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DIRE DAWA UNIVERSITY

INSTITUTE OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL & COMPUTER ENGINEERING

STREAM: POWER

TITIE: PWM control of 3 phase induction motor using MATLAB/SIMULINK

S/n Name of student Id No

1. Dereje Tujo R/358/04

2. Deressa Merga R/362/04

3. Berhanu Shibabaw R/245/04

4. Birhane G/tsadik R/242/04

Adviser: P.S.V.Kishore

Submitted date: 30/06/2015

III. ACKNOWLEGDGEMENET

We would like to thank our project supervisor, Mr. P S V KISHORE for his constant
motivation and guidance during the project. This project could never have been completed

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without him. We would also like to thank all our sources, mentioned in the references, and
our friends who helped us by providing mental and logistical support. Last but not the least
we would like to thank our parents and God Almighty.

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IV. ABSTRACT

This project presents the Speed Control in 3 phase Induction Motors using PWM
technique. Out of the various methods of controlling Induction motors, PWM is Control is the
most important. The overall scheme of implementing PWM control has been presented. One of
the basic requirements of this scheme is the PWM Inverter. In this, PWM Inverters have been
modeled and their outputs fed to the Induction Motor drives. The uncontrolled transient and
steady state response of the Induction Motor has been obtained and analyzed.

In this project MATLAB SIMULATION was developed to successfully implement

PWM Control on an Inverter fed 3-phase Induction Motor, and the Torque was found to be
constant for various rotor speeds. This was followed by a MATLAB model for PWM Control
on an Inverter fed 3-phase Induction Motor.

In this project it was observed that using a PWM control gave a very superior way of
controlling the speed of an Induction motor while maintaining a constant maximum torque is
operated very well.

Key words; PWM, speed control, mat lab simulation, three phase induction motor,
IGBT

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Table of Contents
III. ACKNOWLEGDGEMENET .................................................................................................................i
IV. ABSTRACT....................................................................................................................................... iii
V. MOTIVATION ...................................................................................................................................... 1
VI. CHAPTER ONE ................................................................................................................................ 2
VII. 1.2 PROBLEM STATEMENT ........................................................................................................... 3
VIII. 1.3 OBJECTIVE ................................................................................................................................ 3
81.3.1 GENERAL OBJECTIVE ................................................................................................................... 3
1.3.2 SPECIFIC OBJECTIVE .................................................................................................................. 4
IX. 1.4 SCOPE OF THE PROJECT ........................................................................................................... 4
X. CHAPTER TWO ................................................................................................................................... 4
LITERATURE REVIEW .............................................................................................................................. 4
THREE PHASE INDUCTION MOTOR .................................................................................................... 4
2.1 Three phase Induction Motor Construction ................................................................................ 4
2.2 Basic Induction Motor Concepts ...................................................................................................... 4
2.2.1The Development of Induced Torque in an Induction Motor ................................................... 4
2.2.2The Concept of Rotor Slip .............................................................................................................. 6
2.2.3 The Electrical Frequency on the Rotor.......................................................................................... 6
XI. 2.3 The Equivalent Circuit of an Induction Motor ........................................................................ 7
2.3.1 The Transformer Model of an Induction Motor ........................................................................... 7
2.3.2 The Rotor Circuit Model ................................................................................................................ 9
2.3.3 The Final Equivalent Circuit ........................................................................................................ 10
XII. 2.4 Power and Torque in Induction Motor .................................................................................. 12
2.4.2 Power and Torque in an Induction Motor .................................................................................. 13
XIII. 2.5 Induction Motor Torque-Speed Characteristics.................................................................... 17
2..5.2 No-load Condition ...................................................................................................................... 17
2.5.3 On-load Conditions .................................................................................................................... 18
2.5.4 Modelling the torque-speed characteristics of an induction motor ......................................... 18
2.5.6The Derivation of the Induction Motor Induced-Torque Equation ............................................. 20
2.5.7CALCULATION VIA THEVENIN EQUIVALENT METHOD ................................................................. 22
2.5.7 Comments on the Induction Motor Torque Speed Curve .......................................................... 24
2.6 Maximum (Pullout) Torque in an Induction Motor ...................................................................... 24
2.6.1 Variations in Induction Motor Torque-Speed Characterictics .................................................... 25

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XIV. 2.7 Speed Control of Induction Motor ........................................................................................ 27
2.7.1 Speed control of three induction motor by changing applied voltage ....................................... 27
XV. CHAPTER THREE ........................................................................................................................... 29
3 METHOLOGY OF THE PROJECT.......................................................................................................... 29
3.1 INTRODUCTION .......................................................................................................................... 29
3.2 PWM TECHNIQUE .......................................................................................................................... 30
3.4 loading and driving the motor ....................................................................................................... 34
3.5 How to do FFT analysis in matlab/simulink ................................................................................... 34
XVI. CHAPTER FOUR ............................................................................................................................ 36
4 SIMULATION RESULTS ....................................................................................................................... 36
XVII. CHAPTER FIVE .............................................................................................................................. 40
5 CONCLUSION AND LIMITATION ........................................................................................................ 40
5.1 limitation ........................................................................................................................................ 40

No table of figures entries found.

V. Works Cited

There are no sources in the current document.

\\

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VI. MOTIVATION

Induction Motors are often termed the ―Workhouse of the Industry‖. This is because it is one of
the most widely used motors in the world. It is used in transportation and industries, and also in
household appliances, and laboratories. The major reasons behind the popularity of the
Induction Motors are:

i. Induction Motors are cheap. Due to its economy of procurement, installation and use,
the induction Motor is usually the first choice for an operation.
ii. Induction Motors have high efficiency of energy conversion.
iii. Owing to their simplicity of construction, Induction Motors have very low maintenance
costs.
iv. Induction Motors have very high starting torque.

Speed control of 3 phase induction motor is a necessity in Induction Motors because of the
following factors:

i. It ensures smooth operation

ii. It provides torque control and speed control

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VII. CHAPTER ONE

1 BACK GROUND OF THE PROJECT

1.1 INTRODUCTION

Induction Motors account for more than 85% of all motors used in industry and domestic
applications. An induction or asynchronous motor is an AC electric motor in which the electric
current in the rotor needed to produce torque is obtained by electromagnetic induction from the
magnetic field of the stator winding. An induction motor therefore does not require mechanical
commutation, separate-excitation or self-excitation for all or part of the energy transferred from
stator to rotor, as in universal, DC and large synchronous motors. An induction motor's rotor
can be either wound type or squirrel-cage type.

The three phases Induction Motor has a stator and a rotor. The stator is wound for three phases
and a fixed number of poles. It has stampings with evenly spaced slots to carry the three-phase
windings. The number of poles is inversely proportional to the speed of the rotor. When the
stator is energized, a moving magnetic field is produced and currents are formed in the rotor
winding via electromagnetic induction.

Three phase induction motors are best admirably suited to fulfill the demand of loads requiring
substantially a constant speed. Several industrial applications, however, need adjustable sped
for their efficient operation. Therefore, by using power electronics converters there are many
methods of speed control of three phase induction motors through semiconductor devices.
PWM is the method used to control a fixed dc input voltage is given to the inverter and
controlled ac output voltage is obtained by adjusting the on and off periods of the inverter
component. This is most popular method of controlling the output voltage. Pulse-width
modulation (PWM), as it applies to motor control, is a way of delivering energy through a
succession of pulses rather than a continuously varying (analog) signal. By increasing or

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decreasing pulse width, the controller regulates energy flow to the motor shaft. The motor‘s
own inductance acts like a filter, storing energy during the ―on‖ cycle while releasing it at a rate
corresponding to the input or reference signal. In other words, energy flows into the load not so
much the switching frequency, but at the reference frequency. PWM is somewhat like pushing
a playground-style merry-go-round. The energy of each push is stored in the inertia of the
heavy platform, which accelerates gradually with harder, more frequent, or longer-lasting
pushes.

Pulse Width Modulation (PWM) technique is an effective way of controlling the speed of
induction motor, and thus allowing the motor to be applied in the area requiring speed control.
Available techniques to control the speed of induction motor are: varying the slip by changing
rotor resistance or terminal voltage and varying synchronous speed by changing number of
poles or supply frequency. Changing rotor resistance requires wound-rotor induction motor and
any resistances inserted to the rotor circuit will reduce the efficiency of the machines. Changing
terminal voltage has limited range of speed control. Changing the number of poles requires a
motor with special stator windings. The best method is to change the electrical frequency
because it is applicable to any types of induction motor. The speed of induction motor depends
on the rate of rotation of its magnetic fields or the synchronous speed, which is directly
proportional to any change of electrical frequency. PWM technique is used to control the
electrical frequency of the 3-phase voltage supplied to the motor from the Insulated Gate
Bipolar Transistors (IGBTs) inverter circuit, hence allowing the speed to be varied with respect
to the frequency of the reference signal, input to the PWM signal generator.

VIII. 1.2 PROBLEM STATEMENT

Controlling the speed of an induction motor is very essential in so many industries. There are
so many controlling techniques are present. Of all these techniques PWM technique of speed
control gives the better characteristics of induction motor.

IX. 1.3 OBJECTIVE

81.3.1 GENERAL OBJECTIVE

The general objective of this project to control the speed of three phase induction motor by
using pulse width modulation method;

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1.3.2 SPECIFIC OBJECTIVE
The specific aim of this project to design a pulse width modulation controller to control three
phase induction motor;

 To be familiar with mat lab /Simulink

 To do the harmonic analysis of the speed of induction motor,

X. 1.4 SCOPE OF THE PROJECT

 Development Simulink models for a PWM Inverter.

 Using the developed PWM Inverter Simulink model to run an Induction Motor, and
obtain its controlled speed, torque, and current characteristics.
 Development of a PWM Control scheme for controlling the Induction motor by using
MATLAB.

CHAPTER TWO

LITERATURE REVIEW
THREE PHASE INDUCTION MOTOR
2.1 Definition:

Three phase induction motor is the motor which is the rotor voltage that produces the rotor
current and the rotor magnetic field is induced in the rotor windings rather than being
physically connected. No dc field current is required to run the three phase induction.

2.1 Three phase Induction Motor Construction

There are basically 2 types of rotor construction:

a. Squirrel Cage - no windings and no slip rings

b. Wound rotor - It has 3 phase windings, usually Y connected, and the winding
ends are connected via slip rings.
Wound rotors are known to be more expensive due to its maintenance cost to upkeep the slip
rings, carbon brushes and also rotor windings.

2.2 Basic Induction Motor Concepts

2.2.1The Development of Induced Torque in an Induction Motor
When current flows in the stator, it will produce a magnetic field in stator as such that Bs
(stator magnetic field) will rotate at a speed:

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120 f e
nsync 
P
Where fe is the system frequency in hertz and P is the number of poles in the machine. This
rotating magnetic field Bs passes over the rotor bars and induces a voltage in them. The voltage
induced in the rotor is given by;

Eind = (v x B) l

Hence there will be rotor current flow which would be lagging due to the fact that the rotor has
an inductive element. And this rotor current will produce a magnetic field at the rotor, Br.
Hence the interaction between both magnetic field would give torque;

 ind  kBR  BS

The torque induced would generate acceleration to the rotor, hence the rotor will spin.

However, there is a finite upper limit to the motor‘s speed.

Conclusion: An induction motor can thus speed up to near synchronous speed but it can never
reach synchronous speed.

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2.2.2The Concept of Rotor Slip

The induced voltage at the rotor bar is dependent upon the relative speed between the stator
magnetic field and the rotor. This can be easily termed as slip speed;

nslip  nsync  nm
Where; n slip = slip speed of the machine

n sync = speed of the magnetic field.

nm = mechanical shaft speed of the motor.

Apart from that we can describe this relative motion by using the concept of slip;

nslip nsync  nm
Slip, s   100%   100%
nsync nsync

Slip may also be described in terms of angular velocity;

Using the ratio of slip, we may also determine the rotor speed;

nm  1  s  nsync or m  1  s  sync

2.2.3 The Electrical Frequency on the Rotor

An induction motor is similar to a rotating transformer where the primary is similar to the stator
and the secondary would be a rotor. But unlike a transformer, the secondary frequency may not
be the same as in the primary.

If the rotor is locked (cannot move), the rotor would have the same frequency as the stator
(refer to transformer concept). Another way to look at it is to see that when the rotor is locked,
rotor speed drops to zero, hence by default, slip is 1. But as the rotor starts to rotate, the rotor
frequency would reduce, and when the rotor turns at synchronous speed, the frequency on the
rotor will be zero.

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Since;

nsync  nm
S
nsync

And rotor frequency may be expressed as;

f r  sf e
Hence combing both equations would give;

And since nsync=120fe / P,

Which shows that the relative difference between synchronous speed and the rotor speed will
determine the rotor frequency.

XI. 2.3 The Equivalent Circuit of an Induction Motor

An induction motor relies for its operation on the induction of voltages and currents in its rotor
circuit from the stator circuit (transformer action). This induction is essentially a transformer
operation, hence the equivalent circuit of an induction motor is similar to the equivalent circuit
of a transformer.

2.3.1 The Transformer Model of an Induction Motor

A transformer per-phase equivalent circuit, representing the operation of an induction motor is
shown below:

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Fig 2.1 induction motor, with rotor and stator connected by an ideal transformer of
turns ratio aeff.
As in any transformer, there is certain resistance and self-inductance in the primary (stator)
windings, which must be represented in the equivalent circuit of the machine. They are - R1 -
stator resistance and X1 – stator leakage reactance. Also, like any transformer with an iron
core, the flux in the machine is related to the integral of the applied voltage E1. The curve of
mmf vs flux (magnetization curve) for this machine is compared to a similar curve for a
transformer, as shown below

Fig 2.2 slope relationship of transformer and induction motor

The slope of the induction motor‘s mmf-flux curve is much shallower than the curve of a good
transformer. This is because there must be an air gap in an induction motor, which greatly
increases the reluctance of the flux path and thus reduces the coupling between primary and

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secondary windings. The higher reluctance caused by the air gap means that a higher
magnetizing current is required to obtain a given flux level. Therefore, the magnetizing
reactance Xm in the equivalent circuit will have a much smaller value than it would in a
transformer.

The primary internal stator voltage is E1 is coupled to the secondary ER by an ideal

transformer with an effective turn‘s ratio aeff. The turn‘s ratio for a wound rotor is basically
the ratio of the conductors per phase on the stator to the conductors per phase on the rotor. It is
rather difficult to see aeff clearly in the cage rotor because there are no distinct windings on the
cage rotor. ER in the rotor produces current flow in the shorted rotor (or secondary) circuit of
the machine.

The primary impedances and the magnetization current of the induction motor are very similar
to the corresponding components in a transformer equivalent circuit.

2.3.2 The Rotor Circuit Model

When the voltage is applied to the stator windings, a voltage is induced in the rotor windings.
In general, the greater the relative motion between the rotor and the stator magnetic fields, the
greater the resulting rotor voltage and rotor frequency. The largest relative motion occurs when
the rotor is stationary, called the locked-rotor or blocked-rotor condition, so the largest voltage
and rotor frequency are induced in the rotor at that condition. The smallest voltage and
frequency occur when the rotor moves at the same speed as the stator magnetic field, resulting
in no relative motion.

The magnitude and frequency of the voltage induced in the rotor at any speed between these
extremes is directly proportional to the slip of the rotor. Therefore, if the magnitude of the
induced rotor voltage at locked-rotor conditions is called ER0, the magnitude of the induced
voltage at any slip will be given by:

ER = sER0

And the frequency of the induced voltage at any slip is:

fr = sfe

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This voltage is induced in a rotor containing both resistance and reactance. The rotor resistance
RR is a constant, independent of slip, while the rotor reactance is affected in a more
complicated way by slip.

The reactance of an induction motor rotor depends on the inductance of the rotor and the
frequency of the voltage and current in the rotor. With a rotor inductance of LR, the rotor
reactance is:

X R   r LR  2 f r LR
Since f r  sf e ,
X R  s 2 f e LR  sX R 0

Where XR0 is the blocked rotor reactance

The rotor circuit model of an induction motor;

The rotor current flow is:

ER ER ER 0
IR   
RR  jX R RR  jsX R 0 RR  jX
s R0

Therefore, the overall rotor impedance talking into account rotor slip would be:

RR
Z R ,eq   jX R 0
s
In this equivalent circuit, the rotor voltage is a constant Er0 V and the rotor impedance ZR, eq
contains all the effects of varying rotor slip. Based upon the equation above, at low slips, it can
be seen that the rotor resistance is much bigger in magnitude as compared to XR0. At high
slips, XR0 will be larger as compared to the rotor resistance.

2.3.3 The Final Equivalent Circuit

To produce the final per-phase equivalent circuit for an induction motor, it is necessary to refer
the rotor part of the model over to the stator side. In an ordinary transformer, the voltages,

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currents and impedances on the secondary side can be referred to the primary by means of the
turn‘s ratio of the transformer.

Exactly the same sort of transformation can be done for the induction motor‘s rotor circuit. If
the effective turns ratio of an induction motor is aeff, then the transformed rotor voltage
becomes;

E1  ER'  aeff ER 0

The rotor current

IR
I2 
aeff

And the rotor impedance:

2  RR 
Z 2  aeff   jX R0 
 s 
If we make the following definitions

R2 = a2eff RR

X2 = a2eff XR0

The final per-phase equivalent circuit is as shown below:

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Fig 2.3 equivalent circuit of rotor of three phase induction motor

XII. 2.4 Power and Torque in Induction Motor

2.4.1 Losses and Power-Flow diagram

An induction motor can be basically described as a rotating transformer. Its input is a 3 phase
system of voltages and currents. For an ordinary transformer, the output is electric power from
the secondary windings. The secondary windings in an induction motor (the rotor) are shorted
out, so no electrical output exists from normal induction motors. Instead, the output is
mechanical. The relationship between the input electric power and the output mechanical
power of this motor is shown below:

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Fig 2.4 power flow diagram of three phase induction motor

The input power to an induction motor Pin is in the form of 3-phase electric voltages and
currents. The first losses encountered in the machine are I2R losses in the stator windings (the
stator copper loss Pscl). Then, some amount of power is lost as hysteresis and eddy currents in
the stator (Pcore). The power remaining at this point is transferred to the rotor of the machine
across the air gap between the stator and rotor. This power is called the air gap power (Pag) of
the machine. After the power is transferred to the rotor, some of it is lost as I2R losses (the
rotor copper loss Prcl), and the rest is converted from electrical to mechanical form (Pconv).
Finally, friction and windage speed near synchronous speed, the relative motion of the
magnetic fields over the rotor surface is quite slow, and the rotor core losses are very tiny
compared to the stator core losses. Since the largest fraction of the core losses comes losses
PF&W and stray losses Pmisc are subtracted. The remaining power is the output of the motor
Pout.

The core losses do not always appear in the power-flow diagram at the point shown in the
figure above. Because of the nature of the core losses, where they are accounted for in the
machine is somewhat arbitrary. The core losses of an induction motor come partially from the
stator circuit and partially from the rotor circuit. Since an induction motor normally operates at
a from the stator circuit, all the core losses are lumped together at that point on the diagram.
These losses are represented in the induction motor equivalent circuit by the resistor RC (or the
conductance GC). If core losses are just given by a number (X watts) instead of as a circuit
element, they are often lumped together with the mechanical losses and subtracted at the point
on the diagram where the mechanical losses are located.

The higher the speed of an induction motor, the higher the friction, windage, and stray losses.
On the other hand, the higher the speed of the motor (up to nsync), the lower its core losses.
Therefore, these three categories of losses are sometimes lumped together and called rotational
losses. The total rotational losses of a motor are often considered to be constant with changing
speed, since the component losses change in opposite directions with a change in speed.

2.4.2 Power and Torque in an Induction Motor

By examining the per-phase equivalent circuit, the power and torque equations governing the
operation of the motor can be derived.

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The input current to a phase of the motor is:

Thus, the stator copper losses, the core losses, and the rotor copper losses can be found.

The stator copper losses in the 3 phases are:

Pscl = 3 I21R1

 The core losses: Pcore = 3 E21 GC

So, the air gap power: pag= Pin– Pscl – Pcore

Also, the only element in the equivalent circuit where the air-gap power can be consumed is in
the resistor R2/s. Thus, the air-gap power:

The actual resistive losses in the rotor circuit are given by:

PRCL = 3 I2Rr

Since power is unchanged when referred across an ideal transformer, the rotor copper losses
can also be expressed as:

PRCL = 3 I2R2

After stator copper losses, core losses and rotor copper losses are subtracted from the input
power to the motor, the remaining power is converted from electrical to mechanical form. The
power converted, which is called developed mechanical power is given as:

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And the rotor copper losses are noticed to be equal to the air gap power times the slip Prcl =
sPagHence, the lower the slip of the motor, the lower the rotor losses. Also, if the rotor is not
turning, the slip is s=1 and the air gap power is entirely consumed in the rotor. This is logical,
since if the rotor is not turning, the output power Pout ( = τload ωm) must be zero. Since Pconv
= PAG – PRCL , this also gives another relationship between the air-gap power and the power
converted from electrical and mechanical form:

Pconv = Pag – Prc

= Pag – sPag

Pconv = (1-s) Pag

Finally, if the friction and windage losses and the stray losses are known, the output power:

Pout = Pconv – PF&W - Pmisc

The induced torque in a machine was defined as the torque generated by the internal electric to
mechanical power conversion. This torque differs from the torque actually available at the
terminals of the motor by an amount equal to the friction and windage torques in the machine.

Hence, the developed torque is:

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Other ways to express torque:

Separating the Rotor Copper Losses and the Power Converted in an Induction Motor‘s
Equivalent Circuit

A portion of power transferred via the air gap will be consumed by the rotor copper loss and
also converted into mechanical power. Hence it may be useful to separate the rotor copper loss
element since rotor resistance are both used for calculating rotor copper loss and also the output
power.

Since Air Gap power would require R2/s and rotor copper loss require R2 element. The
difference between the air gap power and the rotor copper loss would give the converted power,
hence;

R2 1 s 
Rconv   R2  R2  
s  s 
Therefore the equivalent circuit would be modified to be as follows:

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fig circuit diagram of power and torque of induction motor

XIII. 2.5 Induction Motor Torque-Speed Characteristics

The torque-speed relationship will be examined first from the physical viewpoint of the motor‘s
magnetic filed behaviour and then, a general equation for torque as a function of slip will be
derived from the induction motor equivalent circuit.

2.5.1 Induced Torque from a Physical Standpoint

Fig 2.6 The magnetic fields in an induction motor under light loads The magnetic fields in an
induction motor under heavy loads

2..5.2 No-load Condition

Assume that the induction rotor is already rotating at no load conditions, hence its rotating
speed is near to synchronous speed. The net magnetic field Bnet is produced by the
magnetization current IM . The magnitude of IM and Bnet is directly proportional to voltage
E1 . If E1 is constant, then Bnet is constant. In an actual machine, E1 varies as the load
changes due to the stator impedances R1 and X1 which cause varying volt drops with varying
loads. However, the volt drop at R1 and X1 is so small, that E1 is assumed to remain constant
throughout.

At no-load, the rotor slip is very small, and so the relative motion between rotor and magnetic
field is very small, and the rotor frequency is also very small. Since the relative motion is
small, the voltage ER induced in the bars of the rotor is very small, and the resulting current

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flow IR is also very small. Since the rotor frequency is small, the reactance of the rotor is
nearly zero, and the max rotor current IR is almost in phase with the rotor voltage ER . The
rotor current produces a small magnetic field BR at an angle slightly greater than 90 degrees
behind Bnet. The stator current must be quite large even at no-load since it must supply most
of Bnet

The induced torque which is keeping the rotor running, is given by:

 ind  kBR  Bnet

and its magnitude is ;

 ind  kBR Bnet sin 

In terms of magnitude, the induced torque will be small due to small rotor magnetic field,

2.5.3 On-load Conditions

As the motor‘s load increases, its slip increases, and the rotor speed falls. Since the rotor speed
is slower, there is now more relative motion between rotor and stator magnetic fields. Greater
relative motion means a stronger rotor voltage ER which in turn produces a larger rotor current
IR . With large rotor current, the rotor magnetic field BR also increases. However, the angle
between rotor current and BR changes as well. Since the rotor slip is larger, the rotor frequency
rises (fr =sfe) and the rotor reactance increases (ωLR). Therefore, the rotor current now lags
further behind the rotor voltage, and the rotor magnetic field shifts with the current. The rotor
current now has increased compared to no-load and the angle δ has increased. The increase in
BR tends to increase the torque, while the increase in angle δ tends to decrease the torque (τind
is proportional to sin δ, and δ>90º). Since the first effect is larger than the second one, the
overall induced torque increases to supply the motor‘s increased load.

As the load on the shaft is increased, the sin δ term decreases more than the BR term increases
(the value is going towards the 0 cross over point for a sine wave). At that point, a further
increase in load decreases τind and the motor stops. This effect is known as pullout torque.

2.5.4 Modelling the torque-speed characteristics of an induction motor

Looking at the induction motor characteristics, a summary on the behaviour of torque:

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Note:
 ind  kBR Bnet sin 

 Rotor magnetic field will increase as the rotor current will increase (provided that the
rotor core is not saturated). Current flow will increase as slip increase (reduction in
velocity)
 The net magnetic field density will remain constant since it is proportional to E1 (refer
to equivalent induction motor equivalent circuit). Since E1 is assumed to be constant,
hence Bnet will assume to be constant.
 The angle ω will increase as slip increases. Hence the sin ω value will reduce until as
such that the reduction of sin d will be greater than the increase of BR (pullout torque).
Since ω is greater than 90 degrees, as such that:

sin   sin  r  90  cos  r

where: ωr is the angle between ER and IR (note that ER is in phase with Bnet since it is in
phase with Bnet).

Adding the characteristics of all there elements would give the torque speed characteristics of
an induction motor.

cos R can also be known as the motor power factor where:

Xr sX
 r  tan 1  tan 1 o
Rr Rr

The torque speed curve may be divided into 3 regions of operations:

1 Linear region or low slip region

2 Moderate slip region located until the pullout torque level.
3 High slip region
Typical values of pullout torque would be at about 200% to 250% of the rated full load torque
of the induction machine. The starting torque would be about 150% than the rated full load
torque; hence induction motor may be started at full load.

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2.5.6The Derivation of the Induction Motor Induced-Torque Equation

Previously we looked into the creation of the induced torque graph, now we would like to
derive the Torque speed equation based upon the power flow diagram of an induction motor.
We know that,

Pconv PAG
 ind  or  ind 
m  sync

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Comparing between the 2 equations, the second equation may be more useful since it is
referenced to synchronous speed. Hence there is a need to derive PAG. By definition, air gap
power is the power transferred from the stator to the rotor via the air gap in the induction
machine. Based upon the induction motor equivalent circuit, the air gap power may be defined
as:

R2
PAG per phase  I 22
s
hence, total air gap power :

R2
PAG  3I 22
s

Our next task is to find I2 (current flow in the rotor circuit). The easiest way is via the
construction of the Thevenin equivalent circuit.

Thevenin‘s theorem states that any linear circuit that can be separated by two terminals from
the rest of the system can be replaced by a single voltage source in series with an equivale
impedance.

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2.5.7CALCULATION VIA THEVENIN EQUIVALENT METHOD

2) Derive the thevenin voltage (potential divider rule):

jX m
VTH  V
R1  jX 1  jX m

Hence the magnitude of thevenin voltage:

Xm
VTH  V
R12   X 1  X m 
2

Since Xm >> X1 , Xm >> R1, therefore the magnitude may be approximated to:

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Xm
VTH  V
X1  X m

1) Find the thevenin impedance;

Take out the source and replace it with a short circuit, and derive the equivalent impedances.

jX m  R1  jX 1 
ZTH 
R1  jX 1  jX m

Since Xm>> X1, Xm >> R1,

Representing the stator circuit by the thevenin equivalent, and adding back the rotor circuit,
we can derive I2,

VTH
I2 
R2
RTH   j ( X TH  X 2 )
s
Hence the magnitude will be,

VTH
I2 
 
2
  X TH  X 2 
R2
RTH 
2
s

Hence air gap power,

2
 
 
VTH  R2
PAG  3

   X  s
2
 X2
R2
RTH 
2
 s TH 
 

Hence, induced torque,

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2
 
 
VTH  R2
3

   X  s
2
 X2
R2
RTH 
2
 s TH 
 ind   
 sync

2.5.7 Comments on the Induction Motor Torque Speed Curve

 Induced Torque is zero at synchronous speed.
 The graph is nearly linear between no load and full load (at near synchronous speeds).
 Max torque is known as pull out torque or breakdown torque
 Starting torque is very large.
 Torque for a given slip value would change to the square of the applied voltage.
 If the rotor were driven faster than synchronous speed, the motor would then become a
generator.
 If we reverse the direction of the stator magnetic field, it would act as a braking action
to the rotor – plugging.
Since Pconv may be derived as follows:

Pconv   indm

Hence we may plot a similar characteristic to show the amount of power converted throughout
the variation of load.

2.6 Maximum (Pullout) Torque in an Induction Motor

Since induced torque is equal to Pag / ωsync , the maximum pullout torque may be found by
finding the maximum air gap power. And maximum air gap power is during which the power
consumed by the R2/s resistor is the highest.

Based upon the maximum power transfer theorem, maximum power transfer will be achieved
when the magnitude of source impedance matches the load impedance. Since the source
impedance is as follows:

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Z source  RTH  jX TH  jX 2

Hence maximum power transfer occurs during:

R2
 RTH   X TH  X 2 
2 2

Put in the value of Smax into the torque equation,

2
3VTH
 max 
2 sync  RTH  RTH   X TH  X 2  
2 2

 

From here we can say:

 Torque is related to the square of the applied voltage

 Torque is also inversely proportional to the machine impedances
 Slip during maximum torque is dependent upon rotor resistance
 Torque is also independent to rotor resistance as shown in the maximum torque
equation.
By adding more resistance to the machine impedances, we can vary:

 Starting torque
 Max pull out speed

2.6.1 Variations in Induction Motor Torque-Speed Characterictics

HIGH resistance rotor LOW resistance rotor

Starting torque HIGH, LOW Starting torque LOW, HIGH

starting current starting current

Slip HIGH at normal conditions Slip LOW at normal

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conditions
Dfghgvh jb 1901

Use a wound rotor induction motor and insert extra resistance into
the rotor during starting, and then removed for better efficiency
during normal operations.

Solution - utilizing leakage reactance – to obtain

the desired curve as shown below

Fig 2.5 torque speed characteristic curve

A torque-speed characteristic curve combining high-resistance effects at low speeds (high slip)
with low resistance effects at high speed (low slip).

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2.7 Speed Control of Induction Motor

Induction motors are not good machines for applications requiring considerable speed control.
The normal operating range of a typical induction motor is confined to less than 5% slip, and
the speed variation is more or less proportional to the load.therefore speed control induction
motor essential for saving unwanted loss energy and save our machine from damage.there are
different method of speed control three induction motor,

 Speed control by changing applied voltage

 Rotor resistance control
 Cascade control and etc.
In our project the most and reliable method is by changing applied voltage and it is explain as
shown below;

2.7.1 Speed control of three induction motor by changing applied voltage

From the torque equation of the induction machine given below;

We can see that the torque depends on the square of the applied voltage. The variation of speed
torque curves with respect to the applied voltage is shown in fig shown below. These curves
show that the slip at maximum torque ˆs remains same, while the value of stall torque comes
down with decrease in applied voltage. The speed range for stable operation remains the same.

Further, we also note that the starting torque is also lower at lower voltages. Thus, even if a
given voltage level is sufficient for achieving the running torque, the machine may not start.
This method of trying to control the speed is best suited for loads that require very little starting
torque, but their torque requirement may increase with speed.

Figure??? Also shows a load torque characteristic — one that is typical of a fan type of load. In
a fan (blower) type of load, the variation of torque with speed is such that T ∝ω2. Here one can
see that it may be possible to run the motor to lower speeds within the range ns to (1 − s)ns.
Further, since the load torque at zero speed is zero, the machine can start even at reduced
voltages. This will not be possible with constant torque type of loads.

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Stator voltage variation
70

60
V1
50
tor
40
qu
e, V2
30
N
m
20 V3 o1
o2
10 Load o3
V 1 > V 2> V 3
00 500 1000 1500
Speed, rpm

Fig2.6 Speed torque curve of variable voltage

One may note that if the applied voltage is reduced, the voltage across the magnetizing branch
also comes down. This in turn means that the magnetizing current and hence flux level are
reduced. Reduction in the flux level in the machine impairs torque production, which is
primarily the explanation for fig.???? If, however, the machine is running under lightly loaded
conditions, then operating under rated flux levels is not required. Under such conditions,
reduction in magnetizing current improves the power factor of operation. Some amount of
energy saving may also be achieved.

Voltage control may be achieved by adding series resistors (a loss, inefficient proposition), or a
series inductor / autotransformer (a bulky solution) or a more modern solution using
semiconductor devices. A typical solid state circuit used for this purpose is the AC voltage
controller or AC chopper.AC chopper is control by technique pulse width modulation and it is
explained below,

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XIV. CHAPTER THREE

3 METHOLOGY OF THE PROJECT

3.1 INTRODUCTION
In this section we can understand how to control the speed of three induction motor by
using PWM, that is;

 Use electrical machines and power electronics to simulate a simple AC motor drive
with variable speed control
 Learn how to use the universal bridge block
 Learn how to use the FFT tool

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Figure3.1: General block diagram

Variable speed control of three phase induction motor makes use of forced commutated
electronic switches such as IGBTs MOSFETs and GTOs .Asynchronous machines fed by
PWM voltage sourced converters are nowadays gradually replacing the motors and thyristors
bridges. With PWM combined with modern control techniques such as field oriented control or
direct torque control, you can obtain the same flexibility in speed and torque control as with
DC machines.

Dc source is the source which is used as inverter input.

3.2 PWM TECHNIQUE

Pulse width modulation is a technique in which a fixed input dc voltage is given to the inverter
and a controlled ac output voltage is obtained by adjusting the on and off periods of the inverter
components. This is most popular method of controlling the output voltage and this method is
termed as pulse width modulation technique. PWM is an internal control method and it gives
better result than an external control methods. There are number of PWM methods for variable
frequency voltage-sourced inverters. A suitable PWM technique is employed in order to obtain
the required output voltage in the line side of the inverter.

A Sinusoidal Pulse Width Modulation technique is also known as the triangulation, sub
oscillation, sub harmonic method is very popular in industrial applications. In this technique a

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high frequency triangular carrier wave is compared with the sinusoidal reference wave
determines the switching instant. When the modulating signal is a sinusoidal of amplitude Am,
and the amplitude of triangular carrier wave is Ac, then the ratio

m=Am/Ac,

is known as the modulation index. It is to be noted that by controlling the modulation index
one can control the amplitude of the output voltage.

Figure3.2: Generation of PWM wave

For wide variation in drive speed, frequency of the applied AC voltage needs to be varied
over a wide range. The applied voltage also needs to be varying almost linearly with the
frequency. The harmonic content in the output of the inverter can be reduced by employing
pulse width modulation (PWM). Sinusoidal PWM (SPWM) is affecting in reducing lower
order harmonics while varying the output voltage and gone through many revisions and it has
a history of three decades. Some of the following constraints for slow varying sinusoidal
voltage be considered as the modulating signal are:

 The peak magnitude of the sinusoidal signal is less than or equal to the peak magnitude of
the carrier signal. This ensures that the instantaneous magnitude of the modulating signal
never exceeds the peak magnitude of the carrier signal.
 The frequency of the modulating signal is several orders lower than the frequency of the
carrier signal. For example 50 Hz for the modulating signal and 20 KHz for the carrier
signal. Under such high frequency ratio's the magnitude of the modulating signal will be
virtually constant over any particular carrier signal time period.

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 A three phase Sine-PWM inverter would require a balanced set of three sinusoidal
modulating signals along with a triangular carrier signal of high frequency.

Speed drives of AC motor, the magnitude as well as frequency of the fundamental component
of the inverters output voltage needs to be controlled. This calls for generation of three phase
balanced modulating signals of variable magnitude voltage and frequency which it may be
emphasized, need to have identical magnitudes and phase difference of 120 degrees between
them at all operation frequencies. Generating a balanced three phase sinusoidal wave forms of
controllable magnitude and frequency is a pretty difficult task for an analog circuit and hence
a mixed analog and digital circuits is often preferred. Simulation results are obtained using
MATLAB / Simulink environment for effectiveness of the study.

Figure3.3: principle of PWM

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Figure3.4:Principle of sinusoidal PWM for three-phase bridge inverter.

3.3 THREE PHASE INVERTER WITH INDUCTION MOTOR:

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Figure3.5: 3 phase inverter fed induction motor

The IGBT‘s in the above circuit are turned on by giving the pulses generated by the PWM
technique. In our simulation we use ―Discrete 3-phase PWM generator‖ to generate the PWM
pulses to the IGBT‘s.

3.4 loading and driving the motor

We now implement the torque-speed characteristic of the motor load. Assume a quadratic
torque-speed characteristic (fan or pump type load). The torque T is then proportional to the
square of the speed ω.

T=k* ω2

The nominal torque of the motor is

T= =11.87Nm

Therefore, the constant k should be

k= =3.34*10-4

3.5 How to do FFT analysis in matlab/simulink

Click on the icon ‗scope‘ which has the waveform to be analyzed by FFT analysis. Go to
parameters then go to data history and click on ‗save data to work space‘ then give some
variable name and the format should be structure with time. Then click apply and press ok.
Now close the ‗scope‘ window, run the simulation. Now double click on ‗powergui‘ block then
click on ‗FFT analysis‘ then FFT analysis window will appear then set the parameters then
click on display so that you will get FFT analysis of a signal.

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XV. CHAPTER FOUR

4 SIMULATION RESULTS
Here we developed a DC to AC inverter fed to induction motor in Simulation / Matlab with a
three phase PWM inverter. For generation of PWM pulses the technique was used comparing
sinusoidal control voltage (at the desired output frequency and proportional to the output
voltage magnitude) with a triangular waveform at a selected switching frequency.

The harmonics in the output voltage appears as sidebands of the switching frequency and its
multiples in a PWM inverter. Therefore a high switching frequency results in an essentially
sinusoidal current (plus a superimposed small ripple at a high frequency) in the motor. A 3-
phase squirrel cage motor rated 5 HP, 460 V, 60 Hz, 1750 rpm is fed by a 3-phase IGBT
inverter connected to a DC voltage source of 400 V. Take a look at the simulation parameters.
The inverter is modeled using the "Universal Bridge" block and the motor by the
"Asynchronous Machine" block. Its leakage inductance Ls is set to twice its actual value to
simulate the effect of a smoothing reactor placed between the inverter and the machine.
Observe that the rotor and stator currents are quite "noisy," despite the use of a smoothing
reactor. The noise introduced by the PWM inverter is also observed in the electromagnetic
stator torque waveform Te. However, the motor‘s inertia prevents this noise from appearing
in the motor's speed waveform.

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Figure4.1: Simulink Model for SPWM Inverter fed Induction Motor

Figure4.2:Line voltage from inverter

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Figure4.3: Stator currents of induction motor

Figure4.4: Speed of the induction motor

Figure4.5: Torque in the induction motor

Next we did FFT analysis of line voltage of an inverter in MATLAB. We get the peak
amplitude of the fundamental sinusoidal waveform is 311.8V and the total harmonic distortion
is 78.99% as shown in the figure below.

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Figure4.6: FFT analysis of line voltage of an inverter

The speed of the induction motor for different values of modulation index is given in the table
below.

Modulation Modulation index Speed in rad/s Speed in rpm

1.6 182.1 1739
Over modulation 1.4 181.8 1736
1.2 181.2 1730
Critical modulation 1 179.4 1713
0.9 177 1691
Under modulation 0.7 167.8 1603
0.5 131.2 1252

Speed in rpm= *speed in rad/s

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XVI. CHAPTER FIVE

5 CONCLUSION AND LIMITATION

The speed of the induction motor can be controlled by changing the modulation index of the
PWM technique. By increasing the modulation index, we can get the peak of the fundamental
voltage of the line voltage from the inverter increases means the input voltage given to the
stator of the induction motor increases so that the speed is increased and vice versa. This is the
method of control of speed of the induction motor by stator voltage control.

5.1 limitation
The limitation that we faced while doing this project is

 Lack of material and enough timefor practical use because of this particular problem we
could not perform the project HARD WARE.

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s
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