DET5063 :MOTOR CONTROL

AND DRIVERS
CHAPTER 1: AN INTRODUCTION TO
ELECTRICAL DRIVES
1.0 AN INTRODUCTION TO
ELECTRICAL DRIVES
1.1 Know an electrical driver
1.1.1 Define an electrical driver.
Definition of ELECTRICAL DRIVES
Electric drive is a system that contains
i) one or more electric motors and
ii) it is a part of electrical and electronic control designed to
control motor performance.

Basically electrical machine is used to convert electrical energy

into mechanical energy and Electrical driver provide
electrical control or electronic control of this process.

Its functions is
To turn and drive the motor according to load requirements
with respect to the desired torque or speed needed by the
user
An Electric Driver
Traditional method:
uncontrolled operation- motors running at constant speed
i.e. when the compressor-motors in a refrigerator turns ON,
it runs at a constant speed
Air conditioning system running on conventional compressor

Adjustable method:
Controlled operation, motors can running at different speed
To full fill industry requirements for different applications
Electric vehicle
Air conditioning using frequency inverter to control the speed of
the compressor
An Electric Driver
Drives used for the control of electric motors speed.
AC drive used for the controlling of AC motors speed
while DC drives used for DC motors.
AC drive is also called Variable Frequency Drive.
 1.1.2 State the advantages of
electrical driver.
Advantages of Electrical Drives
1. Flexible control characteristic and can be
manipulated as per requirements
2. Can be controlled by controlling the applied
voltage or current.
3. Available in wide range of speed, torque and
power
4. High efficiency
5. The operation is at minimal pollution i.e Lower
noise, no combustion gasses
6. Low maintenance requirements and cleaner
operation
7. Electric energy is easy to be transported.
Advantages of Electrical Drives
8. Build up is simple compared to mechanical
driver
9. Speed control is simple and smooth
10. Compact and easier to be installed and less
room needed for installation for the
control unit
11. Self starting, without requirement of any
starting equipment
12. Able to start and stop instantly
13. Electric braking can be employed in easy
manner
Disadvantages of Electrical Drives
1. It will stop immediately if power failure.
2. Cannot be used in remote places and no
electricity .
 Blok diagram for Driver control
Using Power Electronics
Converter
Power supply power motor load
electronic

Control unit Sensor unit

Command
Signal/ set
point
 Load- machine used to perform any work
example train, crane , grinder machine.
Converter semiconductor/power
electronic based
Control unit
Command signal
Sensor unit
Power supply
 Classification of Electrical Drives
The drives can be classified into three types:
Single motor drive
Basic type of drive which are mainly used in simple metal
working, house hold appliances
Each Machine is driven by its own separate motor with the help
of gears, pully etc.
Group motor drive
Used in modern industries because of various complexities.
Known as line shaft drive.
Single motor drives a number of machines through blet from a
common shaft.
Multi motor drive
Used in heavy industries or where multiple motoring units are
required such as railway transport. Example traveling Crane;
three motors are used, one for hoisting, one for long travel
motion and one for cross traveling motion.
Drives separate motors are provided for actuating different parts
of driven mechanism.
1.1.3 State the latest trends in DC
and AC drives.
1.1.4 Describe speed torque characteristics.
Induction motor characteristic curve torque
versus speed
Description of the speed versus
torque characteristic
The Locked Rotor Torque or Starting
Torque is the torque the electrical motor
develop when its starts at rest or zero speed.
A high Starting Torque is more important for
application or machines hard to start - as positive
displacement pumps, cranes etc. A lower Starting
Torque can be accepted for centrifugal fans or pumps
where the start load is low or close to zero.
Locked rotor torque is usually stands at 1.5 T of the
full load of the motor.
It need a high torque to start and rotate the motor
from a the standstill condition to a rotating condition.
As high torque is obtained, starting current is
generated to develop the high starting torque .
 Description of the speed versus
torque characteristic (cont.)
Pull-up Torque
The Pull-up Torque is the minimum torque developed
by the electrical motor when it runs from zero to full-
load speed (before it reaches the break-down torque
point)
When the motor starts and begins to accelerate the torque in
general decrease until it reach a low point at a certain speed -
the pull-up torque - before the torque increases until it reach
the highest torque at a higher speed - the break-down torque
- point.
The pull-up torque may be critical for applications that needs
power to go through some temporary barriers achieving the
working conditions.
Break-down Torque
The Break-down Torque is the highest torque available
before the torque decreases when the machine continues to
accelerate to the working conditions.
Understand an electrical driver
1.2.1 Compare the characteristics and
applications of DC and AC drivers.
Comparison Between DC and AC Drivers
DC DRIVES
The power circuit and control circuit
is simple and inexpensive
It requires frequent maintenance
The commutator makes the motor
bulky, costly and heavy
Fast response and wide speed range
of control, can be achieved smoothly
by conventional and solid state
control
Speed and design ratings are limited
due to commutations
AC DRIVES
The power circuit and control circuit
are Complex
Less Maintenance
These problems are not there in
these motors and are inexpensive,
particularly squirrel cage induction
motors
In solid state control the speed range
is wide and conventional method is
stepped and limited
Speed and design ratings have upper
limits
DC DRIVES Vs AC DRIVES
Advantages:
Ac motors are less expensive as compared to dc
motors.
Ac motors require low maintenance as compared to dc
motors.
Disadvantages:
Power converters for ac drives are complex.
Power converters for ac drives generates harmonics in
the supply system & load circuit
Understand the electrical driver in
AC motor
1.3.1 Compare the characteristics and
applications of AC drivers
a. Static Frequency Changers
b. Static Voltage Controllers
c. Rectifier-inverter System with Line
Commutation
d. Rectifier-inverter System with Self
Commutation
e. Pulse Width Modulation Systems
TYPES OF AC DRIVES
a) Static Frequency Changers
b) Static Voltage Controllers
c) Rectifier-inverter System with Line
Commutation
d) Rectifier-inverter System with Self
Commutation
e) Pulse Width Modulation System
Comparison Types of AC Driver
a) Static Freq. Changer (SFC):-
Frequency changer or frequency
converter is an electronic device that
converts the incoming line frequency directly
into the desired load frequency.
Frequency changers are also used to control
the speed and the torque of AC motors.
Cyclo-converter fall into this category, and
they are used to drive both synchronous and
squirrel-cage induction motors.
Block Diagram of Static Frequency
Changer
B) Static Voltage Controllers:-
Static voltage controllers enable speed and
torque control by varying the ac voltage. they
are used with squirrel-cage induction motors.
Static voltage controllers are also used to
soft-start motors which are used in
applications where an induction motor must
not accelerate too quickly for example,
conveyer belts and centrifugal pumps.
Another advantage of using static voltage
controllers for soft-start motors is their
reliability and almost silent operation
Block Diagram of Static Voltage
Controller
c)Rectifier-inverter System with
Line Commutation
Rectifier-inverter systems with line
commutation rectify the incoming line
frequency to dc, and the dc is reconverted to
ac by an inverter.
The inverter, in turn, is line-commutated by
the motor it drives.
Such systems are mainly used to control
synchronous motors.
Similar systems are used to control the speed
of wound-rotor induction motors.
d)Rectifier-Inverter Systems with
Self-Commutation
Rectifier-Inverter Systems with Self-Commutation
rectify the incoming line frequency to dc, and the
dc is reconverted to ac by an inverter.
Its generating its own frequency which is
determined by the frequency pulse applied to the
gates.
They can also absorb or deliver reactive power,
which the reactive power is determined upon the
load and the switching of semiconductors such as,
IGBTs, power MOSFETs, GTOs and thyristors.
Such rectifier-inverter systems are used to
control squirrel-cage induction motors.
e) Pulse Width Modulation System
PWM system can generate a voltage of any
shape, any frequency and phase by applying
the appropriate gating signal to the IGBTs.
They enable variable speed induction motor
drives ranging from zero speed and up.
The important feature of PWMs is that they
enable the production of very low-frequency
sinusoidal voltages and currents that uses a
high frequency carrier.
The wave shapes can be altered in a fraction
of a millisecond.
 1.4 Understand the concept of four
quadrant in DC motor operations
1.4.1 Explain briefly the torque against
speed axis.
1.4.2 Illustrate the types of motor
operation in each quadrant.
 DC DRIVES

DC DRIVES: Electric drives that use DC motors as

the prime movers
DC motor: industry workhorse for decades
Dominates variable speed applications before
PE converters were introduced

Will AC drive replaces DC drive ?

Predicted 30 years ago
DC strong presence easy control huge numbers
AC will eventually replace DC at a slow rate
 DC Motors

Advantage: simple torque and speed control

without sophisticated electronics

Limitations:
Regular Maintenance Expensive motor
Heavy motor Sparking
Speed Torque Characteristics of DC
Motor
 Speed Torque Characteristics of DC
Motor
For a speed up to the base speed, the armature voltage is varied and the
torque is maintained constant.
Once the rated armature voltage is applied, the speed-torque relationship
follows the natural characteristic of the motor and the power (= torque X
speed) remains constant.
As the torque demand is reduced, the speed increases.
At a very light load, the speed could be very high and it is not advisable to
run a dc series motor without a load.

http://electricalstudy.sarutech.com/wp-
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characteristic.gif
Speed control of DC Motors
Below base speed: Armature voltage control (retain maximum
torque capability)
Above base speed: Field weakening (i.e. flux reduced) (Trading-off torque
capability for speed)

Torque Armature voltage control

Field flux control

Line of
Maximum
Torque Limitation

base speed
Four-Quadrant Operation of DC-
Motor Drives

Copyright 2003
by John Wiley & Sons, Inc.
Four-Quadrant Operation Of A Drive System

Figure 2 Shows the torque and speed co-ordinates for both

forward and reverse motions
 Torque Equation: Graphical
Te

Speed

Forward Forward Reverse Reverse Reverse Forward

running braking acc. running braking acc.
 1.5 Understand the concept of torque-
speed curve in AC motor control
1.5.1 Draw the torque-speed curve for
AC motor.
1.5.2 Explain the operation and functions
of a motor in every quadrant.
1.5.3 Draw the curve of torque versus
speed if the stator is connected in
forward and reverse.
 AC DRIVES

AC DRIVES: Electric drives that use AC motors as the prime

movers

There are two types of ac drives:

Induction motor drives
Synchronous motor drives
Ac drives are replacing dc drives and are used in many
industrial and domestic applications
The speed and torque of induction motors can be controlled by
1. Stator voltage control
2. Rotor voltage control
3. Frequency control
4. Changes of Poles
4 QUADRANT OPERATION IN AC MOTOR

Figure 2.1: Four Quadrant Operation in AC Motor

TORQUE VS SPEED CURVE
Torque

Brake Motor

Speed

Generator

Figure 2.2: Torque vs Speed Curve:Generation

Stator Connection in Forward
Torque vs Speed Curve
Torque

Generator

Speed

Motor

Brake
Figure 2.3: Torque vs Speed Curve: Stator Connection in Reverse
Quadrant I-Forward Motoring
Motor condition where the motor has
positive torque and speed.
Motor will receive electric supply from
source and convert it into mechanical
energy to rotate the mechanical load.
Rotation produced is clockwise.
Quadrant 2-Braking/Generation
Motor operates at negative speeds in and
positive torque.
During the operation, it can act
as braking or generation.
Quadrant 3-Reverse Motoring
Operating principle is similar to
quadrant1, the difference is the direction
of rotor rotation of is opposite to
both this quarter.
The torque and speed are negative.
Motor movements produced are
counterclockwise .
Quadrant IV-Braking/Generation
Operation is similar to Quadrant 2,
The torque is negative while the speed is
positive.
 REFRESHMENT!!
Define electrical drives.
List advantages of electrical
drives.
List types of AC drives.
Explain the operation of each
quadrant in AC motor in Figure-A
figure-A.
Label the torque-speed curve
in figure-B.

Figure-B
Torque vs speed
Torque

Generating

II I

III IV
Speed
Motoring

Braking

a) stator connected a) stator connected

in forward in reverse
Understand the effects on the torque-speed
curve when values of boths parameters
(voltage and frequency) are varied
EFFECTS ON TORQUE-SPEED CURVE WHEN
VOLTAGE AND FREQUENCY ARE VARIED

If the voltage and frequency is varied, it

also effects the torque-speed curve.
For squirrel cage induction motor the
speed is depended by (V) and (F) at the
stator.
If the frequency is varied , torque and
speed will increase or decrease.
1.6.1 Explain the factor of voltage/frequency
(V/f) is varied in practical. Cont

Figure 2.4(a): Torque-Speed Curve for Induction Motor

Figure 2.4(a) above shows the torque-speed for 11kW, 460V,

60Hz three phase induction motor where full load speed is
1725 rpm, full load torque 60 N-m, maximum torque 160 N-m
and locked rotor current is 80A.
1.6.2 Explain the effects on the shapes and
the position of torque speed curve.

Figure 2.4(a): Torque-Speed Curve for Induction Motor at Three Different Frequency
Figure 2.4(b) shows the torque-speed curve at three different
frequency. If the frequency is decrease from its original value,
the curve will move to the left and vice versa. The curve shape is
still the same but at different positions.
1.6.3 Calculate torque for different values
of voltage/frequency. Example 1:
3-phase squirrel cage induction motor,
10h.p, 575V, 1750rpm, 60Hz, 4-pole
produces 110N-m torque at 1440rpm. If
the motor is excited at 25Hz frequency.
Calculate:
a) Stator voltage
b) New speed for 110N-m torque
Solution 1:
a) New frequency, f2 = 25Hz
if the frequency varied, the stator voltage also
varied.
E = (f2/f1)x575 = (25/60) = 240V

b) New speed at 110N-M torque

-Ns =120F/P =120X60/4 =1800RPM

-slip speed (N1)

N1 = Ns-Nr = 1800-1440 = 360RPM

-Ns at 25hz = (25/60)x1800 =750rpm

-New speed = 750-360 =390rpm
CONT
(b) (a)

Figure 2.5: (a) Torque-Speed Curve for 575V, 60Hz

(b) Torque-Speed Curve for 240V, 25Hz
Exercise:
1. A 3-phase induction motor, four pole, 208V,
60Hz. The motor rotates 225 rpm at no load
speed to maintain the same flux in the air gap. If
the motor is excited at frequency of 75Hz,
calculate:
a) Voltage needed by stator
b) New speed at 225n-m torque
2. A 3-phase induction motor, four pole, 440V,
50Hz will generates 100N-m torque at
1200rpm speed. If the supply frequency is
decrease into half (50%). Calculate:
a) Stator voltage needed to maintain the same flux in
the motor
b) New speed at 100N-m torque
c) Draw the new torque-speed curve
1.6.5 Explain the new speed of the motor
when the values of the frequency and voltage
are varied at certain values.

Figure 2.4(a): Torque-Speed Curve for Induction Motor at Three Different Frequency
Figure 2.4(b) shows the torque-speed curve at three different
frequency. If the frequency is decrease from its original
value, the curve will move to the left and vice versa. The
curve shape is still the same but at different positions.
1.6.4 Explain the new position of the torque-speed
curve for different values of voltage/frequency.
Torque Speed Characteristics at various
Frequencies of Applied Voltage

The air gap flux is kept constant

Copyright 2003 Chapter 14 Induction
by John Wiley & Sons, Inc. Motor Drives
Understand the concept of current-
speed curve in AC motor control
1.7.1 Draw the shape of current versus
speed curve for induction motor .
 CURRENT-SPEED CURVE

Starting
current

Motoring Generating

Synchronous
speed
Figure 2.6: Current-Speed Curve for Induction Motor (with normal rotor resistance)
1.7.2 Explain the effects on the current-
speed curve when stator voltage and
frequency are varied at the same rate.

Figure 2.7: Current-Speed Curve for Induction Motor (if the voltage and frequency
changes proportionally)
Cont
Fig.2.7, shows the current-speed curve of
the15hp, 460V, 60Hz squirrel cage induction
motor. The locked rotor current is 120A
and the corresponding torque is 80N-m.
If the synchronous speed is varied, the
current-speed curve shifts along the
horizontal axis.
If the stator voltage and frequency is
reduced by 75% to 115V, 15Hz, the locked
rotor current decreases to 80A and the
corresponding torque increases to 160N-m
(refer torque-speed curve in fig.2.4(a)).
Thus, by reducing the frequency, we obtained
a larger torque with a small current.
 Cont

Figure 2.4(a): Torque-Speed Curve for Induction Motor at Three Different Frequency
1.7.3 Solve the related problems using
calculation or graphical plotting.
Example 1:
Using the information revealed by the
60Hz torque-speed and current speed
curves of fig.2.7, calculate the voltage and
frequency required so that the machine
will run at 3200 rpm while developing a
torque of 100N-m. what is the
corresponding stator current?
SOLUTION 1:
Given, E1=460V, f1=60Hz, Ns=1800rpm,
Nr=1650, Nr2=3200rpm and Torque=100N-m.

We first have to find the slip speed corresponding

to a torque of 100N-m.

According to figure 2.7, when the motor operates

at 60Hz and a torque of 100N-m, the speed is
1650rpm. Consequently, the slip speed is:

N1=Ns-Nr = 1800-1650=150rpm
Cont Torque=100N-m Nr at 100N-m torque is
1650rpm

Figure 2.7: Current-Speed Curve for Induction Motor

Cont..
The slip speed is the same when the motor develops 100N-
m torque at 3200rpm. Consequently, the synchronous speed
must be;

Ns2 = Nr2+N1
= 3200+150=3350rpm

The corresponding frequency is, therefore;

f2 = (Ns2/Ns1)xf1
= (3350/1800)x60 = 111.7Hz

The corresponding stator voltage is;

E2 = (f2/f1) x E1
= (111.7/60) x 460 = 856.37V
Cont
Torque=100N-m

Stator current at
100n-m is 40A

Nr=1650rpm Ns=1800rpm Ns2=3350rpm

Stator current at 100N-m
Nr2=320
torque is 40A. Because current
speed curve shifts along with 0rpm
the torque-speed curve, the
current is again 40A at
3200rpm and 100N-m.

Figure 2.8: New Current-Speed Curve

The use of low speed voltage
boosting
Based on the diagram, at and below the
based speed condition, Pull out Torque and
the standstill torque in the normal operation
area is almost constant except at low
frequency condition.
At low speed frequency, the standstill torque
or the starting torque is far below the value
of the pullout torque (Maximum torque) and
it develop a problem for system which need
a high torque at low frequency.
 The weakness of the low starting torque at
low frequency can be corrected by
increasing the ratio of Voltage: Frequency
where this condition is know as low speed
voltage boosting.
The voltage will be boosted to obtain a
higher value of voltage with the same
frequency. Therefore , this will develop an
increase the flux of motor and as the flux
increases , it also increase the starting
torque of the motor.
Regenerating braking