Performance Analysis and Simulation of Inverter-fed Slip-power Recovery Drive

A K Mishra, Non-member Prof A K Wahi, Non-member

In this paper, performance analysis and PSPICE simulation of inverter-fed slip-power recovery drive is presented. This drive is different than other slip-power recovery drives in the sense that the slip-power from rotor terminals is recovered to the dc-link of feeding inverter to the motor while in other schemes slip-power is recovered to the ac source. Recovery of slip-power from rotor terminals to ac supply is blocked by diode bridge rectifier, which is used to feed the motor inverter. Steady-state performance analysis of the drive is done with the help of dc and ac mathematical models. PSPICE simulation of this drive is done using equivalent circuit model of the wound rotor induction motor. This drive is developed in the laboratory for a 2-kVA wound-rotor induction motor. Theoretical and experimental performances and simulation results are found as expected.
Keywords: Inverted Fed; Induction motor; Slip-power; PSPICE

NOTATION C D d E E1 E2 f Id Ir Irf L1 Lc Lf LR 1', LR 2', LR 3'

LS 1, LS 2, LS 3 : capacitor in the dc link, mF : drain terminal of the MOSFET : duty-ratio of the chopper : rms voltage of the input supply, V : line to line rms input voltage to the stator of WRIM, V : rotor terminal voltage at standstill, V : supply frequency, Hz : rotor rectified dc current flowing through the chopper inductor, A : rotor current in equivalent ac model, A : fundamental component of the rotor current, A : dc link inductor in transient analysis, H : self-inductance of the chopper inductor of the proposed scheme, H : self-inductance of the chopper inductor in rotor resistance control, H : rotor leakage inductances transferred to stator for PSPICE simulation, H
R2

: stator leakage inductances for PSPICE simulation, H : stator magnetizing inductances for PSPICE simulation, H : amplitude modulation-ratio : stator to rotor turns-ratio : efficiency of the machine : stator resistance transferred to rotor side,

LSM 1, LSM 2, LSM 3 ma n

R1

: stator resistance transferred to the rotor side, R2 Rc RL1 RR 1', RR 2', RR 3' RS 1, RS 2, RS 3 s Vc Vo Vr Vrs
Xm

: rotor resistance, : resistance of the chopper inductor, : resistance of the dc link inductor for PSPICE simulation, : rotor resistances transferred to stator for PSPICE simulation, : stator resistances for PSPICE simulation, : motor slip : chopper input voltage, V : output voltage of the step-up chopper and dc link voltage, V : rotor rectified voltage, V : rotor rectified voltage at standstill, V : magnetizing reactance of the motor transferred to the rotorside, 89

LRM 1', LRM 2', : rotor magnetizing inductances transferred LRM3' to stator for PSPICE simulation, H
A K Mishra is Scientist D, RCMA, Korwa C-39, HAL Township, HAL, Korwa Sultanpur 227 412 (UP) and Prof A K Wahi is with Department. of Electrical Engineering, Institute of Technology, Banaras Hindu University, Varanasi 221 005 (UP). This paper (redrafted) was received on September 9, 2003. Written discussion on this paper will be received until November 30, 2004.

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X1 X2

: stator leakage reactance transferred to rotor, : rotor leakage reactance transferred to stator side, : rotor leakage reactance,

harmonics are injected in the supply line due to switching of at least six switches of the recovery inverter. In the present paper, theoretical analysis of the dc link slippower recovery drive is done with the help of the mathematical dc and ac models. The results are experimentally verified and a comparative study of the theoretical and experimental results is presented. The equivalent circuit of the motor is used for PSPICE simulation, which gives switching simulation of the drive at particular speed. DESCRIPTION OF THE DRIVE The schematic diagram of the proposed circuit is shown in the Figure 1. In the proposed circuit three-phase ac supply is input to the stator of the wound rotor induction motor by using a rectifier-inverter set. Using diode bridge rectifier ac supply is converted into dc. Depending on the supply available power rating of the motor, the diode bridge rectifier may be singlephase or three-phase. The ripples from the rectified dc voltage are reduced by connecting a large filter capacitor across the output of the rectifier. The same capacitor is used in the output of the step-up chopper, which holds the voltage variation minimum. The rectified dc voltage is input to a PWM controlled self-commutated three-phase bridge inverter. A simple firing circuit is used to control the inverter so that a constant three-phase voltage at 50 Hz is input to the stator of the WRIM. To recover the slip-power from the rotor terminals, the rotor three-phase voltage is rectified using a three-phase diode bridge rectifier. This rectified voltage is stepped-up, using a step-up chopper, to the level of the dc voltage of the dc link of the rectifier-inverter set, feeding the stator winding of the WRIM. So long as the chopper output voltage remains less than the dc link voltage, no slip-power is recovered from rotor terminals. As soon as chopper output voltage becomes equal to the dc link voltage, the motor current is partly drawn from the chopper and the rest is supplied by the mains. Hence, the slip-power is fed back to the motor itself. The operating principle of the proposed scheme is different from other schemes, in the sense that the slip-power recovered is being fed back to the motor without coupling any other machine with the Wound Rotor Induction Motor.

X2

INTRODUCTION Slip-power recovery scheme is an efficient method of speed control of wound rotor induction motor. A Lavi and R J Polge presented the basic concept of this scheme 1 in 1966. The analysis of the scheme using thyristor was first time reported by Shepherd and Stanway2. The main draw-back of this scheme is the poor supply power factor due to reactive power drawn from the source both by motor as well as line commutated inverter. Many improvements and new schemes are presented in past to improve the line power factor. W Shepherd and Khalil presented capacitive compensation3, S K Pillai and Desai used step-up chopper4, Taniguchi and Mori used Power Chopper to Thyristor Scerbius5 and Dordala, et al, used PWM inverter6 to improve the supply power factor. L Refoufi, et al, presented analysis of a step-down chopper controlled slip energy recovery induction motor drive claiming an improvement in power factor7. Fan Lio, et al, tried to recover the slip energy to a part of the stator winding to avoid the use of a recovery transformer8. G D Marques and P Verdelho presented a different circuit configuration in which a boost up chopper connects the rotor rectifier to a dc link of voltage controlled line commutated inverter connected in parallel with a capacitor9. Yoshika Kawabata, et al, proposed a vector controlled inverter fed wound rotor induction motor for high power applications10. A new scheme was presented in which the motor was fed through a rectifier-inverter set and slip-power from rotor terminals was recovered to the dc link of the inverter11. Study of these papers revealed that these schemes have some limitations12 as ( i) speed control range is small to reduce the cost of the drive; (ii) a number of starting equipments are required, eg, starting liquid resistors, isolators, circuit breakers, fuses, transfer-over switch, speed sensing devices; (iii) shoot through fault oftenly damage the drive; (iv) supply line voltages increase whenever a large amount of power is recovered to the mains; and (v) Large

Filter Inductor

Chopper Inductor

D1

1f

VDC

S1 S3 S5 E1 IM S4 S6 S2

sE2

VR

SCH

1-Phase Diode Bridge Rectifier

3-Phase Bridge Inverter

3-Phase Diode Bridge Rectifier

dc Link Slip-Power Recovery Drive Figure 1 Schematic diagram of the drive

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PERFORMANCE ANALYSIS For performance analysis11 of the scheme, following assumptions are made: (1) No commutation overlap in the diode bridges. (2) There are ripple free dc currents. (3) Under the above assumptions, the supply phase currents and the rotor phase currents will have six-step waveforms. (4) No losses in diode-bridge and power- switches. With the above assumptions, rectified rotor current of the drive11 is given by
Id = 1.4315 V o [ s {( 1 d ) n / 1.4315}] n Rm

where I 2 is rotor current and 2 is the angle between stator current and input voltage.
I2 = n

FG sR + R H
1

s E1 R + A s

IJ + ns bX + X gs K
2 1 2 2

(11)

and
cos( 2 ) =

FG sR + R H
1

sR1 + Rx + R A / s
x

R + A s

IJ + ns bX + X gs K
1 2

(12)

(1)

Total active power drawn from the dc link PA = Pg + constant losses SPr where, Spr is slip-power recovered. Reactive power drawn by the motor (13)

where
Rm = {2 R1 + 3( X 1 + X 2 ) / } s + 2 R2 + Rc

(2)

This gives the no load slip as

s0 = (1 d ) n 1.4315

Qm =
(3)

2 E1 Xm

(14)

where, Xm is the magnetising reactance of the motor. Reactive power required by the load
Q1 = E1 I 2 sin ( 2 )

Per phase fundamental air-gap power Pg can be calculated as

2 Pg = I rf Rx + R A / s

(15)

(4)

Total reactive power supplied by the source

Q A = Qm + Ql

where
I rf = 6 I d /

(16)

(5) (6)

Total apparent power input to the motor

PAP =

Rx = {( 2 / 9 ) 1} ( R2 + 0.5 Rc )
and
R A = ( R2 + 0.5 Rc ) + (1 d ) V o 3 6 I rf

eP

2 A

2 2 + Q A + PH

(17)

where, PH is the total harmonic power loss, given by (7)

2 PH = V H /

eR

+ X2

The average torque developed by the motor at the shaft is calculated as Ta =

where, VH = E1 / [n ( 6 N 1)], N being natural number.

R = R1 + ( Rx + R A / s ) n 2
and

3 I r22 R A / s s

(8)

X = X1 + X 2 n 2
The stator input power factor is given by PF = total active power input to the stator/total apparent power = PA / PAP PSPICE SIMULATION (18)

Efficiency of the machine is given by

Pm Pm + Losses

(9)

where Pm = mechanical power output = (1 s ) Pg . Active power fed to the load is given by
P1 = E1 I 2 cos ( 2 )

(10)

PSPICE simulation of the scheme is done by using the equivalent circuit shown in Figure 2. Here, inverter is operated 91

Vol 85, September 2004

10 D1 D3

L1, RL1

15 11 1 3
3

18

L2, RFC

20 10

RS 5 LS1 LSM1

LSM3 LS3 RS3

RR'1 LR'1 LRM'1 RR'3

LRM'3 LR'3 SCH C

1 N1

12 4 6 2 14

D4 0

D2

13

RS2 LS2 LSM2

RR'2 LR'2 LRM'2

17 16 0

Figure 2 Equivalent circuit used for PSPICE simulation

in 120 mode of operation. The inverter is made up of six selfcommutating switching devices. Six pulses each of width of 1/3rd (6.66 ms) of the time period (20 ms for 50 Hz) of the output of the inverter are input to the GATE terminals of the switching devices. The Induction Motor cannot be directly simulated using PSPICE, so equivalent transformer model of the induction motor with variable rotor reactance is used for its simulation in PSPICE. Because the rotor circuit parameters are transferred to the stator side and the equivalent magnetizing reactances of the stator and rotor are coupled with each other (LSM 1 coupled with LRM 1', LSM 2 coupled with LRM 2' and

LSM 3 coupled with LRM 3'), the variation of rotor current frequency is not observed in the simulation results of the rotor current. The effect of the rotor current frequency is on the reactances of the rotor circuit and its effect on the rotor resistance is negligible. Thus PSPICE simulation results give instantaneous voltages and currents at various points of the equivalent circuit model of the drive for particular set of slip and chopper duty-ratio. The equivalent circuit of wound rotor induction motor consists of connected stator and rotor as per the specifications of the output of the experimental inverter and ac motor (universal

12.00 10.00 Torque, Nm 8.00 6.00 4.00 2.00 0.00

Solid linesanalytical and dashed linesexperimental

0.70 0.60

Solid linesanalytical and dashed linesexperimental D=1.0 D=1.0 D=0.9 D=0.9 D=0.7 D=0.7 D=0.5 D=0.4

0.6 D=

0.4 D=

0.8 D= 0.9 D= 0.9 D=

1.0 D= =1.0 D

Power Factor

0.50 0.40 0.30 0.20 0.10 D=0.5 D=0.4

0.4 =0.6 0.8 D= D D=

0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10

Speed, pu Figure 3(a) Torque against speed (pu) characteristics 0.90 0.80 0.70 Efficiency 0.60 0.50 0.40 0.30 0.20 0.10 0.50 0.60 0.70 0.80 0.90 1.00 Speed, pu Figure 3(b) Efficiency against speed characteristics 0.00 0.20 0.30 0.40 D=0.4 D=0.4 Solid linesanalytical and dashed linesexperimental

0.00 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10 Speed, pu Figure 3(c) Stator power factor against speed characteristics 7.00 Solid linesanalytical and dashed linesexperimental

Stator Current, Amp

0.7 D= =0.8 8 D 0. .9 D= D=0 .9 D=0 0 .6 D= D=0. 7 D=0.6

6.00 5.00 4.00 3.00 2.00 1.00 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10 Speed, pu Figure 3(d) Stator current against speed characteristics
0 D= D= .4 D= 0.5 1.0 D= 0.9 D= 1.0

0.7 0.9 D= D=

D=0.5 D=0.4 D=0.7

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Figure 4 PSPICE simulation

motor) given below. The maximum output voltage of the inverter used in the experimental set-up is 200 V, so the stator and rotor windings are connected in so that torque produced by the motor reaches maximum. In this paper, PSPICE simulation results of line to line stator voltage [v (12, 13)], line to line rotor voltage [v (15, 16)], stator current [I (LS 1)] and rotor current [I (R 1)] are shown in Figure 4 for s = 0.2, d = 0.3; s = 0.5, d = 0.5; s = 0.9, d = 0.1 and s = 0.9, d = 0.9.

SPECIFICATIONS OF THE EXPERIMENTAL SET-UP Specification of the Motor Output 415 V or 240 V ac, 3-phase, 50 cycles, 1500 rpm. Input 415 V or 240 V ac, 3-phase, 50 cycles, 1500 rpm. Normal Current Rating 2.8 A for a voltage of 415 V In all cases the volt-ampere rating is 2020 VA

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Equivalent Circuit Parameters (a) Stator resistance (b) Stator reactance (c) Magnetizing reactance (d) Rotor resistance (e) Rotor reactance Inverter Specifications (i) Input supply (ii) Output supply : 6.3 / phase : 15.953 /phase at 50 Hz : 100.03 /phase at 50 Hz : 5.2 /phase : 15.953 /phase

: 230 V, single-phase, 50 Hz ac/230 V dc : 12200 V (line-to-line) variable voltage, 3-phase, : 0320Hz variable frequency, ac

Figure 4 gives PSPICE simulation results of the drive for s = 0.2, d = 0.3; s = 0.5, d = 0.5; s = 0.9, d = 0.1 and s = 0.9, d = 0.9. Simulation waveforms of line to line stator voltage, v (12, 13) is almost sinusoidal for low values of the duty-ratio at lower slips. This voltage remains almost same for all slips at all duty-ratio as this is the input voltage to the stator. Simulation waveforms of line to line rotor voltage v (15, 16) is low and has almost sinusoidal waveforms for low values of slips and duty-ratios but its waveform distorts on increasing the duty-ratio as well as slip. Rotor voltage magnitude increases on increasing the slip but it remains same for all values of duty-ratios at a particular slip. The magnitude of the rotor current I (RL 1) increases on increasing both the slip and duty-ratio. Distortion in the rotor current waveform due to chopping action is more visible for low slips and duty-ratio. The stator current magnitude I (LS 1) also increases on increasing both the slip and duty-ratio. REFERENCES
1. A Lavi and R J Polge. Induction Motor Speed Control with Static Inverter in the Rotor. IEEE Transaction on Power Apparatus and Systems, vol PAS-85, no 1, January 1966, pp 76-84. 2. W Shepherd and J Stanway. Slip Power Recovery in an Induction Motor by the Use of a Thyristor Inverter. IEEE Transaction on Industry and General Applications, vol IGA-5, no 1, January/February 1969, pp .74-82. 3. W Shepherd and A Q Khalil. Capacitive Compensation of Thyristor Controlled Slip-energy-recovery System. Proceedings IEE, vol 117, no 5, May 1970, pp 948- 956. 4. S K Pillai and K M Desai. A Static Sherbius Drive with Chopper. IEEE Transaction on Industrial Electronics and Control Instrumentation, vol IECI-24, no 1, February 1977, pp 24-29. 5. K Taniguchi and H Mori. Application of a Power Chopper to the Thyristor Scherbius. IEE Proceedings, vol 133, Pt B, no 4, July 1986, pp 225-229. 6. S R Doradla, S Chakravorty and K E Hole. A New Slip Power Recovery Scheme with Improved Supply Power Factor. IEEE Transaction on Power Electronics, vol 3, no 2, April 1988, pp 200-207. 7. L Refoufi, P Pillay and M R Harris. A Step-Down Chopper-Controlled Slip Energy Recovery Induction Motor Drive. IEEE Transaction on Energy Conversion, vol 8, no 3, September 1993, pp 396-403. 8. F Liao, JI Sheng and A L Thomas. A New Energy Recovery Scheme for Doubly Fed, Adjustable-Speed Induction Motor Drives. IEEE Transaction on Industry Applications, vol IA -27, no 4, July/August 1991, pp 728-733. 9. G D Marques and P Verdelho. A Simple Slip-power Recovery System with a dc Voltage Intermediate Circuit and Reduced Harmonics on the Mains. IEEE Transaction on Industrial Electronics, vol 47, no 1, February 2000, pp 123-132 10. Y Kawabata, E Ejiogu and T Kawabata. Vector Controlled DoubleInverter Fed Wound Rotor Induction Motor Suitable for High Power Drive. IEEE Transaction on Industry Applications, vol 35, no 5, September/ October1999, pp 1058-1066 11. A K Mishra. A Novel Scheme for Slip-Power Recovery Drive. Ph D Thesis Submitted at IT, BHU, Varanasi, December 2000.

(iii) Output power (iv) Output current (v) The dc link capacitor Chopper Specifications

: 2.2 kW (4.0 kVA) : 10 A : 2 530 F (in parallel)

POWER MOSFET IRFPG 50 is used as chopper switch, the voltage and current rating of which is 1000 V and 8.0 A. The fast recovery diode (IOR 16 FC) of voltage and current rating 1200 V and 10 A is used. CONCLUSION Analytical and experimental performance characteristics of the drive are shown in Figures 3(a)-3(d). All these characteristics exhibits that the drive has a particular range of speed for a particular value of the chopper duty-ratio. In Figure 3(a), theoretical and experimental torque-speed characteristics are drawn for different values of the duty-ratio of the chopper, which exhibits similarity with the torque-speed characteristics of a V/f controlled induction motor drive. Maximum torque slightly increases on increasing the duty-ratio of the chopper. Starting torque is high for the low values of the duty-ratios. Stable region of the torque-speed characteristics increases for low values of the chopper duty-ratio. In Figure 3(b), theoretical and experimental efficiency-speed characteristics are shown for different values of duty-ratio of the chopper. This shows higher efficiency for large values of the duty-ratio at higher speed. In Figure 3(c), theoretical and experimental power factor-speed characteristics of the induction motor are shown for different values of the duty-ratio of the chopper. The motor input power factor improves on increasing the duty-ratio of the chopper. The line side power factor remains high due to the use of the diodebridge rectifier. In Figure 3(d), theoretical and experimental stator current-speed characteristics are shown. This figure exhibits that the stator current increases for increase in dutyratio and it remains high for duty-ratios at low speeds.

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12. A K Mishra and Dr A K Wahi. A New Slip-Power Recovery Scheme for Inverter-Fed Induction Motor Drive. National Conference on Electric Drives and Control for Transport Systems, January 16-18, 1997. APPENDIX Single-phase ac supply is input to a diode bridge rectifier. As a large capacitor is connected across the rectifier output, the rectified dc voltage remains almost constant equal to the peak voltage of the supply, given by Vo = 2E (A.1)

To feed power from the rotor terminal to dc link, the stepped-up rotor rectified voltage should be equal to the dc link voltage. Chopper output voltage Vo and input voltage Vc are related as Vc = (1 d ) Vo (A.6)

where, E is the rms value of the supply voltage. This rectified voltage is input to the PWM controlled inverter. Assuming a linear PWM modulation, the line to line rms output voltage of the inverter is given by11 where, m a is amplitude modulation ratio.

For developing dc model of the circuit, the stator and rotor resistances and reactances are transferred to the dc side of the rotor rectifier. For transferring the stator and rotor parameters to dc side of the rotor rectifier, the equivalent voltage drop across them is considered. Their effect is assumed to be resistive and their equivalent resistance Rm is given by11

Rm = 2 R1 + 3 X1 + X 2 / s + 2 R2 + Rc

h t
h

= R p s + RQ
where RP = 2 R1 + 3 X1 + X 2 /

(A.7)

E1 =

3 2 2 3 2 2

m a Vo

(A.2)

and

RQ = 2 R2 + Rc
E1 = Vo
From the Figure of dc model Figure (A-1), rectified dc current Id is given by
I d Rm = V r V c

= 0.612 Vo
= 3 E = 0.8655 E 2

(A.3)

= 1.4315 Vo ( s / n ) ( 1 d ) V o

At 50 Hz and rated output voltage, the value of m a is assumed to be unity. The fundamental line to line output voltage of the PWM inverter, input to the stator is given by Rotor terminal voltage is given by

= 1.4315 Vo s 1 d n / 1.4315 / n
or
Id = 1.4315 V o s 1 d n / 1.4315 n Rm

oc h

oc h

t
Rm Lc

(A.8)

E2 =

s E1 0.8655 s E = n n

(A.4)

Rotor rectified dc voltage is given by Vr

sE2

Id Vr Vc S C Vo

=
=

3 6 s E2

E 3 6 s 0.8655 1 n

= 1.4315

s
n

3-Phase Diode Bridge Rectifier (A.5) Figure (A-1) Equivalent dc model of the drive

Vo

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