Different Speed control methods for Induction motor

By changing rotor resistance (only possible in slip-ring induction motor (SRIM))

By changing the applied voltage and frequency to the induction motor, while keeping the ratio constant.
By changing stator poles by reconnecting the stator coils

By changing only the applied voltage to stator

By recovering the slip power (only possible in SRIM)

Equivalent Circuit Modification

I1
jX1 V1 R1

I2 Im
jXm

jX2

R2

((1-s)/s)R2

I 2
jX1 V1

jX 2

R2

Im

R1 jXm ((1-s)/s)R2

Assuming stator drop is negligible (this is true except for low speed operation when the stator resistance drop becomes comparable to supply voltage) the equivalent circuit of the induction motor can be modified to the bottom figure from the top figure.

Output Torque
I 2
jX1 V1 jX 2 R2

Im

R1 jXm ((1-s)/s)R2

Ouput torque output neglecting rotational losses 2 2 = = = = = 2 (1 )1 1 1 From the equivalent circuit, 1 2 = 2 1 + + 1 + 2
2

=
2 1 +

|1 |
2 + 1 + 2 2

Substituting the magnitude of current in torque expression, |1 |2 2 = 2 1 2 2 1 + + 1 + 2

Maximum Torque
= |1 |2
2 1 + 2 + 1 + 2 2 2 1

To obtain the maximum torque, the above expression of torque is differentiated with respect to slip and equated to zero.

|1 |2
2 + + 1 + 1 1 2 2 2

2
1

|1 |2 2 1 1 +2

(neglecting 1 )

Slip at which maximum torque occurs

1 +2

This shows that while the maximum torque is independent of rotor resistance, the slip at which the maximum torque occurs is dependent on rotor resistance.

Speed control by changing rotor resistance in SRIM

Changing Tm profile with fixed peak torque by changing R2
T Tmax

Increasing R2 TL

s=1

Decreasing speed with increasing R2

s=0

slip

In case of a slip ring (wound rotor) induction motor (SRIM) the speed can therefore be varied by changing the rotor resistance. More on this will be discussed later.

Speed control by keeping constant flux (ratio of applied voltage and frequency)
T Tmax

Changing Tm profile with fixed peak toruqe with changing frequency and voltage but with their ratio constant

Decreasing f

s=1

s=0

Decreasing speed for decreasing voltage and frequency but with their ratio constant

slip

A different strategy is employed to achieve speed control for squirrel cage induction motor. It is applicable for slip ring induction motor as well. |1 |2 21 1 + 2 1 = 2/() where p is the pole pair number. Also, 1 = 2 1 and 2 = 2 2 Therefore, =
|1 |2 8 2 1 +2

8 2

1 +2

Thus if the ratio of supply voltage to frequency , i.e., 1 maintained constant, the peak flux of the motor (essentially the magnetizing current) and hence the maximum torque can be held constant.

Speed control of Induction motor: Pole changing

+ + -

S S N
+ + +

+ -

+ + + + -

N S
-

+ +

By changing poles the synchronous speed and hence the motor operating speed can be changed. Poles can be changed by changing coil connections of the stator. Normally, poles can be changed in the ratio of 2:1. The speed can be changed only in discrete steps. Hence it is not very popular. The figure above shows how to reconnect a 4 pole motor as a 2 pole one.

Speed control of Induction Motor: By varying stator supply voltage only

By using ac voltage controller as shown above (using back-to-back connected SCRs ) the three phase stator supply voltage can be smoothly controlled. Speed also can be reversed by using the connections shown by dotted lines, with the other back-to-back connected SCRs left ungated. However, since the torque depends on the square of the voltage, the output torque is reduced greatly when the voltage alone is reduced as can be easily understood from the following expression of maximum torque

Speed control of Induction Motor: By varying rotor resistance in a SRIM

R Y B Motor

Example: A 3-phase, 460V, 60 Hz, 6 pole SRIM drives a constant load torque of 100 N-m at a speed of 1140 rpm when the rotor terminals are short circuited. It is required to reduce the speed of the motor to 1000 rpm by inserting resistances in the rotor circuit. Determine the value of the external resistance if 2 , the effective rotor winding resistance is 0.2. The stator to rotor turns ratio is 1:1. Solution : 1 =
120

120 60 6

= 1200 rpm.

slip at 1140 rpm = 1 =

1200 1140 = 0.05 1200 1200 1000 slip at 1000 rpm = 2 = = 0.167 1200

Example on SRIM speed control by varying rotor resistance

Now = |1 |2
2 1 + 2 + 1 + 2 2 2 1

We can keep the speed constant by keeping

2 2 + = 1 2 Since stator to rotor turns ratio is 1:1, 2 2 + = 1 2 0.2 0.2 + or = 0.05 0.167 0.2 0.167 = 0.2 = 0.468. 0.05

constant.

Electronic control of Rotor resistance in a SRIM

R Motor R M Y B

By varying the duty cycle d of the MOSFET M the effective rotor resistance can be changed by 0.5(1-d)R per phase.

Slip Power Recovery Scheme

C1 C2

Slip Power Recovery Scheme(2)

Instead of dissipating power in resistance (external resistance added in the rotor circuit), power can be returned using a phase controlled rectifier. Power delivered back to the source is Effective resistance added to the rotor is given by =

Assuming that the rotor resistance2 is negligible compared , the entire slip power is fed back to the source. = For a three phase diode bridge rectifier, the average voltage is given by the expression =
3 2

1 1 = 1.35 1 1 , where 1 is the motor rotor to stator turns ratio and 1 is the

stator line-line voltage.

Slip Power Recovery Scheme(3)

For a three phase fully controlled SCR bridge converter, the average voltage is given by =
3 2

2 1 cos = 1.352 1 cos , where 2 is the transformer secondary to primary

turns ratio. Since under steady state = 1 = 2 cos = 2 | cos |

1

Thus the speed of the motor can be controlled by changing the firing delay angle of the converter. Also = or 1 = = 1.351 1 1.35 or = 1 1 1 or .

Slip Power Recovery Scheme( Example)

An 8 pole, 440V, three phase, 60 Hz, slip ring induction motor is being used for slip power recovery scheme. The stator to rotor turns ratio is 1:0.75. The stator of the motor is connected in delta, while the rotor is connected in star. The power is fed back to the utility supply through a star-delta transformer after the inverter, with the star side (primary) connected to the 460V utility supply. The primary to secondary turns ratio for the transformer is 2:1. Calculate a) the power sent back to the utility supply, b and b) the speed of the motor and c) the input power drawn by the motor if the dc link current is 200A. = 135 .
R
440

Motor

440*0.75*s
3303s

Idc

Vdc

B
/3

220

440/3

Eav

Three Phase Transformer

Slip Power Recovery Scheme( Example)(2)

R
440

Motor

440*0.75*s
3303s

Idc

Vdc

B
/3

220

440/3

Eav

= 1.35 0.75 440 3 = 1.35 330 3 = 771.63 V = 1.35

220 3

cos 135 = 1.35 89.8 = 121.25 V

= 121.25 = = 0.1571 771.63 Power sent back to the source = = 121.25 200 W = 24.25 kW. =
1

24250

900 0.1571 2 60

= 1637.45 Nm.( 1 =
(1 )

Now Motor output power =

= 24250

Input power to the motor = Motor output power + Power sent back to the source = 130.11 + 24.25 kW = 154.36 kW.

Three Phase Transformer

120

120 60 8

= 900 RPM)

10.1571 0.1571

= 130.11 kW.

Speed Control Scheme Using Slip Power Recovery

R Y B Mechanical load Transformer

Tachometer ref + Speed Controller SRIM Limiter Id,ref -

Vd Id + Firing Angle Controller

Vi

Limiter

Scalar v/f method of speed control of induction motor using a voltage source inverter(VSI) : (i) Below Base Speed
I 2
jX1 V1 jX 2 R2

Im

R1 jXm ((1-s)/s)R2

|1 |2
1 + 2 2

2 1 +2

2 1

Assuming slip to be small,

2

1 &

|1 |2
2

1 + 2

|1 |2
2

Multiplying and dividing by 1

|1 | 2 1

1
2

Scalar v/f method of speed control of induction motor using a voltage source inverter(VSI) (2)
|1 | 1
2

1 2

From the above equation it is clear that if the ratio of voltage to supply frequency is maintained constant, then torque is proportional to slip speed 1 . The approximation is valid as long as the stator resistance 1 1 + 2 so that the maximum torque capability of the motor given by =
|1 |2
2+ 1 + 1 2 1 +2

2 2
1

|1 |2

1 +2

= 8 2

1 2

1 +2

is not severely compromised.

For low frequency operation, 1 has to be boosted in order to accommodate for the increasing influence of 1 . The effect of not boosting 1 can lead to drastic reduction of peak torque as shown by the figure below.

Scalar v/f control using VSI: Example (1)

A three phase, induction motor drives a constant torque over a 4:1 speed range by frequency control with the ratio of 1 maintained constant. If the motors reactance to stator resistance ratio is 5 at rated frequency of operation, calculate the effect on the peak torque of operation at the lowest speed. What value of 1 is required at the lowest speed if the peak torque is to remain constant?
Solution: At rated frequency, =
|1 |2
2 + + 1 + 1 1 2 2

2 =
1

|1 |2 1 +1 1+ |1 |2 1 1
1 +2

2 =
1

|1 |2 1 +1 1+ 5
2

2 Nm
1

or =

|1 |2

1+ 1+ 5 2 21 1

= 0.082

Nm

At 1/4th rated frequency, if the voltage is also reduced to one-fourth of its rated value then maximum torque developed is

1 4 2 1 +
2+ 1 2 1 +2

1 2
1 4

1 4 2 1 +1 1+
1 +2

41

2 1

1 4 2 1 +1 1+ 5/4
2

2 1

Nm

or =

1/8

|1 |2

1+ 1+ 1.25 2 1 1

= 0.0481 1 Nm
1 1

| |2

Scalar v/f control using VSI: Example (1) Contd...

Thus the maximum torque developed has gone down at lowest speed by about 58.5%. In order to compensate for the maximum torque the supply voltage has to be boosted. This can be estimated from the following:

1 2 1 +
2+ 1 2 1 +2

1 2
1 4

1 2 1 +1 1+
1 +2

41

2 1

1 2 1 +1 1+ 5/4 2

2 1

Nm

or = =
0.082 0.769

2 2

|1 |2

1+ 1+ 1.25 2 1 1

2 2 |1 | 0.769 1 1

= 0.082

|1 |2 1 1

=0.326

Thus instead of 25%, 32.6% of the of rated voltage is to be applied if the maximum developed torque has to remain constant at 1/4th rated speed.

Scalar v/f control using VSI: Example (2)

A 450 V, 50 Hz, 1450 rpm, 25 kW, Y connected, 3 phase induction motor delivers rated torque at all speed. The motor equivalent circuit parameters at rated frequency are 1 = 0.1 , 2 = 0.17 , 1 = 0.3 , 2 = 0.5 , = 23.6 . The machine flux is kept constant at rated value under all operating conditions. Calculate the line current, power-factor, efficiency at 1/5th the rated speed.
1/5th the rated speed =1450 5 = 290 rpm. Since torque is constant at rated value under all speed, slip speed or slip frequency will have to be the same at the rated value. Now synchronous speed 1 = 120 50 < < 4.13 1450
120

120 50

> 1450 rpm.

Since 4 is the closest and lesser even number to 4.13, = 4. 1 = 120 50 = 1500 rpm. 4

Thus slip speed =1 = 1500 1450 = 50 rpm.

Scalar v/f control using VSI: Example (2) Contd...

Thus synchronous speed at 1/5th rated speed 1/5 = 290 + 50 = 340 rpm. Therefore slip at 1/5th rated speed =
50 340

= 0.1471.

Since the motor delivers rated torque at 1/5th rated speed, therefore it delivers 1/5th rated power at this speed. 3
2 2 (1 ) 2

= 3 2

2 0.17(10.1471 ) (0.1471 )

25000 5

= 5000 W.

5000 0.1471 = 41.12 A 0.51 0.8529

340 1500 = 0.068 , 2 = 0.5 340 1500

Also at 1/5th rated speed the new values of 1 = 0.3 0.1133 , = 23.6
340 1500

= 5.35 .

Scalar v/f control using VSI: Example (2) End

Thus the equivalent circuit looks like the following:
I1
V1 R1=0.1 jX1=j0.068 jX2=j0.1133

41.12<0

R2=0.17

Im
jXm= j5.35 ((1-s)/s)R2 =0.99

Thus =

41.12 00 (0.17+0.99+ 0.1133 ) 5.35

=8.96 84.42 A = 0.87 8.92 A.

1 = + 41.12 = 0.87 8.92 + 41.12 = 42.9311.99 A 1 = 1 0.1 + 0.68 + 5.35 = 42.9311.99 0.12134.22 + 5.35 8.96 84.42 = 5.1922.23 + 47.945.58 = 52.937.19 V. Power factor = cos 11.99 + 7.19 = 0.94 lag. Efficiency =

= 3

5000

1 1 cos

= 352.9342.930.94 = 0.78.

5000

Induction Motor Speed up to Rated Speed Using Slip Speed Control

Vd Pulse Width Modulated (PWM) Inverter SCIM Mechanical load

V1,ref Function generator

w1,ref + w1,ref + Limiter Slip Speed Controller + wref

Scalar v/f control using VSI: High Speed Region (From Rated Speed Up To 1.5-2 Times Rated Speed)
Beyond rated speed we cannot increase 1 since this is the rated value. As the mechanical structure (bearings, rotor ) is usually sturdy increasing beyond rated speed is not a problem. Strategy of speed control: Above base speed the maximum allowable value of s is at its rated value ( ) and the supply frequency is increased. Thus the maximum allowable steady state value of torque in this region is =
|1 | 2 1

1
2

|1 |2
2

1 1

|1 |2
2

Thus torque developed by the motor is inversely proportional to the speed. Therefore the motor works in constant power region. This region continues as long as the slip speed does not exceed the maximum allowable slip speed 2 determined by the breakdown or maximum torque capability of the machine.

Scalar v/f control using VSI: Very High Speed Region (Beyond 1.5 or 2 times Rated Speed)
This region starts when slip speed reaches 2 = 1 (the maximum allowable slip speed). In this speed zone the slip speed is limited to 2 , the maximum allowable slip speed or the breakdown slip speed. Thus the maximum allowable steady state value of torque in this region =
|1 | 2 1

1 2

|1 |2 2
2

1
2 1)

With small value of , the actual speed of the motor is very close to synchronous speed.Thus torque is inversely proportional to the square of speed, while power is inversely proportional to speed.

Summary of speed control philosophy in the three regions of operation

Below rated (base) speed (Constant torque region) 1. Change slip speed to get required torque for any speed. 2. Obtain frequency as sum of speed and slip speed. 3. Determine supply voltage by adding stator resistance drop to the component that is proportional to frequency. Above rated (base) speed up to 1.5-2 times rated speed (Constant power region) 1. Keep supply voltage constant at rated value. 2. Limit slip to its rated value and adjust frequency such that slip speed does not exceed the breakdown or maximum allowable level of slip speed.

Very high speed region beyond 1.5-2 times rated speed

1. Keep supply voltage constant at rated value. 2. Adjust frequency by limiting slip speed to its breakdown or maximum allowable level.

Scalar v/f control using VSI: Example (3)

A 1740 rpm, 3 phase, 60 Hz, 4 pole, 460 V, 3 hp Y connected induction motor with 2 = 1.81 is operated from an inverter and is expected to work at high/ very high speed regions. Draw T vs. Speed, slip speed vs. Speed, slip vs. Speed, power vs. Speed indicating the high speed and very high speed region.

Solution: Synchronous speed 1 = = 1, = =

1800 1740 120

120 60 4

= 1800 rpm.

1800 21 21800 60

= 0.033 = 188.5 /
2238

60

Therefore, rated slip speed = 1, = 6.22 /

,

= 2 1740 /60 = 182.21 = 12.28

2

3746

Transition to very high speed region takes place when 2 = 1.8 1, . Therefore, 2 = 1.8 6.22 = 11.2 /. Corresponding synchronous speed 1 = Motor speed corresponding to this synchronous speed in rpm is given by =
1 1
2 60

= 339.4 /.
2238

= 3134 rpm . Torque at this speed is =

3134

2 60

= 328.19 =

2238

6.82 Nm.

Scalar v/f control using VSI: Example (3) Contd...

The following figure shows the variation of the different parameters in the different speed zones in details.
T (Nm) Torque vs. speed 12.3

Slip Slip vs. speed

6.8

1 0.033
1740 3134 Speed (rpm)

1740

3134

Speed (rpm)

P (W)

slip speed (rad/s) 11.2

Slip speed vs. speed

Power vs. speed

2238

6.2

1740

3134

Speed (rpm)

1740

3134

Speed (rpm)

Scalar v/f control using Current Source Inverter (CSI)

I2
jX1 jX2 R2

I1

Im

R1 jXm ((1-s)/s)R2

Recall that, neglecting rotational losses, =

Now 2 =
2 2 1 2 + )2 +(1 +2

= 2

1 + 2

2 1 + + (1 + 2 + )

(1 ) 1

2 2 2 1

1 1 2 ; assuming 1
2

.
2

1 2

1+(1 +2 + )2

1 2 2 2

Thus torque can be controlled by varying slip speed 1 as determined from the slip speed controller. Then the following relationship between 1 and can be used to determine 1 for a given slip speed. To maintain flux at rated value at all speed up to base speed
2 2 2 + + 1 +2 2 1 2 2

2 1 +2 2

1 =

2 1 2 1 2

+ 1 +2

+ 1 +2 +

1 = constant ; assuming 1

Thus 1 =

+ 1 +2 +
2

2 1

2 1 +2

Scalar v/f control using Current Source Inverter (CSI) Contd...

From previous slide: =
2 2 1 1 2

1 + 2

+ (1 + 2 + )2

To obtain the maximum torque, the above expression is differentiated with respect to slip and equated to zero. This leads to =
|1 |2
2 + + + 1 + 1 1 2 2

1 2
+ 2 1 1 +2

Slip at which maximum torque occurs =

2 1 2 + 1 + 2 + 2 2 1 1 + 2 +

Scalar v/f control using Current Source Inverter (CSI) End

Because of the presence of the extra term in the denominator of the expression the value is much lower compared to being driven by a VSI (see figure below). Consequently, the region of stable operation between the s = 0 and s = becomes very steep. Thus the current source inverter driven induction motors must be operated with the speed loop closed.
Tm1 Tm2 Tm3
Tm1 Tm2 Tm3
T Tmax
T Tmax

CSI

VSI TL
TL

s=1

s=0

slip

s=1

s=0

slip

Compare VSI and CSI sTmax :Example (4)

A 450 V, 50 Hz, 1450 rpm, 25 kW, Y connected, 3 phase induction motor delivers rated torque , at all speed. The motor equivalent circuit parameters at rated frequency are 1 = 0.1 , 2 = 0.17 , 1 = 0.3 , 2 = 0.5 , = 23.6 . Compare the slip speed at which can be obtained for i) a VSI and ii) a CSI.

Solution:

i) For a VSI slip speed at is given by 1 =

2

1 +2 485.52 250

0.17 250 0.3+0.8

= 485.5 rad/s . For 50 Hz operation this would mean a

= 0.1545.

ii) For a CSI slip speed at is given by 1

2

= 250 = 0.0069.

1 +2 + 2.16

0.17 250 0.3+0.8+23.6

= 2.16 rad/s . For 50 Hz operation this would mean a

Current Regulated Induction Motor Drive