INDUCTION MOTOR

Scalar Control
(squirrel cage)
MEP 1522/3
ELECTRIC DRIVES
Scalar control of induction machine:

Control of induction machine based on steady-state
model (per phase SS equivalent circuit):
R
r
/s
+

V
s


R
s

L
ls
L
lr

+

E
ag


I
s
I
r

I
m
L
m
Scalar control of induction machine
e
r
s

T
rated
Pull out
Torque
(T
max
)

T
e
e
s
s
m

e
rated
e
rotor
T
L

T
e

Intersection point
(T
e
=T
L
) determines the
steady state speed
Given a load Te characteristic, the steady-state speed
can be changed by altering the Te of the motor:
Scalar control of induction machine
Pole changing
Synchronous speed change with
no. of poles
Discrete step change in speed
Variable voltage (amplitude),
frequency fixed
E.g. using transformer or triac
Slip becomes high as voltage
reduced low efficiency
Variable voltage (amplitude),
variable frequency
Using power electronics converter
Operated at low slip frequency
Variable voltage, fixed frequency
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
T
o
r
q
u
e
w (rad/s)
Lower speed slip higher
Low efficiency at low speed
e.g. 3phase squirrel cage IM
V = 460 V R
s
= 0.25 O
R
r
=0.2 O L
r
= L
s
= 0.5/(2*pi*50)
L
m
=30/(2*pi*50)
f = 50Hz p = 4
Variable voltage, variable frequency

Constant V/f
Approximates constant air-gap flux when E
ag
is large
E
ag
= k f |
ag
f
V
f
E
ag
~ =
ag
|
= constant
Speed is adjusted by varying f - maintaining V/f
constant to avoid flux saturation
Variable voltage, variable frequency

Constant V/f - assuming constant airgap flux
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
Variable voltage, variable frequency

Constant V/f
V
rated

f
rated

V
s
f

Constant V/f open-loop
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
e
s
*
+
Ramp
f
C
Variable voltage, variable frequeny
V
rate limiter is needed to ensure the slip
change within allowable range (e.g. rated
value)
Constant V/f open-loop
Variable voltage, variable frequeny
Simulation example: 415V, 50Hz, 4 pole, R
s
= 0.25O, R
r
= 0.2O,
L
r
=L
s
= 0.0971 H, L
m
= 0.0955, J = 0.046 kgm
2
, Load: ke
2

i s
To Workspace2
speed
To Workspace1 torque
To Workspace
In1Out1
Subsystem
Signal 1
Si gnal Bui l der
Scope1
Scope
Rate Li mi ter
Va
Vb
Vc
isd
isq
ird
speed
Vd
irq
Vq
Te
Inducti on Machi ne
In1
Out1
Out2
Out3
Constant V/Hz
Constant V/f open-loop
Variable voltage, variable frequeny
0 0.5 1 1.5 2 2.5 3 3.5
0
10
20
30
40
50
Signal 1
Time (sec)
constant_vhz_withoutBoost/Signal Builder : Group 1
Simulation example: 415V, 50Hz, 4 pole, R
s
= 0.25O, R
r
= 0.2O,
L
r
=L
s
= 0.0971 H, L
m
= 0.0955, J = 0.046 kgm
2
, Load: ke
2

Constant V/f open-loop
Variable voltage, variable frequeny
Simulation example: 415V, 50Hz, 4 pole, R
s
= 0.25O, R
r
= 0.2O,
L
r
=L
s
= 0.0971 H, L
m
= 0.0955, J = 0.046 kgm
2
, Load: ke
2

0 20 40 60 80 100 120 140 160
-50
0
50
100
150
200
250
300
350
400
450
Constant V/f open-loop
Variable voltage, variable frequeny
Simulation example: 415V, 50Hz, 4 pole, R
s
= 0.25O, R
r
= 0.2O,
L
r
=L
s
= 0.0971 H, L
m
= 0.0955, J = 0.046 kgm
2
, Load: ke
2

0 20 40 60 80 100 120 140 160 180 200
-100
0
100
200
300
400
500
0 0.5 1 1.5
-50
0
50
100
150
200
0 0.5 1 1.5
-200
0
200
400
600
With almost no rate limiter
Constant V/f open-loop
Variable voltage, variable frequeny
Simulation example: 415V, 50Hz, 4 pole, R
s
= 0.25O, R
r
= 0.2O,
L
r
=L
s
= 0.0971 H, L
m
= 0.0955, J = 0.046 kgm
2
, Load: ke
2

With 628 rad/s
2
-20 0 20 40 60 80 100 120 140 160
-50
0
50
100
150
200
250
300
350
400
450
0 0.5 1 1.5
-50
0
50
100
150
200
0 0.5 1 1.5
-200
0
200
400
600
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 airgap voltage - poor torque
capability at low speed
Solution:
Boost voltage at low speed
Maintain I
m
constant constant u
ag
Constant V/f
Variable voltage, variable frequeny
0 20 40 60 80 100 120 140 160 180
0
50
100
150
200
250
300
350
400
450
500
Torque deteriorate at low frequency hence compensation commonly
performed at low frequency

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

In order to truly compensate need to measure stator current seldom
performed
0 20 40 60 80 100 120 140 160 180
0
50
100
150
200
250
300
350
400
450
500
With voltage
boost of I
rated*
R
s

with voltage boost at low frequency
Constant V/f
V
rated

f
rated

Linear offset
Non-linear offset varies with I
s
Boost
Variable voltage, variable frequeny
Constant V/f
Variable voltage, variable frequeny
Poor speed regulation
Solution:
Compesate slip
Closed-loop control

Problems with open-loop constant V/f
Constant V/f open-loop with slip compensation and voltage boost
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
V
boost

Slip speed
calculator
e
s
*
+
+
+
+
V
V
dc
I
dc

Ramp
f
C
Variable voltage, variable frequeny
Constant V/f open-loop with slip compensation and voltage boost
Variable voltage, variable frequeny
How is the slip frequency calculated ?
P
dc
= V
dc
I
dc
P
motor,in
= P
dc
P
inv,losses
P
air-gap
P
motor,in
Stator Copper
lossess

Stator Core
losses

ROTOR

STATOR

+

V
dc

I
dc
INV
Constant V/f open-loop with slip compensation and voltage boost
Variable voltage, variable frequeny
How is the slip frequency calculated ?
P
air-gapc
= T
e
e
syn T
e
= P
air-gap
/e
syn
For constant V/f control,
rated , slip
rated , e
slip
e
T
T
e
=
e
rated , e
rated , slip
e slip
T
T
e
= e
Variable voltage, variable frequeny
Require speed encoder
Increase complexity
Constant V/f closed-loop with slip regulation
Modern Power Electronics and AC Drives, BK Bose
Constant air-gap flux
A better solution : maintain u
ag
constant. How?
u
ag
, constant E
ag
/f , constant I
m
, constant (rated)

R
r
/s
+

V
s


R
s

L
ls
L
lr

+

E
ag


I
s I
r

I
m
L
m
maintain at rated
Controlled to maintain I
m
at rated

Variable voltage, variable frequeny
Constant air-gap flux
Variable voltage, variable frequeny
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
s
r
m lr
r
lr
m
I
s
R
) L L ( j
s
R
L j
I
+ + e
+ e
=
m
r
r
r
r
r
r
s
I
s
R
L
1
j
s
R
L j
I
+
|
|
.
|

\
|
o +
o
e
+ e
=
Current is controlled using current-
controlled VSI

The problem of stator impedance drop is
solved

Dependent on rotor parameters
sensitive to parameter variation
Constant air-gap flux
Variable voltage, variable frequeny
, I
1 T
1
j
1 T j
I
m
r
r
r
slip
r slip
s
+
|
|
.
|

\
|
o +
o
e
+ e
=
From per-phase equivalent circuit,
Constant air-gap flux
VSI
Rectifier
3-phase
supply
IM
e*
+
+ |I
s
|
e
slip

C
Current
controller
e
s

PI
+
Variable voltage, variable frequeny
e
r

-