Power Quality and Electrical Drives

“Power Quality and Electrical
Drives”
At Seminar on
Power Quality and its Solutions
14th July-2018
Parul University
Presented By:
Dr. Pritesh Mankad,
Professor and Head,
Electrical Engineering Department,
Babaria Institute, Vadodara
Dr. Pritesh Mankad, Professor and Head, EE-BIT
Disclaimer
• This presentation is review of great work presented in Books,

research papers and other sources of information available
online and offline
• Facts, figures and contents of this presentation are based on
books, presentations, research papers and data sheets
mentioned in reference.
• It is only compilation of information stated in references.
• No claim of presenter's originality is made via this
presentation
• It is used for academic purpose only

Why AC? Why Sinusoidal wave shape?

What if its square wave?
Current and voltage waveform Voltage and current with square
in case of inductor wave in capacitor
Dr. Pritesh Mankad, Professor and Head,

EE-BIT
Why AC is sinewave?
Voltage and current in Voltage and current in inductor
capacitor with sine wave with sine wave

EE-BIT
Why AC ? Why Sine/Cosine shape?
• Bulk generation/High voltage transmission

• Coil moving circular in magnetic field results into Sine/Cosine
wave shape of emf
• Differential of sin/cosine or integration of sine/cosine is
sine/cosine only. No change in wave shape
• Any waveform can be shown as sum of sine/cosine waves
• Easy to apply Laplace transform, Fourier transform

What are Harmonics?

What are Harmonics?
• When wave shape deviates from sinusoidal it generates

harmonics.
• Fourier theory says that
– “Any complex periodic waveform can be decomposed into
a set of sinusoids with different amplitudes, frequencies
and phases. The process of doing this is called Fourier
Analysis and the result is a set of amplitudes, phases and
frequencies for each of the sinusoids that makes up the
complex waveform. Adding these sinusoids together again
will reproduce exactly the original waveform.”

Why concern about Power Quality?
• New generation load

• ASD/Capacitors
• End user awareness
• Interconnected structure of power system
• Computers/communication system
• Automated manufacturing

Power Quality?
• “The concept of good or bad power depends on the End user”
• “Any power problem manifested in voltage, current, or frequency

deviations that results in failure or misoperation of customer
equipment.”
• “It involves maintaining a sinusoidal load bus voltage at stipulated

magnitude and frequency.”
• “Power Quality = Voltage Quality”
• Symmetry, frequency, magnitude and frequency

Effects of Bad Power Quality
• Computers/Communication systems: Loss of data

• Automated Manufacturing : Loss of production
• IM/SM: Excessive loss
• Failure of Capacitors used for p.f. correction.
• Increased loss in cables, transformers and conductors
• Error in Energy meter reading
• Incorrect operation of protective relays
• Malfunction and failure of power system components

Power Quality Problems

Causes of PQ issues
Voltage Sag(or Dip)

• A decrease of the normal voltage
level between 10 and 90% of the
nominal rms voltage at the power
frequency, for durations of 0.5
cycle to 1 minute.
Causes:
• Faults on the transmission or
distribution network
• Connection of heavy loads and
start-up of large motors.

Causes of PQ issues
• Voltage sag(or dip)

– Consequences:
– Malfunction of information
technology equipment, namely
microprocessor-based control
systems (PCs, PLCs, ASDs, etc)
that may lead to a process stoppage.
– Tripping of contactors and
electromechanical relays.
– Disconnection and loss of
efficiency in electric rotating
machines.

Causes of PQ issues
Very short interruptions
Description:
• Total interruption of electrical supply for
duration from few milliseconds to one or
two seconds.
Causes:
• Mainly due to the opening and automatic
reclosure of protection devices to
decommission a faulty section of the
network.
• The main fault causes are insulation
failure, lightning and insulator flashover.

Causes of PQ issues
Long interruptions
Description:
• Total interruption of electrical supply for duration greater than
1 to 2 seconds.
Causes:
Equipment failure in the power system network, storms and
objects (trees, cars, etc) striking lines or poles, fire, human
error, bad coordination or failure of protection devices.
Consequences:
• Stoppage of all equipment.

Causes of PQ issues
Voltage spike
Description:
• Very fast variation of the voltage value for
durations from a several microseconds to
few milliseconds. These variations may
reach thousands of volts, even in low
voltage.
Causes:
• Lightning, switching of lines or power
factor correction capacitors, disconnection
of heavy loads.

Causes of PQ issues
Voltage spike
Consequences:
• Destruction of components (particularly
electronic components) and of insulation
materials,
• data processing errors or data loss
• electromagnetic interference.

Causes of PQ issues
Voltage swell
Description:
• Momentary increase of the voltage, at the
power frequency, outside the normal
tolerances, with duration of more than one
cycle and typically less than a few
seconds.
Causes:
• Start/stop of heavy loads, badly
dimensioned power sources, badly
regulated transformers (mainly during off-
peak hours).

Causes of PQ issues
Harmonic Distortion
• Voltage or current waveforms assume non-
sinusoidal shape.
Causes:
• Classic sources: electric machines working
above the knee of the magnetization curve
(magnetic saturation), arc furnaces, welding
machines, rectifiers, and DC brush motors.
• Modern sources: all non-linear loads, such as
power electronics equipment including ASDs,
switched mode power supplies, data processing
equipment, high efficiency lighting.

Causes of PQ issues
Harmonic Distortion
Consequences:
• Increased probability in occurrence of
resonance, neutral overload in 3-phase
systems,
• overheating of all cables and equipment,
loss of efficiency in electric machines,
electromagnetic
• interference with communication systems,
errors in measures when using average
reading meters,
• nuisance tripping of thermal protections.

Linear load
• Load whose impedance is

constant.
• Current and voltage
waveforms are similar
• No harmonics are produced
• Example: resistive load,
incandescent lamps, motors,
heaters etc.

Non linear load
• Impedance is not constant.
• Current drawn is not pure

sinusoidal
• Examples:
• SMPS, AC/DC drives,
Induction furnaces, arc
furnaces etc.

Linear/Non Linear load waveforms

Power Electronics
• Power Electronics is the study of switching

electronic circuits in order to control the flow of electrical
energy. (Wikipedia)
• Power electronics is the application of solid-

state electronics to the control and conversion of
electric power.
• To convert, i.e to process and control the flow of electric

power by supplying voltages and currents in a form that is
optimally suited for user loads.

Power Electronic Systems
What is Power Electronics ?
A field of Electrical Engineering that deals with the
application of power semiconductor devices for the control
and conversion of electric power
sensors
Input
Source Power Electronics Load
- AC Converters
- DC Output
- unregulated - AC
- DC
POWER ELECTRONIC
CONVERTERS – the heart of
power in a power
Reference Controller electronics system

Electrical Drives
Electrical Drives
Drives are systems employed for motion control
Require prime movers
Drives that employ electric motors as

prime movers are known as Electrical Drives

Dynamics of Motor-Load Combination
• The motor and the load that it drives are represented by

the rotational system.
Motor Load System
• The basic equation of the motor-load system is,
d
TM  TL  J
dt
EE-BIT
Modes of operation

Speed-Torque characteristics of Motors
SPEED
Synchronous mch
Induction mch
Separately / shunt DC mch
Series DC
TORQUE

Constant Torque Load
Constant torque, e.g. gravitational torque (active load)
SPEED Gravitational torque

Vehicle drive
Te
TORQUE
TL
gM

FL
TL = rFL = r g M sin 

Hoist Drive
Speed
Torque

Fan, Pump type Load
Speed
Torque
TL   2
m

Type of Load (Cont.)
High speed Hoist Traction Load

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Motor-Load Torque Characteristic
SPEED
TL= Constant load
Synchronous
Induction
Separately / shunt DC
TM  TL
Series DC
TORQUE
By using power electronic converters, the motor

characteristic can be changed as per requirement
Overview of AC and DC drives
• Overview of AC and DC drives
• DC drives:
– Electrical drives that use DC motors as the prime mover
– Regular maintenance, heavy, expensive
– speed limit
– Easy control, decouple control of torque and flux

Overview of Industrial Drives
• AC drives:
– Electrical drives that use AC motors as the prime mover
– Less maintenance, light, less expensive, high speed
– Coupling between torque and flux
• Before semiconductor devices were introduced (<1950)

– AC motors for fixed speed applications
– DC motors for variable speed applications

• After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors in
variable speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications
– fans, blowers, compressors – scalar control
• High performance applications were dominated by DC

motors – tractions, elevators, servos, etc

• After vector control drives were introduced (1980s)

• AC motors used in high performance applications –
elevators, tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –
predicted 30 years ago AC motors would take over DC
motors

Modern Electrical Drive Systems
Overview of AC and DC drives
Extracted from Boldea & Nasar

Fixed Speed Vs Variable Speed
Example on VSD application
Constant speed Variable Speed Drives
valve
Supply Supply
motor pump motor
PEC pump
Power Power out

In Power Power out
In
Power loss Power loss

Mainly in valve

Fixed Speed Vs Variable Speed
Example on VSD application
Constant speed Variable Speed Drives
valve
Supply Supply
motor pump motor
PEC pump
Power Power out

In Power Power out
In
Power loss
Power loss
Mainly in valve
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Candidates for Variable Speed
• Pumps, blowers, and compressors
• Paper and textile mills
• Tram, subway, and locomotive propulsion
• Electric and hybrid vehicles
• Elevators
• Metal rolling and cement mills
• Engine starter/generators
• Home appliances, • computer disks
• Machine tools and robotics
• Variable-speed ac/heat pumps
• Variable-speed wind-electric generation
• Ship propulsion

Old Generation Variable Speed Drives
• Bulky
• Inefficient
• inflexible

Block Diagram Of Modern Electric Drive
Source Power
Motor Load
modulator
Control Sensing
unit unit
Input command

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Modern Electrical Drive Systems
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor
Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
POWER IN Power
Electronic Motor Load
Converters
feedback
Reference
Controller

Power Modulator
Power modulator performs following four functions
Modulated flow of power from source to motor

Restricts source and motor currents within limits
Converts source energy suitable to motor
Selects mode of operation i.e motoring or
braking

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Power Electronic Converters in Electrical Drive Systems
Power Modulators or Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC Source DC Source AC Source DC Source
DC-AC-DC DC-DC
AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC
Const. Variable
DC DC
AC To DC Converters
Fixed voltage Fixed voltage

1ph or 3-ph dc
ac
Diode rectifier
Non linear load

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AC Voltage Controllers
Fixed voltage
Variable voltage
1ph or 3-ph
ac
ac Thyristor voltage
Diode rectifier
controller
(Soft starters)

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Soft Starter

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DC-DC Converters (Choppers)
Variable voltage
Fixed voltage
dc
dc Semiconductor
Diode rectifier
chopper

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Inverters
Variable frequency
Fixed voltage Fixed voltage
Diodewave
Stepped ac
dc
rectifier
Semiconductor
inverter
(a)
Variable frequency
Variable voltage
Fixed voltage (Soft
PWM
Diode ac
dc starters)
semiconductor
rectifier
inverter
(b)
Modern Variable Speed System
A modern variable speed system has four components:

1. Electric Motor
2. Power Converter
- Rectifiers
- Choppers
- Inverters
- Cycloconverters
3. Controllers – matching the motor and power converter
to meet the load requirements
4. Load

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Power Electronic Converters in ED Systems
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant

DC DRIVES
AC-DC
400
200
+ 2Vm
Vo  cos 
-200

-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
50Hz Vo 10
1-phase Average voltage over

 10ms 5
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VLL,m
Vo Vo  cos 

30
20
 Average voltage over

3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

DC DRIVES
AC-DC
2Vm

+ 2Vm
Vo  cos 

50Hz Vo 90o 180o
1-phase Average voltage over
 10ms
2 Vm


3VLL,m

50Hz
+
3-phase
3VLL,m
Vo Vo  cos 
 90o 180o
 Average voltage over

3.33 ms 3VL L,m


DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + Speed
iD,ref +
Current Firing
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
AC Drives
• The ac motors have a number of advantages; they are
lightweight (20 to 40% lighter than equivalent dc motors), are
inexpensive, and have low maintenance compared with dc
motors.
• They require control of frequency, voltage, and current for
variable-speed applications.
• The power converters, inverters, and ac voltage controllers can

control the frequency, voltage, or current to meet the drive
requirements.

Introduction: AC Motor Drives
• 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.

Classification of IM Drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz is=f(r) FOC DTC
Rotor Flux Stator Flux Circular Hexagon DTC

Flux Flux SVM

Induction Motor Drives: Stator Voltage Control (Soft Starter)

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IM Drives: Stator Voltage Control
• The stator voltage can be varied by three-phase
– ac voltage controllers,
– voltage-fed variable dc-link inverters, or
– pulse-width modulation (PWM) inverters.
• However, due to limited speed range requirements, the ac
voltage controllers are normally used to provide the voltage
control.
• The ac voltage controllers are very simple.
• They are used mainly in low-power applications, such as fans,
blowers, and centrifugal pumps, where the starting torque is
low.
• They are also used for starting high-power induction motors
to limit the in-rush current.
Induction Motor Drives: Rotor Voltage Control
• The three-phase resistor may be replaced by a three-phase diode rectifier

and a dc converter, where the gate-turn-off thyristor (GTO) or an
insulated-gate bipolar transistor (IGBT) operates as a dc converter switch.
• The inductor Ld acts as a current source Id and the dc converter varies the
effective resistance, which can be found form : Re = R (l – k)
• where k is the duty cycle of the dc converter and the motor speed can be
controlled by varying the duty cycle.
• The portion of the air-gap power, which is not converted into mechanical
power, is called slip power. The slip power is dissipated in R.

Slip-Power Recovery Scheme

VSI Controlled Inverter for IM Drive

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V/f Control of IM

Latest Trends
• Key development trends include the dominance of ac

adjustable-speed drives in new applications, with the
squirrel-cage induction machine as the preferred machine
in most cases. Particularly
• striking has been the rapid ascendance of the insulated-

gatebipolar transistor (IGBT) as the predominant power
switch in both industrial and traction applications ranging
from fractional kilowatts to multi-megawatts.

Generalized Industrial Drive

A Typical VFD Circuitry

Latest Trends

Older method of traction

Latest Trends in Traction Drives

ASD for large power rating

How ASD/VFD affect PQ
• Adjustable speed drives (ASDs) can be both a source and a

victim of poor power quality.
• ASDs as victim loads
– High-energy (relatively low frequency) transients that are
characteristic of utility capacitor switching can pass
through the service transformer, feeders, and converter
front-end of the drive directly to the dc link bus, where it
will often cause a dc link overvoltage trip. Input diodes
could also be blown out by these transients.

• Voltage distortion
• If high-voltage distortion shows up as excessive flat-topping, it
will prevent dc link capacitors from charging fully and will
diminish the ride-through capability of the drive. Thus a
voltage sag which would not normally affect a drive will cause
the drive to trip on under voltage.

• Good effects of ASD on PQ

• Soft starting
• No inrush current and no voltage sag effect
• if the drive is of the PWM type, with a diode converter front-
end, the Displacement Power Factor is high (commonly > 95
% at ratedload)

• SCR convertor with

Voltage Source Inverter/
• Issues
– Commutation notches
– Poor p.f. at low speeds
– 5th and 7th Harmonics are
generated by VSI

• Diode convertor with

PWM Inverter/
• Issues
– Harmonics (5th and 7th )

PQ Mitigation Techniques
• Passive harmonic filters
• Active filters
• Use of 12 pulse diode rectifier in place of 6 pulse rectifier
• PWM Rectifiers (Also called ‘Active front end’)
• Additional energy storage
– Batteries
– Super Capacitors
– SMES
• Boost converter

12 Pulse Rectifier
• Two six pulse rectifiers displaced by 30º operating in

parallel
• 30º phase shift achieved by two sets of secondary, one in
star and the other in delta
• Lesser harmonics with this configuration
PWM Rectifier

ASD with PWM Rectifier

Advantages of PWM Rectifier
• Use of IGBT and MOSFET which has high switching

frequency
• Bidirectional power flow is possible
• Controlled magnitude of DC output
• Higher order harmonics can be reduced by PWM

Super capacitors or Ultra capacitors
• A super capacitor (SC) (also called a supercap, ultracapacitor
or Goldcap) is a high-capacity capacitor with capacitance
values much higher than other capacitors (but lower voltage
limits)
• It bridges the gap between electrolytic capacitors and
rechargeable batteries.

SMES
• Superconducting Magnetic Energy Storage
• Energy stored in the form of magnetic field
1 2
E  LI
2

Boost converter for ASD

Thank You!!!

Power Quality and Electrical Drives

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“Power Quality and Electrical

• This presentation is review of great work presented in Books,

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head,

Dr. Pritesh Mankad, Professor and Head,

• Bulk generation/High voltage transmission

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• When wave shape deviates from sinusoidal it generates

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• New generation load

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• “The concept of good or bad power depends on the End user”

• “Any power problem manifested in voltage, current, or frequency

• “It involves maintaining a sinusoidal load bus voltage at stipulated

• “Power Quality = Voltage Quality”

• Symmetry, frequency, magnitude and frequency

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Computers/Communication systems: Loss of data

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Voltage Sag(or Dip)

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Voltage sag(or dip)

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Load whose impedance is

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Impedance is not constant.

• Current drawn is not pure

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Power Electronics is the study of switching

• Power electronics is the application of solid-

• To convert, i.e to process and control the flow of electric

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Drives are systems employed for motion control

Require prime movers

Drives that employ electric motors as

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• The motor and the load that it drives are represented by

Motor Load System

• The basic equation of the motor-load system is,

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

SPEED Gravitational torque

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

Dr. Pritesh Mankad, Professor and Head, EE-BIT

High speed Hoist Traction Load

Dr. Pritesh Mankad, Professor and Head,

By using power electronic converters, the motor

• Overview of AC and DC drives

Dr. Pritesh Mankad, Professor and Head, EE-BIT

• Before semiconductor devices were introduced (<1950)

Dr. Pritesh Mankad, Professor and Head, EE-BIT