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Self-Excitation of Induction Motors Compensated by Permanently Connected Capacitors and Recommendations for IEEE Std 141-1993
Muammer Ermis, Member, IEEE, Zafer akir, Isik adirci, Member, IEEE, Gurkan Zenginobuz, Student Member, IEEE, and Hakki Tezcan

AbstractSelf-excitation of induction motors compensated by permanently connected capacitors is investigated in this paper. Theoretical analyses of self-excitation phenomenon are carried out by using some simplified equivalent circuits, and a hybrid axes, respectively, in steady mathematical model in state and transient state. An unusual operating condition about water pumping stations is reported, in which water within the pipeline may drive the motor in the reverse direction at speeds higher than synchronous, when a supply interruption coincides with a check-valve failure. In order to prevent the motor from dangerous overvoltages due to self-excitation, it is recommended to connect a simple static protection circuit consisting of a resistor in series with a thyristor switch between any two lines of the motor. Critical resistance boundaries, which will lead to loss of excitation, and demagnetization of the rotor core are determined separately as a function of operating speed. A suitable resistance value chosen in the Safe Design Area constitutes a reliable protection mechanism against self-excitation. Index TermsCompensation, induction motors (IMs), self-excitation.

I. INTRODUCTION ELF-EXCITATION phenomenon in induction motors has been well-known since the 1930s [1], [2]. When an induction machine is disconnected from the supply, and driven by a mechanical source, terminal voltage builds up if its lagging var demand is supplied externally, and sufficient residual magnetism is present in the rotor core. This is known as self-excitation phenomenon in the literature. Shunt compensation capacitors are the most common var supplies for the self excitaPaper ICPSD 0002, presented at the 2000 Industry Applications Society Annual Meeting, Rome, Italy, October 812, and approved for publication in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Power Systems Engineering Committee of the IEEE Industry Applications Society. Manuscript submitted for review October 15, 2000 and released for publication December 11, 2002. M. Ermis, I. adirci, and G. Zenginobuz are with the TBITAK-METU Information Technologies and Electronics Research Institute, TR06531 Ankara, Turkey, and also with the Electrical and Electronics Engineering Department, Middle East Technical University, TR 06531 Ankara, Turkey (email: ermis@bilten.metu.edu.tr; cadirci@bilten.metu.edu.tr; gurkan.zenginobuz@bilten.metu.edu.tr). Z. akir is with the Electrical and Electronics Engineering Department, Middle East Technical University, TR 06531 Ankara, Turkey (email: zafercakir01@hotmail.com). H. Tezcan was with the Iskenderun Iron and Steel Plant, TR31319 Hatay, Turkey. He is currently with Tezcan Elektrik Mhendislik, Karaky/Istanbul, Turkey. Digital Object Identifier 10.1109/TIA.2003.808978

tion of induction motors. The use of an induction machine as an autonomous generator due to self-excitation phenomenon has been extensively investigated by several researchers, especially for wind power generation [3][8]. Recommended practices for power-factor improvement of induction motors supplied from the utility grid are given in various standards and handbooks in detail [9], [10]. Since the motor reactive power does not change too much from no load to full load, fixed shunt capacitors can be installed in various manners for power-factor improvement. Among these, the use of capacitors directly connected to motor terminals is the cheapest and the simplest solution to this problem. Maximum capacitor rating should not be in excess of 100% and 90% of no-load reactive power consumption of the motor as recommended, respectively, in [9] and [10]. A capacitance higher than the recommended values leads to overvoltages at the motor terminals owing to self-excitation, when the motor is disconnected from the utility grid. Even though the capacitor ratings are chosen according to recommended practice, they may lead to self-excitation of the motor in some cases. These cases are clearly specified in the Never do List [9] as Never connect the capacitors directly to the motor when. This paper investigates the effects of capacitors directly connected to the motor on self-excitation phenomenon during a supply failure. It also reports an unusual operating condition about water pumping stations which is not included in the Never do List. If a check-valve failure coincides with supply interruption, then the gravitational force acting on water may drive the pump motor in the reverse direction at a speed higher than synchronous. Also, in wind energy conversion systems and small hydroelectric plants containing constant-voltage and constantfrequency induction generators connected to the grid, and compensated by permanently connected capacitors, sudden disconnection of the generator from the grid inexorably results in overspeed. Directly connected capacitors may then cause self-excitation of pump motor, or the generator. A completely static protection circuit is proposed in this paper in order to avoid harmful effects of generated overvoltages on the machine and capacitor for such cases. Guidelines for the design of a shunt compensation system for water pumping stations are presented. The results of steady-state and transient-state analyses are verified by experiments conducted on a universal machine set in the laboratory.

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(a)

(b)

(c)

Fig. 1. Common reactive power compensation techniques for multi-motor applications. (a) Individual compensation capacitors directly connected to motor terminals. (b) Individual compensation by contactor switched shunt capacitors. (c) Group compensation.

II. REACTIVE POWER COMPENSATION OF GRID-CONNECTED INDUCTION MOTORS A. Common Compensation Techniques A comparative evaluation of power factor (PF) improvement techniques for squirrel-cage induction motors (IMs) has been given in [11]. Among these techniques, the use of shunt capacitor banks is a common solution to the var compensation problem of grid-connected IM. Common installation techniques of shunt capacitors for multi-motor applications are as illustrated in Fig. 1. Direct connection of a fixed capacitor bank to the motor terminals is the simplest and cheapest solution to the var compensation problem, if each IM has long hours of use. The main advantage is that this technique [Fig. 1(a)] also utilizes the motor contactor (MC) to switch the capacitors and the motor together as a unit so that the capacitors are on the system only when required [9]. The scheme in Fig. 1(b) is a more costly solution since each fixed capacitor bank for each motor needs its own contactor (CC). On the other hand, the group compensation technique in Fig. 1(c) is more suitable especially if duty factors of most of the motors are considerably low. High cost of control elements, which make capacitive var generation adjustable, is offset to a certain extent by low installed var capacity. The PF of a squirrel-cage motor at full-load is usually between 80% and 90%, depending upon the rated speed, type, and size of the motor [9]. Even though the PF of an IM varies significantly from no load to full load, the motor reactive power does not change very much. With a properly selected capacitor, the operating PF becomes excellent over the entire load range of the motor. Fig. 2 shows the variations in kVA, kvar, kW, and PF at the input terminals of a three-phase four-pole 50-Hz 380-V 8.1-A IM which is part of a universal machine set (see the Appendix). The experimental work presented in this paper has been conducted on it and, therefore, it will be called the test machine in the text. The level to which the PF should be improved depends on the economic payback in terms of utility PF penalty requirements, and system energy saved due to lower losses. It is generally in excess of 95% at full load, and higher at partial loads. The suggested maximum capacitor ratings for different motor types are given in [9], in tabulated form. Higher values can cause self-excitation as the motor runs down and, in consequence, a substantial over-

Fig. 2.

Measured input and output data of the test machine.

voltage at the motor terminals. Contributions of capacitors rated at 100%, 80%, and 72% of no-load reactive power consumption on the input PF of the test machine are also given in Fig. 2. 19.3 F per-phase delta yields 100% compensation capacity. If the motor has long hours of use at partial loads, an 80% or lower capacity cannot raise the PF to a satisfactory level on a monthly basis. For large- and/or medium-voltage IMs, contributions of the above compensation capacities would be much better. B. Problem Definition in the Case of Water Pumping Stations The cooling water requirement of various processes in the Iskenderun Iron and Steel Plant, Hatay, Turkey, is partly supplied from the Mersin River by means of six centrifugal pumps driven by medium-voltage squirrel-cage IMs (Fig. 3). The water is pumped to the plant at a rate of 5000 m /h through 80-cm-diameter and 2500-m-long pipelines (Fig. 4). The water pumping station is at sea level, however, the plant is located at an altitude of 15 m. The water is highly alcaline as can be understood from

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Fig. 3. General view of Mersin River water pumping station.

harsh climatic conditions is around ten interruptions per site per month. During interruptions with long duration, putting the backup supplies into service takes a considerable time. Among five of these supply interruptions on the average per annum, gravitational force drives water within the pipeline back to the water pumping station. Water flow in the reverse direction first brings the centrifugal pump and the motor to a quick stop, and then accelerates them in a short time period in the reverse direction. Final running speeds of two different motors are measured to be 1650 and 1100 r/min, respectively. These values are nearly 10% higher than the corresponding synchronous speeds. The reason for such an unusual event is that, sometimes one of the check valves does not function properly to prevent water flow in the reverse direction because of substantial amount of salt deposits and iron rust on the inner surface of hydraulic system elements. The amount of solid materials which were deposited on the inner surface of check valves are given in the third column of the analysis report in the Appendix. The solid material has the appearance of iron rust. The performance of the cathodic protection system seems to be inadequate. The operational experience on the Mersin River Pumping Station reveals that special attention should be paid to the design of var compensation system for pump motors in similar applications, especially if permanently connected fixed capacitors are going to be used. Otherwise, the supply failure may lead to self-excitation in pump motors, and generation of dangerous overvoltages at the motor terminals which may have harmful effects on motor insulation and human life. C. Static Protection Circuit Against Self-Excitation For the unusual operating conditions, a static protection circuit as given in Fig. 5 can be used to prevent the motor from dangerous overvoltages during self-excitation. It is based on connection of a damping resistor between any two motor lines whenever the motor self-excites. Fast connection of the damping resistor is achieved by using a pair of back-to-back-connected thyristors. This is a cheap solution because the protection circuit employs only one resistor bank instead of a three-phase bank switched by three static switches, one for each phase. The idea behind this choice is to cause loss of excitation, which is the rapid decay of terminal voltage to zero and, at the same time, to destroy residual magnetism so that it cannot be restored until the motor is reconnected to the supply. In order to guarantee that motor iron is brought to a throughly demagnetized state, the damping resistor is kept connected to the motor terminals for a predetermined time period. This is achieved by the use of a timing circuit as shown in Fig. 5. However, in a practical application, it is better to apply firing pulses to the gates until recovery of the supply. The success of the latter method is based on the fact that once a load resistance leads to loss of excitation for a certain compensation capacitance, and shaft speed, the machine does not self-excite for the same conditions if the load resistance remains connected to it. The control circuit continuously monitors the terminal voltage and status of the MC. Whenever the terminal voltage builds up and tends to exceed a preset threshold value, the controller sends a signal to the firing circuit to apply

Fig. 4. Schematic diagram of the hydraulic system.

the test report given in the Appendix. The nameplate data of the motors manufactured by two different companies are as given in the Appendix. Their PFs at full load are lower than 0.90. In view of utility PF penalty requirements, average system power factor should be improved to 0.92 lagging in terms of kilowatthour and kilovar-hour values appearing in bills. Since each motor has long hours of use nearly at full load, it has been decided to connect sufficient amount of capacitors directly to the terminals of each motor as a cost-effective solution to the var compensation problem. In the design phase of the project, operational data have shown that the mean rate of utility grid interruptions at the pumping station caused by faults and/or equipment failure in

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Fig. 5. Proposed static protection circuit against self-excitation.

firing pulses to the gates of back-to-back-connected thyristors. The threshold value of the voltage can be set to a value in the range from 50% to 120% of the motor rated voltage depending upon the application, as will be discussed in Section IV. Forward and backward thyristors will receive firing pulses on the zero-crossing points of the positive and negative half cycles of generated voltage, respectively. In order to discriminate whether the overvoltage at the motor terminals is owing to self-excitation or switching action of the MC, a signal can be taken from the auxiliary contact of the MC. Since the terminal voltage, and hence the resistor current decays in a few tens of cycles, depending upon the protection circuit design, and motor type, size, and parameters, the thyristor switch and the damping resistor can be implemented as simple and cheap naturally cooled units. III. ANALYSIS OF SELF-EXCITATION PHENOMENON Self-excitation of induction motors compensated by fixed capacitors directly connected to the stator terminals will be investigated theoretically in this section in both steady state and transient state. A. Steady-State Analysis Although self-excitation is initiated by the residual magnetic field of the rotor, the frequency and magnitude of induced voltages appearing across the motor terminals are dictated by shaft speed and shunt compensation capacitance. If the motor is driven by its load in either direction, i.e., forward or reverse at a in revolutions per minute, then the slip, becomes speed of negative with a value very close to zero, e.g., 0.2% for the test machine resulting in a frequency of 49.9 Hz for induced emfs. This operating condition assumes that, self-excitation occurs when the motorcapacitor combination is disconnected in revolutions from the utility grid. The synchronous speed per minute is, therefore, less than , but very close to it. One . As an engineering approximation, can assume that the frequency of induced voltages, , can then be computed from (1) (1) where is the number of poles of the IM. For the test machine, the magnetization characteristic ( versus ) in Fig. 6 is obtained experimentally by driving the

Fig. 6. Magnetization characteristic of test machine.

IM by a dc motor, while the stator terminals are connected to a three-phase 380-V 50-Hz utility grid via an autotransformer. Stator voltage is adjusted by the use of an autotransformer in steps, up to a voltage level of 15% higher than the nominal value. Higher voltage values are obtained by capacitive excitation. For each voltage value, active power transferred from the supply to the stator is made zero by adjusting the shaft speed of the dc motor. These operating conditions ensure that IM draws only the magnetising current from the 50-Hz supply, and by subtracting from stator stator leakage impedance voltage drop terminal voltage at a phase angle of 90 lag, the variations in can be computed point by point as a function of . Equivalent circuit parameters of the IM are found by carrying out locked-rotor and no-load tests at rated voltage and frequency, and dc resistance measurements (see the Appendix) at any speed [12]. The magnetization characteristic can be deduced point by point from the one at rated freHz by equating ratio to quency ratio for the same , where is the rated value of synchronous speed, and 1500 r/min for the test machine. The variations in terminal voltage against shaft speed and capacitance for a self-excited IM can be determined from one of

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(a)

(b)

(c) Fig. 7. Equivalent circuit representations of IM for self-excitation. (a) Exact equivalent circuit. (b) Approximate circuit. (c) The most approximate circuit. Fig. 8. Critical capacitance versus speed.

the equivalent circuits in Fig. 7. In these equivalent circuits, the , stator and referred rotor leakage reaccapacitive reactance and , and magnetizing reactance are all comtances puted at rated frequency. The per-unit frequency , and speed are defined as in (2) and (3) (2) (3)

to the motor. A capacitance larger than may lead to self-excitation of motor when stator terminals are disconnected from can be computed from any one of the circuits in the supply. . Unsaturated at Fig. 7 by using unsaturated value of is the slope of the air-gap line (a.g.l.) which is tangent to the linear portion of experimental magnetization characteristic value at any and can be in Fig. 6. The approximate directly computed from (4) (4)

, , , and are voltage and current phasors at any and, hence, corresponding frequency . Among shaft speed these, the equivalent circuit in Fig. 7(a) is the most accurate one, and is used by several researchers in the analyses of selfexcited induction generators [6], [13], [14]. In the utilization of these equivalent circuits, circuit equations should be solved simultaneously with nonlinear magnetization characteristic at . During self-excitation, capacitor losses, copper losses, and core losses are supplied by the driving force of the mechanical load through electromechanical energy conversion process represented by negative slip-dependent rotor resistance in Fig. 7(a). That is the main reason why is much lower . The approximate equivalent than full-load slip and circuits in Fig. 7(b) and (c) can, therefore, be obtained from the exact equivalent circuit in Fig. 7(a), by using the fundamental . This is perassumption given in (1), i.e., by substituting missible because of self-excited induction generator operation at no load. The two approximate equivalent circuits are valuable and time-saving tools for the design of compensation system for motors. The variations in terminal voltage against capacitance at constant speed are given in several papers [2], [3], [8], [13], especially for self-excited induction generators operating at no load. However, more drastic variations will occur in terminal voltage as the shaft speed increased for a fixed capacitance as will be discussed in Section IV. Therefore, the variation of critwith shaft speed has a crucial importance ical capacitance in the design of shunt compensation system directly connected

for approximate equivalent circuit in where for the most approximate equivalent Fig. 7(b), and , and unsatucircuit in Fig. 7(c). Stator leakage inductance are to be calculated from rated value of mutual inductance and unsaturated at . values against are given in Fig. 8 in comTheoretical parison with experimental results. The experimental values are values in order to maintain kept slightly higher than actual self-excitation at a stable equilibrium point near the knee point. The most optimistic results have been obtained for the exact and the most approximate equivalent circuits in Fig. 7(a) and (c), which are very close to actual values. The most pessimistic results have been obtained for the approximate equivalent circuit in Fig. 7(b), because of the neglect of all losses. Another interesting result is that the most approximate equivalent circuit gives very accurate and much better results than the approximate . This is because the neglect circuit for the calculation of in Fig. 7(c) largely compensates for the errors owing to of the neglect of machine losses. Therefore, the most approximate equivalent circuit in Fig. 7(c) can be safely used in the design of permanently connected compensation system even for largeand medium-voltage IMs. Furthermore, it requires minimum information about the motor, i.e., only the air-gap portion of ex. perimental magnetization characteristic at For large- and/or medium-voltage IMs, test certificates including no-load and blocked-rotor test results and resistance measurement are usually present. Equivalent circuit parameters

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can be computed and magnetization characteristic at rated frevalues quency can be deduced from the given test data [12]. for different rotor speeds can therefore be calculated easily from is the critical capacitance at rated frequency (5), where obtained from the test data by using the most approximate equivalent circuit in Fig. 7(c). It is seen from (5) that the critical capacitance is inversely proportional to the square of speed ratio . Therefore, the maximum shaft speed that the machine may attain when a supply failure occurs should be taken as the most important factor affecting the design of compensation system. At high speeds, even a capacitance value considerably smaller than the recommended values in standards may cause generation of dangerous voltages at the machine terminals. (5) B. Transient Analyses The static circuit in Fig. 5 has been proposed for protection against self-excitation of the motor. Whenever an overvoltage appears across the machine terminals owing to self-excitation, is immediately connected between any two lines of the motor. Since demands active power from the machine in addition to system losses, this action may bring the operating point to an plane, reunstable point on the unsaturated region of sulting in loss of excitation. On the other hand, if a resistance is connected to the machine higher than the critical value terminals, generated voltage reduces, but the operating point remains at a stable equilibrium point on the nonlinear portion of magnetization characteristic, resulting in no protection action. with for the specified value Therefore, the variation of of has an utmost importance in the design of static protection circuit. This is determined by the use of hybrid mathematical axes quantities (Fig. 9 and model for IM in terms of (6), as shown at the bottom of the page). The mathematical model in (6) has been obtained from the acaxes quantities by applying the tual one in terms of and well-known phase and commutator transformations [15], only to the rotor side. The equations of three-phase capacitor bank connected to the motor terminals, and damping resistor connected across two lines are not included in (6). Although the

Fig. 9.

Schematic representation of IM in ABC=dq axes.

speed is assumed to be constant for each digital simulation trial, the model remains nonlinear because of the saturated portion of the magnetization characteristic. It is essential in the analysis of self-excitation phenomenon to preserve magnetic nonlinearity in order to be able to find a stable equilibrium point in the saturated region. Numerical integration of the mathematical model has been carried out by the use of a fourth-order RungeKutta algorithm which can integrate overdiscontinuities. In the mathematical model, all machine parameters except the mutual inductance between stator and rotor (its stator referred value is ) are assumed to be constant. Potential drop on denoted by is the resultant electromotive force (EMF) on the stator side , and is the cause of terminal voltage appearing across the is produced by the machine terminals during self- excitation. combined effect of stator and rotor magnetic fields, i.e., by the . For the self-excited resultant magnetomotive force (MMF) is nearly equal to stator MMF . At each numerical IM, is to be substituted into integration step, correct value of the model. This makes necessary the determination of resultant MMF and, hence, the corresponding saturation level. In the numerical simulation, this is achieved by determining the degree value and, of saturation at the th integration step, updating . For that purpose, then, using it in the next integration step the magnetization characteristic in Fig. 6 is normalized with re, and expressed in terms spect to angular frequency . It is subdivided of peak resultant mmf per stator turns into three regions (Fig. 6). In region 1, a small value representing

where and (6)

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residual voltage has been introduced. In regions 2 and 3, respectively, the air-gap line and the saturated portion of the magnetization characteristic are to be used. The nonlinear portion is satisfactorily approximated by as given in [16]. The coefficients of exponential expression have been found by curve fitting technique. At any integration step , can be computed from (7) and (8) (7) (8) is the actual number of stator turns, the effective where and i are the and number of stator turns, and axes stator current components. The three-phase to two-phase has been applied to the stator side only for transformation . For the calculated value of , the calculation of the saturation factor can be determined from Fig. 6 by using (9) (9) and are peak volt-seconds read on the satwhere urated portion and air-gap line of the normalized magnetization that will characteristic, respectively. The saturated value th integration step can, therefore, be deterbe used in the mined from (10), by using saturation factor determined at the th integration step [17] (10) is the unsaturated mutual inductance coefficient where determined from the slope of the air-gap line. The transient model has been run on a computer several times and values. Two sample outputs are given for different , loss of in Fig. 10. In Fig. 10(a), since is greater than excitation does not occur, resulting in a reduction of terminal voltage only. However, as sufficient damping is introduced into the self-excited IM, terminal voltage collapses, resulting in loss of excitation as can be understood from Fig. 10(b). IV. EXPERIMENTAL RESULTS A series of tests have been carried out in the laboratory on the universal machine set to make clear the self-excitation phenomenon, and to verify the theoretical results given in Section III. In the experiments, in order to keep the shaft speed constant at any set value, the dc machine is supplied from a three-phase thyristorized ac/dc converter system. First, several trials have been made in order to find out whether the operating conditions in the water pumping station in the Iskenderun Iron and Steel Plant may lead to self-excitation of the IM or not. It is observed that terminal voltage builds up in all cases with a compensation capacity of 100% of F per-phase the no-load reactive power demand ( delta). The minimum speed which leads to self-excitation is found to be 1450 r/min. It is less than the synchronous value of 1500 r/min for 50-Hz excitation. As pointed out in [5], it is

(a)

(b) Fig. 10. Simulated line-to-line voltage waveform with the static protection circuit (n = 1590 r/min). (a) R = 160
. (b) R = 60
.

more difficult to self-excite large machines, because the ratio of their magnetising inductance in linear operating range to the one at very small currents is higher than those of small IMs. This fact does not eliminate the risk of self-excitation of large IMs entirely, because the machine may attain a high speed as in the case of the water pumping station with sufficient capacitance directly connected to its terminals for satisfactory compensation. For a fixed capacitance, a drastic increase in terminal voltage against shaft speed has been obtained, as given in Table I. In order to compute the terminal voltage for the given compensation capacitor by the use of equivalent circuit in Fig. 7(c), terminal characteristic of the capacitor should be plotted on versus or versus the curve of the IM (Fig. 6), and the intersection point between them is to be found. In the case versus the where the graphical solution will be based on curve, (11) is to be used as the equation of the load line, is the capacitor voltage. Although the capacitance rewhere mains the same at higher operating shaft speeds and, hence, frequencies, the slope of the load line decreases proportionately

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TABLE I VARIATIONS OF TERMINAL VOLTAGE WITH SHAFT SPEED

Fig. 12. Critical resistance versus speed for a compensation capacitance rated at no-load reactive power consumption. Region 1: no loss of excitation, terminal voltage drops only. Region 2: loss of excitation occurs, thus destroying residual magnetism. Region 3: Loss of excitation occurs, but residual magnetism is not destroyed.

Fig. 11. The variations in terminal voltage (Ch 2) and resistor current (Ch 3) during loss of excitation (n = 1530 r/min, R = 60
, and decay time T 1:5 s).

with the square of speed ratio (or square of frequency ratio), resulting in the drastic increase in terminal voltage given in Table I (11) The variations in terminal voltage and damping resistor current against time are obtained during self-excitation in order to test the performance of the static protection circuit proposed in the paper. A sample record of these variations is shown in Fig. 11. In this case, thyristors receive firing pulses for a period s, and terminal voltage and resistor current decay to of s. During loss of excizero in a shorter time period of tation, electrical energy stored in capacitive- and inductive-type energy storage elements of the system are extracted almost enand are very eftirely. Although time constants fective on decay time , loss of excitation occurs in a time period considerably bigger than those estimated from . This is because, there is considerable electrical power input to the rotor circuit with decaying amplitude, from the mechanical system by the negative slip-dependent rotor resistance in Fig. 7(a). In order to be able to define a Safe Design Area (SDA) for the protection circuit on damping resistance vs speed plane, the results of the above tests are evaluated and the boundaries defining critical resistances as a function of shaft-speed and thyristor firing

period (timer setting) are given in Fig. 12. These results have F per-phase delta and kept conbeen obtained for stant throughout the tests. Two boundaries marked as and in Fig. 12 have been obtained defining three operboundary is unique for a given machine ating regions. and compensation capacitance, as expected. in Region 1 brings the operating point A large value of to a new equilibrium point on the saturated portion of the magnetization characteristic resulting in no loss of excitation and protection action. The self-excited IM starts to generate a lower voltage to balance active power demanded by , machine losses, and generated power by slip-dependent rotor resistance. A sample waveform set which shows the variations in terminal voltage and damping resistor current is given in Fig. 13(a). However, for Region 2, an value suitable for the given speed will lead to both loss of excitation, and a successful demagnetization of the rotor core, in such a way that after removal of firing pulses, terminal voltage does not build up because of the lack of sufficient residual magnetism in the rotor core. A sample waveform set is given in Fig. 13(b), for which is adjusted to 2 s. Region 3 arises from the adjustment of to very low values in comparison with those of Regions 1 and 2. In this region, terminal voltage decays very rapidly, but in a finite time period, after removing the firing pulses, the machine reexcites. This is attributed to the fact that loss of excitation occurs more rapidly than demagnetization process. Complete demagnetization of a core can only be obtained by varying the exciting current in either direction very slowly [18]. A sample waveform set for operation in Region 3 is given in s when is adjusted to 2 s. It Fig. 13(c) for which is seen from these waveforms that terminal voltage builds up in 5 s time after removal of the firing pulses. A solid short-circuit

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(a)

(b)

(c) Fig. 13. Variations in terminal voltage (Ch1) and resistance current (Ch2) against time for different values of R with a timer setting of T = 2 s (n = 1560 r/min, C = 19:3 F). (a) Case study illustrating operation in Region 1, R = 160
. (b) Case study illustrating operation in Region 2, R = 60
. (c) Case study illustrating operation in Region 3, R = 4
.

applied to the motor terminals does not lead to a considerable demagnetization effect in the rotor core as pointed out in [7]. Keeping thyristors triggered for longer time periods enlarges boundaries instead Region 3, resulting in a family of s of a unique one. Only two boundaries of Region 3 for and 2 s are plotted in Fig. 12. An example SDA for shaft speeds in excess of 1600 r/min may be the shaded area in Fig. 12. For sizing the elements of protection circuit and thermal management of the system, Regions 1 and 3 in Fig. 12 are developed versus speed plane as given in Fig. 14, on and are, respectively, rated rms current for where A for the test machine), and the maximum the motor ( rms value of the resistor current just after triggering the thyriscan be chosen in the range from tors. From Fig. 14, for terminal voltage at maximum attain75% to 200% of able shaft speed. For the test machine, if is chosen to be 60 , and will be, respectively, 7.3 A rms and 2 s, resulting in 3.2-kW peak power dissipation and 2-kJ energy absorption capability for the damping resistor. For this purpose, carbon ceramic resistors capable of sustaining high transient currents and

Fig. 14.

Current versus speed.

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high surge energies [19] or capacitor-discharge-type resistors may be used. A surge resistor suitable for printed circuit board (PCB) mounting with a 3-kJ surge and 9-W average power dissipation capability is suitable for the above example. Its dimen, , and . sions in millimeters are V, A) are used in Small thyristors ( the tests without any heatsink. To be on the safe side, a heat sink having nearly 4-kW thermal resistance with natural air cooling could be used. One important point of interest in the design is the threshold value of induced voltage at which the thyristor switch will be triggered into conduction. For protection against self-excitation, for rotation only in the reverse direction, as in the case of water pumping stations, the design constraints of the thyristor switch and damping resistor can be alleviated by applying a different triggering strategy. Whenever the terminal voltage rises, and tends to exceed a low value, for example, 50% of the rated value, the thyristor switch can be triggered into conduction if MC is already open. This assumes the IM does not self-excite in the forward direction of rotation during its rapid deceleration. The precharged capacitor will discharge rapidly through the stator after supply failure during deceleration period. Since this switching strategy makes the protection circuit smaller and cheaper, its contribution is more marked for large and/or medium voltage IMs than that of a small machine. However, for applications in which the IM is driven by the high inertia load at overspeeds in the forward direction after a supply interruption, the above triggering strategy will obviously make no contribution to the alleviation of design constraints. Another point of interest in the design is the timer setting . The experimental results have shown that directly determines boundary and, hence, the success of the proposed protection circuit. Since it is impractical to carry out tests in the field as has been conducted in the laboratory on a small machine, setting of the protection circuit should be made independent of size and ratings of IM, and type of the ferromagnetic material used in the rotor core. This can be achieved by applying firing pulses to the gates of thyristors until the recovery of the supply. This will automatically avoid the uncertainty of boundary and the design of the protection circuit can then be boundary. based only on the V. DESIGN OF COMPENSATION SYSTEM FOR PUMP MOTORS First, problems which may arise from the presence of power system harmonics have been investigated theoretically, and harmonic spectra of both voltages and currents have been measured in the field. The results show that pump motors can be successfully compensated by permanently connected fixed capacitors without a need to tuned filter reactors. This is because, the pump motors are supplied from a 34.5-kV busbar via two 34.5/6-kV step-down transformers in two separate groups. After installation, these findings have been verified by harmonic measurements at the pumping station. Magnetization characteristic has been deduced, and equivalent circuit parameters have been calculated from the results of no-load test, blocked-rotor test, and resistance measurements given in the test certificates of the two types of pump motors.

Fig. 15.

Magnetization characteristic of Pump Motor Type I.

Fig. 16. Type I.

Determination of maximum permissible capacitance for Pump Motor

Fig. 15 shows the magnetization characteristic of motor type 1 (see the Appendix) for 50-Hz excitation. The variations in critical capacitance with shaft speed are then obtained from the air-gap line in Fig. 15, (5), and the approximate equivalent circuit in Fig. 7(b). It is given in Fig. 16 for motor type 1. The maximum shaft speed in the reverse direction that will be attained by the motor in the case of a check valve failure can be determined from a detailed model of the overall system, which consists of pipelines, centrifugal pump, and motor mechanical subsystem. Instead of this theoretical approach, the maximum shaft speed value for each motor type is measured separately by establishing the same operating conditions in the field artifir/min for motor type 1 is cially. This critical speed marked in Fig. 16 which intersects the critical capacitance curve at 11.5 F per-phase wye. In order to eliminate self-excitation

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risk, the shunt capacitance that can be connected directly to the motor terminals should be less than this value. On the other hand, shunt capacitors rated at 100%, 90%, and 80% of no-load reactive power demand of IMs at rated voltage can be calculated from no-load test data for motor type 1 , which are found to be 16.2, 14.6, and 13.0 F per-phase wye, respectively. It can be concluded from Fig. 16 that the compensation system designed according to 80% of no-load reactive power may lead to self-excitation at maximum shaft speed of 1650 r/min in the case of a supply failure. Therefore, a smaller compensation capacity (11.3 F per-phase wye) has been assigned for motor type 1, which increases the PF to 0.92 lag at rated voltage and full load. It can be calculated simply from the nameplate data by taking into account the utility penalty limit of 0.90. The recommended capacitance may lead to self-excitation at speeds in excess of 1650 r/min. Since the most expected value of terminal voltage is 6.3 kV, the contribution of 11.3 F per-phase wye to the improvement of power factor will be less due to the character of the saturated portion of the magnetization curve. Operational experience for a few months after installation has shown that the realized mean power factor is close to 0.92. The penalty for PF for many utilities is however 0.95. A higher capacitance (13.0 F/phase wye) would be needed for motor type 1 in such cases instead of the design value of 11.3 F per-phase wye. This capacitance would obviously lead to selfexcitation, even at speeds near to synchronous value. Therefore, in such cases, either the shunt compensation system that will be connected directly to the motor terminals should be equipped with the protection circuit proposed in this paper, or another compensation technique such as shunt capacitors switched by CC should be adopted.

TABLE II MERSIN RIVER WATER ANALYSIS (METHOD: Fe, Ca, AND Mg DETERMINED BY FLAME ATOMIC ABSORPTION TECHNIQUE USING PERKIN ELMER MODEL 305BAAS)

TABLE III NAMEPLATE DATA OF PUMP MOTORS

APPENDIX A. Machine Parameters and Nameplate Data of Test Machine Nameplate data: three-phase, wye-connected, 50-Hz, fourpole; stator: 220 V/phase, 14 A; rotor: 140 V/phase, 17 A. Pa; ; ; ; rameters: at rated operating voltage. B. Mersin River Water Analysis Report

VI. CONCLUSIONS Recommendations for IEEE Std. 141-1993 1) Never connect the capacitors directly to the motor in conventional manner using the capacitor kilovar values recommended by motor manufacturers when water is pumped through pipelines. If a supply interruption coincides with check-valve failure as an unusual condition, then water within the pipeline may drive the motor in the reverse directions at speeds higher than the synchronous speed. This may lead to generation of dangerous over-voltages at the motor terminals owing to self-excitation phenomenon. 2) Capacitors can be connected directly to the motor terminals in a water pumping station only if: a) var compensation system is equipped with a static protection circuit against self-excitation, or b) a var capacity smaller than recommended practice meets the utility PF penalty requirements, and does not lead to self-excitation at maximum speed in the reverse direction. This makes necessary the availability of both motor test data and maximum shaft speed value.

See Table II. C. Nameplate Data of Pump Motors See Table III. REFERENCES
[1] E. D. Basset and F. M. Potter, Capacitive excitation for induction generators, Elect. Eng. Trans., pp. 540545, 1934. [2] C. F. Wagner, Self excitation of induction motors, Elect. Eng. Trans., vol. 58, pp. 4751, 1938. [3] N. Mohan and M. Riaz, Wind-driven capacitor excited induction generators for residential electric heating, presented at the IEEE PES Winter Meeting, New York, 1978, Paper A 78 050-7. [4] D. W. Novotny and G. H. Studtmann, Self excitation in inverter driven induction machines, IEEE Trans. Power App. Syst., vol. PAS-96, pp. 11171125, July/Aug. 1977. [5] J. M. Elder, J. T. Boys, and Prof.J. L. Woodward, The process of selfexcitation in induction generators, Proc. Inst. Elect. Eng., pt. B, vol. 130, no. 2, pp. 103108, Mar. 1983. [6] G. Raina and O. P. Malik, Wind energy conversion using a self excited induction generator, IEEE Trans. Power App. Syst., vol. PAS-102, pp. 39333936, Dec. 1983. [7] J. M. Elder and J. T. Boys, Self-excited induction machine as a small low-cost generator, Proc. Inst. Elect. Eng., vol. 131, no. 2, pp. 3341, Mar. 1984. [8] S. P. Singh, B. Singh, and M. P. Jain, Performance characteristics and optimum utilization of a cage machine as capacitor excited induction generator, IEEE Trans. Energy Conversion, vol. 5, pp. 679685, Dec. 1990.

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[9] IEEE Recommended Practice for Electric Power Distribution for Industrial Plants, IEEE Std. 141 (Red Book), 1993. [10] SIEMENS Electrical Installations Handbook Part 2, 2nd revised and enlarged ed. New York: Wiley, 1987. [11] R. Spee and A. K. Wallace, Comparative evaluation of power factor improvement techniques for squirrel cage induction motors, IEEE Trans. Ind. Applicat., vol. 28, pp. 382386, Mar./Apr. 1992. [12] A. E. Fitzgerald and C. Kingsley, Electric Machinery, 2nd ed. New York: McGraw-Hill, 1961. [13] L. Shridhar, B. Singh, C. S. Jha, B. P. Singh, and S. S. Murthy, Selection of capacitors for the self regulated short shunt self excited induction generator, IEEE Trans. Energy Conversion, vol. 10, pp. 1017, Mar. 1995. [14] T. F. Chan, Analysis of self-excited induction generators using an iterative method, IEEE Trans. Energy Conversion, vol. 10, pp. 502507, Sept. 1995. [15] C. V. Jones, Unified Theory of Electrical Machines. London, U.K.: Butterworth, 1967. [16] M. Ermis, Representation of the magnetization characteristic of selfexcited induction generators for computer use, in Proc. AMSE Conf., vol. 2C, July 1988, pp. 139150. , Modeling and analysis of a wind turbine driven self excited in[17] duction generator, Ph.D. dissertation, METU, Ankara, Turkey, Apr. 1982. [18] H. C. Roters, Electromagnetic Devices. New York: Wiley, 1941. [19] K. C. E. Smart, Low Profile Power Resistor, in IEE Pulse Power Colloq., 1997, pp. 26/126/3.

Zafer akir received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Middle East Technical University, Ankara, Turkey, in 1997 and 2000, respectively. Between 19972000, he was a Research Engineer, working in the field of ac motor drives for auxiliary power supplies of electric locomotives. Presently, he is fulfilling his military obligation in Turkey. His research interests include modeling and simulation of induction motor drives, and high-frequency power converters.

Isik adirci (M98) received the B.Sc., M.Sc., and Ph.D. degrees in electrical and electronics engineering from Middle East Technical University, Ankara, Turkey, in 1987, 1988, and 1994, respectively. She is currently an Associate Professor in the Electrical and Electronics Engineering Department, Middle East Technical University, and also a Senior Researcher for the TUBITAK Information Technologies and Electronics Research Institute, Scientific and Technical Research Council of Turkey. Her areas of interest include electric motor drives, switch-mode power supplies, and static reactive power compensation systems.

Muammer Ermis (M99) received the B.Sc. degree in electrical engineering from Middle East Technical University, Ankara, Turkey, in 1972, the M.B.A. degree in production management from the Academy of Commercial and Economic Sciences, Ankara, Turkey, in 1974, and the M.Sc. and Ph.D. degrees in electrical engineering from Middle East Technical University in 1976 and 1982, respectively. He is currently a Professor of Electrical Engineering at Middle East Technical University, and is also the Director of the Power Electronics Group, TUBITAK Information Technologies and Electronics Research Institute, Scientific and Technical Research Council of Turkey. His current research interests are static reactive power compensation systems and high-power medium-voltage motor drives.

Gurkan Zenginobuz (S00) received the B.Sc. and M.Sc. degrees in electrical and electronics engineering in 1997 and 2000, respectively, from Middle East Technical University, Ankara, Turkey, where he is currently working toward the Ph.D. degree. He is also currently a Research and Development Engineer with the TUBITAK Information Technologies and Electronics Research Institute, Scientific and Technical Research Council of Turkey. His areas of research are induction motor soft starters at medium voltage and microprocessor control of motor drives.

Hakki Tezcan received the B.Sc. degree from Yildiz Technical University, Istanbul, Turkey, in 1975. From 1975 to 1980, he was an Electrical Engineer with the Iskenderun Iron and Steel Plant (ISDEMIR). Between 19801985, he was a Chief Engineer with Foster Wheeler Intercontinental Corporation. From 1985 to 2000, he was Vice Director of the Electrical Maintenance and Repair Department of ISDEMIR. He presently directs Tezcan Elektrik Mhendislik, Istanbul, Turkey, a private company specializing in reactive power compensation systems.