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IEEE Indicon 2005 Conference, Chennai, India, 11-13 Dec.

2005 133

Analysis, Simulation and Performnance Comparison


of AC Voltage Controller Fed Three Wire and
Four Wire Connected Induction Motor Drives
K. Sundareswaran and Bos Mathew Joos

Abstract - The aim of this work is to evaluate and. compare the minals and power supply and the stator voltage is controlled
performance characteristics. of a voltage controller driven star smoothly at line frequency- between zero and full value by
connected induction, motor drives with three wire and four wsire symmetrically controlling, SCR firing angle.
configurations. Mathematical modefing and steady state The fundamental law relating motor speed control with this
simulation of the two circuit topolog;ies are examined and scheme and motor input current is, established in [I]. It is
performance of the two schemes in terms of certain electrical shown that- peak input current is in;versely proportional to
characteristics such as input power drawn, input power factor,
Total Harmonic Distortion (THD) of input current and motor
square root of-rotor resistance, emphasizing; that this method
termin al voltage etc is compared. It is shown that the three isire of speed control is suitable for motors with high rotor resis-
scheme is superior in performance when compared to four wire tance.. Each different scheme of power circuits suitable for
schemes. Experimental results are provided to supplement the phase control are given and it is shown that a circuit with a
computed results. pair of SCRs in each phase of a star connected induction mo-
Keywords - Induction motor, A.C. Voltage controller, modeling. tor is the best choice, when average torque per rms stator am-
pere is used as the performance criterion. The closed loop
speed control of induction motor with voltage control and em-
NOMENCLAT'URE ploying digital phase locked loop scheme is reported in [2].
Here, complete model of speed control of drive is designed
D d/d(cot) and the schenme is evaluated experimentally. Compared to
J Mcment of Inertia in Kg-M2 conventional method using analog devices, this method is
ids, iqs 2- phlase stator curTents in Ampere found to exhibit precise speed control. The design and imple-
idr, iqr Transformed two phase rotor currents in Ampere mentation of SCR based starter suitable for 25 HP to 1000 HP
rs, Ls 2- phase stator resistance in ohms and induction motors is explained in [3]. The use of power transis-
inductance in Henry tor for induction motor voltage control is given in [4]. How-
rr,Lr 2-phase rotor resistance in ohms and ever, such a method is not viable for higher rating motors
inductance in Henry referred to stator in ohms owing to the non-availability of higher rating transistors.
Te Electromagnetic Torque in N-m. Despite the simplicity of SCR controlled induction motor
TL Load Torque in N-rn
2- phase stator voltages in volts
drive system, the analysis of such scheme is extremely diffi-
Vds,Vqs
Mutual inductance in Henry cult due to non linear and complex nature of induction ma-
Lm
chine equations. This problem was compounded in earlier
(or rotor speed in rad/sec
Po Number of poles days due to large computation time required by the comput-
ers. Different mathematical models were used to study the
static response of the dlive with voltage control. The simula-
I. INTRODUCTION tion results provide a useful information on the total system
design with various operating conditions. An earlier attempt
T he stator voltage control of induction motors using
in this direction is seen in [5]. However, the solution of the re-
back-to-back connected thyristors for speed control is
the cheapest and most reliable scheme and is increasingly suliting equations is not carried out owing to their complexity.
employed in low to medium power applications, especially in Nowotny and Fath [6] have used state-space approach and
fan and pump drives. The stator voltage control of induction matrix methods and brought out steady state solution subject
motor is achieved by employing three back-to-back con- to switching constraints. Lipo [7] used this technique for the
nected thyristor pairs in each phase, in between the motor ter- analysis of SCR controlled drive and the boundaiy conditions
for the matirix differential equations are expressed as a func-
Electrical and Electronics Engineering Department, tion of sytem parameters. Fourier series method is also
National Institute of Technology, Tiruchirappalli adopted for the steady state analysis of such drives [8-1 1], but
0-7803-9503-4/05/$20.00 C2005 IEEE
134 IEE EE Indicon 2005 Conference, Chennai, India, 11-13 Dec. 2005
computation is found to be tedious and results were not satis- where c = m and V&1 and Vqs are given by
factory as compared to the one obtained using state-space ap- LrLs
proach. In [12],the motor is considered as a passive
resistance-inductance circuit. In the development of this cir-
cuit, magnetizing current and stator resistance are included
LvQS V3i3o°
F[-]
J vy
21 Vr2
and the amplitude and phase of the emf are determined as
2
.... (2)
2 -
functions ofmotor torque and speed. However, the main draw
back of the works in [5-14] is that only steady state solution is
obtained with large number of system variables.
While the analysis, implementation and related aspects are
Vr l sin(ont)2n
and VYb LV. sin(ot -
/3)
.(
well examined by the researchers in the past, the objective of Vb sin(ot + 27r / 3
the present work is to compare performance characteristics of
thyristorised voltage controller fed three phase star connected
induction motor drives with and without neutral connection. The electromagnetic torque is given by
The circuit without neutral connection is termed as three wire
scheme in the present work and when the neutral of the motor
is connected to the neutral of the three phase system, it is re-
Te = ,J PoL. (id,iqs-iidj) .(4)
ferred as four wire scheme. The modeling ofthe two schemes
is not of much different. But the performance characteristics
differ widely. It is shown in this work that a three wire scheme The speed is govemed by
is more preferable than the four wire scheme due to its in-
creased efficiency, reduced pollution of the line current etc.
Calculated and test results are provided to validate the
dc)r Te-Tj
....(5)
findings. dt J

111. SIMULATION RESULTS


Dedicated software is developed in matlab/simulink for
modeling the drive system. Figure 2 shows the simulated mo-
tor phase voltage and phase current waveforms for typical op-
erating conditions. Under the same operating conditions,
experiment is also conducted on the test motor with three wire
system and four wire system and waveforms are obtained.
The results are included in fig. 2.
Fig. I Induction Motor Drive with SCR Voltage Controller
IV. PERFORMANCE COMPARISON OF THREE AND
II. SYSTEM MODELING FOUR WIRE SYSTEMS
This induction motor is represented in the d-q axis frame The performance of the drive with three and four wire
fixed to stator. The dynamic equations for the induction motor schemes is compared based on certain electrical characteris-
are given below: tics. These characteristics are obtained by simulation of the
drive using the model. The Computed results are verified by
.,L,,, r,L. 4L, 0 0 0 taking measurements on the drive system. The details of the
ddtf Ls L4L L,L, L, -. L,
characteristics are explained below.
diq,
di = I
co,,4'
LsL
-r C°rL.
L, I
0
L,
O.0 0
Vr
did, r L. 4L, r, Jd,ll
+

A. Input Power:
01 0
L, Lr L, L, 10 The power input to the drive system is calculated for the two
dtq, L,L,r r, L. 0,L,, r, 00O
L,L, L, L,
0
Lr- schemes is obtained using a Matlab model and is shown in
I1)
IEEE Indicon 2005 Conference, Chennai, India, 1-1-13 Dec. 2005 135
B. Inputpowerfactor:
Input power factor of a drive with a power electronics inter-
face is given by the following equation:

Input Power
Input power factor - Input Voltamps

(a) V11,cosp, -
l1cosy,
4DJ V,1 I

Where VI is the rms values of the input voltage and II is the


rms value of the fundamental component of supply current, I
is the rms value ofinput current and coscpj is the displacement
factor.
4J As the per the above equation, the input power factor of the
(b) drive is computed using the Matlab model for SCR firing an-
;.- I ! I I -1 ;4-4
gle of 90 degrees and is plotted in figure3(b). The measured
results are also shown in this figure. From the figure it is clear
that the input power factor of the drive system does not vary
a
much with the two schemes throughout operating domain of
the induction motor. Thus whether the scheme is three wire or
four wire, the system power factor is not altered.
--4-1
C. Total Harmonic Distortion (THD) of input current:
(c)
The harmonic content of the supply is now taken up as an
another electrical parameter for comparison. The THD of the
supply current is defined as follows:
THD = (lh/il) where Ih is the rms value of the net harmonic
current.
For SCR firing angle of 90 degrees, THD of supply current
obtained through computation ands observation is depicted in
figure 3(c). It is seen that the THD of supply current is gener-
ally more with four wire scheme than the three wire circuit,
(d) except at a small speed of 1460 rpm around.
Fig.2. Measured and simulated voltage and current waveforms (a) D. THD ofMotor terminal voltage
Voltage waveform, (b) current waveform for a firing angle of 70
degrees with three wire system, (c) Voltage waveform, The variation of this index is plotted in figure 3(d). In the
(d) current waveform for a firing angle of 100 degrees with four case of this parameter four wire scheme offers lesser harmon-
wire system. ics and more sinusoidal motor terminal voltage. This factor is
little bit high for three wire circuit.
figure 3(a) for typical SCR firing angles. Measurements were
also taken on the drive system and the recorded values are
also shown in the figure. It can be seen that there is a good cor- V. CONCLUSION
relation between the -measured and computed results. Further The computed and measured performance characteristics of
it is evident that the power drawn by the motor is larger with variable voltage star connected induction motor with three
four wire circuit than the three wire circuit for all operating and four wire schemes were examined in this chapter. From
points ofthe drive systems. This is due to the presence of neu- the characteristics curves it was found that a three wire
tral current with four wire scheme. scheme is more preferable than a four wire scheme.
136
136 IEEE Indicon 2005 Conference,Chennai,
IEEE Indicon:2005 Conference India, 11-13
Chennai,Lndia,l 1-13 Dec. 2005
[4] Alexander Mozder and B.K. Bose, "Three phase AC power control us-
ing power transistor$' {EEE Trans.on Industrial Applications,
VoLIA-12 pp.499-505, Sep./Oct.,1976.
(a) 1[5] Sheperd, "On the analysis of the three phase induction motor with
W.
voltage control by thyristor switching," IEEE Trans.on Industry and
General Applications, pp.304-311, May/June, 1968.
16] Nowtony and Fath,, "The analysis of induction machines controlled by
series connected semniconductor switches," IEEE Trans. On
PAS-87(2),pp597-605,1968.
[7] T.A. Lipo, "The analysis of induction motors with voltage control by
(b) symmetrically triggered thyristors,"IEE Trans. on Power apparatus and
Systems,pp.515-525, Mar/Apr. 1971.
[8] W.McMarray, "A comparative study of symmetrical three phase cir-
cuits for phase controlled ac motor drives," IEE Trans. On Industrial
applications, Vol.IA-0O,pp.403-41 1, May/June 1974.
[9] M.Ramamurthy and M.F. Samek, "Steady-state analysis of phase con-
(c) trolled induction motor drive with isolated neutral," IEEE Trans.on
IECI, Vol.IECI-23, No.2, pp.178-184, May 1976.
[10] S.B. Dewan and A Straughen, Power semiconductor circuits, Wiley,
London, 1975.
[11] N.H.Malik, S.M.Enamul Haque and W.Shepered, "Analysis and per-
formance of three phase controlled thyristor ac voltage controllers,"
IEEE Trans. on Industrial Electronics, Vol.lE-32, No.3, pp.192-199,
Aug.1985.
[12] K.Padiyar and N. Prabhakaran, "Simplified analysis of steady state per-
formance of a voltage controlled induction motor drive," Electrical Ma-
chines and Power systems, pp.149-162, 15,1988.
f 13] S.A. Hamed and B.J.Chalmers, "New method of analysis and perfor-
(d) mance prediction for thyristor-voltage controlled R-L loads," IEE pro-
ceedings, Vol.137, Pt.B, No.3, pp.339-347, May 1990.
SIMULATED EXPERIMENTAL [14] S.A. Hamed and B.J.Chalmers "Analysis of variable-voltage thyristor
Fig. 3. Simulated and Experimental performance characteristics controlled induction motors," IEE proceedings, Vol.134, Pt.B, No.3,
with 3 wire and 4 wire configurations. (a) Input power pp.184-193, May 1987.
(b) Input power factor (c) Current THD (d) Voltage THD.
APPENDIX

REFERENCES INDUCTION MOTOR DETAILS: Three phase, 400V,


7.5A,5OHz, 5h.p,1400 rpm.
[I] D.A. Paice, "Induction motor speed control by stator voltage con- Induction motor parameters:
trol," IEEE Trans. on Power Apparatus and systems,pp.585-590, Feb- Stator resistance rS = 2.7 Q1
ruary 1968. Rotor resistance rr = 1.31lQ
[2] W.L.Kenley and B.K.Bose, "Triac speed control of three- phase induc- Magnetising reactance Xm = 75 Ql
tion motor with phase locked loop operation", IEEE Trans. Industrial
Stator reactance Xs = 5.1 70
Applications, Vol.IA-12,pp.492-498,Sept./Oct.,1976.
Rotor reactance Xr = 5.17 Q
[3] J. Mungenast, "Design and application of a solid state ac motor starter,"
IEEE/lAS Annual meeting,pp.861-866,1974.

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