Beruflich Dokumente
Kultur Dokumente
ENGINEERING COLLEGE
TIRUCHIRAPALLI – 621213
6. What are the three regions in the speed-torque characteristics in the IM?
Motoring region(0<=s<=1)
Generating region(s<0)
Plugging region (1<=s<=2) where s is the slip.
7. What is the advantage of stator voltage control method?
18. What is the purpose of inductance and capacitance in the D.C. link circuit?
The inductance in the D.C. link circuit provides smoothing whereas the
capacitance maintains the constancy of link voltage. The link voltage is a controlled
quality.
19. What are the effects of harmonics in VSI fed induction motor drive?
If the motor receives square wave voltages this voltage has harmonic
components the harmonics of the stator current cause additional losses and heating.
These harmonics are also responsible for torque pulsations. The reaction of the fifth
and seventh harmonics with the fundamental gives rise to the seventh harmonic
pulsations in the torque developed.
21. Why the static scherbius drive has a poor power factor?
Drive input power is difference between motor input power and the power fed
back. Reactive input power is the sum of motor and inverter reactive power.
Therefore, drive has a poor power factor throughout the range of its options.
25. What are the causes of harmonic currents in static Kramer drive?
The rectification of slip power causes harmonic currents in the rotor, and these
harmonics are reflected to the stator by the transformer action of the machine.
The harmonic currents are also injected into the A.C. line by the inverter. As a result,
the machine losses are increased and some amount of harmonic torque is produced.
Each harmonic current in the rotor will create a reading magnetic filed and its direction
of rotation will depend on the order pf the harmonic.
27. How is the static Scherbius drive operated in super synchronous motoring
mode?
In super synchronous motoring mode, the shaft speed increases beyond
the synchronous speed, the slip becomes negative and the slip power is
absorbed by the rotor. The slip power supplements the air gap power for the total
mechanical power output. The line therefore supplies slip power in addition to
stator input power. At this condition, the phase sequence of slip frequency is
reversed so that the slip current – induced rotating magnetic filed is opposite to
that of the stator
PART-B
1)Explain construction and working principle of three phase induction
motor.(AU/2012/11/)
Construction:
Stator
Rotor
Stator:
the stator made up of a stamping with alternate slot and tooth. Stamping are insulated
from each other. Each stamping is 0.4 to 0.5 mm thick. The slot house the three phase winding
just like a three phase alternator. The three phase winding is called stator winding. It may be
connected either in star or delta. The stator winding is made for a fixed number of poles.
Rotor:
There are two type of rotors used in induction motor. They are,
Squirrel cage
Slip ring
This is made up of a cylindrical laminated core with slots to carry the rotor conductor.
The rotor conductor are heavy bars of copper or aluminum short circuited at both ends by end
rings. Hence the rotor is called a short circuited rotor.
The rotor winding may be star or delta connected, distributed winding, wound for as
many number of poles as the stator is wound for. Variable external resistance can be connected
in the rotor circuit, with the help of brushes and slip ring arrangements. By varying the external
resistance in the rotor circuit, the motor speed and torque can be controlled.
WORKING PRINCIPLE:
Ns=
F=supply frequency
As a result of the rotating magnetic field cutting the rotor conductors , an is emf induced in the
rotor, if the rotor winding is shorted (in cage rotor they are already shorted and in wound rotor ,
they have to be shorted externally)
Then the induced emf produces current , this current produces a rotor field (rotor emf).
The interaction of stator and rotor field developed torque , then the rotor rotates in the same
direction as the rotating maganetic field when the rotor stand still , the frequency of rotor emf is
equal to the supply frequency .
As the rotor speed up , the frequency of the rotor emf and the magnitude of rotor decrease.
The rotor tries to catch up with the rotating magnetic field however, the rotor cannot really catch
up the synchronous speed , because if it does so the relative speed would becomes zero and
then ther is no rotor induced emf , no current and hence no torque. therefore, the rotor runs at a
speed slightly less then the synchronous speed , in an induction motor the rotor speed is always
less than the synchronous speed , therefore this machine is called as synchronous machine .
The difference between synchronous speed and rotor speed is called as slip speed.
(Slip speed) = Ns - Nr
Slip, s=
% slip =
At no-load, the difference between synchronous speed and rotor speed is only about 1%.
1. Cheaper
Per phase equivalent circuit of a three phase induction motor is shown in the fig. and
are the stator referred values of rotor resistance Rr rotor reactance Xr. Slip is defined by
ms m
s _____________ (1)
ms
4ππ
ms Rad/sec _______________ (2)
p
Since, stator impedance drop is generally negligible compared to terminal voltage V, the
equivalent circuit can be simplified to that shown in the fig:
ms (1 s) _______________( 3)
From fig
V
I 'r = _______________( 4)
R
'
R s r
j(X s X 'r )
s
1 s
Pm p g Pcu 3I '2r R 'r ______________(7)
s
pm
T ____________(8)
m
3 R 'r
T I '2r _______________(9)
ms s
3 V 2 R '2r /s _______(10)
T
ms R 'r 2
s R
X s X 'r
s
The developed torque is a function of slip only and slip for maximum torque is given by
R 'r
Sm ___________(12)
R Xs X
2
s r
' 2
Substituting from eqn (12) into (10) yields an expression for maximum torque
3 V2
T ______________ (13)
2 ms R s R s2 (X s X '2r ) 2
Dividing eqn (10) by (13) and substituting in from (12) yields
R
21 s' s m
T
Rs
______________ (14)
Tmax S Sm Rs
2 '
Sm s R r Sm
Rs
The term s m is very small compared to I and dominating the denominator. Therefore, it can
R s'
be dropped from eqn (14)
T 2
__________________ (15)
Tmax S Sm
Sm S
As three – phase set of unbalanced voltages (Va,Vb and Vc) can be resolved in to three
phase balanced positive sequence, negative sequence and zero sequence voltages, using
symmetrical components relations:
Vp = 1/3(Va+αVb+ 2 Vc)
Vn = 1/3(Va+ 2 Vb+αVc)
For positive sequence voltages, equivalent circuits are same, except that V is replaced by
Vp . The positive sequence rotor current and torque are obtained by replacing V by Vp. Thus
Vp
I 'rp 2
__________________
(3)
R'
R s r j(X S X 'r ) 2
S
3 2 2
VP R r /S
TP _______________(4)
ms '
2
R s r (X S X r )
R ' 2
S
The slip is
ms m
Sn _____________ (5)
ms
Sn = (2-S) ______________(6)
When S is replaced by (2-S), and V is replaced by Vn , Then the following expressions are
obtained for rotor current and torque:
V
I 'rn _________________
(7)
Rr
'
R s j(X S X r )
'
S
S
Torque has a negative sign because for negative sequence voltages the synchronous speed is the
synchronous speed is (- ms )
Positive sequence, negative sequence and the resultant speed – torque characteristics are shown
in fig:
Star-Delta Starter
In this method motor designed run in delta connection and connected in star during
starting, this allows reduction in stator current and voltage by 1/√3.
Circuit breakers CBr and CBs are closed to start the motor in star connection and when
the motor started to run in steady state speed, the circuit breakers CBs and CBr are
closed run the motor in Delta connection
For a secondary to primary turns ratio of aT , motor terminal voltage and current are
reduced by aT . This reduces the current drawn from supply aT 2
The highest value of resistance is chosen to limit the current at zero speed
within safe values.
C1, C2, C3 are the closing contacts to close step by step to reduce the current
when the motor accelerates and also between the maximum and minimum for
specified values.
Regenerative braking
The power input to an induction motor is given by
Pin 3 VI S COSφ s
Where ФS is the angle between the stator phase voltage and stator phase current.
For motoring operation Ф S< 90 , if the rotor speed greater than the synchronous, relative
speed between the rotor conductor and air gap field is reverse.
When fed from a source of fixed frequency, regenerative braking is possible only for
speed greater than the synchronous speed.
Regenerative braking
When phase sequence of the supply with respect to terminal is changed means, the motor
also start to rotate in reverse. Then the motor shift it operation from motoring to
plugging.
ms m
The slip for plugging is given by S n 2S
ms
A special case of braking occurs when an induction motor connected to positive sequence
voltage is driven by an active load in reverse direction. Crane hoist is one such
application.
However braking torque produced by this connection larger than the motoring. Motor
essentially works in regenerative braking.
TRANSIENT ANALYSIS
A rigorous analysis of operation induction motor can be done with help of d-q axis model
involving long calculation. Simple method of analysis with satisfactory accuracy for most
application obtained by using steady state torque relations.
d m 2Tmax
J Tl ( m )
dt S Sm
Sm S
d m 2Tmax
J
dt S Sm
Sm S
d m ds
ms
dt dt
τ S S
dt m m ds
2 S Sm
J ms
τm
Tmax
τ m is the mechanical time constant of the motor. It is defined as the time taken by the motor to
reach the synchronous speed from stand still under constant accelerating torque equal to the mechanical
torque of the motor.
τ
0.05
S Sm
ts m
2 S
1 m
ds
S
1
ts m 1.5S m
4S m
Thus starting time is a function of Sm. Starting time has a minimum value of 1.22 m at Sm=0.4, When Rs
is negligible, rotor resistance required to start the motor in minimum time is
( R rm ) S 0.4( X s X r
' '
m 1 Sm S 0.75
tb
2
2
S
Sm
ds m 0.345S m
Sm
Stopping time function of Sm. It has a minimum value 1.027 m at Sm =1.47 corresponding value of rotor
resistance is
(R 'rm ) b 1.47( X s X 'r
Time required for speed reversal by plugging when running on load is given by
m 0.05
S Sm 1
tt
2 S
2 m
S
ds m 3.69 S m
Sm
Minimum time for reversal is thus 2.88 m corresponding values of Sm is 0.52. Rotor resistance
required for speed reversal by plugging in minimum time is
(R 'rm ) r 0.52( X s X 'r
E sr 3I
'2
r R 'r dt
0
ts
E sr msTdt
0
E ss I
'2
r Rs
0
1 2 Rs
as E ss 2 J ms
R'
r
1 2 R
ES J ms 1 S'
2 Rr
Rotor winding loss during stopping by plugging under no load can be written
1
3
as E
'
sr J ms
2
sds J ms
2
2
2
7) Explain the closed loop speed control of VSI fed & CSI fed induction motor
drive.
VSI fed Induction Motor Drives
Voltage source inverter allows a variable frequency supply to be obtained from a dc
supply.
VSI can be operated as a stepped wave inverter or PWM inverter. When operated as
stepped wave inverter, transistors are switched in sequence with time difference.
Frequency of the inverter operation varied by varying the T and output of the inverter
also varied accordingly.
Inverter output line and phase voltage are given by the following Fourier series:
2 3 1 1 1 1
VAB Vd Sin t Sin 5t - Sin7t Sin11t Sin13t....
π 5 7 11 13
The resistance value can be varied with help of the duty ratio of the transistor.
The RMS rotor current will be
2
Ir Id
3
Therefore average value of resistance between the terminals is given by
PAB= I d2 R AB I d2 R(1 δ)
The phase voltage command Vs* is generated from frequency command and the flux is
remain constant.
In a DC machine neglecting the armature reaction effect and field saturation, the
developed torque is given by
Te K 't I a I f
Te K t ψ r I qs K 't I qs I ds
Kramer system
Scherbius system
Kramer system:
The Kramer system is applicable only for sub synchronous speed operation. The classification
of Kramer system is
Fig. shows conventional Kramer system. The system consists of three phase rotary converter
and a DC motor. The slip power is converted into dc power by a rotary converter and fed to the
armature of a dc motor.
The slip ring induction motor is coupled to the dc motor. The slip rings are connected to
the rotary converter. The dc output of rotary converter is used to drive a dc motor. The rotary
converter and dc motor are excited from the dc bus bars or from an exciter. The speed of slip
ring induction motor is adjusted by adjusting the speed of dc motor with the help of field
regulator.
This system is also called the electrochemical cascade, because the slip frequency power is
returned as mechanical power to the slip ring induction motor shaft by the dc motor.If the
mechanical loses in cascade system are neglected the shaft power output of the SRIM motor is,
Pm = (1-s) Pin
Where,
Advantages
The main advantage of this method is that any speed, within the working range can be
obtained.
If the rotary converter is over excited, it will take a leading current which compensates
for the lagging current drawn by SRIM and hence improves the power factor of the
system.
The slip power is converted into dc by a three phase diode bridge rectifier fig. this dc power
is fed to the dc motor. This dc motor is mechanically coupled to SRIM. The slip power is
converted to mechanical power and fed back to the SRIM shaft.
The torque supplied to the load is shared by SRIM and DC motor. The SRIM speed can
be controlled by controlling the field regulator (field current) of the dc motor. In this method
the speed control range is synchronous speed to around half of the synchronous speed.
In the fig. the diode bridge rectifier is replaced by thruster bridge rectifier. The speed of
SRIM can be controlled from zero to around synchronous speed, by varying the firing angle
of thirstier rectifier.
In the rotor resistance controlled method, the slip power is wasted in the rotor circuit
resistance. Instead of wasting the slip power in the rotor circuit resistance, it can be
converted to 50Hz ac and pumped back to the line.
Here, the slip power flows only in one direction. This method of drive is called static
Kramer drive. It is shown fig. the static Kramer drive offers speed control for sub
synchronous speed only. i.e. speed can controlled less than the synchronous speed only.
In this method, the slip power is taken from the rotor and it is rectified to dc voltage by
three phase diode bridge rectifier. Inductor Ld smoothens the ripples in the rectified voltage
Vd. this DC power is converted in to AC power by using line – commutated inverter.
The rectifier and inverter are both line commutated by alternating emfs appearing at the slip
rings and supply bus bars respectively. Here, the slip power flows from rotor circuit to
supply. This method is also called constant – torque drive.
SCHERBIUS SYSTEM
The scherbius system is similar to Kramer system but only difference is that in the
Kramer system the feedback is mechanical and in the scherbius system the return power is
electrical. The different types of scherbius system are:
Figure shows conventional method of scherbius drive. This method consists of SRIM,
rotary converter, DC motor and induction generator. Here, the rotary converter converts slip
power into DC power and the DC power fed to the DC motor.
The Dc motor is coupled with induction generator. The induction generator converters
the mechanical power into the electrical power and returns it to the supply line. The SRIM speed
can be controlled by varying the field regulator of the DC motor.
For the speed control SRIM both below and the above synchronous speed, static
scherbius drive is used. This system can again be classified as
This system consists of SRIM, two numbers of phase controlled bridges, smoothing
inductor and step up transformer. This system used for sub synchronous and super
synchronous speed operation.
In sub synchronous speed control of SRIM, slip power is removed from the rotor circuit and
is pumped back into the ac supply. Fig. shows the dc link static scherbius system.
The slip power flows from rotor circuit to bridge 1, bridge2, transformer and return to the
supply.
In super synchronous speed operation, the additional power is fed into the rotor circuit at
slip frequency. Fig. shows super synchronous speed operation of a dc link static scherbius
system. In the scherbius system, when the machine is operated at super synchronous
speed, phase controlled bridge 2 should operate in rectifier mode and bridge1 in inverter
mode. In other words, the bridge2 has firing angle less than 90 0 and bridge 1 has firing
angle more than 900. The slip power flows from the supply to transformer, bridge2 (rectifier),
bridge1 (line commutated inverter) and to the rotor circuit.
Near synchronous speed, the rotor voltage is low, and forced commutation must be employed in
the inverter, which makes the scheme less attractive. The replacement of 6 diodes by 6
thyristors increases the converter cost and also necessitate the introduction of slip frequency
gating circuit.
Difficulty is experienced near synchronous speed when slip frequency emfs are
insufficient for line or natural commutation, and special connections or forced commutation
methods are necessary for the passage through synchronism. Thus, the prevision of super
synchronous speed control unduly complicates the static converter cascade system and nullifies
the advantages of simplicity and economy.