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1. CHAPTER 1
1
1.1 Sub title
1.2 Sub title
1.3 Sub title
2. CHAPTER 2
20
2.1 Sub title
2.2 Sub title
2.3 Sub title
2.4 Sub title
3. CHAPTER 3
30
3.1 Sub title
3.2 Sub title
3.3 Sub title
3.4 Sub title
4. CONCLUSION
5. REFERENCES
CHAPTER 1
INTRODUCTION
An induction or asynchronous motor is an AC electric motor in which the electric
current in the rotor needed to produce torque is obtained by electromagnetic
induction from the magnetic field of the stator winding. An induction motor can therefore
be made without electrical connections to the rotor as are found
in universal, DC and synchronous motors. An induction motor's rotor can be
either wound type or squirrel-cage type.
1.1. SQUIRREL CAGE INDUCTION MOTOR
Three-phase squirrel-cage induction motors are widely used in industrial drives
because they are rugged, reliable and economical. Single-phase induction motors are used
extensively for smaller loads, such as household appliances like fans. Although
traditionally used in fixed-speed service, induction motors are increasingly being used
with variable-frequency drives (VFDs) in variable-speed service. VFDs offer especially
important energy savings opportunities for existing and prospective induction motors in
variable-torque centrifugal fan, pump and compressor load applications. Squirrel cage
induction motors are very widely used in both fixed-speed and variable-frequency
drive (VFD) applications. Variable voltage and variable frequency drives are also used in
variable-speed service.
1.1.1 PRINCIPLES OF OPERATION
For rotor currents to be induced, the speed of the physical rotor must be lower than
ns
that of the stator's rotating magnetic field ( ); otherwise the magnetic field would not
be moving relative to the rotor conductors and no currents would be induced. As the
speed of the rotor drops below synchronous speed, the rotation rate of the magnetic field
in the rotor increases, inducing more current in the windings and creating more torque.
The ratio between the rotation rate of the magnetic field induced in the rotor and the
rotation rate of the stator's rotating field is called slip. Under load, the speed drops and
the slip increases enough to create sufficient torque to turn the load. For this reason,
induction motors are sometimes referred to as asynchronous motors. An induction motor
can be used as an induction generator, or it can be unrolled to form a linear induction
motor which can directly generate linear motion.
Multilevel inverter is one of the most recent and popular type of advances in power
electronics. It synthesizes desired output voltage waveform from several dc sources used
as input for the multilevel inverter. There are two techniques for improving the quality of
the output voltage and efficiency. First, new novel topology for multilevel inverter is
introduced which reduces the number of switches compared to other for the same level of
output voltage. Second, selective harmonics elimination stepped waveform method is
used to eliminate the lower order harmonics.
The concept of multilevel converters has been introduced since 1975. The cascade
multilevel inverter was first proposed in 1975. Separate DC-sourced full-bridge cells are
placed in series to synthesize a staircase AC output voltage. The term multilevel began
with the three-level converter. Subsequently, several multilevel converter topologies have
been developed. The advantages of cascade multilevel inverters were prominent for
motor drives and utility applications. The cascade inverter has drawn great interest due to
the great demand of medium-voltage high-power inverters. These multilevel inverters can
extend rated inverter voltage and power by increasing the number of voltage levels. They
can also increase equivalent switching frequency without the increase of actual switching
frequency, thus reducing ripple component of inverter output voltage and electromagnetic
interference effects.
1.3. INVERTERS
In full bridge configuration, turning on S1 and S4 and turning off S2 and S3 give a voltage
of VS between point A and B (VAB ) in Fig. 1.3, while turning off S1 and S4 and turning on
S2 and S3 give a voltage of -Vs .
Table 1.1: Switching pattern of 3 level full bridge inverter
Table 1.1 Shows the voltage levels and their corresponding switching state condition to
generate zero level in a full-bridge inverter, the combination can be S 1 and S2 on while S3
and S4 off or vice versa. Note that S1 and S3 should not be closed at the same time, nor
should S2 and S4. Otherwise, a short circuit would exist across the dc source.
The output waveform of half bridge and full-bridge of single-phase voltage source
inverter are shown in Fig. 1.4 and 1.5 respectively.
Fig 1.4 shows the output wave form of half bridge to get positive half cycle S 1 is turned
on and S2 is turned off to give a load voltage, VAO of +V s/2. To complete one cycle, S1 is
turned off and S2 is turned on to give a load voltage, VAO , of -V s/2.
Fig 1.5 Output waveform of Full Bridge Inverter to get positive half cycle s1 will be in
on state and s4 will be in off state to give a load voltage, Vao or vice versa
Vc=Vdc/ (n-1)
Where n denotes the number of level. Fig 1.6 shows a schematic diagram of one
phase leg of inverters with different number of levels, for which the action of the power
semiconductors is represented by an ideal switch with several positions. A two-level
inverter generates an output voltage with two values (levels) with respect to the negative
terminal of the capacitor, while the three-level inverter generates three voltages, and so
on.
Fig. 1.6 One phase leg of an inverter with (a) two levels, (b) three levels, and (c) n levels.
The term multilevel starts with the three-level inverter introduced by Nabae. By
increasing the number of levels in the inverter, the output voltages have more steps
generating a staircase waveform, which has a reduced harmonic distortion. However, a
high number of levels increases the control complexity and introduces voltage imbalance
problems.
An inverter is a device that converts dc input power to ac output power at desired
output of voltage and frequency.
In High power circuits if you switch at high frequency switching losses are high.
Particularly in Low power & low voltage circuits Mosfets are used.
In Mosfets the conductions losses 70% of total losses and switching losses are 30 %
of total losses.
So switching the Mosfets at high switching frequency not effects the total losses
much.
In case of High power high voltage circuits IGBTs are used.
In IGBTs the conduction losses 50 % of total loss and switching losses are 50 % of
total loss. So if you switch at high frequency the efficiency of the system reduces.
SO in High power High frequency PWM is not suitable, so we need to use multilevel
inverter for high power application.
The most attractive features of multilevel inverters are as follows.
They can generate output voltages with extremely low distortion and lower dv/dt.
They draw input current with very low distortion.
They generate smaller common-mode (CM) voltage, thus reducing the stress in
the motor bearings. In addition, using sophisticated modulation methods, CM
voltages can be eliminated.
They can operate with a lower switching frequency.
(a)
(b)
Fig 1.8: Topology of the diode-clamped inverter (a) three-level inverter, (b) five -level
inverter
Table 1.2: Switching pattern of 3 levels Diode clamped MLI
Table 1.2 shows the voltage level and switching state conditions of 3- levels diode
clamped multilevel inverter to generate +vdc/2 S1 is on state and S2 and S1 and S2 is in
off state and vice versa
Fig 1.9 shows the phase voltage and line voltage of the three-level inverter in the
balanced condition. The line voltage Vab consists of a phase-leg a voltage and a phase-leg
b voltage. The resulting line voltage is a 5-level staircase waveform for three-level
inverter and 9-level staircase waveform for a five-level inverter. This means that an N-
level diode-clamped inverter has an N-level output phase voltage and a (2N-1)-level
output line voltage. In general the voltage across each capacitor for an N level diode
clamped inverter at steady state is Vdc/ (N-1). Although each active switching device is
required to block only a voltage level of Vdc, the clamping diodes require different ratings
for reverse voltage blocking.
Fig: 1.9 Output voltage in three-level diode- clamped inverter (a) leg voltage(b) output
phase voltage
In general for an N level diode clamped inverter, for each leg 2(N-1) switching
devices, (N-1) * (N-2) clamping diodes and (N-1) dc link capacitors are required. By
increasing the number of voltage levels the quality of the output voltage is improved and
the voltage waveform becomes closer to sinusoidal waveform. However, capacitor
voltage balancing will be the critical issue in high level inverters. When N is sufficiently
high, the number of diodes and the number of switching devices will increase and make
the system impracticable to implement. If the inverter runs under pulse width modulation
(PWM), the diode reverse recovery of these clamping diodes becomes the major design
challenge.
FEATURES
High-Voltage Rating Required for Blocking Diodes. Although each active
switching device is only required to block a voltage level of Vdc/(m - l ), the
clamping diodes
ADVANTAGES
All of the phases share a common dc bus, which minimizes the capacitance
requirements of the converter. For this reason, a back-to-back topology is not
only possible but also practical for uses such as a high-voltage back-to-back
inter-connection or an adjustable speed drive.
The capacitors can be pre-charged as a group.
Efficiency is high for fundamental frequency switching.
DISADVANTAGES
Real power flow is difficult for a single inverter because the intermediate dc
levels will tend to overcharge or discharge without precise monitoring and
control.
The number of clamping diodes required is quadratically related to the
number of levels, which can be cumbersome for units with a high number of
levels.
V4=3Vdc /4 1 1 1 0 1 0 0 0
V3=Vdc/2 1 1 0 0 1 1 0 0
V2=Vdc/4 1 0 0 0 1 1 1 0
V1=0. 0 0 0 0 1 1 1 1
In table 1.3 the switching states of the Five level Flying capacitor multilevel inverter. In
this five levels are 0, Vdc,Vdc/4, Vdc/2,3Vdc/4 and Vdc switching state on position is 1 off
position is 0.
ADVANTAGES AND DISADVANTAGES OF (FCMLI).
Compared to the diode-clamped inverter, this topology has several unique and
attractive features as described below:
i) Added clamping diodes are not needed.
ii) It has switching redundancy within the phase, which can be used to balance the flying
capacitors so that only one dc source is needed.
iii) The required number of voltage levels can be achieved without the use of the
transformer. This assists in reducing the cost of the converter and again reduces power
loss.
iv) Unlike the diode clamped structure where the series string of capacitors share the
same voltage, in the capacitor-clamped voltage source converter the capacitors within a
phase leg are charged to different voltage levels.
v) Real and reactive power flow can be controlled.
vi) The large number of capacitors enables the inverter to ride through short duration
outages and deep voltage sags.
DISADVANTAGES
i) Converter initialization i.e., before the converter can be modulated by any modulation
scheme the capacitors must be set up with the required voltage level as the initial charge.
This complicates the modulation process and becomes a hindrance to the operation of the
converter.
ii) Control is complicated to track the voltage levels for all of the capacitors.
iii) Precharging all of the capacitors to the same voltage level and startup are complex.
iv) Switching utilization and efficiency are poor for real power transmission.
v) Since the capacitors have large fractions of the dc bus voltage across them, rating of
the capacitors are a design challenge.
vi) The large numbers of capacitors are both more expensive and bulky than clamping
diodes in multilevel diode-clamped converters.
vii) Packaging is also more difficult in inverters with a high number of levels.
1.6.3 CASCADED H-BRIDGE MULTILEVEL INVERTER
The cascaded H-bridge multilevel Inverter uses separate dc sources (SDCSs).
The multilevel inverter using cascaded-inverter with SDCSs synthesizes a desired voltage
from several independent sources of dc voltages, which may be obtained from batteries,
fuel cells, or solar cells. This configuration recently becomes very popular in ac power
supply and adjustable speed drive applications. This new inverter can avoid extra
clamping diodes or voltage balancing capacitors. Again, the cascaded multilevel inverters
are classified depending the type of DC sources used throughout the input.
Vdc by connecting the dc source to the ac output by different combinations of the four
switches, S1, S2, S3, and S4. To obtain +Vdc, switches S1 and S4 are turned on, whereas
and S4, the output voltage is 0. The ac outputs of each of the different full-bridge inverter
levels are connected in series such that the synthesized voltage waveform is the sum of
the inverter outputs.
Fig 1.11: Single phase structures of Cascaded inverter (a) 3-level, (b)5-level, (c) 7-level
One more alternative for a multilevel inverter is the cascaded multilevel inverter
or series H-bridge inverter. The series H-bridge inverter appeared in 1975. Cascaded
multilevel inverter was not fully realized until two researchers, Lai and Peng. They
patented it and presented its various advantages in 1997. Since then, the CMI has been
utilized in a wide range of applications. With its modularity and flexibility, the CMI
shows superiority in high-power applications, especially shunt and series connected
FACTS controllers. The CMI synthesizes its output nearly sinusoidal voltage waveforms
by combining many isolated voltage levels. By adding more H-bridge converters, the
amount of Var can simply increase without redesign the power stage, and build-in
redundancy against individual H-bridge converter failure can be realized.
A series of single-phase full bridges makes up a phase for the inverter. A three-
phase CMI topology is essentially composed of three identical phase legs of the series-
chain of H-bridge converters, which can possibly generate different output voltage
waveforms and offers the potential for AC system phase-balancing. This feature is
impossible in other VSC topologies utilizing a common DC link. Since this topology
consists of series power conversion cells, the voltage and power level may be easily
scaled. The dc link supply for each full bridge converter is provided separately, and this is
typically achieved using diode rectifiers fed from isolated secondary windings of a three-
phase transformer. Phase-shifted transformers can supply the cells in medium-voltage
systems in order to provide high power quality at the utility connection.
1.6.4 SYMMETRICAL CASCADED H-BRIDGE MULTILEVEL INVERTER
If all the input sources are of equal magnitude, it is known as Symmetrical H-
Bridge inverter as shown in fig 1.12 and the switching sequence is given in table 4 .Here
both the full bridge inverters are fed with different sources of equal magnitude.
Table 1.4 shows the switching table for the five level cascaded inverter. Here, 2 Full
Bridges are used and are cascaded to each other. The Switches S1, S2, S3,and S4 are from
upper H-Bridge and Switches S5 S6 S7 and S8 are from lower H-Bridge .By giving correct
switching patter n ,we get 5 voltage levels i.e 2V dc,Vdc,0,-2Vdc,- Vdc, S1,S2,S5,D7 are on .To
get 2Vdc, S1,S2,S6,S5 are kept on .
Vdc
Vdc/2
-Vdc/2
-Vdc
In table 1.5 the switching states of the seven level Asymmetrical Cascaded H-Bridge
multilevel Inverter. In this seven levels are 0, Vdc, Vdc/3, 2Vdc/3, -Vdc/3 and 2Vdc/3,
Vdc switching state on position is 1 off position is 0.
CHAPTER 2
LITERATURE SURVEY
2.1 VSI FED INDUCTION MOTOR DRIVE
Voltage source inverters (VSI), together with induction motors are being used
ever more frequently as drive units in various field. In particular, they are frequently used
in controlling these drives and in microprocessors technology, which improves the static
and dynamic properties of the drive. The widespread implementation of the variable
speed drives is also challenging designers and users to investigate the steady-state and
transient operating conditions of these drives.
The SPICE circuit simulator is extensively used in power electronics circuits.
However, there are some of difficulties in this environment such as, long execution time
and frequent numerical convergence problems. Also, computer-aided analysis and
synthesis packages such have been used in power electronic circuits. But, the steady-state
and transient performance of the three-phase voltage source inverters (VSI) with space
vector modulation (SVM) feeding an induction motor in exact analytical form has not
received much attention. Analytical results are also useful since performance equations,
from which the rms and average currents of the inverter or the load, can be obtained
directly without the need to perform numerical treatment of the system.
The steady-state performance of the three-phase voltage-source or the current-
source six-step inverters (without modulation) was presented in, but in most cases, pulse-
width modulation is used to control output voltage.
Several papers dealing with SVM technique have been published, emphasizing
the effects of the current ripple produced by different switching sequence. Most authors
use purely numerical calculations, which can only be made for certain machine values
and PWM parameters. Recent developments in high switching frequency power devices,
such as IGBT, offer the possibility of developing high frequency PWM control
techniques. Voltage waveforms of such modulated converters contain many pulses and
gaps. The analytical solution of performance equations is much more complicated
because numerous algebraic equations must be solved.
Until now, an analytical closed-form solution for SVM VSI feeding induction
motor has not been presented the analytical results were mainly used to solve problems
associated with sinusoidal supplies.
The developed model has the main advantage that the design parameters, such as
voltage and currents ratings of the power semiconductor switches and the motor current
can be easily calculated. The convergence problem is also avoided and computation time
is greatly reduced. The proposed model can be easily extended to different power
conversion topologies, such as dcdc converters and matrix converters.
All the analytical waveforms were visualized from the derived relations with the
program MATHCAD.
The solution uses the Laplace transform and modified z -transform of the space
vectors (mixed p z approach). The analysis is made on the assumptions that the motor
runs at a constant speed, no-saturation occurs, eddy currents phenomenon is neglected,
space harmonics of the air-gap MMF are not taken into account, and switching devices
are ideal [1].
2.2 INDIRECT FIELD ORIENTATION CONTROL FOR INDUCTION MOTOR
The voltage-source-inverter (VSI)-fed induction machine drive systems have
many advantages such as a rugged and low-cost rotor structure, capability of high
waveform fidelity with pulse width-modulation (PWM) operation, reasonably high
performance, etc. However, their applications are still limited to the lower end of the
high-power range due to the limitations on the ratings of the gate-turn-off-type
semiconductor power devices. To achieve a high power rating in such systems, multilevel
inverters have been developed in the past decade as a promising approach. Another strong
contender in achieving high power is the multiphase-inverter-fed multiphase (in excess of
three) induction machine drive system. In addition to enhancing the power rating, a
multiphase system also has the merit of high reliability at the system level. In particular,
with loss of one or more of the stator winding excitation sets, a multiphase induction
machine can continue to be operated with an asymmetrical winding structure and
unbalanced excitation. The potential benefits of a multiphase induction machine drive
result from the 30o displacement angle between the two three-phase sets of a six-phase
5,. ). Consequently, all the rotor copper losses produced by these harmonics as well as
all the torque harmonics of the order 6n are eliminated. Large multiphase machines for
ship propulsion have already been prototyped industrially, and are currently undergoing
commercial evaluation.
The concept of multiphase is not new. There is already a body of literature
describing multiphase machines, of which are but a representative sample. A
comprehensive survey of the literature on this topic is given in. An experimental
investigation about the power-rating enhancement in a multiphase machine under
balanced and unbalanced steady-state condition is depicted in. Recently, Williamson and
Smith have presented a detailed study about the pulsating torque and losses in
multiphase. A variety of transformations have been proposed in the past for the analysis
of multiphase induction machines. Symmetrical component theory and matrix theory
have served as the theoretical foundations for these transformations.
The steady-state performance of a symmetrical six-phase induction motor driven
by a voltage-source six-step inverter is presented in, where the large stator current
generate additional losses in the machine resulting in the increase of size and cost of both
inverter and machine. The same additional losses have been noted in, where a space-
vector modulation technique for dual three-phase drives has been developed. Thus, the
subsequent investigations have been focused on the minimization of the stator current
harmonics.
Another solution to this problem is the use of an appropriate PWM technique
without modifying the machine design and construction. Zhao and Lipo have presented a
unique vector space decomposition approach in to obtain the machine model and suitable
PWM technique, which considerably reduces the current harmonics with some
implementation problems caused by the required computational time. To reduce the
computational requirements, other PWM techniques have been reported in and.
The specific issue of current control is the problem of the unbalanced current
sharing between the two three-phase winding sets, due to the small asymmetries that
cannot be eliminated.
The authors have suggested that the unbalanced current sharing can be minimized
by using the phase variable coordinates in current loops in the speed control scheme [24].
A direct rotor field oriented-control (FOC)-strategy-based vector space decomposition
approach [19], and addressing the problem of current unbalance has been recently
reported in [25]. Almost all the control schemes discussed above use the vector space-
decomposition technique, and have been developed for the machine with 30 o electrical
phase displacement between the two three-phase winding sets. Two different schemes are
required for the operation and control of the machine under balanced and unbalanced
condition. The computational time for most of these schemes is high, and special
attention is needed especially when the use of low-cost digital signal processors (DSPs)
for motor control is required. This paper, therefore, presents a simple indirect FOC
scheme for operation and control of a multiphase induction machine with an arbitrary
displacement between the two three-phase winding sets. The control strategy is based on
the two-axis (d q) model of the machine, and can be easily extended for the operation
and control of a machine under unbalanced operating condition by the simple
modification in the machine model [12], and with the help of simple IFTHEN logic. No
separate modeling and control scheme is required. The current unbalance is automatically
eliminated in this scheme. The practical implementation of the scheme is simple. Several
informative simulation and experimental results are provided to verify the validity of the
proposed scheme [3].
2.3 MULTI LEVEL INVERTER DC AC CONVERSION TOPOLOGY
The different topologies presented in the literature as multilevel converters [1] show a
number of characteristics in common, giving them some clear advantages over bi level
converters, such as:
reduction in the commutation frequency applied to the power components;
reduction in the voltages applied to the main power switches, enabling operation
at higher load voltages;
transient voltages automatically limited.
The main disadvantage associated with the multilevel configurations is their
circuit complexity, requiring a high number of power switches that must be commutated
in a precisely determined sequence by a dedicated (and complex) modulator circuit; they
also require a great number of auxiliary dc levels, provided either by independent
supplies or, more commonly, by a cumbersome array of capacitive voltage dividers. In
this case, ensuring that the dc voltages are kept in equilibrium is another factor that
increases the complexity of the modulator circuit.
In the past, these disadvantages were almost overwhelming, due to the cost
differences they produced between multilevel and standard configurations. Multilevel
converters were used only in some high power applications such as high power motor
drivers in marine, mining, or chemical industries applications, high power transmission,
power line conditioners, etc. In all these applications their advantages compensate the
cost differential.
The continuing development of high power high switch frequency devices such as
insulated-gate bipolar transistors (IGBTs) working at 3.3, 4.5, and 6.5 kV, and insulated-
gate commutated thyristors (IGCT) working at 4.5 or 6 kV has improved overall
converter performance, renewing the interest in multilevel topologies, that may be able to
compete in the market with the standard two-level pulse width modulation (PWM)
converters at lower power ranges. Initially, the main interest was concentrated in three-
level configurations, but recently four and five-level converters have also been reported.
Even taking into account the technological tendency to lower the prize at which
multilevel converters can compete with standard configurations, the prize difference will
remain unless the complexity issue is solved both at the power circuit and at the
modulator circuit levels.
As a contribution to solve these twin problems (cumbersome power stages and complex
firing control circuits), this work proposes a new converter topology, presented as a block
diagram in Fig.2.1. This topology includes an H-bridge stage with an auxiliary
bidirectional switch, drastically reducing the power circuit complexity, and a modulator
and firing control circuit developed using a field programmable gate array (FPGA)
programmable circuit, to simplify the modulator circuit design and implementation.
CHAPTER 3
PROPOSED CONCEPT
3.1 INTRODUCTION
Induction motor has gained an upper hand in every sphere of motoring
application due to its low cost, reliability, low maintenance, no brushes to wear out
and very simple rotor assembly. Squirrel cage induction machine when operated at
constant line voltage and frequency delivers constant speed. However in industries
the applications is not confined to constant speed. Variable speed can be achieved
using Induction motor drives where speed control is possible below the rated speed
[1]. Main application of Induction Motor drives are Fans, blowers, Compressor,
Pumps, machine tools like lathe, drilling machine, lifts, and conveyer belts etc.
Induction motor is widely used to drive the industrial pump
loads. Centrifugal pump are the most common type of kinetic pump, and it is
widely used in the field of irrigation and industrial fluid pumping applications [2].
In this Paper our objective is to analyze the MLI Fed Induction Motor drive with
IFOC for pump application [3].
We have connected a Multilevel Inverter to feed the Induction Motor as it
possesses several advantages over Voltage source Inverters. Multilevel inverters are
suitable for high voltage and high power applications due to their ability to synthesize
waveforms with better harmonic spectrum, reduced filter requirements, suitable for
renewable and distributed
generation system. Using multilevel technique, the amplitude of the output voltage is
increased, switching stress in the devices is reduced and the overall harmonic profile is
improved. Two level inverter output has high harmonic distortion content and cannot be
used for high power applications and drive systems. Multi-level inverters can be used to
replace the two level inverters. For a particular switching frequency, compared with a
two level inverter, the harmonic content is less in case of MLI [4, 5].
There are several control schemes devised for the control of Induction Motor
both in open loop as well as in closed loop.Vector control or Field oriented control
(FOC) of Induction motor is widely accepted control scheme due to its better dynamic
response. In Indirect Field Oriented control (IFOC) scheme speed and position are not
directly measured [3], [14].Speed and position are estimated from parameters such as
phase voltages and currents which are directly measured from Induction motor output.
The closed loop control strategy used in this paper is IFOC
A pump is device that supplies energy to fluid. Pumping application shares about
20% of the total power consumed in Industries. The most common and efficient pumps
used in Industries are centrifugal pumps. Centrifugal pumps are generally sized to operate
at or near the best efficiency point at maximum flow. The maximum flow requirements,
however, frequently occur for a very short period during the operating cycle with the
result that some method of flow control is required. The traditional approach to flow
control has used valves; which increase system pressure, inherently waste energy, and
generally cause the pump to operate at reduced efficiencies. Adjustable speed drives
(ASDs) can achieve reduced flow by providing adjustable speed pumping operation.
This results in reduced system pressure and operation near the pump's Best Efficiency
Point (BEP). In addition, maintenance costs will also be reduced.
In this work a 5 level cascaded H-bridge MLI is used to feed the induction motor
driving the centrifugal pump. Indirect Field oriented control (IFOC) strategy is used for
the closed loop control of the drive. Alternate Phase opposition disposition (APOO)
multicarrier PWM technique is used to produce the control signals for the IGBT
switches. A complete drive is modeled using MATLAB Simulink and the affinity laws
of centrifugal pump is validated using this model.
3.2 CASCADED H BRIDGE MLI
The basic block diagram of a cascaded H bridge MLI is shown in Fig 3.1 Here 4
switches are used in H-shape 2 switches in first leg & 2 in second leg and NOT gate is
connected to upper switch of the first leg and lower switch of the second leg. Not gate is
used in order to avoid short circuit across a leg.
IA IB IC
, , , : Currents in ABC reference frame.
Fig. 3.2. Alternate Phase Opposition Disposition (APOD) Multicarrier
PWM
The mathematical model of induction machine is obtained in synchronously rotating
reference frame [9, 10, and 11 ].Matrix for transforming three phase reference frame to
two phase stationary reference frame - commonly known as Clark's Transformation is
given below.
(3.1)
Matrix for transforming to dq reference frame - Park's Transformation
(3.2)
(3.3)
(3.4)
(3.5)
(3.6)
Thus the matrix for transforming three-phase rotating to stationary two phase (d-q) frame
can be obtained by-
(3.7)
(3.8)
(3.9)
(3.10)
The machine is modeled with the following direct & quadrature axis voltage equations
(3.11)
(3.12)
Eq. (3.11) and (3.12) gives the Stator voltage in D axis and Q axis. Fig. 3.3 and Fig. 3.4
shows the direct axis and quadrature axis equivalent circuit of Induction Motor
respectively.
Fig. 3.3. Direct axis equivalent Circuit of Induction Motor
(3.13)
(3.14)
Eq (3.13) and (3.14) gives the Rotor voltage in D axis and Q axis.
V ds V qs V dr V dr
, , and are the stator and rotor voltages in DQ axes
respectively. Eq. (3.15) gives the relation between flux & current for the stator and rotor
in 0 and Q axis component.
(3.15)
Fig. 3.4. Quadrature axis equivalent Circuit of Induction Motor
i ds i qs i dr
Where, and , are the current in the d-axis and qaxis of the stator, and
iqr Ls Lr
are the d-axis, q-axis rotor currents. is the stator inductance, is the
Lm
rotor inductance and is the mutual inductance between stator and rotor. Thus the
(3.16)
where,
(3.17)
Mechanical part is modeled with the equations below, the instantaneous electromagnetic
torque is given as,
(3.18)
(3.19)
(3.20)
(3.21)
(3.22)
s ,
Using inverse Parks transformation matrix P( the following equations can be
derived,
(3.23)
(3
.24)
(3.25)
These are the equations used in the IFOC model for the determination of magnitude &
flux angle [3].
Due to the inherent coupling effect in the machin the scalar control methods of
voltage-fed and current-fed inverter offer a very sluggish control response. A vector or
field oriented control offers a better dynamic response. In vector control, an Induction
Motor is controlled like a separately excited DC motor. In case of a separately excited
f a
DC motor, the field flux and armature flux is established by the respective
If Ia
field current and armature or torque component of current are independent
Ia
and orthogonal in space such that when torque is controlled by , the field flux is not
affected which results in fast torque response. Similarly, in induction motor vector
I ds I qs
control, the synchronous reference frame currents and are analogous to
If Ia
and , respectively as shown in Fig 3.5 which is the significance of IFOC
I qs
Scheme [8]. Therefore, when torque is controlled by , the rotor flux is not affected
thus giving fast DC motor-like torque response.The drive dynamic model also becomes
simple like that of a dc machine because of decoupling vector control.
In the DFOC scheme rotor speed is calculated by means of position sensors and
encoders fitted in the rotor shaft so it makes the rotor bulky, costly and complicated and
hence overall efficiency of the system is reduced due to the friction and vibration losses
in the rotor shaft. In IFOC scheme, the speed of motor is calculated from the stator
current. An error signal is generated by comparing the speed with the reference value.
The error signal thus generated is then fed to a PI controller P2 (s ) which generates
the reference torque T re . The reference torque is converted to the reference Q axis
current I rqs by machine equations [9]. The reference voltage V rqs is obtained from
which is compared with the reference flux and provided as input to current
r
controller P3 (s ) .that generates the voltage reference V d . The input of flux
controller P1 (s ) is error obtained between desired rotor flux and calculated flux.
V ABC
The reference voltages are converted back to three phase rotating reference
Fig. 3.6 shows the block diagram of IFOC Scheme with Induction Motor coupled
with pump load. A PI controller is used for converting the speed error into torque
reference that is converted to corresponding q axis currents by the equation [3.10],
[3.11].
(3.26)
(3.27)
(3.28)
For flux control, the reference flux is generated using a field weakening block. In field
weakening method, till the base speed is achieved the flux reference is kept constant and
above base speed, the flux is weakened gradually. This was implemented using a lookup
table. The flux reference is converted to the corresponding d-axis current by the above
equations.
Fig. 3.6. Block Diagram of IFOC Scheme with Induction Motor & Pump Load
The curve in Fig. 3.8 shows that the pump will produce limited flow if applied to
a piping system in which a large pressure differential is required across the pump to lift
the liquid and overcome resistance to flow(as at point A). Higher flow rates can be
achieved as the required pressure differential is reduced (as at point B)
CHAPTER 4
MATLAB/SIMULINK MODEL
4.1 INTRODUCTION TO MATLAB:
The name MATLAB stands for MATrix LABoratory. MATLAB was written
originally to provide easy access to matrix software developed by the LINPACK (linear
system package) and EISPACK (Eigen system package) projects.
4.2 SIMULATION
system-level design
simulation
There are several other add-on products provided by Math Works and third-party
hardware and software products that are available for use with Simulink. The following
list gives a brief description of some of them:
Simulink Coder allows the generation of C source code for real-time implementation of
systems automatically.
SIMULATION PARAMETERS
PARAMETER VALUE
1 V ds , V qs ,
2 I ds, I qs ,
3 Ls ,
4 Lr ,
5 Lm ,
r
6 Te
[I] K.Vijaya Bhaskhar Reddy, G.V. Siva Krishna Rau, Professor, Dept. of
Electrical Engineering, Andhra University, Waltair, A.P, India-"
Modeling and Simulation of Modified Sine PWM VSI fed induction
motor drive" - International Journal of Electrical Engineering and
Technology (!JEET), Volume 3, Issue 2, pp . 343-351, July -
September (2012).
[7] K.Suria, Suresh and M. Vishnu Prasad-"PV Cell Based Five Level
Inverter Using Multicarrier PWM" -International Journal of Modern
Engineering Research (IJMER) YoU, Issue.2, pp-545-551 ISSN: 2249-
6645.