38

CHAPTER 3

EXTINCTION ANGLE CONTROL TECHNIQUE

3.1 INTRODUCTION

The time old conventional starting schemes have been in use for
many years and they exhibit some drawbacks and such drawbacks can be
overcome only with power electronic motor starters. The advent of modern
power electronic devices and the control systems supported by modern digital
processing units have led to the development of digital power electronic soft
starting schemes that guaranteed higher degrees of compliance of the
requirements of an ideal soft starter for the induction motor. This chapter
presents the results of the comparative study of the two versions of soft
starting schemes, viz. the PAC and the EAC and brings about the highlights
by way of MATLAB/SIMULINK-based simulation and experimental
verification, and the advantages of the EAC.

3.1.1 Main Objectives of a Starter

1. To provide a convenient means for connecting and

disconnecting the AC three phase power of appropriate rating
with the motor with minimal arcs and sparks. The DOL starter
or the oil immersed DOL starter well serves this purpose

2. To reduce the starting current drawn by the motor because if

the full rated voltage is applied to the motor as in the case of
the DOL starter in a single step, the starting current of the
 39

motor will be as high as seven times the rated full load

current.

Considering such circumstances, the starter is meant to supply

reduced voltage at starting and limit the starting current within the allowable
boundaries during the starting process. Typically, the star delta starter reduces
the applied voltage at starting to 1/ (3) times the rated voltage and thus can
reduce the starting current. Compared to the star delta starter, the
autotransformer starter is more efficient in the sense that the output voltage of
the autotransformer starter can be continuously changed from the zero voltage
level to the rated voltage level.

In this case, the starting current can be limited to safe levels

throughout the starting process. The autotransformer starter can be activated
both manually and it can be realised as a motorised starting scheme with the
help of a servo motor.

3.1.2 Drawbacks of the Conventional Starter

Some of the drawbacks of the conventional starters are,

i. They are costly because of the use of copper in the holding

coils and silver or gold plating in the contacts.

ii. They are bulky.

iii. They need special maintenance procedures.

Apart from these basic disadvantages, the conventional starters are

not flexible. For example, with the solid state starters, a control action like
decreasing or increasing the applied voltage to the motor under control can be
 40

implemented in a fraction of a second accurately which is not possible with

the conventional starters.

3.1.3 Solid State Starters

Compared to the conventional starters, the modern solid state

starters realised using SCR, MOSFET or IGBT offer more flexible
controllability especially when designed to operate with the modern digital
signal processing systems. The core rational difference between the voltage
reduction schemes, during the starting process, in the conventional starters
and the solid state starters is that the conventional starters use amplitude
control that happens along the Y axis and that the solid state controllers used
in modern soft starting schemes use time axis control where the RMS value of
the output voltage is controlled by controlling the duration of conduction in
every cycle.

3.1.4 Classification of Soft-Starting Systems

There are two types of soft starting systems. In one method known
as the open loop method, none of the output parameters like current, or torque
or speed is monitored. The voltage applied to the motor is just increased in a
smooth time bound manner with a fixed slope. The second method is the
closed loop method in which any one of the parameters like stator current, or
torque or speed of the motor is continuously monitored and compared against
set values. The increments of voltages will be carried out accordingly. It is the
open loop soft starting method that is discussed in this work. The two
schemes implemented using solid state power electronic circuits, namely the
PAC scheme and the EAC scheme are compared.
 41

3.2 PRINCIPLE OF STARTING AN SCIM

An induction motor can basically be compared to a transformer

with the stator winding of the IM related to the primary winding of a
transformer and the rotor conductors of the IM related to the secondary
winding of the transformer. A motor at standstill is like a transformer with its
secondary short circuited, exhibiting the lowest impedance looking from the
primary side of the transformer and as the motor starts up and picks up speed,
the short circuit of the motor is released gradually, and the impedance grows
gradually until the motor reaches the full speed when it offers the highest
impedance. This is the reason why a motor at startup draws heavy current
which slowly falls down as the motor picks up speed towards the rated speed.
It is to be noted that the speed of the motor has to be increased from 0 RPM to
the rated speed, say 1440 RPM, as a continuous process. As the motor is
accelerated from standstill towards 1440 RPM, its speed should have travelled
along all the possible values in a continuous scale of speed from 0 RPM until
it reaches the rated 1440 RPM.

The philosophy of soft starting is that right from the starting instant
until the rated speed is reached, the voltage is gradually increased in such a
manner that at no instant the current drawn by the motor is more than a
specific limit for that instant. Just before starting, the motor is in an
equilibrium state. Its speed at this equilibrium state is zero. If a certain voltage
is applied at this condition, the motor draws some current, and thus some
energy is imparted to the system disturbing the state of equilibrium of the
system. As a result the system tries to adjust its free parameters, and in this
case the rotor starts rotating until the given energy is fully utilised, and the
stored energy becomes minimum. Now, the motor has moved on from the
previous equilibrium state on to a new equilibrium state with the rotor of the
motor now rotating at a certain new speed.
 42

The torque that was produced by the motor by the effect of

imparting energy to the motor has just been sufficient to bring the motor from
the previous equilibrium of standstill state to a state of new equilibrium with a
certain speed. If some more electrical energy is supplied to the motor system,
it is further disturbed again and moves on towards a still new equilibrium
state adjusting its free parameter, this time exhibiting a still higher speed.

3.2.1 Practical Problems in Starting

Instead of imparting energy in small steps of incremental quantities,

if the same is supplied suddenly in a single step, then the motor system will
try to adjust its free parameter, that is the speed of the rotor such that its
stored energy is minimal at all instants between the two equilibrium states,
viz. the initial equilibrium state with 0 RPM and the final equilibrium state
with 1440 RPM. The practical problem is that the motor cannot change its
speed from 0 RPM to the rated RPM momentarily because of the moment of
inertia. As a result the excess energy could be stored in the system and that
part which could be exhibited as a rise in the speed of the motor is
transformed into heat. That is, it will take a definite period of time before it
reaches a new state of dynamic equilibrium and that, during most part of the
starting period, it is in non-equilibrium states.

3.2.2 Need for Soft Start

Soft starting is a technique that allows the motor to undergo the

transient from the state of 0 RPM towards the final rated speed with minimal
deviations from the line of dynamic equilibrium by way of administering the
just required quantity of energy from time to time in a continuous manner.

The three phase AC voltage regulator is a suitable candidate for soft

starting the three phase induction motor. By continuously changing the
 43

switching angle, thereby controlling the conduction period continuously, the

voltage applied to the motor can be gradually increased in a manner with
respect to time such that only the just required power is imparted to the motor
during the starting process as the speed picks up from 0 RPM.

3.2.3 Torque equations

From the fundamental torque equation of the induction motor as

shown in Equation (3.1) it is evident that the torque produced is proportional
to the square of the applied voltage ( T1 V12 ). If the motor is applied with full
rated voltage, then the motor is accelerated suddenly. This sudden
acceleration may cause mechanical stresses in the parts of the motor as well
as the associated mechanical linkages.

kSV12 R2
T (3.1)
R22 S 2 X 20
2

Huge starting currents may heat up the motor, and also because of
suddenly increased currents, the feeder voltages may dip affecting other
voltage sensitive loads connected to the same feeder.

Soft starting is a means of starting the motor with reduced

acceleration such that the motor speed rises up slowly while the current drawn
by the motor is also limited (Zenginobuz et al. 2004). Though soft starting
reduces the acceleration and prolongs the period of starting, the electro
mechanical stress on the entire system is well within limits. This leads to a
long reliable life of the entire system (Chia & Nabeel 2007).

The torque produced by the motor can be controlled by controlling

the current or by controlling the applied voltage as shown in the relation given
in Equation (3.2).
 44

T2 T1 (i2 / i1)2 k *T1(V2 / V1)2 (3.2)

With reference to the equation the torque all along the starting
process can be reduced and kept within limits by applying voltage in small
incremental quantities (Sun Zhiping 2009).

While the impedance of the primary or stator winding of the

induction motor is always constant, that of the secondary or the rotor, as
viewed from the stator terminals, undergoes a change in accordance with the
slip offered by the running motor. While at starting the slip is 100 % and
when close to the rated speed the slip falls down typically as low as 5%.
When slip is zero as at starting, the flux linkage between the primary or stator
winding and the secondary or rotor winding is maximum. This leads to the
gradual rise of the rotor impedance from a minimum value at starting to
maximum value at near the rated speed and is reflected on the stator winding.

3.3 AC VOLTAGE CONTROLLER

The AC voltage controller is a power electronic circuit with the

topology which is given in Figure 3.1. The AC voltage controller can deliver
electrical power in the variable voltage fixed frequency form from a source of
fixed voltage fixed frequency form. The variable voltage output is made
possible by allowing power to the receiving circuit in a controlled manner by
controlling the duration of conduction of the associated switches between 0
degree and 180 degree each of the positive half cycle and between 180
degrees and 360 degrees in every negative half cycle of the AC source.
 45

Figure 3.1 Topology for EAC/PAC

In each of the positive and negative half cycles of the sinusoidal

AC source, if the devices are set to conduct only after a certain angle of delay
as measured from the zero crossing and conduction ends up with the
following zero crossing in each cycle.

In the case of the three phase AC voltage controller, the RMS value
of voltage output is given by Equation (3.3),

1/ 2
1 sin 2
V0 RMS Vs ( )
2 (3.3)

where

Vs is the rms value of supply voltage.

is the conduction angle.

 46

3.3.1 Methods of Controlling the AC Voltage Regulator

The three phase AC voltage regulator can be controlled in a

different number of ways. The PAC, the EAC, the SAC, alternate phase and
EAC and the multiple switched SAC are some of the popular techniques. Of
these different techniques, the PAC and the EAC scheme are studied in detail
as the main focus of this research and the findings in simulation as well as
experimental verification have been consolidated. Parameters like stator
current, THD of stator current, power factor during starting, torque pulsations
during starting and the rate of rise of speed were all compared for both the
methods of soft starting.

3.3.2 Switching Pulse Generation

In both the control scheme for every half cycle of the AC source a
switching pulse is to be generated. Thus, a train of switching pulses with
increasing order of pulse widths will be generated synchronously.

3.3.2.1 Pulse generation subsystem for PAC

The PAC is a typical time axis control method in which the

duration of conduction is varied from 0 to 180 degrees in the positive half
cycle and 180 to 360 degrees in the negative half cycle. The switches are
turned on after angle from the 0 degree for positive half cycle and after
angle after the 180 degrees in the negative half cycle. Conduction continues
until the following zero crossings at 180 degrees and 360 degrees respectively
for positive and negative half cycles. Figure 3.2 shows the generation of
switching pulses for PAC scheme.
 47

Figure 3.2 Pulse generation subsystem for PAC

3.3.2.2 Pulse generation subsystem for EAC

Contrary to the PAC, in the case of EAC, the conduction starts

exactly at the 0 degree instant and the 180 degree instant for the positive and
the negative half cycles and continues until or before the consequent zero
crossings at 180 and 360 degrees respectively. The switching pulse generation
sub system for the EAC scheme is shown in Figure 3.3.

Figure 3.3 Pulse generation subsystem for EAC

PAC is the pioneer because it was the SCR that was used to achieve
it. Since it is difficult to turn off the SCR, while it is conducting, the EAC
scheme came into existence after the advent of MOSFETs and IGBTs.
MOSFETs and IGBTs can be turned on and off easily at the required instants
by applying the turn on signals and removing them whenever necessary.
 48

3.3.2.3 Methodology for creating the pulses

A repeating periodic ramp of time period 10ms is created. This

ramp is constantly compared against a slowly rising DC signal. This DC
signal rises from 0 towards 1 with any desired rise time and will stay at 1 as
long as the motor is running. If the rise time of this signal is long, then the
starting period or the duration of the starting process of the motor will be
elongated.

Figure 3.4 Methodology for creating the switching pulses for PAC

Figure 3.5 Methodology for creating the switching pulses for EAC
 49

In a three phase system similar to the R phase, the Y and the B

phase switching signals are generated in a similar manner except that next to
the repeating sequence is a time delay correspondingly for 120 degrees and
240 degrees respectively for the Y and the B phases. The waveforms
pertaining to the repeating sequence, the time varying reference DC and the
output of the comparator for phase and extinction angle scheme are shown in
Figure 3.4 and Figure 3.5.

3.3.3 Performance analysis of the AC voltage controller

The study of the characteristics of the PAC, the EAC and the SAC
is carried out. The study of the different controllers has been carried out using
the following strategy.

3.3.3.1 Strategy 1-Fixed conduction periods

All these experiments were carried out using the

MATLAB/SIMULINK-based simulations. In this procedure, two phase
angles are selected such that in the first case a total of 60 degrees of
conduction were implemented. In the second case, conduction period of 120
degrees was applied.

(a)

Figure 3.6 (Continued)

 50

(b)

Figure 3.6 ‘R’ Load PAC (a) 60° 3-phase source current (b) 120° 3-
phase source current

(a)

(b)

Figure 3.7 ‘RL’ Load PAC (a) 60° 3-phase source current (b) 120° 3-
phase source current
 51

(a)

(b)

Figure 3.8 ‘R’ Load EAC (a) 60° 3-phase source current (b) 120° 3-
phase source current

(a)

(b)

Figure 3.9 ‘RL’ Load EAC (a) 60° 3-phase source current (b) 120° 3-
phase source current
 52

(a)

(b)

Figure 3.10 ‘R’ Load Symmetrical control (a) 60° 3-phase source
current (b) 120° 3-phase source current

(a)

(b)

Figure 3.11 ‘RL’ Load Symmetrical control (a) 60° 3-phase source
current (b)120° 3-phase source current
 53

Figures 3.6 to Figure 3.11 show the waveforms of the source

current of the three phase AC voltage controller with the three phase SCIM
operated with two cases of conduction duration of 60 degrees and 120 degrees
with R and RL load respectively.

3.3.3.2 Strategy 2-Continuously varying conduction periods

In this case, the conduction duration is set to follow a continuously

varying trajectory. Two different trajectories of conduction period variation
with different slopes in respect of time axis have been studied. The slope of
the conduction period variation in Case 1 was kept as 10 degrees/second, and
in the second case this slope was kept as 20 degrees/second.

(a)

(b)

Figure 3.12 Continuous PAC (a) ‘R’3-phase source current (b) ‘RL’ 3-
phase source current
 54

(a)

(b)

Figure 3.13 Continuous EAC (a) ‘R’ 3-phase source current (b) ‘RL’ 3-
phase source current

(a)

(b)

Figure 3.14 Continuous SAC (a) ‘R’ Load 3-phase source current
(b) ‘RL’ 3-phase source current
 55

Figures 3.12 to 3.14 show the waveforms pertaining to the R phase

of the ‘R’ and ‘RL’ source current of the three phase AC voltage controller
with a three phase SCIM operated with the two cases with variations in slope.

Table 3.1 gives consolidated results of simulations carried out

namely the PAC, the EAC and the SAC. All these three schemes were carried
out with two different conditions. In the first condition, the angle of control
was fixed. Two such angles viz. 60 degrees and 120 degrees were used and
the parameters like the resulting RMS source current, power factor and the
THD were recorded.

Table 3.1 Comparison of source current, THD and Power factor for fixed
and continuous conduction period

Parameter/ Source
Conduction Load Conduction THD Power
Control current
type type period (%) factor
scheme (A)
60o 0.746 108.5 0.723
R
120o 2.016 36.39 0.958
Fixed
PAC 60o 0.59 87.69 0.49
RL
120o 1.86 28.94 0.818
R 2.271 0.616 0.78
Continuous Varying
RL 2.352 0.475 0.899
60o 1.143 93.68 0.751
R
120o 2.17 34.18 0.95
Fixed
EAC 60o 0.756 109.1 0.7
RL
120o 2.05 53.32 0.988
R 2.02 0.616 1
Continuous Varying
RL 2.35 0.475 0.89
60o 1.88 77.77 0.963
R
120o 2.22 23.01 0.98
Fixed
SAC 60o 1.95 88.15 0.9584
RL
120o 2.41 33.08 0.963
R 2.27 0.557 0.96
Continuous Varying
RL 2.245 0.481 0.92
 56

The purpose is to check and compare the performance of the three

different schemes of randomly selected angles. These angles have been
uniformly tried in all the three cases. The outcome of this experiment is that
the EAC outperforms the other two methods in terms of the parameters
considered.

After conducting the simulation with distinctly two angles of

conduction, the second one was carried out. In this case, the switches were
turned on in the soft starting mode where the switching angles were
continuously varied from minimum conduction period to the maximum
conduction period. All throughout, the parameters like the load current, the
power factor and the THD were recorded.

In this experiment also, the EAC is far superior than the other two
control strategies and this leads to the conclusion that instead of using plain
SAC, if incorporated with multiple switching in each positive and negative
half cycles with quarter wave symmetry in SHE feature would exhibit further
improvement in the results.

3.4 MATLAB/SIMULINK MODEL

Soft starting of an induction motor is therefore the scheme of

administering the total power required by the motor to actuate the motor from
the standstill state with 0 RPM to the final rated speed level with or without
loads in discrete steps of increasing quantities. The required quantity of
electrical power is imparted to the motor in every step thus avoiding the
adverse effects of subjecting the motor to the rated full voltage or power all of
a sudden.
 57

Figure 3.15 Scheme for comparing the performance parameters for the
three starting methods

It is shown in Figure 3.15 the scheme adopted for the comparison

of the important motor parameters when the motor is started with DOL and
soft starting schemes using MATLAB/SIMULINK simulations.

3.4.1 DOL Control Model

In the DOL starting scheme, the full voltage is applied to the motor
in a single instance like a step input. During the studies, the motor was left in
the no load condition. The MATLAB/SIMULINK model for DOL scheme is
shown in Figure 3.16. The parameters like starting current, speed, torque,
THD and power factor were recorded and given in Figure 3.17.
 58

Figure 3.16 MATLAB/SIMULINK model for DOL starting of SCIM

Figure 3.17 Source current, speed, torque, THD and power factor-DOL
starting

With reference to Figure 3.17 in the case of DOL starting scheme the
starting current is as high as 70A. The motor gets started with an enormous
acceleration such that it may definitely reduce the life of motor windings and
 59

also the mechanical accessories associated with the motor. The power factor is
fairly high for a moment and it falls to lower values as the motor starts up. It can
be considered that the DOL scheme offers good power factor at starting. Since
no power electronic systems are involved, the power quality is high. There are no
issues associated with THD of source current. However, because of the sudden
rise in the motor current, the terminal voltage of the main feeding source may fall
by a degree depending upon ‘strength’ of the feeder. This is definitely an issue to
be addressed by the soft starting schemes.

3.4.2 PAC model

Figure 3.18 shows the arrangement of the PAC scheme. In between

the AC source and the three phase induction motor is a set of three AC voltage
controllers. These AC voltage controllers in each phase have one main MOSFET
in series with the induction motor feeding phase, controlling power and one
MOSFET for freewheeling. In order to facilitate bidirectional conduction, these
MOSFETs are individually placed inside bridge rectifier units.

Figure 3.18 MATLAB/SIMULINK model for PAC starting scheme

 60

The various parameters for PAC scheme are recorded which are
shown in Figure 3.19.

Figure 3.19 Source current, speed, torque, THD and power factor –
PAC scheme
3.4.3 EAC model

The model of the EAC is the same as that of the PAC scheme.

Figure 3.20 Source current, speed, torque, THD and power factor –
EAC scheme
 61

Everything remaining the same the only difference between the

PAC and the EAC schemes as shown in Figure 3.5 is that the shape of the
repeating sequence is different in both the cases. A repeating sequence with
right handed slope is used for the PAC while a repeating sequence of left
handed slope is used for the EAC. The associated output waveforms are
shown in Figure 3.20.

3.5 SIMULATION RESULTS AND DISCUSSION

The performances of the two starting schemes namely the PAC and
EAC are compared against the DOL method of starting. A comparison of all
the vital parameters has been carried out among the three schemes of starting.
A convenient MATLAB/SIMULINK model was adopted to easily compare
the performance of the three schemes of starting.

3.5.1 Starting current

Figure 3.21 Starting current

 62

With reference to Figure 3.21, comparisons of the starting currents

have been carried out. It is clear that the DOL scheme of starting draws
heavier starting current as high as 70A which is about 7 times the full load
current of the 5.4HP induction motor. In the case of the phase angle
controlled soft starting scheme, the starting current is limited to 50A.

In the case of the extinction angle method of soft starting, the

starting current has been limited to much below 25A and has not exceeded
25A. Thus it is evident that the soft starting method using the extinction angle
scheme offers much smoother starting characteristics. As for the soft starting
schemes, one of the main objectives is to reduce the starting current to lie
below certain safe levels depending upon the specific motor and application.

While this can be achieved using the AC voltage controllers it is to

be achieved only at the cost of some disadvantages. The first drawback of soft
starting is that by either of the two schemes demonstrated here the starting
acceleration is poor and the motor takes a longer time interval to reach the
rated speed.

Besides, the use of switched control scheme affects the source

current waveform compared to any of the traditional starting schemes. The
THD of the AC voltage controller-based soft starting scheme is high.
However, since only the minimal quantity of power is being delivered to the
motor in a continuously increasing manner, the soft stating schemes offer
higher electrical energy efficiencies and good power factor while starting.

3.5.2 Rate of Rise of Speed

A comparison of the acceleration of the motor in the three methods

of starting is given in Figure 3.22. The DOL starting scheme exhibits a huge
acceleration, and as a result the motor reaches the rated speed at the earliest.
 63

The PAC scheme and the EAC scheme both exhibit the same degree of
reduced acceleration and both are suitable for smooth starting.

Figure 3.22 Rate of rise of speed

In the case of both EAC and PAC, the motor reaches the rated
speed almost at the same time. Reduced acceleration reduces electro
mechanical stresses in the motor and the associated mechanical systems and
increases the life of both the motor and the associated physical systems.

3.5.3 Torque

Figure 3.23 shows a comparison of the torques produced by the

three schemes of starting. The maximum torque is produced by the DOL
schemes. It is as high as 125 Nm. This torque is produced by the DOL starting
scheme at a very early stage of starting.
 64

Figure 3.23 Torque

In the case of EAC and the PAC, the acceleration is gradual. The
motor takes a longer period to reach the rated speed. Both the soft starting
schemes offer the same starting pattern. Because of the switched nature of the
source voltage, there is much ripple in the torques produced by both the cases.
The maximum torque is as high as 40 Nm. This torque is less than the
maximum producible torque of a typical motor under full load condition.
Interestingly, the DOL starting scheme produces a torque much more than the
full load torque. The soft starting schemes produce torques less than the full
load torques even as the motor has been started in all the three cases under no
load conditions.

3.5.4 THD

Total harmonic distortion is the measure of power quality of the

stator current. The THD of one of the three phases of the stator currents has
been monitored and plotted. According to Figure 3.24, the DOL starter does
not exhibit power quality issues since it does not have any discretely
 65

switching systems. The phase angle control scheme exhibits significantly

large THD as compared to the extinction angle controller.

Figure 3.24 THD

3.5.5 Power factor

Figure 3.25 Power factor

 66

With reference to Figure 3.25, the DOL starter scheme of starting

shows up high power factor for a moment and then it comes down in a
bumping fashion. The EAC scheme offers good power factor as high as unit
while the PAC scheme offers a maximum power factor of 0.6.

According to figures 3.23 and 3.25 oscillations are observed in both

torque and power factor. When the motor is soft started the conduction period
gradually increases from a very low conduction period and when the starting
process is complete the full cycle is applied. During the continuously
changing phase angles the magnitude of the harmonics also change. The
positive and negative sequence components oppose each other and the
resulting torque and power factor oscillate. This oscillation comes to an end
eventually, when the starting process is over.

Compared to the PAC scheme, the extinction angle scheme offers

better power quality with regard to the source current with less THD, quicker
reaching of the rated speed, high power factor and less ripple in torque.

3.6 EXPERIMENTAL VERIFICATION SETUP

A detailed description of the circuit arrangement and

implementation of the hardware-based experimental verification unit is given
in this section. In this research three experimental verifications have been
carried out. They are,

i. The three phase open loop phase angle and extinction angle
controlled soft starter.

ii. The closed loop current limited FLC-ANN based soft starter.

iii. The open loop SHE PWM-based symmetrical angle controlled

soft starter.
 67

The phase angle controlled soft starting is an existing soft starting

scheme and the purpose of fabricating the phase angle controlled soft starter is
to have a hardware setup that can be used to compare against the performance
of the proposed schemes.

3.6.1 Main Switching Module

The core of the hardware is a three phase AC voltage controller.

Traditionally, the three phase AC voltage controllers were used for power
control in three phase AC motors and three phase AC drives electric heaters.
SCRs were used in antiparallel for establishing conduction during both half
cycles. Figure 3.26 shows the block diagram of the SCR-based three phase
AC voltage controller. The drawback with this scheme is that the SCRs
cannot be turned off anywhere midway in the relevant positive or negative
half cycles of conduction. If required to do so, then very complicated
commutation circuits were needed.

Three Phase
440 v 50 Hz AntiMOSFET
Parallel
Supply IRF840
TRIACs
SwitchingBT 139
Module
Phase R
Phase R

ZCD 1

Phase R MOSFET Three Phase

IRF840 Induction
Switching Module
Phase Y
SCIM
ZCD 2

Phase Y MOSFET
IRF840
Switching Module
Phase B
ZCD 3
START/STOP
Phase B Micro Controller Command
89C 51 Push Buttons

Figure 3.26 Soft starting scheme for three phase SCIM

 68

In the present research, the EAC and the SAC are proposed. In such
control schemes, the switching device should be turned off midway in the
positive or negative half cycles. The use of SCRs or TRIACs is ruled out, and
the modern power semiconductor devices like MOSFET or the IGBT are the
choice.

Therefore, for the purpose of constructing the three phase AC

voltage controller used for soft starting, MOSFETs of type IRF 840 has been
used that can withstand 500V and can carry 8A. The bridge circuit formed
using diodes is of 6A current rating.

Instead of using two MOSFETs each for conducting in each half

cycle, only one MOSFET has been used inside a diode bridge so that the same
MOSFET can conduct for both positive and negative half cycle periods.

3.6.2 Freewheeling Module

In the AC voltage controller, the starting and the stopping of

conduction may happen anywhere between 0 and 180 degrees for the positive
half cycle and between 180 and degrees and 360 degrees for the negative half
cycle. During the period for which current flows through the coils of the
motor, energy is stored in the form of magnetic field. When current flowing
through the coils gets interrupted, the energy stored in the coils will tend to
get dissipated, and there must be an appropriate path for the flow of the
diminishing current. This path is completed through the coil and the
freewheeling switch module.

The freewheeling switch module is identical to the main power

switch module. Three such modules are required for the three phases of the
SCIM. Each module is connected across each of the coils of the motor.
 69

3.6.3 Optical Isolation

In order to ensure safety for men, machines and gadgets,

appropriate electrical isolation between the control circuit and the power
circuit is essential. The core of the control unit is the microcontroller and the
control subsystem includes the transducers, current and voltage sensors, the
zero crossing detectors, amplifiers and attenuators. The power circuit
comprises the three phase medium voltage or high voltage power source, the
motor and the power electronic semiconductors.

The control circuit operates at a low voltage of typically 5V DC.

The power circuit works typically at 3 phase, 440V, 50Hz in the case of
medium voltage machines and 3 phase, 11KV, 50Hz in the case of high
voltage machines.

The control circuit issues the triggering pulses for the power
semiconductors. In order to maintain an electrical isolation between the
control circuit and the power circuit, an optical isolation is provided. MCT 2E
opto couplers are used for the purpose of coupling the control signal optically
between the control circuit and the power carrying semiconductors.

3.6.4 Control Subsystem

The core of the control subsystem is the ATMEL microcontroller

89C51. The microcontroller ATMEL 89C51 is an 8 bit microcontroller and it
works with a 12 MHz crystal.

The circuit arrangement of the control subsystem is shown in

Figure 3.27. There are Stop, Sudden Start and Soft Start push buttons attached
to the microcontroller. The signals from the zero crossing detectors for the
three phases are connected as input to the three microcontrollers 89C51 for
the three phases respectively. The zero crossing detectors are based on linear
integrated IC LM741.
 70

Figure 3.27 Control subsystem

3.6.4.1 Principle of operation

The principle of hardware implementation and operation of the

phase angle controller, the extinction angle controller and the symmetrical
angle controller is quite similar. It is just the switching strategy adopted that
distinguishes each other. The step by step operation of the hardware systems
is described herein.

3.6.4.2 Zero crossing detectors

In the time axis controlled AC voltage regulators, the calculation of

delay in each half cycle is carried out with the zero crossing as the reference.
Therefore, the information regarding the zero crossing in each phase is to be
supplied to the microcontrollers. For each of the three phases there is a
separate zero crossing detector and a separate microcontroller.
 71

+5V

22K
100 Ohms ZCD Output

BC547
1K IN 4148

IN 4148
AC R Phase input

4K7
GND

Figure 3.28 ZCD circuit

In the case of the phase angle controller, after getting the zero
crossing signal, the microcontroller delays for a fixed period and at the end of
the delay period the microcontroller gives a logic high signal. This signal
remains high for the rest of the cycle until the next zero crossing. At every
zero crossing from positive half cycle to the negative half cycle and at every
zero crossing from the negative half cycle to the positive half cycle, the
microcontroller is informed instantly and the delay is accounted by the
microcontroller. This delay will be the same for all the three phases. In the
case of signal step start starting as done in earlier versions of soft starting, the
delay period is a fixed value, and this delay is maintained in all the
consecutive AC positive and negative half cycles in a synchronized manner.

In this research it was observed that soft starting with continuously

increasing conduction period offers better results than the fixed stepped soft
starting scheme. Therefore in the experimental verification, in all the three
cases the duration of conduction has been continuously increased.

In the case of phase angle controller, after getting the zero crossing
signal the issue of switching pulse is delayed, and once the switching pulse is
 72

initiated, it continues for the rest of the half cycle until the zero crossing
instant.

In the case of the extinction angle controller after getting the zero
crossing signal, conduction of motor commences immediately and to start
with, the conduction period is small. The conduction period is gradually
increased in the following cycles and eventually the motor gets the full
voltage after a certain number of cycles. In the case of the EAC scheme, since
MOSFETs are used, the conduction period can be terminated at any desired
instant during the conducting half cycle.

In a similar manner, in the case of symmetrical angle controller also

the MOSFETs are turned on and off multiple times after appropriate
conduction and nonconduction delays. The periods of conduction and
nonconduction in each half cycle are so timed that the resulting voltage
waveform is both half wave and quarter wave symmetrical.

Thus it is clear that it is the zero crossing signal that plays a key
role in any of the soft starting schemes of the three phase SCIM.

Figure 3.28 shows the circuit arrangement of the Zero Crossing

Detector (ZCD). It consists of a 230V/6V 500mA transformer followed by
two diodes connected anti parallel. In between the transformer and the diodes
is a current limiting resistor. Across the terminals of the anti parallel diodes
the voltage level is clipped to 0.7V on both positive and negative half cycles.

This clipped AC signal is connected across the inverting and the

non inverting input terminals of an operational amplifier. IC LM 741 is used
as a comparator, and the output of the comparator is a square wave with
positive and negative values at +5 and -5V.
 73

Next to the comparator are a diode and a transistor. The diode

blocks the negative half cycle of the square wave, and the transistor inverts
the signal. Thus, a train of square pulses and a phase shifted train of square
pulses are produced and supplied to the microcontroller. The logic high state
period of the first train of square pulses corresponds to the positive half cycle
and the logic high state of the phase shifted square wave corresponds to the
negative half cycle.

3.6.4.3 Regulated power supply

The microcontroller ATMEL 89C51 requires a +5 regulated DC

voltage source. The operational amplifier 741 requires both +5V and -5V DC
voltages. These regulated DC sources are generated using the regulated power
supply system using voltage regulator ICs 7805 and 7905.

TRANSFORMER
9V 1 3
7805 +5V
2200uF

100uF

2
230V
0
AC GND
2200uF

100uF

1
2 3
9V 7905 -5V
In4007 X 4

Figure 3.29 Regulated DC supply

With reference to Figure 3.29, the power supply system consists of

a center tapped transformer with a voltage rating of 230V / 9V 0 9V and with
a current rating of 1A. A bridge rectifier using four diodes is connected to the
transformer secondary. The output of the rectifier gives positive and negative
DC voltages both filtered using two capacitors of value 25V/2200 MFD.
Three pin positive voltage regulator IC 7805 and three pin negative voltage
regulator IC 7905 are used for regulating the +5V and -5V DC voltages
respectively. The voltage regulator ICs 7805 and 7905 are active circuits and
 74

they produce noise. The noise produced by the voltage regulator ICs can be
filtered out using the 100 MFD / 25 V capacitors following the regulator ICs.

3.7 THE ALGORITHMS

There are three sets of two zero crossing signals A and B

corresponding to the three phases R Y and B. The zero crossing signal A is at
logic high level when the particular phase voltage is positive. The zero
crossing signal B is at logic high level when the phase voltage is negative.

3.7.1 PAC

3.7.1.1 Positive half cycle

1. Wait while the zero crossing signal A is logic 1.

2. Wait while the zero crossing signal A is logic 0.

3. Delay for a set period T.

4. Turn On the gating signal for the power electronic Switch.

5. Wait while the zero crossing signal A is logic 1.

6. Turn Off the gating signal for the power electronic Switch.

3.7.1.2 Negative half cycle

7. Delay for a set period T.

8. Turn On the gating signal for the power electronic Switch.

9. Wait while the zero crossing signal B is logic 1.

10. Turn Off the gating signal for the power electronic Switch.

11. Go to Step 1.
 75

3.7.2 EAC

3.7.2.1 Positive half cycle

1. Wait while the zero crossing signal A is logic 1.

2. Wait while the zero crossing signal A is logic 0.

3. Turn On the gating signal for the power electronic Switch.

4. Delay for a set period T.

5. At the end of T Turn Off the gating signal for the power
electronic Switch.

6. Wait while the zero crossing signal A is logic 1.

3.7.2.2 Negative half cycle

7. Turn On the gating signal for the power electronic Switch.

8. Delay for a set period T.

9. At the end of T Turn Off the gating signal for the power
electronic Switch.

10. Wait while the zero crossing signal B is logic 1.

11. Go to Step 1.

3.7.3 SAC

3.7.3.1 Positive half cycle

1. Wait while the zero crossing signal A is logic 1.

2. Wait while the zero crossing signal A is logic 0.

 76

3. Turn On the gating signal for the power electronic Switch.

4. Delay for a set period T1. ( On interval)

5. At the end of T1 Turn Off the gating signal for the power
electronic Switch.

6. Delay for a set period T2. (Off interval)

7. At the end of T2 Turn On the gating signal for the power

electronic Switch.

8. Delay for a set period T3. (On interval)

9. At the end of T3 Turn Off the gating signal for the power
electronic Switch.

10. Delay for a set period T3.

……… repeated and so on for a number of times depending

on the number of harmonics to be eliminated.

11. Wait while the zero crossing signal A is logic 1.

3.7.3.2 Negative half cycle

1. Wait while the zero crossing signal B is logic 1.

2. Wait while the zero crossing signal B is logic 0.

3. Turn On the gating signal for the power electronic Switch.

4. Delay for a set period T1. ( On interval)

5. At the end of T1 Turn Off the gating signal for the power
electronic Switch.

6. Delay for a set period T2. (Off interval)

 77

7. At the end of T2 Turn On the gating signal for the power

electronic Switch.

8. Delay for a set period T3. (On interval)

9. At the end of T3 Turn Off the gating signal for the power
electronic Switch.

10. Delay for a set period T3.

………

……… repeated and so on for a number of times depending

on the number of harmonics to be eliminated.

11. Wait while the zero crossing signal B is logic 1.

12. Go to Step 1 of positive half cycle segment.

3.8 EXPERIMENTAL RESULTS AND DISCUSSION

The experimental setup of the soft starting system is shown in

Figure 3.30. The various waveforms observed for EAC scheme are presented
in Figures 3.31 to 3.36.

Figure 3.30 Experimental Hardware Setup

 78

While the EAC is in action, the applied phase voltage initially

drops in full across the three switches relevant for each phase. As the starting
process goes on, the duration of voltage drop across the switch falls and that
across the load rises. Figures 3.31 and 3.32 show the voltage across the
switches for nearly 90 degrees conduction and more than 90 degrees
conduction respectively.

Even though the conduction of current happens through the switch

for both positive half cycles, because of the bridge type arrangement using
four diodes over the MOSFET, the current through the MOSFET is
unidirectional through every positive and negative half cycles. This is shown
in Figure 3.33. The voltage across the Y phase winding for a conduction angle
less than 90 degree is shown in Figure 3.34.

Figure 3.31 Voltage across the switches for 90 conduction

 79

Figure 3.32 Voltage across the switches for more than 90 conduction

Figure 3.33 Current through the switch in R phase

Figure 3.34 Voltage across the Y phase winding at a conduction angle

less than 90
 80

Figure 3.35 Three phase zero crossing signals

The zero crossing of each of the three phases is to be obtained for

the synchronous control of the soft starting scheme. The delays in application
of the switching pulses are calculated with reference to the zero crossing
instants. Figure 3.35 shows the zero crossing signals as observed from the
zero crossing detectors. These signals are applied to the microcontrollers
where the delays will be maintained with reference to these three zero
crossing signals.

After the starting transient period, the motor eventually gets the full
voltage with the MOSFET switching all entering into full period conduction
mode. Figure 3.36 shows up the voltage across the motor windings just as the
motor picks up full speed and with the full voltages applied across all the
three phase windings.
 81

Figure 3.36 Stator voltage at near steady state for EAC.

Figure 3.37 Typical waveform of the EAC-90º conduction (Voltage

across one phase winding and FFT)
 82

Figure 3.38 Typical waveform of the EAC-greater than 90º conduction

(Voltage across one phase winding and FFT)

Figure 3.39 Typical waveform of the EAC-less than 90º conduction

(Voltage across one phase winding and FFT)
 83

The drawback of the time axis control, in either case, viz. the PAC
or the EAC is that the harmonic performance of the schemes is poor as
compared to the DOL starting scheme. Simulations reveal that the harmonic
performance during the soft starting transient period is better in the case of the
EAC than in the PAC. The harmonic spectrum for different conduction angles
in the case of extinction angle scheme has been recorded and presented in
Figures 3.37, 3.38 and 3.39.

Table 3.2 Comparison of simulated and experimental results of EAC

scheme with PAC and DOL scheme

DOL starting
PAC scheme EAC scheme
Parameters/Control scheme
schemes Simulated Experimental Simulated Experimental Simulated Experimental
value value value value value value

Time taken to reach

0.05 0.1 0.2 0.25 0.2 0.25
steady state (S)

Starting current
60 73 41 45 36 41
(A)

THD during
4 7.8 7 5.8 2 3.8
starting (%)

Average power
factor during 0.75 0.72 0.6 0.713 0.89 0.784
starting

Maximum torque
during starting 127 134 45 45 42 41
(Nm)

The relevance of these images is that as the conduction angles

increase the relative harmonic magnitudes decrease, which suggests that with
EAC as the conduction angle increases slowly the harmonic performance
improves accordingly. As for the harmonic study, using the observations by
discretely setting different conduction angles the average THD has been
estimated and presented in Table 3.2.
 84

3.9 SUMMARY

A comparative study of the PAC scheme and the EAC scheme for
the management of soft starting applicable to three phase Induction motors
has been carried out. It has been established by way of
MATLAB/SIMULINK simulation that the extinction angle scheme is better
performing with regards to critical parameters like peak starting current,
power factor, THD, torque ripple, etc. There is wide scope for future research
considering that only an open loop analysis has been done in this work.
Closed loop soft starting by considering any of the real-time parameters like
current drawn, torque produced or speed obtained from time to time during
starting can be carried out which will lead to immediate industrial
applications.