ELL 752

ELECTRIC DRIVE SYSTEM

Prof. Bhim Singh

Department of Electrical Engineering
Indian Institute of Technology Delhi
Hauz Khas, New Delhi-110016, India
1
Control of Induction Motor Drives

2
 Speed Control of IM
The speed control of an induction motor can be
changed by controlling the voltage or the frequency or
both.
There are various controllers to accomplish the speed
control of induction motor.
The basic principle remains same as in synchronous
motor, the constant flux operation up to base speed
and constant power operation above base speed is
performed.
To start with the controllers, AC voltage controllers
shall be discussed.
These controllers mainly use slip control for the speed
3
AC Voltage Controllers
for
Induction Motor Drives

4
 AC Voltage Controllers

AC voltage controllers can be divided in two broad

categories:
Single phase;
Three phase.
These controllers can be used for an induction motor
as:
Soft starters;
Energy saving controllers;
Solid state speed controllers.

5
 AC Voltage Controllers
Salient features as soft starter:
Step less control of motor voltage;
Control flexibility due to low power control
circuitry;
Smooth acceleration and deceleration of the motor;
Easy implementation of current control;
Simple protection against single phasing or
unbalanced operation in case of three phase motors.
Absence of current inrush;
Low maintenance for applications requiring
frequent starting and stopping.
6
 AC Voltage Controllers
Salient features as energy saver:
In such applications, voltage control is used for
reduction of losses not for speed control;
The motor losses primarily depend on three factors:
Loading on the motor;
Magnitude of applied voltage; and
Quality of motor construction.
The most significant factor is motor loading;
The motor running at light load has most savings;
The applications with low duty cycles will allow
more energy savings;
7
 AC Voltage Controllers
Following applications have significant no load
operation and so voltage control can serve as energy
saver:
Gang Ripsaw (1.63 kW saving for 50 hp motor);
Woodhog (1.2 kW saving on 16 kW motor);
Air compressors : reciprocating type (12% saving of 200 hp
motor);
Drill presses;
Cutoff saws;
Machine tools;
Industrial sewing machines;

8
 AC Voltage Controllers
The applied voltage is directly related with core
losses; therefore, optimum voltage shall reduce the
losses:
the motor operating near the distribution substation will
have higher voltage than the one at the end of the
distribution line;
Therefore, the voltage reduction will allow energy savings;
A badly designed motor or a rewound motor with
uneven air gap will draw more magnetizing current
and will have higher core losses;
Reduced voltage operation of such motor will certainly
improve energy utilization at all loads;

9
AC Voltage Controller Applications
Following applications use AC voltage controller as
speed controller:
Fans and blowers;
High pressure material handling fans;
Twist frames;
Light vacuum system;
Pumps (Single quadrant operation);
Crane drives (Four quadrant operation);
Cutting and forming machines;
Grinders;
Aluminum extruders;
Double sided abrasive planer.
10
Single Phase Topologies
of
AC Voltage Controllers

11
AC Voltage Controllers Single Phase

12
AC Voltage Controllers Single Phase

(a) Total circuit showing separation of

main and auxiliary windings into two
circuits.
(b) Parallel connection for heavy loads.
(c) Series connection for light loads.

J. D. Law and T. A. Lipo, A Single Phase Induction Motor Voltage Controller with Improved
13
Performance, IEEE Transactions on Power Electronics, vol. PE-1, no. 4, pp. 240-247, Oct. 1986.
Operating Characteristics 1/3 hp motor

14
Operating Characteristics 1/3 hp motor

15
Operating Characteristics 1/3 hp motor

16
 AC Voltage Controller Single Phase
It can be said that lightly loaded conditions a large amount of
energy is wasted which can be conserved by voltage control;
At no load, voltage control can reduce the power consumption
by 25% of the rated full load output
Except at no load, more than 50 % reduction in voltage tends to
stall the motor. This could be treated as the limit on voltage
reduction.
During loaded condition, voltage reduction beyond certain value
decreases the efficiency and increase in current, however the
power factor keeps on improving with the voltage reduction.

17
 AC Voltage Controller Single Phase
Therefore, current signal can be used for adjusting the motor
voltage;
At moderate loads, operation at optimum voltage results in
substantial improvement in power factor;
Power saving at all loads is possible, however, savings decrease
with increase in load on the motor;
Control of voltage by means of SCRs introduces harmonics in
the motor currents; however, topologies with autotransformers
and SCRs inject much less harmonic currents as compared to
triac controlled circuits.
The details of these circuits can be obtained in the paper by Ned
Mohan at reference [3].

18
Three Phase Topologies
of
AC Voltage Controllers

19
Three Phase AC Voltage Controllers
The three phase AC voltage controllers (known as
symmetrical controllers) can be used for star and delta
connected stators;
Star connected pairs carry line current, whereas, delta
connected pairs carry phase currents;
Therefore, the thyristor ratings shall be reduced by a
factor 3 in a delta connected circuit.
Under normal operation the thyristors of star connected
circuit shall be subjected to a maximum voltage (3/2)
times lower than delta connected circuit.
However, under abnormal conditions the peak voltage
shall be same in both the cases.
20
AC Voltage Controllers Three Phase

Symmetrical Controllers
21
AC Voltage Controllers Three Phase

For small motors anti-parallel thyristor pairs can be replaced by a triac.

22
AC Voltage Controllers Three Phase

This is also a
symmetrical controller
topology;
It can be used only when
the motor is delta
connected and both ends
of the phase windings
are available.

23
AC Voltage Controllers Three Phase

A cheaper controller can

be obtained by replacing
one thyristor in each
phase by a diode;
This introduces even
harmonics.

The predominant harmonic is second, which increases

losses considerably, particularly at low speeds.

24
 AC Voltage Controllers Three Phase
Asymmetrical topologies
can be obtained by
replacing one or two
thyristor pairs and
connecting corresponding
phases directly to the
supply;
This results in asymmetrical operation of the motor
with large harmonic contents;
Therefore, the motor is derated and torque capability is
reduced drastically at low speeds. 25
AC Voltage Controllers Three Phase
Four quadrant operation of the three phase
induction motors can be obtained using following
topologies:

26
 Four Quadrant Controller
The symmetrical controller ( shown in previous slide) can
operate in all four quadrants;
Thyristor pairs A, B and C provide operation in I st and IVth
quadrant;
For IInd and IIIrd quadrant operation, thyristor pairs A, B, and C
can be used.
While changing from ABC to ABC and vice versa; care should
be taken to ensure that incoming pair is activated only after the
outgoing pair is fully turned off.
This can be achieved by withdrawal of firing pulses while
change over and providing 5 to 10 ms dead time, thereafter.

27
 Four Quadrant Controller
Another symmetrical controller (shown in next slide) can also
operate in all four quadrants;
This topology uses three pairs of thyristors A, B & C and a
contactor with two normally open (NO) and two normaly closed
(NC) contacts;
The operation in Ist and IVth quadrant is obtained when the
contactor is off and in IInd and IIIrd quadrant when contactor is
on.
To reduce the contactor rating, the switching is done after
current ceases to flow.
Therefore, at changeover the firing pulses are withdrawn to force
the current to zero and contactor is allowed to operate after some
time (usually 5 to 10 ms).
28
Symmetrical Controller (Four Quadrant)

29
Motor Characteristics in 4 Quadrant operation

30
 With Saturable transformer

With the use of three back-to-back SCR pairs

N. Zagalsky and W. Shepherd, Wide-range reversible voltage controllers for polyphase induction motors,
in Transactions of the American Institute of Electrical Engineers, Part II: Applications and Industry, vol. 81, no. 5,
pp. 272-277, Nov. 1962.
31
 Nola Controller
A motor power control of the type which functions by controlling the power factor wherein
one of the parameters of power factor current "on" time is determined by the "on" time of a
triac through which current is supplied to the motor, and wherein, by means of a positive
feedback circuit, a wider range of control is affected.

Frank J. Nola, Motor power control circuit for AC induction motors. U.S. Patent
No. 4,439,718. 27 Mar. 1984.
32
AC Voltage Controllers Three Phase

3-phase modulator supplying star-connected load

33
AC Voltage Controllers

SCR control of secondary current in a three

phase induction motor.

34
AC Voltage Controllers

Control of the secondary current in a three-phase induction motor by

means of a secondary side chopper circuit (commutation circuit not shown).

35
 Operation
of
AC Voltage Controllers

36
AC Voltage Controller Operation
If the firing angle of the thyristor is equal to or less than the
angle the motor will operate as a normal 3 phase motor;
where = tan-1(sL/R) rad; s is angular frequency of the source; L is per phase
inductance of the motor at operating speed; and R is per phase resistance of the
motor at the operating speed.
The current and voltage waveforms across the terminals shall
be sinusoidal;
In each line, when one thyristor ceases the conduction, its
inverse parallel thyristor begins to conduct;
However, when is increased, it disturbs the waveform and
creates gap between the turn off of one thyristor and the turn on
of the other;
This can be seen in the waveforms of next slide.

37
Current Waveform

38
 AC Voltage Controller (Operation)
If the firing angle of the thyristor is equal to or less than the
angle the motor will operate as a normal 3 phase motor;
where = tan-1(sL/R) rad; s is angular frequency of the source; L is per phase
inductance of the motor at operating speed; and R is per phase resistance of the
motor at the operating speed.
The current and voltage waveforms across the terminals shall
be sinusoidal;
In each line, when one thyristor ceases the conduction, its
inverse parallel thyristor begins to conduct;
However, when is increased, it disturbs the waveform and
creates gap between the turn off of one thyristor and the turn on
of the other;
This can be seen in the waveforms of next slide.

39
Line Current Waveforms

at =/4 in 4 Quadrant operation 40

Energy Savings with 3 hp Motor

41
Performance Figures with 3 hp Motor

42
Controller Comparison for 4 hp motor with fan load

43
Motor Terminal Voltage
(Waveforms w.r.t. Earth)

44
Controller Comparison

Derek A. Paice, Induction motor speed control by stator voltage control. IEEE
Transactions on power Apparatus and systems 2 (1968): 585-590. 45
Controller Comparison

Derek A. Paice, Induction motor speed control by stator voltage control. IEEE
Transactions on power Apparatus and systems 2 (1968): 585-590. 46
Controller Comparison

Performance of the thyristor power controllers

47
Controller Comparison

Performance of the thyristor power controllers

48
Controller Comparison

Performance of the thyristor power controllers

49
 AC Voltage Controllers
AC voltage controllers can be operated in two modes:
Open Loop:
The topologies already discussed, are in open loop and can
work satisfactorily for loads with a single invariable speed
torque characteristic;
However if the supply system voltage is varying then the
feedback loop might be required;
Closed Loop:
For the applications like pumps and fans where the nature
of the fluid or the pressure head can vary, the closed loop
system must be used.

50
Closed Loop Operation
of
AC Voltage Controllers

51
 Closed Loop Operation
The Closed loop operation of AC voltage controllers
uses current control in the inner loop and speed control
in the outer loop;
The closed loop operation is executed on the basis of
speed command and speed feedback;
The controller topologies shall be selected according to
the quadrant of operation (i.e. single or four quadrant
operation);
The closed loop block diagrams for single quadrant and
four quadrant operation are given in next slides.

52
Single Quadrant Closed Loop Control

53
Single Quadrant Closed Loop Control

54
Single Quadrant Closed Loop Control

Signal flow representation of a closed-loop SCR

controlled induction motor.

55
Cycloconverter Based IM Drives- Single Phase

Centre Tapped Cycloconverter fed single phase IM

56
Cycloconverter Based IM Drives- Single Phase

Bridge Cycloconverter fed single phase IM

57
Cycloconverter Based IM Drives- Three Phase

Vineeta and K. Kant, Microcomputer-based single-phase to three-phase

cycloconverter, IEEE Transactions on Industrial Electronics, vol. 37, no. 4, pp.
310-316, Aug 1990.
58
Cycloconverter Based IM Drives- Three Phase

Cycloconverter for Scherbius IM Drive with

transformer
59
Cycloconverter Based IM Drives- Three Phase

Cycloconverter for Scherbius IM Drive without

transformer
60
Cycloconverter Based IM Drives- Three Phase

36-thyristor bridge based 3-phase to 3-phase

cycloconverter (with transformer)
61
Cycloconverter Based IM Drives- Three Phase

36-thyristor bridge based 3-phase to 3-phase

cycloconverter (without transformer)
62
Cycloconverter Based IM Drives- Three Phase

36-thyristor full-wave based 3-phase to 3-phase

cycloconverter
63
Cycloconverter Based IM Drives- Three Phase

72-thyristor bridge based 3-phase to 3-phase

cycloconverter
64
Cycloconverter Based IM Drives- Three Phase

72-thyristor full-wave based 3-phase to 3-phase

cycloconverter 65
Cycloconverter Based IM Drives- Three Phase

18 Switch Load Commutated Cycloconverter

66
Cycloconverter Based IM Drives- Three Phase

18 Switch Load Commutated Cycloconverter

67
 Numerical Example - 1
Q. A 60 hp, 460 V, 60 Hz, 1530 rpm, 4 pole, class D, squirrel cage
induction motor has the circuit parameters as: stator equivalent
resistance 0.119 , rotor resistance 0.508 and total reactance
0.86 . It is supplied from a 460 V, 3 phase source through a
single quadrant AC voltage controller and required to operate
over a speed range of 765 < n < 1530 rpm while driving a
centrifugal pump that absorbs 60 hp at 1530 rpm. Determine
the range of required for the controller.
Solution: Rated slip = (1800 1530)/1800 = 0.15
Motor impedance at full load (considering approximate equivalent circuit)
Z=R1eq + (R2/s) + j(X1eq+ X2) = 0.119 + (0.508/.15) + j 0.86
= 3.61 13.78

68
Numerical Example - 1
the minimum value of is = 13.78
slip at 765 rpm = (1800 765)/1800 = 0.575
therefore the motor impedance
Z= 0.119 + (0.508/.575) + j 0.86 = 1.32 40.64
the motor impedance angle = 40.64
Motor rated current is = 460/(3.613) = 73.57 A
from the relation (Ia/Iarated)2=s(1-s)2/{srated(1-srated)2}
Ia = 72.02 A
base current at 765 rpm = 460/(1.323) = 201 A
therefore normalized current IaN = 72.02/201 =0.358
For this value of IaN and calculated above the = 98
(as seen from the normalized current curves of the motor)
Therefore the range of is from 10 to 100.
69
References
1. G.K. Dubey, Power Semiconductor Controlled Drives Prentice Hall, New
Jersey, 1989.
2. J.M.D. Murphy and F.G. Turnbull, Power Electronic Control of AC Motors,
Pergamon Press, 1988.
3. N. Mohan, Improvement in energy efficiency of induction motors by means
of voltage control, IEEE Trans. Power Apparatus and Sys., vol. 99, no. 4, pp.
1466 1471, July/Aug. 1980.
4. I. Boldea and S.A. Nasar, Electric Drives, CRC Press, 1998
5. B.K. Bose, Modern Power electronics and AC drives, Pearson Education
India, 2002.
6. R. Krishnan, Electric Motor drives : Modeling, analysis and control,
Pearson education India, 2003.
7. W.Shepard, L.N.Hully and D.T.W. Liang, Power Electronics and Motor
Control, Second Edition, Cambridge University Press, 1995.
8. G. P. Hunter and V. S. Ramsden, New improved modulation method for a
cycloconvertor driving an induction motor, in IEE Proceedings B - Electric
Power Applications, vol. 135, no. 6, pp. 324-333, November 1988.
70
References
9. J. D. Law and T. A. Lipo, A Single Phase Induction Motor Voltage Controller
with Improved Performance, IEEE Transactions on Power Electronics, vol.
PE-1, no. 4, pp. 240-247, Oct. 1986.
10. N. Zagalsky and W. Shepherd, Wide-range reversible voltage controllers for
polyphase induction motors, in Transactions of the American Institute of
Electrical Engineers, Part II: Applications and Industry, vol. 81, no. 5, pp.
272-277, Nov. 1962.
11. Frank J. Nola, Motor power control circuit for AC induction motors. U.S.
Patent No. 4,439,718. 27 Mar. 1984.
12. Derek A. Paice, Induction motor speed control by stator voltage
control. IEEE Transactions on power Apparatus and systems 2 (1968): 585-
590.
13. Vineeta and K. Kant, Microcomputer-based single-phase to three-phase
cycloconverter, IEEE Transactions on Industrial Electronics, vol. 37, no. 4,
pp. 310-316, Aug 1990.

71