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Speed Control of Induction Motors
Speed Control of Induction Motors
Submitted by
Jeetesh Kumar (08010815)
Kamakhya Prasad Basumatary (08010817)
Supervisor
Professor A. K. Gogoi
(Professor, Department of Electronics and Electrical Engineering, IIT Guwahati)
Certificate
This is to certify that the work contained in this thesis entitled Speed Control of Induction Motor using
V/f technique, is a bonafide work of Jeetesh Kumar (08010815) and Kamakhya Prasad Basumatary
(08010817) , carried out in the Department of Electronics and Electrical Engineering, IIT Guwahati under
my supervision and it has not been submitted elsewhere.
Date:
Place:
(Supervisors Signature)
A.K.Gogoi
Proffesor,
Department of Electronics and Electrical Engineering
IIT Guwahati
Contents:
1. Introduction 1
2. Operation of induction motors2
2.1 Equivalent circuit and control of speed of induction motor.2
2.2 Pulse Width Modulated Inverter..5
2.3 Three phase harmonic filter..6
3. Basic features of the project7
3.1 Determining the parameters of induction motor..7
3.2 Modeling of 3-phase voltage source inverter in MATLAB Simulink11
3.3 Harmonic Distortion in the motor...12
4. Potential Applications...13
5. Future work/ Plan for overall thesis..14
1 Introduction:
It is very important to control the speed of induction motors in industrial and engineering
applications. Efficient control strategies are used for reducing operation cost too. Speed control
techniques of induction motors can be broadly classified into two types scalar control and vector
control. Scalar control involves controlling the magnitude of voltage or frequency of the induction motor.
To maintain torque capability of the motor close to the rated torque at any frequency, the air gap flux, ag
is maintained constant. Any reduction in the supply frequency without changing the supple voltage will
increase the air gap flux and the motor may go to saturation. This will increase the magnetizing current,
distort the line current and voltage, increase the core loss and copper loss, and it makes the system noisy.
The air gap voltage is related to ag and the frequency f as,
Eag =k1 ag f
(1)
Vs
f
(2)
(3)
We shall be concentrating on the third method throughout the project, beginning with analyzing the
parameters of the induction motor and the harmonic contents.
Ns =
120f
p
(5)
where, f is the frequency of the applied voltages and currents. Due to the rotating air-gap flux, a counteremf, called the air-gap voltage is induced in each of the stator phases at frequency f. The torque in an
induction motor is produced by the interaction of the air-gap flux and the rotor currents. If the rotor
rotates at synchronous speed, there is no relative motion between the air-gap flux and the rotor, and hence
there is no induced voltages, currents and torque in the rotor. At any other speed r of the rotor in the
same direction of the air-gap flux rotation the motor moves with respect to the air-gap flux at a relative
speed called the slip speed sl ,where
sl = s - r
(6)
The slip speed normalized by the synchronous speed gives the slip :
=
s r
s
(7)
Vs
R s+R r +j(X ls+X lr )
Is =
(8)
Pag = 3 | Is |2
R r
(9)
s
3V s2
R s+R r
2+j
X ls+X lr
R r
s
(10)
(11)
Te =
(12)
=
=
1s P ag
(13)
(1s)s
3 Is 2Rr '
(14)
ss
3
= .
s
V 2s
R r
R s+
s
2+
X ls+X lr
.
2
R r
s
(15)
Plotting the torque against slip or speed gives us the torque-speed characteristic of the motor.
For positive values of slip, the torque-speed curve has a peak. This is the maximum torque
produced by the motor and is called the breakdown torque or the stalling torque. Its value can be
calculated by differentiating the torque expression with respect to slip and then setting it to zero to get ,
the slip at the maximum torque.
Slip at maximum torque,
Rr
R r 2+ X ls+X lr
(16)
Maximum torque,
3V s2
1
.
2 s R s R 2s+ X ls+X lr
Temax =
(17)
From equation (15) we observe that the torque is proportional to the square of applied voltage. Figure 4
shows the variation of torque-speed curves with changing applied voltage.
To avoid saturation in the motor, the air-gap flux must be kept constant. From equation (1), to
keep ag constant, we vary Eag proportionate to f. The developed torque is given as,
TE/f =
Rr
k 2f 2
R r
s
2+
L lr
. s
(18)
r
lr
(19)
Maximum torque,
2
TE/f = 8 2
lr
(20)
Equation (20) shows that the maximum torque is independent of frequency and hence remains the same
for each E/f and the maximum torque occurs at a speed lower than the synchronous speed for each
combination of E and f . However, we get a slightly different set of curves for constant V/f, so for fixed
V, E changes with operating slip and the maximum torque is reduced, as shown in figure 6.
signal Vtri . The gating pulses are hence obtained which drive the switches and we get the Pulse
Width Modulated signals as the output of the inverter.
DC test:
A DC voltage is applied to the stator. In this case the equivalent circuit will consist only of the
stator resistance. For motors with star connected stator terminals (as used in the simulations) the circuit
for DC test is given as:
Rs = 2I
dc
No-Load test:
Figure 10.is the equivalent circuit for the No-Load test.
(21)
Here the rotor circuit is kept open and the slip is zero. The magnetizing branch impedance is large
compared to the stator impedance. Hence the voltage drop across the stator impedance is neglected and
the total power drawn is assumed to be entirely consumed as core loss.
The no-load power factor is given by
P1
s I0
cos 0 = V
(22)
Im = I0 sin 0
(23)
Ic = I0 cos 0
(24)
Lm = 2 f
s Im
(25)
Vs
Ic
(26)
Locked-Rotor test:
The rotor is blocked and kept at standstill. For this test the slip is unity and the equivalent
circuit looks like a secondary-shorted transformer. The magnetizing branch impedance is higher
compared to the rotor impedance and so the magnetizing branch is neglected in the equivalent
circuit.
The short-circuit power factor obtained from the equivalent circuit is given by,
Psc
cos sc= V
(27)
sc Isc
where , Vsc snd Isc are the short-circuit voltage and current respectively.
The short-circuit impedance is given by,
Zsc =
V sc
(28)
I sc
(29)
(30)
(31)
Usually the value of stator reactance is taken same as that of the referred rotor leakage reactance. For
accurate results, the following pattern can be followed for various motors:
Motor
Stator inductance (% of Xeq) Rotor inductance (% of Xeq)
Squirrel Cage Class A
50
50
Squirrel Cage Class B
40
60
Squirrel Cage Class C
30
70
Squirrel Cage Class D
50
50
Wound Rotor
50
50
Table 1. Standard stator and rotor inductances for induction motors
For the simulations we have used a squirrel-cage induction motor with the following parameters:
Nominal Power= 5 hp ; Nominal Line-line Voltage = 460 V ; Frequency= 60 Hz
We run the simulation for different values of input frequency and observe the induction motor
parameters:
Frequency(Hz)
60
50
40
30
20
Lm
Rc
Rr
Xeq
0.208
582.692
1.017
4.45
0.207
728.86
1.018
3.726
0.209
906.4
1.020
2.982
0.211
898.73
1.018
2.257
0.210
549.48
0.411
2.132
Table 2. Motor parameters at different frequencies.
Rs
1.115
1.115
1.115
1.115
1.115
The variation of parameters with frequency is due to the skin effect and other non-linear imperfections
such as heating and main flux path saturation. This analysis of parameters is important for vector control
9
schemes. The changes in the magnetizing parameters are critical for obtaining self-excitation in selfexcited induction machines. Measuring data at zero and synchronous speed is very difficult. At zero speed
the machine is switched on with full voltage, due to which a transient current is produced , the peak value
of which may be substantially higher than the steady-state current. This problem can be solved by rotating
the motor in reverse direction, reversing the phase sequence and start sampling as soon as the speed
reaches zero. At synchronous speed, the induction motor will not normally run at synchronous speed.
This can be solved by coupling the induction motor with a synchronous motor with the same number of
poles, such that the measured data is taken at exact synchronous speed[14].
The control scheme used in the project is an open loop control (manual control) in which
controlling parameters are fixed or set by a user and the system finds its own equilibrium state. In the case
of a motor the desired operating equilibrium may be the motor speed or its angular position. The
controlling parameters such as the supply voltage or the load on the motor may or may not be under the
control of the user. If any of the parameters such as the load or the supply voltage are changed then the
motor will find a new equilibrium state, in this case it will settle at a different speed. The actual
equilibrium state can be changed by forcing a change in the parameters over which the user has control.
Frequency(Hz)
20
25
30
35
40
45
50
55
60
Speed(rpm)
594
731
871
1045
1165
1298
1443
1578
1708
Torque(Nm)
21.06
20.87
18.04
25.86
20.42
20.36
21.34
20.16
21.8
Table3. Motor speed and torque at different frequencies, at load 19.78 pu [speed up test]
The double tuned harmonic filter used to filter harmonic distortion ( Figure 9) consists of a series
LC circuit and a parallel RLC circuit. If f1 and f2 are the tuning frequencies, the filter is tuned
approximately the geometric mean frequency fm=f1f2.
Tuned harmonic order,
n=
fm
f1
XC
XL
(32)
The quality factor of the double tuned filter is defined as the quality factor of the parallel L, R elements at
the mean frequency fm, and is given by,
R
Q = L2f
10
(33)
Figure 14b. Line current without filter at load 19.78 pu; THD= 0.4009
Figure 14d. Line current with filter at load 19.78 pu; THD= 0.0818
From the simulation results (Figures 14a 15d, 15, 16) we observe,
i)
ii)
iii)
iv)
THD of line current in the system with filter is lower than the system without
filter.
THD of line current in the system is lower if system is loaded than the system
without load.
Similar results are obtained in case of line voltages, rotor and stator currents, and
the fluxes.
The steady state fluctuation in torque and speed is also reduced after application
of filter and mechanical load.
THD =
An 2
=2 A 1
(34)
where, An are the rms values of the non-fundamental harmonic components and A1 is the rms value of the
fundamental component.
The drive model is first simulated without using any filter and we get the following responses
from the motor:
12
13
The effect of filtering can be clearly seen from the FFT analysis of the line voltage Vab
as shown in Figure 17a and 17b. The lower order harmonics, mainly 5th and 7th harmonics are
eliminated.
4 Potential Applications:
Voltage-source induction motor drives find their uses in applications like fans, pumps,
packaging, conveyors, hand tools, and appliances. The motors driven by the control loop used here is
capable of producing torque even at zero speed. Such feature is useful in applications where a starting
torque needs to be produced, like robotics.
14
References:
[1] Muhammad H. Rashid, Power Electronics- Circuits , Devices and Applications, Third Edition,
Pearson 2004
[2] Bimal K. Bose, Modern Power Electronics and AC Drives, Pearson 2002
[3] Ned Mohan, Tore M. Undeland, and William P. Robbins, Power Electronics- Converters,
Applications and Design, Wiley India Edition 2010
[4] R. Krishnan, Electric Motor Drives, Modeling, Analysis, and Control, Pearson 2001
[5] Thida Win, Nang Sabai, and Hnin Nandar Maung , Analysis of Variable Frequency Three Phase
Induction Motor Drive, World Academy of science, Engineering and Technology 42 (2008) pp. 647651.
[6] Mehmet Akbaba, Motor Input Voltage and Rectifier Firing Angle Variation With Load Torque in
Constant Current Operated Induction Motors, Mathematical and Computational Applications, Vol. 14,
no.1, pp. 73-84, 2009.
[7]
[8] K. L. Shi, T. F. Chan, Y. K. Wong, and S. L. Ho, Modelling and Simulation of the Three Phase
Induction Motor Using Simulink, International Journal of Electrical Engineering Education, Vol. 36, pp.
163-172, Manchester U.P., 1999.
[9] A. A. Ansari and D. M. Deshpande, Mathematical Model of Asynchronous Machine in Matlab
Simulink, International Journal of Engineering Science and Technology, Vol.2(5), pp. 1260-1267, 2010.
[10] P. Pillay and V. Levin, Mathematical Models for Induction Machines, pp. 606-616, IEEE, 1995.
[11] Technical Guide- Induction Motors fed by PWM frequency inverters, http://www.weg.net
[12] M.A.A. Younis, N.A. Rahim and S. Mekhilef, Harmonic Reduction in Three- Phase Parallel
Connected Inverter, World, Academy of Science, Engineering and Technology, 50, pp. 944-949 (2009).
[13] C. Grantham and D.McKinnon, Rapid parameter Determination of Induction Motor analysis and
Control,
[14] D.J. McKinnon,D. Seyoum, and C. Grantham, INVESTIGATION OF PARAMETER
CHARACTERISTICS FOR INDUCTION MACHINE ANALYSIS AND CONTROL, The Institution
of Electrical Engineers, IEE, Michael Faraday House, Six Hills Way, Stevenage, SG1 2AY, pp. 320-325,
2004
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