Induction Motor Scalar Control

MEP 1422
ELECTRIC DRIVES
INDUCTION MOTOR
Scalar Control
(squirrel cage)
Scalar control of induction machine:
Control of induction machine based on steady-state

model (per phase SS equivalent circuit):
Rs Is Lls Llr’ Ir ’
+ +
Lm Rr’/s
Vs Eag
Im
– –
Scalar control of induction machine
Te
Pull out
Torque Intersection point
(Tmax) (Te=TL) determines the
Te
steady –state speed
TL
Trated
ωr
sm ωω ω
s rated rotor s
Scalar control of induction machine
Given a load T–ω characteristic, the steady-state speed

can be changed by altering the T–ω of the motor:
Pole changing Variable voltage (amplitude),

Synchronous speed change with variable frequency
no. of poles Using power electronics converter
Discrete step change in speed Operated at low slip frequency
Variable voltage (amplitude),

frequency fixed
E.g. using transformer or triac
Slip becomes high as voltage
reduced – low efficiency
Variable voltage, fixed frequency
e.g. 3–phase squirrel cage IM

600
V = 460 V Rs= 0.25 Ω
500
Rr=0.2 Ω Lr = Ls = 0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
f = 50Hz p=4
Torque
300
200 Lower speed → slip higher
100
Low efficiency at low speed
0
0 20 40 60 80 100 120 140 160
w (rad/s)
Variable voltage, variable frequency
Constant V/f
Approximates constant air-gap flux when Eag is large
Eag = k f φag
E ag V
φag = constant = ≈
f f
Speed is adjusted by varying f - maintaining V/f

constant to avoid flux saturation
Constant V/f - assuming constant airgap flux

900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/f
Vs
Vrated
frated f
Variable voltage, variable frequeny
Constant V/f – open-loop
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
V Width
ωs* +
Modulator

Simulation example: 460V, 50Hz, 4 pole, Rs
= 0.25Ω, Rr = 0.2Ω, Lr=Ls= 0.0971 H, Lm =
0.0955,
600
500
Steady state T-ω
400
300
200
100
100
0 20 40 60 80 100 120 140 160 180 200

= 0.25Ω, Rr = 0.2Ω, Lr=Ls= 0.0971 H, Lm =
0.0955,
600
500
Steady state T-ω and
400 transient T-ω
300
characteristic –
without ramp
200 limitter
100
100
0 20 40 60 80 100 120 140 160 180 200

= 0.25Ω, Rr = 0.2Ω, Lr=Ls= 0.0971 H, Lm =
0.0955,
600
500
Steady state T-ω and
400 transient T-ω
300
characteristic – with
ramp limitter
200
100
100
0 20 40 60 80 100 120 140 160 180 200
1
Constant V/f
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is

significant compared to airgap voltage - poor torque
capability at low speed
Solution:
Boost voltage at low speed
Maintain Im constant – constant Φag
Constant V/f
700
600 50Hz
500
400
30Hz
Torque
300
10Hz
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/f
with compensation (Is,ratedRs)
700
• Torque deteriorate at low

600
frequency – hence
compensation commonly
500
performed at low frequency
400
• In order to truly compensate
Torque
300
need to measure stator
current – seldom performed
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/f
with voltage boost at low frequency
Vrated
Linear offset
Non-linear offset – varies with Is

Boost
frated
Constant V/f
2
Problems with open-loop constant V/f
Poor speed regulation
Solution:
Compesate slip
Closed-loop control
Constant V/f – open-loop with slip compensation and voltage boost
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ Width
ωs* + V
Modulator
+ +
Vboost
Slip speed
calculator
Vdc Idc
Constant air-gap flux
A better solution : maintain Φag constant. How?
Φag, constant → Eag/f , constant → Im, constant (rated)
Controlled to maintain Im at rated

Rs Is Lls Llr’ Ir ’
+ +
Lm Rr’/s
Vs Eag
maintain at rated Im
– –
900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Rr
jω L lr +  σ 
Im = s Is jωslip  r Tr + 1
R
jω (L lr + L m ) + r  1 + σr 
s Is = Im ,
jωslip Tr + 1
Rr
jω L r +
Im = s Is
 σ  R • Current is controlled using current-
jω  r L r + r controlled VSI
 1 + σr  s
• Dependent on rotor parameters –

jωslip Tr + 1 sensitive to parameter variation
Im = Is ,
 σ 
jωslip  r Tr + 1
 1 + σr 
3-phase VSI
Rectifier
supply
C IM
Current
controller
ω slip |Is|
ω* +
PI
-
+
ωs
ωr
+

Induction Motor Scalar Control

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Induction Motor Scalar Control

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MEP 1422

Control of induction machine based on steady-state

Given a load T–ω characteristic, the steady-state speed

Pole changing Variable voltage (amplitude),

Variable voltage (amplitude),

e.g. 3–phase squirrel cage IM

200 Lower speed → slip higher

Speed is adjusted by varying f - maintaining V/f

Constant V/f - assuming constant airgap flux

Constant V/f – open-loop

Constant V/f – open-loop

Constant V/f – open-loop

Constant V/f – open-loop

Problems with open-loop constant V/f

At low speed, voltage drop across stator impedance is

• Torque deteriorate at low

Non-linear offset – varies with Is

Poor speed regulation

Constant air-gap flux

A better solution : maintain Φag constant. How?

Φag, constant → Eag/f , constant → Im, constant (rated)

Controlled to maintain Im at rated

• Dependent on rotor parameters –

Constant air-gap flux

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