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SEE 4433 Power Electronics And Drives


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Chapter 6:

AC Drives
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http://www.engineerlive.com/DesignEngineer/Motors_and_Drives/What_exactly_is_an_ac_drive_and_just_how_does_it_work%3F/21560/

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Motor Drive

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Why induction motor (IM)? UNIVERSITI TEKNOLOGI MALAYSIA Robust; No brushes. No contacts on rotor shaft High Power/Weight, Lower Cost/Power ratios Easy to manufacture Almost maintenance-free, except for bearing and other external mechanical parts Disadvantages Essentially a fixed-speed machine Speed is determined by the supply frequency To vary its speed need a variable frequency supply Motivation for variable-speed AC drives Inverter configuration improved Fast switching, high power switches Sophisticated control strategy Microprocessor/DSP implementation Applications Conveyer line (belt) drives, Roller table, Paper mills, Traction, Electric vehicles, Elevators, pulleys, Air-conditioning and any industrial process that requires variable-speed operation. The state-of-the-art in IM drives is such that most of the DC drives will5be replaced with IM in very near future.

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Induction Motor Drive

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Introduction

Induction motors (IM) most widely used

IM (particularly squirrel-cage type) compared to DC motors Rugged Lower maintenance More reliable Lower cost, weight, volume Higher efficiency Able to operate in dirty and explosive environments IM mainly used in applications requiring constant speed Conventional speed control of IM expensive or highly inefficient IM drives replacing DC drives in a number of variable speed applications due to improvement in power devices capabilities Reduction in cost of power devices
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Review on 3-phase IM

Balanced 3-phase winding on stator Rotor of squirrel-cage (SC) type IM has conductors shorted by end rings By induction, same number of phases and poles produced by rotor as in stator winding When stator supplied by balanced 3-phase AC source (frequency (rads/s) or f (Hz)) rotating field moving at synchronous speed, s (rad/s) is produced
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Torque Production

Only squirrel-cage IM (SCIM) is considered in this module Neglecting all harmonics, the stator establishes a spatially distributed magnetic flux density in the air-gap that rotate at a synchronous speed, 1 or Ns

where e : supply frequency (in Hz); p : pole pairs (p = 1 for 2 pole motor, p = 2 for 4 pole motor etc) If the rotor is initially stationary, its conductor is subjected to a sweeping magnetic field, inducing rotor current at synchronous speed. If the rotor is rotating at synchronous speed (i.e. equals to f1), then the rotor experience no induction. No current is induced in the rotor.
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Torque Production

At any other rotor speed, say m, the speed differential i-m creates slip. Per-unit slip is defined as:

Slip frequency is defined as: 2= 1-m. frequency rotor, f2 = sf1 When rotor is rotating at m., rotor current at slip frequency will be induced. The interaction between rotor current and air-gap flux produces torque.
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Single-phase Equivalent Circuit (SPEC)

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Stator voltage equation:

Rotor voltage equation:

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SPEC, referred to stator

From previous diagram, SPEC is a dual frequency circuit. On the stator is 1 and on the rotor m Difficult to do calculations. We can make the circuit a single frequency type, by referring the quantities to the stator
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Rotor Current

If E is the back EMF in the stator phase, then the back EMF in an equivalent rotor phase with the same effective turns ratio will be E where :

Note that the quantities are now referred to the stator, but with the rotor resistance alteration.
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Performance calculation using SPEC


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Performance calculation using SPEC

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Power and Torque

Power is transferred from stator to rotor via airgap, known as air gap power

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Example :

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A single phase equivalent circuit of a 6-pole SCIM that operates from a 220V line voltage at 60Hz is given below. Calculate the stator current, output power, torque and efficiency at a slip of 2.5%. The fixed winding and friction losses is 350W. Neglect the core loss.
Solution :

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Solution :

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Solution :

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Starting Current

For the previous example, Calculate the stating current when motor is first switched on to rated applied voltage.

This is common for induction motors. Care should be taken 22 when starting induction motors.

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Approximate SPEC
1=2fe=electrical speed

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Single (Fixed Supply) Frequency Characteristics

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Single Frequency Characteristics

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Single Frequency Characteristics

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As slip is increased from zero (synchronous), the torque rapidly reaches the maximum. Then it decreases to standstill when the slip is unity.
At synchronous speed, torque is almost zero. At standstill, torque is not too high, but the current is very high. Thus the VA requirement of the IM is several times than the full load. Not economic to operate at this condition.

Only at low slip, the motor current is low and efficiency and power factor are high.

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Scalar Control Of Induction Machine

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Variable Line Voltage, Fixed Frequency

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Typical IM Drive System : Variable voltage, variable frequency

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Typical IM Drive System : Variable voltage, variable frequency

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Typical IM Drive System : Variable voltage, variable frequency

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V V V F Variable Speed Characteristics

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For variable speed operation, the supply is an inverter. The frequency of the fundamental AC voltage will determine the speed of IM. To vary the speed of IM, the inverter fundamental frequency need to be changed.

The inverter output frequency must be kept close to the required motor speed. This is necessary as the IM operates under low slip conditions.
To maintain constant torque, the slip frequency has to be maintained over the range of supply frequencies.

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Variable Voltage, Variable Frequency ( V V V F ) Control Scheme

In order for maximum torque production, motor flux (air gap) should be maintained at its rated value. (assume negligible volt drop across stator impedance)

Therefore, in order to maintain the motor flux, the ( E1 / f1 ) ratio has to be kept constant.

This is popularly known as the constant Volt / Hertz operation

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T- characteristic of the motor shifted horizontally Small slip frequency operation at all operating frequency (high efficiency)

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Variable Voltage, Variable Frequency Constant V / f

50 Hz

30 Hz
10 Hz

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Variable Voltage, Variable Frequency Constant V / f

At low speed , the volt drop at Rs and Xls quite significant compared to supply Vs, therefore to compensate the drop, Vs normally boosted at low frequency
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Three phase power supply

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Variable Voltage, Variable Frequency Constant V / f


Voltage Source Inverter (VSI)

Rectifier

Induction Motor

IM

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Variable Voltage, Variable Frequency Constant V / f

Problems with open-loop constant V/f At low speed, voltage drop across stator impedance is significant compared to air gap voltage - poor torque capability at low speed
Solution:

Boost voltage at low speed Maintain Im constant constant ag


Torque deteriorate at low frequency hence compensation commonly performed at low frequency In order to truly compensate need to measure stator current seldom performed
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Variable Voltage, Variable Frequency Constant V / f

Problems with open-loop constant V/f with voltage boost at low frequency

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Variable Voltage, Variable Frequency Constant V / f

Problems with open-loop constant V/f Poor Speed Regulation Solution: Compensate slip closed-loop control TL

Motor Characteristic after compensation

Slip

syn

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Variable Voltage, Variable Frequency Constant V / f

Constant V/f Voltage Three with slip compensation and open-loop voltage boost Source phase Rectifier Inverter power supply (VSI)

Induction Motor

IM

Slip Speed Calculator


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Constant Torque Region

Hence for VVVF operation, there is a need to control the fundamental voltage of the inverter if its frequency (and therefore the frequency of the IM) need to be varied. To vary the fundamental component of the inverter, the MODULATION INDEX, MI can be changed. The rated supply frequency is normally used as the base speed At frequencies below the base speed, the supply magnitude need to be reduced so as to maintain a constant Volt / Hertz. The motor is operated at rated slip at all supply frequencies. Hence a constant torque region is obtained.
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Constant Torque Region


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Rated Slip

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Constant Power Region

Above base speed, the stator voltage reaches the rated value and the motor enters a constant power region. In this region, the air-gap flux decreases. This is due to increase in frequency frequency while maintaining fixed voltage.

However, the stator current is maintained constant by increasing the slip. This is equivalent to field weakening mode of a separately excited DC motor.

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Constant Torque Region

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Base Speed
Constant Torque

Field Weakening

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VVVF

Summary
Constant Power

Constant Torque

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Idealized Motor Characteristic

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DC Motor

Induction Motor

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Example :

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Motor is controlled by a voltage source inverter with constant V/f Calculate: a) Speed for frequency of 30 Hz and 80% of full load b) Frequency for a speed of 1000 rpm and full load c) Torque for a frequency of 40 Hz and speed of 1100 rpm

Answer: 796 rpm, 37.67 Hz, 31.07 Nm


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Example :

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A three-phase 4-pole, 10 horsepower, 460 Vrms/60 Hz (line-to line) runs at full-load speed of 1746 rpm. The motor is fed from an inverter. The flux is made to be constant. Plot the torque-speed graphs for the following frequency: 60 Hz, 45 Hz, 30 Hz,15 Hz. A three-phase induction motor is using a three-phase VSI for VVVF operation. The IM has the following rated parameters: voltage : 415 V (RMS) frequency : 50 Hz slip : (p.u) 5% pole pair :2 If the inverter gives 415V (RMS) with modulation index of 0.8, calculate the required modulation index if the motor need to be operated at rotor mechanical speed of 10 Hz.
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Example :

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a) Briefly discuss the circuit topologies for variable voltage variable frequency induction motor speed Drives b) A three-phase 4-pole, 10 kW, 415 Vrms/50 Hz (line-to line) runs at full-load speed of 1320 rpm. The motor is fed from an inverter. The flux is made to be constant. Plot the torque-speed (Hz) graphs for the following supply inverter frequency: 50 Hz, 30 Hz, 20 Hz. Also plot T- when f = 60 Hz and 100 Hz.

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The End of Chapter 6

Thank You
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