Industrial Electronics

(EE-420)

Lecture 4 - 12: Industrial Drives

Faculty Name : Muhammad Saleh Rashid

Designation : Lecturer
Date :
Readings: Chapter 12 -15 of Mohan’s Book
Chapter 27 of H. Rashid’s Book

1
 Classification of Motor Drives

2. AC Motor Drives:

○ Variable Frequency Drives (VFDs) control AC motors by

adjusting supply frequency and voltages.

○ Scalar Control (V/f Control): Maintains a constant voltage-to-

frequency ratio.

○ Vector Control (Field-Oriented Control, FOC): Provides precise

torque and speed control.

Applications: Pumps, HVAC systems.

2
 What is an Electric-Motor Drive?
Electric
Drive

Power
Processing Motor Load
fixed Unit (PPU)
form
adjustable speed /
Electric Source position
form
(utility)
Sensors

Controller measured Power

speed/ position Signal

input command
(speed / position)

- Harnessing of Wind Energy

- Hybrid Electric Vehicles 3
 Introduction to AC Machines DIY

Basics
 Primary AC motor drives
 Induction motors
 Permanent Magnet Brushless (Synchronous Motors)

b  axis
ib

2 / 3
2 / 3
a  axis
2 / 3 ia

ic

c  axis

4
 Sinusoidally-distributed Stator Windings

d

3' 4' 5'

6' ia 
2'

1' 7'  0
7 1 ia magnetic axis
of phase a
6 2
5 3
4

Ns  o N s 
ns ( )  sin( ) ˆ
Ba  
 2g 
 ia
2
5
Space Vector to Represent Sinusoidal Distributions

b  axis At time ‘t’

 N 
Ba   o s  ia 0 o
 Fs (t )  2 g 
Fs (t )  
 o N s  2
Bb   i 
Fc (t )
 2g  b 3
Fa (t ) a  axis
o N s  4
Fb (t ) Bc    ic 
 2 g  3
 
Bs Ba  Bb  Bc Bˆ s  s
c  axis
2 4 
 o N s   j j
Bs     ia e j0  ib e 3  ib e 3 
 2 g   
 
           
is

6
 Space Vectors Representation of
Combined Phase Currents and Voltages
b  axis
120 o b
ib
b'

a  axis
o
a ' i a 0
a
c'
ic
c

c  axis
At time t 240 o

is (t ) ia (t )00  ib (t )1200  ic (t )240 0 Iˆs (t )is (t )


v s (t ) va (t )00  vb (t )1200  vc (t )240 0 Vˆs (t )vs (t )

7
 Physical interpretation of is (t )
at time t
magnetic axis of
hypothetical winding
with current Iˆs

a  axis

Iˆs

Ns Ns Ns Ns
is (t )  ia (t )0  ib (t )120  ic (t )240 0 Fs (t )
0 0
2 2      2       2     
Fa (t ) Fb (t ) Fc (t )

 Fs (t ) ˆs (t )
F
is (t )   Iˆs (t )  and  is (t )  Fs (t )
Ns 2 Ns 2
8
Balanced Sinusoidal Steady-State Excitation
(Rotor Open-Circuited)
b
imb

ima
a


imc 2 @ t 
c @ t  3
3

ima (t ) imb (t ) imc (t )

@  t   t 0
Iˆm
t
0

 t 0
4 5
@ t 
@ t 
3 3

9
 Relation Between Space Vectors and Phasors
ima (t ) imb (t ) imc (t )

Iˆm t
0
t


 t 0

ima (t ) Iˆm cos(t   )

@ t 0
ref a  axis
 

I ma Iˆm    ims Iˆms   

ˆI ms 3 Iˆm
2
10
Permanent-Magnet AC (PMAC) Drives

Power Sinusoidal
ia Position
Processing PMAC Load
ib sensor
Utility Unit ic motor

Control  m (t )
Controller
input

11
 Structure of Permanent-Magnet
Synchronous Machines
Br (t )
b  axis

ib
 m (t )
m
N
a  axis
S ia a  axis
ic

c  axis

12
 Principle of Operation

b  axis
Br Iˆs Br
is ib
a' is
m m
 90 oN N

ia a  axis a  axis
S S
ic
a
c  axis

13
 is
d Torque Calculation


S N Br
Iˆs

N
dTem ( ) r Bˆr cos    Iˆs  s cos  d
       2    
flux density at  cond .length 
diff no. of cond . at 

  / 2
Ns ˆ ˆ  / 2  N 
Tem 2   dTem ( ) 2 rBr I s  cos 2  d   s rBˆr  Iˆs
   / 2 2  /2  2 

14
Similarity Between DC Motor and
Brushless DC Motor
is
m

m
 90o
f S N Br
N S
(stationary)

a
(stationary)

15
Induction Motors:
Balanced, Sinusoidal Steady
State Operation

16
 Structure

b  axis

ib

2 / 3
a  axis
2 / 3

2 / 3 ia

ic

c  axis

17
Electrically Open-circuited Rotor
Vc

va I mc
   I mb
vb
ib ia
vb 
 
 n  va 
Va
vc vc
 
 ic
Vb I ma

18
 Short-circuiting the Rotor
(Rs, Ls,leakage = 0)
 Transformer Analogy

m

im  i2 i2


v1 N1 N2 Load


19
Induced Voltages in Rotor

at t 0

  
 m   syn

a  axis
  vs
 


 syn


Bms

20
 Induced Currents in Rotor
at t 0

  
ebar
 syn  
  
m  
  Rbar
  vs a  axis
 
   

 
   ibar ( )
 syn  
 
 front  
back end-ring
Bms
end-ring

21
 Rotor MMF
 m,ir '
m,ir at t 0

net flux = 0 at t 0
m
vs Fr Fr ir ' vs
a  axis a  axis
ima  ira '
ims
is
Bms
 syn

Bms

22
Slip frequency (fslip) in the rotor circuit

slip  syn - m

f slip slip

f syn

23
Electromagnetic Torque Production


at t 0

Fr Fr ' vs
a  axis
ir '

Bms
Ns
Tem  r  Bˆ ms Iˆr  ke Bˆ ms
2
 slip
 2 
kt

24
 Torque – Speed Characteristics

m
Tem,rated
 syn ,rated
 slip ,rated 



m,rated

0
Tem m
 syn ,rated
Tem,rated 0 

m,rated  slip ,rated

25
Generator Mode

m

Fr ' Fr a  axis

 syn

Bms

26
 Rotor Leakage Inductance
m,ir
net=0
m,ir at t 0

at t 0  r


Fr  syn
r a  axis
Fr  r a  axis
Fr '
vs (t ) r vs
r Fr '
ims ir '

ims
 syn

Bms  syn
Bms

at t 0
Fr
r
vs a  axis
90 o
r Fr
ir
Br
90 o Bms
27
Blr
Per-Phase Equivalent Circuit

at t 0
Ia 
I ra
Va
m
 j Leq
Fr
r a  axis I ra '
  
vs  at f   Va j Lm I ma Req I ma
Fr '  2 
ir ' 
ims
 syn Ia
Req Rr Leq Llr
 slip
is

 syn
Bms

28
 Stator Winding Resistance and
Leakage Inductance

Ia I ra '
Rs Va
j Lls  j Llr ' j Lls I a
 Ema
 syn Rs I a
Va I ma I ma 
Ema Rr ' I ra
(at  )  slip Ia
 j Lm


29
Characteristics at Rated Voltage and
Rated Frequency

Tem 
I ra
Tem,rated  ,rated
I ra
pull-out torque Bˆ ms decreases 6.0
2.0
5.0
1.5
4.0
Bˆms,rated
1.0 3.0
(rated)
2.0 I ma
0.5
1.0
m m
1.0  syn
0
0.2 0.4 0.6 0.8 1.0  syn 0 0.2 0.4 0.6 0.8
 slip ,rated  slip ,rated
 slip  slip

30
Motor Currents, Efficiency, Power
Factor As a Function of Load
100

90
Efficiency

80

70
Power Factor
Current (A) 60
Efficiency (%)
Power Factor (%) 50

40
Current
30

20

10

0 25 50 75 100 125
Load (%) 31
Induction Motor Speed Control

Induction Sensors
PPU motor Load

ωm
Controller
Speed
control input

32