Variable Voltage Variable

Frequency – IM Drives
Braking, Closed Loop Speed Control
VSI based IM Drives
Dynamic Braking

𝑃𝑖𝑛 = 3 𝑉 𝐼𝑠 cos is positive for motoring

Reduction in frequency makes synchronous speed less than rotor speed, relative speed reverses,
reverses induced emf, rotor current ,power flow reveres
Machine works as generator feeding power into inverter
In dynamic braking, inverter power is wasted in resistances
Regenerative Braking

Machine works as generator feeding power into inverter

In regenerative braking, inverter power is fed into dc link and fed back to supply
Regenerative Braking
• PWM Inverter I and Inductor Ls constitute synchronous link converter
• PWM Inverter I is operated to produce V1 of required magnitude and
phase with low harmonic current
• Source current Is is nearly sinusoidal
• In phase with voltage Vs – motoring
• In antiphase with Vs – braking
• For each value of Is, VI of specified phase and magnitude required
• Sinusoidal PWM
• Controlled by magnitude and phase of modulating signal
• High frequency components filtered by inductor Ls
• Synchronous link converter
Regenerative Braking
• PWM Inverter I and Inductor Ls constitute synchronous link converter
• PWM Inverter I is operated to produce V1 of required magnitude and
phase with low harmonic current
• Source current Is is nearly sinusoidal
• In phase with voltage Vs – motoring
• In antiphase with Vs – braking
• For each value of Is, VI of specified phase and magnitude required
• Sinusoidal PWM
• Controlled by magnitude and phase of modulating signal
• High frequency components filtered by inductor Ls
• Synchronous link converter
Regenerative Braking
• PWM Inverter I and Inductor Ls constitute synchronous link converter
• PWM Inverter I is operated to produce V1 of required magnitude and
phase with low harmonic current
• Source current Is is nearly sinusoidal
• In phase with voltage Vs – motoring
• In antiphase with Vs – braking
• For each value of Is, VI of specified phase and magnitude required
• Sinusoidal PWM
• Controlled by magnitude and phase of modulating signal
• High frequency components filtered by inductor Ls
• Synchronous link converter
 Regenerative Braking
• During steady state,
• Power supplied (taken) by synchronous link converter must be equal to
power taken (supplied) by PWM Inverter II
• Two inverters independently work
• Closed loop control of DC link voltage
• When power supplied by SLC to DC link equals power taken by PWM Inverter II, no
energy will be taken or supplied from capacitor and DC link voltage remains constant
• If load on IM increased, power taken by PWM Inverter II from DC link will be higher
than power supplied by Synchronous link converter SLC. Capacitor voltage will fall
below its reference value, closed loop controller will increase Is and therefore power
supplied to DC link. Hence DC link voltage brought back to Vdc reference
Regenerative Braking
• Synchronous Link Converter acts as boost converter
• When AC Source voltage falls, closed loop controller maintains DC link voltage
constant by increasing Is
• Provides constant voltage and therefore produces same Pmax and Torque
• Drive through capability against voltage sag
Regenerative Braking

For regenerative braking,

Controlled rectifier replaced with Dual converter
Synchronous link converter cannot be used as it requires constant DC link voltage, where as for
six step inverter DC link voltage must be varied
Four Quadrant Operation
• Reduction of inverter frequency, to make synchronous speed less
than motor speed, transfers operation from quadrant I (Forward
motoring) to quadrant II(Reverse braking)
• Inverter frequency and voltage are progressively reduced as speed
falls to brake the machine up to zero speed.
• Phase sequence of the inverter output voltage is reversed by
interchanging the firing pulses between switches of any two legs of
inverter. Transfer operation to quadrant III(Reverse braking)
• Inverter frequency and voltage are progressively increased to get
required speed in reverse direction
Cycloconverter Based Induction Motor Drives

Variable Voltage Variable frequency voltage from Fixed voltage and frequency supply
Half wave cycloconverter
Low harmonic content at low frequencies, smooth motion at low speeds
Harmonic content increases with frequency, limits maximum output frequency to 40% of source frequency
Maximum speed is restricted to 40% of synchronous speed at main frequency
Motor with large leakage inductance is used to minimise derating and torque pulsations due to harmonics in motor
current
No need of DC link, line commutation, low power factor, low harmonics
For four quadrant operation, reverse phase sequence of motor terminal voltage
It employs large number of thyristors – economical only in large power drives
Preferred for low speed applications
Closed Loop Speed Control of Induction
Motor Drives
Closed Loop Speed Control of Induction
Motor Drives
• Employs inner slip speed loop with slip speed limiter and outer speed loop
• For a given current, Slip speed has fixed value, loop functions as inner
current loop
• Motor operation occurs on the portion of speed – torque characteristics
between synchronous speed and speed at which Tmax occurs for all
frequencies
• Ensures high torque to current ratio
• PWM Inverter fed from DC source, which has capability for regenerative
braking and four quadrant operation
• Applicable for VSI or cycloconverter drive with dynamic or regenerative
braking capability
Closed Loop Speed Control of Induction
Motor Drives
• Speed error is processed through PI Controller and speed regulator
• PI Controller – good steady state accuracy, to attenuate noise
• Slip regulator sets slip speed command sl*, maximum value limits
inverter current to permissible value
• Synchronous speed = actual speed +slip speed, determines inverter
frequency
• Reference signal for closed loop control of terminal voltage is
generated from frequency f using function generator
• Ensures constant flux operation upto base speed and at constant
terminal voltage above base speed
Closed Loop Speed Control of Induction
Motor Drives
• Step increase in speed command produces negative speed error
• Slip speed command is set at negative maximum value
• Drive under regenerative braking, settles at the maximum possible
current and maximum available braking torque, until speed error is
minimum
• Drive finally settles at a speed for which motor torque balances load
torque
• Step decrease in speed command - Operation shifts to motoring and
drive settles at the slip speed for which motor torque = load torque
Closed Loop Speed Control of Induction
Motor Drives
• Direct control of slip assures stable operation
• Fast response
• Beyond base speed, slip speed limit of the slip regulator must be
increased linearly with the frequency until breakdown torque is
reached
• Adding an additional slip speed signal, proportional to frequency of
appropriate sign
• For frequencies higher than frequency for which breakdown torque is
reached, slip speed limit is kept fixed near breakdown value
Closed Loop Speed Control of Induction
Motor Drives

• When fast response is required, Rating of inverter and front end converter are
several times motor current rating, which Increases drive cost
• When fast response not required, current ratings of inverter and front end
converter are marginally higher than that of motor