School of Electrical and Electronic Engineering

AC Vector Controlled Drives Induction Motor Drives

Greg Asher
Professor of Electrical Drives and Control Greg.asher@nottingham.ac.uk

Part I

Revision of Induction motors

1.1 1.2 1.3 1.4 Introduction The Equivalent circuit Understanding the physics of operation Variable voltage-frequency operation (The V-f PWM drive)

1.1

Introduction

THE 3 PHASE INDUCTION MACHINE

60% of world's generated energy rotating machines >90% of this induction machines The induction machine consumes more of worlds generated electricity than any other piece of electrical equipment

Power Range
100-500W small fans 1-50kW fans, pumps, conveyors, escalators 500kW water pumping, coal cutting, 1MW high speed train motor (eg. x4) 10MW warship/cruise ship motor (X2)

1.1

Introduction construction of cage IM

A C

VA Al bars
C A A A B

Iron

Rotor (side view)

End rings

Stator has 3 windings AA, BB, CC wound 120 apart in space Stator windings connected to 3-phase mains at e = (2) 50Hz mains Fed by 3-phase currents 120 apart in time to create rotating magnetic field Rotor has NO windings It has a cage of Aluminium bars; currents will be induced in it

1.1

Introduction - speed of rotating fields

Rotating field set up by stator currents rotates at synch speed s

fe
e = 2 fe

P (poles) 2 4 6 8 10

s rads-1
314 157 105 78 63

rpm

S N S

50 50 50
S N

314 314 314 314 314

3000 1500 1000 750 600

50 50

If each phase spans 60 in space, then get 4-pole distribution 1 rpm = 2 radians/minute = 2/60 radian/second (rads-1) Therefore 1 rads-1 = 60/2 10 rpm Stator windings of an IM can only be wound in one way. P is fixed for an individual machine. An IM can either be a 2-pole machine, or a 4-pole machine or .etc.

1.1

Introduction Concept of torque increasing with rotor slip

Rotor bars see magnetic field rotating past them (conductors in moving field) Currents induced in rotor bars to establish torque; rotor travels at attempt to catch up with rotating field Have

in

s r = sl ; s = r then sl = 0
P V s 2 sl P Vs 2 s T =3 =3 2 e Rr e 2 e Rr
Low Rr
High Rr
2 P Vs Slope = 3 2 e Rr

r s= s s

Bigger slip, bigger torque

T = sl = s
T

Rated Operation

Irat

(Stator current increases with slip)

r
s=1 s = 0.5 s=0

1.2

Per phase equivalent circuit RS lS

RR s

IS

IR

lR

RR R (1 s ) = RR + R s s
Power losses Mechanical power

VS

LM Im

Vs , IS rms stator volts, current per PHASE (not line-line) IR rms rotor current referred to the primary (also component of Is flowing to cancel
magnetic field of rotor currents)

Im rms component of stator current which magnetises machine (sets up rotating field
magnetising inductance rotor leakage inductance, stator leakage inductance rotor self inductance, Lr = Lo + lr stator self inductance, Ls = Lo + l s stator resistance, Rr rotor resistance 1 l l + s = s = 1 Stator an rotor leakage coefficients r = r (1 + r )(1 + s ) r s Lo Lo L0 lr ls Lr Ls Rs

1.2

Per phase equivalent circuit full speed range

Leakage effects reduce torque for a given slip, also causing maximum torque and shape of torque curve at large slips 3Rr P Vs 2 Torque-slip curve now given by: T= 2 se 2 Rr 2 (l + l )2 R + + e s r s s Real T-speed curve Final speed determined by load

T
5Irat 4Irat

3Irat

2Irat

Typical fan-pump load shown When motor switched to mains: - motor goes to P1 - motor too large or too small? Smaller fan-pump load shown When motor switched to mains: - motor goes to P2 Lift, hoist load shown in green - constant due to gravitational force - slight increase due to friction etc

P1 Tacc
Irat

Tstart

P2

s=1

s=0.5

s=0

Part 1.2
Understanding the physics of operation

Series of animations which can be viewed on web CT

1.3

Rotating field and rotating flux

1.3

Rotating field, flux and applied voltage

1.3

Rotating field and induced rotor currents

1.3

Torque on induced currents

1.3

Field due to rotor currents - cancelled!!

1.3

Stator & rotor current fields increasing load

1.3

Stator current components

1.3

Effect of rotor leakage -1

1.3

Effect of rotor leakage - 2

1.4

Variable frequency (and voltage) operation

Motor torque for given motor voltage Vs and frequency e:

3Rr P Vs 2 T= 2 se 2 Rr 2 (l + l )2 R + + e s r s s
: this keeps Im (and field) constant when applied frequency changes
Torque expression becomes:

put

Vs = ke since

Im
e e _ rated

Vs k e Lo Lo
= 0.5

e e _ rated

=1

Tacc

3 Rr P k2 T = 2 sl 2 R Rr 2 s + + (l s + l r ) e sl Rs R and << r e sl
Only dependent on

0.25

0.5

0.75

r e

sl

1.4

Field weakening esp. at higher speed

In Vs = ke, k is such that Vrated (eg 415V) occurs at e-rated (eg 50Hz) If Vrated is the maximum voltage of the converter, then Im and the field must reduce if we wish e > e-rated Seen that as field of flux 1/e ; hence T 1/e for a given current (Ir) Eventually, leakage effects impose Field weakening region often called Constant Power Frequencies to 2e normal Employed if load also has constant power characteristic (so that good motor-load matching can be got)
T = constant Te= constant Te2 = constant

1.4

The PWM converter

IDC

E 580V

Variable Vs and e synthesized by modulating the transistor switching pattern Motor speed r may be +ve or ve depending on phase sequence of VS Regeneration occurs when r > e Is = Is rated
Is = 0
Generating region

Under region, current reverses into DC link,, charging C Voltage increases!

IDC

Is = -Is rated

1.4

The PWM converter - regeneration

IDC
E Called dynamic braking If E rises to Enom+E, then transistor turned on. If E falls to Enom-E, then turned off Cheap but energy wasteful, especially if load has many braking instances

IDC

IDC

Called PWM rectifier or active fontend Can draw near sinusoidal currents form supply Can inject reactive power into supply Line inductors required to decouple supply voltage from PWM output

1.4

Open- loop V-f control (where accurate speed-holding not required)

Ramp generator ramps fe to fe* at rate k (fe = kt ) K reduced (or set to zero) if IDC > Imax or E > E+E
B 3Irat A 2Irat Irat

6
E+E
+ + -

set Imax PWM

reduce k set fe*

V

fe

Vm

e1

e2

e1
Irat

e2
2Irat

Ramp generator with slope k

Voltage-frequency characteristic

1.4

Open- loop V-f control - Low speed voltage boost

Is Vs

Rs Im Vm Lm

Rr/s

Aim is to adjust Vs to keep Im constant -

Vs = I s Rs + j e Lo I m
e Lo I m

When e is not small I s Rs << -

Vs = e Lo I m = kf e
When e is small -

Vm

1pu k Field weakening

I s Rs e Lo I m

Vs = kf e + Vb

Vb fe

The voltage boost Vb (normally 20-40V) is required to overcome the voltage drop due to Rs when e is small

1.4

Summary for PWM V-F drives

About 25-30% of IM drives are driven by PWM converters Open-Loop V-f drive most common 60% of total - many drives esp. pumps and fans are just switched on and left running for long
periods under constant speed

V-f drive operation based on steady state sinusoidal operation only controlling rms values V-f drive has poor torque control and poor low speed performance - but OK for just starting loads requiring low torque at low speed Need to control instantaneous values of current to get fast control of torque and flux (and hence speed) This is done by vector control of IMs

Part II Revision of Induction motors

Understand concept of slip and operation on mains supply Understand physics of torque production Understand how field of rotor currents is cancelled by extra stator current (load component) Know how to derive parameters from manufacturers data Understand what a PWM converter does Know the principles and limitations of V-f control