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IEEE 1999 International Conference on Power Electronics and Drive Systems, PEDS’99, July 1999, Hong Kong.

DIGITAL SIMULATION OF SINUSOIDAL


PWM INVERTER FED INDUCTION MOTOR DRIVE

M.Veera charY,Member IEEE Agnivesh Gupta,Mernber


IEE
Dept of Electrical Enpeering BHEL,Ramachandral’uram
JNTU College of Engineering Hyderabad
ANANTAPUR - 515 002 Andbra Radesh
E-mail: viswakmvc@hotmail.com INDIA.

Abstract: Computer simulation of sinusoidal Pulse width performance is compared with 6-step VSI, conventional
Modulated Voltage Source Inverter fed 4.1kV, 4-pole supply [1J . Simulation models are developed both for the
induction motor performance operating at constant Sinusoidal PWM waveform generation and induction
Volts/Hertz is presented using conventional per-phase motor performance evaluation.
equivalent circuit. sinusoidal Pulse width Modulation
strategy for the inverter was introduced into the motor
performance analysis program allowing the computation of II. MathematicalModel
the drive system performance over the entire speed range.
Deep bar effect of the rotor is incorporated. Harmonic motor A. Model for sinusoidal Pulse Width Modulation
losses are evaluated, compared to a loss model. Various
performance characteristics of variable speed induction The sinusoidal PWM is generated by comparing a high
motor are plotted. frequency d e r with a sinusoidal reference supply of
desired fkequency. The switching instants are calculated
I. Introduction for line to pole voltages (Vm, Vb & V,) by solving the
following equation
Variable speed drives (VSD’s) employing squirrel cage
induction motors, Pulse Width Modulation (PWM)
inverters are well known. Developments in fast switching
power devices, operational advantages of VSD’s such as Where 4 = 0, 2 d 3 and 4 d 3 for a$ & c phases
smooth speed control, substantial saving in energy over respectively. With the above-calculated pole voltages
wide range of speeds etc.,have made the use of PWM phase and line voltages are obtained from the following
inverter fed induction motors are better suited for equations
industrial applications. Simulation studies of high power
induction machines with 6-step Voltage Source Inverter
(VSI) reported in real]. In that study it is found that due to v, = vu0 - 50
the presence of supply harmonics the machine
performance deteriorated such as increased copper losses,
development of pulsating torque’s, noise and vibration, (3)
reduction in efficiency and rated power etc.,. F d e r the
studies established that the induction motors fed from
such non-sinusoidal supplies needs certain redesign Harmonic analysis is incorporated to find the fundamental
considerations for variable speed applications. and harmonic voltages with constant Modulation Index to
fkequency ratio, which results in constaut VoltdHertz
To improve motor performance certain harmonics controL
magnitude is suppressed using well-known Pulse Width
Modulated Inverter Supplies. Many different P W M B.Modeling of Induction Motor using Equivalent circuit
strategies have been reported in the literame [SI which
include both on-line and off-line patterns for fundamental The steady-state performance model of the induction
voltage magnitude control and harmonic reduction or motor is developed based on the conventional per phase
elimination. Sinusoidal P W M technique is most widely equivalent circuit as shown in Fig(1). The steady-state
employed in the inverters along with the filters to provide performance model equations fkom the ‘T’ equivalent
almost sinusoidal output voltages even though the circuit are obtained as follows the impedance offered to
realization of the control circuitry is complex and K’h harmonic (k=1,5,7,..)
microcomputer implementation requires larger memory
requirements. Z, = R, + j X , (4)

In this paper an attempt has been made to investigate the


impact of Sinusoidal P W M voltage waveforms on the
variable speed squirrel cage induction motor performance
operating at constant VoltslHertz operation and
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With the Fourier voltage components obtained in the IK Results & Conclusions
preceding section the various currents (stator, rotor),
torque’s and copper losses (stator, rotor) are computed and Simulationstudies have been made to predict the
performance is predicted using the following equations steady-state performance of induction motor supplied
from Sinusoidal P W M voltages. Equivalent circuit
parameters based on actual no-load and short circuit tests
given in Table - I.
Tabled: 4. IKV, Y-CONNECTED INDUCTIONMACHINE
0.00431
0.02701
0.13097
x2 0.14730
X- 4.94000

Various performance characteristics are generated with


V/F control policy. The results are presented for different
Sk= (K k (1 - S)) o p e r a ~ gftequencies 5 Hz to 50 Hz (F1=21) of the
K induction machine operating at constant Volts/Hertz are
shown in Fig(2) - Fig(6). The p.u. Copper losses (stator &
rotor) are increasing with frequency of operation as shown
in Fig(3). But the increase in the rotor copper losses are
high at high frequencies on account of increased rotor bar
resistance as compared to stator copper losses. The total
P,= ZIiR, loss (1.0 P.U) at rated conditions with pure sinusoidal
k4.5.7..
supply from tests comprises 3.96% of machine rating.
The losses obtained in this method is compared with the
values obtained using loss model [7] as shown in Fig(4).
The computed stator harmonic copper losses are equal to
C.Loss Model Equations the losses obtained with loss model. There is a slight
deviation in the computed rotor harmonic copper losses
The loss model suggested in Ref. [7] gives the with that obtained using loss model on account of no. of
computation of inverter induced additional harmonic harmonics considered.
losses from the known values of fundamental copper
losses. The stator, rotor harmonic copper losses can be The variation of efficiency with sinusoidal PWM
obtained as (Fig(5)) and sinusoidal supply is tabulated for
comparisonas

Frequency q with qwith


(14)
Fundamental Sinusoidal

m.Simulation
The induction motor steady-state performance is
determined for hdamental, harmonics and then
neglecting saturation in the machine the total performance
of the machme is obtained as the sumn-m‘on of individual
performances. Simulation is carried out at different At rated conditions (fs = 50 Hz)’the machine
frequencies when the A4 is operating at constant efficiency with 6-step VSI supply [l] found to be 95.48%
Volts/Hertz taking the deep bar effect in the rotor into whereas with Sinusoidal P W M supply it is 97.35%. From
account [SI. A comprehensive simulation program was the above simulationresults the reduction in the efficiency
developed which uses the following routines with 6-step inverter supply is very marginal(l.87%) as
* Generation of SinusoidalP W M waveforms compared with sinusoidalPWM supply.
* Harmonic analysis of the Sinusoidal P W M voltage The fundamental torque variation with frequency
waveforms is shown in Fig(6). The fun@e$al .and total
* Deep bar effect calculationat fundamentaland harmonic electromagnetictorque developed wth Smusoidal P W M
frequencies
* Performance evaluationinvolves determinationof -
supplies tabulated in Table III. From the results the
effect of steady harmonic torque’s on the net total torque
Copper losses (fundamental8c harmonic) developed is almost negligible. The predominant
Torque’s pulsating harmonic torque’s computed with
= Efficiencies Sinusoidal P W M supply is compared with pulsating
* Computation of harmonic copper losses using loss torque obtained with 6-step VSI supply.
model

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Table - I11 TORQUE N.SREENIVASULU, M.VEERACHARY: “Simulation Of
1 Frequency 1 Fundamental I Total I Variable Speed Induction Motor Fed From PWM Supplies at
Constant VoltdHertz operation”, National Conference on Electric
Drives & Controls for Transportation Systems, VIDISHA,
BHOPAL; India; Jan 16-18,1997.

M.ABOOST, PHOIVOS D.ZIOGAS: “Stateof-Art Carrier


PWM Techniques - A critical Evaluation”; IEEE.Tran. Ind. AppL
50 0.9999999 0 9994.417
-
March 1988, pp.271-280.
J.T.BOYS, S.J.WALTON ‘‘ A Loss Minimized Sinusoidal PWM
Inverter’’; Pro. IEE, VOl-132, R b , Sep’1985, pp.260-268. .

Frequency Sinusoidal PWM 6-Step VSI DE BUCK F.G.G, GISTERLINK P, DE BACKER D: ‘‘ A Simple
But Reliable Loss Model For Inverter Supplied Indudon
10 0.0037572 0.0032 Motors”, 1EEE.Tran Ind. Appl., IA-20, Jan’1984, pp.190-202.
20 0.0077917 0.0192 M.LIWSCHIT2 GARM: “Skin Effect of Squirrel Cage Rotors”;
AIEE. T m April-1954; pp. 255-258.
30 0.0116469 0.0427
RM.GREEN, J.T.BOYS: ‘‘ Inverter AC-Drive Efficiency”; IEE -
40 0.0156109 0.0830 Pro. PtB, vol-129, March-1982; pp.75-81.
50 0.0195049 0.1130

At rated conditions T5-1 with Sinusoidal PWM supply is


0.0195949p.u as compared to 0.113p.u present with 6-step APPENDIX
VSI supply. The pulsating torque T7-1is almost zero
whereas in 6-step VSI it found to be 0.023p.u. These
List of symbols
substantial reductions in the pulsating torque’s will inturn
reduce messes developed on the rotor shaft, which results Stator Resistance
in reduced vibration and noise levels. Rotor Resistance
Stator leakage reactance
REFERENCES Rotor leakage reactance
AGNIVESH GUPTA, M.VEERACHARY: “ Simulation of Magnetizing reactance
Variable Speed Induction Motor - Constant Volts/ Hertz Harmonic orders (1,5,7.)
OperaGon”; International Electric Machines And Drives
-
ConferenceQEEE IEMDC); Wisconsin; U S A ; May 18-21, Fun. or Harmonic Voltage
1997. Harmonic slip
AGNIVESH GUPTA, M.VEERA CHARY: “ Simulation Of Stator Current
Variable Speed Squirrel Induction Motor at Constant Stator Rotor Current
Current Operation”, International Conference on Power Stator Copper Losses
Electronics and Drive Systems (PEDS’97), Singapore, May 26 - Fundamental StCu.losses
29, 1997.
Rotor Copper Losses
M.VEERA CHARY, AGNIVESH GUPTA “ Steady State - Fun. Rotor cu.losses
Analysis of Equal Area Pulse Width Modulated Inverter Fed Frequency Ratio
Variable Speed Squirrel Cage Induction Motor”; International Operating frequency
Conference On Contribution of Cognition to Modeling, Lyon,
FRANCE; July 6-8, 1998. Operating to Rated frequency Ratio

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1.12
3 1 - Stdor

O S

0.32

om

f i9. (1)

7 - Stator Cu.Losses 0.40


1 - Stotor
2 - Rotor Cu.&sses 2 A
2 - Stator (Loss Model)
3 - Rotor
4 - Rotor (Loss Model}
3

L
4)
a
CLQB
0 L
U 0
c
O M
i
-t
L
0
om

om om
10 20 30 U) 50 0 10 20 50 40 50
Frequency Frequency
~~ Fig.(3)
fi944)

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1.12

0.18

0 10 20 30 40 50
Frequency
fig@)

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