Electric Drives - Code: ELE421 Performance of Induction Motors

How to run the induction motor at variable speeds ?

The rotor speed of an induction motor is expressed as

Nr Ns 1  s

§ 120 f ·
Nr ¨ ¸ 1 s
© P ¹
This expression indicates that there are two variables may be used to
control the motor speed. They are rotor slip and supply frequency.

Traditionally, rotor slip has been used for speed control of induction
motor for a long time.

Variable stator voltage, variable resistance in the rotor circuit and

secondary voltage control are different techniques for speed control
however they are all based on varying the rotor slip.

Electric Drives - Code: ELE421 Performance of Induction Motors

Most traditional speed control techniques have several drawbacks

among which inaccurate speed setting, low efficiency and sluggish
response.
During the last decades, a great development has been occurred in
variable frequency converters which opened the door for variable
frequency induction motor drives to replace traditional speed control
techniques.
Two control techniques have been emerged for variable frequency ac
drives. They are scalar or V/F control and field oriented or vector
control.

In the present study, we will first introduce stator voltage control, rotor
resistance control, and rotor voltage control methods which are slip-
based control methods. Later, we will introduce scalar control and
field-oriented control methods as frequency-based control methods.
Electric Drives - Code: ELE421 Performance of Induction Motors

Stator Voltage Control

An expression for the torque developed by an induction motor is obtained
earlier. It is expressed as:

3Rr\Vs2
Td (3.11)
sZs ª« Rs  Rr\ s  X s  X º
2 \ 2
¬ r »¼
This expression indicates that the developed torque is proportional to the
square of the stator supply voltage. Therefore, any reduction in stator voltage
can produce a reduction in speed.

Let the terminal voltage be reduced by a ratio (b<1) of the supply voltage. The
developed torque will be:
2
3Rr\ bVs
Td
sZs ª« Rs  Rr\ s  X s  X r\ º»
2 2

¬ ¼

Electric Drives - Code: ELE421 Performance of Induction Motors

The below figure shows a typical torque-speed characteristics for two values of
b. The points of intersection with the load line define the stable operating
points.
Electric Drives - Code: ELE421 Performance of Induction Motors

Stator voltage can be varied by 3-phase ac voltage controllers, voltage-

fed variable dc-link inverters, or pulse-width modulation (PWM)
inverters.
However, due to limited speed range requirements, the ac voltage
controllers are normally used to provide the voltage control.

Electric Drives - Code: ELE421 Performance of Induction Motors

The ac voltage controllers are very simple; however, the harmonic

contents are high, and the input PF of the controllers is low.

AC voltage controllers are used mainly in low-power applications, such

as fans, blowers, and centrifugal pumps, where the starting torque is
low.
Induction Motor Drives Prof. Mahmoud M. Khater

Sheet (5)

[1] A 2.8 𝑘𝑊 , 400 𝑉 , 50 𝐻𝑧, 4 pole, 1370 𝑟𝑝𝑚, ∆-connected squirrel-cage induction
motor has following parameters referred to the stator: 𝑅𝑠 = 2 Ω, 𝑅𝑟′ = 5 Ω, 𝑋𝑠 = 𝑋𝑟′ =
5 Ω and 𝑋𝑚 = 80 Ω. Motor speed is controlled by stator voltage control. When driving
a fan load it runs at rated speed at rated voltage. Calculate;
(i) motor terminal voltage, current and torque at 1200 𝑟𝑝𝑚 and
(ii) motor speed, current and torque for terminal voltage of 300 𝑉.
The fan load torque is proportional to the speed squared.
Solution

120 f 120  50
The synchronous speed Ns    1500 rpm
P 4
2 N s 2 1500
and s    157 rad/sec
60 60
At full load
N s  N1
s1   0.0867
Ns
V ph
I r\1   6.6089 A
R  R s1    X s  X 
\ 2 \ 2
s r r

Rr\
3
 I r\1 
2
T1   48 Nm
s s1

TL  K .  N s 1  s  
2
TL  N 2 that is TL  K .N 2 or
TL
At full load K  2.5641105
 N s 1  s 
2

1
Induction Motor Drives Prof. Mahmoud M. Khater

(i) Motor terminal voltage, current and torque at 𝟏𝟐𝟎𝟎 𝒓𝒑𝒎

Ns  N2
s2   0.2
Ns

T2  K  N s 1  s2   36.92 Nm
2

3 Vph2 2 Rr\
T2   
s R  R s2    X s  X r\ 
2 2
\ s2
s r

Solving this equation for terminal voltage gives Vph 2  253.2 V

Vph 2
I r\ 2   8.2465  j 3.0542
R  R
s
\
r s2   j  X s  X r\ 
V ph 2
Im    j 3.165
jX m
I ph 2  I r\ 2  I m  8.2465  j 6.2192  10.33 37 A
I line 2  I ph 2 3  17.9 A
(ii) Motor speed, current and torque for terminal voltage of 𝟑𝟎𝟎 𝑽
3 Vph2 3 Rr\
T3   
s R  R s3    X s  X r\ 
2 2
\ s3
s r

3 Vph2 3 Rr\
K  N s 1  s3   
2
 
s R  R s3    X s  X r\ 
2 2
\ s3
s r

Solving this equation for the slip gives 𝑠3 = 0.1474

N3  N s 1  s3   1279 rpm

T3  K  N s 1  s3   41.9 Nm
2

Vph3
I r\3   7.7511  j 2.1579
R  R s   j  X
s
\
r 3 s  X r\ 
I ph3  I r\3  I m  7.7511  j5.3229  9.4 34.5 A
I line 2  I ph 2 3  16.3 A

2
Electric Drives - Code: ELE421 Performance of Induction Motors

Rotor Voltage Control (Slip Power Control)

Rotor voltage control by adding external resistance to the rotor circuit

In a wound-rotor induction motor, an external three-phase resistor may
be connected to its slip rings, as shown in the below figure.

In this method part of the airgap power, which is called slip power, is
consumed in a 3-phase external resistance instead of being converted
into mechanical power.

Electric Drives - Code: ELE421 Performance of Induction Motors

The slip at maximum torque for motor operation is expressed earlier

as: \
Rr  Re
\
sm (3.13)
\ 2
Rs2  X s  X r

and the maximum torque is expressed earlier as:

3Vs2
Tmm (3.14)
ª 2 º
2Zs « Rs  Rs2  X s  X r\ »¼
¬
From (3.13) and (3.14) it is concluded that adding an external
resistance to the rotor winding has no effect on the value of maximum
torque, but it increases the slip at which it is occur.

In other words, inserting an external resistance in the rotor circuit

shifts the point of pull-out torque to a higher slip as shown in the below
figure.
Electric Drives - Code: ELE421 Performance of Induction Motors

This figure illustrates clearly that inserting an external resistance

expands the stable region of torque speed characteristic such that a
wider speed control range is possible.

The external three-phase resistance configuration has a difficulty of

maintaining balanced resistances under full range of operation.

Electric Drives - Code: ELE421 Performance of Induction Motors

Static rotor resistance control

The three-phase resistor may be replaced by a three-phase diode
bridge rectifier and a dc converter, as shown below. A gate-turn-off
thyristor (GTO) or an insulated-gate bipolar transistor (IGBT) may be
employed as a dc converter switch.
Electric Drives - Code: ELE421 Performance of Induction Motors

The inductor Ld acts as a current source Id . The dc converter and its

parallel resistance exhibit as variable resistance with an effective value
expressed as:
Reffective R 1 k
where k is the duty cycle of the dc converter.

It is possible to find the equivalent external resistance Re per phase

which is replaced by the static resistance.

Power consumed in an equivalent 3-phase resistance

= Power consumed in the static resistance

That is 3I r2 Re I d2 Reffective

or 3I r2 Re I d2 R 1  k

Electric Drives - Code: ELE421 Performance of Induction Motors

But, for a three-phase bridge rectifier, the dc current is related to the

input ac rms current by
3
Id Ir
2
2
§ 3 ·
Therefore 3I r2 Re ¨¨ I r ¸¸ R 1  k
© 2 ¹

From which Re 0.5R 1  k

This expression shows that the static resistance R exhibit a variable
resistance in the rotor circuit.

This method is more accurate than using 3-phase variable resistance

and can be implemented in closed loop system.
Induction Motor Drives Prof. Mahmoud M. Khater

[11] A 3 -phase, 400 𝑉 , 50 𝐻𝑧 , 10 𝑘𝑊 , 960 𝑟𝑝𝑚 , 6 -pole, Y-connected slip-ring

induction motor has the following constants referred to the stator: 𝑅𝑠 = 0.4 Ω, 𝑅𝑟′ =
0.6 Ω, 𝑋𝑠 = 𝑋𝑟′ = 1.4 Ω. The motor drives a fan load at 960 𝑟𝑝𝑚. The stator to rotor
turns ratio is 2.
(i) What resistance must be connected in each phase of the rotor circuit to reduce the
speed to 800 𝑟𝑝𝑚?
(ii) When the motor is controlled by static rotor resistance control, calculate the value
of external resistance so that motor runs at 800 𝑟𝑝𝑚 for the duty ratio of 0.5.
Solution
Synchronous speed N s  120 f  1000 rpm
P

Synchronous angular speed s  2 N s  104.7 rad/sec

60

At full rated speed 𝑵𝟏 = 𝟗𝟔𝟎 𝒓𝒑𝒎

N s  N1
s1   0.04
Ns

V ph
I r\1   14.75 A
R  R s1    X 1  X 
\ 2 \ 2
1 2 2

R2\
T1 
s
3
I 
\ 2
r1
s1
 93.5 Nm

(i) External rotor resistance to reduce the speed to 𝑵𝟐 = 𝟖𝟎𝟎 𝒓𝒑𝒎

Ns  N2
s2   0.2
Ns

torque   speed 
2
For a fan load
2
T2  N 2 
Therefore  
T1  N1 
2
N 
T2  T1  2   65 Nm
 N1 

21
Induction Motor Drives Prof. Mahmoud M. Khater

But the developed torque is T2  3  I 2\ 2 R2  Rx

\ \

s s2

3 V ph2 R2\  Rx\

T2   
s  R1   R2\  Rx\  s2    X 1  X 2\ 
2 2
s2
 
Solving this equation for 𝑅𝑥′ gives 𝑅𝑥′ = 3.8725 Ω
Therefore, the external rotor resistance connected to each phase is
Rx  Rx\ a 2  0.9681 

(ii) Static rotor resistance required to run the motor at 𝟖𝟎𝟎 𝒓𝒑𝒎 at duty ratio 𝒌 =
𝟎. 𝟓

The power dissipated in the static resistance should be equal to the power dissipated in
external 3-phase resistor.
That is 3I r2 Rx  I d2 R 1  k 
2
2  2 
But Ir  Id Therefor 3  I d  Rx  I d2 R 1  k 
3  3 
From which we obtain Rx  0.5R 1  k 

For the given problem 0.9681  0.5R 1  0.5

Which yields a static resistance equal R  3.8725 

22
Electric Drives - Code: ELE421 Performance of Induction Motors

By inserting an external resistance in the rotor circuit part of the air-

gap power, which is called slip power, is dissipated in that resistance.

As the slip power is extracted from the gap power, the power converted
to mechanical is reduced which results a reduction in the motor speed.

The main drawback of this method is the excess power loss in the
external resistance which reduces the efficiency of the drive system.

Two alternative schemes have been proposed to improve the efficiency

of the introduced method. They are Kramer and Scherbius drive
systems.

Electric Drives - Code: ELE421 Performance of Induction Motors

Rotor Voltage Control by Kramer Method

Kramer drive is an early method for adjustable speed drive of wound
rotor induction machines. The drive is illustrated in the below figure.

Traditional Kramer drive consists of a slip ring induction motor with its
rotor terminals connected to a rotary converter and the power output of
the rotary converter is used to energize a dc motor coupled to the main
induction motor.
Electric Drives - Code: ELE421 Performance of Induction Motors

With the recent developments in power electronics, the rotary

converter is replaced by a power electronic converter to obtain what is
known today as Static Kramer Drive.

Electric Drives - Code: ELE421 Performance of Induction Motors

In static Kramer drive system, part of the rotor power is converted into
dc by a diode bridge. The dc power is fed to a dc motor mechanically
coupled to the induction motor. Torque supplied to load is sum of
torque produced by induction and dc motors. Speed control is
obtained by controlling field current of dc motor.

Karmer drive is more efficient than static resistance control method

since slip power is converted to a useful mechanical power instead of
being wasted in the external resistor.

The need of an auxiliary dc motor is considered the main drawback of

Kramer drive. DC motor adds an extra cost, needs more maintenance,
and increases the inertia of the drive.
Electric Drives - Code: ELE421 Performance of Induction Motors

Rotor Voltage Control by Sherbius Method

Scherbius drive is another early method for adjustable speed wound

rotor induction machines. This drive is illustrated in the below figure.

Electric Drives - Code: ELE421 Performance of Induction Motors

Traditional Scherbius drive consists of a slip ring induction motor with

its rotor terminals connected to an auxiliary ac commutator machine
called Scherbius machine which is excited at a slip frequency from the
rotor of the main induction motor through a regulating transformer.

A 3-phase tapped auto-transformer is used to adjust the excitation of

Scherbius machine which in turn changes the voltage injected to the
rotor of the main induction motor.

Scherbius machine is coupled to an auxiliary induction machine

supplied from main line so that its speed deviates from a fixed value
only to the extent of its slip.

Traditional Scherbius drive allows either injecting or extracting power

to/from the rotor of wound rotor induction motor. For this reason, both
sub and super synchronous speed operation are possible.
Electric Drives - Code: ELE421 Performance of Induction Motors

With the recent developments in power electronics, a new version of

Scherbius drive called Static Scherbius Drive has been developed. This
drive is illustrated in the below figure.

Electric Drives - Code: ELE421 Performance of Induction Motors

Sherbius drive preserves the advantages of Kramer drive, however it

does not need an auxiliary dc motor to control the speed of the main
wound rotor induction motor. Slip power is recovered back to the
power mains

The given circuit configuration of Sherbius drive can be used only for
speed control under synchronous speed.

The diode bridge may be replaced by a fully-controlled bridge rectifier

to extend speed control range to speeds higher than synchronous
speeds. In which condition power is injected to the motor from slip
rings and the motor will run as a doubly-fed machine.