STARTING CONTROL OF WOUND-ROTOR INDUCTION MOTORS

BY USING CHOPPER-CONTROLLED RESISTANCE IN ROTOR CIRCUIT

Chin S. Moo*, Chung

*
C. Wei , Ching
*
L. Huang , and Chao S. Chen
**
* : Institute of Electrical Engineering
National Cheng Kung University, Taiwan, R.O.C.
** : Institute of Electrical Engineering
National Sun Yat-Sen University, Taiwan, R.O.C.

Abstract
The s t a r t i n g t r a n s i e n t performance of wound- r o t o r
knduction motors can be improved by using chopper-
controlled resistance i n t h e r o t o r c i r c u i t . I n t h i s
paper, t h e t r a n s i e n t behaviors of induction motors
controlled by t h e proposed scheme a r e investigated. To
control t h e s t a r t i n g performance of t h e wound- r o t o r
3-phase

I
I
aooed
' ~

Fig. 1 Schematic diagram of r o t o r resistance control

by solid- state method
-
9Fontrol1 et-1

induction motor under several load conditions and

system requirements, maximum torque operation and
limited-current operation a r e discussed. The t r a n s i e n t
current, speed, and torque of t h e induction motors
have been solved by computer simulation, and verifica-
t i o n of these numerical studies are a l s o provided from
experimental t e s t s .
I. INTRODUCl'ION
During t h e s t a r t - u p of induction motors, very l a r g e
current is drawn. Hence, voltage dips and harmonics
a r e introduced i n t h e power system. Moreover, t h e high
mechanical stress, which is resulted from s t a r t i n g
inrush current, may cause t h e f a i l u r e s o r reduce t h e
l i f e - time of induction motors. Therefore, t h e inrush
current should be constrained t o a c e r t a i n value l i m i -
ted by t h e power system. Up t o now, many methods have
been proposed t o control t h e s t a r t i n g inrush current
of t h e machine [I]- [5]. Among various techniques, t h e
method of r o t o r resistance control has been widely
used f o r t h e medium and l a r g e wound-rotor induction
motors, especially when high s t a r t i n g torque is re-
quired o r long s t a r t i n g periods are encountered. It is
found t h a t excellent s t a r t i n g performance is obtained
by controlling t h e r o t o r resistance properly. Besides,
adjustable speed operation can a l s o be provided by
t h i s method.
Conventionally, r o t o r resistance control scheme is
achieved by connecting a set of three-phase r e s i s t o r
t o t h e r o t o r c i r c u i t v i a s l i p r i n g s t o increase t h e
rotor resistance so t h a t t h e inrush current is reduced
and the s t a r t i n g torque i s increased during t h e
s t a r t i n g period [5]. The r e s i s t o r is designed t o match
t h e load conditions i n t h e e n t i r e run-up period.
Durin t h i s period, t h e r e s i s t o r s are short- c i r c u i t e d
step $y s t e p t o permit t h e motor t o come up t o t h e
operating speed under t h e contraint of t h e current
limitation and torque requirement.
Yith the advance i n power semiconductor technology,
t h e rotor resistance control scheme can be improved by
solid- state method. A three-phase r e c t i f i e r bridge and
a chopper c i r c u i t are inserted between s l i p rings of
the induction motor and t h e external r e s i s t o r as shown
i n Pig. 1 [6]- [8]. The e f f e c t i v e r o t o r resistance can
be continuously controlled by adjusting t h e duty cycle
of t h e chopper c i r c u i t . As compared with t h e conven-
t i o n a l control scheme, t h e solid- state method can
operate the machine more smoothly and may be e a s i l y
modified t o match t h e parameter v a r i a t i o n s of motors
and t h e changes of load conditions.
0 1989 IEEE
89CH2792-0/89/0000-2295$01.W
11. VARYING ROTOR PESISTANCE OF I N D U C T I O N MOTORS
Theoretically, wound- r o t o r induction motors can be
operated with limited- current o r higher s t a r t i n g
torque by selecting an appropriate value of t h e r o t o r
resistance. As t h e r o t o r speeds up, t h e external re-
sistance is decreased accordingly t o match t h e oper-
a t i n g requirements.
The chopper i n Pig. 1 is a power switching device
operated as a r o t o r resistance c o n t r o l l e r . By regu-
l a t i n g t h e duty cycle of t h e chopper, it i s possible
t o obtain an equivalent r e s i s t a n c e of a value between
zero and t h e external resistance. The duty cycle of
t h e chopper is defined as:
where T(on) i s t h e time i n t e r v a l of t h e "on" state,
and T(ch) is t h e t h e chopping period of t h e chopper.
The equivalent resistance of t h e chopper controlled
r e s i s t o r is obtained as [6]:
Be q= (1-0) Rex
(2)
Because t h e current d i s t o r t i o n i s introduced by t h e
operation of t h e chopper and t h e r e c t i f i e r , it is very
d i f f i c u l t t o develop an exact model of induction
motors with solid- state c o n t r o l l e r . I n t h i s paper, t h e
simplified equivalent c i r c u i t model developed by Sen
[6], I![ as shown i n Fig. 2, is used t o predict t h e
operating c h a r a c t e r i s t i c s of t h e induction motors with
a chopper controlled r e s i s t o r . Based on t h i s c i r c u i t ,
a s a t i s f a c t o r y simulation and control of t h e induction
motors can be made.
Pig. 2 Equivalent c i r c u i t of t h e induction motor with
chopper- controlled resistance i n r o t o r c i r c u i t
Figure 3 shows t h e current waveforms of t h e r o t o r
c i r c u i t during t h e s t a r t i n g t r a n s i e n t period. The
r o t o r current is assumed t o be sinusoidal and t h e
r e c t i f i e d current i s represented as:
id(ut)=,@sin(ut) r/3 S u t S 2r/3
and
id(ut+nr/3)=id(ut) n=1,2,3;, .
where 1 2 i s the rms value of t h e r o t o r current. The
rms value of t h e r e c t i f i e d current is calculated as:
Id=[3 2r/3 ($Izsin(lut) ) z d ( l u t > ] ' 1 2
'lr/3
~1.3512
Evaluating t h e instantaneous power between a c and dc
sides of t h e r e c t i f i e r , t h e equivalent r o t o r resis-
tance of induction motors with chopper c o n t r o l l e r i n
Pig. 2 is solved as:
It i s found t h a t t h e breakdown torque is independent
of t h e external r o t o r resistance. Therefore, t h e
breakdown torque can be obtained a t any speed by
varying t h e equivalent r o t o r resistance t o a value
(4)
By Eqs. (2), ( 5 ) , and (8), t h e duty cycle of t h e c h o p
per f o r t h e maximum torque operation i s determined as:
(9)

R4=(Rz+0.608ReP)nZ (5) Theorectically, t h e breakdown torque can be obtained

where n i s t h e e f f e c t i v e t u r n s r a t i o of t h e s t a t o r and throughout t h e s t a r t i n g period by adjusting t h e duty
r o t o r windings. cycle of t h e chopper continuously. However, since t h e
external r e s i s t a n c e can not be negative, t h e breakdown
Rotor current (p) torque is not available whenever t h e r o t o r s l i p be-
1 comes less than a c r i t i c a l value defined as:
3
0

-31 ~vvvvvvvvy Since then, t h e chopper remains at "on" state and t h e

r o t o r external r e s i s t a n c e i s short- circuited.
I
-6' '
0 20 40 60 80 IV. LIIITED- CURRENT OPEMTIOA
(0) T i me ( m d
From t h e equivalent c i r c u i t as shown i n Pig.2, t h e
Rectlf led current (pu) s t a t o r current is solved as:
6
3
0 4 where k o = ( q - X I X j + X i ) + j (B1xj+V)
-3
0 20 40 60 80
(b) Time(ms)
Fig. 3 Current waveforms of s t a r t i n g t r a n s i e n t With limited- current operation, t h e s t a t o r current
(a) r o t o r current (b) r e c t i f i e d current must be less than a pre-determined value, I l ( l i m ) ,
during t h e run-up period. Then, t h e equivalent r o t o r
111. MAXIM" TOBPUE OPERATION resistance f o r t h e limited- current operation is solved
as :
When t h e induction motor i s desired t o be speeded up
as f a s t as possible, t h e equivalent r o t o r resistance
can be controlled t o a value t o generate t h e maximum
torque from zero t o f u l l speed.
From t h e equivalent c i r c u i t , t h e output torque of
t h e motor is solved as:

Similarly as t h a t of t h e maximum torque operation, t h e

duty cycle of t h e chopper t o s a t i s f y t h e current l i m i -
where q i s t h e phase number, P i s t h e pole number, 01 t a t i o n is determined as:
i s t h e frequency of t h e source, and
jx,
'0 =' 1R, +j(X +X,)

where k , = k L F
Ro= R t + ( X l +X,) f
As described i n t h e maximum torque operation, t h e r e
a l s o e x i s t s a c r i t i c a l s l i p , at which t h e s t a t o r
X,R:+X1Xm(X1+Xm) current begins t o decay and t h e chopper remains at
xo=
RI ( X i +U
+ ' "on" state.
The breakdown torque i s then derived as: V. C i r c u i t I o d e l of Computer Simulation
For t h e purpose of simplifying t h e analysis,
followin assumptions are made i n t h i s paper:
1) The efectromanegtic f i e l d of t h e machine is
sinusoidally d i s t r i b u t e d .

22%
2 Core s a t u r a t i o n i s neglected.
31 Parameters of the machine remain constant through-
o u t the process of computer simulation.
4) Forward voltage drops of the bridge r e c t i f i e r and
chopper t h y r i s t o r a r e neglected.
Based on these assumptions, the t r a n s i e n t perfor-
mance of induction motors i s described by the f o l -
lowing three equations:
1) Voltage equation
where p i s the d i f f e r e n t i a l opertator and
T
[e]=[esa esb eSc & a erb ercl
[R]=diag[R~ R I R I R2+Req R2+Req R2+Req]
[i]=[isa
isb isc ira i r b irc]
T
PI=
Lss,L, , L r r , L r n a r e the s e l f and mutual inductances
of s t a t o r and rotor phase windings respectively; Ysr
is the mutual inductance between the s t a t o r and r o t o r
phase windings when t h e i r magnetic axes a r e coinci-
dent.
3) Mechanical motion equation
The numerical solutions of these nonlinear equations
can be solved with d i g i t a l computer [9]- [ll]. I n addi-
t i o n t o the commonly used simulation process, the COP
mutation s t a t u s e s of the bridge diodes should be de-
termined. For an ideal bzid e r e c t i f i e r , the r o t o r
c i r c u i t w i l l be operated wit! only two phases. How-
ever, the commutation overlaps of t h e r e c t i f i e r bridge
a r e introduced by the leaka e reactances of the motor.
Durin the commutation overfap periods the r o t o r cur-
rent !lows i n a l l three phases. Therejore, the bridge
r e c t i f i e r w i l l . t o t a l l y have 12 possible conducting
modes as shown i n Table 1 [12]. The odd numbered modes
correspond t o the normal r e c t i f y i n g operations, while
even ones correspond t o t h e commutation overlaps
between two odd numbered modes. The operating sequence
w i l l be e i t h e r i n o s i t i v e sequence (1,2,3 ...) or i n
negative sequence [1,12,11.. .). Figure 4 i l l u s t r a t e s
the corresponding rotor equivalent cirGuits f o r suc-
cessive operating modes 1, 2, and 3.
2297
Mode 1 2 3 4 5 6 7 8 9 101112
Conduction D 1 D 1 D2 D2 D3 D3 D4 D4 D5 D5 D6 D6
Diodes D2 D2 D3 D3 D4 D4 D5 D5 D6 D6 D1 D 1
D3 D4 D5 D6 D1 D2
(rc Mods. 1
Ld
e Rex
D2
Mod-. 2
I
Ld
Mode. 3
Fig. 4 Rotor c i r c u i t s f o r operation Modes 1, 2, and 3
Since the rotor c i r c u i t of the motor may be operated
w i t h e i t h e r two- phase conducting mode or three- phase
conducting mode, it i s necessary t o identify t h e in-
s t a n t s when the chan e of operation mode occurred. The
commutation overlap %egins whenever the r o t o r voltage
of the non-conducting phase is g r e a t e r than t h a t of
the conducting phase. A t this i n s t a n t , the operation
mode changes from twophase conducting mode t o three-
phase conducting mode. The commutation overlap i s
accomplished when one of the t h r e e rotor currents i s
decreased t o zero, and the operation mode changes from
three- phase conducting mode t o the sucessive two- phase
conducting mode.
V I . RESULTS OF COWPUTBP SIXULATIONS
AND BXPEPIIENTAL TESTS
A 3-hp(motor A) and a 500-hp(motor B) induction
motors a r e selected f o r computer simulation. The par-
ameters of these two motors a r e shown i n Appendix.
When the motors a r e d i r e c t l y s t a r t e d with rated l i n e
voltage, the instantaneous currents can reach s o r e
than 6 times t h e rated current as shown i n Figs. 5(a)
and 6(a). By maximum torque s t a r t i n g operation as
i l l u s t r a t e d i n Figs. 5 b) and 6(b), the motors w i l l be
$
accelerated up much a s t e r than the motor without
control, and the inrush currents can be reduced t o a
value of about 4 times the rated current. Therefore,
the duration and ma nitude of the t r a n s i e n t current
can e f f e c t i v e l y be alleviated. This advantage is more
s i g n i f i c a n t f o r the l a r e motor. Figures 7 and 8 show
the comparisons of speef and torque f o r motors A and B
respectively. Moreover, because an external r e s i s t a n c e
is added t o the rotor c i r c u i t , the power f a c t o r can
a l s o be improved during the s t a r t - u p periods as shown
i n Fig. 9.
 Speed(pu1
Stator current (pu) 1.2 I I

0.8

0.4

0.0
0 0.8 1.6 2.4 3.2
(fd Time(sec1
Torque (pu)
-6 ' 1
1
0 0.8 I .6 2.4 3.2
Torque Operatlon
(a) T ime (sec)
3
Stator current (pul
thout Control
1 0
3 -3 J
1
1 .o 0.6 0.2 -0.2
0 (b) s1 ip
Pig. 7 Comparisons of t h e t r a n s i e n t performance of
-3 motor A between maximum torque operation and
d i r e c t s t a r t i n operation (a)speed (b)torque
(T,=lpu, J=O.lfg-m2)
-6 '
0 0.8 1.6 2.4
1
3.2
(b) T 1 me (sec1 Speed(pu1
Pig. 5 Starting transient current of motor A
t
a) without control (b)maximum torque operation
T,=lpu, J=O.1 Kg m2)

Stator current (pu)

0 0.8 1.8 2.4 3.2

(a) Tlme(sec)
Torque(pu)

J
4 MaxImum Torque Operatlon
w -- -- - -

-8
0 1 .o 2.0 3.0 4.0
1 0
(a) Timelsec)
-4 J I
Stator current (pu) 1 .o 0.6 0.2 -0.2
(b) s1 Ip
Pig. 8 Comparisons of t h e t r a n s i e n t performance of
motor B between maximum torque operation and
d i r e c t s t a r t i n g operation (a)speed (b)torque
(T,=O, J=lOKg .m2)

On t h e other hand, when t h e motor is driven with

limited- current operation, t h e s t a t o r current can be
limited within a pre-determined value. P i ure 10
-6 '0 1 .o 2.0 3.0 4.0
I
i l l u s t r a t e s t h e current and torque waveforms o f motor
A s t a r t e d by limited-current operation. Figure 11
shows the waveforms of t h e current and torque of t h e
(bl TI ne (sec1 same motor with t h e conventional external rotor resis-
Fig. 6 S t a r t i n g transient current of motor E tance control. The s t a t o r current is constrained below
a) without control (b)maxintum torque operation three times t h e rated current f o r both cases. It is
T,=O, J=lOKg.mz) found t h a t t h e waveforms of t h e current and torque
with t h e s o l i d - s t a t e controller are much smoother than
those of t h e conventional scheme.
2298
 Power Factor with limited- current operation. Because t h e additional
1.0 1 I l o s s i s introduced by t h e "on" s t a t e resistance of t h e
r e c t i f i e r diodes and chopper t h y r i s t o r , the short c i r -
c u i t operation by t h e mechanical contacts i s recom-
mended when t h e motor i s operated i n steady s t a t e .

Stator current (pu)

4 1 i

2
0
-2
0.0
1.0 0.8 0.6 0.4 0.2 0.0 -4 J I
SI i p 0 0.4 0.8 1.2 1.6
(a) T i me (sec)
Fig. 9 Comparison of the power f a c t o r between maximum
torque operation and d i r e c t s t a r t i n g operation Rotor current (pu)
4 1 1
Stator current (pu)
1
2
0
-4 J I
-2 0 0.4 0.8 1.2 1.6
1
-4 J (bl Time hec)
0 0.4 0.8 1.2 1.6
(a) T i me (sec) Torque (pu)

Rotor current (pu)

I

1
-2
0 0.4 0.e 1.2 1.6
1 Time (sec1
-4 J (C)
0 0.4 0.8 1.2 1.6
(b) T i me (sec)
Fig. 11 Transient performance of motor A with limited-
current operation by conventional control method
Toque (pu)
(T,=O, J=O.lKg.mz, 1, (lirn)=3pu)
I

-2 1
0 0.4 0.8 1.2 1.6
(C) T ime (sec)
Fig. 10 Transient performance of motor A with limited-
current operation by solid- s t a t e method
(T,=O , J=O.1Kgem2, I, 1 i 1 = 3 p ~ )

To verify t h e simulation r e s u l t s , experimental t e s t s

a r e made on t h e motor A . Figure 12 shows t h e waveforms
of the s t a t o r and r o t o r currents f o r t h e operation
without control, while Figs. 13 and 14 show t h e wave-
forms of t h e s t a t o r and r o t o r currents with maximum
torque operation and limited- current operation res-
pectively. Comparing t h e waveforms of Fig. 13 with - -I L I
those of Fig. 12, t h e run-up time and current of t h e 0.0 5.0
motor with maximum torque operation are obviously Time ( s e c )
smaller than those of t h e motor without control. Fig. 12 Transient current waveforms without control
Figure 14 i l l u s t r a t e s t h a t s a t i s f a c t o r y results are
obtained by experimental t e s t s f o r t h e induction motor
.
(T,=O , J=O lKg.rn2)

2299
 3) By limited current operation, t h e inrush current is
constrained t o a c e r t a i n l e v e l smoothly during t h e
s t a r t i n g period.
4) The power f a c t o r of t h e induction motors can be
improved by e i t h e r maximum torque operation or
limited- current operation during t h e s t a r t i n g
period.
Appendix: Machines parameters

0.0 a
I
5.0
Hotor A : 3-Ep, 4-pole, 3-phase, 220V. 60Hz
-."I - I RI Rz Xi 12 Xm
-a
3

I-
W O
a 0-
U
a
- 0.605 0.795 1.13 1.13 23.37 (fl)
Hotor B : 500-Bp, 4-pole, 3-phase, 2300V, 60Hz
RI R2 Xi XZ Xm
0

L -1
I 1
0.0 a 5.0
Time (sec)
Fig. 13 Transient current waveforms by m a x i m u m torque
operat ion (T,=O, J=O. 1KgSm2)
v ) WI
0.0 a .O
0.0 5.0
T i m (sec)
Fig. 14 Transient current waveforms by limited-
current operation
(T,=O, J=O. lKgmm2, 11 1 i m ) =3PU)
VII. CONCLUSIONS
I n t h i s paper, t h e s t a r t i n g t r a n s i e n t phenomena of
three- phase wound- r o t o r induction niotors with r e c t i -
f i e r chopper control is presented. By properly
controllin t h e duty cycle of t h e chopper t o adjust
t h e equivaqent r o t o r resistance, higher output torque
with lower s t a r t i n g current can be obtained. Prom t h e
results of computer simulation and experimental tests,
following conclusions are summarized:
1) By maximum torque operation, t h e avera e accelera-
t i n g torque i s approximately equal t o t f e breakdown
torque of t h e induction motor from zero speed t o
the speed at which t h e chopper c i r c u i t is f u l l y
lion" . Moreover, t h e problem of l a r g e inrush current
can a l s o be alleviated.
2) Because t h e difference between t h e s t a r t i n g torque
and breakdown torque is l a r g e r than t h a t of small
motors, t h e start- up of l a r g e induction motors can
be improved more s i g n i f i c a n t l y by maximum torque
operat ion.
0.262 0.187 1.206 1.206 54.02 (fl)
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