EEE 4227: Power Electronics

AC Drives
Contents

• Introduction
• Principle of Speed control of Induction Motors
• Induction motor drives
-Stator voltage control,
-Frequency control
-Rotor voltage control

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Introduction
AC DRIVES

AC motor Drives are used in many industrial and domestic application, such
as in conveyer, lift, mixer, escalator etc.
The AC motor have a number of advantages :
• Lightweight (20% to 40% lighter than equivalent DC motor)
• Inexpensive
• Low maintenance
The Disadvantages AC motor :
* The power control relatively complex and more expensive

There are two type of AC motor Drives :

1. Induction Motor Drives
2. Synchronous Motor Drives

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Speed control of Induction Motor
Three-phase induction motor are commonly used in
adjustable-speed drives (ASD).
Basic part of three-phase induction motor :
Three-phase
windings Rotor windings
• Stator
Three-
phase
supply
• Rotor

• Air gap
Stator Air gap Rotor
m T
s
The stator winding are supplied with balanced three-phase AC voltage, which
produce induced voltage in the rotor windings. It is possible to arrange the
distribution of stator winding so that there is an effect of multiple poles,
producing several cycle of magnetomotive force (mmf) or field around the air
gap.

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Speed control of Induction Motor
The speed of rotation of field is called the synchronous speed s , which is
defined by : 2 120 f
s  N 
p or
s
p ωs is syncronous speed [rad/sec]
Ns is syncronous speed [rpm]
p is numbers of poles
ω is the supply frequency [rad/sec]
f is the supply frequency [Hz]
Nm is motor speed

The rotor speed or motor speed is :m  s (1 S )

Where S is slip, as defined as : S  S  m Or S  N S  N m

S NS

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Speed control of Induction Motor
Equivalent Circuit Of Induction Motor

Where :
Rs is resistance per-phase of stator winding
Rr is resistance per-phase of rotor winding
Xs is leakage reactance per-phase of the
winding stator
Xs is leakage reactance per-phase of the
winding rotor
Xm is magnetizing reactance
Rm is Core losses as a reactance

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Speed control of Induction Motor
Equivalent Circuit Of Induction Motor

Developed Torque of three phase induction motor is=

Rr'
Where, Pg  3( I )
' 2
r
s

3 Rr' Vs2
Hence, developed Torque is Td 
 
2

S s  Rs 
Rr'

  X s  X r' 
2

 S   7
Speed control of Induction Motor
Ii Xs Rs Xr’ Is=Ir’

3 Rr' Vs2
Td 
Im Ir’

Rr’/s
 
2

Rr'
 
Vs
S s  Rs 
2
Pi
Po   X s  X r' 
 S  
Stator Air gap rotor

Tmax Td

Tst TL
Tm=TL
Operating point

Smax S=Sm S=0

S=1 m s
Nm =0 Nm Ns
Torque – speed Characteristic 8
Speed control of Induction Motor
Three region operation :
1. Motoring : 0 S  1
2. Regenerating : S 0
3. Plugging : 1 S  2
Torque
Forward Forward Reverse
regeneration motoring plugging
Tmax

m s m s

m s
Tst
S=Sm

-Smax
s s Smax s =0 s
S=-1 S=0 S=1 S=2
Ns Nm =0

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-Tmax
Speed control of Induction Motor

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Speed control of Induction Motor

Starting speed of motor is m = 0 or S = 1,

3 Rr' Vs2
Starting torque of motor is : Tst   ' 2 
Rr 

s  Rs    X s  X r' 
2

 S  
d Td
Slip for the maximum torque Smax can be found by setting : 0
dS

Rr'
So, the slip on maximum torque is : S max  
R   X  X  
1
2 ' 2 2
s s r

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Speed control of Induction Motor

3 Vs2
Maximum torque for motoring is : Tmm 

2

2s  Rs  Rs  X s  X r'  2 


And the maximum regenerative torque can be found as :

3 Vs2
Tmr 

2

2s  Rs  Rs  X s  X r'  2 


Where the slip of motor s = - Sm

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Speed control of Induction Motor

The speed and torque of induction motors can be varied

by one of the following means:

1. Stator voltage control,

2. Stator Frequency control
3. Stator voltage and frequency control,
4. Rotor voltage control
5. Stator current control, and
6. Voltage, current and frequency control

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Speed control of Induction Motor
Stator Voltage Control The stator voltage can be varied by three-phase
(1) ac voltage controllers,
Controlling Induction Motor Speed by (2) voltage-fed variable dc link inverters, or
Adjusting The Stator Voltage (3) PWM inverters.
3 Rr' Vs2
Td 
 ' 2
R  

S s  Rs  r   X s  X r' 
2
 AC
 S   Variable
Voltage
IM
Ii Xs Rs Xr’ Is=Ir’
Sources  Td

Td Vs
Im Ir’
Vs > Vs1 > Vs2
Rr’/s
Vs Tmax
Po
Pi

air
Stator rotor
gap
Tst TL
In any magnetic circuit, the induced voltage is Tst1
proportional to flux and frequency, and the rms Tst2
air-gap flux can be expressed as:
2 1 
and S=1 S=0
14s
Nm =0 Ns
Speed control of Induction Motor
Frequency Control
Controlling Induction Motor Speed by The stator frequency can be varied by three-
Adjusting the Frequency of Stator Voltage phase PWM inverters.

3 Rr' Vs2
Td  AC
 
2
 Variable

S s  Rs 
Rr'

  X s  X r' 
2

Voltage
Sources IM
 S   Vs  Td
Ii Xs Rs Xr ’ Is=Ir’
f
Im Ir’

Vs Rr’/s
f
Po
Pi

Stator Air rotor

gap

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Speed control of Induction Motor
The torque and speed of induction motors can be controlled by changing the supply
frequency. We can notice from Eq. (11-31) that at the rated voltage and rated
frequency, the flux will be the rated value. If the voltage is maintained fixed at its
rated value while the frequency is reduced below its rated value, the flux will
increase. This would cause saturation of the air-gap flux, and the motor parameters
would not be valid in determining the torque-speed characteristics. At low
frequency, the reactances will decrease and the motor current may be too high. This
type of frequency control is not normally used.
If the frequency is increased above its rated value, the flux and torque would
decrease. If the synchronous speed corresponding to the rated frequency is call
the base speed b, the synchronous speed at any other frequency becomes:
b  m 
s   b and S 1  m
b b
3 Rr' Vs2
The motor torque : Td 
 ' 2
R  

S s  Rs  r   X s  X r' 2

 S  
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Speed control of Induction Motor
If Rs is negligible, the maximum torque at the base speed as :

3 Vs2

Tmb

2S b X s  X r' 
And the maximum torque at any other frequency is :
2
3 Vs
Tm 
 
2S b X s  X r'  2
Rr '
Sm 
At this maximum torque, slip S is : 
 X s  X r' 
2
3 Vs
Tm 

2S b X s  X r'  2  Tm 1
 2
Normalizing : Tmb 
3 Vs2

Tmb

2S b X s  X r' 
And Tm  2  Tmb
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Speed control of Induction Motor
CONTROLLING INDUCTION MOTOR SPEED USING ROTOR
RESISTANCE
(Rotor Voltage Control)

3 Rr' Vs2
Equation of Speed-Torque : Td 
 
2

S s  Rs 
Rr'

  X s  X r' 
2

 S  

In a wound rotor induction motor, an external three-phase resistor may be

connected to its slip rings,

RX
Stator

RX
Rotor R0<R1<R2

RX
Three-phase 18
supply
Speed control of Induction Motor

The three-phase resistor may be replaced by a three-phase diode rectifier and a DC

chopper. The inductor Ld acts as a current source Id and the DC chopper varies the
effective resistance:
Re  R(1  k )
Where k is duty cycle of DC chopper
The speed can controlled by varying the duty cycle k, (slip power)
Id

Ld
D1 D3 D5
Stator

Vd GTO
Rotor R Vdc

Three-phase
supply D4 D6 D2

Slip control by chopper

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Questions?
Confusions!

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