ĐẠI HỌC GIAO THÔNG VẬN TẢI TP.

HCM
Khoa Điện - Điện tử Viễn thông

KỸ THUẬT ĐIỀU KHIỂN ĐỘNG CƠ ĐIỆN

034120

Chương 3 - Điều khiển

tốc độ động cơ KĐB
Tran Quoc Hoan, PhD
 Contents 2

➢ 3.1. Introduction

➢ 3.2. Equivalent Circuit

➢ 3.3. Speed Control of Induction Motors

➢ 3.4. Braking of Induction Motors

3.1. Introduction

➢ 3.1. Introduction

➢ 3.2. Equivalent Circuit

➢ 3.3. Speed Control of Induction Motors

➢ 3.4. Braking of Induction Motors

Introduction 4
Introduction 5
Introduction 6
Introduction 7
Introduction 8
 Introduction 9

➢ A conceptual representation: ➢ Concept of rotating fields:

 Introduction 10

➢ The speed of the airgap flux is one revolution per AC cycle.

➢ The speed of the airgap (or the synchronous speed):
ns = f ( rev/sec )
ns = 60 f ( rev/min )
➢ The mechanical speed of the airgap flux:
60 f
ns = ( rpm )
pp
pp = the number of pole-pairs
p = the number of poles ( p = 2 pp )
 Introduction 11

➢ The difference between the rotor speed (n or ꞷ) and the

synchronous speed (ns or ꞷs) is known as the slip s:

n ns − n  s − 
s= = = =
ns ns s s
n
 = 2  n ( rpm ) ,  ( rad s ) 
60
3.2. Equivalent Circuits

➢ 3.1. Introduction

➢ 3.2. Equivalent Circuits

➢ 3.3. Speed Control of Induction Motors

➢ 3.4. Braking of Induction Motors

 Equivalent circuit of the stator 13

➢ A single-phase equivalent circuit can be developed

for the induction motor by first separating the stator
and rotor circuits.
➢ R1 & X1: resistance & inductive reactance of the
stator windings
➢ Rm & Xm: resistance & reactance of the core
E1 = V − I1 ( R1 + jX 1 )
➢ Im: magnetizing current
➢ N1: the number of turns of the stator windings
➢ The magnetizing current Im is a small fraction of I1
and can be ignored for heavily loaded motors.
Equivalent circuit of the rotor 14

➢ First, let us assume that the rotor is at standstill (n = 0).

➢ The IM is behaving similarly to the transformer.
➢ R2 & X2: resistance & inductive reactance of the rotor
windings
➢ N2: the number of turns of the rotor windings
➢ The induced voltage at standstill E2 is proportional to
E2 N 2 the synchronous speed ns.
=
E1 N1
 Equivalent circuit of the rotor 15

➢ Now let us assume that the rotor is spinning at speed n.

➢ The induced voltage across the rotor Er is proportional to the relative speed Δn.

E2 ns
Er ns − n
Er ns − n
=
E2 ns
Er = sE2
 Equivalent circuit of the rotor 16

➢ The frequency of the rotor current is also dependent on Δn.

➢ The rotor frequency at standstill:
f ss n, n = ns
f ss = f (f: stator's supply frequency)
➢ At any speed, the rotor frequency fr:

fr n, n = ns − n
fr f r ns − n
= =
f ss f ns
f r = sf
 Equivalent circuit of the rotor 17

➢ At any speed: ➢ The rotor inductive reactance:

X r = 2 f r L2 = 2 sfL2 = s ( 2 fL2 ) = sX 2

➢ L2: the inductance of the rotor

windings
➢ X2: the inductive reactance of the
rotor at standstill
 Equivalent circuit of the rotor 18

➢ The rotor current of the induction ➢ Modified equivalent circuit of the rotor

motor Ir at any speed: at any speed:

sE2 E2
Ir = =
R2 + jsX 2 R2 + jX
2
s
 Equivalent circuit of the rotor 19

➢ Development of approximate equivalent circuit for an induction motor:

2 2
 N1   N1 
R = R2 
'
2  , X2 = X2 
'

 N2   N2 
➢ Or:

 N2 
I = Ir 
'
2 
 N1 
 Equivalent circuit of the rotor 20

➢ More equivalent circuits for the induction motor:

R2' R '
= R2' + 2 (1 − s )
s s
 Equivalent circuit of the rotor 21

➢ More equivalent circuits for the induction motor:

Req = R1 + R2'
X eq = X 1 + X '
2

Im I1  I1  I 2'
 Power Flow 22

➢ Power flow of the induction motor:

 Power Flow 23

➢ Example 5.4: A 50Hp, 60Hz, three-phase, Y-connected induction motor

operates at full load at a speed of 1764rpm. The rotational losses of the motor
are 950W, the stator copper losses are 1.6kW, and the iron losses are 1.2kW.
Compute the motor efficiency.
 Torque Characteristics 24

➢ The rotor current:

V
I =
'
2 2
 R  '
+
 1 s 
R + X22
eq
 
➢ The developed torque of the motor:

3V 2 R2' (1 − s )
( I )
'
Pd 3 R
(1 − s ) =
2
Td = = ' 2
  2
s  ' 2
R2  
s  R1 +  + X eq 
2

 s  
 Torque Characteristics 25

➢ The developed torque of the motor: ➢ Speed-torque characteristics of the motor:

 = s (1 − s )
Pd 3V 2 R2'
Td = =
  ' 2
R2  
ss  R1 +  + X eq 
2

 s  

➢ At starting, when the motor speed is zero (s = 1), the rotor

current produces a starting torque Tst. ➢ Since in normal steady-state operation the rotor speed is
➢ If the starting torque is greater speed of the motor close to synchronous speed (s = 2~7%), the motor speed
increases, so does the motor torque. continues to increase until it reaches a steady-state value
➢ The maximum torque Tmax occurs at slip smax. in the linear region of the characteristic.
 Torque Characteristics 26

➢ The speed-torque characteristic can be

divided into three major regions:
✓ The large slip region
✓ Small slip region
✓ Maximum torque region
 Torque Characteristics 27

➢ The large slip region: the starting region

2
 R 
'
3V 2 R2'
 R1 + s  X eq2  Td 
2

  ss X eq
2

3V 2 R2'
s = 1  Tst 
s X eq2
➢ The small slip region:

R2' 3V 2 s
R1 X eq2  Td 
s s R2'
 Torque Characteristics 28

➢ The maximum torque & the slip at maximum torque:

R2'
smax =
R12 + X eq2
3V 2
Tmax =
 2 
2s R1 + R1 + X eq
2
 
 Torque Characteristics 29

➢ Example 5.5: A 50Hp, 440V, 60Hz, three-phase, four-pole induction motor

develops a maximum torque of 250% at slip of 10%. Ignore the stator
resistance and rotational losses. Calculate the following:
a. Speed of the motor at full load
b. Copper losses of the rotor
c. Starting torque of the motor
 Starting Procedure 30

➢ In many cases, induction motors do not need a special starting

procedure because the starting current is generally limited to
tolerable values by the winding impedance.
➢ However, for large motors with small winding resistance, the
starting current could be excessive, and a starting mechanism
must be used.
 Starting Procedure 31

➢ From the rotor current equation: ➢ s = 1:

V V
I =
'
I '
=
( R1 + R )
2 2 st
2 ' 2
 R 
'
+ X eq2
+
 1 s 
R 2
+ X 2
eq
2

 

➢ To reduce the starting current of an induction motor:

✓ Reducing the terminal voltage
✓ Inserting a resistance in the rotor circuit
 Starting Procedure 32

➢ Speed-torque characteristics of induction ➢ Speed-torque characteristics when a

motor under different voltage levels: resistance is added to the rotor circuit:
 Starting Procedure 33

➢ Example 5.6: An induction motor has a stator resistance of 3Ω, and the rotor
resistance referred to the stator is 2Ω. The equivalent inductive reactance Xeq
= 10Ω. Calculate the change in the starting torque if the voltage is reduced by
10%. Also, compute the resistance that should be added to the rotor circuit to
achieve the maximum torque at starting.
3.3. Speed Control of Induction Motors

➢ 3.1. Introduction

➢ 3.2. Equivalent Circuits

➢ 3.3. Speed Control of Induction Motors

➢ 3.4. Braking of Induction Motors

 Speed Control of Induction Motors 35

➢ Until recently, induction machines were used in applications for which

adjustable speed is not required.

➢ Compared to dc motors, changing the speed of an induction motor demanded

elaborate and complex schemes.

➢ Before the power electronics era, and the pulse width modulation in particular,

the speed control of induction machines was limited to highly inefficient

methods with a narrow range of speed.

 Speed Control of Induction Motors 36

➢ With the advances in solid-state devices and variable-frequency power

converters, different approaches to induction motor drive systems have
emerged and developed that result in more sophisticated operations.
➢ Induction machines can now be used in high-performance applications where
precise movement is required.
➢ Several models of robots, actuators, and guided manipulators are now
equipped with induction machines that operate under precise control
techniques.
 Basic Principles of Speed Control 37

➢ Speed-torque characteristics:
Pd 3V 2 R2'
Td = =
  ' 2
R2  
ss  R1 +  + X eq2 
 s  
➢ Speed (or slip) can be controlled if at least one of the following variables or
parameters is altered:
✓ 1. Stator or rotor resistance
✓ 2. Stator or rotor inductance
✓ 3. Magnitude of terminal voltage
✓ 4. Frequency of terminal voltage
 Basic Principles of Speed Control 38

➢ Other useful and effective techniques for speed control:

✓ 5. Rotor voltage injection
✓ 6. Slip energy recovery
✓ 7. Voltage/frequency control
➢ Each of the above techniques by itself is not sufficient.
➢ But, when more than one are combined, the control of the induction motor
becomes more effective.
 1. Controlling Speed Using Rotor Resistance
39

➢ Effect of rotor resistance on motor speed: ➢ Steady-state operation, the speed of the
motor is near the synchronous speed:

3V 2 s
Td  ( V: phase-voltage )
s R2'

➢ If the voltage, frequency, and torque are

kept constant, the increase in R2' results in
an increase in the slip.
➢ Hence, the motor speed is reduced.
 1. Controlling Speed Using Rotor Resistance
40

➢ Example 7.1: A three-phase, Y-connected, 30hp (rated output), 480V, six-pole, 60Hz, slip
ring induction motor has a stator resistance R1 = 0.5Ω and a rotor resistance referred to
stator R2' = 0.5Ω. The rotational losses are 500W and the core losses are 600W. Assume
that the change in the rotational losses due to the change in speed is minor. The motor
load is a constant-torque type.
➢ At full-load torque, calculate the speed of the motor.
➢ Calculate the added resistance to the rotor circuit needed to reduce the speed by 20%.
➢ Calculate the motor efficiency without and with the added resistance. If the cost of energy
is $0.05/kWh, compute the annual cost of operating the motor continuously with the
added resistance. Assume that the motor operates 100 hours a week.
 2. Slip Energy Recovery 41

➢ Power flow of induction motors:

✓ Slip power Ps can be substantial at low
speeds.
✓ When a resistance in the rotor circuit is used to
reduce the motor speed, the efficiency of the
motor is substantially reduced.
✓ The speed reduction is due to the extra power
dissipated in the rotor circuit, which results in
less mechanical power for the load. Slip power
✓ We can still use this principle to reduce the
motor speed, but instead of dissipating the
extra power in the rotor resistance, we send it
back to the source.
 2. Slip Energy Recovery 42

➢ Slip energy recovery circuit:

 2. Slip Energy Recovery 43

➢ Variable-speed wind turbine with a doubly-fed induction generator (DFIG):

 3. Rotor Voltage Injection 44

➢ The rotor voltage injection technique is suitable for slip-ring induction motors
only as the injection requires access to the rotor windings.
 4. Controlling Speed by Adjusting the Stator Voltage
45

➢ Phase control of induction motor: ➢ Impact of voltage on motor speed:

 5. Controlling Speed by Adjusting the Supply Frequency
46

➢ Impact of frequency on motor speed: ➢ Impact of frequency on motor current:

6. Voltage/Frequency Control
47

➢ At V1 and f1: the reference operating point 1.

➢ If we increase the frequency of the supply to
f2 while keeping the voltage V1 unchanged,
the speed of the motor increases and the
maximum torque decreases.
➢ The load torque in this case is higher than
the maximum torque provided by the motor.
➢ Thus, no steady-state operating point can be
achieved, and the motor eventually stalls.
6. Voltage/Frequency Control
48

➢ Now let keep the supply frequency to the

new value at f2 but increase the
magnitude of the voltage to V2.
➢ The motor characteristics in this case
stretch and the maximum torque
increases. The motor operates at point 2,
and a new steady-state point is achieved.
 6. Voltage/Frequency Control
49

➢ Speed-torque characteristics for fixed v/f ratio: ➢ Speed-current characteristics for fixed v/f ratio.

2
3V 2
3V 2
3V 2
V 
Tmax =  =  f 
2s  R1 + R12 + X eq2  2s X eq 2  2 f  ( 2 fL )  
   pp  eq
 
3.4. Braking of Induction Motors

➢ 3.1. Introduction

➢ 3.2. Equivalent Circuits

➢ 3.3. Speed Control of Induction Motors

➢ 3.4. Braking of Induction Motors

 1. Regenerative Braking
51

➢ Regenerative braking occurs when the motor speed exceeds the no load

speed.

➢ This may happen when the load torque drives the electric motor beyond its

no load speed.

➢ In this case, the load is the source of energy, and the induction machine is

converting the mechanical power into electrical power, which is delivered

back to the electrical system.

 1. Regenerative Braking
52

➢ Regenerative braking of reversible loads:

✓ The load torque is considered constant but reversible.
✓ The reference operating point 1 represents a motor
operation where the motor speed is less than the
synchronous speed.
✓ When the load torque changes its direction from T1 to
T2, the motor operates in the second quadrant, and the
speed of the motor exceeds its synchronous speed.
✓ Keep in mind that the motor still rotates in its original
direction.
 1. Regenerative Braking
53

➢ Regenerative braking of reversible loads:

✓ The load torque is assumed to be constant and
unidirectional, and the original operating point is 1.
✓ If v/f control is applied to reduce the speed of the
motor, the operating point moves to 2 and
eventually settles at point 3 in the first quadrant.
✓ However, during the transition from point 2 to point
3, the motor operates in the second quadrant
under regenerative braking.
 2. Dynamic Braking
54

➢ Dynamic braking of electric motors occurs when the energy stored in the
rotating mass is dissipated in an electrical resistance. This requires the motor
to operate as a generator to convert this mechanical energy into electrical.
 3. Countercurrent Braking
55

➢ Countercurrent braking can be accomplished by reversing the direction of the

field.