ANNEXURE I

NOTES OF LESSON PLAN

Solid State Drives

Unit III
Induction Motor Drives

TOPIC: Speed control of three phase induction motor using stator voltage control &
frequency control

EVOCATION

INDUCTION MOTOR DRIVES

Three-phase induction motor are commonly used in adjustable-speed

drives (ASD).

Basic part of three-phase induction motor :

Three-phase
windings

Rotor windings

Stator

Threephase
supply

Rotor

Air gap
Stator

Air gap

Rotor

AC DRIVES
AC motor Drives are used in many industrial and domestic
application, such as in conveyer, lift, mixer, escalator etc.

The AC motor have a number of advantages :

Lightweight (20% to 40% lighter than equivalent DC motor)
Inexpensive
Low maintenance
The Disadvantages AC motor :
The power control relatively complex and more expensive

There are two type of AC motor Drives :

1. Induction Motor Drives
2. Synchronous Motor Drives

Three-phase
windings

Rotor windings

Threephase
supply

Stator

Air gap

Rotor

The stator winding are supplied with balanced three-phase AC voltage,

which produce induced voltage in the rotor windings. It is possible to
arrange the distribution of stator winding so that there is an effect of
multiple poles, producing several cycle of magnetomotive force (mmf) or
field around the air gap.
The speed of rotation of field is called the synchronous speed s , which
is defined by :
s is syncronous speed [rad/sec]
2
Ns is syncronous speed [rpm]
s
or
p is numbers of poles
p
is the supply frequency [rad/sec]
f is the supply frequency [Hz]
120 f
Ns
Nm is motor speed
p

The motor speed

m s (1 S )

The rotor speed or motor speed is :

Where S is slip, as defined as :

Three-phase
windings

m
S S
S

Rotor windings

Threephase
supply

Stator

Air gap

Rotor

Or

NS Nm
NS

Equivalent Circuit Of Induction Motor

Three-phase
windings

Where :

Rotor windings

Rs is resistance per-phase of stator winding

Threephase
supply

Rr is resistance per-phase of rotor winding

Air gap

Stator

Rotor

s
Is

Xs

Xs is leakage reactance per-phase of the

winding stator
Xs is leakage reactance per-phase of the
winding rotor

Xr

Rs
Im

Xm is magnetizing reactance
Ir
Rr/s

Vs

Xm

Stator

Rm

Air gap

motor

Rm is Core losses as a reactance

Performance Characteristic of Induction

Motor
Is

Xs

Xr

Rs
Im

Ir
Rr/s

Vs

Xm

Stator

Rm

Air gap

motor

Stator copper loss :

Ps cu 3 I s Rs

Rotor copper loss :

Pr cu 3 ( I r ) 2 Rr

'

Core losses :

V
V
Pc 3 m 3 s
Rm
Rm

'

Performance Characteristic of
Induction Motor
- Power developed on air gap (Power fropm stator to
'
rotor through air gap) :
' 2 R
Pg 3 ( I r )

'

R
- Power developed by motor : Pd Pg Pr cu 3 ( I r ) r (1 S )
S
' 2

Pd Pg (1 S )

or

- Torque of motor :

or

Td

Pd

Pd 60
Td
2 N m

or

Pg (1 S )

S (1 S )

Pg

Performance Characteristic of
Induction Motor

Input power of motor :

Pi 3Vs I s cosm
Pc Ps cu Pg

Output power of motor :

Po Pd Pno load

Pd Pno load
Po
Efficiency :
Pi Pc Ps cu Pg

Performance Characteristic of
Induction Motor

If

Pg ( Pc Ps cu )

and

Pd Pno load

so, the efficiency can calculated as :

Pd Pg (1 S )

1 S
Pg
Pg

Performance Characteristic of
Induction Motor
Generally, value of reactance magnetization Xm >> value Rm (core
2
2
2
losses) and also X m ( Rs X s )
So, the magnetizing voltage same with the input voltage :

Vm Vs

Therefore, the equivalent circuit is ;

Is

Xs

Ii

Im

Xm

Xr

Rs

Rr/s

Xm

Vs

Rm

Po

Pi

Stator

Air gap

motor

Is=Ir
Ir

Im

Ir
Rr/s

Vs

Xs

Xr

Rs

Stator

Air gap

rotor

Performance Characteristic of
Induction Motor
Total Impedance of this circuit is :
Ii

Xs

Xr

Rs

Is=Ir
'

Ir

Im

Rr/s

Xm

Vs

Po

Pi

Stator

Air gap

rotor

Ir
'

The rotor current is :

R
X m ( X s X r ) jX m ( Rs r )
S
Zi
'
Rr
'
Rs
j( X m X s X r )
S
'

Vs
2

Rr'
'
Rs X s X r
S

1
2

Ii

Xs

Xr

Rs

Is=Ir
Ir

Im

Td

Rr/s

Vs

Po

Pi

Stator

Air gap

3 Rr' Vs2
' 2

R
S s Rs r X s X r'
S

rotor

Tmax

Td

Tst

TL
Tm=TL
Operating point

S=1
Nm =0

Torque speed Characteristic

Smax S=Sm S=0

m s
Nm Ns

Three region operation :

1. Motoring :

0 S 1

2. Regenerating :

S 0

3. Plugging :

1 S 2
Torque

Forward
regeneration

Forward
motoring

Reverse
plugging

Tmax
m s

m s

m s

Tst
S=Sm

-Smax
s
S=-1

s Smax
S=0
Ns

-Tmax

s =0
S=1
Nm =0

s
S=2

Performance Characteristic of
Induction Motor
Starting speed of motor is m = 0 or S = 1,
Starting torque of motor is : Tst

3 Rr' Vs2
' 2

R
s Rs r X s X r'
S

Slip for the maximum torque Smax can be found by setting :

So, the slip on maximum torque is : S max

d Td
0
dS

Rr'

R X X
2

1
2
'
2
r

Performance Characteristic of
Induction Motor

Torque maximum is :

Tmax

3 Vs2

2s Rs Rs X s X r'

And the maximum regenerative torque can be found as :

Tmax

3 Vs2

2s Rs Rs X s X r'

Where the slip of motor s = - Sm

Speed-Torque Characteristic :

Td

Rr'
S s Rs X s X r'
S

For the high Slip S. (starting)

So, the torque of motor is :

3 Rr' Vs2

Td

And starting torque (slip S=1) is :

' 2
r

R
Rs
S

'
r

3 Rr' Vs2

S s X s X

Tst

' 2
r

3 Rr' Vs2

s X s X

' 2
r

For low slip S region, the motor speed near unity or synchronous
speed, in this region the impedance motor is :
2
R'

So, the motor torque is :

'

X
s
r

3Vs2 S
Td
s R 'r

And the slip at maximum torque is :

S max

Rr'

R X X

1
' 2 2
r

The maximum motor torque is :

Rs

Td

3 Rr' Vs2
' 2

Rr
S s Rs X s X r'
S

Stator Voltage Control

AC
Variable
Voltage
Sources

Controlling Induction Motor Speed by

Adjusting The Stator Voltage

Td

IM

Td

Vs

3 Rr' Vs2
2

Rr'
S s Rs X s X r'
S

Td
Vs > Vs1 > Vs2

Ii

Xs

Xr

Rs

Tmax

Is=Ir
Ir

Im

Rr/s

Vs

Po

Pi

Stator

air
gap

Tst
Tst1
Tst2

TL

rotor

S=1
Nm =0

2 1
S=0
s
Ns

Frequency Voltage Control

Controlling Induction Motor Speed by
Adjusting The Frequency Stator Voltage

AC
Variable
Voltage
Sources

IM

Vs

Td

Td

3 Rr' Vs2

Rr'
S s Rs
S

X s X r'

Td

fs2 < fs1 < fs

Tmax

Ii

Xs

Xr

Rs

Ir

Im

Vs

Tst2

Is=Ir

Rr/s

TL

Po

Pi

Stator

Tst1
Tst

Air
gap

rotor

S=1
m =0

2
S=0

fs2

1
S=0

fs1

S=0

fs

If the frequency is increased above its rated value, the flux and torque
would decrease. If the synchronous speed corresponding to the rated
frequency is call the base speed b, the synchronous speed at any other
frequency becomes:

s b

And :

b m

1 m
b
b

The motor torque :

Td

Td

3 Rr' Vs2
' 2

R
S s Rs r X s X r'
S

3 Rr' Vs2

Rr'
S b Rs
S

X s X r'

If Rs is negligible, the maximum torque at the base speed as :

Tmb

3 Vs2

2S b X s X r'

And the maximum torque at any other frequency is :

2

Vs
3
Tm
2S b X s X r' 2

Sm

At this maximum torque, slip S is :

Rr '
X s X r'

Normalizing :

Vs
3
Tm
2S b X s X r' 2

Tmb

3 Vs2

2S b X s X r'

Tm
1
2
Tmb

And

Tm 2 Tmb

Puzzle
How many possible combinations are there in a 3x3x3
rubics cube?In other words, if you wanted to solve the
rubics cube by trying different combinations, how many
might it take you (worst case senerio)?
How many for a 4x4x4 cube?
There are 20 people in your applicant pool, including 5
pairs of identical twins.If you hire 5 people randomly,
what are the chances you will hire at least 1 pair of
identical twins? (Needless to say, this could cause
trouble ;))