Advanced Electric Drives

Ass. Prof. Dr. Mohamed El-Kourfouly

Dr. Magdi A. Mosa
Electrical Power and Machine Department
Faculty of Engineering – Helwan University
 Electric Drive System

It is electromechanical system that converts the electric energy into mechanical energy and
supply this energy to different parts of the system with electric control.

Modern is based on Power Electronics

Traditional power modulator
Speed Control of 3phase I. M.
Speed control means change the drive speed as
desired by the process to maintain different
process variables at different loads such as pump
flow control.
3V ph2 R2`
T=
 R2` 
2

s s  R1 + (
 + X 1 + X 2` )
2

 s  

Speed control is a different concept from speed

regulation where speed regulation means the
natural change in speed due change in load on
the motor shaft
Speed Control of 3phase I. M.
Energy saving
Centrifugal fan and pump loads operated with an Adjustable Speed AC Drive reduces energy
consumption. Since the peed is controller to control the amount of water flow

Soft starting
Some applications such as elevators need soft
starting by increasing the speed smoothly to
avoid harmful effect on the human blood
circulation
Induction Motor Construction and Operation

When three phase voltage is applied on the stator

winding a rotating magnetic field is generated

The synchronous speed

120𝑓1
𝑛𝑠 = and
𝑝

2𝜋𝑛𝑠 4𝜋𝑓1
ω𝑠 = =
60 𝑝
Induction Motor Operation

The synchronous speed

120𝑓1 and 2𝜋𝑛𝑠 4𝜋𝑓1
𝑛𝑠 = ω𝑠 = =
𝑝 60 𝑝
The rotor slip
𝑛𝑠 − 𝑛𝑟
𝑆=
𝑛𝑠
The rotor speed
𝑛𝑟 = (1 − 𝑠)𝑛𝑠

The rotor frequency

𝑓𝑟 = 𝑆𝑓1
Induction Motor equivalent circuit
1- Exact Equivalent Circuit

2- IEEE Equivalent Circuit

3- Approximate Equivalent Circuit

Induction Motor Power Operation

Air gap power

Input power Output power
2 𝑅2′
𝑃𝑖𝑛 = 3𝑉𝑝ℎ 𝐼1 cos ∅ 𝑃𝑔 = 𝑇𝑑 ω𝑠 = 3𝐼2′ 𝑃𝑚 = 𝑇𝑑 ω𝑟 𝑃𝑜 = 𝑇𝑜 ω
𝑠

Stator Copper losses Rotor Copper losses rotational losses

+ Core losses 𝑃𝑐𝑜𝑝2 = 3𝐼22 𝑅2 𝑃𝑟𝑜𝑡 = 𝑇𝑟𝑜𝑡 ω
𝑃𝑐𝑜𝑝1 = 3𝐼12 𝑅1
𝑃𝑐𝑜𝑝2 = 𝑠𝑃𝑔
𝑃𝑐𝑜𝑟𝑒 = 3𝐼𝑐2 𝑅𝑐
𝑃𝑚 = (1 − 𝑠)𝑃𝑔
 Induction Motor characteristics
The motor developed torque
2 ′
3𝑉𝑝ℎ 𝑅2 𝑇𝐿
𝑇𝑒 = 2 n
𝑅2′
𝑠ω𝑠 𝑅1 + + 𝑋1 + 𝑋2′ 2
𝑠 𝑛𝑠 𝑇𝑒
The synchronous speed
120𝑓1 2𝜋𝑛𝑠 4𝜋𝑓1 𝑆𝑚
𝑛𝑠 = and ω𝑠 = =
𝑝 60 𝑝
The rotor slip
𝑛𝑠 − 𝑛𝑟
𝑆=
𝑛𝑠
The rotor speed
T
𝑛𝑟 = (1 − 𝑠)𝑛𝑠 𝑇𝑚
The maximum torque
The rotor frequency 2
3𝑉𝑝ℎ
𝑇𝑚 =
𝑓𝑟 = 𝑆𝑓1 2ω𝑠 [𝑋1 + 𝑋′2 ]
The slip at maximum torque
𝑅′2
𝑆𝑚 =
𝑋1 + 𝑋′2
Speed Control of 3phase I. M.

The speed and the torque of I.M can be varied by one of the following
means:
1. Stator Voltage Control
2. Stator Frequency Control
3. Stator Voltage /Frequency Control
4. Slip-energy recovery
5. Rotor resistance control.
6. Rotor Voltage Control
7. Stator Current Control
8. Stator Current, and Frequency Control
9. Pole changing
Speed Control using AC voltage Controller.

Stator Voltage Control

The torque developed by an induction motor is proportional to the square of terminal

voltage
3V ph2 R2`
T= T  V ph2
 R2` 
2

s s  R1 + (
 + X 1 + X 2` )
2

 s  

The induction motors controlled by ac

voltage controllers find wide applications
in fan, and pump drives.
Speed Control using AC voltage Controller
Concept of AC voltage Controller
➢ AC voltage controller is normally used to provide the voltage control
Since Control in the firing angle controls the RMS of the output voltage

For resistive load

0≤α≤π

For inductive load

θ≤α≤π

Where θ is the load impedance angle

Speed Control using AC voltage Controller
Speed Control using AC voltage Controller
Speed Control using AC voltage Controller

➢ The following figure shows two commonly used symmetrical 3-phase ac voltage controller
circuits for wye- and delta-connected stators, respectively.
➢ For small size motors, each antiparallel thyristor pair can be replaced by a triac.
Connection el can also be used with a delta-connected stator.

3-phase ac voltage controller circuits.

Speed Control using AC voltage Controller

➢ Each thyristor pair of circuit C1 carries the line current, whereas each thyristor pair of circuit
C2 carries only the phase current. Thus, in C2 the thyristor current rating is reduced by a
factor 3.
➢ With a delta connection, a third harmonic current may circulate in motor, and increasing the
motor losses.
Speed Control using AC voltage Controller

Disadvantages:
➢ limited speed range  when applied to Class A,B,C which are (low-slip) motors
➢ Excessive stator currents at low speeds  high copper losses
➢ Distorted phase current in machine and the supply line
➢ Poor line power factor
➢ Provides low starting torque and low pullout torque
Speed Control using AC voltage Controller
Advantages:

➢ Simple
➢ Less losses in the converter (Thyristors)
➢ Less cost than variable speed drives (Thyristors)
➢ Suitable for class D motors

➢ They are used mainly in low power applications, such as fans, blowers, and centrifugal
pumps, where the starting torque is low and efficiency is not Critical factor
➢ They are also used for starting high power induction motor to limit the in-rush current
Pump application
Voltage control is mostly used with fan and pumps applications because
1. in Fans/Pumps reduction in speed reduce the load torque because the speed is
proportional to the square of the speed
2. Fans and pumps has low starting torque
3. At constant head, The flow is proportional to the cubic of the speed therefore small
reduction in speed lead to large control in the flow
n 𝑇 = 𝐶ω2
ns
n1
n2

𝑇 = 𝐶ω2 v2 v1
𝑃 = (𝑃𝑟𝑒𝑠𝑠𝑢𝑟𝑒) 𝑄 = 𝑇ω = 𝐶ω3

𝑄 ∝ ω3 T2 T
T

1
If the speed is reduced by 20% the flow will be reduced by 49 %, therefore narrow speed
control is sufficient and the load will be reduced by 36%
Pump application
However, speed reduction increases the motor slip therefore, increases the rotor current, so
that the motor should be derated or another cooling should be used.
The slip at maximum rotor current is determined as follow n 𝑇 = 𝐶ω2
3𝐼′22 𝑅2′ ns
n1
𝑇= 𝐶ω2 =C 1−𝑠 2 ω2
𝑠 =
𝑠ω𝑠 n2

𝐶ω 3
𝑠
𝐼′22 = 𝑠 1−𝑠 2
3𝑅2′

𝐶ω3𝑠 0.5 v2 v1
𝐼′2 = ′ 𝑠 1 − 𝑠 = 𝑘 𝑠 0.5 − 𝑠1.5
3𝑅2
To get maximum current differentiate with respect s T
T2 T
𝑑𝐼′2 1
= 𝑘 0.5𝑠 −0.5 − 1.5𝑠 0.5 = 0
𝑑𝑡

0.5𝑠 −0.5 − 1.5𝑠 0.5 = 0 Multiply both sides by 2𝑠 0.5

𝟏
1−3𝑠 = 0 𝒔=
𝟑
Pump application
Therefore with pump load the motor will draw the maximum current when the slip
becomes 1/3.
The relation between maximum current and rated current
𝐼′2 = 𝑘 𝑠𝑟 1 − 𝑠𝑟
1 2 1 𝐼′𝑚𝑎𝑥 2
𝐼′𝑚𝑎𝑥 = 𝑘 𝑠𝑟 1 − 𝑠𝑟 = k 1/3 1 − =𝑘 =
3 3 3 𝐼′2 3 3 𝑠𝑟 1 − 𝑠𝑟

Rated slip 0.05 0.1 0.15 0.2 0.25 0.33

𝐼′𝑚𝑎𝑥
1.82 1.35 1.17 1.08 1.03 1
𝐼′2_𝑟𝑎𝑡𝑒𝑑
Derating 0.55 0.74 0.85 0.93 0.97 1
𝑃𝑐𝑢𝑝2 5% 10% 15% 20% 25% 33%

If you have a motor with power rating of 100 kW with slip 0.05 and operate at nominal
condition, what is the permissible load on the motor shaft if you control in the speed
- From Slip=0.4 to 0.05
- From 0.1 to 0.05
Four Quadrant operation of I.M using AC voltage controller

ns

-ns

Four quadrant AC voltage controllers

Voltage Controller as soft starter

1- Start at high firing angle and reduces the angle gradually till zero
2- During normal operation bypass contactor is used to reduces the losses inside the softs
tart
Starting Groups of Motors using single soft starter
Speed Control using AC voltage Controller
Example:
A three-phase 460 V, 60 Hz, 4poles, Y connected I.M has the following parameters:
R1 =1.01 ohm, R2 = 0.69 ohm, X1 = 1.3 ohm, X2= 1.94 ohm, and Xm = 43.5 ohm, no load
losses is negligible. The motor drives fan load, which torque is proportional to the speed
squared and is 41N.m at 1740 rpm. If the required rotor speed is 1550 rpm, determine:
1. Load torque
2. Rotor current
3. Stator voltage
4. Stator current
5. Motor input power
6. Slip for maximum rotor current
7. Maximum rotor current
8. Torque at maximum rotor current
Speed Control using AC voltage Controller
Example
For Pump application, calculate and plot the (𝐼max / 𝐼rated ) versus 𝑠rated relation for
𝑠rated values from 0.05 to 0.5.
Also plot the derating versus 𝑠rated curve.

Example
In a pump drive, the fluid flow is to be varied from full to 50 percent. If the motor full-load
slip is 0.15, calculate the maximum motor current to rated current ratio and the motor
derating.
Speed Control using VFD-Controller
The speed of induction motor depends on the synchronous speed therefore changing the
frequency will change the synchronous speed, consequently changes the motor speed
The stator frequency can be changed using
1. PWM variable speed Drives
2. Cycloconverter

1. PWM variable speed Drives

Rectifier AC ---DC DC filter Inverter DC---AC

Speed Control using VFD-Controller
The frequency of output is control by controlling the duration of each switching period

1. VFD produces harmonics on the AC side

2. VFD also inject harmonics in the motor
Speed Control using VFD-Controller
If R1 is negligible, the maximum torque at the base speed as
n
f2
2
3𝑉𝑝ℎ 1
𝑇𝑚 = ∝
2ω𝑠 [𝑋1 + 𝑋′2 ] 𝑓2

f1 = fn
The slip at maximum torque at any frequency
f3
𝑅′2 1
𝑆𝑐𝑟 = ∝
𝑋1 + 𝑋′2 𝑓 T

The synchronous speed is proportional to the system frequency

120𝑓
𝑛𝑠 = ∝𝑓
𝑃
Speed Control using VFD-Controller
Problems of low frequency
1- The total flux inside the machine increases and therefore, increases the heat and core
losses, and may cause saturation in the magnetic circuit 𝑬 = 𝟒. 𝟒𝟒𝛟𝒎 𝒇𝑵
2- Increasing the starting current

Advantages of low frequency

1- Increasing the starting and maximum torque
120𝑓
2- Wide range of speed control 𝑛𝑠 = ∝𝑓
𝑃

In modern drives to void the problem of saturation and overheating to reduce the speed
we don’t use frequency control but we uses variable voltage variable frequency as will
be shown later
Speed Control using VFD-Controller
Problems of high frequency n
f2
1- Reduces the machine maximum torque
2- Reduces the machine flux, Higher Current at the same torque
3- higher skin effect and losses f 1 = fn

Advantages of increasing the frequency f3

1- Used to obtain higher speed above the rate value
T

Increasing the system frequency is the most common methods to increases the speed
above the rated speed
Speed Control using VFD-Controller
Example2
A three-phase, 11.2-kW, 1750-rpm, 460·V, 60-Hz, four-pole Y-connected induction motor
has the following parameters:
R2 = 0.38 Ω.,X1=1.14 Ω, X2 = 1.71 Ω, and Xm = 33.2 Ω.
The motor is controlled by varying the supply frequency. If the requirement maximum
torque is 35 N· m, calculate
(a) the supply frequency,
(b) the corresponding motor speed.
V/F Speed Control using VSD Most common used

Rectifier AC ---DC DC filter Inverter DC---AC

The output voltage and frequency are controlled such that ratio becomes fixed
𝒗𝟏
= 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕
𝒇𝟏
If the stator voltage droop is neglected then constant v/f produces constant magnetic field
therefore, this method is called constant flux operation

𝑬 = 𝟒. 𝟒𝟒𝛟𝒎 𝒇𝑵
Speed Control of 3phase I. M. by V/F-Control
If R1 is negligible, the maximum torque at the base speed as 𝒗𝟏 𝒗𝟐 𝒗𝟑
= =
𝒇𝟏 𝒇𝟐 𝒇𝟑
2 2 n
3𝑉𝑝ℎ 𝑉𝑝ℎ 𝒗𝟏 /𝒇𝟏
𝑇𝑚 = ∝ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
2ω𝑠 [𝑋1 + 𝑋′2 ] 𝑓

𝒗𝟐 /𝒇𝟐

The slip at maximum torque at any frequency

𝒗𝟑 /𝒇𝟑

𝑅′2 1
𝑆𝑐𝑟 = ∝
𝑋1 + 𝑋′2 𝑓
T

The synchronous speed is proportional to the system frequency

120𝑓
𝑛𝑠 = ∝𝑓
𝑃
Speed Control of 3phase I. M. using V/F
v

n v/f control f control

V=constant
vn

f control
V=constant

vb
f
fn

v/f control

Motor load ability curve using V/F control

Speed Control of 3phase I. M Using V/F
Advantages
1. constant maximum torque
2. soft stopping
3. no additional losses
4. Almost constant flux operation
5. Can reduces losses at low speed loads by reducing the flux
6. soft starting
7. Can be used to drive three phase motor from single phase supply
8. Can be used to drive 60 Hz motor on 50 Hz supply
Drawbacks of V/F PWM VSD
Limitations of V/F
1. Reduces the speed only and not used for speeds above nominal to avoid damage of
winding insulation
2. At low speed the voltage needs to be boost to compensate the voltage droop on the
stator windings
3. VFD produces harmonics on the AC side
4. VFD also inject harmonics in the motor
n
n 𝛟𝟏 =𝛟𝟐 = 𝛟𝟑 𝒗𝟏 /𝒇𝟏
𝛟𝟏

𝒗𝟐 /𝒇𝟐
𝛟𝟐

Constant flux 𝒗𝟑 /𝒇𝟑 Constant v/f

𝛟𝟑

T
T
Drawbacks of PWM VSD
Limitations
5. Speed reduction reduces the machine cooling and therefore the motor should be
derated at low speed
6. Produces voltage stress on the motor winding due to high dv/dt
7. Overheat the motor due to harmonics and increases the rotor resistance due to skin
effect
8. Passing of bearing current in the motor which affect on the drive, damage motor within
six months (ABB)
Line reactor of the VSD
➢ The harmonics of a voltage source AC drive can be significantly reduced by connecting a
large enough inductor to its AC input or DC bus.
➢ The trend has been to reduce the size of converter while the inductor
Selected size
signal: 5 cycles. FFT has
windowbeen
(in red): 1 also
cycles
100
reduced, or in several cases it has been omitted totally. 0
-100
0 0.02 0.04 0.06 0.08 0.1
Time (s)
Fundamental (50Hz) = 60.4 , THD= 76.78%

Mag (% of Fundamental)
60

40
Selected signal: 5 cycles. FFT window (in red): 1 cycles
60
4020
20
0
-20
-40 0
0 5 10 15 20
0 0.02 0.04 0.06 0.08 0.1
Harmonic order
Time (s)

15

Mag (% of Fundamental)
Fundamental (50Hz) = 50.48 , THD= 15.39%

10

0
0 5 10 15 20
Harmonic order
𝒅𝒗
Output filter of the VSD
𝒅𝒕
𝑑𝑣
➢ filter it is low pass filter (L,C-R, or RL)to reduce the voltage rate of change at motor
𝑑𝑡
terminal
➢ It is placed near to the drive
➢ Has less L and C compared to sinusoidal filter
➢ Increases the cable length, reduces the bearing current and common mode current
➢ The nominal switching frequency of the motor drive shall be below the typical cut off
frequency of the filter
Sine wave output filter of the VSD
➢ Sine wave filters are low pass frequency filters which convert the rectangular PWM output
signal of motor drives into a smooth sine wave voltage with low residual ripple.
➢ Sine wave filters, also known as LC-filters or named sinusoidal filters, are mainly used in
combination with variable speed drives to protect the motor against excessive voltage
spikes and overheating.
➢ As a result, insulation stress and losses in AC motors are reduced and prolongate the motor
life time.
Power circuit of VSD
Dynamic Braking Resistance
In certain processes where the load can also be
generating, the energy needs to be absorbed. For
short generating loads the traditional solution has
been a braking resistor where the power generated
has been transformed into heat losses. If however
the load is generating all the time, a true 4-quadrant
rectifier is needed
Speed Control using VSD

The brake resistor does not form an integral part of the frequency converter. This offers the
user the following advantages:

• The resistor time cycle can be selected as required

• The heat developed during braking can be conveyed beyond the panel cabinet to allow the
energy to be used
• There is no overheating of the electronic components, even if the brake resistor is
overloaded
Speed Control using VSD
The disadvantage of an AC line reactor is that
there is a voltage drop across them. This can
cause under-voltage trips in systems where the
input voltage is not as stable. Additionally, this
voltage drop can lower the DC bus voltage and
negatively affect the output of the drive. Finally,
AC line reactors are normally larger than DC link
chokes and typically more expensive, thus
increasing the size and cost of the complete drive

AC line reactor DC Chock Coil

Control Techniques of Induction motor using PWM
In industry there are many types of VSD that may has the same hardware architecture but
different in applications. in this graph different control technique mostly used with the
induction motor.
Schemes of VSD

Fixed DC and PWM

1. The dc voltage remains constant

2. The PWM techniques are applied to vary both the voltage and frequency within
the inverter.

This circuit is commonly , the main features are as follows:

1. Low cost of diodes rectifier compared to thyristor of IGBT
2. Doesn't need to synchronization with the supply
3. Can be used in multi drive system because the DC bus voltage is fixed
Note: Due to diode rectifier, regeneration is not possible and the inverter would generate
harmonics into the ac supply.
Different Schemes of VSD

Variable DC and Inverter using Controlled Rectifier

1. The dc voltage is controlled by controlled rectifier

2. The inverter controls the frequency only .

The feature of this configuration

1. The input PF of the converter is low, especially at a high delay angle
2. Costly
3. Higher harmonics compared to diode
4. Costly
5. Suitable for selective harmonic elimination PWM to control in the output AC amplitude
Different Schemes of VSD

Variable DC and Inverter using DC chopper

1. The dc–dc converter varies the dc voltage to the inverter

2. The inverter controls the frequency only .
The feature of this configuration
1. Can reduce the voltage less than the supply
2. Costly
3. Can’t return power to the supply
4. Suitable for harmonic elimination PWM to control in the output AC amplitude
Speed Control using VSD
This scheme is very
costly and complex

1. It consist of two converter, grid side PWM converter (Active front end Rectifier) and
machine side PWM converter
2. Each converter can operate as inverter or rectifier
Grid side converter
1. Regulates the DC bus voltage
2. Reduces the harmonics injected into the grid
3. Control in the power factor (unity power factor)
4. Can boost the DC voltage higher than the grid through input inductance
5. Produces common mode voltage into the grid
Speed Control using VSD
Machine side converter
1. Control in the motor voltage and frequency
2. Control in the motor operation mode starting, braking, speed control
3. Optimize the motor operating point such as minimum power losses
Speed Control using VSD
The feature of this configuration
1. Low harmonic content
2. Reaches to unity power factor

3. The drive offers a possibility for network power factor correction in order to compensate
for low power factors of equipment connected to the same network
4. Voltage boost capability (output is higher than the input)
5. Voltage boost capability can also be utilized to overcome a voltage drop caused by long
supply or motor cables or output filters
Single and multi drive system using VSD
A single AC drive system consists typically of an input transformer or an electric supply,
frequency converter, an AC motor and load. Inside the single frequency converter there is a
rectifier, DC-link and inverter unit.

In multi-drive systems a separate rectifier unit is commonly used. Inverter units are connected
directly to a common DC-link
Speed Control of 3phase I. M Using V/F
Example
A three-phase, 11.2-kW, 1750-rpm, 460-V, 60-Hz, four-pole, Y-connected induction motor
has the following parameters:
R1 = 0.66 Ω, R2 = 0.38 Ω, X, = 1.14 Ω, X; = 1.71 Ω. and Xm= 33.2 Ω.
The motor is controlled by varying both the voltage and frequency. The volts/hertz ratio
which corresponds to the rated voltage and rated freql1ency, is maintained constant.
a) Calculate the maximum torque Tm and the corresponding speed wm for 60 and 30 Hz.
b) Repeat (a) if R1 is negligible.
c) Ca1culate the frequency for maximum torque occurs at the starting
 Dr. Magdi A. Mosa
magdimosa@yahoo.com
01282969241