Constant V/f Control
Eng. Alfonso Monroy Olascoaga
Ph. D. Pedro Ponce Cruz
ITESM-CCM
Equivalent circuit model
• The stationary equivalent circuit model per phase
for the induction motor is shown in the figure.
Equivalent circuit model
• The equations that describe the operation of the
induction motor are
V1 ( R1 jX 1 ) I 1 E1 I1 I 2 (I m I c )
e r
E1 ( R 2 jX 2 ) I 2 s
e
Power flow in an induction motor
• The power flow in an induction motor can be
appreciated in the next figure
Torque-speed profile
Curva Característica del
Motor de Inducción
Torque
Par Maximum
Par torque (Tm)
Máximo (m)
() Operation
Punto point
de operación
Reference
Par de referencia
torque
Synchronous
Vel. speed (s)
síncrona (s)
Speed
Vel
()
S
Deslizamiento (S)
Slip (s)
Torque-speed profile under input
voltage variation
Curva Característica
Variando Voltaje
Maximum
Par Máximotorque
(m) (Tm)
Torque
Par
() Operation
Punto point
de operación
Reference
Par de referencia
torque
Synchronous speed (s)
Vel. síncrona (s)
Speed
Vel
()
S
Deslizamiento
Slip (s) (S)
Torque-speed profile under input
frequency variation
Curva Característica
variando Frecuencia
Maximum
Par Máximotorque
(m) (Tm)
Torque
Par
() Operation point
Punto de operación
Par de referencia
Reference
torque Synchronous speed (s)
Vel. síncrona (s)
Vel
()
S S S
Deslizamiento
Slip (s)(S)
Approximated equivalent circuit
model
• In order to obtain de approximated equivalent
circuit model, we have to assume:
V1=(R1+jX1)I1+E1 E1
I1>>Im+Ic
Im+Ic k
Rc 0
Approximated equivalent circuit
model
• Under the last assumptions, the approximated
equivalent circuit model may be drawn as follows
R1 jX1 R2/s jX2
V1 E1 jXm
Constant V/f control principle
• From the expressions of emf and magnetic flux
d
E1
dt
= max sin(et).
E1 = max e cos(et) = max 2f1 cos(et)
2f1
• Its RMS value is E1 max
2
Constant V/f control principle
• From the assumption number one:
V1 E1
2f 1
V1 max kf1 max
2
• It is possible to maintain a constant flux, if the
relation V1/f1 does not change:
V1
k max
f1
Boost voltage
• At low speeds, the assumption (R1 + jX1)I1=0 is not
valid.
• The voltage drop in the stator copper must be
considered.
• A voltage compensation is needed in low speed
operation.
• The voltage depends on the load conditions.
Boost voltage
Voltaje [V]
Voltage
Flujo ( M)
[V] Flux
Lineal
Compensación Líneal
compensation
compensation
Compensación Relación no lineal
Non-linear relation
Boost Relación lineal
Voltaje Boost Linear relation
voltage Frequency [Hz]
Frecuencia [Hz]
Sinusoidal pulse width
modulation
Closed loop operation
• If accuracy is needed in the speed control, a closed
loop scheme must be used.
PI controller
speed
reference V/f control Induction
motor
Results (open loop)
• Current waveforms and harmonics content at 2396
rpm (left) and 2980 rpm (right).
Results (open loop)
• Current and voltage waveforms at 3000 rpm
Results (closed loop)
• No load start (2500 rpm)
Results (closed loop)
• Speed change (819-3000 rpm) at constant
load torque (1.7 Nm)
Results (closed loop)
• Torque change (1.9 - .2 Nm) at constant
speed (3100 rpm)
Advantages
• Open loop operation
• Simple control algorithm
• Good closed loop operation
• Great for high speed and constant torque
applications
Disadvantages
• Boost voltage needed
• Poor load speed operation
• Control scheme designed for steady state
operation
