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Electrical Machines & Stability 300 Laboratory

Name: Ubayeda Shaqer
Student number: 15975669
Title of the experiment: Variable Speed Drive and Speed Regulation
Laboratory group: Tuesday (1300-1500)
Laboratory supervisor: Ali
Laboratory partners: Gao Song
Date performed the experiment : 07-10-2014
Due date: 21-10-2014
Date submitted: 21-10-2014
I hereby declare that the report presents entirely my own work and have not copied from any
other student or past student.
Student signature:


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Table of Contents

Introduction: ............................................................................................................................... 3
Aim: ........................................................................................................................................... 3
Summary of report: .................................................................................................................... 3
Results: ....................................................................................................................................... 4
Exercise 1: Motor Operation from Mains .............................................................................. 4
Exercise 2: Motor Operation from Variable Speed Drive...................................................... 4
Graphs: ....................................................................................................................................... 5
Graph 1: Speed versus Torques Characteristics ..................................................................... 5
Discussion: ................................................................................................................................. 6
Answers to the questions: .......................................................................................................... 7
Conclusion: .............................................................................................................................. 14
References: ............................................................................................................................... 14
Appendix: ................................................................................................................................. 15
Slip Calculation .................................................................................................................... 15
Power Waveforms and THD Illustrations ............................................................................ 15
Copy of results .................................................................................................................. 16

List of Tables
Table 1: Results from motor operations (main) ......................................................................... 4
Table 2: Motor Operation from Variable Speed Drive .............................................................. 4
Table 3: Slip Calculations .......................................................................................................... 9

List of Figures
Figure 1: Connections without VSD .......................................................................................... 7
Figure 2: Motor connected with VSD ........................................................................................ 7
Figure 3: Circuit Schematic of motor connected with VSD ...................................................... 7
Figure 4: PWM simulations /Figure 5: PWM and Harmonics (*) ........................................... 10
Figure 6: Negative Torque Characteristic ................................................................................ 11
Figure 7: Sinusoid wave simulated using a PWM ................................................................... 11
Figure 8: Flux vector control (phasor diagram) ....................................................................... 13
Figure 9: Circuit Schematic without VSD ............................................................................... 15
Figure 10: Voltage and Current Waveform and THD measurements ..................................... 15

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Experiment 3: Variable Speed Drive and
Speed Regulation

Introduction:
This laboratory has been designed to investigation the working principle of the induction
motor under load. A load test allows us to observe the behaviour of the motor speed and
torque characteristics- therefore analyse the stable and unstable operating regions of the
induction motor.

Aim:
The purpose of this laboratory was conducting a load test for the induction motor at various
loads and speed using the VSD (variable speed drive). The second part of the laboratory
consisted of using the Tektronics Digital Oscilloscope for the measurement and recording of
the power waveforms.

Summary of report:

The experiment was successfully completed and the recorded results are in accordance with
theory. Although there were large fluctuations in speed measurements and THD this was
caused largely due systematic errors and other contribution error factors are various
tolerances, internal impedance, distortions, interference and loss that have not been taken
into account when conducting this experiment.



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Results:
Exercise 1: Motor Operation from Mains

Table 1: Results Motor Operation from Mains
Load (Nm) Force (N) Voltage (V) Current (I) Speed (RPM)
THD
(%)
No Load 0 414.2 2.28 1495 1.5
12 48 411.8 4.28 1430 1.6
6 24 413.8 2.92 1466 1.6
Table 1: Results from motor operations (main)

Exercise 2: Motor Operation from Variable Speed Drive

Table 2: Results Motor Operation from Variable Speed Drive
Frequency
(Hz)
Load
(Nm)
Force
(N)
Voltage
(V)
Current
(I)
Speed
(RPM)
THD
(%)
50 No Load 0 414.5 1.028 1490 1.7
50 12 48 412.1 2.86 1399 1.5
50 6 24 413.5 1.62 1456 1.3
40 6 24 414.7 1.6 1246 1.4
30 6 24 414.8 1.38 960 1.4
Table 2: Motor Operation from Variable Speed Drive




Note: refer to appendix for figures of Power Waveforms and THD illustrations
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Graphs:
Graph 1: Speed versus Torques Characteristics


1390
1400
1410
1420
1430
1440
1450
1460
1470
0 2 4 6 8 10 12 14
S
p
e
e
d

(
N
m
)

Torque (Nm)
Speed vs. Torque
without VSD with VSD
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Discussion:
Induction machines widely used of all electric motors in industry; because generally they are
simple to build, offer reasonable asynchronous performance: a manageable torque-speed
curve, stable operation under load, and generally satisfactory efficiency. Induction motor
finds wide applications in industry. Induction motor is essentially a constant-speed machine.
A technique for easy and efficient variation of speed over a wide range of operating
conditions is highly desirable for many applications.
When the load is reduced the current in the circuits reduces because less powered required
to support the reduced amount of load. This can trend can be observed from results of the first
exercise- when powered is supplied from the mains and load is reduced.
The second part of the exercise has been carried out using a VSD. A variable-speed drive is a
type of adjustable-speed drive used to control AC motor speed and torque by varying motor
input frequency and voltage. From the results it seen that speed and frequency are directly
proportional. Decreasing speed also reduces the current. This phenomenon is in accordance
with theory.
The speed of three-phase induction motor (IM) is given by:


This suggests that the speed of IM can be varied by varying either s, or f or P. Indeed all
methods of speed control involve some degree of sacrifice in performance, cost, and
simplicity. The following are methods available for speed and torque control of induction
motors.
Pole-changing method - Machine with two stator windings arranged for different
number of poles.
Variable-frequency method.
Variable-line-voltage method:

Variable-rotor-resistance method:

Rotor slip-frequency control.


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Answers to the questions:
Question 1: Circuit diagram of connections with and without VSD.
The motor could Wye or Delta connected:
Without VSD:

Figure 1: Connections without VSD
With VSD:

Figure 2: Motor connected with VSD


Figure 3: Circuit Schematic of motor connected with VSD
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Question 2: What advantage has the two speed induction motor that has the Delta
Parallel Star connection over the other Star Star connected two speed motor, the data
of which was recorded in laboratory 1?
Delta-Parallel Star connection is preferred over Start-Star connection as a starter- because it
is used to reduce the starting current drawn by the motor(per winding voltage is
higher). Starting the motor in STAR means starting current is reduced 3-4 times of the direct
current due to which voltage drops and hence it reduces the amount of losses in the system
which means higher efficiency.
Wye wound stators are used in alternators that require high voltage output a low alternator
speed. When the motor has gained sufficient speed the connection is changed to DELTA to
which allows the motor to run at its full speed and torque from then on. Delta stators allow
for higher current flow being delivered at low RPM. The motor starts as star connected i.e.
voltage reduced by root (3), current reduced by root (3) and power reduced by 3.
3 phase induction motors have self-starting torque mechanisms unlike the synchronous
motors therefore no motor starting methods need to be employed.
A two speed induction motor allows the machine to function at two different speeds therefore
it leads to an increase in efficiency for example during high load demand, the motor could
operate at higher speeds and would operate at a lower speed when demand is much lower.
This ability to change its speed according to its demand will greatly increase the efficiency of
the system.
Question 3: Include for both speeds the connections for, constant power and constant
torque.

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Question 4: Calculate and compare the motor slip at both 12 Nm and 6 Nm for both
directly connected to the mains and through the variable speed drives. Using a graph of
Speed Vs Torque; comment on the differences

The slip of the motor when connected from the mains is 4.9% and 2.32% for the 12Nm and
6Nm load respectively. In contrast, the slip with the variable speed drive is 7.2% and 3.02%
for the 12Nm and 6Nm loads respectively. Although slip should be lower when using a VSD
because a VSD acts like a filter and reduces any distortion in the input therefore supplies a
constant output which results in higher speed closer to synchronous speed; therefore lower
slip. But during this investigation there was heavy fluctuation is motor speed when using
the VSD. This systematic error results in lower motor speed therefore higher slip which is
undesirable.

This phenomenon can be observed in the graph Speed Vs Torque. The VSD does not give
higher motor speed and less control than it should according to theory. For both with and
without a VSD the motor speed reduces as toque or load in the system is increased reduces.

Table 3: Slip Calculations

Load
(Nm)
Motor Speed
(RPM)
Synchronous
Speed (RPM)
Slip
Operation from
the mains
12 1430 1500 0.0490
6 1466 1500 0.0232
Operation from
VSD (f=50Hz)
12 1399 1500 0.0722
6 1456 1500 0.0302
Table 3: Slip Calculations

Slip for the motor has been calculated using:
Formula:









Note: Refer to appendix for example of slip calculations

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Question 4: Discuss the harmonic content of the PWM waveform and in particular how
this affects the speed regulation.
There are many different ways to control the speed of motors but one very simple and easy
way is to use Pulse Width Modulation.
Although the PWM output voltage contains a large number of frequency components other
than the fundamental, these components are generally of higher frequency and suppressed by
the inductance of the motor winding.
Unfortunately, since the back emf generated by the motor is a sinusoidal voltage at the
fundamental frequency, it provides no opposition to the flow of current at the harmonic and
higher frequencies. For this reason these currents are larger when compared to the
fundamental than would be the case if the motor were a pure inductor.
The induction motor, when under PWM voltage coming from the inverter, is subjected to
voltage harmonics (frequency components above the fundamental frequency). Depending on
the type of PWM employed, the switching frequency and other peculiarities of the control,
the motor may present efficiency decrease and losses, temperature, noise and vibration levels
increase. Furthermore other effects may appear when induction motors are fed by inverters.
Insulation system dielectric stress and shaft voltages allied with potentially damaging bearing
currents are well known side effects.
This is a problem since many applications need to change the speed of the motor, for example
changing the flow rate of a water pump by changing the speed of the propeller in a pump.
This was traditionally achieved by reducing the voltage across the windings of the motor,
which in turn reduced the current through the windings thus reducing motor torque.
The speed of the motor would reduce proportionally to voltage if the load on the motor
remained the same but this not an ideal solution since we know load is not always constant.
Another reason this method of control is not ideal is that when the slip on a motor is too
great, the efficiency of the motor is significantly reduced and if the load changes, so will
motor speed. Note: The irregularities in the sine wave are called harmonics*.



Figure 4: PWM simulations Figure 5: PWM and Harmonics (*)

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Question 5: Which harmonics cause negative torques in induction motors?
Harmonic currents can cause an induction motor to run backwards. The fifth harmonic of the
excitation forms a negative sequence system. The 5
th
harmonic currents have negative
sequence characteristics.


Figure 6: Negative Torque Characteristic
Question 6: Explain with the aid of diagrams the how a sine wave is simulated using
pulse width modulation.
A sine wave can be simulated using pulse width modulation by creating pulses whose width
will correspond to the magnitude of the sine wave. For example at 90
o
, the sine wave has the
highest magnitude, so the pulse here will need to be the longest (i.e. widest). The sine wave is
minimum at 0
o
and 180
o
so the pulse will be applied for the short time.




Figure 7: Sinusoid wave simulated using a PWM

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Question 7: Explain using induction motor theory the various methods of motor speed
control.
Control of an induction motor can be achieved by various methods. Speed is mostly
controlled from the relationships between various components (setting) in the induction motor
e.g.:- frequency, voltage, current, flux and resistances (by ohms law effects voltage and
current). The speed control methods of an induction motor from stator side are:




1. Frequency control- i.e. Speed is directly proportional to the frequency increasing
frequency increases speed.
2. Changing the number of stator poles- i.e. Speed is inversely proportional to the
number of poles. Number of poles can be changed by:
a) Multiple stator winding method -the stator is provided by two separate
winding; at a time supply is given to one winding only and hence speed
control is possible.
b) Pole amplitude modulation method (PAM) - original sinusoidal mmf wave
is modulated by another sinusoidal mmf wave having different number of
poles.
3. Controlling supply voltage - but the flux must be kept in equilibrium to prevent the
core from getting saturated

4. Adding rheostat in the stator circuit- due to which voltage gets dropped. Voltage is
proportional to the torque developed.

The speed control methods of an induction motor from rotor side are:
1. Adding external resistance on rotor- side where torque developed is inversely
proportional to the resistance.

2. Injecting slip frequency emf into rotor side- The injected emf can either oppose the
rotor induced emf or aids the rotor induced emf. it oppose the rotor induced emf, the
total rotor resistance increases and hence speed decreases and if the injected emf aids
the main rotor emf the total resistance decreases and hence speed increases. The main
advantage of this type of speed control of three phase induction motor is that wide
range of speed control is possible whether its above normal or below normal speed
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Question 8: Explain why both voltage and frequency are changed when using PWM.
Voltage and frequency change when using the variable speed drive (or PWM) because of the
relationship flux has with these parameters. The use of the PWM affect the flux, and since
flux is proportional to voltage and frequency, these parameters change when the PWM is
used.

Question 9: With the aid of diagrams explain Flux Vector Control and its usages.

The flux vector drives uses current-switching techniques to control motor torque as well.
This kind of control works by manipulating vector and phases between current and voltage
setting of the induction motor. In any induction motor, a portion of the current magnetizes
or fluxes the motor, charging the rotor and magnetically coupling it to the stator. The
remainder of the current actually generates torque.
Unlike other drives, flux vector drives command both current components; flux current is
held at the minimum required to induce a magnetic field, while torque-producing current
pulsing through the stator is independently adjusted. Flux vector drives can run with or
without feedback. Open-loop types use motor data and current measurements to calculate
rotor position. Closed-loop vector drives add encoder feedback to the equation, so the drive
always knows the exact position of the rotor.
Applications where flux vector control is used are woodcarving machine; crane hoisting;
drilling machine; CNC lathe; tooling machine; middle/low-speed passenger elevator; PCB
routing machine and servomotors (that allows for precise control of angular position, velocity
and acceleration used in robotics, CNC machinery or automated manufacturing). They're
often used in winding applications. Low-performance applications like scrap winders don't
require accurate tension, so standard flux vector drives can control this winding in simple
torque-taper mode. The drive is programmed with high and low torque values (for full roll
and core) and uses a speed signal to trim the torque reference.

Figure 8: Flux vector control (phasor diagram)
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Conclusion:

VSD allows better control over speed and frequency of a three phase motor. Normally
variable speed drive reduces the slip of the motor, which leads to better operation of the
motor as it will be closer to the synchronous speed but this could was not achieved due to
system error. This laboratory allowed us to understand the use of VSD and how induction
motor behaves under various load. The use of a Tektronics Digital Oscilloscope familiarizes
us to power waveforms and THD measurements.

References:

Loehlein Timothy A. Technical information from Cummins Power Generation [Online] //
http://cumminspower.eu/ (Accessed 1
st
October 2014)
Patil , Chavan. Use of Slip Ring Induction Generator for Wind Power Generation
http://www.ijera.com/papers/Vol2_issue4/GD2411071110.pdf (Accessed 10
th
October 2014)
U.A.Bakshi M.V.Baksh Synchronous Machines [Book]. - 2009. (Accessed 14
th
October
2014)
http://coep.vlab.co.in/?sub=33&brch=95&sim=1040&cnt=1(Accessed 18
th
October 2014)
http://www.physicsforums.com/showthread.php?t=2655424 (Accessed 19
th
October 2014)

http://elearning.vtu.ac.in/17/e-Notes/10EE54/Unit%205%20&%208-VH.pdf
(Accessed 15
th
October 2014)

http://www.allaboutcircuits.com/vol_2/chpt_10/8.html(Accessed 2
nd
October 2014)

http://www.moteursbsc.com/media/other/133841-Connexions.pdf(Accessed
(Accessed 10
th
October 2014)






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Appendix:
Slip Calculation





Example: When the load is 12 Nm for the operation from the mains:

Power Waveforms and THD Illustrations


Figure 9: Circuit Schematic without VSD

Figure 10: Voltage and Current Waveform and THD measurements
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Copy of results