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Speed control of multiple induction motors of electromagnetic shaft

synchronization system

Conference Paper · November 2016

DOI: 10.1109/PECON.2016.7951664

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 Speed Control of Multiple Induction Motors of
Electromagnetic Shaft Synchronization System
Ali S. Akayleh, Emad S. Addasi, Saleh A. Al-Jufout*
Department of Electrical Power Engineering and Mechatronics
Tafila Technical University
Tafila, Jordan
drjufout@ttu.edu.jo
Abstract— this paper presents dynamic simulation of speed
control and synchronization of multiple induction motors of
electromagnetic shaft system with additional external control
windings. To control the speed at constant synchronization
capability through the common rotor circuit, a mathematical
model describing an electromagnetic shaft with external control
element has been proposed. The behavior of the motors has been
represented by a system of equations for rotational dynamic
torque, speed and angular position. Results of the dynamics of
the electromagnetic shaft synchronization system with external
control windings have been illustrated and compared to the
electromagnetic shaft synchronization system without external
control windings.
Keywords— electromagnetic shaft; multiple induction motor
system; recovery time; speed control; synchronization capability
I. INTRODUCTION
Induction motor is the main component in most of the
industrial applications. When compared to DC and
synchronous machines, the induction motor is cheap, robust,
efficient and reliable. It has low maintenance cost and high
starting torque. For this reason researchers devoted hundreds
of scientific researches to this machine and its control [1]-[7].
Compared squirrel-cage induction motor to slip-ring (wound-
rotor) motor, the later is used in applications for which high
starting torques are required. Smooth start and high starting
torque are achieved by adding external resistances to the
motor rotor via slip rings.
Slip-ring motors are used in crane drives where the motor
speed is controlled by multi-step external resistances.
Changing the phase sequence of the voltage applied to the
stator serves for reversing, and plugging is used for braking.
When two or more motors are used in the application,
synchronization and speed control of these wound-rotor
induction motors become a challenge. Performance of the
synchronization system depends on speed synchronization
with maximum loads difference on the motors
(synchronization capability) and synchronization time
(recovery time) [8]. In [9], authors compared master-slave,
bi-axial cross-coupled control, cross coupling control,
electronic line-shafting and the relative coupling strategy for
different applications. Sensorless induction motor drive
scheme that used for applications where multi-motor speed
*
Fulbright visiting scholar at Wayne State University, Detroit, USA.
978-1-5090-2547-3/16/$31.00 ©2016 IEEE
synchronization is required is described in [10]. Authors
presented the scheme that employs a model reference
adaptive system that provides a direct field orientated drive
with speed estimation. In [11], authors developed a new
control technique for speed synchronization of multiple
induction motors during load changes and acceleration. They
based their technique on stabilizing speed tracking of each
motor while synchronizing its motion with other motors
motion so that differential speed errors amongst multiple
motors becomes zero. Direct torque control using the stator
flux regulation method was adopted in [12] to develop a new
control for synchronizing the chaotic speed of multiple
induction motors. Authors in [13] studied speed and phase
synchronization control of four eccentric rotors run by
induction motors in a linear vibratory feeder with unknown
time-varying loads. They also investigated self- and
controlled synchronization of three eccentric rotors in line run
by induction motors rotating in the same direction in a
vibrating system [14]. Authors in [15] developed a new mean
deviation coupling synchronization control strategy for
multiple motor applications. This technique ensures the
synchronization performance and reduces complexity of the
control system with the increasing number of machines. A
new control method for synchronization of multiple motors
and speed tracking is developed in [16]. This approach is
based on incorporating an adaptive sliding mode control
method into a ring coupling synchronization control scheme.
This method stabilizes speed tracking of each motor and
synchronizes its motion with other motors motion. The most
popular traditional non-mechanical-shafts synchronization
systems are: synchronization systems with auxiliary machines
where two similar slip-ring induction motors as main motors
and two slip-rings induction motors as a control element;
synchronization systems with electrical shaft where two or
more slip-ring induction motors with common external
resistor as a control element; and synchronization systems
with electromagnetic shaft where two similar slip-ring
induction motors with common inductive rheostat element as
a control element [17], [18]. The most important problem in
speed control in non-mechanical synchronization systems is
adjustment of the synchronization capability and the motors
speed simultaneously [19], [20]. This work aims at adjusting
the motors speed in the electromagnetic shaft system by
adding an external control winding, where at the same time,
acceptable recovery time and synchronization capability are
781
achieved. The paper is organized as follows: an introduction
including a theoretical background of the methods used in
this study is presented in section 1; modeling of the
electromagnetic shaft system is presented in section 2; section
3 describes the proposed application, experimental results and
discussion; and conclusions are presented in sections 4 and 5,
respectively.
second motors; I 2′ (1) , I 2′ ( 2 ) are the rotor currents of the first and
the second motors; Ro′ , X o′ are the resistance and inductive
reactance of the inductive rheostat element; RM′ , X M′ are the
resistance and inductive reactance of the magnetization
circuit of the inductive rheostat element and S is the motor
slip.

II. ELECTROMAGNETIC SHAFT SYNCHRONIZATION

SYSTEM
Electromagnetic shaft synchronization system, shown in
Fig. 1, is recently one of the most applicable systems
compared to other traditional synchronization systems. Each
motor in this system is connected to three-phase wounded
coils on steel core. The inductive reactance element Fig. 2. Equivalent circuit of the electromagnetic shaft synchronization
system.
parameters and dimensions mainly depend on the rated power
of the motors and loads [20]. If the rotor currents flow inside
The difference in the speeds of the motors causes
the inductive reactance from both sides, and electromagnetic
difference not only in the electromotive forces but also in the
connection is generated between them, the main motors coils
phase angles between the stator and rotor windings (Į1, Į2).
fall under a correspondent and continuous influence of the
Therefore, it is possible to represent the difference in loads by
power, where a change in one current of any of the motors
the difference in phase shifts. When the loads become equal,
leads to a change of the current in the other motor. Therefore
the phase shifts will be equal too (Į1=Į2) and (ΔĮ=0).
the system principle of operation depends on the
electromagnetic transformation of energy [20], [21]. From the equivalent circuit shown in Fig. 2, the balance
However, this system suffers from low synchronization equations for the phase rotor voltages can be calculated as
capability, which is the ability of the system motors to follows:
operate at the same speed with the largest possible load
difference on motors shafts. This is because of the inductive ª§ R′ R′ R′ · º ª§ R′ · §X ·º
E2′ (1) = I 2′ (1) «¨¨ R1 + 2 + o + M ¸¸ + j( Xk + X o′ )» + I 2′ (2) «¨¨ M ¸¸ + j¨¨ M ¸¸» (1)
rheostat that serves as a control element, which decreases the ¬© S S S¹ ¼ ¬© S ¹ © S ¹¼
load capability of each motor and consequently, decreases the
synchronization capability of the system. ª§ R′ R′ R′ · º ª§ R′ · §X ·º
E2′ (2) = I 2′ (2) «¨¨ R1 + 2 + o + M ¸¸ + j( Xk + X o′ )» + I 2′ (1) «¨¨ M ¸¸ + j¨¨ M ¸¸» (2)
¬© S S S ¹ ¼ ¬© S ¹ © S ¹¼

From (1) and (2), the rotor currents for the first and
second motors can be calculated as:

1 ª E ′2(1) + E ′2(2) E ′2(1) − E ′2(2) º

I 2′ ( 1 ) = « + » (3)
2 ¬ Z d + 2Z M Z d ¼»

1 ª E ′2(1) + E ′2(2) E ′2(2) − E ′2(1) º

I '2 (2 ) = « + » (4)
2 ¬ Z d + 2Z M Zd ¼»
Where:
ª§ R′ R′ R′ · º
Z d = «¨¨ R1 + 2 + o + M ¸¸ + j( Xk + X o′ )»
¬© S S S¹ ¼
ª§ R′ · §X ·º
Fig. 1. Electromagnetic shaft synchronization system. Z M = «¨¨ M ¸¸ + j¨¨ M ¸¸», X K = X1 + X 2′
¬© S ¹ © S ¹¼
Fig. 2 shows the equivalent circuit of the synchronization
If the first motor is considered as a reference motor of the
system with electromagnetic shaft, where R1 , X 1 are the stator
jΔ α
resistance and inductive leakage reactance of the first and system, E 2′ ( 1 ) = E 2′ , E2′ ( 2 ) = E2′ e , S = S 1 and ΔĮ=Į1-
second motors; R2′ , X 2′ are the rotor resistance and inductive Į2, and then the torque of the first motor can be calculated as
reactance of the first and second motors; Rc , X m are resistance [8]:
and inductive reactance of the magnetization circuit of the 2
m E 2′
motor; E 2′ (1) , E 2′ ( 2 ) are rotor phase voltage in the first and T1 =
2ω o
(I ′ 2 (1 ) + I 2′ ( 1 ) ) (5)

782
 Where I2′ (1) is the conjugate of the first rotor current; m is circuit. These external windings create the additional
magnetic field to strengthen or weaken the main magnetic
the number of phases and ωo is the no-load speed. field in the core of the three-phase inductive rheostat element.
By this variation of flux, the speed of the system is
Adding the rotor current I 2′ (1) and its conjugate I2′ (1) , the controlled. This control is achieved by the use of the
torque in (5) becomes: switching block, which consists of a group of triacs (Fig. 3).
The switching blocks are controlled by the control block.
Therefore, In order to strengthen the main magnetic field,
triacs in the switching blocks will allow the current to flow
ª§ § R′ + R′ · · º
«¨ §¨ R + R2′ + RO′ ·¸(1− cosΔα ) ¨ R1 + 2 O + 2RM′ ¸(1+ cosΔα ) ¸ » from the rotor windings into the external windings in one
«¨ ¨© 1
S1 ¸¹ ¨
© S1 S1 ¸¹ ¸ » direction, while it will weaken the main magnetic field if the
«¨ + ¸+ »
¨
« § R′ + R′ ·
2
§ R2′ + RO′ 2RM′ · §
2
2 X ′ · ¸ »
2
current is allowed to flow in the opposite direction.
«¨ ¨¨ R1 + S ¸¸ + ( Xk + Xo′ ) ¨¨ R1 + ¸ + ¨ Xk + Xo′ + ¸ ¸ »
2 2
O
+ M
2 ¨
mE2′ «© © 1 ¹ © S1 S1 ¸¹ ¨© S1 ¸¹ ¹¸ » In the equivalent circuit of the system both the reactance
T1 = « »
2ωo «§ § · of the main part X'M1 and the auxiliary part X'M2 are
¨ ¨ 2XM′ ·¸ ¸ »
«¨ X + X O′ −
¨ k ¸ ¸ » represented by an equivalent reactance X'M, where X'M=X'M1±
«¨ © S 1 ¹
−
( X k + Xo )
′
¸sinΔα» X'M2. The plus sign (strengthening effect) increases the motor
Ǭ 2 2 2
¸ »
«¨ §¨ R + R2′ + RO′ + 2R'M ·¸ + §¨ X + X ′ + 2XM′ ·¸ §¨ R + R2 ' ·¸ + ( X + X ′ )2 ¸ » speed, while the minus sign (weakening effect) decreases the
«¨ ¨© 1 ¸ ¨ k o ¸ ¨ 1 S ¸ k o
¸ »
©
S1 S 1 ¹ © S 1 ¹ © 1 ¹
¹ ¼ motor speed.

If the second motor is considered as a reference motor of

the system, E 2′ ( 2 ) = E 2′ , E 2′ (1) = E 2′ e jΔ α , S = S 2 and
ΔĮ=Į2-Į1, and then the second motor torque can be
determined similarly to the first one as:

ª§ § R′ + R′ · · º
«¨ §¨ R + R2′ + R′O ·¸(1− cosΔα) ¨ R1 + 2 O + 2RM′ ¸(1+ cosΔα) ¸ »
¨
« © ¨ 1
S2 ¹ ¸ ¨ S S ¸ ¸ »
«¨ + © 2 2 ¹ ¸− »
«¨ § · ¸ »
2 2 2
R2′ + R′O · § R2′ + RO′ 2RM′ · § 2 X ′
«¨ ¨¨ R1 + S ¸¸ + ( Xk + Xo′ ) ¨¨ R1 + ¸ + ¨ Xk + Xo′ + ¸ ¸ »
2
+ M
2 ¨
mE2′ «© © 2 ¹ © S2 S2 ¸¹ ¨© S2 ¸¹ ¸¹ »
T2 = « »
2ωo «§ § · »
¨ ¨ 2XM′ ·¸ ¸
«¨ ′
X + XO − »
¨ k ¸ ¸
«¨ © S 1 ¹
−
( X k + o
X ′ ) ¸sinΔα»
Ǭ 2 2 2
¸ »
«¨ §¨ R + R2′ + R′O + 2R'M ·¸ + §¨ X + X′ + 2XM′ ·¸ §¨ R + R2 ' ·¸ + ( X + X′ )2 ¸ »
«¨ ¨ 1
© S2 S ¸ ¨ k
¹
o
S ¸ ¨© 1
S2 ¸¹
k o
¸ »
¬© 2 © 2 ¹ ¹ ¼ Fig. 3. Electromagnetic shaft synchronization system with external
windings for speed control.
The above-described algorithm and the equations for the
rotational dynamic torque, speed and angular position has IV. RESULTS AND DISCUSSIONS
been calculated for 5-hp three-phase identical induction
motors in [17]-[19]. The mathematical model of the The electromagnetic shaft synchronization system with
traditional electromagnetic working shaft system has been external windings for speed control shown in Fig. 3 has been
calculated, built and tested using MATLAB/Simulink [17]- simulated using MATLAB/Simulink to investigate the role of
[19]. the inductive rheostat as a speed synchronization element
(main windings) and a speed control element (external
windings). Two identical 5-hp, 50-Hz, 4-pole and 380-V slip-
III. EXTERNAL WINDING FOR SPEED CONTROL ring (wound rotor) induction motors have been selected to
In this paper, an external control winding is suggested to illustrate the effect of the proposed system. The parameters of
adjust the motors speed in the electromagnetic shaft system. the equivalent circuit of this motor are given in [8].
Fig. 3 shows the three-phase inductive rheostat element in the
When the system is operating with inductive rheostat
common rotor circuit of the electromagnetic shaft system. It
element and with loads difference, the rotor currents and the
consists of two parts. The first part (main windings) creates
electromotive forces generated in the main windings of the
the main reactors, which are connected directly to the rotor
inductive rheostat will be different. This will decrease the
windings of the motors and represents the mutual inductance
speed of the motor with the lowest load until the motor
between the main coils. These main windings are responsible
speeds will be again equal. In this work, calculations and tests
on the synchronization capability of the system. The second
will consider constant load difference where L1=1.8 L2. Fig. 4
part (external windings) forms the auxiliary magnetization

783
shows the speeds of the motors of the two-motor
electromagnetic shaft synchronization system without
external windings, while Fig. 5 shows the speeds of the
motors of the same system, but with external windings
carrying no current. Comparing Fig. 4 and Fig. 5, it is noticed
that the synchronization capability and the recovery time are
better in the system without the external windings. This is due
to the shorter ferromagnetic core and larger magnetic flux in
the system without external windings than those are in the
system with external windings.
Fig. 4. Speeds of the motors versus time of the two-motor electromagnetic
shaft synchronization system without external windings.
Fig. 5. Speeds s of the motors versus time of the two-motor
electromagnetic shaft synchronization system with external windings
carrying no current.
Fig. 6 shows the speeds of the motors versus time when
they are decreased by the effect of the suggested external
windings. Speed control is achieved by switching on both
switching blocks to allow the current to flow through both the
external windings after four seconds from starting. In Fig. 6a,
the deceleration is less than it is in Fig. 6b. Smooth speed
control and synchronization of the motors are observed.
Fig. 7 shows the speeds of the motors versus time when
they are increased by the effect of the suggested external
windings. Speed control is achieved by switching on both
switching blocks to allow the current to flow through both the
external windings after four seconds from starting. Smooth
speed control and synchronization of the motors are observed.
Fig. 8 illustrates the whole process starting with a starting
process followed by increasing the speeds and then
decreasing them as shown in Fig. 8a. Fig. 8b shows the
starting process followed by decreasing the speeds and then
increasing them. Control of the speeds is after four seconds
784
from starting. Smooth speed control and synchronization of
the motors are observed.
a)
b)
Fig. 6. Speeds of the motors versus time of the two-motor electromagnetic
shaft synchronization system with external windings, a) low acceleration, b)
high acceleration.
Fig. 7. Increasing speeds of the motors versus time of the two-motor
electromagnetic shaft synchronization system with external windings.
V. CONCLUSIONS
In this paper, dynamic simulation of speed control and
synchronization of multiple induction motors by
electromagnetic shaft system with additional external control
windings is proposed. A mathematical model describing an
electromagnetic working shaft with external control element
to control speed at constant synchronization capability
through the common rotor circuit is developed. The behavior
of the system motors is represented by a system of equations
for rotational dynamic torque, speed and angular position.
Results of the dynamics of the electromagnetic shaft
synchronization system with an external control winding are
illustrated and compared to the electromagnetic shaft
synchronization system without external control windings.
Results show that adding external speed control windings
slightly decreases the synchronization capability and
increasing the recovery time of motor synchronization, but it
allows controlling the motor speeds.

a)
b)
Fig. 8. Speeds of the motors versus time of the two-motor electromagnetic
shaft synchronization system with external windings, a) starting, increasing
speeds and then decreasing them, b) starting, decreasing speeds and then
increasing them.
ACKNOWLEDGMENT
Authors thank the Deans' Council and the Deanship of
Academic Research and Graduate Studies at Tafila Technical
University for supporting publication of this paper at IEEE-
PECON’2016 conference.
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