Jabalpur Engineering College, Jabalpur Electrical Engineering Department AC/DC Drives Lab. List of Experiment

Jabalpur Engineering College, Jabalpur
Electrical Engineering Department

AC/DC Drives Lab.
List of Experiment
1. To perform Speed-Torque characteristics of a separately excited DC

motor using open and close loop armature voltage control.
2. To perform Speed-Torque characteristics of a separately excited DC
motor using open and close loop field control.
3. To perform four-quadrant speed-torque characteristics of a separately
excited DC motor using close loop control.
4. To perform Speed-Torque characteristics of Single Phase Induction
Motor using open loop controlled V/f method.
5. To perform Speed-Torque characteristics of Single Phase Induction
Motor using close loop controlled V/f method.
6. To perform Speed-Torque characteristics of Three Phase Induction
Motor using open loop controlled V/f method.
7. To perform Speed-Torque characteristics of Three Phase Induction
Motor using close loop controlled V/f method.
8. To perform the speed control on 3-phase Induction motor using
Sensor-less vector control.
9. To perform Speed-Torque characteristic of Permanent Magnet
synchronous motor (PMSM) using close loop control.
10.To perform Speed-Torque characteristic of Permanent Magnet Brush
Less DC motor (PMBLDC) using open loop control.
11.To perform Speed-Torque characteristic of Permanent Magnet Brush
Less DC motor (PMBLDC) using close loop control.
12.To perform Speed-Torque characteristic of Switched Reluctance
Motor (SRM) using open loop control.
13.To perform Speed-Torque characteristic of Switched Reluctance
Motor (SRM) using close loop control.
[Department of Electrical Engineering, JEC Jabalpur] Page 1

Experiment No. 1
AIM: To perform Speed-Torque characteristics of a separately excited DC motor using open
and close loop armature voltage control.
REQUIRED EQUIPMENT:
1) PEC16DSM01 Trainer
2) Micro -2407 Trainer
3) Separately Excited DC Motor.
[Rating-1 HP, Voltage (Vdc)-180V, Current (I0) - 5.1A, Voltage-220V,
Extn. Current-0.3A, Speed (N) -1500rpm, Break Drum Constant-0.75Nm]
4) QEP sensor signal conditioner card
5) Cables
i. 34 Pin FRC 1 to 1 to 1.
ii. 26 pin FRC 1 to 1.
iii. Feedback Connector Cable.
iv. 9 Pin D cable
THEORY:
The D. C. Motor armature rotates, the conductors also rotate and hence cut the flux. In
accordance with the laws of electromagnetic induction, emf is induced in them whose
direction, as found by Fleming’s right hand rule, is in opposition to the applied voltage.
Because of its opposing direction, it is referred to as counter emf (Eb). The rotating armature
generating the back emf (Eb) is like a battery of emf (Eb) put across supply mains of V volts.
Obviously, V has to drive armature current (Ia) against the opposition of counter emf (Eb).
The power required to overcome this opposition is EbIa. It is converted into mechanical
energy.
𝑁𝑒𝑡 𝑉𝑜𝑙𝑡𝑎𝑔𝑒
𝐼𝑎 = 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑉−𝐸𝑏
=
𝑅𝑎
where,
Ra = Resistance of the armature circuit. (As pointed out above)
Eb = ØZN x (P/A) volt,
V = Terminal voltage
where,
Ø- flux per pole in webers, Z – Total number of armature conductors,
N - speed in r.p.s., P – No. of poles, A – No. of parallel paths.

Back emf depends among other factors, upon the armature speed. If speed is high, Eb is large,
hence armature current Ia, as seen from the above equation, is small. If the speed is less then
Eb is less, hence more current flows which develops motor torque. So we find that Eb acts like
a governor i.e. it makes a motor self-regulating so that it draws as much current as is just
necessary.

Voltage Equation of a Motor
The voltage (V) applied across the motor armature has to
i. Overcome the back e.m.f. Eb
ii. Supply the armature ohmic drop IaRa
V= Eb + Ia Ra
VIa = Eb Ia + Ia2 Ra
where,
V Ia - Electrical input to the armature
Eb Ia - Electrical equivalent of mechanical power developed in the armature
Ia2Ra - Copper loss in the armature
Hence, out of the armature input, some is wasted in I2Ra loss and the rest converted into
mechanical power within the armature. It may also be noted that motor efficiency is given by
the ratio of power developed by the armature to its input i.e.
𝐸𝑏 𝐼𝑎 𝐸𝑏
=
𝑉𝐼𝑎 𝑉
𝐸𝑏 = 𝐾𝑒 ∅𝜔𝑚
T = K e ∅Ia
Ke∅ = K
𝑇 = 𝐾𝐼𝑎
𝐸𝑏 = 𝐾𝜔𝑚
An IGBT ( 𝑇𝑟 ) of a chopper control is operated periodically with period T and

remains on for a duration ton. The chopper operates at a frequency which is high enough to
ensure continuous conduction. During ON period of an IGBT 0 ≤ 𝑡 ≤ 𝑡𝑜𝑛 , the motor
terminal voltage is V. The operation is described by;
𝑑𝑖𝑎
𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝐸 = 𝑉, 0 ≤ 𝑡 ≤ 𝑡𝑜𝑛
𝑑𝑡
In this interval armature current increase from 𝑖𝑎1 to 𝑖𝑎2 since motor is connected to the
source during this interval it is called duty interval. At 𝑡 = 𝑡𝑜𝑛 , 𝑇𝑟 is turned off. Motor
current freewheel through diode 𝐷𝐹 and motor terminal voltage is zero during interval 𝑡𝑜𝑛 ≤
𝑡≤𝑇
𝑑𝑖𝑎
𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝐸 = 0 , 𝑡𝑜𝑛 ≤ 𝑡 ≤ 𝑇
𝑑𝑡
Motor current decreases from 𝑖𝑎2 to 𝑖𝑎1 during this interval. Ratio of duty interval 𝑡𝑜𝑛 to
chopper period T is called duty ratio or duty cycle 𝛿.
𝐷𝑢𝑡𝑦 𝑖𝑛𝑡𝑒𝑟𝑣𝑎𝑙
𝛿=
𝑇
𝑡𝑜𝑛
=
𝑇

1 𝑡
𝑉𝑎 = ∫0 𝑜𝑛 𝑉𝑑𝑡 = 𝛿𝑉
𝑇
For motoring operation
𝛿𝑉−𝐸
𝐼𝑎 = 𝑅𝑎
𝑇 = 𝐾𝐼𝑎
For regeneration operation
𝐸−𝛿𝑉
𝐼𝑎 = 𝑅𝑎
𝑇 = −𝐾𝐼𝑎
𝛿𝑉 𝑅𝑎
𝜔𝑚 = − 𝑇
𝐾 𝐾2
where,
𝑉 - Terminal voltage
𝐸 - Back emf
𝜔𝑚 - Speed of armature in rad/sec,
𝑇 - Torque developed by the motor in N-m,
K - Separately excited motor constant
PROCEDURE
Open Loop Control
1. Connect the 26 Pin FRC cable one end to Micro-2407 Trainer and the other end to
ADC input to DSP placed in IPM Power module.
2. Connect the 34 Pin FRC 1 to 1 cable one end to Micro-2407 Trainer, and other end to
PWM output from DSP and the remaining end to the QEP driver.
3. Connect the motor terminals A and AA to U ,V terminals in IPM Power Module.
4. The speeds of the motor to be sensed using QEP, connect the 9 Pin D cable from the
QEP driver. Connect the 34 pin FRC from the QEP Driver unit into the 34 Pin headers
placed in the Micro-2407 Trainer.
5. Connect the serial port of PC to the serial port connector (P2) in the Micro-2407
Trainer.
6. Verify the connection as per the connection procedure and wiring diagram.
7. Connect Three Phase AC Supply of 415 V across the IPM input terminal R,Y, B in
PEC160SM01 Trainer.
8. Switch ON the Micro-2407 DSP Trainer.
9. Power ON the IPM Power Module (PEC160SM01) and MCB.
10. Check whether shut down LED “SD” glows or not. If “SD” LED glows press reset
switch, the LED gets OFF.
11. Set the SW1 switch in the down position, (Armature control)
12. In the serial monitor for Micro-2407, go to “Tool Bar”, select the menu “File” and
select serial in.
13. Now the window “Enter the file to load” open, after press the Reset button in the kit
Micro-2407.
14. “Clear to send” message appears in PC. Now open the file “CHOPUVIPOL.ASC”
from your target Directory.

15. Enter the starting address as “C000” and press Enter key.
16. The screen now displays the execution massage.
17. First you press SW2 switch in Micro-2407 Trainer the motor rotates in forward
direction.
18. If you first Press SW3 switch in Micro-2407 Trainer the motor rotates in reverse
direction.
19. When the motor run press SW2 or SW3 to increase /decrease the motor speed.
20. By applying load of the motor, motor speed will be varied. To increase the load, the
motor speed is decreased.
Fig. Chopper-fed separately excited dc machine: (a) MOTORING;

(b)GENERATING
Fig. Four- quadrant characteristic of a separately excited dc motor.

Observation Table (Open Loop)
S. No. Load Speed Voltage Current Torque

Kg (s) Rpm Load × drum
Constant(0.75Nm)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
Closed Loop Control
select serial in.
2. Now the window “Enter the file to load” open, after press the Reset button in the
kit Micro-2407.
3. “Clear to send” message appears in PC. Now open the file
“CHOPUVIPCL.ASC” from your target Directory.
5. Set the SW1 switch in the down position, (Armature control)
direction.
direction.
9. By applying load of the motor, motor speed will be varied but the motor speed is
automatically controlled equals to the set speed.

Observation Table (Close Loop)
S. No. Load Speed Voltage Current Torque =

Kg (s) (rpm) (Volt) (Amp) Load × drum
Constant(0.75Nm)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No. 2
AIM: To perform Speed-Torque characteristics of a separately excited DC motor using open
and close loop field control.
REQUIRED EQUIPMENT:
1) PEC16DSM01 Trainer
2) Micro -2407 Trainer
3) Separately Excited DC Motor.
4) QEP sensor signal conditioner card
5) Cables
v. 34 Pin FRC 1 to 1 to 1.
vi. 26 pin FRC 1 to 1.
vii. Feedback Connector Cable.
viii. 9 Pin D cable
THEORY:
The D. C. Motor armature rotates, the conductors also rotate and hence cut the flux. In
accordance with the laws of electromagnetic induction, emf is induced in them whose
direction, as found by Fleming’s right hand rule, is in opposition to the applied voltage.
Because of its opposing direction, it is referred to as counter emf (Eb). The rotating armature
generating the back emf (Eb) is like a battery of emf (Eb) put across supply mains of V volts.
Obviously, V has to drive armature current (Ia) against the opposition of counter emf (Eb).
The power required to overcome this opposition is EbIa. It is converted into mechanical
energy.
𝑁𝑒𝑡 𝑉𝑜𝑙𝑡𝑎𝑔𝑒
𝐼𝑎 = 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑉−𝐸𝑏
=
𝑅𝑎
where,
Ra = Resistance of the armature circuit. (As pointed out above)
Eb = ØZN x (P/A) volt,
V = Terminal voltage
where,
Ø- flux per pole in webers, Z – Total number of armature conductors,
N - speed in r.p.s., P – No. of poles, A – No. of parallel paths.

Back emf depends among other factors, upon the armature speed. If speed is high, Eb is large,
hence armature current Ia, as seen from the above equation, is small. If the speed is less then
Eb is less, hence more current flows which develops motor torque. So we find that Eb acts like
a governor i.e. it makes a motor self-regulating so that it draws as much current as is just
necessary.
Voltage Equation of a Motor
The voltage (V) applied across the motor armature has to

iii. Overcome the back e.m.f. Eb
iv. Supply the armature ohmic drop IaRa
V= Eb + Ia Ra
VIa = Eb Ia + Ia2 Ra
where,
V Ia - Electrical input to the armature
Eb Ia - Electrical equivalent of mechanical power developed in the armature
Ia2Ra - Copper loss in the armature
Hence, out of the armature input, some is wasted in I2Ra loss and the rest converted into
mechanical power within the armature. It may also be noted that motor efficiency is given by
the ratio of power developed by the armature to its input i.e.
𝐸𝑏 𝐼𝑎 𝐸𝑏
=
𝑉𝐼𝑎 𝑉
𝐸𝑏 = 𝐾𝑒 ∅𝜔𝑚
T = K e ∅Ia
Ke∅ = K
𝑇 = 𝐾𝐼𝑎
An IGBT ( 𝑇𝑟 ) of a chopper control is operated periodically with period T and

remains on for a duration ton. The chopper operates at a frequency which is high enough to
ensure continuous conduction. During ON period of an IGBT 0 ≤ 𝑡 ≤ 𝑡𝑜𝑛 , the motor
terminal voltage is V. The operation is described by;
𝑑𝑖𝑎
𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝐸 = 𝑉, 0 ≤ 𝑡 ≤ 𝑡𝑜𝑛
𝑑𝑡
In this interval armature current increase from 𝑖𝑎1 to 𝑖𝑎2 since motor is connected to the
source during this interval it is called duty interval. At 𝑡 = 𝑡𝑜𝑛 , 𝑇𝑟 is turned off. Motor
current freewheel through diode 𝐷𝐹 and motor terminal voltage is zero during interval 𝑡𝑜𝑛 ≤
𝑡≤𝑇
𝑑𝑖𝑎
𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝐸 = 0 , 𝑡𝑜𝑛 ≤ 𝑡 ≤ 𝑇
𝑑𝑡
Motor current decreases from 𝑖𝑎2 to 𝑖𝑎1 during this interval. Ratio of duty interval 𝑡𝑜𝑛 to
chopper period T is called duty ratio or duty cycle 𝛿.
𝐷𝑢𝑡𝑦 𝑖𝑛𝑡𝑒𝑟𝑣𝑎𝑙
𝛿=
𝑇
𝑡𝑜𝑛
=
𝑇
1 𝑡
𝑉𝑎 = ∫0 𝑜𝑛 𝑉𝑑𝑡 = 𝛿𝑉
𝑇

For motoring operation
𝛿𝑉−𝐸
𝐼𝑎 = 𝑅𝑎
𝑇 = 𝐾𝐼𝑎
For regeneration operation
𝐸−𝛿𝑉
𝐼𝑎 = 𝑅𝑎
𝑇 = −𝐾𝐼𝑎
𝛿𝑉 𝑅𝑎
𝜔𝑚 = − 𝑇
𝐾 𝐾2
where,
𝑉 - Terminal voltage
𝐸 - Back emf
𝜔𝑚 - Speed of armature in rad/sec,
K - Separately excited motor constant
PROCEDURE
Open Loop Control
1. Connect the 26 Pin FRC cable one end to Micro-2407 Trainer and the other end to
ADC input to DSP placed in IPM Power module.
2. Connect the 34 Pin FRC 1 to 1 cable one end to Micro-2407 Trainer, and other end to
PWM output from DSP and the remaining end to the QEP driver.
3. Connect the motor terminals A and AA to U ,V terminals in IPM Power Module.
4. The speeds of the motor to be sensed using QEP, connect the 9 Pin D cable from the
QEP driver. Connect the 34 pin FRC from the QEP Driver unit into the 34 Pin headers
placed in the Micro-2407 Trainer.
5. Connect the serial port of PC to the serial port connector (P2) in the Micro-2407
Trainer.
6. Verify the connection as per the connection procedure and wiring diagram.
PEC160SM01 Trainer.
select serial in.
12. Now the window “Enter the file to load” open, after press the Reset button in the kit
Micro-2407.
13. “Clear to send” message appears in PC. Now open the file “CHOPUVIPOL.ASC”
from your target Directory.
15. The screen now displays the execution massage.
direction.
direction.
19. By applying load of the motor, motor speed will be varied. To increase the load, the
motor speed is decreased.
Fig. Chopper-fed separately excited dc machine: (a) MOTORING;

(b) GENERATING
Fig. Four- quadrant characteristic of a separately excited dc motor.


Kg (s) Rpm Load × drum
Constant(0.75Nm)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
Closed Loop Control
select serial in.
2. Now the window “Enter the file to load” open, after press the Reset button in the
kit Micro-2407.
3. “Clear to send” message appears in PC. Now open the file
“CHOPUVIPCL.ASC” from your target Directory.
5. Set the SW1 switch in the up position, (Field control)
direction.
direction.
9. By applying load of the motor, motor speed will be varied but the motor speed is
automatically controlled equals to the set speed.

S. No. Load Speed Voltage Current Torque =

Kg (s) (rpm) (Volt) (Amp) Load × drum
Constant(0.75Nm)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No. 3
AIM: To perform four-quadrant speed-torque characteristics of a separately excited DC
motor using close loop control.
REQUIRED EQUIPMENT:
i. SIMOREG DC MASTER 6RA70
ii. Separately Excited DC Motor.
iii. Cables
THEORY:
SIMOREG stands for Siemens Motor Regulator. Siemens DC drives are an important
element of the Totally Integrated Automation (TIA) strategy. The SIMOREG DC MASTER
6RA70 drives are designed to provide precise DC motor speed control over a wide range of
machine parameters and load conditions.
A four-quadrant DC drive will have twelve thyristors. The dynamics of certain loads
require four-quadrant operation. In I-quadrant motor torque (T) is developed in the forward or
clockwise direction to drive the motor at the desired speed (N). Bidirectional rotation (I & III
quadrant) of the motor is decided by the field winding polarity. It is important to note that
field reversal will only work when a quick reversal is not required. The field circuit is
inductive and must be brought to 0 current before opening the contacts.
If motor voltage is suddenly reduced, negative torque is developed in the motor due to
the inertia of the connected load. The motor acts like a generator by converting mechanical
power from the shaft into electrical power which is returned to the drive. Braking occurs in
quadrants II and IV. In order for a drive to operate in all four quadrants a means must exist to
deal with the electrical energy returned by the motor. Electrical energy returned by the motor
tends to drive the DC voltage up, resulting in excess voltage that can cause damage.
Regenerative and dynamic braking provide the same amount of braking power to slow a
motor from maximum speed in field weakening to base speed. This is because field strength
increases until the motor reaches base speed. However, from base speed to stop, regenerative
is capable of slowing a motor at a faster rate. In addition, regenerative can develop torque at
zero speed to bring the motor to a complete stop. A four-quadrant drive can easily reverse the
direction of rotation of a DC motor simply by applying armature voltage in the opposite
polarity.
Thyristors of three-phase fully controlled rectifier are fired in the sequence of their
numbers with a phase difference of 600 for 1200 duration. Each thyristor conducts for and
two thyristors conduct at a time-one from upper group and other from lower group applying
respective line voltage to the motor. Transfer of current from an outgoing to incoming
thyristor can take place when respective line voltage is of such a polarity that not only if
forward biases the incoming thyristor, but also leads to the reverse biasing of the outgoing
when incoming turns-on.
𝑣𝐴𝐵 = 𝑉𝑚 𝑠𝑖𝑛𝜔𝑡
2𝜋
𝑣𝐵𝐶 = 𝑉𝑚 sin(𝜔𝑡 − )
3
4𝜋
𝑣𝐶𝐴 = 𝑉𝑚 sin (𝜔𝑡 − )
3
𝛼 = 𝜔𝑡 − 𝜋/3
3 𝛼+2𝜋/3
𝑉𝑎 = ∫𝛼+𝜋/3 𝑉𝑚 sin 𝜔𝑡𝑑(𝜔𝑡)
𝜋
3𝑉𝑚
= 𝑐𝑜𝑠𝛼
𝜋
Average Thevenin’s output voltage of the rectifier circuit can be expressed:
𝑉𝑎 ≅ 𝐸𝑑𝑜 𝑐𝑜𝑠𝛼 − 𝐾𝐼𝑎

3𝑉𝑚
( ∴ 𝐸𝑑𝑜 = )
𝜋
𝑉 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
𝑇 = 𝐾𝐼𝑎
3𝑉𝑚 𝑅𝑎
𝜔𝑚 = 𝑐𝑜𝑠𝛼 − 𝑇
𝜋𝐾 𝐾2
where,
𝑣𝐴𝐵 , 𝑣𝐵𝐶 & 𝑣𝐶𝐴 – Line voltages
𝑉 - Terminal voltage (armature)

𝐸𝑏 - back emf
𝜔𝑚 - speed of armature in rad/sec,
𝑉𝑚 - Peak of line voltage
𝐾 - Separately excited motor constant

Fig. Four-quadrant operation
Fig. Three-phase rectifier (4-quadrent) circuit for separetely excited dc motor.

Fig. Four-quadrant Speed-Torque charactristics of separetely excited dc motor.
Observation Table
= Load × drum
Kg (s) (rpm) Constant (1.0Nm)
1.
2.
3.
4.
5.
6.
7.
8.
RESULTS:
CONCLUSION:

Experiment No. 4
AIM: To perform Speed-Torque characteristics of Single Phase Induction Motor using
Open loop controlled V/f method.
REQUIRED EQUIPMENT:
(i). Micro -2407 Trainer
(ii). PEC160SM01 Module
(iii). 34 Pin & 26 Pin FRC Cable.
(iv). CRO.
(v). QEP sensor signal conditioner card
(vi). Eddy Current Loading Device
(vii). Single Phase Induction Motor.
(Rating: Power=750W (1HP), Voltage=220/230V, Current=7 A,
Speed=1500 rpm, Frequency=50Hz)
THEORY:
A single-phase induction motor has a cage rotor and a single-phase winding in the
stator. The pulsating magneto motive force (mmf) produced by ac current in the stator
winding can be considered to be equivalent to two constant amplitude mmf waves revolving
in opposite directions at synchronous speed. Each of these revolving mmf waves induces its
own rotor current and produces induction motor action just as in a three-phase induction
motor. Torques produced by the two revolving fields and also net torque produced by the
motor. When the rotor is stationary, it reacts equally to both waves, and no torque is
developed. Therefore, a single phase induction motor with single stator winding inherently
has no starting torque. But if started by auxiliary means, it will develop torque and continue
to run. When the rotor is running, induced rotor currents are such that their mmf opposes the
reverse stator mmf to a greater extent than they oppose the forward stator mmf. Result is that
the forward flux wave, which develops forward torque, is bigger than the reverse flux wave
which develops reverse torque. Net torque produced maintains the motion. As the speed
increases, forward torque increases and reverse torque decreases. Therefore, net torque
progressively increases with speed. When started from its zero speed, first it builds up slowly
but later accelerates fast to a speed near synchronous. Backward rotating field increases the
full load slip and therefore reduces efficiency and power factor. Interactions between forward
rotating field and rotor currents induced due to reverse rotating field, and reverse rotating
field and rotor currents induced due to forward rotating field produced second harmonic
torque pulsations which cause vibrations and noise. From equivalent circuit of a single
winding single-phase induction motor. Rotor equivalent circuits accounting for the forward
and backward rotating fields are indicated in figure. When rotor moves in forward direction
with slip s then the slip sn will be
𝑏𝑎𝑐𝑘𝑤𝑎𝑟𝑑 𝑓𝑖𝑒𝑙𝑑 𝑠𝑝𝑒𝑒𝑑+𝑅𝑜𝑡𝑜𝑟 𝑠𝑝𝑒𝑒𝑑
𝑠𝑛 =
𝑏𝑎𝑐𝑘𝑤𝑎𝑟𝑑 𝑓𝑖𝑒𝑙𝑑 𝑠𝑝𝑒𝑒𝑑
𝜔𝑚𝑠 +(1−𝑠)𝜔𝑚𝑠
=
𝜔𝑚𝑠

= (2 − 𝑠)
0.5𝑅𝑟′
𝑅𝑓 + 𝑗𝑋𝑓 = ( + 𝑗0.5𝑋𝑟′ ) in parallel with 0.5 Xm
𝑠
0.5𝑅𝑟′
𝑅𝑏 + 𝑗𝑋𝑏 = ( + 𝑗0.5𝑋𝑟′ ) in parallel with 0.5 Xm
2−𝑠
Power transferred to the rotor (or air-gap power) due to forward field
𝑃𝑔𝑓 = 𝐼𝑠2 𝑅𝑓
Torque due to forward field
1
𝑇𝑓 = 𝐼2 𝑅
𝜔𝑚𝑠 𝑠 𝑓
Power transferred to the rotor (or air − gap power)due to backward field
𝑃𝑔𝑏 = 𝐼𝑠2 𝑅𝑏
Torque due to backward field
1
𝑇𝑏 = 𝐼2 𝑅
𝜔𝑚𝑠 𝑠 𝑏
Torque of the backward field is in the opposite direction to that of forward field. Therefore
net developed torque
𝐼𝑠2
𝑇 = 𝑇𝑓 − 𝑇𝑏 = (𝑅 − 𝑅𝑏 )
𝜔𝑚𝑠 𝑓
Speed of a single-phase induction motor is generally controlled by controlling its stator
voltage which can be controlled by connecting a variable resistance in series with the stator.
Because of poor efficiency the resistance control is now rarely used. Stator voltage can also
be controlled by the use of ac voltage controller. Speed of the motor can also be controlled by
variable frequency control.
V/f Control
From standard speed –torque characteristics, the induction motor draws the rated
current and delivers the rated torque at the base speed. When the load is increased (over rated
load), while running at base speed, the speed drops and the slip increases. As we know, the
motor can take up to 2.5 times the rated torque with around 20% drop in the speed. Any
further increase of load on the shaft can stall the motor. The torque developed by the motor is
directly proportional to the magnetic field produced by the stator. So, the voltage applied to
the stator is directly proportional to the product of stator flux and angular velocity. This
makes the flux produced by the stator proportional to the ratio of applied voltage and
frequency of supply. By varying the frequency, the speed of the motor can be varied.
Therefore, by varying the voltage and frequency by the same ratio, flux and hence, the torque
can be kept constant throughout the speed range.
Stator voltage (V) ∝ [Stator flux (∅)] × [Angular Velocity(ω)]

2
𝑉 ⁄𝑓
𝐾 ( 𝑠 𝑠)
𝑍
𝑇𝑚𝑎𝑥 = 𝑇𝑓 − 𝑇𝑏 = (𝑅𝑓 − 𝑅𝑏 )
𝜔𝑚𝑠

PROCEDURE
(Open loop Control)
Intelligent Power Module.
2. Connect Single Phase Induction Motor terminal to U,V, W, connectors placed in
Intelligent Power Module .
3. Connect the 9 Pin D Cable to the QEP Driver. Connect the 34 pin FRC from the QEP
Driver unit to the 34 pin Header placed in the Micro -2407 Trainer.
4. Connect the 26 pin FRC Cable one end to 26 pin header placed in Micro-2407 trainer
and the other end to Feedback Inputs of Intelligent Power Module.
5. Connect the 34 pin FRC Cable one end to 34 pin header placed in Micro-2407 and the
other end to the IGBT- PWM inputs connector of power module.
6. Make sure the connections are correct.
7. Switch ON the Micro-2407 Trainer kit and the Intelligent Power Module.
8. Set the SW1 switch in the down position (Serial mode) in micro -2407 trainer.
9. Select the “C2407” from your target directory or from desktop in PC.
10. Now configure the serial Port, window opens. Select the port to which Micro- 2407
and press OK.
11. Select the open Loop menu in the select AC Motor followed by Sine/Tri.
12. The Plotting of Speed and Current Curve is now available in PC.
13. Press the send button. Now transmission completed massage appears, press OK.
14. Press the execute button. Now executing massage appears press OK.
15. Now the current value of Speed, Frequency & Current is displayed.
16. Vary the speed of motor by pressing SW2 or SW3 key placed in Micro -2407 Trainer
and note down the corresponding output voltage.
17. Measure the voltage, current ,frequency & speed values by loading the motor.
18. Connect the (0-30V) DC Regulated power supply terminals to the eddy current coil
terminals.
19. Apply load to the motor by gradually applying voltage to the Eddy Current coil and
study the speed performance of the motor.
voltage
Vrated
Torque Voltage
Vmin
fmin frated fmax
Fig. Speed-Torque characteristic with V/f control


Kg (s) (rpm) (Volt) (Amp) 𝑆 × 𝑟 × 9.8
T= 𝐶𝑅
𝐶𝑅 =1
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No. 5
AIM: To perform Speed-Torque characteristics of Single Phase Induction Motor using
Close loop controlled V/f method.
REQUIRED EQUIPMENT:
(viii). Micro -2407 Trainer
(ix). PEC160SM01 Module
(x). 34 Pin & 26 Pin FRC Cable.
(xi). CRO.
(xii). QEP sensor signal conditioner card
(xiii). Eddy Current Loading Device
(xiv). Single Phase Induction Motor.
(Rating: Power=750W (1HP), Voltage=220/230V, Current=7 A,
Speed=1500 rpm, Frequency=50Hz)
THEORY:
A single-phase induction motor has a cage rotor and a single-phase winding in the
stator. The pulsating magneto motive force (mmf) produced by ac current in the stator
winding can be considered to be equivalent to two constant amplitude mmf waves revolving
in opposite directions at synchronous speed. Each of these revolving mmf waves induces its
own rotor current and produces induction motor action just as in a three-phase induction
motor. Torques produced by the two revolving fields and also net torque produced by the
motor. When the rotor is stationary, it reacts equally to both waves, and no torque is
developed. Therefore, a single phase induction motor with single stator winding inherently
has no starting torque. But if started by auxiliary means, it will develop torque and continue
to run. When the rotor is running, induced rotor currents are such that their mmf opposes the
reverse stator mmf to a greater extent than they oppose the forward stator mmf. Result is that
the forward flux wave, which develops forward torque, is bigger than the reverse flux wave
which develops reverse torque. Net torque produced maintains the motion. As the speed
increases, forward torque increases and reverse torque decreases. Therefore, net torque
progressively increases with speed. When started from its zero speed, first it builds up slowly
but later accelerates fast to a speed near synchronous. Backward rotating field increases the
full load slip and therefore reduces efficiency and power factor. Interactions between forward
rotating field and rotor currents induced due to reverse rotating field, and reverse rotating
field and rotor currents induced due to forward rotating field produced second harmonic
torque pulsations which cause vibrations and noise. From equivalent circuit of a single
winding single-phase induction motor. Rotor equivalent circuits accounting for the forward
and backward rotating fields are indicated in figure. When rotor moves in forward direction
with slip s then the slip sn will be
𝑏𝑎𝑐𝑘𝑤𝑎𝑟𝑑 𝑓𝑖𝑒𝑙𝑑 𝑠𝑝𝑒𝑒𝑑+𝑅𝑜𝑡𝑜𝑟 𝑠𝑝𝑒𝑒𝑑
𝑠𝑛 =
𝑏𝑎𝑐𝑘𝑤𝑎𝑟𝑑 𝑓𝑖𝑒𝑙𝑑 𝑠𝑝𝑒𝑒𝑑
𝜔𝑚𝑠 +(1−𝑠)𝜔𝑚𝑠
=
𝜔𝑚𝑠

= (2 − 𝑠)
0.5𝑅𝑟′
𝑅𝑓 + 𝑗𝑋𝑓 = ( + 𝑗0.5𝑋𝑟′ ) in parallel with 0.5 Xm
𝑠
0.5𝑅𝑟′
𝑅𝑏 + 𝑗𝑋𝑏 = ( + 𝑗0.5𝑋𝑟′ ) in parallel with 0.5 Xm
2−𝑠
Power transferred to the rotor (or air-gap power) due to forward field
𝑃𝑔𝑓 = 𝐼𝑠2 𝑅𝑓
Torque due to forward field
1
𝑇𝑓 = 𝐼2 𝑅
𝜔𝑚𝑠 𝑠 𝑓
Power transferred to the rotor (or air − gap power)due to backward field
𝑃𝑔𝑏 = 𝐼𝑠2 𝑅𝑏
Torque due to backward field
1
𝑇𝑏 = 𝐼2 𝑅
𝜔𝑚𝑠 𝑠 𝑏
Torque of the backward field is in the opposite direction to that of forward field. Therefore
net developed torque
𝐼𝑠2
𝑇 = 𝑇𝑓 − 𝑇𝑏 = (𝑅 − 𝑅𝑏 )
𝜔𝑚𝑠 𝑓
Speed of a single-phase induction motor is generally controlled by controlling its stator
voltage which can be controlled by connecting a variable resistance in series with the stator.
Because of poor efficiency the resistance control is now rarely used. Stator voltage can also
be controlled by the use of ac voltage controller. Speed of the motor can also be controlled by
variable frequency control.
V/f Control
From standard speed –torque characteristics, the induction motor draws the rated
current and delivers the rated torque at the base speed. When the load is increased (over rated
load), while running at base speed, the speed drops and the slip increases. As we know, the
motor can take up to 2.5 times the rated torque with around 20% drop in the speed. Any
further increase of load on the shaft can stall the motor. The torque developed by the motor is
directly proportional to the magnetic field produced by the stator. So, the voltage applied to
the stator is directly proportional to the product of stator flux and angular velocity. This
makes the flux produced by the stator proportional to the ratio of applied voltage and
frequency of supply. By varying the frequency, the speed of the motor can be varied.
Therefore, by varying the voltage and frequency by the same ratio, flux and hence, the torque
can be kept constant throughout the speed range.
Stator voltage (V) ∝ [Stator flux (∅)] × [Angular Velocity(ω)]

2
𝑉 ⁄𝑓
𝐾 ( 𝑠 𝑠)
𝑍
𝑇𝑚𝑎𝑥 = 𝑇𝑓 − 𝑇𝑏 = (𝑅𝑓 − 𝑅𝑏 )
𝜔𝑚𝑠

voltage
Vrated
Torque Voltage
Vmin
fmin frated fmax
Fig. Speed-Torque characteristic with V/f control
PROCEDURE
(Close Loop Control)
2. Connect Single Phase Induction Motor terminal to U, &V connectors placed in
3. Connect the 9 Pin D Cable to the QEP Driver. Connect the 34 pin FRC from the QEP
4. Connect the 26 pin FRC Cable one end to 26 pin header placed in Micro-2407 trainer
and the other end to Feedback Inputs of Intelligent Power Module.
5. Connect the 34 pin FRC Cable one end to 34 pin header placed in Micro-2407 and the
other end to the IGBT- PWM inputs connector of power module.
7. Switch ON the Micro-2407 Trainer kit and the Intelligent Power Module.
8. Set the SW1 switch in the down position (Serial mode) in micro -2407 Trainer.
9. Select the “C 2407” from your target directory or from desktop in PC.
10. Now configure the serial Port, window opens. Select the port to which Micro- 2407
and press OK.
11. Select the closed loop menu in the select AC Motor followed by Sine/Tri.
13. Press the send button. Now transmission completed massage appears, press OK.
14. Press the execute button. Now executing massage appears press OK.
16. Vary the speed of motor by pressing SW2 or SW3 key placed in Micro -2407 Trainer
and note down the corresponding output voltage.
17. Measure the voltage, current ,frequency & speed values by loading the motor.
terminals.
Note: Maximum value of Kp & Ki = 1

Kg (s) rpm 𝑆 × 𝑟 × 9.8
T= 𝐶𝑅
𝐶𝑅 =1
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No.6
AIM: To perform Speed-Torque characteristics of Three Phase Induction Motor using
open loop controlled V/f method..
.
REQUIRED EQUIPMENT:
(i). Micro -2407 Trainer
(ii). PEC160SM01 Module
(iii). 34 Pin & 26 Pin FRC Cable.
(iv). CRO.
(v). QEP sensor signal conditioner card
(vi). Three Phase Induction Motor(1HP)
(Rating: Voltage - 415 ±10%, kW – 0.75, Current- 1.8A, RPM-1415,
p.f.-0.80, Frequency -50Hz, No. of poles – 04, Insulation Class-F)
THEORY:
In standard speed-torque characteristics of three-phase induction motor, the motor
draws the rated current and delivers the rated torque at the base speed. When the load is
increased (over rated load), while running at base speed, the speed drops and the slip
increases. The torque developed by the motor is directly proportional to the magnetic field
produced by the stator. So, the voltage applied to the stator is directly proportional to the
product of stator flux and angular velocity. This makes the flux produced by the stator
proportional to the ratio of applied voltage and frequency of supply. By varying the
frequency, the speed of the motor can be varied. Therefore, by varying the voltage and
frequency by the same ratio, flux and hence, the torque can be kept constant throughout the
speed range.
4𝜋𝑓
𝜔𝑚𝑠 = 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑝
where,
ωms – Synchronous speed in rad/sec,
p - Number of poles
𝑓 − Supply frequency
Voltage induced in a stator is proportional to the product of supply frequency and air
gap flux. If stator drop is neglected, terminal voltage can be considered proportional to the
product of frequency and flux. Any reduction in supply frequency without a change in
terminal voltage causes an increase in the air gap flux. Induction motors are designed to
operate at the knee point of the magnetization characteristic to make full use of the magnetic
material therefore the increase in the flux will saturate the motor. This will increase the
magnetizing current, distort the line current and voltage, increase the core loss and the stator
copper loss and produces a high pitch acoustic noise while an increase in flux beyond the
rated value is undesirable. From the consideration of saturation effects, a decrease in flux is
also avoided to retain the torque capability of the motor. Therefore, the variable frequency
control below rated frequency is generally carried out at rated air gap flux by varying
terminal with frequency so as to maintain (V/f) ratio constant at the rated value.

𝜔𝑚𝑠 −𝜔𝑚
𝑠=
𝜔𝑚𝑠
𝑉
𝐼𝑟′ = 𝑅′
(𝑅𝑠 + 𝑟 )+𝑗(𝑋𝑠 +𝑋𝑟′ )
𝑠
3 𝑅𝑟′
𝑇= 𝐼𝑟′2
𝜔𝑚𝑠 𝑠
′
3 𝑉 2 𝑅𝑟/𝑠
𝑇= [ ]
𝜔𝑚𝑠 (𝑅 +𝑅′𝑟 )2 +(𝑋 +𝑋 ′ )2
𝑠 𝑠𝑠 𝑟
𝑅𝑟′
𝑠𝑚 = ±
√𝑅𝑆2 +(𝑋𝑠 +𝑋𝑟′ )2
𝐾(𝑉/𝑓)2
𝑇𝑚𝑎𝑥 = 𝑅 𝑅
𝑠
±√ ( 𝑠 )2 +4𝜋2 (𝐿𝑠 +𝐿′𝑟 )2
𝑓 𝑓
where,
𝐾 – Constant
𝑅𝑠 - Stator resistance
𝑅𝑟′ - Stator referred rotor resistance
𝑋𝑠 - Stator reactance
𝑋𝑟′ - Stator referred rotor reactance
𝒔𝒎 – slip
𝐼́𝑟 - Stator referred rotor current
𝐿𝑠 - Stator inductance
𝐿′𝑟 - Stator referred rotor inductance
Positive sign for motoring operation and negative sign for braking operation. When
either V saturates or reaches rated value at base speed, it cannot be increased with frequency.
Therefore, above base speed, frequency is changed with V maintained constant.

PROCEDURE
Open Loop Control
1. Connect Three Phase AC Supply 415 V across the IPM input terminal R,Y, B in IPM
based Power Module.
2. Connect Three Phase Induction Motor terminal to IPM marked near U, V, W, connectors
placed in IPM Based Power Module.
3. Connect the 9 Pin D Cable from the QEP* Driver. Connect the 34 pin FRC from the
QEP* Driver unit to the 34 pin Header placed in the Micro -2407 Trainer.
4. Connect the 26 pin FRC Cable one end to 26 pin header placed in DSP and the other end
to ADC Input to DSP of IPM Based Power Module.
to PWM outputs from DSP of IPM Based Power Module.
7. Switch ON the DSP Trainer kit and the IPM Based Power Module.
8. Set the SW1 switch in the down position (Serial mode) in micro -2407trainer.
9. Select the “C 2407” from your target directory or from desktop in PC.
10. Now configure the Port Open, select the port to which Micro- 2407 and press Enter key.
11. Select the open Loop menu in the select AC Motor followed by V/ f control.
13. Select the send, now transmission completed massage appears, give OK.
14. Select execute; now executing massage appears give OK.
16. Vary the speed of motor by pressing SW2 or SW3 key placed in Micro -2407 Trainer and
note down the corresponding Voltage.
terminals.

Kg (s) rpm 𝑆 × 𝑟 × 9.8

𝑇=
𝐶𝑅
CR=1
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No.7
AIM: To perform Speed-Torque characteristics of Three Phase Induction Motor using
close loop controlled V/f method..
.
REQUIRED EQUIPMENT:
(vii). Micro -2407 Trainer
(viii). PEC160SM01 Module
(ix). 34 Pin & 26 Pin FRC Cable.
(x). CRO.
(xi). QEP sensor signal conditioner card
(xii). Three Phase Induction Motor(1HP)
(Rating: Voltage - 415 ±10%, kW – 0.75, Current- 1.8A, RPM-1415,
p.f.-0.80, Frequency -50Hz, No. of poles – 04, Insulation Class-F)
THEORY:
In standard speed-torque characteristics of three-phase induction motor, the motor
draws the rated current and delivers the rated torque at the base speed. When the load is
increased (over rated load), while running at base speed, the speed drops and the slip
increases. The torque developed by the motor is directly proportional to the magnetic field
produced by the stator. So, the voltage applied to the stator is directly proportional to the
product of stator flux and angular velocity. This makes the flux produced by the stator
proportional to the ratio of applied voltage and frequency of supply. By varying the
frequency, the speed of the motor can be varied. Therefore, by varying the voltage and
frequency by the same ratio, flux and hence, the torque can be kept constant throughout the
speed range.
4𝜋𝑓
𝜔𝑚𝑠 = 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑝
where,
ωms – Synchronous speed in rad/sec,
p - Number of poles
𝑓 − Supply frequency
Voltage induced in a stator is proportional to the product of supply frequency and air
gap flux. If stator drop is neglected, terminal voltage can be considered proportional to the
product of frequency and flux. Any reduction in supply frequency without a change in
terminal voltage causes an increase in the air gap flux. Induction motors are designed to
operate at the knee point of the magnetization characteristic to make full use of the magnetic
material therefore the increase in the flux will saturate the motor. This will increase the
magnetizing current, distort the line current and voltage, increase the core loss and the stator
copper loss and produces a high pitch acoustic noise while an increase in flux beyond the
rated value is undesirable. From the consideration of saturation effects, a decrease in flux is
also avoided to retain the torque capability of the motor. Therefore, the variable frequency
control below rated frequency is generally carried out at rated air gap flux by varying
terminal with frequency so as to maintain (V/f) ratio constant at the rated value.

𝜔𝑚𝑠 −𝜔𝑚
𝑠=
𝜔𝑚𝑠
𝑉
𝐼𝑟′ = 𝑅′
(𝑅𝑠 + 𝑟 )+𝑗(𝑋𝑠 +𝑋𝑟′ )
𝑠
3 𝑅𝑟′
𝑇= 𝐼𝑟′2
𝜔𝑚𝑠 𝑠
′
3 𝑉 2 𝑅𝑟/𝑠
𝑇= [ ]
𝜔𝑚𝑠 (𝑅 +𝑅′𝑟 )2 +(𝑋 +𝑋 ′ )2
𝑠 𝑠𝑠 𝑟
𝑅𝑟′
𝑠𝑚 = ±
√𝑅𝑆2 +(𝑋𝑠 +𝑋𝑟′ )2
𝐾(𝑉/𝑓)2
𝑇𝑚𝑎𝑥 = 𝑅 𝑅
𝑠
±√ ( 𝑠 )2 +4𝜋2 (𝐿𝑠 +𝐿′𝑟 )2
𝑓 𝑓
where,
𝐾 – Constant
𝑅𝑠 - Stator resistance
𝑅𝑟′ - Stator referred rotor resistance
𝑋𝑠 - Stator reactance
𝑋𝑟′ - Stator referred rotor reactance
𝒔𝒎 – slip
𝐼́𝑟 - Stator referred rotor current
𝐿𝑠 - Stator inductance
𝐿′𝑟 - Stator referred rotor inductance
Positive sign for motoring operation and negative sign for braking operation. When
either V saturates or reaches rated value at base speed, it cannot be increased with frequency.
Therefore, above base speed, frequency is changed with V maintained constant.

PROCEDURE
Close Loop Control

1. Connect Three Phase AC Supply of 415 V across the IPM input terminal R, Y, B in IPM
based Power Module.
2. Connect Three Phase Induction Motor terminal to IPM marked near U,V, W, connectors
placed in IPM Based Power Module.
3. Connect the 9 Pin D Cable from the QEP Driver. Connect the 34 pin FRC from the QEP
to ADC Input to DSP of IPM Based Power Module.
to PWM outputs from DSP of IPM Based Power Module.
6. Make sure the connections are correctly.
7. Switch ON the DSP Trainer kit and the IPM Based Power Module.
8. Set the SW1 switch in the down position (Serial mode) in micro -2407 trainer.
9. Select the “c 2407” from your target directory or from desktop in PC.
10. Now configure the Port Open, select the port to which Micro- 2407 and press Enter key.
11. Select the closed Loop menu in the select AC Motor followed by V/ f control.
13. Select the send, now transmission completed massage appears, give OK.
14. Select the execute, now executing massage appears give OK.
16. Vary the speed of motor by pressing SW2 or SW3 key placed in Micro -2407 Trainer and
note down the corresponding Voltage.
terminals.


Kg (s) (rpm) 𝑆 × 𝑟 × 9.8
T= 𝐶𝑅
𝐶𝑅 =1
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No. 8
AIM: To perform the speed controls of a 3-phase Induction motor using Sensorless vector
control.
REQUIRED EQUIPMENT:
(i). Three Phase Induction Motor (3hp)
Rating: Voltage - 415 ±10%, kW – 2.2, Current- 4.4A, RPM-1435,
p.f.-0.80, Frequency -50Hz + 5%, Insulation Class-F
(ii). Siemens Micro Master 440
(iii). Connecting cables
(iv). PC-IV
THEORY:
The dynamic response of a DC motor was generally considered significantly better
than an AC motor. An AC motor, however, is less expensive and requires less maintenance
than a DC motor. Using a complex mathematical motor model and proprietary internal
computer algorithms vector control is able to exert the necessary control over an AC motor so
that its performance is equal to that of a DC motor. Vector control, flux vector, and field
orientation are terms that describe this specialized control technique of AC drives. Vector
control systems facilitate independent control of flux producing and torque producing
elements in an induction motor. Sensorless vector control of an induction motor drive
essentially means vector control without any speed sensor. An incremental shaft-mounted
speed encoder (usually optical type) is required for close loop speed or position control in
both vector and scalar control drives. A speed signal is also required in indirect vector control
in the whole speed range, and in direct vector control for low speed range, including the zero
speed start-up operation. A speed encoder is undesirable in a drive because it adds cost and
reliability problems, besides the need for a shaft extension and mounting arrangement. It is
possible to estimate the speed signal from machine terminal voltages and currents with the
help of a DSP. However, the estimation is normally complex and heavily dependent on
machine parameters. The parameter variation problem particularly near zero speed imposes a
challenge in the accuracy of speed estimation. Sensorless vector control calculates rotor
speed based on the motor model, inverter output voltage, and inverter output current. This
results in improved dynamic performance compared to other control methods. When motor
speed is calculated at very low speeds, based on known corrections for stator resistance,
slight variations in stator resistance and other parameters will have an effect on speed
calculation. This makes vector control without a tachometer impractical below a few hertz.
Siemens sensorless vector control drives do operate smoothly to low speed. Sensorless vector
control drives will produce full torque below a few hertz, and 150% or more torque at all
speeds. The dynamic ds-qs frame state equations of a machine can be manipulated to compute
𝑠
the speed signal directly. The stator voltage equation for 𝑣𝑑𝑠 in a ds-qs equivalent circuit can
be written as:
𝑠
𝜓𝑑𝑟 = 𝜓𝑟 𝑐𝑜𝑠𝜃𝑒
𝑠
𝜓𝑞𝑟 = 𝜓𝑟 𝑠𝑖𝑛𝜃𝑒
𝑠2 𝑠2
𝜓̂ = √𝜓𝑑𝑟 + 𝜓𝑞𝑟

2 1 1
𝑖𝑠𝑞𝑠 = 𝑖𝑎 − 𝑖𝑏 − 𝑖𝑐
3 3 3
= 𝑖𝑎
1 1
𝑖𝑠𝑑𝑠 = − 𝑖 + √3 𝑖𝑐
√3 𝑏
1
= − √3 (𝑖𝑎 + 2𝑖𝑏 )
{∴ 𝑖𝑐 = −(𝑖𝑎 + 𝑖𝑏 ) }
𝑠 2 1 1
𝑣𝑞𝑠 = 3 𝑣𝑎 − 3 𝑣𝑏 − 3 𝑣𝑐
1
= 3 (𝑣𝑎𝑏 + 𝑣𝑎𝑐 )
𝑠
1 1
𝑣𝑑𝑠 =− 𝑣𝑎 + 𝑣𝑐
√3 √3
1
= − √3 𝑣𝑏𝑐
𝜓𝑑𝑠 = 𝐿𝑠 𝑖𝑑𝑠 + 𝐿𝑚 𝑖𝑑𝑟
𝜓𝑞𝑠 = 𝐿𝑠 𝑖𝑞𝑠 + 𝐿𝑚 𝑖𝑞𝑟
𝑠
𝐿𝑟 𝑠 𝑠
𝜓𝑑𝑟 = 𝜓 − 𝐿𝑙𝑟 𝑖𝑑𝑠
𝐿𝑚 𝑑𝑚
𝑠
𝐿𝑟 𝑠 𝑠
𝜓𝑞𝑟 = 𝜓 − 𝐿𝑙𝑟 𝑖𝑞𝑠
𝐿𝑚 𝑞𝑚
𝑠 𝑠
𝑑 𝑠 𝑑 𝑠
𝑣𝑑𝑠 = 𝑖𝑑𝑠 𝑅𝑠 + 𝐿𝑙𝑠 (𝑖𝑑𝑠 ) + (𝜓𝑑𝑚 )
𝑑𝑡 𝑑𝑡
𝑠 𝑠
𝐿𝑚 𝑑
𝑣𝑑𝑠 = 𝑖𝑑𝑠 (𝑅𝑠 + 𝜎𝐿𝑠 𝑆) + (𝜓 𝑠 )
𝐿𝑟 𝑑𝑡 𝑑𝑟
𝑠 𝑠
𝐿𝑚 𝑑 𝑠
𝑣𝑞𝑠 = 𝑖𝑞𝑠 (𝑅𝑠 + 𝜎𝐿𝑠 𝑆) + (𝜓𝑞𝑟 )
𝐿𝑟 𝑑𝑡
𝐿2
(∴ 𝜎 = 𝑙 − 𝐿 𝑚𝐿 )
𝑟 𝑠
𝑠 𝑠 𝑠
𝜓𝑑𝑠 = ∫(𝑣𝑑𝑠 − 𝑖𝑑𝑠 𝑅𝑠 )𝑑𝑡
𝑠 𝑠 𝑠
𝜓𝑞𝑠 = ∫(𝑣𝑞𝑠 − 𝑖𝑞𝑠 𝑅𝑠 )𝑑𝑡
𝑠 𝑠 𝑠 𝑠 𝑠 𝑠
[(𝑣𝑞𝑠 − 𝑖𝑞𝑠 𝑅𝑠 )𝜓𝑑𝑠 − (𝑣𝑞𝑠 − 𝑖𝑞𝑠 𝑅𝑠 )𝜓𝑞𝑠 ]
𝜔𝑒 =
𝑠 2
𝑠 2
√𝜓𝑑𝑠 + 𝜓𝑞𝑠

Fig. Block diagram of sensorless vector controlled 3-phase induction motor.

Observation Table

Kg (s) rpm Load × drum
Constant(1.5Nm)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

Experiment No. 9
AIM: To perform Speed-Torque characteristic of Permanent Magnet synchronous motor
(PMSM) using close loop control.
REQUIRED EQUIPMENT:
(i) PEC16DSMO1 module Trainer
(ii) Micro -2812 Trainer
(iii) Resolver to digital Convertor
(iv) 26 Pin FRC Cables
(v) 34 Pin FRC Cables
(vi) CRO
(vii) PC-IV
(viii) PMSM motor.
[Rating: Nominal operating voltage(Vd) = 325V, Continuous Stall Torque
(Mo)=1.65 Nm, Continuous Stall Current (Io) =3.2A, Peak Stall Torque (N
max)=4.7 Nm, Peak Stall Current (Imax) =10.6A, Rated Torque(Nm)-
1.44Nm,Rated Current (In)=2.7A, Rated Power (Pn)-950W,Rated
speed(Nn)=6300 rpm, Max. Permissible Speed(Nmax)-8000rpm,Torque Constant
(Kt)=0.53 Nm/Arms, Terminal to terminal Resistance (Rtt)=4.9, Terminal to
terminal Inductance(Ltt)=8.5mH, Moment of Inertia w/o Break=0.39kg.Cm2]
THEORY:
Permanent magnet synchronous motors are now commonly known as permanent magnet ac
(PMAC) motors. In this motor, field excitation is obtained by mounting permanent magnet on the
rotor. This eliminates dc source, losses associated with the field winding and frequent maintenance
associated with slip rings and brushes in a wound field motor. But power factor cannot be controlled
because field excitation cannot be changed. These motors are usually designed to operate at a unity
power factor at full load. PMAC motors are classified based on the nature of voltage induced in the
stator as sinusoidally excited and trapezoidally excited; in the former induced voltage has a sinusoidal
waveform and in the later induced voltage has trapezoidal waveform. These motors are commonly
known as sinusoidal PMAC and trapezoidal PMAC motors. A sinusoidal PMAC motor has
distributed winding (similar to wound field synchronous motor) in the stator. It employs rotor
geometries such as inset or interior. Rotor poles are so shaped that the voltage induced in a stator
phase has a sinusoidal waveform. The speed of PMAC motors is controlled by feeding them from
variable frequency voltage/currents. They are operated in self controlled mode. Rotor position sensors
are employed for operation in self control mode. Since the voltage induced in the stator phases of a
sinusoidal PMAC motor are sinusoidal, ideally, three stator phases must be supplied with variable
frequency sinusoidal voltage or currents with a phase difference of a 1200 between them. In
synchronous machine drive as the name indicates the speed of the machine is uniquely related to the
frequency supplied by the inverter or cyclo-converter. Unlike an induction machine, it will run at
synchronous speed, or will not run at all. There are essentially two control modes for synchronous
machine drives: one is the open loop, true synchronous machine mode, where the motor speed is
controlled by the independent frequency control of the converter; the other is the self control mode,
where the variable-frequency converter control pulses are derived from an absolute rotor position
encoder mounted on the machine shaft.

𝐸∠−𝛿 𝐸 𝜋
𝐼𝑓̅ = = ∠ − (𝛿 + )
𝑗𝑋𝑠 𝑋𝑠 2
̅ = 𝐼𝑠̅ + 𝐼𝑓̅
𝐼𝑚
𝑃𝑚 = 3𝐸𝐼𝑠 cos(𝛿 ′ − ́𝜋/2)

𝑃𝑚 = 3𝑋𝑠 𝐼𝑠 𝐼𝑓 sin 𝛿′
𝑃𝑚
𝑇= = 𝐾𝐼𝑠 𝐼𝑓 𝑠𝑖𝑛𝛿′
𝜔𝑚𝑠
where,
3𝑋𝑠
𝐾=
𝜔𝑚𝑠
For 𝛿′ = ±900
𝑇 = ±𝐾𝐼𝑠 𝐼𝑓 = 𝐾𝑇 𝐼𝑠
Hence torque is proportional to 𝐼𝑠 . For given value of 𝐼𝑠 maximum torque is obtained
𝜋
when 𝛿′ = . Similarly in breaking operation, maximum torque per unity of stator current is
2
𝜋
obtained when 𝛿′ =− , hence this is the preferred operating condition for breaking operation.
2
The condition 𝐼𝐶∗ is obtained by reversing stator current 𝐼𝑠 . It should be noted that 𝛿́ is the angle
between the rotating fields produced by the stator and rotor and the maximum torque is obtained
𝜋
when the axis of two fields make an angle of ± .
2
Current regulated voltage source inverter is operated to supply motor three currents of the
magnitude and phase as commanded by reference currents 𝐼𝐴∗ , 𝐼𝐵∗ and 𝐼𝐶∗ which is generated by a
reference current generator. The actual speed 𝜔𝑚 is compared with reference speed 𝜔𝑚 ∗
. The speed
error is processed through the speed controller. The output of the speed controller sets a reference for
the amplitude and polarity of the stator current 𝐼𝑠∗ . The stator current templates for the three phases
𝜋
are generated by rotor position sensors in such a way that 𝛿′ = − . When speed error is positive
2
∗
the machine will work as a motor and the drive will accelerate to reference speed 𝜔𝑚 . If speed error
∗
is negative, braking will decelerate the motor to reference speed 𝜔𝑚 .Since sinusoidal current
template is to be generated based on the rotor position, an absolute rotor position sensor or resolver is
required. Because of the feature like excellent dynamic performance, and low torque ripple, the drive
is widely used in high performance servo drives in spite of its high cost. For the production of
maximum torque for a given stator current, the rotating fields produced by the stator and rotor should
have an angle of 900. The stator field will be along phase A axis when the current in phase A reaches
its positive peak. The rotor south pole axis, at this instant must be 900electrical behind. Therefore,
rotor South Pole axis must be 1800 electrical behind phase A axis at the positive zero crossing of
phase A current. This information is utilized to locate the rotor position sensor or resolver.

Fig. Block diagram of self-controlled PMSM
Fig. Speed-Torque characteristic of PMSM.

PROCEDURE
1. Connect the single –phase AC supply to the R, Y connector of here –phase AC input
terminals of the intelligent power module through the Autotransformer.
2. Connect Micro -2812 Trainer module to power supply.
3. Connect serial port connector of PC to the 9-pin serial connector of Micro -2812 trainer using
serial port cable.
4. Connect one end of 26 pin FRC cable one end to P6 connector placed at the Micro-2812
trainer and the other end to FEED BACK SIGNALS connector in the intelligent power
module.
5. Connect one end of 34 pin FRC cable one end to P8 connector placed at the Micro-2812
trainer and the other end to IGBT PWM INPUTS connector in the intelligent power module.
6. Connect the power connector from the motor to the R, Y & B terminals placed in the
intelligent power module.
7. Connect the feedback signal connector placed in motor to the Signal Connector of Resolver to
digital convertor (RDC) module.
8. Connect the position output connector (P3) from the RDC to the 50 –pin connector of Micro-
2812 Trainer.
9. Connect the serial port of PC to Micro-2812 Trainer using PC-PC Rs 232 cable.
10. Switch ON the power ON/OFF switch in the intelligent power module.
11. Check whether shut down LED “SD” glows or not. If “SD” LED glows press the reset switch,
the LED gets OFF.
12. Switch ON the MCB and the power ON/OFF switch in the Intelligent power Module.
13. Slowly increase the 1 Ø AC input using autotransformer and set the autotransformer to supply
230V to the module.
14. Switch ON the PC and then press reset switch of the Micro-2812 Trainer.
15. Click open the “PMSM MMOTOR CONTROL” using Micro -2812 from the desktop (or)
from the target directory. The window displays PMSM Motor Control.
16. After few second the window is displayed Port Setting. Select the Com-1 port and baud rate.
17. Select the port setting and click on “connect” button to connect the trainer with PC. The
screen shows “PLEASE CONNECT AND RESET MICRO-2812”
18. Now reset the Micro-2812 Trainer kit. The screen shows “DOWNLOAD” (Before
downloading the program check whether the setup is ready for operation.)
19. To download the program click on “DOWNLOAD” button. The shows downloading process.
20. After successful completion of program download, “File Successfully Downloaded” message
is displayed on screen.
21. Click on the “OK” button, the screen displays the execution message.

22. To execute the program click on the “OK” button, PC plots the speed of the motor. Speed
value can be measured from the meter provided in the VB front end. The maximum &
minimum speed values can be displayed in the PC.
23. To repeat the experiment, press “Reconnect” button. Now the control goes to step 1 and the
procedure can be repeated.
24. After execution PWM signal is given to “Intelligent Power Module” through 34 pin
connector. Motor start to rotate.
25. Vary the motor speed using SW2 & SW3 switches on the Micro-2812 trainer.
26. Connect the (0-30V) Dc regulated power supply terminals to the eddy current coil terminals.
27. Apply load to the motor by gradually applying voltage to the Eddy Current coil and study
the speed performance of the motor.
28. The speed of the motor is controlled by the feedback given to the Micro-2812 trainer from the
Resolver.
(To view the high voltage wave forms in the CRO, isolate the input power supply by using a
transformer in the input side.)
Observation Table
Kg (s) (rpm) 𝑇
𝑆 × 𝑟 × 9.8
=
𝐶𝑅
𝐶𝑅 =2
1.
2.
3.
4.
5.
RESULTS:
CONCLUSION:

Experiment No. 10
AIM: To perform Speed-Torque characteristic of Permanent Magnet Brush Less DC motor
(PMBLDC) using open loop control.
REQUIRED EQUIPMENT:
i. PEC160SM01 Trainer
ii. Micro -2407 Trainer
iii. Hall Sensor Signal Conditioner
iv. BLDC Motor.
(Rating: 1.2 HP, Voltage=380V, Rotor Inertia=1.28kg.cm2,
Continuous stall current=2.4A, Continuous stall torque=1.5Nm,
Peak constant=6 Nm, Max. Speed= 6000 rpm)
v. Cables
1) 34 Pin & 26 Pin FRC 1 to 1 to 1.
2) 26 pin FRC 1 to 1.
3) Supply Connector Cable.
4) Feedback Connector Cable.
THEORY:
A permanent magnet AC motor, which has a trapezoidal back emf, is referred to as
brushless DC motor (BLDC). Trapezoidal PM machine basically a surface magnet non-
salient pole machine that induces three phase trapezoidal voltage waves at the machine
terminal due to concentrated full-pitch winding in the stator. Between sinusoidal and
trapezoidal PM machine with self-control the latter gives performance closer to that a dc
motor. For this region it is widely known as BLDC. In self-control mode the inverter acts as
an electronic commutator that receives switching logical pulses from the absolute position
sensor. The BLDC drive system is based on the feedback of rotor system at fixed points for
commutation of the phase currents. The BLDC motor requires quasi-rectangle shaped current
fed into the machine. Alternatively, the voltage may be applied to the motor every 120o, with
current limit to hold the current within motors capabilities. Because the phase currents are
excited in synchronism with the constant part of the back emf, constant torque is generated.
The electromagnetic torque of the BLDC motor is related to the product of phase, back emf
and current. The back emf in each phase are trapezoidal in shape and are displaced by
120electrical degree with respect to each other in 3 phase machine. A rectangle current pulse
is injected into each phase so that current coincides with the back emf wave form; hence the
motor develops an almost constant torque.
Let the stator windings be fed with current pulses. These pulses are each of 1200
duration and are located in the region where induced voltage is constant and maximum.
Further, the polarity of current pulses is the same as that of induced voltage. Since the air-gap
flux is constant, the voltage induced is proportional to the speed of rotor.
𝐸 = 𝐾𝑒 𝜔𝑚
Current enters one phase and comes out of another phase, therefore, power supplied to the motor in
each such interval
𝑃 = 𝐸𝐼𝑑 + (−𝐸)(−𝐼𝑑 )

= 2𝐸𝐼𝑑
= 2𝐾𝑒 𝜔𝑚 𝐼𝑑
𝑃
𝑇𝑒 =
𝜔𝑚
= 2𝐾𝑒 𝐼𝑑
= 𝐾𝑇 𝐼𝑑
Torque is proportional to current 𝐼𝑑 . It can be shown that a dc current flows in the dc-link.
Regenerative braking is obtained by reversing phase currents. This wills also reverse the source
current 𝐼𝑑 . Now power flows from the machine to inverter and from inverter to dc source.When speed
is reversed, the polarity of induced voltage reverse. Drives gives regenerative braking operation with
current polarity and when current direction is reversed motoring operation is obtained.
Hall sensor
Hall-effect sensor provides the portion of information needed to synchronize the motor
excitation with rotor position in order to produce constant torque. The Hall effect sensors can detect
the magnitude and direction of field. Hence three Hall-effect sensors can detect the six rotor positions.
The sensors are mounted at 600 electrical intervals and aligned suitably with the stator winding.
Optical sensors are also available. Sensors used with trapezoidal PMAC motor are cheaper compared
to those required with sinusoid PMAC motor. Since trapezoidal motor is also cheaper, the drive has
much lower cost. Although dynamic response is comparable, the torque ripple is considerably higher
in this drive. The rotor magnets are used as triggers to the Hall Sensor. A signal conditioning circuit
integrated within the Hall switch provides a TTL- compatible pulse with sharp edges. Three Hall
sensors, placed 120o apart, are mounted on the stator frame. The Hall Sensor digital signals are used to
sense the rotor position.
Fig. Induced voltage and phase current waveforms of a Brushless dc motor.

Speed (𝜔𝑚 )
Fig. Speed-Torque characteristic of PMBLDC motor.
PROCEDURE
PEC160SM01 Trainer.
2. Connect the U, V, W terminals (through switching output connector) in the PEC160SM01
Trainer to the 7 –pin supply connector at the motor.
3. Connect the 17 pins Feedback connector at the motor into Hall Sensor signal conditioner
(Through 9 pin D connector)
4. Connect the 34 pin FRC header (P8) in Micro -2407 Trainer one end of Hall Sensor
signal conditioner and the other end to “PWM” output from DSP” in the PEC160SM01
Trainer.
5. Connect the serial port of PC to the serial port connector (P2) in the Micro-2407Trainer.
6. Connect the 26 pin FRC cable one end to (P6) connector placed in Micro-2407 Trainer
and the other end to ADC input to DSP in PEC160SM01 module.
10. Switch ON the PC and set the switch SW1 in down position (Serial mode) of micro -
2407DSP Trainer, then press reset switch.
11. Select the “BLDC exe” icon in the PC.
12. Select “file” and click “OPEN PORT”
13. From the displayed window, select the connected port (Com-1). Then click “ok”.
14. Here we can select the desired controller “OPEN LOOP” or “CLOSED LOOP”
OPEN LOOP CONTROL
1. Ensure that the SPDT switch in 2407 kit is in downward position.

2. From the graphical display, click “DOWN LOAD” & reset the 2407 kit once & select the
“BLDC OL. ACS” file from respective path.
3. After clicking the command “DOWN LOADED SUCCESFULLY”, click “EXECUTE”
to execute the download file.

4. Now check the PWM output & Hall Sensor output which are all terminated in the power
module.
5. After ensuring all the connections, apply the input voltage slowly to 450V (DC rail
voltage, which is shown in the Power module’s voltmeter, should not exceed 450VDC.)
6. To control the speed of the motor, use the UP/DOWN switch in the 2407 kit.
7. To run the motor in forward/reverse direction, or to RUN/Brak, use the option given in
the software.
8. The set speed and motor speeds are shown in the LCD and in the PLC with graphical
representations.
9. The phase current, DC current waveforms are plotted in the “plotting Section”
terminals.
(Kg) (rpm) (Volts) (Amp) 𝑆 × 𝑟 × 9.8

T=
𝐶𝑅
𝐶𝑅 =2
1.
2.
3.
4.
5.
RESULTS:
CONCLUSION:

Experiment No. 11
AIM: To perform Speed-Torque characteristic of Permanent Magnet Brush Less DC motor
(PMBLDC) using close loop control.
REQUIRED EQUIPMENT:
vi. PEC160SM01 Trainer
vii. Micro -2407 Trainer
viii. Hall Sensor Signal Conditioner
ix. BLDC Motor.
(Rating: 1.2 HP, Voltage=380V, Rotor Inertia=1.28kg.cm2,
Continuous stall current=2.4A, Continuous stall torque=1.5Nm,
Peak constant=6 Nm, Max. Speed= 6000 rpm)
x. Cables
5) 34 Pin & 26 Pin FRC 1 to 1 to 1.
6) 26 pin FRC 1 to 1.
7) Supply Connector Cable.
8) Feedback Connector Cable.
THEORY:
A permanent magnet AC motor, which has a trapezoidal back emf, is referred to as
brushless DC motor (BLDC). Trapezoidal PM machine basically a surface magnet non-
salient pole machine that induces three phase trapezoidal voltage waves at the machine
terminal due to concentrated full-pitch winding in the stator. Between sinusoidal and
trapezoidal PM machine with self-control the latter gives performance closer to that a dc
motor. For this region it is widely known as BLDC. In self-control mode the inverter acts as
an electronic commutator that receives switching logical pulses from the absolute position
sensor. The BLDC drive system is based on the feedback of rotor system at fixed points for
commutation of the phase currents. The BLDC motor requires quasi-rectangle shaped current
fed into the machine. Alternatively, the voltage may be applied to the motor every 120o, with
current limit to hold the current within motors capabilities. Because the phase currents are
excited in synchronism with the constant part of the back emf, constant torque is generated.
The electromagnetic torque of the BLDC motor is related to the product of phase, back emf
and current. The back emf in each phase are trapezoidal in shape and are displaced by
120electrical degree with respect to each other in 3 phase machine. A rectangle current pulse
is injected into each phase so that current coincides with the back emf wave form; hence the
motor develops an almost constant torque.
Let the stator windings be fed with current pulses. These pulses are each of 1200
duration and are located in the region where induced voltage is constant and maximum.
Further, the polarity of current pulses is the same as that of induced voltage. Since the air-gap
flux is constant, the voltage induced is proportional to the speed of rotor.
𝐸 = 𝐾𝑒 𝜔𝑚
Current enters one phase and comes out of another phase, therefore, power supplied to the motor in
each such interval
𝑃 = 𝐸𝐼𝑑 + (−𝐸)(−𝐼𝑑 )

= 2𝐸𝐼𝑑
= 2𝐾𝑒 𝜔𝑚 𝐼𝑑
𝑃
𝑇𝑒 =
𝜔𝑚
= 2𝐾𝑒 𝐼𝑑
= 𝐾𝑇 𝐼𝑑
Torque is proportional to current 𝐼𝑑 . It can be shown that a dc current flows in the dc-link.
Regenerative braking is obtained by reversing phase currents. This wills also reverse the source
current 𝐼𝑑 . Now power flows from the machine to inverter and from inverter to dc source. When
speed is reversed, the polarity of induced voltage reverse. Drives gives regenerative braking operation
with current polarity and when current direction is reversed motoring operation is obtained.
Hall sensor
Hall-effect sensor provides the portion of information needed to synchronize the motor
excitation with rotor position in order to produce constant torque. The Hall effect sensors can detect
the magnitude and direction of field. Hence three Hall-effect sensors can detect the six rotor positions.
The sensors are mounted at 600 electrical intervals and aligned suitably with the stator winding.
Optical sensors are also available. Sensors used with trapezoidal PMAC motor are cheaper compared
to those required with sinusoid PMAC motor. Since trapezoidal motor is also cheaper, the drive has
much lower cost. Although dynamic response is comparable, the torque ripple is considerably higher
in this drive. The rotor magnets are used as triggers to the Hall Sensor. A signal conditioning circuit
integrated within the Hall switch provides a TTL- compatible pulse with sharp edges. Three Hall
sensors, placed 120o apart, are mounted on the stator frame. The Hall Sensor digital signals are used to
sense the rotor position.
Fig. Induced voltage and phase current waveforms of a Brushless dc motor.

Speed (𝜔𝑚 )
Fig. Speed-Torque characteristic of PMBLDC motor.
PROCEDURE
PEC160SM01 Trainer.
2. Connect the U, V, W terminals (through switching output connector) in the PEC160SM01
Trainer to the 7 –pin supply connector at the motor.
3. Connect the 17 pins Feedback connector at the motor into Hall Sensor signal conditioner
(Through 9 pin D connector)
4. Connect the 34 pin FRC header (P8) in Micro -2407 Trainer one end of Hall Sensor
signal conditioner and the other end to “PWM” output from DSP” in the PEC160SM01
Trainer.
5. Connect the serial port of PC to the serial port connector (P2) in the Micro-2407Trainer.
6. Connect the 26 pin FRC cable one end to (P6) connector placed in Micro-2407 Trainer
and the other end to ADC input to DSP in PEC160SM01 module.
10. Switch ON the PC and set the switch SW1 in down position (Serial mode) of micro -
2407DSP Trainer, then press reset switch.
11. Select the “BLDC exe” icon in the PC.
12. Select “file” and click “OPEN PORT”
13. From the displayed window, select the connected port (Com-1). Then click “ok”.
14. Here we can select the desired controller “OPEN LOOP” or “CLOSED LOOP”

CLOSE LOOP CONTROL
1. From the graphical display, click “DOWN LOAD” & reset the 2407 kit once & select the
“BLDC CL. ACS” file from respective path.
2. After clicking the command “DOWN LOADED SUCCESFULLY”, click “EXECUTE” to
execute the download file.
3. Verify all the PWM output & Hall Sensor, output which are all terminated in the power
module.
4. After ensuring all the connections, apply the input voltage slowly to 450V (DC rail voltage,
which is shown in the Power module’s voltmeter, should not exceed 450VDC.)
5. To run the motor in forward/reverse direction, or to RUN/Brake , use the option given in the
software.
6. Various current waveforms are plotted in the Plotting section.
7. Connect the (0-30V) DC Regulated power supply terminals to the eddy current coil terminals.
(Kg) (rpm) (Volts) (Amp) 𝑆 × 𝑟 × 9.8

T=
𝐶𝑅
𝐶𝑅 =2
1.
2.
3.
4.
5.
RESULTS:
CONCLUSION:

Experiments No. 12
AIM: To perform Speed-Torque characteristic of Switched Reluctance Motor (SRM) using
Open loop control
REQUIRED EQUIPMENT:
i. PEC16DSMO15 module Trainer
iii. PC
iv. Patch Chord
v. 26 Pin FRC Cables
vi. 34 Pin FRC Cables
vii. Eddy Current Loading Device
viii. Switched Reluctance motor.
(Rating: Rated voltage=150V (Each coil), Current=4Amp, Power=750W (1HP),
Speed=8000rpm (peak)/4000rpm (Continuous), Phase=4 Phase 8/6 pole)
THEORY:
Basic construction
SRM is a doubly salient, singly excited machine with independent windings of the
stator. Its stator structure is same as permanent magnet motor, but the rotor is simpler having
no permanent magnet on it. Stator windings on diagrammatically opposite poles are
connected in series or parallel to form one phase of the motor. Several combinations of
stator and rotor poles are possible such as 6/4, 8/4, 10/6, 12/6 etc. The configurations with
higher number of stator/rotor pole combinations have less torque ripple. The design
objectives are to minimize the core losses, to have a good starting capability and to eliminate
mutual coupling.
Working of Switched Reluctance Motor

When stator phase pair is excited the rotor tends to align with a stator phase. When the rotor
aligns with a phase, the pair next pair is excited so as to maintain a continuous rotation of
the motor. As the motor rotates, each stator phase undergoes a cyclic variation of inductance.
In the fully aligned position (when a rotor pole axis is directly aligned with the stator pole
axis) the reluctance of the magnetic circuit through the stator and rotor poles will at a
minimum, and thus the inductance of the stator winding will be at a maximum. The opposite
will occur in the fully unaligned position (when the rotor inter pole axis is aligned with the
stator pole). Thus the inductance becomes a function position. Hence, for the excitation of
SR motor phase, the feedback position is compared with the inductance profile of the SR
motor. From the comparison the respective phase pairs are excited.
The switched reluctance motor has both salient pole stator and rotor. It’s stator has
salient pole with concentrated coils and rotor has no winding. The rotor of this motor has
lesser poles than the stator. The inductance of a stator phase winding is a function of rotor
position due to the saliency of stator and rotor. In the fully aligned position the phase winding
inductance is maximum and the reluctance of the magnetic circuit is minimum. Similarly in
the non-aligned position, the inductance is minimum and reluctance is maximum. Variation
of phase 1 winding inductance for various values of 𝜃 is shown in Fig. where 𝜃 is the angle

between the reference axis and the axis of rotor pole. Reference axis has been chosen in non-
aligned position. Rotor has six poles, therefore, when rotor completes one revolution,
inductance will pass through six maximum and six minimum values. The angle between the
axis of two consecutive rotor poles is 600 and that of stator pole is 450. Consider the phase
winding excited by a voltage source of voltage 𝑣 . Then
𝑑𝜑
𝑣 = 𝑅𝑖 +
𝑑𝑡
where,
𝑖 – current through the phase winding
𝑅 – resistance of the phase winding
𝜑 – Total flux linkage of the phase winding
𝑑(𝐿𝑖)
𝑣 = 𝑅𝑖 +
𝑑𝑡
𝑑𝑖 𝑑𝐿
𝑣 = 𝑅𝑖 + 𝐿 +𝑖
𝑑𝑡 𝑑𝑡
𝑑𝑖 𝑑𝐿 𝑑𝜃
= 𝑅𝑖 + 𝐿 + 𝑖[ ][ ]
𝑑𝑡 𝑑𝜃 𝑑𝑡
𝑑𝑖 𝑑𝐿
= 𝑅𝑖 + 𝐿 + 𝜔𝑚 𝑖 [ ]
𝑑𝑡 𝑑𝜃
𝑑𝐿
𝑒 = 𝜔𝑖 [ ]
𝑑𝜃
𝑑𝑖 𝑑𝐿
𝑣𝑖 = 𝑅𝑖2 + 𝑖𝐿 + 𝜔𝑚 𝑖2 [ ]
𝑑𝑡 𝑑𝜃
𝑑 1
𝑣𝑖 = 𝑅𝑖 2 + ( 𝐿𝑖 2 ) + 𝑇𝜔𝑚
𝑑𝑡 2
where,
𝑇 – Instantaneous value of developed torque in N-m
𝐿 - Phase winding inductance for various value of 𝜃.

The instantaneous power supplied to the machine 𝑣𝑖 is utilized to provide the following:
(i). Winding heat loss, 𝑅𝑖 2

𝑑 1
(ii). Rate of change of the stored magnetic field energy, ( 𝐿𝑖2 )
𝑑𝑡 2
(iii). The mechanical power output
1 𝑑𝐿
𝑇 = 𝑖2
2 𝑑𝜃

𝑳
0 1200 2400 3600 𝜃
𝜃
𝑻
Fig. Motoring & braking operation of SRM and Production of positive &
negative torques.

PROCEDURE:
1. Connect the 3-pin.power chord of the Micro-2812 trainer to the supply.

2. Connect the power module to the power supply.
3. Connect the 34 pin FRC cable one end to 34 pin connector in Micro-2812 trainer and the
other end to IGBT PWM INPUTS of the PEC16DSMO15.
4. Connect the 26 pin FRC cable one end to P6 connector in Micro-2812 trainer and the other
end to FEED BACK SIGNALS of the PEC16DSMO15.
5. Connect the motor feedback to the motor feedback connector provided in the SRM power
module.
6. Connect the motor output terminal of PEC16DSMO15 to the power input terminal of
Switched Reluctance Motor.
7. Switch ON the micro -2812 trainer.
8. Switch ON the MCB and the power ON/OFF switch in the SRM Power Module
PEC16DSMO15.
9. Check whether shut down LED “SD” glows or not. If “SD” LED glows press the Reset
10. Switch ON the PC and then press Reset switch of Micro-2812 Trainer.
11. Download and execute the program by following the “Download Procedure” (Select serial
menu, click serial port then you have to check serial communication port COM 1, and bard
rate 38400, now click open port.)
Open Loop Control
1. Down load and execute the open loop control.

2. Vary the speed of the motor by pressing SW2 or SW3 switches in Micro-2812 trainer.
3. View the current speed of motor in Micro-2812 trainer LCD Display.
4. The DC voltmeter placed in PEC16DSMO15 module displays the DC link voltage.
5. View the feedback signals in CRO at the points Z1, Z2, with respect to GND, which
is placed in the front panel of PEC16DSMO15 module.
terminals.
8. For various loads note down the speed and current variations.

Kg (s) (rpm) 𝑆 × 𝑟 × 9.8

𝑇= 𝐶𝑅
𝐶𝑅 =2
1.
2.
3.
4.
5.
Close Loop Control

1. Down load and execute the program for closed loop control.
2. Set the speed of the motor pressing SW2, or SW3 switch in the Micro-2812 trainer.
3. By applying load to the motor speed varies which is controlled and is made equal to the set
speed by the controller.
4. View the current speed and set speed in Micro-2812 trainer LCD display.
8. View the feedback signals in CRO at the points Z1, Z2, with respect to GND, which is placed
in the front panel of PEC16DSMO15 module.
Kg (s) rpm 𝑆 × 𝑟 × 9.8

T=
𝐶𝑅
𝐶𝑅 =2
1.
2.
3.
4.
5.
RESULTS:
CONCLUSION:

Experiments No. 13
AIM: To perform Speed-Torque characteristic of Switched Reluctance Motor (SRM) using
close loop control
REQUIRED EQUIPMENT:
i. PEC16DSMO15 module Trainer
iii. PC
iv. Patch Chord
v. 26 Pin FRC Cables
vi. 34 Pin FRC Cables
vii. Eddy Current Loading Device
viii. Switched Reluctance motor.
(Rating: Rated voltage=150V (Each coil), Current=4Amp, Power=750W(1HP),
Speed=8000rpm (peak)/4000rpm (Continuous), Phase=4 Phase 8/6 pole)
THEORY:
Basic construction
SRM is a doubly salient, singly excited machine with independent windings of the
stator. Its stator structure is same as permanent magnet motor, but the rotor is simpler having
no permanent magnet on it. Stator windings on diagrammatically opposite poles are
connected in series or parallel to form one phase of the motor. Several combinations of
stator and rotor poles are possible such as 6/4, 8/4, 10/6, 12/6 etc. The configurations with
higher number of stator/rotor pole combinations have less torque ripple. The design
objectives are to minimize the core losses, to have a good starting capability and to eliminate
mutual coupling.
Working of Switched Reluctance Motor

When stator phase pair is excited the rotor tends to align with a stator phase. When the rotor
aligns with a phase, the pair next pair is excited so as to maintain a continuous rotation of
the motor. As the motor rotates, each stator phase undergoes a cyclic variation of inductance.
In the fully aligned position (when a rotor pole axis is directly aligned with the stator pole
axis) the reluctance of the magnetic circuit through the stator and rotor poles will at a
minimum, and thus the inductance of the stator winding will be at a maximum. The opposite
will occur in the fully unaligned position (when the rotor inter pole axis is aligned with the
stator pole). Thus the inductance becomes a function position. Hence, for the excitation of
SR motor phase, the feedback position is compared with the inductance profile of the SR
motor. From the comparison the respective phase pairs are excited.
The switched reluctance motor has both salient pole stator and rotor. It’s stator has
salient pole with concentrated coils and rotor has no winding. The rotor of this motor has
lesser poles than the stator. The inductance of a stator phase winding is a function of rotor
position due to the saliency of stator and rotor. In the fully aligned position the phase winding
inductance is maximum and the reluctance of the magnetic circuit is minimum. Similarly in

the non-aligned position, the inductance is minimum and reluctance is maximum. Variation
of phase 1 winding inductance for various values of 𝜃 is shown in Fig. where 𝜃 is the angle
between the reference axis and the axis of rotor pole. Reference axis has been chosen in non-
aligned position. Rotor has six poles, therefore, when rotor completes one revolution,
inductance will pass through six maximum and six minimum values. The angle between the
axis of two consecutive rotor poles is 600 and that of stator pole is 450. Consider the phase
winding excited by a voltage source of voltage 𝑣 . Then
𝑑𝜑
𝑣 = 𝑅𝑖 +
𝑑𝑡
where,
𝑖 – current through the phase winding
𝑅 – resistance of the phase winding
𝜑 – Total flux linkage of the phase winding
𝑑(𝐿𝑖)
𝑣 = 𝑅𝑖 +
𝑑𝑡
𝑑𝑖 𝑑𝐿
𝑣 = 𝑅𝑖 + 𝐿 +𝑖
𝑑𝑡 𝑑𝑡
𝑑𝑖 𝑑𝐿 𝑑𝜃
= 𝑅𝑖 + 𝐿 + 𝑖[ ][ ]
𝑑𝑡 𝑑𝜃 𝑑𝑡
𝑑𝑖 𝑑𝐿
= 𝑅𝑖 + 𝐿 + 𝜔𝑚 𝑖 [ ]
𝑑𝑡 𝑑𝜃
𝑑𝐿
𝑒 = 𝜔𝑖 [ ]
𝑑𝜃
𝑑𝑖 𝑑𝐿
𝑣𝑖 = 𝑅𝑖2 + 𝑖𝐿 + 𝜔𝑚 𝑖2 [ ]
𝑑𝑡 𝑑𝜃
𝑑 1
𝑣𝑖 = 𝑅𝑖 2 + ( 𝐿𝑖 2 ) + 𝑇𝜔𝑚
𝑑𝑡 2
where,
𝑇 – Instantaneous value of developed torque in N-m
𝐿 - Phase winding inductance for various value of 𝜃.

The instantaneous power supplied to the machine 𝑣𝑖 is utilized to provide the following:
(iv). Winding heat loss, 𝑅𝑖 2

𝑑 1
(v). Rate of change of the stored magnetic field energy, ( 𝐿𝑖2 )
𝑑𝑡 2
(vi). The mechanical power output
1 𝑑𝐿
𝑇 = 𝑖2
2 𝑑𝜃

𝑳
0 1200 2400 3600 𝜃
𝜃
𝑻
Fig. Motoring & braking operation of SRM and Production of positive &
negative torques.

PROCEDURE:
1. Connect the 3-pin.power chord of the Micro-2812 trainer to the supply.

2. Connect the power module to the power supply.
3. Connect the 34 pin FRC cable one end to 34 pin connector in Micro-2812 trainer and the
other end to IGBT PWM INPUTS of the PEC16DSMO15.
4. Connect the 26 pin FRC cable one end to P6 connector in Micro-2812 trainer and the other
end to FEED BACK SIGNALS of the PEC16DSMO15.
5. Connect the motor feedback to the motor feedback connector provided in the SRM power
module.
6. Connect the motor output terminal of PEC16DSMO15 to the power input terminal of
Switched Reluctance Motor.
7. Switch ON the micro -2812 trainer.
8. Switch ON the MCB and the power ON/OFF switch in the SRM Power Module
PEC16DSMO15.
9. Check whether shut down LED “SD” glows or not. If “SD” LED glows press the Reset
10. Switch ON the PC and then press Reset switch of Micro-2812 Trainer.
11. Download and execute the program by following the “Download Procedure” (Select serial
menu, click serial port then you have to check serial communication port COM 1, and bard
rate 38400, now click open port.)
Close Loop Control

1. Down load and execute the program for closed loop control.
2. Set the speed of the motor pressing SW2, or SW3 switch in the Micro-2812 trainer.
3. By applying load to the motor speed varies which is controlled and is made equal to the set
speed by the controller.
4. View the current speed and set speed in Micro-2812 trainer LCD display.
8. View the feedback signals in CRO at the points Z1, Z2, with respect to GND, which is placed
in the front panel of PEC16DSMO15 module.

Kg (s) rpm 𝑆 × 𝑟 × 9.8

T=
𝐶𝑅
𝐶𝑅 =2
6.
7.
8.
9.
10.
RESULTS:
CONCLUSION:

APPENDIX-A
Quadrature Encoder Pulse (QEP)
The enhanced quadrature encoder pulse module is for direct interface with a linear or
rotary incremental encoder to get position, direction, and speed information from a rotating
machine for use in a high –performance motion and position control system.
A single track of slot patterns the periphery of an incremental encoder disk. These
slots create an alternating pattern of dark and light lines. The disk count is defined as the
number of dark/light line pairs that occur per revolution (line per revolution). As a rule, a
second track is added to generate a signal that occurs once per revolution (index signal:
QEPI), which can be used to indicate an absolute position. Encoder manufacturers identify
the index pulse using different terms as index, marker, home position, and zero reference.
To derive direction information, the lines of the disk are read out by two different
photo element that “look” at the disk pattern with a mechanical shift of ¼ the pitch of a line
pair between them. This shift is realized with a reticle or mask that restricts, the view of two
photo elements to the desired part of the disk line. As the disk rotates, the two –elements
generate signals that are shifted 900 out of phase from each other. These are commonly called
quadrature QEPA and QEPB signals. The clockwise direction for most encodes is defined as
the QEPA channel going positive before the QEPB channel and vice versa.
The encoder wheel typically makes one revolution for every revolution of the motor
or the wheel may be at a geared rotation ratio with respect to the motor. Therefore , the
frequency of the digital signal coming from the QEPA and QEPB output varies proportionally with
the velocity of the motor. For example, a 2000 line encoder directly coupled to a motor running at
5000 rpm results in a frequency of 166.6 KHz, so by measuring the frequency of either the QEPA or
QEPB output, the processor can determine the velocity of the motor.
eQEP Inputs
The eQEP inputs included two pins for quadrature-clock mode or direction count mode, an index(or 0
marker)and a stobe input.
QEPA/XCLK and QEPB/XDIR
These wo pins can be used in quadrature-clock mode or direction count mode.
Quadrature-clock mode
The eQEP encoders provide two square wave signals (A and B) 90 electrical degrees out of
phase whose phase relationship is used to determine the direction of the input shaft and
number of eQEP pulses from the index position to derive the relative position information .
For forward or clockwise rotation, QEPA signal leads QEPB signal and vise –versa. The
quadreture decoder uses these two inputs to generate quadreture- clock and direction signals.
Direction count Mode

In this mode , direction and clock signals are provided directly from the external source.
Some position encoders have this type of output instead of quqdrature output. The QEPA pin
provides the clock input and the QEPB pin provides the direction input.

APPENDIX-B
Eddy Current Loading Device
Specification –
HP rating at 1500 rpm = 2
Synchronous speed = 1500 rpm
Ventilation = open ventilation
Coil Voltage = 0-30 V DC depends on brake loading
Coil current ( Max.) = 2.5 A for 0.5 HP to 2 HP
Ambient Temp. = -5o to 400C max
The Eddy current brake consist of input bracket, input shaft, bearings and drum
mounted on the input shaft, output bracket with coil, output shaft and housing. Torque
can be calculated using the formula
𝑆 × 𝑟 × 9.8
𝑇=
𝐶𝑅
where:
S – Spring balance reading (kg.)
r – Radius of drum(r = 0.09m)
T – Torque (N-m)
Acceleration due to gravity- 9.8
CR- Coupling Ratio
Principal of Eddy Current Dynamometer

Eddy current drive is a combination of a constant speed AC induction motor, coupled
to an eddy current clutch. The function of an eddy current clutch is to transmit a controlled
torque from the induction motor (prime mover) to the load (driven machine). The medium of
torque transmission is a controlled magnetic field, generated by a stationary field coil.
Regulated power supply is used to convert a relatively small amount of AC power into a DC
power in order to excite the field coil. The principle of operation is explained overleaf to air
cooled eddy current drive. \
The drum fan assembly, forming the member, is driven at a constant speed, by a fixed
speed prime mover (motor). The output members consist of a low inertia pole assembly,
connected to the output shaft of the drive. Thus there is no mechanical linkage between the
driving and driven members to cause any mechanical wear and tear.
When the stationary field coil is excited by a low voltage (typically 30V DC from the
regulated power supply) a strong magnetic field is developed around the coil. The magnetic
lines of force from the coil are guided to the pole pieces through the working air gaps, into
the drum assembly and back to the coil thus forming a closed magnetic circuit.
The flux line in the air gap near the pole faces resulting in a varying magnetic field
around the periphery of the drum. Since the drum rotates in relation to the pole assembly, the
surface of the drum experiences a time rate of change of magnetic field. Depending on the
relative speed between these members the induced cross current (eddy current) flow in the
drum material.

The direction of flow of these induced current is perpendicular to the magnetic flow
lines. The reactive magnetic field caused by these cross current is responsible for the torque
transmission from the input to the output members, in these forms of torque transmitters.
The extent of torque transmission depends both on the magnetic field strength and the
relative speed (slip speed) between the drum and the pole. An increase in excitation therefore
can correspondingly reduce the slip required to transmit a desired level of torque, thus
providing an easy electrical means to control the drive speed.

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Jabalpur Engineering College, Jabalpur

Electrical Engineering Department

1. To perform Speed-Torque characteristics of a separately excited DC

[Department of Electrical Engineering, JEC Jabalpur] Page 1

Ø- flux per pole in webers, Z – Total number of armature conductors,

N - speed in r.p.s., P – No. of poles, A – No. of parallel paths.

[Department of Electrical Engineering, JEC Jabalpur] Page 2

An IGBT ( 𝑇𝑟 ) of a chopper control is operated periodically with period T and

[Department of Electrical Engineering, JEC Jabalpur] Page 3

For motoring operation

[Department of Electrical Engineering, JEC Jabalpur] Page 4

Fig. Chopper-fed separately excited dc machine: (a) MOTORING;

Fig. Four- quadrant characteristic of a separately excited dc motor.

S. No. Load Speed Voltage Current Torque

Closed Loop Control

[Department of Electrical Engineering, JEC Jabalpur] Page 6

S. No. Load Speed Voltage Current Torque =

[Department of Electrical Engineering, JEC Jabalpur] Page 7

Ø- flux per pole in webers, Z – Total number of armature conductors,

N - speed in r.p.s., P – No. of poles, A – No. of parallel paths.

[Department of Electrical Engineering, JEC Jabalpur] Page 8

An IGBT ( 𝑇𝑟 ) of a chopper control is operated periodically with period T and

[Department of Electrical Engineering, JEC Jabalpur] Page 9

Fig. Chopper-fed separately excited dc machine: (a) MOTORING;

Fig. Four- quadrant characteristic of a separately excited dc motor.

[Department of Electrical Engineering, JEC Jabalpur] Page 11

S. No. Load Speed Voltage Current Torque

Closed Loop Control

[Department of Electrical Engineering, JEC Jabalpur] Page 12

S. No. Load Speed Voltage Current Torque =

[Department of Electrical Engineering, JEC Jabalpur] Page 13

Average Thevenin’s output voltage of the rectifier circuit can be expressed:

𝑉𝑎 ≅ 𝐸𝑑𝑜 𝑐𝑜𝑠𝛼 − 𝐾𝐼𝑎

𝑣𝐴𝐵 , 𝑣𝐵𝐶 & 𝑣𝐶𝐴 – Line voltages

𝑉 - Terminal voltage (armature)

[Department of Electrical Engineering, JEC Jabalpur] Page 15

Fig. Three-phase rectifier (4-quadrent) circuit for separetely excited dc motor.

[Department of Electrical Engineering, JEC Jabalpur] Page 16

[Department of Electrical Engineering, JEC Jabalpur] Page 17

[Department of Electrical Engineering, JEC Jabalpur] Page 18

Stator voltage (V) ∝ [Stator flux (∅)] × [Angular Velocity(ω)]

[Department of Electrical Engineering, JEC Jabalpur] Page 19

Fig. Speed-Torque characteristic with V/f control

[Department of Electrical Engineering, JEC Jabalpur] Page 20

S. No. Load Speed Voltage Current Torque

[Department of Electrical Engineering, JEC Jabalpur] Page 21

[Department of Electrical Engineering, JEC Jabalpur] Page 22

Stator voltage (V) ∝ [Stator flux (∅)] × [Angular Velocity(ω)]

[Department of Electrical Engineering, JEC Jabalpur] Page 23

Fig. Speed-Torque characteristic with V/f control

[Department of Electrical Engineering, JEC Jabalpur] Page 24

[Department of Electrical Engineering, JEC Jabalpur] Page 25

[Department of Electrical Engineering, JEC Jabalpur] Page 26

[Department of Electrical Engineering, JEC Jabalpur] Page 27

[Department of Electrical Engineering, JEC Jabalpur] Page 28

S. No. Load Speed Voltage Current Torque

Kg (s) rpm 𝑆 × 𝑟 × 9.8

[Department of Electrical Engineering, JEC Jabalpur] Page 29

[Department of Electrical Engineering, JEC Jabalpur] Page 30