SPEED CONTROL OF 3-PHASE INDUCTION MOTOR USING VECTOR CONTROL VARIABLE FREQUENCY METHOD

PROJECT GUIDE: Mr. B. NARSIMHA REDDY

BY M.YASWANTH (06261A0231) E.MAHESH(06261A0213) K.BASHA(06261A0224)

ABSTRACT: Currently the main types of electric motors are still the same DC, AC asynchronous and synchronous motors. The AC asynchronous motor, also named induction motor. Induction machine (IM) has been the work-horse of industry due to its robustness, low cost and less maintenance. The main advantage is that induction motors do not require any electrical connection between stationary and rotating parts of the motor. Therefore, they do not need any mechanical commentator (brushes), leading to the fact that they are maintenance free motors. Induction motors also have low weight and inertia, high efficiency and high over load capability. Furthermore, the motor can work in explosive environments, because no sparks are produced. On the other hand DC motors has been widely used during the last century in applications where variable speed operation was needed, because its flux and torque can be controlled easily by means of changing the field and the armature currents respectively.

 The only effective way of producing an infinitely variable speed induction motor drive is to supply the induction motor with three phase voltages of variable frequency and variable amplitude because this method is applicable to both squirrel cage and wound rotor motors. This method is advantageous over other as the air gap flux is constant. The performance of induction motor can be studied using semolina software when subjected to variable frequency method. To overcome the drawbacks of DC motors, AC motors are being used. Among them induction motor has proven to be the best. It has become the workhorse in the industry for variable-speed applications in a wide power range that covers from fractional horsepower to multi-megawatts. These applications include pumps, fans, paper and textile mills and in locomotive applications.

CONTENTS:

Introduction Induction motor control Speed controlling methods AC Induction motor And its characteristics Production of rotating magnetic field Speed torque characteristics Dynamic modeling of induction motor

INTRODUCTION
A

modern adjustable speed AC machine system is equipped with an adjustable frequency drive that is power electronic device for speed control of an electric machine. Now a days many types of inverters are used to change dc input voltage to a 3phase variable-frequency variable- voltage output. 3-phase ac is rectified into dc and then filtered to minimize the ripple content.

INDUCTION MOTOR CONTROL:

The main aim of control technique is to obtain good dynamic performance and reliability under all load conditions.
ate

Convert er 230/400 V

Filter capacitor

inverter

Inductio n motor

HC08 derivative CAN

Micro

controlle r

Gate drive HVICs or opt & lVic

WHY V/F RATIO IS CONSTANT AT BELOW BASE SPEED??

WHY VOLATAGE IS CONSTANT ABOVE BASE SPEED??

TYPES OF CONTROLLERS:
There are many ways to drive an IM. Controllers are divided as three types they are namely 1.Scalar controller 2.Vector controller 3.Field acceleration method Scalar controller: Despite the fact that V/F control is the simplest controller. It is most widespread ,simple construction ,used in industrial applications and also used without speed feedback. vector controller: In this method controlling loops are used to control the stator flux and torque. The main disadvantages are huge computational capability and good identification of motor parameters.

Field acceleration method: this method is based on maintaining the amplitude &phase of the stator current constants, to avoid electromagnetic transients.

SPEED CONTROLLING METHODS:

Methods to control the speed of IM as follows Variable terminal voltage control

1.

2.Variable frequency control 3.Rotor resistance control 4.Injecting voltage in the rotor circuit

V-F RELATION

Variation in terminal voltage with frequency is shown below

fb

BLOCK DIAGRAM OF VF CONTROL

SUPPLY Flux control f ref delay V* f* VFVS

IM

AC INDUCTION MOTOR:
Operation

of AC induction motor features of IM

Characteristic

Simple & rugged construction Needs no extra starting & not be synchronized

An IM has basically two parts- stator and rotor

Types
1. 2.

Squirrel-cage rotor Wound rotor

of rotors:

Squirrel cage rotor: It consists of thick conducting bars embedded in parallel slots. Wound rotor: let is a 3-phase,double layer, distributed winding. IM can be compared with the transformer Key characteristics: Medium construction complexity High reliability , even at high speeds Medium efficiency at low speeds Sensor less speed control is possible

PRODUCTION OF RMF:
IM

operates on the principle of induction. The rotor receives power due to induction from stator. The RMF is produced by the contributions of space displaced phase windings carrying time displaced currents. For convenience, each phase is represented by single coil.

EQUIVALENT CIRCUIT OF IM:

The exact equivalent circuit model of an IM is

R1

JX1

R2

JX2

V1

Ro

Jam

R2(1-S)/S

DYNAMIC MODELING OF INDUCTION MOTOR:

Before

going to analyze any motor or generator , it is very much important to obtain the machine in terms of equivalent mathematical equations. The dynamic model considers the instantaneous effects of varying voltages/currents, stator frequency and torque disturbances. The reference frames are chosen to arbitrary and particular cases , such as stator and rotor R.H park proposed a d-q model in 1920s

Introduction: The 3- Induction Motor has to be modeled in to 2- Induction Motor. Reference frame: transformed to a synchronously rotating reference frame fixed in the rotor. R.H park proposed a d-q model in 1920s

parks Transformation: The stator variables are

In transient response condition the voltages and currents in three phase are not in balance condition. It is too much difficult to study the machine performance of the induction motor by analyzing with three phase.

Our goal is to transform the three phase stationary reference frame variables to two phase reference frame variables.

AXES TRANSFORMATION (3 TO 2 )

s cos sin 1 Vqs Vas V = cos( 120 0 ) sin( 120 0 ) 1 V s bs ds 0 0 Vcs cos( + 120 ) sin( + 120 ) 1 V s os

Vqs s Cos s 2 Vds = Sin s 3 0.5 Vos

Cos ( 120 o ) Cos ( + 120 o ) Sin( + 120 o ) 0.5 Sin( + 120 o ) 0.5

Vas V bs Vcs

MOTOR MODEL
The two phase

equivalent circuit diagram of three phase induction motor with stator and rotor winding referred to d-q axes is shown

 The

winding are spaced by 90 degrees electrical and rotor winding at , is at an angle r from the stator d-axis. The terminal voltages of the stator and rotor windings can be expressed as the sum of the voltage drops in resistances, and rate of change of flux linkages, which are the products of currents and inductances.

Vqs = Rqiqs + p(Lqqiqs) + p(Lqdids) + p(Lq i ) + p(Lqi) Vds = p(Ldqiqs) + Rdids + p(Lddids) + p(Ldi) + p(Ldi) V = p(Lqiqs) + p (Ldids)+ Ri + p(Li) + p(Li) V = p(Lqiqs) + p(Ldids) + p(Li) + R i + p (Li)

The following are the assumptions made in order to simplify the above equation. i. Uniform air-gap ii. Balanced rotor and stator winding with sinusoidal distributed mmf. iii. Inductance in rotor position is sinusoidal and iv. Saturation and parameter changes are neglected

Vqs = (Rs + Ls p)iqs + Lsr p(i sinr) Lsr p(i cosr) Vds = (Rs + Ls p)ids + Lsr p(i cosr ) + Lsr p(i sinr) V = Lsr p (iqs sinr) + Lsr p (ids cosr) + (Rrr + Lrr p) i V = - Lsr p (iqscosr) + Lsr p (ids sinr) + (Rrr + Lrrp) i

let Rs = Rq = Rd & R rr = R = R also idrr = i cosr + i sinr iqrr = i sinr - i cosr Where the above currents are rotor currents referred to startor side Then the equations of voltages referred to stator side are

Vqs = (Rs + Ls p)iqs + Lsr p iqrr Vds = (Rs + Ls p)ids + Lsr p idrr Vqrr = Lsr p iqs - Lsr p r ids + (Rrr + Lrr p) iqrr - Lrr p r idrr Vdrr = Lsr p r iqs + Lsr p ids + Lrr p r iqrr + (Rrr + Lrr p) idrr Where p is the differential operator d/dt Let a = transformer ratio = (stator turns)/(rotor turns) Rr = a^2 Rrr , Lr = a^2 Lrr iqr = iqrr/a , idr = idrr/a Vqr = a Vqrr , Vdr = a Vdrr Magnetizing and control inductances are L m T1^2 L sr T1 T2 Magnetizing inductance of the stator is Lm = a Lsr

Vqs = (Rs + Ls p)iqs + Lm p iqr Vds = (Rs + Ls p)ids + Lm p idr Vqr = Lm p iqs - Lm p r ids + (Rr + Lr p) iqr - Lr p r idr Vdr = Lm p r iqs + Lm p ids + Lr p r iqr + (Rr + Lr p) idr Where p r = r = d/dt and p= d/dt The dynamic equations of the induction motor in any reference frame can be represented by using flux linkages as variables. Even when the voltages and currents are discontinuous the flux linkages are continuous.

The stator and rotor flux linkages in the stator reference frame are defined as qs = Lsiqs + Lmiqr qr = Lriqr + Lmiqs qm = Lm (iqs + iqr) Hence Vds = Rs ids + p ds , Vqs = Rsiqs + p qs Vdr = Rridr + r qr + p dr Vqr = Rriqr - r dr + p qr
, , ,

ds = Lsids + Lmidr dr = Lridr + Lmids dm = Lm (ids + idr)

Rotor windings are short circuited, the rotor voltages = 0. Hence, Vdr = Rridr + r qr + p dr = 0 Vqr = Rriqr - r dr + p qr = 0 From above equations we can find the rotor currents, stator currents and hence the flux linkages. The electromagnetic torque of the induction motor in stator reference frame is given by Te = (3p/4) Lm (iqs

idr ids iqr)

The electro-mechanical equation of the induction motor drive is given by Te - Tm = (2/p) J dr /dt By using above all equations an induction motor model is developed in stator reference frame.

Torque considerations in an Induction motor : For obtaining the expression for torque we consider the Thevenins equivalent of the actual circuit

From the circuit we see that Zth=Rth+jXth is the Thevenins equivalent impedance. Now Z is the parallel combination of the shunt th branch and Z1 i.e., the stator impedance. So from the circuit we haveThe torque developed T is given

To obtain the starting torque we put s=1 in the above equation.

To obtain the maximum torque produced, the condition is dT/ds=0. We then put in this value of torque in the expression for torque to get the value of maximum torque.

Now to simplify the equation we neglect Rth and the equation for torque is obtained as-

We now get the relationship between the starting torque Tstart, maximum torque Tmax and T i.e., the torque developed at a slip say s.

The torque equation obtained above can be expressed as-

SPEED TORQUE CHARACTERISTICS: torque considerations in an IM Factors affecting on the speed torque characteristics of an IM 1. Applied voltage 2. Supply frequency 3. Rotor resistance Dynamics of motor-load system a. Friction torque b. Wind age torque c. Torque required to do useful work

 Applied

voltage: The torque under running conditions changes with change in supply voltage. Supply frequency: the major effect of change in supply frequency is on motor speed. Rotor resistance: the maximum torque produced does not depends on rotor resistance. The maximum torque is obtain at lower motor speed.

1. 2. 3.

The load torque can be divided as Friction torque : this is equivalent value of various friction torques referred to the motor shaft. Wind age torque: the opposing torque generated by wind. Torque required to do useful work: the nature of this torque depends on the type of load. The friction torque itself can be resolved into 3 components they are namely Static friction Viscous friction Coulomb friction

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