Basic Motor Control: 02-03 Agustus 2004 Kursus Motor Protection For Industry 1

Basic
Motor Control
02-03 Agustus 2004 Kursus Motor Protection for Industry 1

Classification of Electric
Motors

Motor Control Trends
AC induction motors are widely used
Reasons : high robustness, reliability, low
price and high efficiency (up to 80%)
Weakness point : difficult controllability
Solution: digital motor controller based on
Digital Signal Processor (DSP)

Basic Principles of AC
Motor
Main components:
1. Rotor
2. Stator
3. Precise bearings
4. Cooling fan
Rotor Cooling Fan
Stator

Basic Principles of AC
Motor
 The stator and rotor are analog with transformer
where the rotor is analog to rotating secondary.
 The primary windings connect to, and are
energized by, the voltage source to produce a
rotating magnetic field.
 Three-phase windings spaced 120 electrical
degrees apart are popular in industry.
 The alternating current (ac) “induced” into the rotor
by the rotating magnetic flux produced in the stator.
 Motor torque is developed from interaction of
currents flowing in the rotor bars and the stator’s
rotating magnetic field.
Three Phase Stator Currents

AC Motor Features
 Simple and rugged construction

 Low cost and minimum maintenance
 High reliability and sufficiently high efficiency
 Needs no extra starting motor and need not be
synchronized

Power Flow Diagram in IM

Rotating Magnetic Field
Constant Magnitude

Speed-Torque Characteristics

Synchronous Speed
f
N s  120  (rpm)
P
s  2N s (rad/sec)
Where:
N s ,  s  Synchronous speed
N  Number of pole
f  Frequency of stator voltage

Slip s
 The rotating field induces an emf. in the rotor-circuit.
 Current flows through the short-circuited rotor windings to
produce a flux.
 The rotor tries to catch up with the stator field.
 If say  r (rad/sec) is the rotor speed, then the difference
between stator and rotor flux speeds is ( s -  r) (rad/sec).
s r
s
s
Ns  Nr

Ns

Slip s
Let f’ be the rotor current frequency at any slip say s.
f   s. f
( s   r )
s 
s
Ns  Nr
s 
Ns
 r  (1  s )   s

Speed – Load Characteristics
Centrifugal Pump Coiler Drive

NEMA Specification
NEMA = National Electrical Manufacturers Association
Design B : High efficiency and Power Factor

Centrifugal pumps, fans, blowers, machine
tools.
Design A : Same as Design B but with higher breakdown
torque.
Design C : Higher starting torque, lower breakdown torque.
Plunger pumps, compressors.
Design D : Higher starting torque and high slip.
Fly wheels, elevators, hoists.

Motor Loads
 Friction torque : Friction is present at the motor shaft

and also in various parts of the load.
Static friction and Coulomb friction.
 Windage torque: The opposing torque generated by

wind when the motor runs.
 Torque to do useful work.

Factors Affecting the Speed-
Torque Characteristics
 Applied voltage : T  V2.
 Supply frequency : The major effect of change in

supply frequency is on motor speed. The starting
torque is reduced with increase in frequency.
 Rotor resistance : The maximum torque produced

does not depend on R2’. However, with increase in R2’,
the starting torque increases.

NEC Section 430-1

Wiring Method for AC Motor

Wiring Method for AC Motor

Motor Name Plate

Locked Rotor Current Code

Over Current
A short-circuit or a ground-fault current is an

excessive current that flows outside the normal
conducting path

Over Current
 While overloads are most often at no more than 6 to
10 times the normal current levels, short-circuit
currents can be hundreds of times that of the normal
operating current.
 If not cut-off in a matter of a few thousandths of a

second, it will cause damage and destruction where
severe insulation damage can occur.
 Additionally, it can cause melting of metal and

conductors, vaporization of metal, ionization of gases,
and arcing—all of which can result in a fire.

Locked-Rotor Situation
 A locked-rotor situation can also occur when a motor
is loaded so heavily that the shaft cannot turn.
 This can jam the rotor in a locked position causing it to
draw excessive amounts of current, which if the motor
is not protected, could cause the motor to burn up.

Over Load Relay
Overload relays provide a time delay to allow for

temporary overcurrent during start up, tripping
capability of a motor circuit once a dangerous level of
overcurrent has been detected for a period of time,
and the means for resetting the circuit.

Motor Protection
Motors are required to have protection against

overload situations when the motor draws excessive
current for a certain period of time

Forward/Reverse Wiring

Reduced Voltage Starting

DC Motors Vs AC Motors
DC Motors:
 Used extensively in areas where variable-speed
operations was required.
 Have certain disadvantages due to the existence of

the commutator and the brushes.
 Require periodic maintenance and they cannot be

used in explosive or corrosive environments.
 Have limited commutator capability under high-

speed, high-voltage operational conditions.

DC Motors Vs AC Motors
AC Motors:
 Have simpler and more rugged structure, higher
maintainability and economy than DC motors.
 Robust and immune to heavy loading.
 Allow to be designed with substantially higher

output ratings for small load, low speed operations.
 Power electronics have been applied AC drives for

high-performance applications where traditionally
only DC. drives were applied.

Sensorless Control for
AC Motors
 Sensorless control has been one of the most popular
techniques in AC drive.
 The elimination of mechanical transducers has been

an attractive prospect, since the shaft transducers
and the associated signal wiring are a significant
source of failure, additional cost, and additional
weight.
 Numerous approaches have been proposed to

estimate the rotor velocity and/or position from the
machine terminal properties, such as the stator
current or voltage.
ELECTRIC DRIVES -
A DEFINITION
About 50% of electrical energy produced is used in electric drives today.

Electric drives may run at constant speed or at variable speed.
Constant speed electric drive

Variable Speed Electric Drive

Application Range of
Electric Drive
Electric drives - variable speed applications

Trend of Electric Drive
A.C. versus D.C. Electric

Drives Markets Dynamics

Energy Saving Provided by
Power Electronic Module
Linear Power Amplification

Energy Saving Provided by
Power Electronic Module
Power Electronic Switching

Basic Topology of Electric
Drives

ELECTRIC MOTORS FOR
DRIVES
TYPICAL CONFIGURATION
Electric Variable Speed Drive is made of some important

parts such as:
 the electric motor;

 the power electronic converter (PEC);
 the electric and motion sensors;
 the drive controller;
 the command interface.

Power Electronic Switches
Diode symbol and its ideal characteristic

GTO symbol and its ideal characteristic

BGT symbol and its ideal characteristic

MOSFET symbol and its ideal characteristic

IGBT symbol and its ideal characteristic

DC-AC Converters (Inverters)
+
Vo
Un id irectio n al b id irectio n al
p o wer flo w p o wer flo w
b rak in g
resisto r
a.c.mo to r
Voltage source PWM inverter

a. basic configuration
b. output waveforms

DC-AC Converters (Inverters)
Bidirectional power flow
bidirectional power flow
+ Io
Phase
3~ controlled
rectifier
a.c. motor
Current source PWM inverter

a. basic configuration
b. output waveforms
DIRECT AC-AC CONVERTERS
3 s econ d ary three p hase tran s fo rmer
DCR fo r DCR fo r
p hase b p hase c
d ual co ntro lled a b

rectifier (DCR) for p hase a
c
a.c. mo to r
Six - pulse cycloconverter

for a.c. motor drives

Three Phases Starter
Diagram
 Consists of two distinct circuits:
 a power circuit and,
 a control circuit.
 The power circuit consists of a circuit breaker or fused
line switch, contacts, and overload heaters connecting
incoming power lines L1, L2, L3 and the three phase
motor.
 The control circuit consists of the magnetic coil, over-
load contacts and a control device such as a pressure
switch.

Diagram
Line Voltage Control

Diagram
Low Voltage Transformer Control

Diagram
External Voltage Control

Checking and Correcting
Rotation and Current Unbalance
1. Established correct motor rotation by running in

both directions. Change rotation by exchanging any
two of the three motor leads. The rotation that gives
the most water flow is always the correct rotation.
2. After correct rotation has been established, check
the current in each of the three motor leads and
calculate the current unbalance as explained in 3
below.
If the current unbalance is 2% or less, leave the leads

as connected.
Percent of Current
Unbalance Calculation:
A. Add the three line amps values together.
B. Divide the sum by three, yielding average current.
C. Pick the amp value which is furthest from the

average current (either high or low).
D. Determine the difference between this amp value

(furthest from average) and the average.
E. Divide the difference by the average. Multiply the

result by 100 to determine percent of unbalance.

Three Possible Hook-Ups

Current Unbalance Calculation



Three Phase Motor Lead
Identification

Motor Backspin and Ground
Fault Protection
 When power is removed from a motor that is coupled

to a pump or a fan, the process back-pressure can
cause the motor to rotate at high speed in the reverse
direction.
 If power is re-applied during this “backspin” condition,

the high torque resulting can cause current overloads
or broken shafts.

Motor Backspin and Ground
Fault Protection
Protection Technique: Backspin Relay
 Backspin relay monitors the regeneration signal on

the motor cables for rotation frequency and direction.
 By connecting the backspin relay to the motor

controller, the motor is prevented from starting until the
forward or reverse spin frequency drops below preset
setpoints.

Backspin Relay
Configuration

Simple Backspin Relay for
Motor Controller

Backspin Relay Application
 Submersible Pumps.
 Booster Compressors.
 Pipeline Booster Pumps.
 Variable Speed Drives.
Backspin relay eliminates the need for check valves on

submersible pumps.

Data Points for Motor
Controller
 Phase Currents, Average  Auxiliary Switch Input.
Amps.  Pressure Switch Input.
 Start Amps.  Power Factor.
 Current Unbalance.  Kilowatts.
 Phase Volts, Average Volts.  Analog Loop.
 Voltage Unbalance.  Leg Ground.
 Frequency.  Spin Monitor.
 Supply Voltage.  Communication.
 Phase Rotation.

Alarm Points for Motor
Controller
 Overload.  Hi/Lo Frequency.
 Under load.  Hi/Lo Supply.
 Stall, Short CCT  Auxiliary Switch.
 C Unbalance  Pressure.
 Over Volts.  Power Factor.
 Under Volts.  Hi/Lo Loop.
 V Unbalance  Spin.
 Rotation  Leg Ground.

Configuration of Motor
Control
Inverter

Configuration of Motor
Control

Induction Motor Control Strategy
Constant V/f (scalar control) : feedback and
command signals are proportional to scalar
quantities. Can only drive the stator frequency using
a voltage or a current as a command.
Vector Control : control space consists of vector
quantities, flux and torque generating currents. Better
dynamic for torque variations in a wider speed range.

Principles of Constant V/f
At steady state operation:
Vˆ  j
ˆ
V  
V 1 V
 
 2 f
Where: V = stator voltage
 = stator flux
 = angular speed
f = frequency
Principles of Constant V/f
 If the ratio V /f remains constant with the change of
f , then stator flux remains constant too and the
torque is independent of the supply frequency.
 In actual implementation, the ratio between the

magnitude and frequency of the stator voltage is
usually based on the rated values of these
variables, or motor ratings.

Characteristics of constant
V/f

Torque-Slip characteristics in
constant V/f

Open-loop speed control
with constant V/f
 Used when accuracy in speed response is not
a concern.
 Applications : HVAC (Heating, Ventilation and
Air Conditioning), fan, blower, etc.
 Motor will roughly follow its synchronous
speed.
 The error in speed resulted from slip of the
motor is considered acceptable.

Open-loop speed control
with constant V/f

Closed-loop speed control
with constant V/f

Schematic of IM Speed
Controller

Three phase power inverter

Relationship between switching
variable and line-to-line voltage

Relationship between witching
variable and phase stator voltage

Switching Patterns

Transformation from abc to
dq axis of stator

Space vector and switching
patterns

Basic Motor Control: 02-03 Agustus 2004 Kursus Motor Protection For Industry 1

Hochgeladen von

Dokumentinformationen

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Basic Motor Control: 02-03 Agustus 2004 Kursus Motor Protection For Industry 1

Hochgeladen von

Copyright:

Verfügbare Formate

Basic

02-03 Agustus 2004 Kursus Motor Protection for Industry 1

02-03 Agustus 2004 Kursus Motor Protection for Industry 2

02-03 Agustus 2004 Kursus Motor Protection for Industry 3

02-03 Agustus 2004 Kursus Motor Protection for Industry 4

02-03 Agustus 2004 Kursus Motor Protection for Industry 6

 Simple and rugged construction

02-03 Agustus 2004 Kursus Motor Protection for Industry 7

02-03 Agustus 2004 Kursus Motor Protection for Industry 8

02-03 Agustus 2004 Kursus Motor Protection for Industry 9

02-03 Agustus 2004 Kursus Motor Protection for Industry 10

02-03 Agustus 2004 Kursus Motor Protection for Industry 11

02-03 Agustus 2004 Kursus Motor Protection for Industry 12

02-03 Agustus 2004 Kursus Motor Protection for Industry 13

Centrifugal Pump Coiler Drive

02-03 Agustus 2004 Kursus Motor Protection for Industry 14

Design B : High efficiency and Power Factor

02-03 Agustus 2004 Kursus Motor Protection for Industry 15

 Friction torque : Friction is present at the motor shaft

 Windage torque: The opposing torque generated by

 Torque to do useful work.

02-03 Agustus 2004 Kursus Motor Protection for Industry 16

 Supply frequency : The major effect of change in

 Rotor resistance : The maximum torque produced

02-03 Agustus 2004 Kursus Motor Protection for Industry 17

02-03 Agustus 2004 Kursus Motor Protection for Industry 18

02-03 Agustus 2004 Kursus Motor Protection for Industry 19

02-03 Agustus 2004 Kursus Motor Protection for Industry 20

02-03 Agustus 2004 Kursus Motor Protection for Industry 21

02-03 Agustus 2004 Kursus Motor Protection for Industry 22

A short-circuit or a ground-fault current is an

02-03 Agustus 2004 Kursus Motor Protection for Industry 23

 If not cut-off in a matter of a few thousandths of a

 Additionally, it can cause melting of metal and

02-03 Agustus 2004 Kursus Motor Protection for Industry 24

02-03 Agustus 2004 Kursus Motor Protection for Industry 25

Overload relays provide a time delay to allow for

02-03 Agustus 2004 Kursus Motor Protection for Industry 26

Motors are required to have protection against

02-03 Agustus 2004 Kursus Motor Protection for Industry 27

02-03 Agustus 2004 Kursus Motor Protection for Industry 28

02-03 Agustus 2004 Kursus Motor Protection for Industry 29

 Have certain disadvantages due to the existence of

 Require periodic maintenance and they cannot be

 Have limited commutator capability under high-

02-03 Agustus 2004 Kursus Motor Protection for Industry 30

 Allow to be designed with substantially higher

 Power electronics have been applied AC drives for

02-03 Agustus 2004 Kursus Motor Protection for Industry 31

 The elimination of mechanical transducers has been

 Numerous approaches have been proposed to

About 50% of electrical energy produced is used in electric drives today.

Constant speed electric drive

02-03 Agustus 2004 Kursus Motor Protection for Industry 33

02-03 Agustus 2004 Kursus Motor Protection for Industry 34

Electric drives - variable speed applications

A.C. versus D.C. Electric

02-03 Agustus 2004 Kursus Motor Protection for Industry 36

Linear Power Amplification

02-03 Agustus 2004 Kursus Motor Protection for Industry 37

Power Electronic Switching

02-03 Agustus 2004 Kursus Motor Protection for Industry 39

Electric Variable Speed Drive is made of some important