Chapter 14

Induction Motor Drives

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A TABLE OF CONTENTS 1/2

1. Introduction

2. Basic Principles of Induction Motor Operation

3. Induction Motor Characteristics at Rated (Line)

Frequency and Rated Voltage

4. Speed Control by Varying Stator Frequency and Voltage

5. Impact of Nonsinusoidal Excitation on Induction Motors

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A TABLE OF CONTENTS 2/2

6. Variable-Frequency Converter Classifications

7. Comparison of Variable-Frequency Drives

8. Line-Frequency Variable-Voltage Drives

9. Reduced Voltage Starting (“soft start”) of Induction Motors

10. Speed Control by Static Slip Power Recovery

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Introduction 1/3

Induction Motor Squirrel-cage Wound-rotor

Construction Simple Intricate

Starting Current 500~700% 100~150%

Starting Torque Low High

Cost Low High

Rugged construction
Advantage Nearly constant speed

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Introduction 2/3

Motor Drives

Adjustable-speed Servo
drives drives

fans, blowers, computer peripherals,

compressors, pumps, machine tools,
and the like and robotics

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Introduction 3/3

Centrifugal Pump

energy loss

Torque  k1 (speed ) 2

Power  k 2 (speed ) 3

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Basic Principles of Induction Motor Operation 1/7

The Squirrel-Cage Rotor

Laminations Core

Shorting Ring

Electrically Conducting
Bar

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Basic Principles of Induction Motor Operation 2/7

f   / 2

Stator Balanced set of currents

Rotating Field
Synchronous Speed (in a p-pole motor)
(rotates with
2 /( p / 2) 2 2 constant amplitude
s   ( 2f )   ( rad / s )
1/ f p p & constant speed)

In terms of the revolutions per minute (rpm)

 s 120
ns  60   f
2 p

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Basic Principles of Induction Motor Operation 3/7

N s  ag  Lm im Vs : per-phase voltage
E ag : air gap voltage
d ag Rs : resistance of stator winding
eag  N s
dt Lls : leakage inductance of stator winding
( ag ( t )   ag sin t ) I m : magnetizing component of stator current
I s : stator current
eag  N s  ag cos t N s : equivalent number of turns per phase
Lm : magnetizing inductance
E ag  k 3 f ag  ag : air gap flux

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Basic Principles of Induction Motor Operation 4/7

 Relative speed between air gap flux rotation & rotor

 sl   s   r Slip Speed

slip speed   r
Slip s   s
(in per unit) synchronous speed s

Slip speed  sl   s   r  s s

 Induced voltage in rotor circuit are at slip frequency fsl

 sl
f sl  f  sf Proportional to slip speed
s

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Basic Principles of Induction Motor Operation 5/7

1) Synchronous speed can be varied

by varying frequency f of applied voltages.

 s  k7 f

2) Except at low values of f, provided fsl is small,

%Ploss in motor resistance is small.
In steady state, slip frequency fsl should not exceed its rated value

f sl
%Pr 
f  f sl

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Basic Principles of Induction Motor Operation 6/7

3) With small fsl, except at low values of f,

slip s is small & motor speed varies approximately linearly
with frequency f of applied voltages.

f sl  sf

4) For torque capability to equal rated torque at any frequency,

φag should be kept constant & equal to its rated value.
This requires that Vs must vary proportionately to f.

Vs  k 3  ag f

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Basic Principles of Induction Motor Operation 7/7

5) Ir is proportional to fsl,
to restrict motor current Is from exceeding its rated value,
steady-state slip frequency fsl should not exceed its rated value.

I r  k5  ag f sl

 If an induction motor is controlled in such a way : 1) ~ 5),

then motor is capable of supplying its rated torque while fsl, Ir, Is,
& %Plosses in rotor circuit all remain within rated values.

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Induction Motor Characteristics 1/2
at Rated (Line) Frequency & Rated Voltage

reasons
Maximum torque that
motor can produce
Rotor voltage
E r  Rr I r  j 2f sl Llr I r

Power factor angle

2f sl Llr 2fLlr
No longer increase  r  tan 1  tan 1
linearly with fsl
Rr Rr f / f sl
  90   r

Per-phase stator voltage

Vs  E ag  ( Rs  j 2fLlr ) I s

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Induction Motor Characteristics 2/2
at Rated (Line) Frequency & Rated Voltage

Started from
line-voltage supply
(without
controller)

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Speed Control by Stator Frequency & Voltage 1/11

 Torque-Speed Characteristics

Tem  k 4  ag f sl

2 /( p / 2) 2 2
s   ( 2f )   ( rad / s )
1/ f p p
 sl
f sl  f  sf
s = = =

f sl 4
 sl  s  f sl   sl  f sl
f p

≠ ≠ ≠
Tem  k10  sl

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Speed Control by Stator Frequency & Voltage 2/11

 Torque-Speed Characteristics
Note
In many loads such as
At constant load torque centrifugal pumps,
compressors, and fans,
Slip frequency is constant load torque varies by
 sl square of speed
but from f sl  f  sf
s from Torque  k1 ( speed ) 2
Frequency f goes down
Slip s goes up Frequency f decrease
to reduce f sl
from %Pr 
motor speed f  f sl fsl , s decline
f decrease
%Ploss increase Rotor losses remain small

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Speed Control by Stator Frequency & Voltage 3/11

 Start-Up Considerations

Tem  k4  ag f sl

I r  k 5  ag f sl

Higher inertia loads

Ramp ↓

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Speed Control by Stator Frequency & Voltage 4/11

 Voltage Boost Required at Low Frequencies

Rr ( f / f sl )  2fLls

Vs  E ag  ( Rs  2fLls ) I s

I s  I r  jI m

Vs  [ E ag  ( 2fLls ) I m  Rs I r ]  j[( 2fLls ) I r  Rs I m ]

Vs  E ag  ( 2fLls ) I m  Rs I r

Vs  k12 f  Rs I r For constant φag, stator voltage

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Speed Control by Stator Frequency & Voltage 5/11

 Voltage Boost Required at Low Frequencies

Vs  k12 f  Rs I r

At no load

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Speed Control by Stator Frequency & Voltage 6/11

 Induction Motor Capability : Below & Above Rated Speed

Speed control by means of frequency variation

Also allows capability to operate motor

not only at speeds below rated speed
but also at above rated speed

Because of their rugged construction

Can be operated up to twice rated speed

With out mechanical problems

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Speed Control by Stator Frequency & Voltage 7/11

 Induction Motor Capability : Below & Above Rated Speed

Below rated speed

: constant-torque region

constant

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Speed Control by Stator Frequency & Voltage 8/11

 Induction Motor Capability : Below & Above Rated Speed

Beyond rated speed

: constant-power region

f rated
Tem ,max  Trated
f

 r  (1  s ) s  k15 f

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Speed Control by Stator Frequency & Voltage 9/11

 Induction Motor Capability : Below & Above Rated Speed

High-speed operation
: constant- fsl region

1
Tem ,max  k16
f2

constant

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Speed Control by Stator Frequency & Voltage 10/11

 Braking in Induction Motors

Motors is possible to operate

induction machine as a generator
by mechanically driving it above
the synchronous speed.

r   s r   s
 sl   s   r  negative r  s

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Speed Control by Stator Frequency & Voltage 11/11

 Braking in Induction Motors

 ag  constant
 sl   s   r  negative

0  Tem  negative
r 0   s0

 r 0   s1
Motor speed
to decrease quickly

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Impact of Nonsinusoidal Excitation 1/3

 Harmonic Motor Currents

Harmonic current is primarily determined
by leakage reactances at harmonic frequency.

& magnetizing components can be neglected

Vh
Ih  frequency↑ Ih ↓
h( Lls  Llr )

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Impact of Nonsinusoidal Excitation 2/3

 Harmonic Losses

Per-phase additional power loss in copper of stator


Pcu   ( Rs  Rr ) I h2
h 2

In general, additional losses are in range of

10~20% of total power losses at rated load

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Impact of Nonsinusoidal Excitation 3/3

 Torque Pulsations
Presence of harmonics in stator excitation results
in pulsating-torque component.

pulsating
torque
(sixth
harmonic
frequency)

amplitude of torque ripple

Amplitude of speed ripple  k17
ripple frequency  inertia

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Variable-Frequency Converter Classifications 1/3

Variable-frequency converters,
must satisfy following basic requirements
1) Ability to adjust frequency according to desired output
speed
2) Ability to adjust output voltage so as to maintain constant air
gap flux in constant-torque region
3) Ability to supply rated current on continuous basis at any
frequency

Except for a few special cases of very high power applications

where cycloconverters are used,
Variable-frequency drives employ inverters with a dc input.

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Variable-Frequency Converter Classifications 2/3

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Variable-Frequency Converter Classifications 3/3

Variable-frequency converters

Diode rectifier --------------- PWM VSI

Thyristor rectifier - square-wave VSI

Thyristor rectifier ------------------- CSI

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Comparison of Variable-Frequency Drives 1/2

For retrofit applications, PWM-VSI is preferred over CSI

In sizes below a few hundred horsepower, use PWM-VSI
By means of additional circuits, most of limitations can be overcome.

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Comparison of Variable-Frequency Drives 2/2

 To more reliance, a host of other protector incorporate

These include
• Instantaneous overcurrent trip
• Input circuit breakers
• Current-limiting fuses
• Line reactors or isolation transformers at the input
• Output disconnect switch between VSI & motor
• Motor thermal protection incorporated with controller

Trips in case of
Overvoltage, undervoltage, or loss of a phase, and so on

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Line-Frequency Variable-Voltage Drives

Speed can be controlled Use a higher motor resistance

over a wide range

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Reduced Voltage Starting (“Soft Start”)

Use in constant-speed drives

• to reduce motor voltage at start-up
- thereby reducing starting currents
• to minimize motor losses
- amount of energy saved is significant

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Speed Control by Static Slip Power Recovery 1/2

Characteristics for
various values of
rotor resistance Rr
Rr can be varied by adding
external resistance
through slip rings

High rotor losses may

be unacceptable

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Speed Control by Static Slip Power Recovery 2/2

 Static slip power recovery

 Scherbius drives & Kramer drives (historical)
- require second rotating machine

Static slip-power recovery system

This scheme requires wound-rotor motor with slip

rings.

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