1

Development and Analysis of Low Cost Soft Starter

Topology for Induction Motor

Resmimol A. R. Smt. V. P. Mini.
M.Tech Scholar, Lecturer,
resmirit.cet2@gmail.com vpminicet@yahoo.in
Department of Electrical Engineering, Department of Electrical Engineering,
College of Engineering Trivandrum. College of Engineering Trivandrum.

Abstract Low-cost soft starter solution capable of
mitigating thyristors open and short circuit switch faults
for soft starters of any horsepower ratings is presented in
this paper. In the event of either thyristors open- circuit or
short circuit switch fault in any one of the phases, the low
cost soft starters are capable of operating in a two phase
control mode using a closed loop control scheme. The
performance resulted from the low cost soft starter control
has demonstrated reduced motor starting transient torque
pulsation as well as reduced motor inrush current
magnitude. Simulation results for a 2 hp, 415-V, 4 pole,
three phase induction motor is presented here to
demonstrate the soundness and effectiveness of the fault
tolerant approach.
Keywords- Fault mitigation, low cost soft starter approach, fault
tolerant operation, open circuit fault, short circuit fault, two phase
control, soft starter, torque pulsations.
I. INTRODUCTION
Direct online induction machine starts have many
disadvantages. Torque pulsations are often large and vary from
positive to negative values. These transients in a motor shaft are
transmitted to the load, resulting in mechanical wear in the
motor bearings and load couplings. Therefore properly
controlling the starting currents and torques of induction
machine is of great importance in many instances [1]. The
methods of starting three phase induction motors are generally
classified into three types namely direct online starting,
electromechanical reduced voltage starting, solid state reduced
voltage starting and VFD starting. Conventional starting
elements require some type of mechanical switch or contact and
have several drawbacks as well [2].
However, induction motors are susceptible to any types of
faults. A motor failure that is not identified in an initial stage
may become catastrophic and the induction motor may suffer
several damages. Nowadays, condition monitoring of electrical
machines plays a very important role in their safe operation and
helps to avoid heavy production losses in industry. In previous
studies conducted by the authors, fault mode behaviours of a
soft starter driving an induction motor under two types of fault
modes, short circuit SCR switch fault and open circuit switch
fault. [3].
A low cost soft starter is developed in this paper to mitigate
the detrimental impact on motor performance as result of the
aforementioned fault cases. The closed loop low cost soft starter
technique can be easily retrofitted into the conventional three
soft starters of any horse power ratings. For low cost soft starter,
minimum hardware modifications are required from the existing
commercially available soft starter which does not significantly
increase the cost and size of the existing system [4].

II. PRINCIPLES OF LOW COST SOFT STARTER OPERATIONS
Low cost soft starter is designed from the conventional soft
starter topology by including some modifications.
A. Conventional Soft Starter Topology
The conventional industrial type soft starter topology is
shown in Fig.1.The most common control strategy employed by
the soft starter is open loop voltage control. Such control
approach is widely adopted in commercially available soft
starters. It comprises a set of back to back thyristors/SCRs in
series with each phase of the motors stator phase windings. A
three phase bypass contactor is usually connected in parallel
with the back to back thyristors of each phase. This is in order
to reduce any further thermal stress and power loss imposed on
these thyristors after completion of the starting transient of the
motor. The six thyristors will be turned on with the proper
sequence, and the firing signal is in phase with the zero crossing
of the supply voltage. The firing angle which controls the
applied motor voltage is reduced gradually during the period of
starting until the motor has reached its full speed and rated
current.
B. Fault Analysis and Effects
The two types of faults considered in this work are short
SCR switch fault and open circuit switch fault on conventional
type soft starters driving induction motors. An open circuit fault
in the SCR switches can happen when there is a malfunction in
gate driver or the controller that prevents gating of the SCR
switches. One common type which is under consideration in
this work is depicted in Fig. 2.a. where both the SCR switches
of one phase are inactive. A fault of this type results in either 2-
phase or 1-phase conduction mode during soft starting.

Fig. 1. Conventional industrial-type three phase soft starter topology
2


Fig. 4. Closed loop two phase control for low cost soft starter.
During the short circuit SCR switch fault, the motor
terminal of phase C is connected directly to the utility grid, see
Fig. 2.b. As a consequence, the problem of unbalances
impressed upon the motor windings arises during starting. It is a
well-established fact that voltage unbalances introduce negative
sequence components in the stator currents, which consequently
lead to average torque pulsations during the starting transients.
Therefore, the existing control strategy has to be tailored to
control the firing of the thyristors in the remaining phases
independently. This is in order to generate nearly balanced three
phase stator currents during soft starting, so that the starting
torque pulsations can be alleviated. Hence, closed loop control
is adopted.
C. Modified Soft Starter Topology
The vital part of realizing the fault tolerance of the low cost
soft starter through integrating the control algorithm is the
modification of its hardware configuration. A modified version
of the soft starter to accommodate the closed loop control
technique is illustrated in Fig. 3. The first modification is the
addition of a set of three phase voltage sensors at the motor end
of the soft starter to measure the motor terminal voltages. The
second modification is the replacement of the existing three-
pole synchronously controlled modular contactor with three
individually controlled one-pole contactors, one pole per phase.
According to the desired hardware modification to the
industrial-type soft starter, the suggested changes barely
increase the size of the existing system with only minor cost
increase in the electrical circuit components. Such design
changes with minimum cost increase are always preferable over
having redundant soft starters as back up for ensuring
continuous operation in the event of a fault [5].
D. Closed Loop Control Scheme
In order to control the firing angle of thyristors in the
remaining two healthy phases independently a new set of firing
angles for each of the two phases has to be defined. A closed
loop type of control is adopted here which will inherently
generate the appropriate the firing angle profile for the
thyristors for each of the two phases under different horse
power motor ratings and different load levels.


Fig. 3. Modified version of low cost soft starter with fault tolerant
capabilities
The closed loop control scheme for low cost soft starter is
shown in Fig. 4. In this control method, there are two types of
feedback loops, namely voltage loop and current loop for each
of the two remaining two healthy phases. The output of these
feedback loops represents the changes in the firing angles that
will be used to compute the new firing angles with the help of
eqn. (1) & (2),
) 2 (
) 1 (
0
0 .
bI bV b b
aI aV a a
o o o o
o o o o
=
=

where
aV
and
bV
are the output of the voltage control loop.

aI
And
bI
are the output of the current feedback loop, and
a0

and
b0
are the initial firing angles for phase A and B
respectively. The resulting firing angles
a
and
b
computed are
used to generate the gate pulses for triggering the thyristors of
the two control phases.
The voltage feedback loop is used to control the starting
acceleration profile of the motor currents and torque. It controls
the duration of the starting period, which varies for different
types of applications. The ramp profile is used as the reference
command is shown in Fig. 5.


Fig. 4. Closed loop two phase control for low cost soft starter.

3


Fig. 5. Rreference voltage ramp profile
It consists of an initial voltage setting, soft start ramp setting
and final voltage setting The initial voltage setting is the initial
phase voltage percentage that will be impressed upon the motor
windings during the start up process. The final voltage setting
will typically be the rated phase voltage of the motor [6].
The current feedback loop is accountable for mitigating the
unbalanced effects of the starting currents under thyristors
switch fault condition. The effective rms value of these phase
motor currents I
a(rms),
I
b(rms)
and I
c(rms),
are measured and the
average value of these currents I
aV
*
is used as the current
reference command for the controller, which is expressed as
follows:
( ) ) 3 ( 3 /
) ( ) ( ) (
*
rms c rms b rms a
av
I I I I + + =
Here, the average current I
aV
*
is compared with the
measured effective (rms) motor currents of the two controlled
phases I
a(rms)
and I
b(rms)
and the error are conditioned by a set of
current PI regulators. The output of the PI regulators represents
the second part of the firing angles
aI
and
bI
for phase-a phase-
b in eqn.(1) & (2) respectively. By regulating the rms values of
the two controlled phase currents I
a(rms)
and I
b(rms)
to be near the
average current value I
aV
*
, the rms value of the third phase
current I
c(rms)
is automatically adjusted to be the average current
I
aV
*
so as to satisfy the condition of (3). In order to start up the
motor from zero speed, an initial firing angle for each of the two
controlled phases is commanded and is represented in Fig. 4. as

a0
and
b0
.
III. SMALL SIGNAL MODELING OF INDUCTION MOTOR SOFT
STARTER CONTROLLER
In this section, a small-signal model representing the
induction motor-soft starter controller is developed and
described. More specifically, the derivations of the open loop
and closed loop system transfer functions of the small signal
model consisting of the controller and the plant are detailed
here. A simplified control system representing the motor soft
starter is shown in Fig. 6.


Fig. 6. Simplified control system representation of motor soft starter
controller
It consist of the transfer function of the plant G
p
(s), the
transfer function of the controller G
c
(s), the reference input I(s)*
and V(s)* and the system outputs I(s) and V(s). Since soft
starter is a nonlinear electrical system, it is represented by a
nonlinear expression V
rms
=f (). The controller consist of a set
of PI regulators for the voltage and current loops with unity
feedback. It is because of the tuning of the PI regulators that the
small signal model is being developed for transient response
and stability purposes.
A. Non linear representation of soft starter

In order to incorporate the electrical behavior of the soft
starter into the voltage and current control loop systems shown
in Fig. 7 and Fig. 8 respectively, a mathematical expression
describing the nonlinear nature of the soft starter is derived and
described here. The main thrust of the soft starter is to provide a
voltage excitation to the motor, where the rms value of this
impressed voltage is dependent on the firing angle profile [7].
The analytical expression of the motor line to neutral
voltage during soft starting for phase a over a complete cycle is
given in eqn. (4) as:











(4)
where is the power factor angle, the winding induced back
electromotive forces, e
a
= e
b
= e
c
0 during the soft starting
transients and v
ug
, v
vg
and v
wg
represent the ac mains voltage,
which are expressed are as follows:
) 5 ( ) 3 / 4 cos( ) (
) 3 / 2 cos( ) (
) cos( ) (
t e
t e
e
=
=
=
t V t v
t V t v
t V t v
m wg
m vg
m ug

After performing the necessary mathematical steps, the
resulting V
rms
can be expressed as:


) 6 ( ) ) 2 sin( 4 / 3 ) 2 sin( 4 / 3 2 / 3 2 / 3 ( 2 / | o o | t t + + =
m rms
V V


It is critical to point out that the expression (6) can be
applied to both the voltage and current control loops, where =

0
-
V
and =
0

I
for the voltage and current control loops
respectively. Examination of Eq. (6) reveals that the only

+ < < + =
+ < < +
+ < < +
+ < < +
+ < < +
+ < < +
+ < < +
+ < < +
+ < < +
=
t | e t o
t | e t |
t | e t o
t o e t |
t | e t o
t o e t |
| o e t |
t o e t |
t u e t o
2 3 / 5
3 / 5 3 / 5 ) ( 2 / 1
3 / 5 3 / 4
3 / 4 3 / 4 ) ( 2 / 1
3 / 4
3 / 2
3 / 2 3 / 2 ) ( 2 / 1
3 / 3 /
t v
t e v v
t v
t e v v
t v
t e
t v
t e v v
t v
v
ug
b wg ug
ug
c vg ug
ug
a
ug
b wg ug
ug
an
4

0 10 20 30 40 50 60
50
100
150
200
250
alphav(degree)
V
r m
s
( V
)

Fig. 7 Plot of motor phase voltage versus
V
using (6).

variable is the angle, since Vm represents the peak magnitude
of the AC mains voltage and is found to be 60
0
during the
soft starting transients. A plot of motor phase versus
V
from 0-
60
0
using (6) is depicted in Fig. 7. At the point of
V
==60
0
,
this implies that all SCRs are in the turn on state, which will
entail motor rms phase voltage value of 265 V
rms
.
B. Transfer Function of PI Regulators

The transfer function of the PI controller for the voltage and
current control loops is shown in Fig. 8 and Fig. 9 are G
c_V
(s)
and G
c_V
(s), respectively. They are expressed as:
) 7 ( / ) (
_ _ _
s k k s G
V i V p V c
+ =
) 8 ( / ) (
_ _ _
s k k s G
I i I p I c
+ =
where k
p_V
and k
p_I
are the proportional gains, k
i_V
and k
i_I
are
the integral gains of the voltage and current controllers,
respectively.
Due to the separate control loop for the voltage and current
controllers, the corresponding k
p
and k
i
can be easily designed
to achieve the selected bandwidth at the crossover frequency,
where the gain of the open loop transfer function equals unity.
The two feedback loops, namely voltage and current loops,
which are operating in a parallel fashion. As was mentioned
earlier, these two feedback loops serve different purposes. The
voltage loop is responsible for the starting acceleration of the
motor, while the current feedback loop is accountable for
mitigating the unbalanced effects of the starting currents under
thyristors switch fault condition. As a consequence, these two
feedback loops are independent of another, and hence, the
control feedback loop of each can be designed in an individual
manner.


Fig. 8. Voltage control loop


Fig. 9. Current control loop



Fig. 10. Transfer function of per phase the induction motor model
C. Transfer Function of the Induction Motor

To facilitate the design process of the control system shown
in Fig. 6, an induction motor can be approximately represented
by a reduced order model, more specifically a first order model,
expressed as
) 9 ( / dt i d L i r jv v v
s s s s
ds
e
qs
e
s
o + = + =
D. Design Procedures of Soft Starter PI Regulators

Despite the non linear nature of the soft starter, a linear
relation ship between the rms value of the motor phase voltage
and the firing angle can be approximately realized at a selected
operating point, which results in V
rms
=k
V

I
and V
rms
=k
I

I
for
the voltage and current control loops, respectively, where k
V
and k
I
are the calculated gain constants resulted from the
linearization process. Such a linearization simplifies the design
process in such a way that classical linear control system
theory can be employed. Here,
V
and
I
are assumed to have
the same operating point, which indicates that k
V
and k
I
will
have the same value. In this design process,
V
=
I
=30.
The overall low cost motor soft starter system is designed at
a desired bandwidth to provide good dynamic and fast transient
responses to any changes in the reference input to the soft
starter controller. Once the controller has been designed, the
entire system is simulated under large signal conditions to
evaluate the adequacy, stability, and response of the controller
[8].
In selecting the gain constants of the PI regulator of the
voltage control loop shown in Fig. 8, the design criteria are as
follows: 1) Crossover frequency, f
c
=500Hz; 2) Phase margin,

PM
=120
0
. Based on the design criteria, the design constants
can be defined in eqn. (10) & (11),

) 10 ( ) 2 /( 1
_ V V p
k k
o
=
( ) 11 2 / 3
_ V c V i
k k
o
e =

A similar design procedure was carried for the current control
loop shown in Fig. 9 with the following design criteria: 1)
Crossover frequency, f
c
=500Hz; 2) Phase margin,
PM
=90
0
.
Based on the design criteria, the design constants can be
defined in eqn. (12) & (13), are
) 2 1 ( /
_ I c s e I p
k r k
o
e ot =
) 13 ( /
_ I c s I i
k r k
o
e =
where =1-L
m
2
/L
s
L
r

. Here r
s
is the stator equivalent resistance
per phase, L
s
=L
ls
+L
m
and L
r
=L
lr
+L
m,
where L
ls
is the stator
phase leakage inductance, and L
m
is the magnetizing
inductance.
5

-10
0
10
20
30
40
M
a
g
n
i t
u
d
e

(
d
B
)
10
2
10
3
10
4
10
5
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm= Inf , Pm= 120 deg (at 3.2e+003 rad/sec)
Frequency (rad/sec)

(a)
-10
-8
-6
-4
-2
0
M
a
g
n
i t
u
d
e

(
d
B
)
10
2
10
3
10
4
10
5
-40
-30
-20
-10
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm= Inf , Pm= -180 deg (at 0 rad/sec)
Frequency (rad/sec)

(b)
Fig. 11 Bode plot of the voltage control feedback loop system. (a) Open loop
transfer function. (b) Closed loop transfer function
With the calculated gain constants of the voltage and current
PI regulator, the bode plots of the open-loop and closed-loop
transfer function of the associated voltage and current control
feedback loop system shown in Fig. 7 & Fig. 8 are illustrated in
Fig. 11 & Fig. 12, respectively. Evidently, from both the bode
plots of the open loop and closed loop transfer functions, cross
over frequency and the bandwidth have been realized at 500Hz,
which fulfills the design criteria.
IV. SIMULATION RESULTS
The simulation work was carried out in a MATLAB-
Simulink environment. The motor was simulated in the dq
frame of reference representation. The simulation results on the
motor starting performance under both healthy and faulty
conditions were obtained for a 2hp, 415V, 4 pole, three phase
induction motor, the characteristics of which is given in the
appendix. The simulation cases were conducted for
comparisons, namely: 1) healthy case with conventional open
loop control; 2) faulty case with conventional open loop control;
3) healthy case with closed loop control scheme; 4) faulty case
with closed loop control scheme.



-40
-20
0
20
40
60
80
M
a
g
n
i t
u
d
e

(
d
B
)
10
1
10
2
10
3
10
4
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm= Inf , Pm= 90 deg (at 3.2e+003 rad/sec)
Frequency (rad/sec)

(a)
-30
-25
-20
-15
-10
-5
0
M
a
g
n
i t
u
d
e

(
d
B
)
10
1
10
2
10
3
10
4
10
5
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm= Inf , Pm= -180 deg (at 0 rad/sec)
Frequency (rad/sec)

(b)
Fig. 12 Bode plot of the current control feedback loop system. (a) Open loop
transfer function. (b) Closed loop transfer function
The Fig. 13 shows the motor developed torque from the
conventional open loop control and closed loop control. In Fig.
13 we can see that developed torque for an induction motor
attained a constant value after 0.5 sec using the conventional
method whereas it get steady at 0.2sec with a smooth starting
profile as the firing angle is decreasing using the closed loop
approach.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Time (sec)
D
e
v
e
l o
p
e
d
T
o
r q
u
e
( N
m
2
)

(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.5
0
0.5
1
1.5
2
2.5
3
Time (sec)
D
e
v
e
l o
p
d
T
o
r q
u
e
( N
m
2
)

(b)
Fig. 13 Motor developed torque. (a) Conventional open loop control (b)
Closed loop control
6

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-4
-2
0
2
4
6
8
10
Time (sec)
S
t a
t o
r c
u
r r e
n
t - A
( A
)
(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-8
-6
-4
-2
0
2
4
6
8
10
Time (sec)
S
t a
t o
r c
u
r r e
n
t - A
( A
)

(b)
Fig. 14 Motor current of phase A. (a) Conventional open loop control Closed
loop control
The same effect is with the stator current in phase-a with
reduced ripples which is shown in Fig. 14. The motor speed
obtained from the conventional open loop control and closed
loop control is shown in Fig. 15. In Fig. 15, as compared to the
conventional scheme speed attained a constant value at 0.2sec
with reduced ripples using the closed loop approach. To
demonstrate the fault impact on motor performance due to an
open circuit SCR switch fault while using the open loop
voltage control and closed loop control method in a two phase
SCR mode, the results of the motor phase currents, torque and
speed are depicted in Fig. 16, Fig.17 and Fig. 18.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time (sec)
S
p
e
e
d
( p
u
)

(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
S
p
e
e
d
( p
u
)

(b)
Fig. 15 Motor speed obtained. (a) Conventional open loop control (b) Closed
loop control
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Time (sec)
D
E
v
e
l o
p
e
d
t o
r q
u
e
( N
m
2)
(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.5
0
0.5
1
1.5
2
2.5
3
Time (sec)
D
e
e
l o
p
e
d
T
o
r q
u
e
( N
m
2
)

(b)
Fig. 16 Motor developed torque provided with a fault at 0.6 sec (a)
Conventional open loop control (b) Closed loop control.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-4
-2
0
2
4
6
8
10
time (sec)
S
t a
t o
r c
u
r r e
n
t - A
( A
)
(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-8
-6
-4
-2
0
2
4
6
8
10
Time (sec)
S
t
a
o
r
c
u
r
r
n
t
-
A

(
A
)
(b)

Fig. 17 Motor current for phase A provided with a fault at 0.6 sec (a)
Conventional open loop control (b) Closed loop control
A fault is provided at 0.6 sec in C phase. Ripples with high
magnitude in the developed torque are shown in Fig.16 a. But
with the closed loop, these ripples are smooth and their
magnitude is less than the conventional method which is shown
in 16.b. The same effect is with the stator current and speed. We
can see that starting inrush current is lower in Fig. 17.b. as
compared to Fig. 17.a. In Fig. 19, Fig. 20 and Fig. 21
demonstrate the motor performance for a two phase fault at a
time of 0.6 sec. After 0.6 sec. the terminals of the motor gets
open, which causes the motor to stop at the same instant with
zero stator phase currents.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time (sec)
S
p
e
e
d
( p
u
)

(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
S
p
e
e
d
( p
u
)

(b)
Fig. 18 Motor speed provided with a fault at 0.6 sec (a) Conventional open
loop control (b) Closed loop control

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Time (sec)
D
e
v
e
l o
p
e
d
T
o
r q
u
e
( N
m
2
)

(a)
7

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.5
0
0.5
1
1.5
2
2.5
3
Time (sec)
D
e
v
e
l o
p
e
d
T
o
r q
u
e
( N
m
2
)

(b)
Fig. 19. Motor developed torqe provided with a fault at 0.6 sec on two phases
(a) Conventional open loop control (b) Closed loop control
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-4
-2
0
2
4
6
8
10
Time (sec)
S
t a
t o
r c
u
r r e
n
t - A
( A
)
(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-8
-6
-4
-2
0
2
4
6
8
10
Time (sec)
S
t a
t o
r c
u
r r e
n
t - A
( A
)

(b)
Fig. 20 Motor current of phase A provided with a fault at 0.6 sec on two phases
(a) Conventional open loop control (b) Closed loop control
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
S
p
e
e
d
( p
u
)
(a)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
S
p
e
e
d
( p
u
)

(b)
Fig. 21 Motor speed provided with a fault at 0.6 sec on two phases (a)
Conventional open loop control (b) Closed loop control
With the closed loop approach, the speed remains in a constant
value from 0.2 sec. to 0.6 sec which gradually reduces to zero
which is shown in Fig. 21.b. But in conventional topology speed
remains steady only for 0.1 sec and gradually reduces which is
shown in Fig. 21.a.
V. CONCLUSION
Low-cost soft starter solution capable of mitigating thyristors
open and short circuit switch faults for soft starters of any
horsepower ratings has been presented in this paper. The present
low cost soft starter control algorithm is developed in a closed
loop form that is more dynamic, effective, and robust in so far
as controllability and performance issues are concerned.
Simulation results have been presented in this paper, which
demonstrate reduced motor starting currents, and consequently,
reduced transient torque pulsations using closed loop control
scheme in the event of an open circuit switch fault. These
promised results demonstrate the feasibility of the closed loop
strategy for improving the reliability of the industrial type three
phase soft starters at the modest cost increase.
APPENDIX
MOTOR DATA

The machine parameters as follows:
r
s
=3.85;
r
r
=2.57;
L
ls
=17.56mH;
L
lr
=17.56mH;
Phase=3;
Pole=4;
Rated voltage=415V;
Rated power=2hp;
Rated current=3A;
Winding connection=Wye;
Rated frequency=50Hz;
Total inertia=0.028kg.m
2
;
Rated speed=1744r/min.

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