Chapter 3 - Induction Motor Drives

TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING
401072
CHAPTER 3: INDUCTION MOTOR

DRIVES
Tri-Vien Vu, PhD
15/6/2020 401072 – Induction Motors Drives 1

OBJECTIVE
• Describe the operation and applications of an
induction motor
• Understand the torque-speed characteristic
curve of induction motors
• Modeling and analyze IMs in steady state
• Understand different methods to start, brake,
and control speed of an IM drive
• Building IM drive using VSI and CSI
CHAPTER 3: INDUCTION
MOTOR SPEED CONTROL
3.1. Introduction
3.2. Modeling and Steady State Analysis
3.3. Starting, Reversing and Braking
3.4. Voltage-source Speed Control
3.5. Variable Frequency Drives

MOTOR SPEED CONTROL
3.1. Introduction
3.2. Modeling and Steady State Analysis
3.4. Multi Speed Control

INTRODUCTION
Definition
Also called Asynchronous Machine
The rotor speed always smaller than the flux
rotation speed
AC currents in the stator generates flux which
induces a voltage in rotor winding to produce rotor
current.
The interaction between rotor current and air-gap
flux produces torque that rotates the rotor
INTRODUCTION
Structure of induction motor

INTRODUCTION
Structure of induction motor

INTRODUCTION
Rotating Flux
iA iB iC
t1 t2 t3 t4
A A A
B’ C’ B’ C’ B’ C’
C B C B C B
A' A' A'

REVIEW
AC current
i  I max cos et   I 2 cos  2p f s t 
– Frequency (Hz): fs
– Period (s): T = 1/fs
– Imax : magnitude, I - rms
– The cosine has period of 2p
i  I 2 cos et  2p   I 2 cos et 
– Angular speed /frequency: electrical speed
2p
eT  2p  e   2p f s
T
REVIEW
Two-pole machine ( p= 2)507172
– Each electrical period T
• The current move an angle of 2p
• The flux move an angle of 2p
 s  e

REVIEW
Four-pole Machine ( p = 4)

REVIEW
Four-pole Machine ( p = 4)
– For a (2p) mechanical angle:
• The current need 1 period
• The flux need 2 periods → 𝜔𝑠 = 𝜔𝑒 /2
e 4p f s 60 120 f s
s    rad / s  ns  s    rpm
p/2 p 2p p

SPEED - FOR A P-POLE MACHINE
- Stator magnetic field angular speed – synchronous speed:
e 2p f s
s    rad / s 
 p / 2  p / 2
- Motor speed: m  1  s  s
 s  m m
- Slip: s  1
s s
- Slip speed: sl  s  m  ss
sl ss
- Rotor frequency f r  f sl    sf s
2p 2p
INTRODUCTION
Classification
 Based on rotor structure
• Squirrel-Cage Rotor
• Wound-rotor (slip-ring) motor
 Based on NEMA (National Electrical Manufacturer
Association):
• Class A
• Class B
• Class C
• Class D
INTRODUCTION
Classification
Squirrel – Cage Rotor

Wound Rotor
INTRODUCTION
Classification

INTRODUCTION
Classification
 Class A
- LRT = 150% to 170% of FLT
- Highest breakout torque
- Injection molding machines.
 Class B (IEC Class N):
- Default motor to use in most applications
- LRT is the same as class A
- Efficiency and power factor are high
- Pumps, fans, and machine tools.
INTRODUCTION
Classification
 Class C (IEC Class H)
- LRT = 200% of FLT.
- Hard-starting loads with constant speed:
conveyors, crushers, reciprocating pumps and
compressors.
 Class D
- Highest starting torque (LRT)
- Low starting current due to high slip (5% to 13% at
FLT)
- Poor speed regulation
- Punch presses, shears, and elevators.
INTRODUCTION
Feature
Advantages
– Robust; No brushes. No contacts on rotor shaft
– High power/weight; low cost/power ratios
– Easy to manufacture
– Almost maintenance-free, except for bearing and
other “external” mechanical part
Disadvantages
– Essentially a “fixed-speed” machine
– Need a variable frequency supply to vary speed
– The controller added more cost to the system
INTRODUCTION
Structure

INTRODUCTION
Structure

INTRODUCTION
Applications
Industrial Pumps
Cooling Tower Fans

INTRODUCTION
Applications
Cranes/Hoists
Conveyors
Baggage Handlers

INTRODUCTION
Conventional AC Drives
– In conventional IM drives, IM speed is fixed
– The load speed can be matched by using multi-ratio
gearbox
– Control problem: gearbox ratio control
Power
Motor
Source
Input Control
GearBox Load
Command unit
Sensing
INTRODUCTION
Modern AC Drives
- Use PE converter as power modulation to match
the motor speed/torque to the load requirement
- Control problem: PE converter control: frequency,
voltage...
Power
Source
Input Control Power IM
Load
Command Unit Modulation Motor
Sensing

INTRODUCTION
Conventional vs Modern AC Drives
a) Conventional b) Modern VFD

SINGLE-PHASE INDUCTION MOTOR
– Split-phase: fans, blowers, centrifugal pumps, office
equipment. 1/20 ->1/2 hp
– Capacitor-start: compressors, pumps, refrigeration, air-
conditioning equipment.
– Capacitor-start and capacitor run: compressors, conveyors,
pumps and other high torque loads. 1/8->3/4 hp
– Permanent split capacitor: direct connected fans, blowers,
centrifugal pumps and low starting torque load. 1/20 ->3/4
hp
– Shaded pole: toys, hair driers, deskfans…
a) Structure b) Connection Overview
Squirrel-Cage Single Phase Induction Motor [2]

Split Phases

Capacitor
Capacitor start

Capacitor
Permanent-split capacitor
Start and Run Capacitor

Shaded pole

MOTOR SPEED CONTROL
3.1. Introduction
3.2. Steady State Modeling and Analysis

MOTOR SPEED CONTROL
3.1. Introduction

PER-PHASE EQUIVALENT CIRCUIT



Transformer btw Stator and Rotor

Stator Circuit
• Vs – per-phase voltage
• Rs – winding resistance
• Ls – leakage inductance
• Lm – magnetizing
inductance
• Rc – core-loss
• Es – induced voltage
(BEMF) Vs  Rs I s  jX s I s  Es
• Is – per-phase current X s  2p f s Ls
• If – excitation current
X m  2p f s Lm
• Im – magnetizing current
• Ic – core loss current
Induced Voltage
- Air-gap flux density:
B    Bmax cos  
- Air-gap flux per pole:
p /2
p   B   lrd  2 Bmax lr
p /2
l axial length of the stator

r: radius of the stator at the air-gap

Induced Voltage
- Flux Linkage:
a t   n p cos t 
n - number of turn in series per phase
- Voltage induced in phase coil aa’
d
ea   a t    n p sin t   Emax sin t 
dt
- Voltage induced in other phase coils:
eb  Emax sin t  120  ec  Emax sin t  120 
- The rms value of the induced phase voltage
Emax  n p 2p f
E   n p  4.44 fn p
2 2 2
Induced Voltage
- Stator induced voltage
Es ,max s N s  p 2p f s
Es    N s  p  4.44 f s N s  p
2 2 2
Es  Es  s t   es 
- Rotor induced voltage at standstill (m = 0)
Er ,max s N r  p 2p f s
Er 0    N s  p  4.44 f s N s  p
2 2 2
Er 0  Er 0  s t   er 
- Rotor induced voltage when rotating (m =(1-s)s)
Er ,max sl N r  p 2p f sl
Er    N s  p  4.44 sf s N s  p  sEr 0
2 2 2
Er  Er  sl t   er   sEr 0
Refer Rotor to Stator

Complex Circuit

IEEE Recommendation Circuit
Ns
aT 1 
Nr
X s  2p f s Ls  
Z m  jX m
X m  2p f s Lm  
Z s  Rs  jX s
X r 0  2p f s Lr   
Rr'
R  a Rr   
'
r
2
T1 Z r   jX r'
s
X r'  aT21 X r 0   
SINGLE PHASE EQUIVALENT
CIRCUIT
- Equivalent impedance of the circuit:
Zm Z ' jX m  Rr' / s  jX r' 
Z  Zs  r
 Rs  jX s  '
Zm  Zr Rr / s  j  X m  X r' 
'
- Stator current:
Vs
I s   I1   s
Z
- Rotor current:
Zm
I 
'
I
Zm  Zr
r ' s
- Magnetizing current:
Z r'
Im  I
Zm  Zr' s

POWERS
- Input power Pin  3Vs I s cos s   3VL I L cos s 
- Stator copper losses: Pjs  3I s2 Rs
- Stator core losses: Pc  3I c2 Rc
- Transmitted/Air-gap Power:
 R '
 '2 ' 1  s
PT  3I r'2  r   3I r Rr  3I r Rr
'2 '
 Pjr  Pm
 s  s
- Rotor copper losses: Pjr  3I r'2 Rr'  3I r Rr  sPT

1 s
- Mechanical power: Pm  3I R '2
r  1  s  PT
'
r
s
POWERS
- Windage and friction losses: Pw
- Output/shaft power: Pout  Toutm
- Power balancing: Pin  PT  Pjs  Psc
PT  Pjr  Pm
Pm  Pw  Pout
- Motor efficiency Pout

Pin
Pout Pm
- Neglect all losses ideal    1 s
Pin PT
POWER FLOW

POWER FLOW

POWER FLOW

TORQUE-SPEED CURVES
- Rotor angular velocity, for a p poles IM:
2 4p f s
m  e 1  s   1  s 
p p
- Mechanical torque:
Pm PT
Tm  
m s
- In term of input voltages
2 2
3pR  Z m 1  2 3 Rr'  Z m 1  2
'
Tm  r
  Vs    Vs
4p f s s  Z m  Z r Z 
'
s s  Z m  Z r Z 
'

TORQUE-SPEED CURVES

TORQUE-SPEED CURVES

TORQUE-SPEED CURVES
Torque and speed vs %Slip. %Ns=%Synchronous Speed

THEVENIN EQUIVALENT MODEL
Vth
I 
'
2
 th 2   th 2 
R  R '
/ s  j X  X '
PT 3R '
3 Vth2 R2'
Tm   '2
I2 2

s s s s
  th 2   th 2 
R  R '
/ s
2
 X  X '

2 1/2 s

- Slip at maximum torque:
R2' R1 X th
R2'
sT max 
 R2   X  X '   2 1/2 X th  X 2'
 th th 2 
- Maximum torque:
3 Vth2 R1 X th
3 Vth2
Tmax 
2s 2s X th  X 2'
Rth   Rth2   X th  X 2'  
2 1/2
 
- Relationship between Tm and s
2 sT maxTmax
Tm  2 s
sT max  s 2

- For wound-rotor induction motor, external
resistances can be used to achieve maximum
torque at desired speed (slip)
m,des
sdes  1
s
- External resistor for each phase:
Rext  sdes  X th  X '
2 R '
2
- For a maximum starting torque (sst = 1)
Rext   X th  X '
2 R '
2

THEVENIN EQUIVALENT-BIG R1

THEVENIN EQUIVALENT-SMALL R1

EXAMPLE
A 3f, 460V, 1149 rpm, 60 Hz, 6-pole wound-rotor induction motor has
R1 = 0.35 , 𝑅2′ = 0.15, X1 = 𝑋2′  0.45 , Xm = 30. The windage and
rotational loss are 1700W. With the stator windings are Y connected
and the rotor terminals short-circuited, find
a) Starting current when started direct on full voltage
b) Starting torque
c) Full load slip
d) Full load current
e) Ratio of starting current to full load current
f) Full load power factor
g) Full load torque
h) Ideal efficiency and motor efficiency at full load
i) Maximum torque and corresponding slip
j) How much external resistance per phase should be connected in
the rotor circuit so that maximum torque occurs at start?

MOTOR SPEED CONTROL
3.1. Introduction
3.4. Multi-Speed Control
3.6. Typical VFD
3.7. PLC and Motor Control

OBJECTIVES
After this class, students be able to:
– Understand motor nameplate information
– List different methods for starting AC motors
– Build typical circuits for starting AC motors
– Troubleshooting for AC motor starting

MOTOR NAMEPLATE

MOTOR NAMEPLATE

MOTOR NAMEPLATE

WINDINGS CONNECTION

WINDINGS CONNECTION

STARTING
a) Direct Online Starting

b) Star/Delta Starting
c) Resistor Starting
d) Autotransformer Starting
e) Solid-State soft starting
f) Starting using a variable frequency inverter
g) Rotor resistance starter for wound-rotor motor

STARTING

STARTING

STARTING

STARTING

DIRECT-ONLINE STARTING
− Processes occur when the stator voltage Vs is
applied to the motor at zero speed
− For direct starting (direct-on-line):
I start 8  I rated
− Suitable for low-power motor ( up to few kW)
− Contactor is used as switching device
− Operated by local or remote pushbuttons, or
interfaced to connect with PLC or computer

Rated Full-Load-Current vs Direct-On-Line Starting Current

Direct-On-Line Starting Current
NEMA code Locked rotor NEMA code Locked rotor
letter kVA/HP letter kVA/HP
A 0 – 3.15 L 9.0 – 10.0
B 3.15 – 3.55 M 10.0 – 11.2
C 3.55 – 4.0 N 11.2 – 12.5
D 4.0 – 4.5 O NOT USED
E 4.5 – 5.0 P 12.5 – 14.0
F 5.0 – 5.6 Q NOT USED
G 5.6 – 6.3 R 14.0 – 16.0
H 6.3 – 7.1 S 16.0 – 18.0
I NOT USED T 18.0 – 20.0
J 7.1 – 8.0 U 20.0 – 22.4
K 8.0 – 9.0 V 22.4 AND UP

Direct-On-Line Starting
Control circuit
Wiring diagram
3-position selector switch in control circuit of 3-phase IM

RESISTOR STARTING
2-step acceleration 4-step acceleration

RESISTOR STARTING
Manual resistance starter with “Carbon pile ” resistor

STAR-DELTA STARTING
− Simplest and most widely used method
− D voltage is equal to the supply voltage, example
Vsupply = 380/660V D/Y
− Firstly connected in Y, when speed approaches its
running value, switched to D
− Phase voltage is reduced 58% (1/ 3)
− Starting current (starting torque) is reduced to 30%
of DOL starting
− Applied for large inertia or motor is not loaded until
after ramping speed
STAR-DELTA STARTING
Current and speed of an IM when using Y/D starting method

STAR-DELTA STARTING

STAR-DELTA STARTING
IM with star-delta starter

AUTOTRANSFORMER STARTING
− A 3-phase autotransformer is used if Y/D starting

provide insufficient starting torque
− After ramped up to speed or following a time delay,
the motor is connected to the supply network
− A starting transformer has several tapings allowing
different starting voltage.
− If a voltage reduce a, the torque and current will
reduce a2xDOLvalue
http://ganpatiheavyelectricals.in/production/
IM with autotransformer starter

Torque-speed curve for autotransformer starting

Power circuit connection for reduced voltage starting

Manual voltage level-selection


SOFT STARTER
− With early mentioned methods, starting voltage and

starting current changed in steps
− Peaks in currents and torque during switching
− A soft-starter control Vs from selectable starting
value up to the full supply one.
− Torque and current increase continuously
− Enable step-less starting of motors from zero speed
− Voltage is varied by phase-angle control of inverse-
parallel SCRs
− Low power: SCRs can be replaced by TRIACs
SOFT STARTER
− Single-phase, 2-phase, and 3-phase; with and
without bypass switch
− Stator voltage can be increase using voltage ramp
or current controlled
IM with soft starter

SOFT STARTER
− Starting current is reduced or limited
− Large voltage dips in the power supply are avoid
− The torque is matched to the load. Torque peaks in
mechanical components are avoided
− Drive elements such as belts, chains, gears, and
bearings are subject to less wear
− Jerk and abrupt movements, which may disturb a
process, are avoided

SOFT STARTER

SOFT STARTER
Inverse Parallel
SRC SCRs
Output voltage
SOFT STARTER
soft starter with 2-phase scr soft starter with 3-phase scr

SOFT STARTER

SOFT STARTER

SLIP-RING MOTOR STARTING
− By adding external resistance in series with the
rotor windings the starting current can be kept low
but at the same time the starting torque is high.
− Well suit for load with heavy starting duties such as
stone-crushers, cranes, and conveyor drives
− Resistance at starting is selected to five full-load
torque together with rated current

Manual speed regulator for slip-ring motor

Wiring diagram of manual speed regulator for slip-ring motor

Element diagram of manual speed regulator for slip-ring motor

Typical control circuit for auto accelerating of aslip-ring motor

Torque-speed curve of a wound-rotor IM

REVERSING
Single-Phase
Control diagram Wiring diagram

REVERSING- 3 PHASES
Three-phase

REVERSING
Three-phase

SEQUENCE CONTROL

SEQUENCE CONTROL

MOTOR BRAKING
− In most cases, the supply power is disconnected;
the motor has no current and no torque will be
developed; the active load torque brakes the motor
− For soft stopping, stator voltage is reduced
following a ramp  avoid sudden braking.
 Passive braking
− If an IM must actively brake: regenerative, plugging,
injection braking, and dynamic braking

BRAKING
a) Regenerative braking
b) Current Reserved Braking (Plugging)
c) Injection braking

BRAKING
 Regenerative Braking
− Occur when rotor speed larger than air gap flux
rotation speed
− For a fixed frequency sources: braking cannot
happen below synchronous speed.
− For an inverter-fed system, the supply frequency is
reduce -> reduces the synchronous speed
− When synchronous speed smaller than rotor speed
-> motor turn into generating mode.
− Due to the loss of energy, the rotor is slow down.
BRAKING
Regenerative Braking
Torque-speed curve over motoring, braking, and regenerating

BRAKING
 Current Reserval Braking

− Two phases of the supply cable are swapped over
− The direction of the rotating field is reversed
− Similar to the direction reversing procedure, but
before the motor ramps up in the opposite direction,
it must be switched off
− The current and torque peaks are much greater
than DOL starting ones
− Suitable for small motor
− Motor is warming up due to energy dissipated
BRAKING
Current Reserval Braking
Torque-speed and speed-time curves for plugging

BRAKING
 Injection Braking
− Also named DC dynamic braking [4]
− Most widely used method of electrical braking
− When the “stop” signal occurs:
− 3-phase supply is interrupted
− DC current is fed into the stator via two of its terminals
fDC = 0; s = 0  r ->0
− Dissipative process: all kinetic energy being turned
into heat inside the motor

BRAKING
Injection Braking
Diagram of injection braking Torque-speed curve for injection

braking
BRAKING
a) Regenerative braking
b) Current Reserved Braking (Plugging)
c) Injection braking

BRAKING
 Regenerative Braking
− Occur when rotor speed larger than air gap flux
rotation speed
− For a fixed frequency sources: braking cannot
happen below synchronous speed.
− For an inverter-fed system, the supply frequency is
reduce -> reduces the synchronous speed
− When synchronous speed smaller than rotor speed
-> motor turn into generating mode.
− Due to the loss of energy, the rotor is slow down.
BRAKING
Regenerative Braking
Torque-speed curve over motoring, braking, and regenerating

BRAKING
 Current Reserval Braking

− Two phases of the supply cable are swapped over
− The direction of the rotating field is reversed
− Similar to the direction reversing procedure, but
before the motor ramps up in the opposite direction,
it must be switched off
− The current and torque peaks are much greater
than DOL starting ones
− Suitable for small motor
− Motor is warming up due to energy dissipated
BRAKING
Current Reserval Braking
Torque-speed and speed-time curves for plugging

BRAKING
 Injection Braking
− Also named DC dynamic braking [4]
− Most widely used method of electrical braking
− When the “stop” signal occurs:
− 3-phase supply is interrupted
− DC current is fed into the stator via two of its terminals
fDC = 0; s = 0  r ->0
− Dissipative process: all kinetic energy being turned
into heat inside the motor

BRAKING
Injection Braking
Diagram of injection braking Torque-speed curve for injection

braking
MOTOR SPEED CONTROL
3.1. Introduction
3.6. Typical VFD (161-166)

INTRODUCTION
− Essentially a constant speed motor

− The operating speed is very close to synchronous
speed
− Suitable to substantially constant-speed drive
systems
− Many industrial applications require several speed or
a continuously adjustable speed range of speeds
− The available of solid-state controllers has made it
possible to used induction motors in variable-speed
drive systems

POLE-NUMBER CHANGING
– Changing the coil connections of the stator

windings
– Normally poles are changed in the ratio 2 to 1
– Provide two synchronous speeds
– If two independent sets of poly-phase windings are

used: 4 synchronous speeds can be obtained
– Motor speed can be changed only in discrete steps

POLE-NUMBER CHANGING
S N S N S N
N S N
S N S
4-pole connection 2-pole connection

TERMINAL VOLTAGE CONTROL
− Suitable for high-resistance cage motors
− Only practicable where the load torque is low at low
speed such as fan-type motors
− Using auto-transformer or solid-state voltage
controller (as in soft-starter)

(a) NEMA A,B (b) NEMA C, D

I 
'
Vp jX m  Req  jX eq 
Zt 
  Req  j  X m  X eq 
r
Rr'
 Rs    s
  r
'
j X X
 s 
3 Rr' V p2
Tm  Vp
s s  Rr' 
2
Ip 
   Xs  Xr 
' 2
 Rs  Zt
 s 
− At the full load condition:
3 Rr' V p2,n
TL ,n 
s sn  Rs  Rr' / sn 2   X s  X r' 2
− At a certain voltage/load: Vp = aVp,n ; TL = bTL,n
3 R '
V p2
TL  r
s s  Rs  Rr' / s 2   X s  X r' 2
'2  
2
 ' 2
1
  Rs   X s  X r   0
1 3 R V ' 2
Rr     2 Rs Rr 
' r p 2
s   s TL  s
Example: 3-phase IM, R1 = 5, R2’ = 5, X1 = X2’ = 15;
Xm = 40; 380V, f = 60Hz, p = 6, D-connection, 1140 rpm,
constant load torque.
1. Find the starting torque and current, nominal torque
and current
2. If the stator windings is changed to Y-connected, find:
a) Starting torque, starting current
b) Motor speed at full-load
c) Line-voltage to adjust the motor speed to 980 rpm at
full load

Example: The motor in the previous example is
feeding by a 3-phase auto-transformer (Y/Y
connection). 3-phase voltage source is 380V-rms
1. If the motor is Y-connection and the line-to-line
voltage of the secondary winding of the transformer
is 380V. Recalculate the starting torque, starting
current, and full-load speed of the motor.
2. Determine the turns ratio of the auto-transformer to
adjust the motor speed to 800rpm at 80% full-load


Hints 3 Rr' V p2
TL 
s s  Rs  Rr' / s 2   X s  X r' 2
At low slip (s«1)
 R1  R / s   X1  X 
' 2 ' 2
2 2 ; R2' / s R1
3 R '
V p2 3 pV 2
TL  r
 s
s s  Rr / s 
' 2
s Rr'
2
3 pV
12.7 10 1  s  s 
3
ss
2 2
s Rr'

LINE FREQUENCY CONTROL
Synchronous and motor speed can be varied
by changing the frequency of the supply
The terminal voltage of the motor must be
varied in proportional to the frequency to
avoid high saturation in magnetic system
E  4.44nf  p V1
 p  const   const
V1  E f
Known as constant volts per hertz control
Requires frequency inverter

Using Approximately Circuit
At rated frequency
a<1 a≥1
At controlled frequency
Using Approximately Circuit
At rated frequency
At controlled frequency

a ≤1:
aV p ,r
I 
'
r
R a X
2
eq
2 2
eq
3 R '
a 2V p2,n
Tm  r
as s Req2  a 2 X eq2
a > 1: V p ,n
I  '
r
Req2  a 2 X eq2
3 R '
V p2,n
Tm  r
as s Req2  a 2 X eq2

MOTOR SPEED CONTROL
3.1. Introduction
3.6. Typical VFD

3.5. VARIABLE FREQUENCY
DRIVE
6-step inverter: Open-loop

DRIVE
V/f with 6-step inverter
3 6VLN f ref  f o ,des

Small C : Vd  cos a
p
2
Large C : Vd  3 6VLN cos a V1  Vd
3
DRIVE
 Closed-loop V/f control

DRIVE
SPWM inverter: closed-loop
f ref  f o ,des f c  m f f ref
1 Vd 1 Vd
VL  N 1  ma VL  L1  3 ma
2 2 2 2

DRIVE
V/f control with SPWM inverter
 *
f c*  m f e
2p
*
2 2V
ma*  s
Vd

DRIVE
Example: 3-phase D-connection IM, R1 = 0.1, R2’ = 5, X1 =
X2’ = 0.5; Xm = 40; 220V, 50Hz, 4 poles, 1440 rpm.
1. The motor is fed by a variable frequency inverter (VFD).
Find the output frequency of the inverter to adjust the motor
speed to 800 rpm, assumed the slip is kept constant.
2. If the inverter is composed by a 6-step inverter and a 3-
phase fully controlled rectifier which is connected to 3-phase
380V, 50Hz voltage source. Determine:
1. Tsw,on of each switch device of the inverter
2. Delay angle of the rectifier
3. Determine the amplitude modulation of the inverter in
question 2 if the inverter is composed by a SPWM inverter
and a 3-phase uncontrolled rectifier.

MOTOR SPEED CONTROL
3.1. Introduction
3.6. Typical VFD (161-166)

3.6 TYPICAL VFDS
Typical VFD operator interface

3.6 TYPICAL VFDS
Power connection of a VFD with bypass contactor

3.6 TYPICAL VFDS
Typical VFD package

3.6 TYPICAL VFDS
Typical VFD Inputs and Outputs Digital Inputs

MOTOR SPEED CONTROL
3.1. Introduction
3.6. Typical VFD

HARD-WIRING VS SOFT-WIRING

OVERVIEW OF PLC
INPUT/OUTPUT

OVERVIEW OF PLC
INPUT/OUTPUT
Input
– Analog
– Digital
– DC/AC
Output
– Analog
– Digital
– DC/AC

OVERVIEW OF PLC
INPUT/OUTPUT

RELAY OUTPUT

SOLID STATE OUTPUT
AC Ouput

STOP BUTTON PROG.

STOP BUTTON PROG.

LOGICAL VS PHYSICAL
HOLDING

MOTOR CONTROL - EXAMPLE



SUMMARY
– IM Equivalent Circuit
– IM speed-torque curve
– Starting of IM
– Braking of IM
– AC drive
– Control of AC drives
– Protection of motor and drive

PROBLEMS
1. A 15 kW motor’s nominal current is 32 A and power
factor is 0.83. What is the motor’s approximate
magnetizing current at the nominal point? What is
the total approximate current with 120 percent
torque below the field weakening point.
2. The motor’s nominal current is 71 A. How much

current is needed to maintain the 100 percent
torque level at 1.2 times nominal speed (Tmax=3*Tn)
PROBLEMS
3. The motor nominal power is 15 kW and the
nominal speed is 1480 rpm. What is the nominal
torque of the motor?
4. What is the nominal efficiency of a 37 kW (Pn = 37

kW, Un =380 V, In =71 A and cos(ϕn) = 0.85) motor?

RELATED SOFTWARE
Matlab: Electrical Drive Library
Path: Simscape > SimPowerSystems > Specialized
Technology
Command: simpowersystems_ST
Sizer for Siemens Drives
ABB_Selection_Guide_Motorsystem (Excel
file)

AC DRIVES

SIEMENS SIZER

ASSIGNMENT
Homework
 All related exercises
Reading assignment
 Slides of chapter 4
 Textbooks:
[1]: 281 - 311
[5]: 211- 240

Chapter 3 - Induction Motor Drives

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Chapter 3 - Induction Motor Drives

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TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING

CHAPTER 3: INDUCTION MOTOR

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3.2. Modeling and Steady State Analysis

3.3. Starting, Reversing and Braking

3.4. Voltage-source Speed Control

3.5. Variable Frequency Drives

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3.2. Modeling and Steady State Analysis

3.3. Starting, Reversing and Braking

3.4. Multi Speed Control

3.5. Variable Frequency Drives

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- Slip speed: sl  s  m  ss

Squirrel – Cage Rotor

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Cooling Tower Fans

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a) Conventional b) Modern VFD

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a) Structure b) Connection Overview

Squirrel-Cage Single Phase Induction Motor [2]

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Start and Run Capacitor

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3.2. Steady State Modeling and Analysis

3.3. Starting, Reversing and Braking

3.4. Multi Speed Control

3.5. Variable Frequency Drives

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3.2. Steady State Modeling and Analysis

3.3. Starting, Reversing and Braking

3.4. Multi Speed Control

3.5. Variable Frequency Drives

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l axial length of the stator

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- Stator core losses: Pc  3I c2 Rc

- Rotor copper losses: Pjr  3I r'2 Rr'  3I r Rr  sPT

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- Rotor angular velocity, for a p poles IM: