
speed control of three phase induction motorAshvani Shukla
This document summarizes various methods for controlling the speed of three-phase induction motors. It discusses that induction motors are commonly used in industry due to their low cost and rugged construction but operate at constant speed. Various speed control methods are then outlined, including stator voltage control, stator frequency control, and stator current control. V/F control is also explained in detail along with its advantages for providing efficient motor speed control. The document concludes by discussing applications in industry and topics for further research.
Microturbines are small combustion turbines that typically generate 25-300kW of power and provide both electricity and thermal energy. They are needed as alternative energy sources for remote locations and as compact, portable generators. Microturbines have higher efficiency than other small generators and require infrequent maintenance. They consist of a compressor, combustor, generator, recuperator/heat exchanger, turbine, and power electronics. Recuperated microturbines recover heat from the exhaust to preheat the incoming air, improving efficiency to 20-30%, compared to 15% for unrecuperated models. Major applications include cogeneration, small-scale power generation, and as automotive turbochargers.
The document discusses AC servomotors. It defines a servomotor as a rotary actuator that allows precise control of position, velocity, and acceleration using a motor, position sensor, and controller. Servomotors are used in closed-loop control systems. The document describes the key components of a typical servo system and explains how the motor works with a controller and amplifier to receive position commands from a PLC. It provides details on the construction and speed-torque characteristics of AC servomotors that make them suitable for servo applications.
This document describes an algorithm for analyzing the transient and steady states of a DC motor, including during braking operations. It discusses different types of braking for DC motors, including mechanical, rheostatic, plugging, and regenerative braking. The key advantages of electrical braking over mechanical braking are reducing wear on mechanical brakes and shorter stopping times. The document also presents the mathematical models used in the algorithm, including first-order and second-order differential equations, to analyze the motor's behavior during different operating conditions like braking with improved accuracy over first-order models.
Permanent Magnet Synchronous motor (PMSM) or Permanent Magnet AC motor:
Introduction to PMSM motor.
Types of PMSM Motor.
Mathematical modelling of PMSM motor.
Advantages and dis Advantages of PMSM motor
This document is used for power engineers in the third stage of their Journey in power engineering .
It's related to the synchronous machines and their operation
weather operating alone or paralleled with other generators of the same size or when paralleled to an infinite bus .
It also contains a summary of what occurs when governor set points changes from state to another.
The document discusses synchronous motors used to drive textile and paper mill equipment. It describes different types of synchronous motors including wound field, permanent magnet, synchronous reluctance, and hysteresis motors. It explains that synchronous motors can operate in an adjustable frequency control mode called self-controlled mode, where the supply frequency is controlled by an inverter receiving signals from a frequency controlled oscillator. In this mode, the motor exhibits constant torque behavior up to base speed and flux weakening at higher speeds, with fast transient response similar to a DC motor but smaller rotor inertia.
A variable frequency drive (VFD) controls the speed of AC motors by adjusting both the voltage and frequency supplied to the motor. This allows for continuous speed control as opposed to discrete speeds from gearboxes. VFDs improve efficiency by matching the motor speed to the required process demands. They provide benefits like energy savings, improved power factor, soft starting and stopping of motors, and elimination of mechanical drive components. The document then discusses different types of motor loads and applications that can benefit from VFDs before explaining how pulse width modulation VFDs work by converting AC power to DC, and then back to AC with a controlled frequency.
Load Frequency Control of Two Area SystemManash Deka
This is a synopsis presentation on a project of designing and analyzing Load Frequency Control (LFC) of a two area system. This is useful for students, basically of Electrical Engineering branch. This project will be simulated in simulink of MATLAB.
1) The document describes speed control of an induction motor using vector control. Vector control allows independent control of the flux and torque producing components of stator current.
2) A Clarke transformation converts the 3-phase stator currents to a 2-phase stationary reference frame. Then a Park transformation aligns one component with the rotor flux to control flux and the other to control torque.
3) Simulation results show the rotor speed, torque, stator currents in the direct-quadrature frame, and calculated three-phase voltages matching the objectives of vector control.
Automatic generation control (AGC) is a system for adjusting the power output of multiple generators at different power plants, in response to changes in the load. Since a power grid requires that generation and load closely balance moment by moment, frequent adjustments to the output of generators are necessary. The balance can be judged by measuring the system frequency; if it is increasing, more power is being generated than used, which causes all the machines in the system to accelerate. If the system frequency is decreasing, more load is on the system than the instantaneous generation can provide, which causes all generators to slow down.
This document discusses energy efficient motors and provides details on various factors that affect their efficiency. It describes how energy efficient motors have efficiencies 4-6% higher than standard motors due to design improvements that reduce losses. These improvements include using more copper to lower resistance, thinner steel laminations, and optimized slots. The document also covers motor loading calculations, effects of voltage variations, the importance of proper maintenance during energy audits, and methods for improving power factor and controlling motor speed to match varying loads.
The document provides information on power system stability and transient stability studies. It introduces key concepts such as stability, transient stability studies, rotor dynamics, the swing equation, and the power-angle equation. The swing equation describes the acceleration of a generator's rotor and relates the mechanical input power to the electrical output power. The power-angle equation models the relationship between generator output power and the power angle during transient stability studies.
Transient stability refers to the ability of a power grid to maintain synchronism during severe disturbances. Methods to improve transient stability include increasing generator rotor size, reducing transmission line reactance, using dynamic braking resistors, independent pole operation of circuit breakers, single pole switching, fast excitation control, fast governor action, generator and load tripping, regulated shunt compensation using static VAR devices, HVDC transmission, and increasing the short circuit ratio. The inertia constant of generators also impacts stability but increasing it is not practical due to increased machine size and cost.
- Electrical drives enable control of motors in all aspects including starting, speed control, and braking. Control is necessary as these operations involve large transient changes in voltage, current, etc. that could damage the motor.
- Electrical drives operate in three modes: steady-state, acceleration, and deceleration. Closed-loop control is used for protection, fast response, and accuracy. Common closed-loop controls include current limiting, torque control, and speed control using feedback loops. Speed control is widely used and can involve inner current and outer speed loops.
Physical Description
Mathematical Model
Park's "dqo" transportation
Steady-state Analysis
phasor representation in d-q coordinates
link with network equations
Definition of "rotor angle"
Representation of Synchronous Machines in Stability Studies
neglect of stator transients
magnetic saturation
Simplified Models
Synchronous Machine Parameters
Reactive Capability Limits
Consists of two sets of windings:
3 phase armature winding on the stator distributed with centres 120° apart in space
field winding on the rotor supplied by DC
Two basic rotor structures used:
salient or projecting pole structure for hydraulic units (low speed)
round rotor structure for thermal units (high speed)
Salient poles have concentrated field windings; usually also carry damper windings on the pole face.Round rotors have solid steel rotors with distributed windings
Nearly sinusoidal space distribution of flux wave shape obtained by:
distributing stator windings and field windings in many slots (round rotor);
shaping pole faces (salient pole)
Input output , heat rate characteristics and Incremental costEklavya Sharma
This document discusses the input-output, heat rate, and incremental cost characteristics of thermal power plants. It defines input-output characteristics as a plot of fuel input versus power output. Heat rate is the ratio of fuel input to energy output and is the slope of the input-output curve. An incremental fuel rate curve plots the incremental fuel rate, or change in input divided by change in output, versus output. The incremental cost curve multiplies incremental fuel rate by fuel cost to determine incremental cost in monetary terms per unit of output. Economic dispatch of power plants aims to minimize total incremental costs while meeting demand.
This document presents an overview of reactive power compensation. It defines reactive power compensation as managing reactive power to improve AC system performance. There are two main aspects: load compensation to increase power factor and voltage regulation, and voltage support to decrease voltage fluctuations. Several methods of reactive power compensation are discussed, including shunt compensation using capacitors and reactors, series compensation, static VAR compensators (SVCs), static compensators (STATCOMs), and synchronous condensers. SVC and STATCOM technologies are compared, with STATCOMs having advantages of smaller components, better control, and transient response.
The document discusses the construction and operation of synchronous generators. It describes how a synchronous generator works by applying a DC current to the rotor to create a rotating magnetic field, which induces a 3-phase voltage in the stator windings. It also discusses the rotor, field windings, armature windings, brushless excitation systems, equivalent circuits, phasor diagrams, and the effects of load changes on generators operating alone or connected in parallel.
speed control of three phase induction motorAshvani Shukla
This document summarizes various methods for controlling the speed of three-phase induction motors. It discusses that induction motors are commonly used in industry due to their low cost and rugged construction but operate at constant speed. Various speed control methods are then outlined, including stator voltage control, stator frequency control, and stator current control. V/F control is also explained in detail along with its advantages for providing efficient motor speed control. The document concludes by discussing applications in industry and topics for further research.
Microturbines are small combustion turbines that typically generate 25-300kW of power and provide both electricity and thermal energy. They are needed as alternative energy sources for remote locations and as compact, portable generators. Microturbines have higher efficiency than other small generators and require infrequent maintenance. They consist of a compressor, combustor, generator, recuperator/heat exchanger, turbine, and power electronics. Recuperated microturbines recover heat from the exhaust to preheat the incoming air, improving efficiency to 20-30%, compared to 15% for unrecuperated models. Major applications include cogeneration, small-scale power generation, and as automotive turbochargers.
The document discusses AC servomotors. It defines a servomotor as a rotary actuator that allows precise control of position, velocity, and acceleration using a motor, position sensor, and controller. Servomotors are used in closed-loop control systems. The document describes the key components of a typical servo system and explains how the motor works with a controller and amplifier to receive position commands from a PLC. It provides details on the construction and speed-torque characteristics of AC servomotors that make them suitable for servo applications.
This document describes an algorithm for analyzing the transient and steady states of a DC motor, including during braking operations. It discusses different types of braking for DC motors, including mechanical, rheostatic, plugging, and regenerative braking. The key advantages of electrical braking over mechanical braking are reducing wear on mechanical brakes and shorter stopping times. The document also presents the mathematical models used in the algorithm, including first-order and second-order differential equations, to analyze the motor's behavior during different operating conditions like braking with improved accuracy over first-order models.
Permanent Magnet Synchronous motor (PMSM) or Permanent Magnet AC motor:
Introduction to PMSM motor.
Types of PMSM Motor.
Mathematical modelling of PMSM motor.
Advantages and dis Advantages of PMSM motor
This document is used for power engineers in the third stage of their Journey in power engineering .
It's related to the synchronous machines and their operation
weather operating alone or paralleled with other generators of the same size or when paralleled to an infinite bus .
It also contains a summary of what occurs when governor set points changes from state to another.
The document discusses synchronous motors used to drive textile and paper mill equipment. It describes different types of synchronous motors including wound field, permanent magnet, synchronous reluctance, and hysteresis motors. It explains that synchronous motors can operate in an adjustable frequency control mode called self-controlled mode, where the supply frequency is controlled by an inverter receiving signals from a frequency controlled oscillator. In this mode, the motor exhibits constant torque behavior up to base speed and flux weakening at higher speeds, with fast transient response similar to a DC motor but smaller rotor inertia.
A variable frequency drive (VFD) controls the speed of AC motors by adjusting both the voltage and frequency supplied to the motor. This allows for continuous speed control as opposed to discrete speeds from gearboxes. VFDs improve efficiency by matching the motor speed to the required process demands. They provide benefits like energy savings, improved power factor, soft starting and stopping of motors, and elimination of mechanical drive components. The document then discusses different types of motor loads and applications that can benefit from VFDs before explaining how pulse width modulation VFDs work by converting AC power to DC, and then back to AC with a controlled frequency.
This document discusses speed control methods for three-phase induction motors. It describes various speed control techniques including stator voltage control, stator frequency control, V/F control, and static rotor resistance control. It explains the advantages of speed control, such as energy savings and meeting different process requirements. Industrial applications of induction motor drives are also mentioned, such as in fans, compressors, pumps and machine tools.
The document provides information on AC drives from CG Drives, including their advantages, basic principles of operation, operating modes, braking types, and models. It discusses constant torque and variable torque loads, open loop V/F and vector control modes, closed loop vector control using feedback, and dynamic, DC injection, and regenerative braking methods. It also introduces the CG Drive-SK and CG Drive-SG product lines, specifying their features, connections, dimensions, and optional additions.
The document summarizes research on using space vector modulation (SVM) for speed control of an induction motor driven by a three-phase inverter. It compares SVM to sine triangle pulse width modulation (SPWM) and finds that SVM provides better harmonic performance, higher DC bus utilization, and a more sinusoidal output voltage. The document simulates v/f control of an induction motor using SVM for both open-loop and closed-loop speed control systems. It is observed that the induction motor's performance is improved with SVM compared to SPWM modulation.
This document discusses variable voltage variable frequency (VVVF) drives. It begins with an introduction that explains how induction motors were previously only used for constant speed applications but advances in power transistors now allow for variable speed control. It then describes the operating principle of VVVF drives in controlling AC motor speed and torque by varying motor input frequency and voltage. The document outlines the key components of a VVVF drive system and explains the pulse width modulation technique used for voltage-frequency control. It concludes by listing some common applications and advantages of VVVF drives along with some drawbacks.
Speed control of three phase induction motorsanagowtham
This document summarizes various methods for controlling the speed of three-phase induction motors. It discusses that induction motors are commonly used in industry but run at a constant speed. Speed control is needed to vary the motor speed based on process requirements. The main methods covered are stator voltage control, stator frequency control, stator current control, and V/F control. It provides details on how each method works and the advantages and disadvantages. Examples of industrial applications where speed control is used are also listed.
The document provides information on assessing the energy performance of motors and variable speed drives. It discusses methods for determining motor efficiency through no-load, locked rotor, and full load tests. It also covers factors that affect motor efficiency like loading, temperature, and stray losses. The document then discusses applications of variable speed drives and factors for successful implementation like torque requirements, efficiency, and power factor. Key points on evaluating energy savings with variable speed applications are also summarized.
1. The speed of a three-phase slip ring induction motor is controlled by varying the rotor resistance through an external resistor or converter cascade.
2. This method is only applicable for slip ring or wound rotor induction motors and allows variable speed control at constant torque. Increasing the rotor resistance decreases the motor speed.
3. The rotor resistance can be varied using either an external resistor, diode rectifier and DC chopper, or a voltage source inverter to control the effective resistance and thereby the motor speed. The slip power can be recovered by various drive topologies.
Implementation of ac induction motor control using constant vhz principle and...eSAT Journals
Abstract
This paper presents the hardware implementation of V/f control of induction motor using sine wave PWM method. Because of its
simplicity, the V/F control also called as the scalar control, is the most widely used speed control method in the industrial
applications. In this method the ratio between stator voltage to frequency is maintained constant so that the stator flux is
maintained constant. As the stator flux is maintained constant, the torque developed by the motor depends only on the slip speed
and is independent of the supply frequency. Thus we can control the speed and torque of induction motor by simply controlling the
slip speed of induction motor. The complete control is achieved with the help of TMS320F28027 Development Board. One of the
basic requirements of this scheme is the PWM inverter. The gating signals are generated using sine wave PWM technique.
Implementation issues such as PWM signal generation, ramp control, v/f control, inverter design are discussed. The results are
discussed based on the various waveforms.
KeyWords: v/f control, Induction motor, PWM, and Scalar control
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1. UNIT III
SPEED CONTROL OF INDUCTION MOTORS THROUGH
VARIABLE VOLTAGE AND VARIABLE FREQUENCY
2. Introduction to Variable voltage characteristics of
induction motor:
⦿ A three phase induction motor is basically a constant speed
motor so it’s somewhat difficult to control its speed.
⦿ The speed control of induction motor is done at the cost of
decrease in efficiency and low electrical power factor.
⦿ Before discussing the methods to control the speed of three
phase induction motor one should know the basic formulas of
speed and torque of three phase induction motor as the
methods of speed control depends upon these formulas
4. Contd..
The Speed of Induction Motor is changed from Both
Stator and Rotor Side
The speed control of three phase induction motor from stator
side are further classified as :
•V / f control or frequency control.
•Changing the number of stator poles.
•Controlling supply voltage.
•Adding rheostat in the stator circuit.
Contd..
5. Contd..
The speed controls of three phase induction motor from rotor side are
further classified as:
⦿ Adding external resistance on rotor side.
⦿ Cascade control method.
⦿ Injecting slip frequency emf into rotor side.
Contd..
6. ⦿In this method of control, back-to-back thyristors are used to supply
the motor with variable ac voltage. The analysis implies that the
developed torque varies inversely as the square of the input RMS
voltage to the motor.
⦿This makes such a drive suitable for fan- and impeller-type loads for
which torque demand rises faster with speed. For other types of
loads, the suitable speed range is very limited.
Control of induction motor by AC voltage controllers:
9. Contd..
⦿ The induction motor speed variation can be easily achieved for a
short range by either stator voltage control or rotor resistance
control.
⦿ But both of these schemes result in very low efficiencies at lower
speeds. The most efficient scheme for speed control of induction
motor is by varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
Contd..
10. Contd..
⦿ If the machine is operating at speed below base speed, then v/f ratio
is to be kept constant so that flux remains constant.
⦿ This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage
Contd..
11. ⦿ In this method of control, back-to-back thyristors are used to supply
the motor with variable ac voltage.
⦿ The analysis implies that the developed torque varies inversely as
the square of the input RMS voltage to the motor.
⦿ This makes such a drive suitable for fan- and impeller-type loads for
which torque demand rises faster with speed.
Speed torque characteristics of induction motor with
variable voltage
12. ⦿ For other types of loads, the suitable speed range is very limited.
Motors with high rotor resistance may offer an extended speed
range. It should be noted that this type of drive with back-to-back
thyristors with firing-angle control suffers from poor power and
harmonic distortion factors when operated at low speed.
⦿ If unbalanced operation is acceptable, the thyristors in one or two
supply lines to the motor may be bypassed. This offers the
possibility of dynamic braking or plugging, desirable in some
applications.
15. Contd..
⦿ The induction motor speed variation can be easily achieved for a
short range by either stator voltage control or rotor resistance
control. But both of these schemes result in very low efficiencies at
lower speeds.
⦿ The most efficient scheme for speed control of induction motor is by
varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
Contd..
16. Contd..
⦿ If the machine is operating at speed below base speed, then v/f ratio
is to be kept constant so that flux remains constant.
⦿ This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage
Contd..
17. ⦿ The most efficient scheme for speed control of induction motor is
by varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
⦿ If the machine is operating at speed below base speed, then v/f
ratio is to be kept constant so that flux remains constant.
⦿This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage.
Introduction to variable frequency characteristics of
induction motor
20. Contd..
⦿ A speed sensor or a shaft position encoder is used to obtain the
actual speed of the motor. It is then compared to a reference speed.
The difference between the two generates an error and the error so
obtained is processed in a Proportional controller and its output
sets the inverter frequency. The
⦿ synchronous speed, obtained by adding actual speed Ѡf and the slip
speed ѠSI, determines the inverter frequency The reference signal
for the closed-loop control of the machine terminal voltage Ѡf is
generated from frequency
Contd..
21. ⦿ The most efficient scheme for speed control of induction motor is
by varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
⦿ If the machine is operating at speed below base speed, then v/f
ratio is to be kept constant so that flux remains constant.
⦿This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage.
Variable frequency control of induction motor by
voltage source inverter
23. Contd..
Field Weakening Mode
⦿ The flux reference can be set according to a fixed flux- speed
characteristic
⦿ It can be calculated from simplified motor equations, which can
be improved through consideration of additional variables
⦿ It can be provided by a voltage controller, which sets the flux in
such a way that the voltage required by the motor matches the
voltage capability of the inverter
Contd..
24. ⦿ The most efficient scheme for speed control of induction motor is
by varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
⦿ If the machine is operating at speed below base speed, then v/f
ratio is to be kept constant so that flux remains constant.
⦿This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage.
Variable frequency control of induction motor by
current source inverter
26. ⦿ The most efficient scheme for speed control of induction motor is
by varying supply frequency.
⦿ This not only results in scheme with wide speed range but also
improves the starting performance.
⦿ If the machine is operating at speed below base speed, then v/f
ratio is to be kept constant so that flux remains constant.
⦿This retains the torque capability of the machine at the same value.
But at lower frequencies, the torque capability decrease and this
drop in torque has to be compensated for increasing the applied
voltage.
Variable frequency control of induction motor by
cycloconverter:
28. The open loop V/F control of an induction motor is the most common
method of speed control because of its simplicity and these types of
motors are widely used in industry. Traditionally, induction motors have
been used with open loop 50Hz power supplies for constant speed
applications. For adjustable speed drive applications, frequency control is
natural. However, voltage is required to be proportional to frequency so
that the stator flux
Ѱs=Ѵs/Ѡs
Contd..
29. Voltage-source Inverter-driven Induction Motor
A three-phase variable frequency inverter supplying an induction
motor is shown in Figure. The power devices are assumed to be ideal
switches. There are two major types of switching schemes for the
inverters, namely, square wave switching and PWM switching.
Variable frequency control of induction motor by pulse
with modulation control
32. ⦿ There are following difference between current source
inverter and voltage source inverter.
⦿The input voltage in the voltage source inverter is constant whereas the
input current may constant or variable. The input current in the current
source inverter is constant.
⦿ The input supply source may be short circuited due to misfiring of the
switching semiconductor device in the VSI whereas there is not any
difficult due misfiring of semiconductor switches to input supply current
constant in the CSI.
⦿ The maximum current passes through semiconductor device in the VSI
depend upon circuit condition whereas the input current in the CSI is
constant therefore the maximum current passes through semiconductor
device are limited.
Comparison of voltage source inverter and current
source inverter operations
33. Contd..
⦿ The commutation circuit of the SCR in the CSI is simple than that of
VSI.
⦿ There is no necessary of freewheeling diode in the CSI for reactive
power or regenerative load whereas a freewheeling diode is used in
the VSI for reactive power or regenerative load.
⦿ The large inductor is connected at the input side in order to keep
constant current at the input side of the CSI.
⦿There is necessary of controlled converter in order to input voltage
control in the VSI similarly a converter is necessary to control input
current in the CSI.
Contd..
34. VSI CSI
VSI is fed from a DC voltage source having small or negligible
impedance.
CSI is fed with adjustable current from a DC voltage source of high
impedance.
Input voltage is maintained constant The input current is constant but adjustable.
Output voltage does not dependent on the load The amplitude of output current is independent of the load.
The waveform of the load current as well as its magnitude depends upon
the nature of load impedance.
The magnitude of output voltage and its waveform depends upon the
nature of the load impedance.
VSI requires feedback diodes The CSI does not require any feedback diodes.
The commutation circuit is complicated Commutation circuit is simple as it contains only capacitors.
Power BJT, Power MOSFET, IGBT, GTO with self commutation can be
used in the circuit.
They cannot be used as these devices have to withstand reverse voltage.
Comparison between VSI and CSI
35. 1. A 440V, 60Hz, 6 pole three phase induction motor runs at a speed of
1140rpm when connected to a 440V line. Calculate the speed if voltage
increases to 550V.
Solution:
1 1
T1 = S V 2
2 2
T2 = S V 2
S2 = S1(V1/V2)2
Ns = 120f/p = 120*60/8 = 1200rpm
S1 = (1200 – 1140)/1200 = 0.05
S2 = 0.05(440/550)2 = 0.032
N2 = Ns(1-S2) = 1200(1-0.032) = 1161.6rpm
Numerical problems on induction motor drives
36. Contd..
2. If three phase SCIM runs at a speed of (i) 1455rpm (ii) 1350rpm,
determine the maximum current in terms of rated current at these
speeds. The induction motor drives a fan and no load rotational
losses are ignored.
Contd..
37. Closed-loop induction motor drive with constant volts/Hz control strategy
Closed loop operation of induction motor drives
38. Contd..
⦿ An outer speed PI control loop in the induction motor drive, shown
in Figure computes the frequency and voltage set points for the
inverter and the converter respectively. The limiter ensures that the
slip-speed command is within the maximum allowable slip speed of
the induction motor. The slip- speed command is added to electrical
rotor speed to obtain the stator frequency command. Thereafter, the
stator frequency command is processed in an open-loop drive. Kdc is
the constant of proportionality between the dc load voltage and the
stator frequency.
Contd..
40. 1. A three phase, 400V, 50Hz, 4 pole, 1440rpm delta connected squirrel
cage induction motor has a full load torque of 48.13Nm. Motor speed
is controlled by stator voltage control. When driving a fan load it runs
at rated speed at rated voltage. Calculate motor torque at 1200 rpm
Solution:
Ns = 120f/p = 120*50/4 = 1500rpm
Rotor speed is 1440 rpm
Wm = 1440*2/60 = 150.8 rad/sec
K= 0.00211
Motor torque at 1200 rpm is
Wm = 1200*2/60 = 125.66 rad/sec
T = 0.00211*125.662
T = 33.32Nm
Numerical problems on induction motor drives
41. Contd..
2. At 50 Hz the synchronous speed and full load speed are 1500 rpm
and 370 rpm respectively. Calculate the approximate value speed for
a frequency of 30 Hz and 80% of full load torque for inverter fed
induction motor drive.
Contd..
42. UNIT IV
SPEED CONTROL OF INDUCTION MOTORS THROUGH ROTOR
RESISTANCE AND VECTOR CONTROL
43. Rotor resistance control is one among the various methods for the
speed control of induction motor. In this method of speed control, the
rotor circuit resistance is varied by connecting a variable external
resistance. This method is only applicable for slip ring or wound rotor
induction motor (WRIM). As in squirrel cage induction motor (SCIM),
rotor windings terminals are not available for external connection; its
speed cannot be regulated by rotor resistance control. Therefore, this
method is not applicable for squirrel cage induction motor.
Introduction to rotor resistance control of induction
motors
45. Contd..
⦿ In the above figure, the maximum torque is same for rotor
resistance R1, R2 and R3 but the slip increase from point A to B
& C. This means, increasing rotor resistance results in increase
in slip. Increase in slip in turn means reduction in induction
motor speed. Thus we can say that by rotor resistance control,
we can achieve variable speed at a constant torque. This is the
reason; this method is suitable for constant torque drive.
⦿ It may also be noted from the above torque slip characteristics
that, starting torque increases with increase in rotor resistance.
Therefore this method is advantageous where we require high
starting torque.
Contd..
46. Contd..
⦿ In spite of the above two advantages of rotor resistance
control, this method have some disadvantage:
⦿ This method cannot be employed for speed control of squirrel
cage induction motor. This is because of non-availability of
rotor winding terminals for external resistance connection.
⦿ This method is not very efficient. Losses in external resistance
and losses in carbon brushes at high slip operation cause
wastage of energy.
Contd..
47. ⦿ GTO chopper allows the effective rotor circuit resistances to
be varied for the speed control of SRIM.
⦿ Diode rectifier converts slip frequency input power to dc at its
output terminals.
Static rotor Resistance control of induction motors
49. Contd..
a) When chopper is on, Vdc=Vd=0Vdc=Vd=0 and resistance R gets short
circuited.
b) When chopper is off, Vdc=VdVdc=Vd and resistance in the rotor
circuit is R. This is shown in fig
c)From this figure, effective external resistance ReRe is
Re=R.ToffT=R(T−Ton)T=R(1−k)where k=TonT=duty cycle of chopper.
Contd..
51. Whenever an slip ring induction motors is connected to load such as
fans, there excess energy is generated due to virtue of it's momentum
and starts to run beyond synchronous speed. Intern emf is induced in
rotor and excess energy will be lost which is also called as slip power.
That power can be utilized back to grip that scheme is called slip power
recovery system.
In cement industry such system still available with additional recovery
transformer arrangements.
resistance control, rotor power is wasted in the external
During speed control of an Induction motor (WRIM) using rotor
rotor
resistance. The same can be utilized to increase the efficiency of the
drive. Basically there are two schemes for recovering the wasted power.
Slip power recovery schemes of induction motor
52. Contd..
Scherbius drive
⦿ Here the variable frequency (sf) rotor power is converted to dc by a
diode bridge rectifier and then an inverter converts it back to ac
(50/60 Hz) and is fed back to the supply mains. Thus the slip power is
fed back to the source instead of wasting it in the rotor resistance
thereby increasing the efficiency of the drive .
Contd..
53. Contd..
Kramer Drive
⦿ Here the variable frequency (sf) rotor power is converted to
dc by a diode bridge rectifier. The dc power is fed to a dc
motor which is mechanically coupled to the induction motor.
Thus the torque supplied to the load is the sum of the torque
produced by induction and dc motor. In this scheme, the slip
power is utilized mechanically.
Contd..
54. Static scherbius drive system:
This system provides feedback path i.e. the wastage of slip
power is again fed to AC mains supply. The static scherbius system is of
two types
i) Conventional Scherbius system
ii) Static Scherbius system
i) Conventional scherbius system:
In this system the recovery scheme is done by
feedback path. The output of three phase Induction motor is connected
to the DC motor by coupling them the mechanical power input of DC
motor is converted into electrical power and fed to Induction generator
and again back to mains.
Static Scherbius drive performance and speed torque
characteristics
56. Contd..
ii) Static Scherbius drive system:
The phenomenon of this system is same as
conventional type but the only difference is this system provides
with diode bridge rectifier along with thyristor bridge inverter. This
is also known as Sub-synchronous cascade drive.
When Induction motor is operating at slip frequency the
rotor slip power is rectified by the diode rectifier. The output of
rectifier is fed to inverter three phase bridge again the output is
fed back to supply lines with the help of transformer.
Contd..
58. Static Kramer drive:
In this method the rotatory slip power is coverted into DC
by a diode bridge. The DC power is fed to the DC motor which is
mechanically coupled with the Induction motor. The speed control is
done by varying the field current If.
Static Kramer drive performance and speed torque
characteristics
60. Contd..
⦿ From the characteristics you can easily observe the voltage and field
current differences. The steady state operation is possible at Vd1 = Vd2
For large speed applications the diode bridge is replaced by using
thyristor bridge, the speed can be controlled by varying the firing
angle. Upto standstill condition the speed can be controlled.
⦿ Modification:
⦿ The static Kramer drive system is modified by placing
commutator less DC motor instead of DC machine. The DC motor
consists of synchronous motor fed by load commutated inverter, the
speed is controlled by field current
Contd..
62. Static Kramer drive:
In this method the rotatory slip power is coverted into DC
by a diode bridge. The DC power is fed to the DC motor which is
mechanically coupled with the Induction motor. The speed control is
done by varying the field current If.
Static Kramer drive performance and speed torque
characteristics
64. Contd..
⦿ From the characteristics you can easily observe the voltage
and field current differences. The steady state operation is
possible at Vd1 = Vd2
⦿ For large speed applications the diode bridge is replaced by
using thyristor bridge, the speed can be controlled by varying
the firing angle. Upto standstill condition the speed can be
controlled.
Modification:
⦿ The static Kramer drive system is modified by placing
commutator less DC motor instead of DC machine. The DC
motor consists of synchronous motor fed by load
commutated inverter, the speed is controlled by field current
Contd..
66. 1. The speed of a three phase slip ring induction motor is controlled by
variation of rotor resistance. The full load torque of the motor is 50Nm
at slip of 0.3. the motor drives load having a characteristics TαN2. The
motor has 4 poles and operates on 50Hz, 400V supply. Determine the
speed of the motor for 0.8 times the rated torque.
Solution:
Synchronous speed Ns = 120f/p = 120*50/4 = 1500rpm
Slip = 0.3
N= Ns(1-s) = 1500(1-0.3) =1050rpm
T2 = T1*0.8 = 50*0.8 = 40Nm
TαN2
1 2
T1/T2 = N 2/N 2
2
50/40=10502/ N 2
N2 = 939 rpm
Numerical problems on rotor resistance control
67. Contd..
2 A static krammer drive is used for the speed control of a 4 pole
SRIM fed from415V, 50Hz supply. The inverter is directly connected
to supply. If the motor is required to operate at 1200 rpm, find the
firing advance angle of the inverter. Voltage across open circuited
slip rings at standstill is 700V. Allow a voltage drop of 0.7V and 1.5V
across each of the diodes and SCRs respectively.
Contd..
69. Contd..
Vector control, also called field-oriented control (FOC), is a variable-
frequency drive (VFD) control method in which the stator currents
of a three-phase AC electric motor are identified as two orthogonal
components that can be visualized with a vector. One component
defines the magnetic flux of the motor, the other the torque. The
control system of the drive calculates the corresponding current
component references from the flux and torque references given by
the drive's speed control.
Contd..
70. ⦿ The control of AC machine is basically classified into scalar and
vector control. The scalar controls are easy to implement though the
dynamics are sluggish. The objective of FOC is to achieve a similar
type of controller with an inner torque control loop which makes the
motor respond very fast to the torque demands from the outer
speed control loop. In FOC, the principle of decoupled torque and
flux control are applied and it relies on the instantaneous control of
stator current space vectors.
Principles of vector control
74. Clarke Transformation
⦿ This transformation block is responsible for translating three axes to
two axes system reference to the stator. Two of the three phase
currents are measured because the sum of the three phase currents
equal to zero. Basically the transformation shift from a three axis,
two- dimensional coordinate system attached to the stator of the
motor to a two axis system referred to the stator. The measured
current represents the vector component of the current in a three
axis coordinate system which are spatially separated by 120.
Vector control methods of induction motor
78. Direct Field Oriented Control
⦿ In DFOC, an estimator or observer calculates the rotor flux angle.
Inputs to the estimator or observer are stator voltages and currents.
In DFOC, rotor flux vector orientation can be measured by the use of
a flux sensor mounted in the air gap like Hall-effect sensor, search
coil and other measurement techniques introduces limitations due
to machine structural and thermal requirements or it can be
measured using the voltage equations.
Direct methods of vector control
80. Contd..
⦿ Field Oriented Control or Vector Control (VC) techniques are being
used extensively for the control of induction motor. This technique
allows a squirrel cage induction motor to be driven with high
dynamic performance comparable to that of a DC motor. In FOC, the
squirrel cage induction motor is the plant which is an element within
a feedback loop and hence its transient behavior has to be taken into
consideration. This cannot be analyzed from the per phase
equivalent circuit of the machine, which is valid only in the steady
state condition.
Contd..
81. The field orientation concept implies the current components
supplied to the machine should be oriented in such a manner as
to isolate the stator current magnetizing flux component of the
machine from the torque producing component. This can be
obtained by the instantaneous speed of the rotor flux linkage
vector and the d axis of the d-q coordinates are exactly locked in
rotor flux vector orientation. In IFOC, the rotor flux angle is
obtained from the reference currents
Indirect methods of vector control
83. Contd..
Properties of the FOC methods are,
⦿ It is based on the analogy to the control
excited DC motor,
⦿ Coordinate transformations are required,
⦿ PWM algorithm is needed,
⦿ Current controllers are necessary,
⦿ Sensitive to rotor time constant,
⦿ Rotor flux estimator is essential in DFOC and
⦿ Mechanical speed is required in IFOC.
of separately
Contd..
84. 1. A 440V, 50Hz, 6 pole star connected wound rotor motor has the
following parameters. Rs=0.5 ohm, R’r=0.4 ohm, Xs=Xr’=1.2 ohm,
Xm=50 ohm, stator to rotor turns ratio is 3.5. Motor is controlled by
static rotor resistance control. External resistance is chosen such that
the breakdown torque is produced at standstill for a duty ratio of zero.
Calculate the value of external resistance. How duty ratio should be
varied with speed so that the motor accelerates at maximum torque.
Numerical problems on vector control of
induction motor
86. Contd..
2. A 440V, 50Hz, 6 pole, 970rpm star connected 3-ph wound rotor
motor has the following parameters referred to stator. Rs=0.1 ohm,
R’r=0.08 ohm, Xs=0.3 ohm, Xr’=0.4 ohm, stator to rotor turns ratio
is 2. Motor speed is controlled by static scherbius drive. Drive is
designed for a speed range of 25% below the synchronous speed.
Max. value of firing angle 165 deg, calculate (i) transformer turns
ratio, (ii) torque for a speed of 780rpm and α=140 deg.
Contd..
88. Separate control of synchronous motors
Separate control of synchronous motors
89. Contd..
⦿Constant volt per hertz control in an open loop is used more often in
the squirrel cage IM applications. Using this technique for
synchronous motors with permanent magnets offers a big advantage
of sensor less control. Information about the angular speed can be
estimated indirectly from the frequency of the supply voltage. The
angular speed calculated from the supply voltage frequency
according to can be considered as the value of the rotor angular
speed if the external load torque is nothing her than the break down
torque.
Contd..
92. ⦿ Control of SM motors is performed using field oriented control for
the operation of synchronous motor as a dc motor. The stator
windings of the motor are fed by an inverter that generates a
variable frequency variable voltage. Instead of controlling the
inverter frequency independently, the frequency and phase of the
output wave are controlled using a position sensor
Separate control of synchronous motors
94. Contd..
⦿ Field oriented control was invented in the beginning of 1970s and it
demonstrates that an induction motor or synchronous motor could
be controlled like a separately excited dc motor by the orientation of
the stator mmf or current vector in relation to the rotor flux to
achieve a desired objective.
⦿ In order for the motor to behave like DC motor, the control needs
knowledge of the position of the instantaneous rotor flux or rotor
position of permanent magnet motor. This needs a resolver or an
absolute optical encoder.
⦿ Knowing the position, the three phase currents can be calculated. Its
calculation using the current matrix depends on the control desired.
Some control options are constant torque and flux weakening. These
options are based in the physical limitation of the motor and the
inverter. The limit is established by the rated speed of the motor.
Contd..
96. Self control of synchronous motors
Operation of self controlled synchronous motors
by voltage source inverter
97. Contd..
⦿ Flux-weakening:
⦿ Flux weakening is the process of reducing the flux in the d axis
direction of the motor which results in an increased speed range.
⦿ The motor drive is operated with rated flux linkages up to a speed
where the ratio between the induced emf and stator frequency (V/f)
is maintained constant. After the base frequency, the V/f ratio is
reduced due to the limit of the inverter dc voltage source which is
fixed. The weakening of the field flux is required for operation above
the base frequency.
⦿This reduces the V/f ratio. This operation results in a reduction of the
torque proportional to a change in the frequency and the motor
operates in the constant power region.
Contd..
98. Self control of synchronous motors
Operation of self controlled synchronous motors by
voltage source inverter
99. Contd..
⦿ Flux-weakening:
⦿ Flux weakening is the process of reducing the flux in the d axis
direction of the motor which results in an increased speed range.
⦿ The motor drive is operated with rated flux linkages up to a speed
where the ratio between the induced emf and stator frequency (V/f)
is maintained constant. After the base frequency, the V/f ratio is
reduced due to the limit of the inverter dc voltage source which is
fixed. The weakening of the field flux is required for operation above
the base frequency.
⦿This reduces the V/f ratio. This operation results in a reduction of the
torque proportional to a change in the frequency and the motor
operates in the constant power region.
Contd..
101. Self control of synchronous motors
Operation of self controlled synchronous motors by
voltage source inverter
102. Contd..
⦿ Flux-weakening:
⦿ Flux weakening is the process of reducing the flux in the d axis
direction of the motor which results in an increased speed range.
⦿ The motor drive is operated with rated flux linkages up to a speed
where the ratio between the induced emf and stator frequency (V/f)
is maintained constant. After the base frequency, the V/f ratio is
reduced due to the limit of the inverter dc voltage source which is
fixed. The weakening of the field flux is required for operation above
the base frequency.
⦿This reduces the V/f ratio. This operation results in a reduction of the
torque proportional to a change in the frequency and the motor
operates in the constant power region.
Contd..
103. ASCI mode of operation for a single-phase Current Source Inverter
(CSI) was presented. Two commutating capacitors, along with four
diodes, are used in the above circuit for commutation from one
pair of thyristors to the second pair. Earlier, also in VSI, if the load is
capacitive, it was shown that forced commutation may not be
needed. The operation of a single-phase CSI with capacitive load
(Fig. 5.10) is discussed here. It may be noted that the capacitor, C is
assumed to be in parallel with resistive load (R). The capacitor, C is
used for storing the charge, or voltage, to be used to force-
commutate the conducting thyristor pair as will be shown.
Load commutated CSI fed synchronous motor, operation
and waveforms
106. Applications and advantages of synchronous motor
drives
⦿ Synchronous motors find applications in all industrial
applications where constant speed is necessary.
⦿ Improving the power factor as Synchronous condensers
⦿ Electrical power plants almost always use synchronous
generators because it is important to keep the frequency
constant at which the generator is connected.
⦿ Low power applications include positioning machines,
where high precision is required, and robot actuators.
⦿ Mains synchronous motors are used for electric clocks.
107. Contd..
⦿ A Synchronous motor could also improve the power factor of the
plant while operated at rated load.
⦿ Synchronous motors operate at constant speeds regardless of
voltage and dependent only on the frequency of the power supply.
⦿ That means that they are quite useful for driving machinery that
operates at a steady speed for long periods of time (conveyor belts,
paper-making machines, ball mills, and the like).
⦿ One use that you may not think of for synchronous motors is in the
turntables of record players. (Which you may not have seen outside
of displays of “historical artifacts”.)
Contd..
108. 1. A three phase 400V, 50Hz, 6 pole, star connected wound rotor
synchronous motor has Zs = 0+j2Ω. Load torque is
proportional to speed squared, is 340Nm at rated
synchronous speed. The speed of the motor is lowered by
keeping V/f constant and maintaining unity power factor by
field control of the motor. For the motor operation at 600
rpm calculate Supply voltage and Armature current
Numerical problems on synchronous motor drives
110. Contd..
2. A synchronous motor is controlled by a load commutated inverter,
which in turn is fed from a line commutated converter. Source
voltage is 6.6kV, 50Hz. Load commutated inverter operates at a
constant firing angle α1 of 130.ͦ and when rectifying αγ = 0 ͦ dc link
inductor resistance Rd = 0.2 Ω. Drive operates in self control mode
with a constant (V/f) ratio. Motor has the details; 8MV, 3 phase
6600V, 6pole, 50Hz unity power factor, star connected, Xs = 2.6 Ω,
Rs = o. Determine source side converter firing angles for the Motor
operation at the rated and 500rpm. What will be the power
developed by motor
Contd..
111. Close loop control employs outer speed control loop and
inner current control loop with a limiter the terminal voltage
sensor generates reference pulses whose frequency is same
as that of the induced voltages in the rotor. These reference
signals are shifted suitably by phase delay circuit to produce a
constant commutation lead angle. Based on the speed
error, the value of βlc is set to provide either motoring or
braking operation. Motoring operation is required to increase
the speed and braking is required to reduce the speed. Actual
speed of the rotor is sensed either from terminal voltage
sensor or by using a separate tachometer.
Closed loop control operation of synchronous motor
drives with block diagram
113. Contd..
Increasing the speed
⦿ If the speed is to be increased, then it is given as reference speed
ωm*. Actual speed and reference speed are compared at the
comparator and it produces a positive speed error.
⦿ Now the firing circuit produces βlc corresponding to motoring
operation. The speed controller and current controller set the dc
link current reference at the maximum allowable value. Now the
machines starts accelerating and when rotor speed reaches the
reference speed, the current limiter de-saturates and the
acceleration stops. Hence the drive runs at constant speed at
which motor torque is equal to load torque
Contd..
114. Contd..
Decreasing the speed
⦿ If the speed is to be decreased, then it is set as reference speed
ωm*.
⦿ Actual speed and reference speed are compared at the comparator
and it produces a negative speed error. Now the firing circuit
produces βlc corresponding to braking operation. The speed
controller and current controller get saturated and set the dc link
reference current at the maximum allowable value.
⦿ Now the machines starts decelerating (braking operation) and
when rotor speed reaches the reference speed, the current limiter
de-saturates and the deceleration stops. Hence the drive runs at
constant speed at which motor torque is equal to load torque.
Contd..
115. DC link converter is a two stage conversion device which provides a
variable voltage, variable frequency supply. Variable voltage,
variable frequency sup•ply can be obtained from
a cycloconverter which is single stage conversion equipment. The
power circuit of a Three Phase Synchronous Motor Fed From
Cycloconverter is shown in Fig. 5.13. This has several differences
compared to a dc link converter
Variable frequency control of synchronous motor with
cycloconverter
117. Contd..
⦿ A cycloconverter can also be commutated using the load
voltages if the load is capable of providing the necessary
reactive power for the inverter. An overexcited synchronous
motor can provide the necessary reactive power.
⦿ Hence a cycloconverter feeding such a motor can be load
commutated. The range of speed control is from medium to
base speed. At very low speeds load commutation is not
possible.
⦿ The speed range can
line commutation is used
be extended
at low speeds.
to zero if
Four quadrant
operations are simple.
Contd..