Electrical Drives UNIT-3: Vii Semester ETEE-401

ELECTRICAL DRIVES
UNIT-3
VII SEMESTER
ETEE-401
Department of Electrical and Electronics Engineering, BVCOE, New Delhi Subject: Electrical
Drives , Instructor: DR. BHARAT SINGH
Department of Electrical and
Construction of
Induction Motor

Types of Rotor

Principle of
Operation

SLIP(s)
Losses &
Efficiency
Losses - Summary
Poutput
Efficiency () =
Pinput

Motor Torque
9.55 Pm
Tm =
n
9.55 (1 – s) Pr
=
ns (1 – s)
= 9.55 Pr / ns
Tm = 9.55 Pr / ns

I2R losses in the rotor
Pjr = s Pr
Pjr = rotor I2R losses [W]

s = slip
Pr = power transmitted to the rotor [W]
Mechanical Power
Pm = Pr - Pjr
= Pr - s Pr
= (1 – s) Pr

Torque-Slip
Characteristics

Condition for
Maximum Torque

Double cage
Induction Motors

DOUBLE CAGE ROTOR
Double Cage Rotor has two independent cages on the same rotor slots, one
inside the other for the production of high starting torque. The outer cage
(alloy) in the rotor has high resistance and low reactance which is used for
starting purpose. The inner cage (copper) has a low resistance and high
reactance which is used for running purpose. The constructional arrangement
and torque-speed characteristics as shown in fig. 3.5.
Advantages:
➢ High starting torque.
➢ Low I2R loss under running conditions and high efficiency.

Double Cage construction
Fig. 3.5
Slip
Torque-Slip Characteristics

Equivalent Circuit:
‘ ‘
If the magnetising current is neglected, then the equivalent circuit is reduced to
Rotor

Induction
Generators

INDUCTION GENERATOR
Principle of operation
Induction generators and motors produce electrical power when their rotor
is rotated faster than the synchronous speed. For a four- pole motor operating
on a 50 Hz will have synchronous speed equal to 1500 rpm.
In normal motor operation, stator flux rotation is faster than the rotor
rotation. This is causing stator flux to induce rotor currents, which create
rotor flux with magnetic polarity opposite to stator. In this way, rotor is
dragged along behind stator flux, by value equal to slip.
In generator operation, a prime mover (turbine, engine) is driving the rotor
above the synchronous speed. Stator flux still induces currents in the rotor,
but since the opposing rotor flux is now cutting the stator coils, active
current is produced in stator coils and motor is now operating as a generator
and sending power back to the electrical grid.

Problems in
Induction
Motors
Example 5.1 A 3-phase, 460 V, 100 hp, 60 Hz, four-pole induction machine delivers
rated output power at a slip of 0.05. Determine the:
(a) Synchronous speed and motor speed.
(b) Speed of the rotating air gap field.
(c) Frequency of the rotor circuit.
(d) Slip rpm.
(e) Speed of the rotor field relative to the
(i) rotor structure.
(ii) Stator structure.
(iii) Stator rotating field.
(f) Rotor induced voltage at the operating speed, if the stator-to-rotor turns ratio is 1 :
0.5.
Solution:
120 f
ns = = 120 * 60 = 1800 rpm
p 4
n = (1− s)ns = (1− 0.05)*1800 = 1710 rpm
(b) 1800 (same as synchronous speed)

Example 4.2 A no-load test conducted on a 30 hp, 835 r/min, 440 V, 3-phase, 60 Hz squirrel-cage
induction motor yielded the following results:
No-load voltage (line-to-line): 440 V
No-load current: 14 A
No-load power: 1470 W
Resistance measured between two terminals: 0.5 
The locked-rotor test, conducted at reduced volt-age, gave the following results:
Locked-rotor voltage (line-to-line): 163 V
Locked-rotor power: 7200 W
Locked-rotor current: 60 A
Determine the equivalent circuit of the motor.
Solution:
Assuming the stator windings are connected in way, the resistance per phase is:
R1 = 0.5 / 2 = 0.25
From the no-load test:
VLL 440
V1 = = = 254V / Phase
3 3
V1 254
Z NL = = = 18.143
Department ofI Electrical
14 and
1
P 1470
RNL = NL2 = = 2.5 
3I 3*142
1
X NL = Z NL
2
− RNL
2
= 18.1432 − 2.52 = 17.97
X 1 + X m = X NL = 17.97 
From the blocked-rotor test
PBL 7200
RBL = = = 0.6667
3I12 3* 602
BL
The blocked-rotor reactance is:
X BL = (ZBL2 − RBL2 )= 1.56852 − 0.66672 = 1.42 
X BL  X1 +X 2 = 1.42 

 X1 = X 2 = 0.71 
X m = X NL − X 1 = 17.97 − 0.71 = 17.26 

R = RBL − R1 = 0.6667 − 0.25 = 0.4167 
2
X2 + X m   0.71+17.26 
2
 R2 =   R= * 0.4167 = 0.4517 
 Xm   17.26 

Example 5.3 The following test results are obtained from a three-phase 60 hp, 2200
V, six-pole, 60 Hz squirrel-cage induction motor.
(1) No-load test:
Supply frequency = 60 Hz, Line voltage = 2200 V
Line current = 4.5 A, Input power = 1600 W
(2) Blocked-rotor test:
Frequency = 15 Hz, Line voltage = 270 V
Line current = 25 A, Input power = 9000 W
(3) Average DC resistance per stator phase: 2.8 
(a) Determine the no-load rotational loss.
(b) Determine the parameters of the IEEE-recommended equivalentcircuit
(c) Determine the parameters (Vth, Rth, Xth) for the Thevenin equivalent circuit of
Fig.5.16.

2200 V1 1270.2
V1 = = 1270.2 V / Phase Z NL = = = 282.27 
3 I1 4.5
PNL 1600
RNL = 2 = 2
= 26.34 
3I1 3* 4.5
(a) No-Load equivalent Circuit (b) Locked rotor equivalent circuit
X NL = Z 2 − R 2 = 282.272 − 26.342 = 281 281.0 = .

NL NL
X 1 + X m = X NL = 281 
PBL 9000
RBL = 2
= 2
= 4.8
3I1 3* 25
R2 = RBL − R1 = 4.8 − 2.8 = 2

impedance at 15 Hz is:
V1 270
Z BL = = = 6.24 
I1 3 * 25
The blocked-rotor reactance at 15 Hz is
X BL = (6.24 2
)
− 4.82 = 3.98 
Its value at 60 Hz is 60
X BL = 3.98 * = 15.92 
15
X BL  X 1 + X 2
 15.92
 X1 = X 2 = = 7.96  at 60 Hz
2
X m = 281− 7.96 = 273.04 
R = RBL − R1 = 4.8 − 2.8 = 2 
 7.96 + 273.04 
2
R2 =   2 = 2.12 

 273.04 Department of Electrical and
)c (
273.04
Vth  V1 = 0.97 V1
7.96 + 273.04
R  0.972 R = 0.972 * 2.8= 2.63 
th 1
X th  X 1 = 7.96 

Example 4.4 A three-phase, 460 V, 1740 rpm, 60 Hz, four-pole
wound-rotor induction motor has the following parameters per
phase:
R1 = 0.25 , R2 = 0.2 , X1 = X 2 = 0.5 , X m =30 
The rotational losses are 1700 watts. With the rotor terminals
short-circuited, find
(a) (i) Starting current when started direct on full voltage.
(ii) Starting torque.
(b) (i) Full-load slip.
(ii) Full-load current.
(iii) Ratio of starting current to full-load current.
(iv) Full-load power factor.
(v) Full-load torque.
(iv) Internal efficiency and motor efficiency at full load.
(c) (i) Slip at which maximum torque is developed.
(ii) Maximum torque developed.
(d) How much external resistance per phase should be
connected in the rotor circuit so that maximum torque occurs at
start?
=163.11 N.m

28022.3
motor = *100 =87.5%
32022.4
int ernal = (1− s)*100 = (1− 0.0333)*100 = 96.7%
(c) (i)
(c) (ii)

Note that for parts (a) and (b) it is not necessary to use Thevenin
equivalent circuit. Calculation can be based on the equivalent circuit of
Fig.5.15 as follows:

Why we need starters?
As it is seen that a 3 phase induction motor has positive finite
starting torque ‘T’ when slip s=1. this mean that 3-pahse
induction motor is a self-starting motor and begins to rotate
on its own when connected to a 3-phase supply.
At the instant of starting 3-phase induction motor behaves like a
transformer with a short-circuited secondary.
Consequently, a 3-pahse induction motor takes high starting
current if started at full voltage. In order to limit this high
starting current to reasonable limits starting methods are used.

Methods of Starting
There are primarily two methods of starting the
induction motor:-
a) Full voltage starting.
b) Reduced voltage starting.
Full voltage starting methods consist of:-
a) DOL (Direct-on-line starting)
Reduced voltage starting consist of:-
a) Stator resistor (or reactor) starting.
b) Auto-transformer starting.
c) Star-delta starting.

AUTO
T RANSFORMER
STARTER

V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc
Fig: Auto-transformer starting

The fraction of xV1 is applied to the stator wdg at starting.
As speed increases, gradually voltage is increased
Finally full voltage is applied to the motor.
Advantages 1. Voltage is changed by transformer action
and not by dropping voltage as that of reactor
2. So power loss and input current are less.
V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc

The stator starting current is Ist = xV1 / z1 = xIsc
For auto-transformer, input VA= output VA
ILV1=Ist (xV1)
Therefore, line current at
IL=xIst
input is x times the DOL
2
current. IL=x2Isc
2
Test  I 1st 
2
 I sc 
Thus, =  sfl = x  2  sfl
Tefl  I1flof Electrical and Ifl 
Department
V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc

Line current at input due to auto-transformer starting
=x
Line current at input due to stator reactor starting
V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc

V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc

Line current at input due to auto-transformer starting
=x
Line current at input due to stator reactor starting
Starting torque with auto transformer starting
=x2
Starting torque with DOL starting
Starting torque with auto transformer starting

=1
Starting torque with stator reactor starting

STAR DELTA
STARTER
Star-Delta starting
For star, 3 terminals of stator wdg are required.
For delta, 6 terminals are required.
Now make delta
R Y B Connection.
Stator
2- Run - Delta
TPDT
1- Start - Star
Fig.: Star-Delta starting

Rotor Department of Electrical and
At starting TPDT to 1, wdg in star
Reduced voltage is applied to wdg = VL/√3
Motor rotates.
The starting current is
Now TPDT to 2- Delta Ist.y =VL / 3z1
Line voltage applied R Y B
= I Starting
to wdg. Motor runs at rated speed L.y
Line current
Stator
2- Run - Delta
TPDT
1- Start - Star

Motor rotates.
Line voltage applied R Y B
= I Starting
to wdg Motor runs at rated speed L.y
Line current
Stator
2- Run - Delta
TPDT
1- Start - Star

Motor rotates.
Line voltage applied
= I L.y Starting
to wdg Motor runs at rated speed
Line current
At starting, if, wdg in delta
Ist.d =VL /z1 = Isc.d
IL.d = 3 Ist.d
1
I st.y = I st.d
3
Starting line current with Y-Δ starter Ist.y 1
= =
Starting line current with stator in Δ √3 Ist.d 3
Thus Ist.y in star is one third of that current in delta.

Starting torque with Y-Δstarting (V1/√3)2 1
= =
Starting torque with stator in Δ V1 2
3
This shows that Tst.y in star is one third of starting torque
in delta.
In case of auto-transformer, if turn ratio x = 1/√3
Then starting line current and is starting torque are
reduced to one third of their values with delta.
This shows that
Star delta starting is equivalent to auto transformer
if auto transformer turn ratio x=1/√3=0.58 or 58% tapping
This method is cheap, effective and used extensively
Used for tool drives, pumps, motor-generator set.
Used up to rating of 3.3kV,
After this voltage, m/c becomes
Department expensive
of Electrical and for delta winding
Example
Determine the % tapping of the auto-transformer so
that the supply current during starting of IM does not
exceed 1.5 times full load current. The short circuit current
on normal voltage is 4.5 times the full load current and the
full load slip is 3%. Calculate the ratio of starting torque
full load torque.
Solution
V1
IL=1.5IFL xV1
xV1
Rotor
Isc=4.5IFL
IL Stator
Ist = xIsc
IL/Isc=0.333
In auto-transformer IL/Isc=x2 x=0.577

Hence % tapping is Department
57% of Electrical and
2
Test  I 1st 2  I sc 
Now =  sfl = x 
2  sfl
Tefl  I1fl   Ifl 
= 0.333 (4.5 )2 0.03
= 0.202
V1
xV1
xV1
Rotor
IL Stator
Ist = xIsc

Example
The short circuit line current of a 6hp IM is 3.5 times
its full load current, the stator of which is arranged for star
delta starting. The supply voltage is 400V, full load effn is
82% and full load power factor is 0.85% (lag).
Calculate the line current at the instant of starting.
Neglect magnetizing current.
Solution
6hp IM, P=√3 VLILcosθ
Isc=3.5IFL  6 746  1
IFL= L 
I = 
Star-delta starting  0.82  3 400 0.85
Isc (line) =3.5 IFL =9.26A (line current for
delta)
Voltage =400V =5.34A (phase current
ηFL=82%, pf=0.85 (lag) for delta)
Isc=3.5IFL=3.5x5.34
=18.73A
At the instant of starting, motor wdg is in star
For star, line current is equal to phase current.
IL at the instant of start =18.73A for delta (400V)
IL at the instant of start =18.73/√3 A for star (400/√3)
=10.81A

DOL(Direct-on-line)
Starter

DOL(Direct-on-line)starting
This method involves direct switching of poly-phase stator on
to thesupply mains.
The motor takes starting current of 5 to 7 times its full load
current depending upon its size and design.
Such large current of short duration don’t harm the rugged
squirrel cage motor, but the high currents may cause
objectionable voltage drop in power supply feeding the
induction motor
These large voltage drop causes undesirable dip in the supply
line voltage, consequently affecting the other equipments
connected to the same supply.

The relation between the starting torque Ts and full load
torqueT is now obtained .
Let Is and If be the per phase stator currentsdrawn from the
supply mains corresponding to starting and full load
conditions respectively.
We know:- 1 r2
Te = .I . 2
s s
2
Therefore:-
2
Ts Is22 r 1s   I 
= 2 = .s f
Tf I f r2 sf  I f  ------Eqn(1)
Now V1
Ist = = I sc
Zsc
V1 is per-phase stator voltage & Zsc
=(r1+r2)+j(x1+x2), is the leakage impedance.
Therefore Eqn(1) can be written as:-
Ts  scI  
2
= .s f
T f  I f 
----Eqn(2)

Stator
resistance(reactor)
Starter

Stator resistance(reactor)method
In this method, a resistor or a reactor is inserted in between
motor terminals and supply mains.
At the time of starting some voltage drop occurs across the
starting resistor and therefore only a fraction ‘x’ of supply
voltage appears across it.
This reduces the per phase starting currents Is drawn by the
motor from the supplymains.
As the motor speeds up,the
reactor is cut out in steps and
finally short-circuited when the
motor speed is near to
synchronous speed.
Since the per phase voltage is reduced to ‘xV1’the
per phase starting current is:-
xV1
Is = = xI sc
Zsc
Now we know:-
1 I 22r 2
T= .
s s
Therefore we have:-
 
2
Ts 2  I sc 
=x sf
Tf I  -----Eqn(1)
  f
Therefore:-
starting torque with reactor starting  xV 
2

=   = x2
1
starting torque with directswitching  V1 
Rotor resistance
Starter

ROTOR RESISTANCE STARTER(only for
slip ring induction motor)

• Increasing the rotor resistance, not only is the rotor (and
hence stator) current reduced at starting, but at the same
time, the starting torque is also increased due to
improvement in power factor.
• The introduction of additional external resistance in the
rotor circuit enables a slip-ring motor to develop a high
starting torque with reasonably moderate starting current.
• Hence, such motors can be started under load. This
additional resistance is for starting purpose only. It is
gradually cut out as the motor comes up to speed.

Speed control of
3 phase Induction Motor

Speed Control of IM
• Given a load T– characteristic, the steady-state speed can be
changed by altering the T– curve of the motor
Te =
3R'
r Vs
2
2 Varying voltage
(amplitude)
ss  ' 2
Rr  
 Rs +  + (X ls + X lr ) 
2
 s  
s = 2  = 4 f 3 Varying line
frequency
P P
1 Pole Changing
Department of Electrical and 501
a) By changing the applied voltage:
Torque equation of induction motor is
Rotor resistance R2 is constant and if slip s is small then sX2 is

so small that it can be neglected.Therefore,T
∝ sE22 where E2 is rotor induced emf and E2 ∝V
& hence T ∝ V2, thus if supplied voltage is decreased, torque
decreases and hence the speed decreases.
This method is the easiest & cheapest, still rarely used because-
1) A large change in supply voltage is required for relatively
small change in speed.
2) Large change in supply voltage will result in large change in flux
density, hence disturbing the magnetic conditions of the motor.

b) By changing the applied frequency
• Synchronous speed of the rotating magnetic field of
induction motor is given by,
f = frequency & P = number of stator poles.

• Thus, synchronous speed changes with change in supply
frequency, and thus running speed also changes. However,
this method is not widely used. This method is used where,
only the induction motor is supplied by a generator (so that
frequency can be easily change by changing the speed of
prime mover).
V/F control
Variable Frequency Control of IM (v/f control)
Speed control above rated (base) speed

Requires the use of PWM inverters to control frequency of motor
Frequency increased (i.e. s increased)
Stator voltage held constant at rated value
Air gap flux and rotor current decreases
Developed torque
decreases
Te  (1/s)
For control below
base speed –
use Constant
Volts/Hz method

Constant Volts/Hz (V/f) Control
Airgap flux in the motor is related to the induced stator
voltage E1 :
E1 Vs Assuming small voltage drop
ag =  across Rs and Lls
f f
For below base speed operation:
Frequency reduced at rated Vs - airgap flux saturates
(f  ,ag  and enters saturation region oh B-H curve):
- excessive stator currents flow
- distortion of flux wave
- increase in core losses and stator copper loss
Hence, keep ag = rated flux
stator voltage Vs must be reduced proportional to reduction
in f (i.e. maintaining Vs / f ratio)
Max. torque remains almost
constant
2
For low speed operation: E1 Vs
ag =  Tmax 
Vs
can’t ignore voltage drop across s
Rs and Lls (i.e. E1  Vs)
poor torque capability f f
(i.e. torque decreased at low
speeds shown by dotted lines)
stator voltage must be boosted
– to compensate for voltage
drop at Rs and Lls and maintain
constant ag
For above base speed operation
(f > frated):
stator voltage maintained at
rated value
Same as Variable Frequency
control (refer to slide 13)
Vs
Vs vs. f relation in Constant Volts/Hz drives Boost - to
compensate for
Vrated voltage drop at Rs
and Lls
Linear offset curve –

Linear offset
• for high-starting
torque loads
• employed for most
applications
Non-linear offset
curve –
• for low-starting
Non-linear offset – varies with Is torque loads
Boost
f
frated
• For operation at frequency K times rated frequency:

– fs = Kfs,rated  s =Ks,rated
(1)
(Note: in (1) , speed is given as mechanical speed)
 KVs,rated , when f s  f s,rated
– Stator voltage:V s = 
(2) Vs,rated , when f s  f s,rated
–Voltage-to-frequency ratio = d = constant:

Vs,rated
d=
s,rated (3)
For operation at frequency K times rated frequency:

Hence, the torque produced by the motor:
2
'
Te = 
3R
r s V
ss  Rr 
' 2  (4)
 Rs +  + K (X ls + X lr ) 
2 2
 s  
where s and Vs are calculated from (1) and (2)

respectively.

For operation at frequency K times rated frequency:

The slip for maximum torque is:
R'
smax =  r (5)
Rs + K 2 (X ls + X lr )
2 2
The maximum torque is then given by:

2
3 Vs
Tmax = (6)
2s  R  R 2 + K 2 (X + X )2 
 s s ls lr

where s and Vs are calculated from (1) and (2)
respectively.
Constant
Torque Area Field Weakening Mode (f > f rated)
Rated (Base) (below base speed)
frequency • Reduced flux (since Vs is constant)
• Torque reduces
Constant Power Area
(above base speed)
Note:
Operation restricted
between synchronous
speed and Tmax for
motoring and braking
regions, i.e. in the
linear region of the
torque-speed curve.
Constant Torque Area
Constant Power Area

c) By changing No. of poles
synchronous speed(Ns) (and hence, running speed) can be changed

by changing the number of stator poles. This method is generally used
for squirrel cage induction motors, as squirrel cage rotor adapts itself for
any number of stator poles. Change in stator poles is achieved by two or
more independent stator windings wound for different number of poles in
same slots.
For example, a stator is wound with two 3phase windings, one for 4 poles
and other for 6 poles.
For supply frequency of 50 Hz
i) synchronous speed when 4 pole winding is connected,
Ns = 120*50/4 = 1500 RPM
ii) synchronous speed when 6 pole winding is connected,
Ns = 120*50/6 = 1000 RPM
CASCADING OPERATION

Cascaded connection
• In this method of speed control, two motors are
used. Both are mounted on a same shaft so that
both run at same speed.
• One motor is fed from a 3phase supply and
other motor is fed from the induced emf in first
motor via slip-rings.

Motor A is called main motor and motor B is called auxiliary
motor.
Let, Ns1 = frequency of motor A
Ns2 = frequency of motor B
P1 = number of poles stator of motor A
P2 = number of stator poles of motor B
N = speed of the set and same for both motors
f = frequency of the supply
Now, slip of motor A, S1 = (Ns1 - N) / Ns1.

frequency of the rotor induced emf in motor A, f1 = S1f
now, auxiliary motor B is supplied with the rotor induce emf
therefore, Ns2 = (120f1) / P2 = (120S1f) / P2.
now putting the value of S1 = (Ns1 - N) / Ns1

• At no load, speed of the auxiliary rotor is almost same as its synchronous speed.
i.e. N = Ns2.
Four different speeds can be obtained

1. when only motor A works, corresponding
speed = Ns1 = 120f / P1
2. when only motor B works, corresponding
speed = Ns2 = 120f / P2
3. if cummulative cascading is done,
speed of the set = N = 120f / (P1 + P2)
4. if differential cascading is done,
speed of the set = N = 120f (P1 - P2)
1) Kramer System
RYB Voltage
f regulating
device
MIM ACM
If brush emf is more than slip voltage
Power flows from ACM-Rotor of MIM.
MIM operates at Super-Synchronous speed
If brush emf is less than slip voltage
Power flows from Rotor of MIM- ACM.
MIM operates at Sub-Synchronous speed
Since power is flowing from one machine to another with one
shaft, it is constant Department
power drive.
of Electrical and
2) Scherbius System
RYB RYB
f
Voltage
regulating
MIM device
ACM AIM
At Super-Synchronous speed, power flows from supply-AIM
(Motor) - ACM -rotor of MIM.
At Sub-Synchronous speed, power flows from rotor of MIM
- ACM – AIM (Gen) - supply.
Power changes Constant
Department oftorque
Electricaldrive
and
Braking of 3ph
Induction
Motors
•Plugging
•Dynamic Braking
•Department
Regenerative Braking
of Electrical and
Braking Methods
• Regenerative Braking
• Plugging or reverse voltage braking
• Dynamic ( or rheostatic ) braking :
a) ac dynamic braking
b) Self-excited braking using capacitor
c) dc dynamic braking
d) zero-sequence braking

1. Regenerative Braking
• If an induction motor is forced to run at speeds in excess of
the synchronous speed, the load torque exceeds the
machine torque and the slip is negative, reversing the rotor
induced EMF and rotor current. In this situation the
machine will act as a generator with energy being returned
to the supply.
• If the AC supply voltage to the stator excitation is simply
removed, no generation is possible because there can be no
induced current in the rotor.

Regenerative braking
• In traction applications, regenerative braking is not possible
below synchronous speed in a machine fed with a fixed
frequency supply. If however the motor is fed by a variable
frequency inverter then regenerative braking is possible by
reducing the supply frequency so that the synchronous
speed becomes less than the motor speed.
• AC motors can be microprocessor controlled to a fine

degree and can regenerate current down to almost a stop

B TL
A
Te 8 poles 4 poles D
D TL A
1 Speed Ns
2 Slip 0 -Te +Te
C
B Two quadrant operation
•Power input to induction motor:
Pin=3VIscosφs
Motoring operation φs<90º ωm< ωms

Braking φs>90º ωm> ωms

• Advantage: Generated power is usefully
employed
• Disadvantage: It can not be employed below
synchronous speed when fed from constant
frequency source.
• Speed Range : Between synchronous speed and
the speed for which braking torque is
maximum.

Plugging
• Plugging induction motor braking is done by reversing the
phase sequence of the motor. Plugging braking of induction
motor is done by interchanging connections of any two phases of
stator with respect of supply terminals. And with that the operation
of motoring shifts to plugging braking.
• During plugging the slip is (2 - s), if the original slip of the running
motor is s, then it can be shown in the following way.

AC Dynamic Braking-
 This type of induction motor braking is obtained when the
motor is made to run on a single phase supply by disconnecting
any one of the three phase from the source, and it is either left
open or it is connected with another phase.
 When the disconnected phase is left open, it is called two lead
connection and when the disconnected phase is connected to
another machine phase it is known as three load connection.
 The braking operation can be understood easily. When the motor
is running on 1-phase supply, the motor is fed by positive and
negative sequence, net torque produced by the machine at that
point of time is sum of torques due to positive and negative
sequence voltage
Department of Electrical and Electronics Engineering, BVCOE, New Delhi Subject:
Electrical Drives , Instructor: DR. BHARAT SINGH
 At high resistance the net torque is found to be negative and
braking occurs. From the figure below the two and three load
connections can be understood.

Self excited braking using
capacitors

➢ The figures above shows the circuit diagram and various
characteristics of self excited braking using capacitors. As we can see
from the figure, in this method there capacitors are kept permanently
connected across the source terminals of the motor.
➢ The value of the capacitors are chosen depending upon their capability
to deliver enough reactive current to excite the motor and make it
work as a generator.
➢ So, that when the motor terminals are disconnected from the source
the motor works as a self excited generator and the produced torque
and field is in the opposite direction and the induction motor braking
operation occurs. In the figure (b) the curve A represents the no load
magnetization curve and line B is the current through capacitors,
which is given by

❖ Here, E is the stator induced voltage per phase
❖ The speed torque characteristics under self excited braking is

shown in the figure (c). To increase the braking torque and to
utilize the generated energy sometimes external electrical
resistance are connected across the stator terminals.
❖ Sometimes external resistors are connected across stator
terminals to increase braking torque and to dissipate some
generated energy.

DC Dynamic Braking
 To obtain this type of braking the stator of a running induction
motor is connected to a DC supply. Two and three load
connections are the two common type of connections for star
and delta connected stators.

 Another diagram is shown below to illustrate how by diode
bridge two
 load connection can be obtained within a circuit.

 Now coming to the method of operation, the moment when AC
supply is disconnected and DC supply is introduced across the
terminals of the induction motor, there is a stationery magnetic
field generated due to the DC current flow and as the rotor of
the motor rotates in that field, there is a field induces in the
rotor winding, and as a result the machine works as a generator
and the generated energy dissipates in the rotor circuit resistance
and dynamic braking of induction motor occurs.

Zero Sequence Braking
 In this type of braking all the three stator phases are connected in
series and single phase AC or DC is connected across them (as
shown in the figure). This type of connection is called zero-
sequence connection, because current in all the stator windings
are co-phasal.
 When the connected supply is AC, resultant field is stationery in

space and pulsates at the frequency of supply, when the supply is
DC, resultant field is stationery and is of constant magnitude.

 The main advantage of this induction motor braking is that all
the stator phases are uniformly loaded. It does not require large
rotor resistance like AC dynamic braking, it does not require
large rotor resistance. The circuit diagram and the speed torque
characteristics are shown below.

Slip Power Recovery Schemes
 In a wound-field induction motor the slip rings allow easy
recovery of the slip power which can be electronically controlled
to control the speed of the motor.
 The oldest and simplest technique to invoke this slip power
recovery induction motor speed control is to mechanically vary
the rotor resistance.

Application
Slip-power recovery drives are used in the following applications:
• Large-capacity pumps and fan drives
• Variable-speed wind energy systems
• ShipboardVSCF (variable-speed/constant frequency) systems
• Variable speed hydro-pumps/generators
• Utility system flywheel energy storage systems

Static Kramer Drive
The static Kramer-drive is the method of controlling the speed

of an induction motor by injecting the opposite-phase voltage in
the rotor circuit. The injected voltage increases the resistance of
the rotor, thus controlled the speed of the motor. By changing
the injected voltage, the resistance and speed of an induction
motor are controlled.
Department of Electrical and Electronics Engineering,

BVCOE New Delhi
149 Subject: SUBJECT NAME , Instructor: INSTRUCTOR
NAME
BVCOE New Delhi
NAME
The static Kramer-drive converts the slip power of an induction
motor into AC power and supply back to the line. The slip
power is the air gap power between the stator and the rotor of
an induction motor which is not converted into mechanical
power. Thus, the power is getting wasted. The static Kramer
drives fed back the wasted power into the main supply. This
method is only applicable when the speed of the drive is less
than the synchronous speed.

BVCOE New Delhi
NAME
Static Kramer Drive Working
 The rotor slip power is converted into DC by a diode bridge.

 This DC power is now fed into DC motor which is
mechanically coupled to an induction motor.
 The torque supplied to the load is the total sum of the torque
produced by the induction and DC motor drive.
 The figure shown below represents the variation of Vd1 and
Vd2 with a speed of two values of DC motor field current.
When the value of Vd1 is equal to the value of Vd2 then the
steady state operation of the drive is obtained, i.e., at A and B
for field current of If1 and If2.
BVCOE New Delhi
NAME
 The speed control is possible only when speed is less or half
of the synchronous speed.
 When the large range speed is required, the diode bridge is
replaced by the thyristor bridge.
 The relationship between the Vd1 and the speed can be altered
by controlling the firing angle of thyristor amplifier. Speed
can now be controlled up to stand still.

BVCOE New Delhi
NAME
Static Scherbius Drive
➢ The Static Scherbius Drive provides the speed control of a

wound rotor motor below synchronous speed.
➢ The portion of rotor AC power is converted into DC by a
diode bridge.
➢ The controlled rectifier works as an inverter and converts the
DC power back into AC and feeds it back to the AC source.
➢ This drive has the ability of flow the power both in the
positive as well as the negative direction of the injected
voltage.
➢ This increases the operating condition of the drive.
BVCOE New Delhi
NAME
BVCOE, New Delhi Subject: Electrical Drives
, Instructor: DR. BHARAT SINGH
➢ The feedback power is controlled by controlling the inverter
counter emf Vd2, which is controlled by controlling the
inverter firing angle.
➢ The DC link inverter reduced the ripple in DC link current
Id. The slip power of the drive is fed back to the source due to
which the efficiency of the drive increases.

BVCOE New Delhi
NAME
The drive input power is the difference of the DC input power
and the power fed back. Reactive input power is the sum of the
motor and input reactive power. Thus, the drive has poor power
factor throughout the range of its operation.
Where α is the inverter firing angle and n, and m are respectively the stator to the rotor
turn ratio of motor and source side to convert side turns ratio of the transformer. The
neglecting drop across the inductor.

BVCOE New Delhi
NAME
BVCOE New Delhi
NAME
BVCOE New Delhi
NAME
BVCOE New Delhi
NAME
BVCOE New Delhi
NAME
BVCOE New Delhi
NAME
NPTEL Reference
• Electrical Machines II by Dr. Krishna
Vasudevan & Prof. G. Sridhara Rao
Department of Electrical Engineering , IIT
Madras.
• Basic Electrical Technology by Prof. L.
Umanand - IISc Bangalore {video}

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ELECTRICAL DRIVES

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Pjr = rotor I2R losses [W]

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

If the magnetising current is neglected, then the equivalent circuit is reduced to

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

The blocked-rotor reactance is:

X BL = (ZBL2 − RBL2 )= 1.56852 − 0.66672 = 1.42 

Department of Electrical and

X m = X NL − X 1 = 17.97 − 0.71 = 17.26 

Department of Electrical and

Department of Electrical and

X NL = Z 2 − R 2 = 282.272 − 26.342 = 281 281.0 = .

R2 = RBL − R1 = 4.8 − 2.8 = 2

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Fig: Auto-transformer starting

Fig: Auto-transformer starting

Fig: Auto-transformer starting

Department of Electrical and

Fig: Auto-transformer starting

Starting torque with auto transformer starting

Department of Electrical and

Fig.: Star-Delta starting

Fig.: Star-Delta starting

Fig.: Star-Delta starting

Thus Ist.y in star is one third of that current in delta.

In auto-transformer IL/Isc=x2 x=0.577

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Therefore Eqn(1) can be written as:-

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Department of Electrical and

Rotor resistance R2 is constant and if slip s is small then sX2 is