CHAPTER 7

Frequency-Controlled
Induction Motor Drives

7.1 INTRODUCTION

"Inc speed of Ihc inductilln motor is vcry near to ib ~ynchnHl(lUS "peed. and chan~
ing the synchronuus <;pl'cd rc<;ulls in ~pt'cd VMi<lllOll. Changing lhe '\uppl)' ffl"
qucney varies lhe syndm.lnnus speed. "tllc rdatiomhip hl'l\\ccn the syllchrotlUlI'
speed and the frcquclKy IS gIven by
[~{Jf.
n, ==--
p (7.1 )

where n, is Ihe synehrol)l)Us "I)t:cd in rpm. f. IS lhe ,uppl~ lro.:lju\.'ncy in Hz. and PI'
the number of poles. The utility supply is of constant frequcnc~. "0 the speed control
of the induction motor rcquirc~ a frequency changer to chill1g.e the <;peccl of Ih<'
rOIOr. "111C frequency changlrs. circuit configuratinn~. upcr.l1lOn and input source'
arc discussed briefly 111 thi" chaplcr. TIle illleraelion (If thl' frl'lJU~ncy changers and
lhe induction motor I~ "tudi~d in detail. TIleY pcrtalll to th~ sleady-stale perfor-
manct'. h:lfI11onics and their Impact on the pcrformanc~_ C(lntrol of harmonics. and
drive-wnt rol st ralegics and their impacl on drive pcrfornwnce. Tne enhancemenl of
motor-drive efficiency is an inlegral aspect of the qlllh and I~ con~ldcred with illu,-
trativc examplcs.ll1e dynamic models of Ihe V:lriOtl~ tld\ e ~~ ~lem~ are derived and
th~ir performance s;mula1t:u ;1I1U analyzed as lhey pl'rl.1I111u dc ..ig.n aspects.

7.2 STATI( FREQUENCY CHANGERS

TIlcrc are basically IwO lypes of stallC frequency ch.lll~lrs- dlreCI and indirect. TIll'
direct frclluency changer.. arc known as c~c1ocorl\"Cr1er~: thc~ CIlIlH."rl an:le suppl~
of utility fr"quency to;1 \:trIa,",1c frequcnc~.1l1c cyc!I'l:nl1h'ncr (or a .single pl1a....
314 Chapter 7 Frequency-Controlled Induction Motor Drives

Threepha~ Induclion
ac power m
supply. fs Synchronous
'-tolm

Cydoconverler
Figure 7.1 Cydoconverler-dn'-en mdllCUOn or <ynduonuus mOlOr drl\e

Threc-phase . .I I
ac power
supp!~ f c,
i" f
Inducllon
'-lOlor

Diode
de hnk filt~r
Rectifier
.lgu~ 7.Z PWM Invetl~l fed IIldUCllOn motor drwe

consists of an antipar<'lliel dual-phase-controlled corwerter. It can be a single- or

three-phase-controlled convener: the laller \'t:rsion is very common in practice.
Symbolically. a cycloconverter-driven ae motor drive IS shown in Figure 7.1.lhe out-
put frequency has a range of from 0 to 0.5f,. For beller waveform control of the out-
put voltage. the frequency is limited to O..33f,. rhe smaller range of frequency
variation is suitable for low-speed.large-powcr applications. such as ball mills (llld
cement kilns. For a majority of applications. a wide range of frequency variation is
desirable. In that case. indirect frequency conversion methods are approprialC.llle
indirect frequency changer consists of a rectification (ac to dc) and an inversion (de
to ac) power conversion stage.11ley arc broadly classified depending on the source
feeding them: voltage or currenl sources. In both these sources. the magnitude
should be adjustable.11le output frequency hccortles independent of the Input sup-
ply frequency. by means of the dc link.
If rectification is ul1controlled.the voltage and its frequency are controlled in
the inverter: a pulsewidth-modulated inverter-fed induction mOlar drive is shown
in Figure 7.2. The de link filler consists of a capacitor to keep the input voltage 10
the inverter constant and to smooth lhe ripples in the rectified output \"oltage. lhe
dc link voltage cannot re\'erse: it is a constant. so this is a voltage-source dri\'e.l1te
advantage of using the diode-bridge rectifier in the front end is that the input line
power ractor is nearly unity. butthen~ is also a disadvantage. 10 that the rower can-
not be recovered (rom the dc link for feeding hack into Ihe input supply.111t" regt'll-
 Section 1,2 Static Frequency Changers 31S

.!
Threepha~
ac power
supply f c,
~ I- t InduClion
Motor

ColllToJled rWM
de lln~ filltr
Recufier In'"trler
"gun' 7..\ Vanabk~ollage, ~a"able(r"quenq (VVVF) mduCiton 10<)'01 dn,'c

Conlrollcd
Recllfier _II
(rc~cnerallonl

~ I--
-
t
- I I
-
Thleephas.:
fI
ae PO"'CI
suppJ~ V

1Comrnlled
21-1 l' --\ ,\1<Jlor

Ilu,luchon
PWM
ReClifier-1 de Ion~ fille. 0'
lnl<'rltr S, IloChrun<)u_
(mOlollng)

crative power has to be handled by some' uther controller arrangement :Jnl! i~ dIs-
cussed later.
Separating Ihe magnitude and frt:qu(.ne~ control funcllons in the' controlled
rectifier and inwrter. respectively. gives a cllnliguratioll shown in Fig.ure 7.3. This
configuration is known as a VAriable-voltage. variable.frequency induction motor
drive. It has a disadvantage: the power faClor is 101\ at 10\\ voltages. from phase
conlrol. Refer to Chapler 3 on the operation of the phasecontrolled rectifier. To
recover the regenerative energy in the dc link. the direction of the de link current
to the phase-controlled rectifier has to be n:vcrscd: the de link \ullagc' cannot
re\'erse through the antiparallel diode~ acrm~ the inverter bridge. Hence. an
<lntiparallel-cOlltrolled rectifier is required to tl;lndlc the regenerative energy.
as shown in Figure 7.4. Similarly to Ihe voltag.e-suurce induction motor drive'>.
the current-source drives have a PWM COlllrol and variable-current \:dri3bl~
frequency control,
In the PWM current source, shown in Figure 7.:1. l11SI3nt:lnCOUS currc'm control
on the ae side is enforced by a sel of fast-acting. currentcontrolloops.lrwcrlN ~wltch
ing is based on lh~ current error signals 10 for,',' the actual currents to track their
316 Chapter 7 Frequency-Controlled Induction Motor Drives

PWM
Inverte,

Threc-phue InduclIOll
ac po.."e, c, MOIGr
SUppll'

, " '.-, /'

'rnr""rha:oe
at: p<":r
~uprh'
fI \

I
, V,

-I
{ Motor

ConlrolkJ Auto- InduchOO

R"t:llrt<:1 ....qlk'nllall~
Commul31ed
Inv..rte, CASCI t
t,\!....., 7.6 CurrenH..,urct' 1n, ... rt",JII'"n Inducllon or _yoch.onou, molo. dn<e

respective commanded values. The input source is Yohage: bet:ause of this fact, this
arrangement is sometimes referred 10 as a clIrr/,lII-regll!tlfl'l! induction mo/Or drive.
In the variable-current. variable-frequency (VCVF) systems, the current
magnitude and frequency control ;lre exercised independently by the controlled
rectificr with an inner curren I loop and autoscquentialiy commutated inverter
(ASCI). rcspectively.lhis arrangement is capable of (our-quadrant operation and
is discussed in detail in latcr sub~cctiolls. To maintain a current source. the de link
filter hilS an inductor and a currenl loop enforcing the dc link current command,
very much like lhe inner current loop in the phase-controlled de motor drive. The
current source drive is shown in Figure 7.6. The disadvantages of this drive scheme
are the need for a large dc link inductor and a set of commutation capacitors. A
general schematic of c1asstfication of the static frequency changers is shown in
Figure 7.7.
 Section 7.3 Voltage-Source Inverter 317

IF,equcncy Changcl101

I I
I o,,~ I Ilndl'''''-1 I
I
1
IC~d..cun'CrlCf I IV"lra~c Svurc" I ICurr"nr Sou"-,,I

I
I I I I
PUlse Wi<!th \-MIJble- Vollal./c. Auto <;<:lju"nhall~ Puis.: \.,ri<!th
,\Ioouiallull Var",bkFrcqu"ncy ("ommutat"o.Iln'"rkr \looulal'oo
(PWMJ (V\'VF) IASCI) (I'W,\II

IT
~ ("I I
L
1- 0,

L C
l' , 1)1-\

R
'-"'d I-- ~I-t,
-
.
C~ c, l' O. 1', l)~-\
:l
-

7.3 VOLTAGESOURCE INVERTER

A commonly used SCR inverter is the modified McMurray inverter in industrial

motor drives. The configuration and principle of operation of thiS mvcner are
explained in Ihis section, For case of Jevelopment. a half-bridge inn:rlcr is cunsiJ
ered.l11en it is extended tu include a full-bridge inverter. The Iransl~torizcd inverlcr
is discussed. and a comparison hetwecn SCR and transistor invcrlcr~ is given In<ll is
based on Ihc number of switches.

7.3.1 Modified McMurray Inverter

A half-hridge modified McMurra~ IInener IS shown m Figure 7.K Inc inductor L

and capacitor C are known as Ihc cOllltllutating mductor and capaclt!)r. respcctlvcl~.
 Section 7.4 Voltage-Source Inverter-Driven Induction Motor 325

, jX~

JI.
~I
v. E, JX.
". , &
'. I,
I
Figur~ 7.14 Equ""lcnl CirCUlI u(tht' mduChun mOlor

A number of control stralegies have been formulated. depending on how the

\ullage'lo-frequency ratio is implemented:
(il ConSlant volts f Hz conlrol
(iiI Constant slip-speed conlrol
(iii) Constalll air gap nux control
(i,) Vector cOlHrol
"Illese control strategies arc considered individually. the first three in Ihe following.
sections: Ihc fourth is reserved fllr the nexl chapter.

7.4.5 Constant VoltslHz Control

7.4.5.1 Relationship between voltage and frequency. llle applied

phase voltage from Ihe equivalenl circuit shown in Rgure 7.14 is
VO'l = E , + I".(R, + jX ,,) (7.23)
where I" is thc fundamemal stator phase current.
TIle dependence of Ihe phase \'ohage on the stator impedance drop in p.u. 1:-
derived as follo",s.

(7.24)

0'

(7.25)
where

vO,n "" V
V .. , (
p.u .
)

(7.26)
328 Chapter 7 frequency-Controlled Induction Motor Drives

Controlled
Rectificr

'\
Thrcepha~
.1 + VVVF InductIOn
I
1*
ac po'"'er C, Motor
~
In.'crter
wpply

crlD"
2.22.1<10

V
,-:;"
'<YE..
,.
Figure 7.17 Impkm~l1tal"m of "ol!yHz !otrah:gy m m'crtcrfcd mJucl,,," mi,,,,r un'cs

Hence.
0.45V dcn = V,,,, + (n:::: V"" + E'n (7.36)
0'

v.. . . = 2.22{V,.. + fUl } (7.37)

.... here V..... is Ihe dc link voltage in p.u. and E t is the nonnalized induced emf.

7.4.5.2 Implementation of voltslHz strategy. An implemenlalion of the

conslanl volls/Hz control stralegy for Ihe in,'erler-fed induClion molar in open loop
tS sho.... " in Figure 7.17, This type of variable.speed drive is used in lo.... perfonnance
applications where precise speed conlrol is nOI necessary. The frequency command
(,. is enforced in Ihe inverler and Ihe corresponding dc link "ollage is controlled
through the front-end converter. The offsel vollage, V"n' is added 10 the vollage
proportional 10 Ihe frequency, and they are mulliplied by 2.22 10 obtain the dc
link voltage.
Some problems encountered in Ihe operation of this open-loop drive are the
following:
I. The speed uf the motor cannot be conlrolled precisely. because the rOlor
speed will be less thall the synchronous speed. NOle that slator frequency. and
hence the synchronous speed, is the only variable controlled in this drive.
1. The slip spt'ed. being the difference octween the synchronous and electrical
rotor speed, callnOI be maintained: the rOlor speed is not measured in this
drive scheme. This can lead 10 operatiQn in the unstable region of the
IOrque-speed characteristics.
3. The dfect discussed in 2 can makc thc stalor currcnls exceed rated currenl by
many ttmes.lhus endangering Ihc inverler-cOllvcrlcr combinalion.
 Section 7.4 Voltage-Source Inverter-Driven Induction Motor 329

ContrQlled
R~Clln"r

Th.c~.phas.:
Ac power VVVF
Inn'rlcr
'---1
r
~upplr

PI
controlk.
L,rnl1c.
-,
'Illt'sc problems are. to an extent. owrcol1le hy Iw\';ng ,111 outer "p~'o.:d IUl)p In the
Induction motor drive. shown in Figure 7,1l'\. '!lle actual rcllor "pl'o.:d I' l'ompan:d
with its cOlllmanded value, w;. l!lu!the error IS proce~:,ed through a ctllllr\ll!t.:r, usu,
ally a PI. and a limiter 10 obtain the slip-srced command. W:I' '111e limiter ensures
that the sllp-~pecd comnHlnd is within the milXllllum allowable ,Ill' 'pt.'eu of the
induction 11I01Or. The slip-speed command I!'> added 10 ckclrlcal rotor speed 10
obtain the stator frequency command. Therl',lfler.lhe :,lator freqlll'nC} \'ulllllwnd i~
processed a:, 111 an open-loop drive. K.lo. IS tho.: nll1~t:ll1t of propOrllOl1ahl~ hel\\CCn
Ihe dc 10:"lcl voltage (lnd the stator frequency.
In the closed-loop induction motor dmc.lhc limil~ Dilthc ,lip 'pc\d. off~et
voltage. and reference speed arc extcrnalJ~ adJu~table variahk'i. I'hl'> c~tcrna!
adjustment allow~ Ihe tuning (lnd matchlllg of thc mduetion motnr to thc con
verter ancl mvcrter and lhe tAiloring of iI' l'haraclcflstlcs t.1 lllillCh lhc load
require1llent~,

Example 7.1
Finc.llh~ rdHIIl\ll,hlp hcl\\-~.:n lhe de hnk '<Jllag~' .tnd I he' ,1:ll1lr fT~'4UCIlC\ hl! IllI: eI. ,'cll-h... ,p
Impl~m~mlt\lun 1l1:1 \ult"IIIIIl'cTI.:tkJ mJU\'ll,>n Ill"I"r ume Ine mot"r p,lr,ttnelcr, MC
a, folio\\-,
:' hp, lOU V, 60 HI. J ph"'I:, ~larconnecleJ.J p"k,lll-h pI ;IIlU tl.X! dll'I~'!lC'

Sohni,," Inc CllnSI:tnl~ rC'IUlred f,'r lhe Inlplcfllc'lll,llhlll of th~' ch"eJ 10 "'ll In,~ .tre
K". V".:tlld 'he 1I\;J~llllUm ~llp 'l'Ccd
330 Chapter 7 Frequency-Controlled Induction Motor Drives

(i1
. R, 0.183 ,- dl
Maximum slip speed OIl (L , + L .) .. (0.84 + 0.554)/377.0 := 4 .::1 ra sec
l I

whae
hp x 745.6 5 x 745.6
I" '" Ralcu sUl10r phase current '" 7CC---"''-C'-C~'-cc __ 15.26 A
.~V r" :< pI" x efficiency 3x I J 5.5 "< 0.86 x 0.iS2
Hence

\"" =- 15.26 x 0.277 '" U3 V

(Vp/I - V~) ('",-

V3
'.13)
(iii J "" r,

Ii> I The uc link vullage In lcrm"' .,f "1:l1l'r fr"ljucncy i~ given hy

v... '" 2.21V", '" 1.12{\',, ""f.l =0 2.22{4.2J 1- l.oS54t.l =0 (Y.4 + 4.12(.). V

7.4.5.3 Steady-state performance. TIll:.' steady-statt,' performance of the

conSlant-voltslHz-cOlHrolled induction motor drive is computed by using the fun-
damcnllli applied phase voltage given in the expression (7.33). In the equivalent
circui1. the following sleps are laken 10 compule the steady-state performance:

Step I: Start with minimum ~latnr frequency and zero slip.

Step 2: Calculate magnclil.ing. c, 're-Ioss. fOIOf. and SlalOr phil,': currents.
Step 3: Calculate the elcclrum;lgnetic torque. power output. coppa. and core losses.
Step 4: Calculate inpul powa facl<lr and efficiency.
StepS: Increment the slip: then go 10 ~!ep 1. un[es." s = sm'"
Su'p 6: Innemcntthc st,llor frequcncy: then go tu step 1. unkss f, = f,m,,'

A scI of drivc-torque-vs.-spced chanlCleristics is given in Figure 7. [9 for the motor

COnqanlS given in Example 7.l.111e dissimilarity bel ween Ihe torque-speed charac-
teristic~ for various stator frequencies is quite notable. TIle peak torque in the
motoring region decreases as tht' stator frequency decreases. contrary to the genera-
tor aclion. Note that the offset voltage is set at zero for this figure. The effects of
off~etvoltage variations, are shown in Figure 7.20 for the same mOlor at a stator
frequency of 15 HZ.llte offset vollage increases Ihe induced ..:mf and rotor currenl.
resulting in enhanced torquc.

7.4.5.4 Dynamic simulation. The dynamic simulation of the constant-

volts/H7-controllcd induclion mottlr drivc is developed in this section. The mod-
els of th..: motor. inverter. dc link. controlled rectifi..:r. and Jrive controllers afC
de\"ettlp..:d. and lhe equations ar..: comhillcd to ohtain the tf<lllSient response. As a
346 Chapter 7 Frequency-Controlled Induction Motor Drives

Conlrolled
Reeurler
... Inverter

+ +
f ~
Threc-pha5e IndllChon
ae power Motor
C,
supply

Txh

-,
-,
7.4.6 Constant Slip-Speed Control

7.4.6.1 Drive strategy. llle slip speed of the induction lIlotor is maintained
constant; hence. for "arious rOlor speeds. the slip will be ,arying. as is seen from the
following expressions:
W,=W,+W.,j (7.114)
W,i '" sw, = constant (7.115)
frolll which the slip is obtained as
W,i W,i
S = - = (7.116)
w, w,+w,.
The varying shp control places the drive operation on the ~taliC IOrqu..:-speed char-
acteristics. To maintain the slip speed constant, it is necessary to know the rotor
speed. so this scheme involves rotor-speed eSlinHtlion or mea~urel1lcnt for feedback
control. The Slawr frequency is obtained hy summing th..: ,lip ,peed and the electri-
cal rotor speed.ll1e required input voltages to the induction malar arc made to be a
function of the speed-error signal. as is shown in Figure 7.26. In place of a propor-
tional controller. a PI controller eliminales the steady-stale .:rror in the rotor speed.
NOIC that a negative speed error clamps the bus \'ollag..: at Lera, and triggering
angles of greater than 90 are nOI allowed. Given the configuration of the drive. it
cannOt regenerate: the stator electrical speed is always maintained greater lhan the
 Section 7.4 Voltage-Source Inverter-Driven Induction Motor 347

V EI IX. .. ,
b-
"
S

"l~ure 7.1.7 SImplifIed equI'aleRl ClfCUI! cORstdered for lhe ~lea,h ,rale analysIs orthe sltp-cunlrullcd
mducllon mOlOI dnvc

rotor speed. Hence. this drhe is restricted to onequadrant operation only.

Alternate implementation of de link voltage control is effectl.!d by implementing a
r:.
volts/Hz controller. using Note that this alternate ~chcnll' will not give a dosed-
loop speed control.

7.4.6.2 Steady-state analysis. The characteristics of the constant-slip-speed

ll1duction motor are derived in this section from the simplified equivalent circuit of
the induction mOlOr. Only thl.! fundtHnental of the applied voltages is considered at
,his stage. Considering the rotor and magnetic circuit shows that the equivalent cir-
cuit amounts to Ihe one shown in Figure 7.27.The slip speed is a constant: henct'.;n
terms uf the slip speed. the rotor current is derived as
E,
I, (R-: + jX )
0

h
(7.117)

and the electromagnetic IOrque is

(7118)

Sllh~littlt iog for I, from equal ion (7. I 17) into cqmltlOn (7 .11 ~ I ~ ldds

P Ei
(,~:
-"
) (7.119)
T, 3'2' w", (R
0 )'
-' + (L )'
w.. lr
348 Chapter 7 Frequency-Controlled Induction Motor Drives

By rearranging all the constants into one term. we gel

T. = K.. (~D (7.120)

where the torque constant for this strategy is defined as

(7.121)

Neglecting stator impedance amounts to making the air gap emf equal to Ihe
applied stator voltage: hence. the torque is given by

T.=K .. (V)'
w:
(7.122)

wh~re V, is the stator voltage per phase.

NOle lhat the torque is independenl of rotor speed. implying ilS capability to
produce a torque even at zero speed. This fealUre is CSSCl1\ial in many applications
where a starting or holding torque needs to be produced. such as in robotics.
A diagram of torque vs. stator phase voltage is shown in Figure 7.28 for three
slip speeds. Here, the stator impedance has not been neglected, and its considera-
tion has reduced the torque. notably at low speeds.lhe motor data has been taken
from Example 7.1.

)U

2.5

lU

r
, 1.5
2

I.U

U,j

UU
BO
L __!!!'l""~~~L-..--L.-L---'---:~
0.1 0.2 O.J nsOA 0.5 O.1l 1f7 0\1 1.0
V_
t'igul"1' 7.2lI Torque "s. applied vollage for various slip speeds al r;ll~tl ,1,Ilor frequency In p.u.
350 Chapter 7 Frequency-Controlled Induction Motor Drives

7.4.7 Constant Air Gap Flux Control

7.4.7.1 Principle of operation. Consiant air gap nux control rcsoh<cs Ihe
induction motor into an equivalent separatelyexcited de motor in terms of its specJ
of response but not in terms of deeoupling of Ihe flux and torque channels. Having
conSlant air gap nux linkages amounts to

(7.123)

which. subslituted into equation (7.119). yields the eleclromagnetic torque as

1', (~)
T,.3 2 .(R,)'
-
.
+ (Lit)
(7.12~1

w.,
Assuming the air gilp nux linkage is maintained constant. the torque i..

17.125)

where Ihe torque constant in the comrol ~tr:llcgy is written as

I' .
K,m = J 2 . A;" (7.126)

Now the electromagnetic torque is dependent only on the slip speed. a~ is secn
from equation (7.125). Such a featurc signifies a very imporlant phenomenon. in
Ihal the slip speed can be varied instantly. making Ihe lorque response lllSlanta
neous. A fast torque response paves the way for a highperformance motor drive.
suitable for demanding <Ipplicalions. thu .. replacing Ihe separately-excited de
motor drives. The above facts arc true only If lhe air gap flux is maintllilled eon-
Slant. That task is compounded by. for examrle.lhC saluration of the machine or
Ihc need for a sensor to measure Ihe air gap flux. Even if air gap nux is regulaH:d
accurately. the torque is not a linear function of Ihe slip speed. Hence. for:l torque
drive. lhe slip speed has to be programmed 10 generate linear characteriSlics
belween lorque and liS commanded value. Note lhat this programming of the slip
speed has 10 account for the sensitivity of the rotor resistance and leakagl' induc-
tance. In panicillar. the rotor resistance will u~ually have a wide variation (from
0.810 2 limes ilS nominal value al ambient lemperature) and this comp'icalc~ the
control lask.

7.4.7.2 Drive strategy. 111e facltha! the constant air gap flux requires con-
Iro1 of Ihe magnetizing currenl nccessitalcs slalor current control of tIll' lIlduclion
malar. apan from its stator frequency. A vohage-source inverter drive with mner
current loops would transform il into a variable-currclll. \ariaolcfrcquency ~ource.
 section 7.4 Voltage-Source Inverter-Driven Induction Motor 351

Threepbase VariableCurrent.
lie po...er
IndUC:lion
Variable-Frequency
MOI<X"
supply Souree (VCVF)

,., , I- --,
1,1

lX
T~h

~"' '<;Y ....

Fieur.. 7JO
",
+ L"mler

Dr,,"e stralegy for ronmmtalr

~T'
t:: r-
'"
COnlrolicr
&~p-nWl-ulmrollcdmdllCl1..... mOl"r tlme
",

More of this is to come in later sections. Assuming that such a current-regulated

\ariablefrequency source is available. the drive strategy IS shown in Figure 7.30.
The slip-speed command is generated from the speed-control error. which in
turn is added to the rotor speed signal to provide the frcquency-command signal.
The same slip~slXed command detennines the stator current magnitude. maintain-
ing the air gap nUl( constant. This aspect is shown as a function generator block. For
reasons of saturation and sensitivity of rotor constants. it is preferable to have on-
line computation of the stator CUfTent from the slip-speed command. The current
command is appropriately translated into three-phase stator-current command!>.
Stator-current feedback conlrol ensures that the stator-current commands are
enforced both in magnitude and in phase.

Example 7.3
Draw lhe steady-stale performance charactcristic~ of a conSl;lnlair gap.flux-controlled
I1\lJuction mOlor drivc.1l1C malar data are given 111 EXilmplc 7 I

Solulion The various steps involved in lhe steady-stale performance computallon arc
as follows:

Slep 1: Calculate the rated value of air gap nUll from the cl,juivalent circultll1c1udll1g
slator lmpcdence when the motor has a rated c1ectromagnt'llc torque.
r"lr"h ... m .. on.... <"n .. r .. ~~..'" "n,1 h .. n .... E,
362 Chapter 7 Frequency-Controlled Induction Motor Drives

V. 1I 1l5.5J II
I'll '" :; :; 0.68 A
II x J<.q 11 x 1.395
115.5/1]
['1) ,. '"' 0.49 A
13 x 1.395
115.5/17
1,11 = 17 x 1.395 :; 0.29 A
115.5/19
I,[~ = 19 x 1.395 '" 0.23 A

V].31 2 + 1.6g2 + .682 + 0.4Q2 + 0.2(j + 0.23 1 = 3.8] A

Stator currenU, :; VI;[ + Ii.., = VI2.87 1 + ].83~ = 1].43 A

31~R., = ] x 13.4]! x 0.277 '" 149.82 W
I, iii VI~I + [f.., = \fIU51 + 3.831 .. 12.16 A
The stator and rotor resistive losses. including harmonics from 5th to 19th. ar~
31;R, = 3 x 12.161 X 0.183 = 81.29 W

Increase in stator and rotor copper losses = (149.82 - 137.9) + (81.29 - 7],2) '" 20.2 w
% increase over sinusoidallosscs = 20.2 x 100 .. 9.57%
137.7 + 73.2

7.4.9 Control of Harmonics

7.4.9.1 General. Undesirable pulsating torques and additional losses in the

induction motor are generated by harmonic input voltages. Some of the dominant
harmonics can be eliminated selectively by waveshaping the inverter output
voltages. It can be done either by phase-shifting two or more inverters and summing
their outputs or by pulse-width-modulating the output voltages. Both approaches
are described in this section.

7.4.9.2 Phase-shifting control. If the output voltages of twO or more

inverters fed from a common dc source are phase-shifted and summed through a set
of output transformers. a multistep voltage can be generated. The amount of phase
shift and magnitude of individual inverter voltages determine the harmonic con-
tents of the resultant voltages. For example, consider the inverters and their wave-
forms shown in figure 7.35. The three invc.rtl::r voltages are equally spaced from
each 01 her and summed with different gains through a transfonner. The turns ratios
of the transformers are chosen to be

(7.157)
 ,
Inverter V., II,

V.
Invcrler
II II V,

Inverter
"'
V., II
K,

v" V.

0
" "
v.~
,
0
,
V"

0 ,, ,
,
-',
,,
V, ,,
,
KJV. j ,
KJV.:
-l
K,V. 1 I
OJ

(Il) Summallon of ,,}II~CC~

Figure 7.35 Stepped-wllver,,,,,, generation
364 Chapter 7 Frequency-Controlled Induction Motor Drives

KJ=2cos20
It is generalized for x inverters as
K. = 2 cos (x - 1)0. x ~2 (7.158)
where 8 is the phase shift of the inverter voltages, defined as
27T 2'11' 27T 7T
8= =-~-~- (7.159)
(steps in the waveforms) n 4x 2x
where /I is the number of steps in the voltage. Each inverter introduces 4 steps:
therefore. x inverters introduce 4x steps into the output voltage.lhe output of the
fundamental voltage for three steps is obtained as
V~
V. I =: 4---;-(K j + K~cos8 + K,cos28]sinlu,t (7.160)

Substituting for the turns ratio from equation (7.157) into (7.160) gives the funda-
mental voltage as

(7.\6\ )

Similarly. the fifth and seventh harmonic voltages arc

4V~
V.~= 5'11' [K 1 +K 2 cos50+KJcosI08]sin5w,t=O (7.162)

4V~
V. 7 ", 771 [K 1 + K1 cos70+ K,cos148]sin7w,t=O (7.163)

The eleventh and thirteenth harmonic vollages are.

Vat
(7.164)

(7.165)

Note that there is a complete cancelhlfioll of harmonics in the case of lhe fifth and
seventh. Hence. phase-shifting neutralizes harmonics below the sideband frequen-
cies of the Ilstep voltages. In this case, the minimum sideband frequencies are n - I
and /I + I. i.e.. II and 13.
The voltage magnitude of the multistcppcd waveforms is varied b~ controlling
the magnitude of dc source voltage. 'Iltis has the advantage of keeping the harmonic
contents to a minimum. Also. the voltage magnitude can be controlled by phase
shifting the various inverter voltages instead of keeping it a constant, but the total
harmonic distortion will increase with phase-shifting.
This technique of phase-shifting and neutralizing the undesirable ll<lrmonics
in\'olves the use of transformers at the output stage that increases the cost and space
requirements of the inverter drive. but it has the advantage of paralleling many
inverters of small capacities to obtain a larger inverter capability. 111is technique
avoids also the paralleling of devices to obtain higher capacity.
 Section 7.4 Voltage-Sour(e Inverter-Driven Induction Motor 365

2.RSOV",

+--::'-:-~-='.,...,~----e:t------------:-t-- Ekclrlc3Il
o 22.5 4567.5 90 II\() deg..,es

Example 7.7
USing the phase-shifting principle. find the numt-cr of in\'crters, their pha~ ~hlftS. and tht:
respecllve turns ratio to suppress harmOniCS lo"<:r than the fifteenth.

Solulton To suppress harmonics IO\lon 'han the fifteenth amount" 10 .In acceptable
minimum sideband frequency of fI - 1. where,/ l~ the number of steps In the \tlltagc \Ioavdorm.
(il Therefore. n ;0 15 + 1 s 16 sleps
(iii Number ofin'cners: x - n/4 .. 1614'" 4
_ 360"
I iii I Phase shlfl: 8 = - , - .. 1'6 - 22.5

(h'j K 1 .. I

K1 .. 2 cos 6 '" 1 cos 22.5 '" 1.847

K," 2 cos 26 '" ~Ctls45" '" 1.414
~ .. 200536;0 2 cos 67S .. 0.765
The output-vollage waveform is shown in Figurt: 7.36.

7.4.9.3 Pulse-width modulation (PWM). The conlrol of harmonics and

variation of the fundamental componcnl can be achieved by chopping thc input
voltage. A number of pulsc-width-modulation schemes have been in use in Ihe
inverter-fed induction motor drives. All of these PWM schemes aim to maximize the
fundamental and selectively eliminate a fc" lower harmonics. Some are discussed in
Ihis section.
Figure 7.37 shows Ihe schematic of an Ul,'cner and wa\'eforms for a phase mld-
pole voltage. The interscclionsof the CarrtCr<;tgnal " (usually a bidireclionaltriangular
366 Chapter 7 Frequency-Controlled Indu<:tion Motor Drives

' , T\
,

~
-
,
- q
- T, 1 T: T'l
~ r---.,
IndUClinn
Mlllor
\

(i) Irwcrlcr motor '<:hcm,l!K

"

.;

H-l-t+ltt/tt/++++++H+f'l:t-fttlthltH-t+ltt/tt/w_o.

+++H1H1-+-1t-+-tl-lHfHtttt-tt-IHHHHI-1t-*tt-tt-- "
o

1,,1 I'WM n",,,~l,nn

Figu .... 7.37 SInusoidal pulse-width modulallOn

 Section 7.S Current-Source Induction Motor Drives 381

Example 7.9
Calcuhue Ihe SlalOr currenl magnilude and slip al ma;ll:imum stator frequency when the
induction motor drive is in lhe nU;ll:-weakening mode of opcrallon and delivcnng r,lled
power. The mOlar and dfl\'c delails arc gi\'cn in Example 7.1.

Sutulion Air gap power is assumed tu he cqualtu rated \'aluc

s, = O.Ol 83
R, 0.1113
,- - = = 0.131
X,... (0.5.).1 + 0.1<.41)
(I ~ s,)s, 1(1 ~ 0.0183)(O.OIR3)
h = p.,. . ," . , = 1.02<1
"" -<- s; (0.1] 1)- + (OmS) ).

." . .,
~:h VI 4 x 0.131: x 1.024
")5'}p,
__ I..... ) 2ab 2 x 0.131 x 1024 ,.

~ = 2(1 -+
, I 'J 4a~b
bw~) + 1 (I + Ow;")l - (I + Ow~) so
I
2(1" 1.024 x 1.5'1:)"'" O.(J.15lJllU.
w" ....... x "'" == 3..'itJ x 377 = 1353.4 rad/sec
V .., '" 115.5 V

I, ., V"I{ (~) s
,
+ J1""'I....
+ i""I",} '" 115.5{~1 0.018.1
+ 50 .. J135.'.4
J .
~ O.0538}

.. 1).24 - J6.2 A
11.1'"' 11.12 A
(I - ,) (J - 0.0359)
"'........) = "'..........). (I _ s,) = 3.59 x (I 0.0183) = 3525 p.u

7.5 CURRENT-SOURCE INDUGION MOTOR DRIVES

7.5.1 General

In a currenl-source drive. the input currents arc six-stepped wavdorms. Ampillude

and frequency are variables. as in VOltage-source drives. Currcll1-source drives ha\'e
a distinct advantage over vollage-source drives: lhe electric"l npparalUs is current
scn~ilivc. and IOrquc is directly relaled to the current rather lhan the voltage. Henc....
control of current ensures lhe direct and precise conlrol of lhe electromagnetic lorque
and drive dynamics. Current-source variable-frequ.:ncy ~uppli ...' 5 are realized eith.:r
with an autosequcnlially commulated invener (hereafter rderred to as ASCI) or with
current-regulated inverter drives. lll.:ir operation is explained in the following sections.
TI,e closed loop four-quadrant current-source invcncrfcd induction motor and its
performance are discussed. TI,e method of computing sl.:ady-state and dynamic per-
382 Chapter 7 Frequency-Controlled Induction Motor Drives

de Lint
Filler I...,

T, T,
T'~
C,Tj C,

T" T~
D, C. D, D,
Threef'ha.e , ~
K V, V, b IndUC'IOl'l)
Suppl) C.
Mor:or
T. C, r.
T.. T..
T'i D, C, D. D,

Fronl-cnd CurrenlSou,ce
COlli rolled Recl,fi.:r In,e,l,,'
figu,e 7.;&4 Cu,rcnl,.<Ju,c,: ,,".lU"!lun ""'lU' dr"".:

formallce is given. 111C dfect of lower harmonic!> on thc performance of lhe mOlor
drive is evaluated. and control of harmonics i~ CXpl<ltlled in Ihis seclion.

7.5.2 ASCI

The ASCIfed induction mo!Or dri\'e is shown III Figure 7044. The convener system
has a conlrolled reclifier for providing Ihe ae-to-de conversion and an invener for
dc-to-ae po.....er conversion. The dc output vollage is fed to Ihe aUloscquenlially
com mutated currentsource in\'erter (ASCI) through a filler induclor. This induclor
is provided 10 maintain Ihe de link currenl 31 a slead) value. The operalion of Ihe
connolled reclifier and current source is gi\l~n III Chapter 3. The principle of opera
tion. to facilitate the understanding of the currentsource drive. is given below.

7.5.2.1 Commutation. 111e sequence of firing the ASCI is T,. T~_ T,. T~. Ts.
T 6 for Ihe phase sequence tlbc in Ihe induCIlon motor. At any lime. two SCRs are
condueling.and Ihey are IUrned on at an inler\'al of 60 eleClrical degrees. lei T, and
1'1 conduct. and let the dc link current be a conSlanl. 111e capacilor C I is charged
positive at the plate connecting it to Ihe cathude ofT l and negalive at the plate con-
necting it to the cathode ofT).l11e current is following the path T I 01' phase tI wind-
ing. phase c winding. 02. "2' de source. as shown in "lgure 7.45(i). To commutate
phase a current. T) is gated on. With lhat. the capacitor voltage is applied <ICTOSS 1'1'
which reverse biases it. TIle current will conlinul: 10 flow through T1.C 1 0l.ll phase,
c phase. 02' T1. dc source. '!1lC SCR T[ is turned off. TllC current flow re\'erses the
charge across C,:I1lis;s shown in Figure 7.45(ii).
The reversing charge in the capacitor C, forward biases OJ; hence. the dc link
current is splil lhrough bOlh Q and b phases. as shown III Figure 7.45(iii). The voltage
across C 1 becomes increasingly negative with respeci 10 D I _ which re\erse biases it
and CUlS off conduclion. 111e dc link current goes Ihrough only band c phases. as
shown in Figure 7.45(iv).
 Section 7.S Current-Source Induction Motor Drives 383

-h
,, T, C,
t,
, D, D,
~ b
v, "- ~ / '
,, , ,
'.1,, D,

... _ _ .J , T,

Ii)

--.
T,
-
----.C1 I 1',

-
I
'1-=-1f-'+1
_-_.J-.
DI DJ
,
r
v, ..... ~
/'
~

,
: ,
I~rf l
D
0 .. --- 1J 1'1

(iii)
tlgurc 7.45 C<lmnlUl~1I0n sequence in an aUIO"Cqllcnhally comlHulaled currcnHiOllTCC lIl\crlcr

The current in phase (J has been cornmut,lled completely. LikewIse. gating one
SCR will commutate the parallel SCR. The SlalOr phase currents arc shown in
Figure 7.46 assuming Ihal the stator is YconneCled. For purposes of analysis. it is
usual to negieci the rise and fall times of the current and consider only ideal reclan-
gular blocks of currenl with 120-electricaldegree duration.
The currenl commutalion is slow: hence. converter-grade SCRs wuh a large
lurn-off time are sufficient for the ASCI. This reduces the cost of the dcvices. The
Iransfer of current from one phase 10 another produces a voltage spike due 10 the
leakage induclances in the malar. Such voltage spikes are undesirable. and they
increase the SCR voltage ratings. The commulation capacitors absorb pArt of this
commutation energy and reduce the magnilude of the voltage spikes.

7.5.2.2 Phase-sequence reversal. Tnc phase sequence of the IIwerter out-

put currents is reversed by changing the sequence of firing the SCRs. 11\e sequence
of firing for phase sequence abc is T l.T 2..... T6 : for phase sequence ncb, it is T I.T6
Ts. T~. T3. T z. Note that the phase-sequence reyersal command is determined by the
speed command and actual speed of the induclion motor. An abrupt phase-sequence
reyersal in the induction mOlor would result in plugging. accompanied by large Sialor
384 Chapter 7 Frequency-Controlled Induction Motor Drives

+
'. -

'. ,, ,, ,, ,,,
0 ,, ,, ,,, ,
, , ,,
'. ,,
----t-----t-- -
,,,
,, ,,
,, ,
'. 0
,,
,
,,,
,,
,
,,
1I,.deg.

,, ,
,, ,,,
,, ,
,,
, ,, ,,
0 ,,, ,,, ,,,
, ,, ,, ,
,, , , , ,,,
!

12" ,,,,. "".

"Itu~ 7.~ Stator currents In a star-ronnttle(l IndUCllon mot:or fctJ from a cunenl :IOUrce

currents. fherefore.a great amount of caution and control is required to initiate such
an action.

7.5.2.3 Regeneration. To understand regeneration. It IS instructive to go

through the motoring operation of the current-source induction motor drive shown in
Figure 7.47. In the motoring mode. the electrical power input is positi\e. and the recti-
fied de voltage and current are positive. The reflected voltage of the induction motor at
the input of the inverter. V" is positive. and it opposes the de input \'oltage V, in the de
link. Note that the induction motor drive is in the forward motoring mooe with speed
and torque in the clockwise direction. In the regeneration mooe, the rotor speed
remains in the same direction but the torque is reversed. This is achieved by making
the slip speed negative. Ii results in the negalive induced emfs in the stator phases of
the induction motor, which appear as a negative voltage at the invener inpul. as is
shown in Figure 7.48. For stable operation. the rectified vohogc V, is reversed. thus
enabling the absorption of regenerative energy. The input dc link current is positive.
and dc link voltage is made negative. resulting in the input de link power being nega-
tive, implying that the induction machine is sending power to the input ac mains.
The same operation results during the regeneration when the rOlor speed is in
the counter clockwise direction.lllUs. four-quadrant operallon IS achieved with one
 Section 7.5 Current-Source Induction Motor Drives 385

+ '-< +
ThreephR!Ie
lie po....er
supply t 1 I
-
, T
I
-
, f
~
InduCllon
MOlor

COlli roll!:"" '.

de link fill",
Aut,,
RCClifiel ",qu"nll~lIy
Commut~lC'd
In\CIIU (ACSn
FiIlU",7.47 Forward mulrmng of the curr"nl-WUIC'" mducllun mUlt)! drl\'"

'-<

t 1I'~ TI t
Thrce-phao;e
Inducll(lll
ae po"'cr , MOlol
supply

'.
+ +

Conlrollcd Auto.
Reeufic' de Imk filter
~qllentl~lly
Commutated
In\'cl1tIIACSI)
t'Il,,",7.48 RC'generiluun III the current)Ourcc mdUClion mOl", OIl\'C

controlled rc:=ctifier. as opposed to a dual controlled reclilier in the case of t h~ voltage-

source-inverter induction mOlar dnv~.

7.5.2.4 Comparison of converters for ac and dc motor drives. i\ compar

ison of conycrters for dc and ae motor drives is timely to assess th~ rclatlvc cost. TIle
converters arc assumed to use SCRs only. The motor drive has to be rour-quadrant in
operation. 'nle induction motor drives with voltage and current "ouree (ASCI) are
compared with the de motor drives. The comparison is given in Table 7.2. From the
table. it is inferred that the ASCI-fed induction motor drive is more ceonomlcalthan
its voltage-source counterpart but is more expensive Ihan Ihe de motor drive. When
the COSI of the mOlor is included for comparison. particularly above: 100 hp. the ASCI-
fed induction mOlor is likely to be thc economical motor drive.

7.5.3 Steady-State Performance

The steadystale performance of the current-source induction motor (hcreafter

referrcd to as CSIM) drive can be evaluated approximatcly by using Ihe fundamen
tal of the input currenls or exactly by matching boundary conditions. The approxi-
male solution by using the equivalent cirCUlI of the induction motor lend:. insight
into the innuence of the Illotor parameters on the drive performance:. 1111~ exact
solution using boundary-malching condllions offers no such trlSlght into the drive
performance. BOlh solution methods arc dcvclopcd III this S('ctlon.
396 Chapter 7 Frequency-Controlled Induction MotOf Drives

.....
J
.,
I
.'
JITIE
. . ,.
~ -I
'.~"""

<ffiITL?
,
.. ,.. ,",
t, ..... "'"
,..----,.--,-!

,
,J ,
.
. . . ,,
..........
t ~1 . .

'.' ..::.. ~""

I

.......,

J:~~
. .. ... '-
I ........

.
._~ -~ \ I , .'
.:~ ........ ..1 ...,
~~ .. . .. . <.... .1<,
t1au,t 7.5lliil SI~adY$lalt wlIvtfo,ms or the CSI \1 dnve "litlload (W'I fJ"5 rlld.<c:c.l .. =",5 A.
T... =UI5~1".1l)

1.5.5 Closed-loop CSIM Drive System

The schematic of Ihe CSIM drh'e system is shown in Figure 7.52. lhe induction
molor is supplied by an autosequentially cammutalcd inverter (ASCI) with SICp
currents. The control mpuls 10 lhe inverter are current and rrequcn'0 commands.
The imcrter conlrol cirCUli enforces the stalOr frequency instanlaneou~ly by SWitch
ing or the inverler po\l,cr deVICes. The lO\erter inpul CUrTent IS u:gulatcd b} the
 Section 7.5 Current-Source Induction Motor Drives 397

Coni rolled
ReClifier CSI
If '.1<

11lrcc-PhIl5e Induction
"'
Inpul Mulor
K, ASCI

v; r',

KI".K" 1-1.
. '.

K",.K"
F;~lIr~ 7.52 CSI~t JII' e ,"'Ie III "'l1h 'tlCcd control

de link inpul vohag.... \,. obtained from the phase-controlled rectificilllon of the
three-phase ae supply \oltages. The control uf v, is eKercised by feedback control of
the inverter input current. with the feedback loop consisting of lhe controlled recti,
fier. dc link inductor. invcrter inpul pon. inn' ncr input curren!. gain of thc currenl
transducer. inverter input current command. and control voltage. This inner current
loop provides Ihe variable current sourc.: for feeding into the invertcr.llie lime lag
involved in the switching of the cOnlrolkd rectifier forces the dc link to be provided
with a large inductor 10 maintain a con~tant current and to provide protection dur-
ing inverter and motor short-circuils.
The frequency command is synthesized from the summation of the rOlOr speed
and the slip-speed command. given b) the proportional voltages v" and \'.1. respec-
tively. 111e slip-speed command is gencrat...d from lhc error between the reference
speed and the rotor speed. given proporllonally hy the signals V' and v". respeclively.
111e slip speed IS limiled. 10 limil the dc link current within the safe . . Iperational
bounds and 10 regulate th.: 'lperation (11 the indUClion motor in th.: high-dficil.'ncy
region. The slip-speed tommand pro\ id<..'s the inverter input-currelll command
through a function generawr whose de~ign is con<;idcred subsequemly. Note that the
inverter inpul-current command has to b<..' positive. irrespective of the slip-~I)Ced com-
mand signal.'ntis is due to the facts tho'll till.' controlled rectifier allo.....s current in one
direction only <tnd thaI the regencraliol1 i~ handled by the reversal of the inverter
inpul voltage (and. hence. hy the controlled-rectifier OUIpU( voltage).111e re\('rsal of
the input inverter voltage occurs hecall~e of the rcgl.'llcration induced by the negativc
slip speed ill the inducti(ll1 machine. Nflt... thaI the Illverter inpul voltage rclkcIs the