Electrical Drives (EPO640)
Rahimi Baharom (SMIEEE,MIET, MIEM)
Senior Lecturer
Faculty of Electrical Engineering
Universiti Teknologi MARA, MALAYSIA
SESSION SEPT 2017 – JAN 2018
SPEED CONTROL OF
INDUCTION MOTORS
TYPES OF AC DRIVES
1. Static Frequency changers
2. Static voltage controllers
3. Rectifier-inverter system with line
commutation
4. Rectifier system with self commutation
5. Pulse-width modulation system
Static Frequency Changers
Static frequency changers convert the incoming line frequency
directly into the desired load frequency.
Cycloconverters fall into this category, and they are used to
drive both synchronous and squirrel-cage induction motors.
Variable-speed drive system using a cycloconverter
Static Voltage Controllers
Static voltage controllers enable speed and torque control by
varying the AC voltage. They are used with squirrel-cage
induction motors.
Static voltage controllers are also used to soft-start induction
motors
Variable-speed drive using a static switch
Rectifier-inverter system with line
commutation
Rectifier-inverter systems with line commutation rectify the
incoming line frequency to DC, and the DC is reconverted to AC by
an inverter.
The inverter, in turn, is line-commutated by the motor it drives.
Such systems are mainly used to control synchronous motors and
also used to control the speed of wound-rotor induction motors.
Rectifier-inverter system with self
commutation
Rectifier-inverter systems with self-commutation rectify the
incoming line frequency to DC, and the DC is reconverted to AC by
an inverter.
However, the inverter is self-commutated, generating its own
frequency.
Such rectifier-inverter systems are used to control squirrel-cage
induction motors.
Pulse-width modulation system
PWM systems are a relatively new development as far as
widespread industrial applications are concerned.
They enable variable speed induction motor drives ranging
from zero speed and up.
Their appearance in the marketplace is directly due to
availability of high-speed switching devices such as IGBTs.
Torque and Speed Control of Induction
Motor – DC motor and flux orientation
Based on Figure DC motor below, the field produces a flux ϕ
that is stationary in space and which can be varied by means
of the field current.
When the brushes are in the neutral position, the armature
current I flows in the armature conductors in such a way that
every conductor is subjected to a force tending to turn the
motor CCW.
Torque and Speed Control of Induction
Motor – DC motor and flux orientation
The current axis is therefore in line with the field axis.
The important feature is that the resulting torque is then
maximum and directly proportional to the product ϕI.
Because the quantities ϕ and I can be varied independently, it
is very easy to control the torque.
Torque and Speed Control of Induction
Motor – DC motor and flux orientation
The speed can also be varied by raising and lowering the
applied voltage Es.
Thus, a very low speed can be obtained with high torque by
simply applying a low voltage accompanied by a large
armature current I, while keeping the flux ϕ at its rated value.
Torque and Speed Control of Induction
Motor – DC motor and flux orientation
It is important to note that the orientation of the flux axis with
respect to the armature current axis has a direct impact on
the torque.
By referring to Figure below, if the brushes are shifted, the
angle between the flux axis and current axis is altered and this
will produce a smaller torque.
Torque and Speed Control of Induction
Motor – DC motor and flux orientation
If the brushes were shifted off neutral by 90°, the angle
between the flux and current axes would also shift by 90° and
the resulting torque would be zero.
The reason is that the forces on the armature conductors now
cancel each other.
Thus, flux orientation relative to the armature current axis.
CLOSED LOOP CONTROL OF
INDUCTION MOTORS
Introduction
A closed-loop control is normally required to satisfy the
steady-state and transient performance specifications of AC
drives.
The dynamic model of induction motors is more complex than
DC motors.
Stator voltage control
A control system is generally characterized by the hierarchy of
the control loops, where the outer loop controls the inner
loops.
The inner loops are designed to execute progressively faster.
The loops are normally designed to have limited command
excursion.
Stator voltage control
Stator voltage control
Stator voltage control
The speed controller K1 processes the speed error and generates
the reference current Is(ref).
K2 is the current controller. K3 generates the delay angle of thyristor
converter and the inner current-limit loop sets the torque limit
indirectly.
The current limiter instead of current clamping has the advantages
of feeding back the short-circuit current in case of fault.
The speed controller maybe Proportional type, PI type, or a lead-lag
compensator.
Volt/hertz control
Figure below shows the volt/hertz control.
After the current limiter, the same signal generates the
inverter frequency and provides input to the DC-link gain
controller K3.
Volt/hertz control
Volt/hertz control
Volt/hertz control
A small voltage V0 is added to the DC voltage reference to compensate for the
stator resistance drop at low frequency.
The DC voltage Vd acts as the reference for the voltage control of the
controlled rectifier.
In case of PWM inverter, there is no need for the controlled rectifier and the
signal Vd controls the inverter voltage directly by varying the modulation
index.
For current monitoring, it requires a sensor, which introduces a delay in the
system response.
Slip regulation
Because the torque of induction motors is proportional to the slip
frequency, 𝜔𝑠𝑙 = 𝜔𝑠 − 𝜔𝑚 = 𝑠𝜔𝑠 , the slip frequency instead of
the stator current can be controlled.
The speed error generates the slip frequency command, as
shown in Figure below, where the slip limits set the torque limits.
Slip regulation
Slip regulation
Slip regulation
The function generator, which produces the command signal for
voltage control in response to the frequency ωs, is nonlinear and can
take also into account the compensating drop V0 at a low frequency.
For a step change in the speed command, the motor accelerates or
decelerates within the torque limits to a steady-state slip value
corresponding to the load torque.
This arrangement controls the torque indirectly within the speed
control loop and do not require the current sensor.
GROUP ASSIGNMENT
VECTOR CONTROL FOR AC DRIVES
PP Presentation date: Thursday
10 minutes per groups
