ADVANCE ELECTRIC DRIVE

Section-B
INDUCTION MOTOR:

An induction motor (also known as an asynchronous motor) is a commonly used AC electric motor. In
an induction motor, the electric current in the rotor needed to produce torque is obtained via
electromagnetic induction from the rotating magnetic field of the stator winding. The rotor of an
induction motor can be a squirrel cage rotor or wound type rotor.

Induction motors are referred to as 'asynchronous motors' because they operate at a speed less than
their synchronous speed.
Synchronous speed is the speed of rotation of the magnetic field in a rotary machine, and it depends
upon the frequency and number poles of the machine. The induction motor always runs at speed less

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than its synchronous speed.
The types of induction motors can be classified depending on whether they are a single phase or
three phase induction motor.

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1. Single Phase Induction Motor
The types of single phase induction motors include:

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Split Phase Induction Motor
Capacitor Start Induction Motor
Capacitor Start and Capacitor Run Induction Motor
Shaded Pole Induction Motor
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2. Three Phase Induction Motor
The types of three phase induction motors include:
Squirrel Cage Induction Motor
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Slip Ring Induction Motor

VOLTAGE
/ FREQUENCY CONTROL (OR)VOLTS/HERTZ CcONTROL (V/E):
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*Varying the voltage alone or frequency alone has some disadvantages with regards to the
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operation of induction motor.

*The maximum torque in an induction motor is given by,

K(V/N2
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Tmax --
-6
+47L, + L,F
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&Here K is a constant and Ls & Lr' are the stator and stator referred rotor inductances
At high frequencies, the value of (R:/ Ð will be very much less than 2n Lst Lr). So (R/
can be neglected and hence the torque equation becomes,

Tmax
4T2(L, +l,1
max
KVIp2
27 (Ls +L,

*From equation 7, it is clear that if the ratio (V/ ) is kept constant, the motor can produce a
constant maximum torque, Tmax. ie constant torque operation.
 ADVANCE ELECTRIC DRIVE
Section-B
*At low frequencies (when speed is reduced), the term (Rs /Ð will be high and it cannot be
neglected in equation 6. Hence the motor torque reduces.
This is because of the fact that the flux reduces as the frequency is decreased as per
equation 5.

Hence if maximum torque needs to be maintained constant at low speeds, then (V / ) ratio
must be increased.
Near to base speed (or rated speed), the supply voltage will be maximum and it cannot be
increased further. Therefore, above base speed, the frequeney is changed by keeping supply
voltage constant.

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*But this will decrease the maximum torque produced by the motor as per the equation 7.

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Torque

.
-Base frequeney
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Speed

Fig. 4.5. V-frelationship Fig. 4.6. Speed-Torque characteristics

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From the graph of Fig. 4.5, it is clear that

(V/D ratio is increased at low frequency to keep maximum torque constant.
(V/D ratio is kept constant at high frequencies up to base frequency
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Vis kept constant and frequency is varied above base frequency.

*From Fig. 4.6, it is clear that the maximum torque is same at all different speeds.
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*This volts / Hertz control offers speed control from standstill up to rated speed of IM.
*This (V/D control is achieved by using VSI and CSI fed induction motor drives.

a six step
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*If inverter is used, the frequeney alone can be varied at the inverter output and
the output voltage is controlled by varying the input dc voltage.
*If a PWM inverter is used, both voltage and frequency can be varied inside the inverter
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itself by changing the turn on and off periods of the devices.

COMPARISON OF CURRENT SOURCE INVERTER (CS) & VOLTAGE SOURCE INVERTER (VSI) DRIVES:

Current Source Inverter (CS) drives Voltage Source Inverter (VSI) drives
|CSI is more reliable because conduction of two | Conduction of two devices in the same le8
devices in the same leg does not short circuit| due to commutation failure causes short
the input supply. circuit of the input supply.
This may raise the cuirent through the
devices and damage them.
Raise ot current 1s prevented because ot the| lt requres expensive high speed
presence of large inductance in the current| senmiconductor fuses for controlling the
SOurce current due to short circuit.
Afotor current rise and fall are very fast and| No such problem arises here in case of VSI.
that creates high voltage across windings.

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 ADVANCE ELECTRIC DRIVE
Section-B
These high voltage spikes are controlled by | Less costly than CSI.
havinglarge values of commutating capacitors
which may increase the cost and size of the
inverter.
slow response due to large value of input| Fast dynamie response is possible if VsI |

inductance. uses PWAI inverter.

If a six step inverter 1s used. then response
becomes slower like CSI drives.
Frequency range of CsI is lower than VSI. | Frequency range is wide and hence the
Hence CI drive has lower speed range. speed range is also wide.
CSI requires a separate rectifier and inverter A single rectifier can be used to feed many |

combination. Hence it is not suitable for multi| VSls. Hence VSI is suitable for multi motor
motor
drives. drives
Regenerative braking is naturally possible in An additional full converter is required to

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CSI. achieve regenerative braking.
VECTOR CONTROL OF INDUCTION MOTOR

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The control of inverter fed induction motor has given good steady state response. But it
gives poor dynamic response.
The reason for this is that the air-gap flux keeps changing in magnitude and direction.

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This
rotor currents.
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variation needs to be controlled by controlling the magnitude and angle of the stator and

The variation in angle of the currents results in torque variations which is not good. Also it
increases the current drawn by the motor and hence higher rating inverters are needed.
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Separately excited DC motor drives are simpler in control because they separately control the
flux.
Separate control in dc motors is possible because armature current and field current can be
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independently controlled.
But in an induction motor, a coordinated control of the magnitude, phase and frequency of
the stator current is required. This type of control is much complicated when compared to dc
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motor control.
Vector control schemes are classified into two types based on how the field angle is calculated. They
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are,
1. Direct vector control: If the field angle is calculated by using terminal voltages and currents or hall
sensors, then it is called direct vector control.
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2. Indirect vector control: If the field angle is calculated by using rotor position measurement, then it
is called indirect vector control.
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REFEREBCE FRAME THEORY FOR INDUCTION MOTOR:

A chm o varables wkteh frmulaches e

transtormution ob He 3-Phase Vanublus
Statlamary eiruit alensis to tn arbitrary
Teteramu frume may le «prestu
 ADVANCE ELECTRIC DRIVE
Section-B

odos ks Tlses

Cos(B+)OT

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Cos e Ces(b-)
k, e s Lo-2) le

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-wlt +) 2z
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Cose
in
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osb+) iatbtF)
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fcn retresart aithar voltuse, curnent, sr fux

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snaicates the avialles,Paramters ans

truns tovmakiou assoctatw wih shationary
civuts.
w resunt he spdo vaterance 6rame
 ADVANCE ELECTRIC DRIVE
Section-B

6
Fas

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statiomar referente trmu
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we Symchronouslg votattma raferantae
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frama
rotor eftence
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fFreme tA
the tefernt framme is fired
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au th rotor)
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Ferthe thvree- phase civczAiT shous, Ls is

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-a oliag antl mictrix, and

abcs sAabs
Aapdos
k Ls k, dpdos
ndos Ls Jqdos
 ADVANCE ELECTRIC DRIVE
Section-B
Fov Thre- phuse nelnction or symehronous machuies
s mehix is expvessed as

as as+Lns Lms
**
*****
****
Les eatue aduetnce , Lms : megnhimg aneluen te

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-- -
Les + Lns--o

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* Les+2s

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DIRECT TORQUE CONTROL OF INDUCTION MOTOR:
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In Direct Torque Control it is possible to control directly the stator flux and the torque by
selecting the appropriate inverter state.
Its main features are as follows [LUD 1] [VAS 2]:
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Direct torque control and direct stator flux control.

Indirect control of stator currents and voltages.
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Approximately sinusoidal stator fluxes and stator currents.

High dynamic performance even at locked rotor.
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In figure 2.2 a possible schematic of Direct Torque Control is shown. As it can be

seen, there are two different loops corresponding to the magnitudes of the stator flux
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and torque. The reference values for the flux stator modulus and the torque are
compared with the actual values, and the resulting error values are fed into the two-
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level and three-level hysteresis blocks respectively. The outputs of the stator flux
error and torque error hysteresis blocks, together with the position of the stator flux
are used as inputs of the look up table (sce table II.I1). The position of the stator flux
is divided into six different sectors. In accordanee with the figure 2.2. the stator flux
modulus and torque errors tend to be restricted within its respective hysteresis bands.
It can be proved that the flux hysteresis band affects basically to the stator-current
distortion in terms of low order harmonics and the torque hysteresis band affects the
switching frequency [VAS 2].
The DTC requires the flux and torque estimations, which can be performed as it is
proposed in figure 2.2 schematic, by means of two different phase currents and the
state of the inverter.
 ADVANCE ELECTRIC DRIVE
Section-B

edion bon

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Figure 2.2. Direct Torque Control schematic.

However, flux and torque estimations can be performed using other magnitudes such as two

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stator curents and the mechanical speed, or two stator curents again and the shatt position

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This method presents the following advantages:
Absence
Absence
of co-ordinate transform.
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of voltage modulator block, as well as other controllers such as PID for
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flux and torque.
Minimal torque response time, even better than the vector controllers.
Although, some disadvantages are present:
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Possible problems during starting.

Requirement of torque and flux estimators, implying the consequent parameters
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identification.
Inherent torque and flux ripples.
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Modelling of Induction Motor:

A dynamic model of the machine subjected to control must be known in order to understand
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and design vector controlled drives. Due to the fact that every good control has to face any
possible change of the plant, it could be said that the dynamic model of the machine could be
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just a good approximation of the real plant. Nevertheless, the model should incorporate al the
important dynamic effects occurring during both steady-state and transient operations.

For simplicity, the induction motor considered will have the following assumptions:
Symmetrical two-pole, three phases windings.
The slotting effects are neglected.
The permeability of the iron parts is infinite.
The flux density is radial in the air gap.
Iron losses are neglected.
The stator and the rotor windings are simplified as a single, multi-turn full pitch coil
situated on the two sides of the air gap.
 ADVANCE ELECTRIC DRIVE
Section-B

In the stationary reference frame, the equations can be expressed as follows:

(1.1)
A ()=Ri,, ()+a
(1.2)

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,()= R.iB(0) +
dt

(1.3)
e )=R,i,c()+cU

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Similar expressions can be obtained for the rotor:

()+ V, 0 (1.4)

.
)=R,i
s()=R,i,()+V»0
dt

dt 2z (1.5)
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(1.6)
=R,in()+V.0
dt
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The instantaneous stator flux linkage values per phase can be expressed as:

v.-Ti, +Mi, +Mile+Mucos,i, +M.cos(0+)i, +M.ecos0,. ++i (1.7)

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v.=M.i, +Li,a +M.ie +M, cos(0 +"7i. +M,cos0.i,+M.cos(0. +)i. (1.8)

v.c =Mi,tM.i,, +Lie +M cos(@ +i. +M.u cos(0, + i, +Mucos0 (1.9)

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In a similar way, the rotor flux linkages can be expressed as follows:

=Mecod-0). +Mecost- 0+%a+ Mecos(t0,+")e+Li, + Miy + Mai (1.10)

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Va
v Mwcosf-0,+"% +M« cosl-0, )u +Mwcost-0, + %).e+ Mi, +Lis +Mi (11)
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V Mucos-0 +i.a +Mu cos(-0, +")s + Mucos(-0).c + Mri, + Lis +Mi (1.12)

Taking into account all the previous equations, and using the matrix notation in order to
compact all the expressions, the following expression is obtained:

R,+ pL pM. pM. pMcos PM».cosom PM«cos0|a

pM +pL pM pMcos pM«cos pMrcos, sB

pM. pM, R, +p pMcos pM»«cos6n pM«cos0 sC

|PCosD0 pMcos0 pM»rcosm R,+pL pM

PMpM.cose cos PM,.cos0 pMwcoso pM , pM+pL, pM
pMcosepMucos pM pM R, +pL.
(1.13)