T Self-Controlled Synchronous Motor Drives Chap.

11
432

The parametersarcX, = 10H, subtransientreactance = 1.8 n, and negligible R" core

loss, friction, and windage. The field is controlled to maintain a constant flux below
base speed and the rated terminal voltage above base speed. The machine is operated at
a constant commutation lead angle of 50. .,

1. Calculate the margin angle, power factor, developed power, and torque for
machine operation at the rated annalure current (rms) and speed.
2. Repeat I. for a speed of 1600 rpm.
3. Calculate o~ for I.
4. Calculate the de link voltage for I.

Solution:

v = 6600
v3 = 3810.5 V

At the rated frequency, VJ= 211"X 50 = 314 rad/sec.

120f 120x 50
Rated speed =- p rpm = ~

6
= 1000 rpm
= 104.7 rad/sec.
5 x 106
Rated armature current = .v3r-;x 6600 = 437.4A

When fed from an inverter, for an rms motor current of 437. 7 A, from equations (11.18)
and (11.19),

Id= .J%Imu= -!%X437.4=536A

v'6 v'6
Is = -:;;:-Id::=-:;;:- x 536 = 418 A

1. Since the machine is operating at a constant flux, at rated speed the termina!
voltage will have the rated value.

From equations (11.13) and (11.14)

2 x 1.8 x 536
cos 'Y- cos(500)= '16 x 3810.5

which gives 'Y = 32.

Now u = {3- 'Y= 50 - 32 = 18

<t>={3-0.5 u=500-9=41
Power factor = cos 41 = 0.75
Developed power = 3VI, cos c/>
= 3 x 3810.5 x 418 x 0.75 = 3.58 MW
3.58 x 106
Torque = 104.7 - 3.4 X 104N-m
Sec. 11.3 Current Source Inverter with load Commutation 433

2. Above the rated speed, the machine operates at the rated terminal voltage;
II
hence / '

V = 3810.5 V, cuLc= 1.6 x 1.8 = 2.88 n, Id = 5.36 A

From equation (11.13),
2 x 2.88
cos,. - eos50= . r76 x 3810.5x 536

which gives,. = 13
u = {3-,. =' 50 - 13= 37
</>
= (3- 0.5 u = 50- 18.5= 31.5
Power factor = cos 3 I. 5 = 0.85
Pm= 3VI. cos</>= 3 x 3810.5 x 418 X 0.85 = 4.06 MW

T = 4.06 X IQ6 = 2.43 X 104 N-m

104.7 X 1.6

3I,=V=381O.5=381A
.
,m X, 10
From figure 11.9,
1;2= I:; + I: - 21~I, cos(90 + </
= 3812 + 4182 + 2 X 381 X 418 sin 41

or
If = 727 A
From triangle A13C,

sin 8 - sln(90 + </ . I 418

I, - I; , or sm8=icos</>=mcoS41=0.43 or 8=25.7
Now 8' = 8 +'90+ = 25.7 + 90 + 41 = 156.7 and from equation (II. 17),
</>

8~=8' +0.5 u= 156.7+9= 165.7

4. IX = 180- (3 = 180- 50 = 130
From equation (11.23),

3\16 , 3
Vd=-x Tr 381O.5cos 130--(1.8
7f x 536)

= -6650 V

11.3.2 Power Factor Optimization

In a motoring operation, the power factor is maximum when {3 is minimum or a is
maximum. At a minimum {3, the inverter output voltage is maximum. Consequently,
the power transferred from the dc link to the machine for a given value of Id is max-
imi~ed. This in turn maximi~es the machine torque for a given Is.
434 Self-Controlled Synchronous Motor Drives Chap. 11

A minimum value of {3 is obtained when the margin angle is chosen just suffi-
cient (Ym;n) t9 ensure safecommutation. Then equation (11.15) can be written as
Ymin= KqCLItq (11.28)

where Kq is a safety factor

Now the minimum value of {3 is
(3min = u + Ymin (11.29)
and maximum power factor from equations (11.16) and (11.29) is
(PF)max = COS({3min- 0.5 u) = COS(Ymi.+ 0.5 u) (11.30)
From equations (11.13) and (11.29),
2CL1LcId
cos(u + Ymin) = COS Ymin - V6V (11.31)

In equation (11.31), CLIdepends on speed, and V dependson speed and I~. The cur-
rent I;" in turn depends on Is and If. Hence, for a given operating point, deteonined
by values of Is (or Id), If, and speed, the overlap angle u can be evaluated from
equation (11.31). Then {3miucan be obtained from equation (I I .29). "
In the braking operation, the power factor, and consequently the regenerated
power and braking torque for ~given Id are maximized when {3= 180(ora = 0).
Then the maximum power factor is
(PF)max = Icos(l80 - 0.5 u)1 = cos 0.5 u (11.32)

11.3.3 Generation of Inverter Firing Signals

The reference signals for the control of the commutation lead angle {3 can be gener-
ated by using either machine teonina! voltages or a rotor position encoder.
Figure 11.8 shows the induced voltage VANand the teoninal voltage vaN for
phase A. The induced voltage VANwhich is the sum of a sinusoidal voltage Vr and a
nonsinusoidal drop across the synchronous reactance, is nonsinusoida!. The teoninal
voltage VaN is more distorted because of commutation transients. Any attempt to fil-
ter it causes a frequency dependent phase shift, for which it is difficult to compen-
sate. However, one can assume the zero crossing points of the teoninal voltage are
approximately the same as for the induced voltage. These zero crossing points can
be used as reference points for generating inverter firing signals. This is achieved by
converting teoninal voltages into rectangular voltages using zero crossing detectors.
A digital control circuit using counters then generates firing signals by using the zero
crossing points of the rectangular wavefoons as reference points. 14

As explained in section 11.3.1, for given values of I" If, and CLI, there is a
unique value of o' or 0 for each value of {3. Consequently, {3can be controlled indi-
rectly by controlling o' or 0 using a rotor position encoder as explained in sec-
tion II. I for a current source inverter without commutation overlap. The effect of
commutation overlap is to delay the fundamental component Is by 0.5 u. Hence, the
odd-numbered thyristors of the inverter of figure 11.6 should be fired when the
direct axis is IV+ 60+ 0.5 u or o~+ 60behind the respectivearmaturephase axis.
 Sec. 11.3 Current Source Inverter with Load Commutation 435

The rotor position encoder arrangement is generally preferred because of simplicity.

However, an encoder is not suitable for contaminated environments and high-
speed drives.
11.3.4 Inverter Control Strategies

A number of approaches are possible for inverter control. A few commonly used
control strategies are described here.
Constant Margin Angle Control: The operation of the inverter at the mini-
mum safe value of the margin angle gives ,the highest power factor and t\1~,maxic
mum torque per ampere of the armature current, thl.:;;allowin'g the most efficient use
of both the inverter :ind motor. The exact implementation of this control strategy is
\ not possible because the minimum value of the commutation lead angle cannot be
accurately predicted. It is therefore implemented only approximately. Even then it
requires complex control. The implementation of this control strategy using rotor
position encoder and terminal voltage sensing methods is described in section 11.7.
Operation at a Constant Commutation Lead Angle: A simple control is
obtained when the inverter operates at a constant ,8. From equations (11.29) and (11.31),

= cos 1min-
cos 13min K(ff) (11.33)
where K is a constant. '
Equation (11.33) shows that ,8minhas the highest value when the ratio (Id/I~)
has a maximum value~ When the operation is limited to the base speed, the ratio
(Id/I~) is maximum when Id or torque is maximum. If the inverter is operated at a
constant commutation lead angle 13c,which is equal to the value of 13minat the maxi-
mum value of Id' then commutation is ensured for all operating points. Now the ma-
chine will still operate at the highest power factor at the maximum torque; however,
the power factor and efficiency will be lower for low torques (due to a decrease in u)
compared to the control at a constant margin angle. A comparison of figures 11.9a
and II.Ila, which are drawn for the same value of 13but different value of I" con-
firms this behavior. Figures 11.11a and 11.11c compare the power factors for this
scheme and the constant margin angle control for the same Is.
v
v

v,

I:"
I; I; I;
(al Constant p, (bl Constant 5;'" (cl Constant margin angle

Figure 11.11 Variation of power factor for different control schemes,

436 Self-Controlled Synchronous Motor Drives Chap. 11

When the machine also operates above base speed at a constant terminal volt-
age, 13minhas a maximum value when the machine operates at maximum Id and highest
speed (equation (11.31. Hence, 13cis chosen based on this point. Now for lower
values of speed and Id' the machine will operate at a lower power factor and efficiency
compared to the constant margin angle control.
Operation at a Constant No-Load Torque Angle B;c: In this scheme, the
drive is operated at a constant no-load torque angle 5:X. The value of 5:X is chosen
to provide enough commutation margin angle at the highest value of Id' This will
ensure safe commutation for lower values of Id' As a specific example, let us con-
sider how to evaluate 5:X. Assume that the machine operates at a constant flux. Then
I~ will be a known constant. Now 13mincan be obtained for the highest value of
Id from equation (11.33). Since u = 13min- 'Ymin'cpcan be evaluated from equa-
tion (l1.l6). Now from triangle ABC of figure 11.9a,

Ii = VI~ + I;J - 2IsI~ cos(90 + cp)

= VI~ + I:; + 2IsI~ sin cp (11.34)
Also
I'
..ill I;
sin(l80- 5') sin(90 + cp)

or

(11.35)
sin 5' = (~7) cos cp

Since I~ and cpare already known, Ie for the maximum value of Id (or I.) is obtained
from equation (11.34), sin 5' is obtained from equation (11.35), and 5:Xis then cal-
culated from equation (11.17). When the drive also operates above base speed, at a
constant terminal voltage, then I~ (at the maximum Id) will have a minimum value at
the highest speed. Hence, o:X must be evaluated for the highest values of Id and
speed: Also in this scheme the drive has a low power factor and efficiency for
low values of Id' Figures 11.9a and 11. lIb, which are drawn for the same value of
o~c but different values of Is, show the decrease in power factor with Is. Fig-
ures 11.11band c compare the power factor of this scheme with the constant margin
angle control.
Note that the constant commutation lead angle control and constant no-load
torque angle control are not the same. Let figure 11.9a represent the phasor diagram
for the maximum value of Is for a scheme which operates only up to base speed.
Then 13cand o:X will be evaluated based on this operating point. At this operating
point all three schemes will have the same performance. When Is is reduced, the
phasor diagrams of figure 11. II are obtained for these schemes. The constant com-
mutation lead angle control offers a performance which is better than the constant
no-load torque angle control, but inferior to constant margin angle control. The con-
stant commutation lead angle control and constant no-load torque angle control are
reported to give increased torque pulsations anow speeds.
Sec. 11.3 Current Source Inverter with Load Commutation 437

Figures 11.12a, b, and c show the variation of f3, cp, and (;' for the Ihree con-
trol schemes for operation below base speed, when they are designed to provide the
same margin angle at the highest current. Note that from equation (11.13) u is also a
function of f3. The u curve of figure 11.12a, which is drawn for the constant margin
angle control, is not applicable to the other two control schemes.
There are a few other control schemes which essentially provide a compromise
between the complexity and excellent performance of the constant margin angle con-
trol and the simplicity and poor performance of the constant commutation lead angle
control or constant no-load torque angle control. Two of these are described nex!.
Coinmutation Lead Angle Varying Linearly with 14: Here the value of the
commutation lead angle is given by
f3 = "Ymin
+ KlJld (11.36)
KIJ is suitably chosen to make enough margin angle available at all operating points,
as shown in figure 11.13.
No-Load Torque Angle Varying Linearly with 14: Here the no-load torque
;ingle is given by
o = Om + K6,Id (11.37)

/I 6'
lit
(6:" -90') -
_(6;'" 90')
""'- " ""'
-- '''''
/I.
, --- ::.
'''''
'''''
'---""'..... 190'+ 1m,.
II.
I, 0 1, 0 I,
(a) (b) (c)

- Constantmarginanglecontrol
--"-" Constantcommutationleadanglecontrol
--- Constant no. load torque angle control

Figure 11.12 p, <I>and 8' versus I, curves for various conlr~llechniques.

Figure 11.13 P varying linearly with Id' [d

 446 Self-Controlld Synchronous Motor Drives "Chap. 11

sor. When the speed reaches approximllely 10 percent of base speed, the pulsed
mode. ceases and normal operation begilli.

11.4 CYClOCONVERTER WITH LOAD CO~MUTATION

A cycloconverter feeding a synchronousootor is shown in figure 11.16. For com-

mutation considerations, the synchronoulmotor is modeled in the same way as in
figure 11.6. The cycloconverter consists ~three dual converters A, B, and C, each
consisting of two three-pulse controlled l1ttifiers.During the positive half-cycles of
phase cUITentiA>is, and ie, the machinldraws cUITents from rectifiers A +, B +,
and C+, respectively, and during the neOOvehalf-cycles, from rectifiers A-, B-,
and C-, respectively. The rectifiers aretontrolled to produce the six-step cUITent
waveform of figure 1l.6b. For this they cOnduct in pairs with a sequence (A +, B-),
(A+, C-), (B+, C-), (B+, A-), (C+,A-), and (C+, B-). Load commutation is
used mainly to obtain a changeover fronone pair to another. For example, when
pair (A+, C-) is conducting, phase A cliriespositive cUITentand phase C carries
negative cumnt. These two pairs conduCllogetherfor 60 in a cycle of the machine'
induced voltage. During this conduction, ~ two rectifiers are controlled in the same.
way as a single rectifier. The next pair t~conduct is (B+, C-). For this, cUITent
must transfer from rectifier A + to rec~ier B +. For this transfer, the induced
voltage vABmust be positive. Hence, the lansfer is initiated at a suitable lead angle
{3. If at this instant thyristor A I of rectifierA+ has been in conduction, then thyris-
Dual Dual Dual
converter convel\- converter
.- A B C

.-
.-

RectifierA+ RectifierB+ RectifierC+

iA
.
!*t1
e ,
Rectifier
A- I Rectifier
B-
b

RectifierC-
c
'.
ic
L,
L,
-N

Motor

."-

figure 11.16 Load and source commll\lion in a cycloconvertcr.

 Sec. 11.5 Synchronous Motor Control Requirements 447

tor B" which is connected to the same supply line as AI' is fired at a lead angle {3.
The induced voltage vABtransfers the current from A I to BI after an overlap angle u
and subsequently subjects AI to a reverse bias of duration ({3- u) so that it can re-
gain forward voltage blocking capability. The commutation process is identical to
the current source inverter, and the analysis of commutation given in section 11.3.1
and description of sections 11.3.2 to 11.3.4 are applicable.
At low speeds, the machine induced voltages are too small to cause the transfer
of current from one rectifier to another. Hence, the source voltage is used to effect
this commutation. Let us again consider the transfer of current between the pairs
(A+,C-) and (B+,C-), which requires transfer of conduction from rectifier A+
to rectifier n:+. For this, the thyristor of rectifier B + , whose anode is at a higher po-
tential than the conducting thyristor of rectifier A + is fired. For example, if A I has
been in conduction and VBRis positive when the current transfer is desired, then B3
is fired. Since voltage VBRis positive, B3 turns on and Al is commutated.
The main advantage of the load commutation in a cycloconverter is that the
output frequency can be higher than the ac supply frequency, thus providing speed
control over a wide range.

11.5 SYNCHRONOUS MOTOR CONTROL REQUIREMENTS

The basic control strategy is to operate the machine preferably at a constant flux
below base speed and at redued flux and constant terminal voltage above base
speed. The same approach has been used for a rectifier controlled dc motor or an in-
duction motor with variable frequency control. As explained in section 11.2, a vari-
able frequency controlled synchronous motor with self-control essentially works as a
commutatorless or a brushless dc motor. However, the synchronous motor control is
not as simple as that of a dc motor, mainly because, unlike a dc motor, the syn-
chronous motor operates without eliminating the armature reaction. Consequently
the flux does not depend on the field current alone, but also on the armature current.
Further, the additional requirements related to power factor impose additional con-
straints on the drive operation and control. In this section, how these requirements
are athieved will be examined. Because of the flexibility of field control in a wound-
field motor, the flux, power factor and speed can be simultaneously controlled. In a
permanent magnet motor, along with speed, either the flux or power factor can be
controlled.

11.5.1 Operation of a Wound-Field Synchronous Motor

from a Variable Frequency Current Source
Below base speed, the armature current is controlled to vary torque and speed, and
the field current and torque angle are controlled to maintain a constant flux and the
desired power factor. At base speed, either the terminal voltage saturates or reaches
the rated value. Therefore, above base speed, the field current and torque angle are
controlled to vary the flux inversely with speed and to maintain the power factor at
the desired value.
A drive' fed from a variable frequency current source may operate at a leading
power factor when load commutation is used otherwise it may operate at unity
 .
448 Self.Controlied Synchronous Motor Drives' Chap. 11

I- power factor to maximize the u~e of the ~ource and motor ratings and to minimize
losses. Therefore, the motor will be examined for unity and leading power factor
~ operations below and above base speed.

Operation at Unity Power Factor

Constant flux operation below base speed is obtained by keeping I~ constant at the
rated value. Thus, when Is is increased to increase torque, I; and 8' are also con-
trolled simultaneously to maintain I~ constant and to obtain a unity power factor.
Figure 11.17 shows the phasor diagrams for motoring and braking operations. From
triangles ABC in these phasor diagrams,

Ii = VI~+ I~ (11.39)
8 = :':tan-I(I.!IM)
8' = :':[90 + 181J
= :t[90 + tan-I(I./IM)] (1l.40)
where a positive sign is for motoring, a negative sign is for braking, and 1Mis the
rated value ofI~. I; and 8' as a function offs are shown in figure 11.17c.If If and 8'
are varied as a function of Is as shown in figure 11.17c,then the machine will oper-
ate at a constant flux and unity power factor below base speed.
From equations (10.1) and (10.27),

(11.41)
T = (f PLs) IsI; sin 8'
where Ls is the synchronous inductance.
From triangles ABC,
I; cos a = 1M
or
Ii sin a' = :':IM (11.42)
where again a positive sign is for motoring and a negative sign is for braking.
v
1,

----
1; I;
B B 0 1,

(al Motoring (bl Braking (e)

Figure 11.17 Unity power factor operation of a wound-field synchronous motor.

 Sec. 11.5 Synchronous Motor Control Requirements 449

From equations (11.41) and (11.42),

(11.43)
T= :t(%PLs)lsIM
From equation (11.43), torque is proportional to armature current and it is indepen-
dent of frequency or speed. When operating at the maximum permissible CUITent,
the torque has a constant value. Therefore, below the base speed, the machine oper-
ates in the constanttorque mode.
Above base speed (a > I), V is held constant. Hence, the magnetizingcurrent
must be reduced to (1M/a). From equations (11.39) and (11.40),
Ii = VI? + (IM/aF (I! .44)

[)' = :t[90 + tan-l(alslIM)] (11.45)

No""I; and [)' are functions of Is and frequency. It is,difficult to implement such a
relationship. Now :
Pm = 3VIs (11.46)
;,
Since V is constant, the drive operates in a constant power mode.
The variation of T, V, I; ,and I:n with per-unit speed "a" for the machine
operation at a constant Is is shown in figure II. 18.
Operation at a Leading Power Factor
The machine operates at a leading power factor when fed by a load com mutated in-
verter or cyc\oconverter. Here, the machine operation is initially examined for a con-
stant leading power factor. The results obtained are then extended to constant margin
angle control, constant commutation lead angle control and constant no-load torque
angle control. Note that constant margin angle control is required only during motor-
ing, when the machinl! side converter operates as an inverter. For braking, (3 can be
set at 1800 for all operating points. The1~fore, the analysis is considered only for mo-
toring operation. The analysis for braking can be carried out in the same way.
From the triangle ABC of figure 11.9a,
I; = VI~ + I~ - 2IsIMcos(90 + cp)

= VI; + r~1+ 2I,IM sin cp (11.47)

T
v
I,
I,

T
r,
I;"
Figure 11.18 Unity power factor
.,
0 1.0 2.0
uperation of a synchronous motor fed
from a variable frequency source. Per.unit frequency a
468 Self-Controlled Synchronous Motor Drives Chap. 11

verter. When these drives employ a wound-field motor with a brushless excitation
system or a permanent magnet motor then they are called brushless de and ac drives,
respectively. .

Numerous control methods are possible. Here, a few methods will be de-
scribed, basically to demonstrate the control principles described in section 11.5 for
the cases which have practical applications.

11.7.1 Load Commutated Synchronous Motor Drives

In load commutation, the firing pulses may be derived either from the rotor position
encoder or machine terminal voltage sensor and anyone of the control strategies
described in section 11.3.4 may be used. The machine may be fed from a load
commutated current source inverter or a load com mutated cycloconverter. The drive
may accordingly be called a brushless (or commutatorless) dc or ac drive with load
commutation. -

Figure 11.25 shows a brushless dc motor drive employing a permanent magnet

synchronous motor and a terminal voltage sensor. Figure. 11.25~ shows a drive with
a constant commutation lead angle control. The drive employs an inner current con-
trolloop with an outer speed loop like the-de drive of figure 5.1b. The inner current
control loop is nothing but a closed-loop current source. The terminal voltage s~nsor
generates reference pulses of :the same frequency as the machine induced vottage.
The phase delay circuit shifts the reference pulses suitably to obtain control at ~.,con-
stant commutation lead angl~ /3c. Depending on the sign of the speed error e"'m' /3c is
set to provide motoring or braking operation. Signals f and CIIm are obtainec! from the
terminal voltage sensor. The speed and dc link current controllers are generally PI
controllers.
An increase in speed command CII~produces a speed error e",m'The speed con-
troller and current limiter set the dc link current command 13 at the maximum allow-
able value. The machine accelerates at the maximum available torque. When close
to the desired speed, the current limiter desaturates and the drive settles at the de-
sired speed and at the dc link current which balances the load torque. Similarly, a
reduction in speed command produces a negative speed error. This sets /3c at 1800
and the drive decelerates at the maximum torque. When the speed error ch2.nges
sign, the operation shifts to motoring and the drive settles at the desired speed.
If the portion enclosed by dotted lines in figure 11.25a is replaced by the por-
tion shown in figure 11.25b, the drive operates according to the control law of
equation (11.36), which allows the machine to operate with improved performance.
Figure 11.26 shows the same drive when the terminal voltage senSOr is
replaced by a rotor position encoder. Figure 11.26a is for operation at a constant
no-load torque angle, 8;". When the circuit enclosed by dotted lines in figure 11.26a
is replaced by the circuit shown in figure 11.26b, the drive operates according to the
control law of equation (11.37), yielding better performamle.
In the systems of figures 11.25 and 11.26, base speed is reached when the con-
verter output voltage saturates. The speed above base speed is obtained by increas-
ing the phase delay of the phase delay circuit with speed. This will increase /3cor 8;"
and consequentlyincrease the drive speed. .
Sec. 11.7 Self-Controlled Synchronous Motor Drives 469

r ,I
I I

~ c

supply
Controlled
rectifier

0:
i. I
I
I
-L- I
Current I
controller 1
and firing r---
I , ------
circuit I I ---,
I ~' ..

I
II
I
I

:I I

i.
:
I
L ~.el~~
Rotor
J position
I
I
I
I
I
I
I
Current I
limiter Sign of I
I
ew," I
ew,"
I
I
I
Speed
controller
'mi.

-r
ew,"

(a) (b)

Figure 11.25 Load commutated brushi...s de motor drive with terminal voltage sensor
and permanent magnet motor.

Figure 11.27 shows a drive employing a wound-field synchronous motor, the

terminal.voltage sensor, and the control law of equation (11.36). The field current is
controlled as a function of Id to maintain a constant flux. The relationship between
Ir and Id can be worked out for the control law of equation (11.36) with the help of
the analysis of section 11.5.1. The field current command rr acts as a reference sig-
nal for the closed-loop control of field current; the details of which are not given in
the figure. The drive is similar to the drive of figure 11.25 with the control law of
equation (11.36). The only difference is the addition of field currem control. The
arrangement for the braking operation is not shown. It can be easily incorporated by
causing {3 to become 1800 whenever the speed error becomes negative. The speed
control above base speed can be obtained by adding a variable negative offset signal
to I:. This will produce smaller and smaller values of field current as the offs.:r
470 Self-Controlled Synchronous Motor Drives Chap. 11

r --- 1
~
~
AC Irectifier
Controlled
.uppIy
II."::'~ :I I ~~:utatedf-t Motor
I
I. I
ex
I
I Rotor
Current I position
controller I encoder
and firing
I r ,
I I I
circuit I
I I
I I
I I
I I
I I
L____- I
I
I
I
I
I
Signof Rotor I
ew",
.w", position:
and f I
I
Speed I
controller I
6' I
om I
I
I
ew.. I
I
I
I
"';. I
J
+
I"

;'
(a)' J (b)

Fi~lIre 11.26 Load eommutaled brushlcss de mOlor drive using rotor position encoder
and pennanenl magnet motor.

signal is increased. It will also be necessary to increase KfJof the cont/oller with the
increaseof theoffsetsignal,or elsecommutation
failurewilloccur. .

Figure 11.28 shows the constant margin angle control for a wound-field motor
drive employing a rotor position encoder. The scheme is based on the analysis of
section II. 5. I. The drive has an outer speed loop and an inner current control loop
as usual. In addition, it has an arrangement to produce constant flux operation and
constant margin angle control. From the value of dc link current command Id, Is and
0.5 u 1!re produced by blocks (I) and (2). respectively. The signal cf>is generated
from 'Yminand 0.5 u [equations (11.16) and (11.29)] in adder (3). In block (4) II is
calculated from the known values of Is, cf>.and 1M [equation (11.47)]. Note that
the magnetizing current I';' is held constant at its rated value 1Mto keep the flux
constant. 11* sets a reference for the closed-loop control of the field current IF,
Block (5) estimates 8'* from known values of cf>and 1;* [equation (11.49)]. The
 Sec. 11.7 Self-Controlled Synchronous Motor Drives 471

load
AC - IControlled 10- commutated
;.;;!vI rectifier inverter

"
Current
controller
,., and firing
circuit

10
!"d +
1;

Current r""n
limiter

controller
Speed I

Field
function
generator
t
ACsupply
:0
+
m

Figure 11.27 Load commutated brushlcss or commutatoclessde motor drive em-

ploying a wound field motor, tenninal voltage sensor and approximareconstantmargin
angle control.

phase delay circuit suitably shifts the pulses produced by the encoder to produce the
desired. value of 8~ [= (8' + 0.5 u)].
When the tenninal voltage sensor is used, constant margin angle control can be
obtained by a small modification to the scheme of figure 11.28. First, the portion
enclosed in dotted lines is replaced by the portion of figure 11.27 enclosed by dotted
lines. Second, block (5) of figure 11.28 is no longer needed. The command f3* for
the phase delay circuit is obtained simply by adding u and 'Ymin[equation (11.29)].
In all the schemes discussed in this section, the circuit requ ired for starting has
been omitted for simplicity.
Because of the advantages described in section 11.3.4, the load commutated
inverter drives are used in medium power, high-power and very high power (tens of
megawatts) drives, and high-speed drives, such as compressors, extruders, induced
and forced draft fans, blowers, conveyers, aircraft lest facilities, steel rolling mills,
large ship propulsion, main line traction, flywheel energy slorage, and so 011,1-4.7,8,9
 472 Self-Controlled Synchronous Motor Drives Chap. 11

- Motor
Load
~ C::r olled 1.- . commutated
supplyl rr.3ier inverter
!" I.
.
6' --- : ,I
CJrent Ro~o~ I
=oller
...c firing
poSition
encoder C) I
I
I
ci"",it Rotor
I
position I
and f I
0.5 u
I" I
I
J
6" "'m

I;

Speed
controller
andcurrent
limiter
.,j6
11 lLI0
(0 0.5u; ",
.)
+

"'m 0 +
'I'm'.

I, ~
IF
If' Field
control

0
AC supply

Figure 11.28 Load commutated brushless or commutatorless de motor drive with constant margin
angle control and using a wound-field motor and rotor posidon encoder.

They have also been used for the starting of large synchronous machines in gas tur-
bine and pumped storage plants. High-power drives usually employ rectifiers with
higher pulse numbers (12 or more), to minimize torque pulsations. The converter
voltage ratings are also high so that efficient high voltage motors can be employed.
11.7.2 Line Commutated Cycloconverter Fed
Synchronous Motor Drives

Line commutated cycloconverter fed wound-field synchronous motor jf1ve,$.Jbrush~

less or commutatorless ac drives) have been employed in low-speed ;,e!..rless drives
for rolling mills, mine hoists, ball mills in cement plants. and so on. These drives
 Sec. 11.7 Self-Controlled Synchronous Motor Drives 473

are characterized by very low operating speeds, large power and fast transient re-
sponse. For example, a ball mill in a cement plant may employ a motor with typica.
ratings of 8750 hp, 1.0 PF, 14.5 rpm, 4.&4 Hz, 1900 V, and 40 poles.s They are
called gearless drives because, unlike conventional drives, the low-speed operation
of the load is obtained without a reduction gear, thus eliminating the associated COS[".
space, and maintenance.
A cycloconverter is ideally suited for such applications because it gives nearly
sinusoidal output voltage and current waveforms when operating at low frequencies.
A cycloconverter drive employing a line commutated current source cyc1ocon-
verter and a wound-field synchronous motor is shown in figure 11.29. The drive is
operated at a constant flux and unity power factor. The control strategy needed for
such an operation is described in section 11.5.1. If If and 0' are varied as a function
ACsupply

CyclO'
converter

Angle
function
generator

1;

Y . I
valueand
Abrolute
limiting

t
ewm

"
..
w..
w:. T+

Figure 11.29 IJrushlcss ur conllnulalorless ae 1I1010rdrive usiug line.eoullnulaled CUITenls"uree

eyelocunvcncr-fcd wuund-field machine.
474 Self-Controlled Synchronous Motor Drives Chap. 11

of I" according to equations (11.39) and (11.40) (figure II. I7c), operation at unity
power factor and constant flux is obtained. The required relationships between I, and
I; [equation (11.39)] and I, and IS'IIe4uation (11.40)1 are implemented with the help
of field and angle function generators. To obtain a motoring operation, the angle 0'
is assigned a positive sign when the speed elTor is positive. When the speed elTor is
negative, 0' is assigned a negative sign to obtain a braking operation. By incorporat-
ing an alTangement for the change of phase sequence at zero speed, a four-quadrant
operation is obtained. The drive operates as follows.
Based on the speed elTor, the absolute value and limiting circuit sets a current
reference Ii. Depending on the value of Ii, command signals Ii* and 8'* are pro-
duced by the field and angle function generators, respectively. If* acts as a reference
signal for the closed-loop control of the field cUlTent. Ii, 8'*, and f* act as com-
mand signals for the reference wave generator. The function of the reference wave
generator is to produce three sinusoidal cUlTentreference signals i~, i~, and i~ with
a frequency f*, phase 0' * 'with respect to Ii (or direct axis), arid amplitude propor-
tional to Ii. The cycloconvertcr has three dual converters, each one connected to
one phase of the machine,' as s~own in figure 8.29 for an induction motor. By em- .
ploying closed-loop cUlTent control for each dual converter, the actual machine:
phase cUlTent is made to track the jeference signal produced by the reference wave
generator. The machine torque angle and field cUlTentare increased as a function of " ,
Ii to maintain the machine operation at a constant flux and unity power factor.
When the speed command is increased, a speed elTor is produced, which in
turn increases Ii to the maximum value. The machine accelerates at the highest
available torque. When close to the desired speed, It and torque are reduced and the
machine settles at the desired speed and a value of I: which balances the load
torque. Similarly, a reduction in speed command will decelerate the machine at the
highest available braking torque. When the speed elTor changes sign, the operation
will be trans felTed back to motoring and the drive will then settle at the desired
speed and with a value of Ii required to balance the load torque.

11.7.3 Voltage Source Inverter fed Synchronous

Motor Drives

Figure 11.30 shows a drive employing a synchronous motor fed by a voltage source
inverter. First. ignore the portion shown by dotted lines and assume a constant Ii.
The encoder senses the rotor position and frequency (or speed) signals. From the fre-
quency signal, the flux control block produces the terminal voltage command V* for
the closed-loop control of the machine terminal voltage. This ensures machine oper-
ation at a constant flux. At base Ispeed the output of the flux control block saturates';
thenabovebasespeedthemachineoperatesat a reducedflux. '
Since I,~and I;" are constant, the torque depends only on a, according to equa-
tion (11.73). When in steady state, the drive will be operating at a 0 which balances
(he load torque and the speed will be close to the speed command (d~. An increase in
speed command will produce a positive speed elTor, which will increase 0*. Conse-
quently /) and T will increase and the machine will accelerate to the desired speee,!.A
Sec. 11.7 Self-Controlled Synchronous Motor Drives 475

ACline

Voltage
controller " I Controlled
and firing rectifier
circuit
L-
Iii
V V t..

V'
Voltage
source
Ir FIUX
inverter

L , control

* Motor
"'~ 6'

QI
Speed Phase
+ controller delay

"'m
I
:
I
I I
I I
I '-../ I:
I Rotor IF+
I position I
:
I

,,
I encoder I I
I 1
I ,' ," , ,,II I
I 6' I
L~
I
,
L
~ J
I IF
t-~
I
I
I F' Id
,e
I control
I
'-- --.1
I
I
1
I
J 1
I
'

Power factor
controller 1
AC supply

. Figure 11.30 Broshlessor eommulatorlessde molOrdrive fed from a voltage source

inverter.

decrease in speed command will produce negative B*, and the motor will decelerate
under liraking. Just when the speed error becomes positive, the operation will shift
ba,ck to motoring and the machine will settle to the desired speed.
.' In a wound-field motor, the portion shown by the dotted lines can be added
to operate the motor at unity power factor~ Following the analysis presented
in section 11.5.4, the machine will operate at unity power factor below base speed if
Ii is changed with B accordi!1g to equation (11.79). The power factor controller
changes the field current command Ir with B* according to equation (11. 79). When
the drive operates above base speed, for each 8*, I; must be inversely changed
with speed.
r476 Self-Controlled Synchronous Motor Drives Chap. 11

11.7.4 Servo Drives

Low-power servo drives 25 kW) can be built using a permanent magnet motor
and a transistor inverter. These brushless drives are being considered to replace dc
servo motor drives. The servo drives should have step less torque control at all
speeds. including standstill, and high peak torque to achieve fast transient response.
The fIrst requirement poses no problem. The second requirement can be achieved by
carrying out the transient response at the maximum allowable current. Further, the
machine can also be operated at Of = :t90 to produce maximum torque per ampere
or at 0 = :t90 to produce a maximum torque-to-flux ratio, This will require forced
commutation, which poses no problem in a transistor inverter. A trlu;sistor inverter
may be a 6-step current source inverter. Although the circuit will be simple, the
torque pulsations will be present, which will not be acceptable in high-performance
drives. The high-performance drives, therefore, use a.current controlled pulse-width
modulated inverter (refer to section I I .6. I). When the inverter is fed from a de
source, regenerative braking is obtained without any addition to the power circuit.
When fed from an ac source, dynamic braking is used by adding a braking resistor, a
diode, and a transistor in series across the dc link. .

11.7.5 Starting Large Synchronous Machines

When operating with self-control, the starting current is low and starting torque is
high. Hence, the self-control principle is employed for starting large synchronous
machines in gas turbine and pumped storage power plants. The load commutated
current source inverteris employed. The machineis started usingthe pulsed mode of
operation of the inverter. Above around 10percentof base speed, when the induced
voltages are adequate to provide commutation,the pulsed mode is replaced by load
commutation. The motor accelerates and reaches synchronous speed. When the
terminal voltage, phase, and frequency match, the machine is switched into the
utility line and the inverter is disconnected. This starting method, though expensive,
!
becomes economically acceptable when a number of machines timeshare a com-
mon starter.
-r