Unit V Synchronous Motor Drives

Lesson Plan
S.No Topics to be Discussed No. of Hrs. Required*

1
2 3

Introduction to Synchronous Motor

Adjustable Frequency Drive Controlled Current Operation

2
1 1

4
5 6 7 8

Self Controlled Synchronous Motor

Closed Loop Control Power Factor Control Brushless Excitation Tutorial

1
1 1 1 2

* No. of hours required is based on 50 Minutes lecture Hour

Introduction
Synchronous - Occurring or existing at the same time or having the same period or phase. Synchronous Speed: Ns=120f/P
Synchronous Motor Consists of and Stator Rotor Consists of a 3 Phase Winding Stator. .

Classification of Synchronous Motor

Wound field Synchronous Motor Permanent Magnet Synchronous Motor Reluctance Synchronous Motor

Wound Field Synchronous Motor

The Rotor field flux can be produced by a DC excited field winding. The rotating field system is preferred, because, the DC excitation current is relatively small and can be supplied by only two slip rings. Field Excitation can be varied, greater flexibility is available. This type of construction is preferred for very high power rating(1500MW).

Round Rotor Synchronous Machines

Round Rotor Machine (Non Salient pole)
The stator is a ring shaped laminated iron-core with slots. Three phase windings are placed in the stator slots.

Concept (two poles)

Stator with laminated iron-core

C
Slots with winding

B A
+ -

Round laminated iron rotor core with slots.

A single winding is placed in the slots. DC current is supplied through slip rings. Rotor with DC winding

C
+

S A

C
-

Salient Rotor Synchronous Machines

Concept (two poles)

Salient Rotor Machine

The stator has a laminated ironcore with slots and three phase windings placed in the slots.
BN

C+

The rotor has salient excited by DC current.

poles

A+
S

A-

DC current is supplied to the rotor through slip-rings and brushes. The number of poles varies between 2 - 128.

C-

B+

Permanent Magnet (PM) Synchronous Motor

The rotor field flux can be produced by permanent magnets rather than Electromagnets Various Fe, Ni, Co based alloys can be used The permanent magnets can be located either at the surface of the rotor or within the body of the rotor. There is no need for brushes hence, this type of motor is also called as brushless Synchronous Motor. Available only at Low Power ratings. Field excitation cannot be varied.

Reluctance Synchronous Motor

If a synchronously rotating stator field is established by means of a conventional polyphase winding excited by a balanced Polyphase AC supply, then the rotor runs in exact synchronism with this field poles seek to maintain the Minimum reluctance position with respect to the stator flux. Rotor may be a Salient pole or Non salient pole type.

C.S. View of Synchronous Motor

Housing ,cooling ducts Stator Shaft

Rotor

Bearing

Rotor winding Stator winding Connections

Operating Principle
Supply Current Generated Flux
Total flux is the vector sum of the three components: F (t) = Fa(t) + Fb(t) + Fc(t) The next figure shows the three components at wt = 300 and Fmax = 1 The resultant flux amplitude is 1.5 times the flux produced by each phase

>> Operating Principle

Balanced 3 phase supply currents establish a component flux wave in the air gap, which has an approximately sinusoidal spatial distribution with a constant amplitude and which rotates at synchronous speed. If the rotor rotates at synchronous speed, the magnetic fields of stator and rotor are stationary relative to one another, and a steady state torque is developed because of the tendency of the two magnetic fields to align their axes (Constant Speed).

Starting of Synchronous Rotor

The synchronous motor has no starting torque, it must be brought up to synchronous speed by induction motor action or by an auxiliary motor.

Pull-in and Pull-out torque

Pull-in Torque: The maximum load torque that the motor can pull into synchronism with a specified load inertia. Pull-out Torque: Load torque required to pull the rotor out of synchronism.

Synchronous Motor Drive With PWM Inverter

The AC voltage of the supply is rectified. The DC link filters the harmonics and produces smooth DC. The PWM inverter produces a variable frequency and voltage sine wave that drives the motor. The frequency regulates the motor speed.

The voltage to frequency ratio is kept constant to avoid saturation at low frequencies.

Synchronous Motor Drive With PWM Inverter

Rectifier

DC link Inverter

Motor
M

Adjustable Frequency Operation

Motor Speed is precisely related to the supply frequency. Synchronous motor drive can provide accurate speed control, particularly when adjustable frequency supply is available. Harmonic effects in the motor are usually negligible. Harmonics results extra heating in motor.

>> Adjustable Frequency Operation

T = (3p/)( V Eg/ Xs ) sin
Tmax= (3p/)(VEg/Xs) Where Eg is the Generated emf. Xs is the Synchronous Reactance V is the Supply Voltage p is the No. of Pairs of Poles is the Electrical Angular Velocity

Torque Vs Load Angle

>> Adjustable Frequency Operation

At base speed Rated voltage and frequency are applied.

Supply Frequency is increased to give higher speeds with a constant motor voltage.
For constant field excitation the term Ef/Xs is constant. Above the base speed , the pull out torque falls off inversely with speed to give the usual Constant HP region of operation. With a constant V/f supply, armature resistance plays a important role at lower frequencies because the resistive voltage drop is comparable in magnitude to the terminal voltage.

Controlled Current Operation

The synchronous motor is fed from a variable stator current converter with the supply voltage adjusting itself automatically. The torque can be expressed in terms of stator current rather than stator voltage. Total Input Power P = 3 Eg Ia cos

Torque

T = 3 p Lm If1 Ia sin T = K Ff Ia sin

>> Controlled Current Operation

The torque per stator ampere is maximized when = 90 degrees. Parameter changes due to saturation effects are likely in a current fed machine because the air gap flux level may vary widely. Due to influence of saturation on the value of Lm , the torque angle is greater than 90 degrees at maximum torque condition.

Self Controlled Synchronous Motor

A Machine is said to be self controlled if it gets the operating frequency from the inverter whose Thyristors are fired from a rotor position sensing unit.

>> Self Controlled Synchronous Motor

The shaft encoder measures the rotor position with respect to the stator reference and sends the pulses to the Thyristors. Thus the rotor speed is decided by the inverters output frequency. The inverter control by this way makes it possible to control the angle between the stator current and rotor current or even the load angle. The machine behaviour is completely decided by the torque angle and the amplitude of the voltage /current.

>> Self Controlled Synchronous Motor

The self controlled motor doesn't fall out of step, does not have oscillatory behaviour and has better stability characteristics. Self Controlled Synchronous Motor can be operated at varying power factors by changing the excitation. Over Excited Motor Leading power factor

>> Self Controlled Synchronous Motor

Leading power factor operation provides necessary voltage required for commutation of Thyristors. This eliminates the commutating circuit elements. The drive is very simple and economical with better utilization of Thyristors and good dynamic behaviour. The inverter is said to be machine commutated.

>> Self Controlled Synchronous Motor

Disadvantage: Inability to provide commutation at very low speeds. As the machine voltage is not of sufficient magnitudes especially at starting of motors from zero speed. A force commutated circuit can be used to bring the machine to a minimum speed( 10% of the rated speed) beyond which machine voltages can be used for commutation purpose.

>> Self Controlled Synchronous Motor

Self controlled synchronous motor finds application where the DC motors are objectionable because of mechanical commutator which limits the speed range and power output. It replaces the Induction motor because no forced commutation is required. This reduces the cost of inverter.

Closed Loop Control

In wound field rotor synchronous motor the field current is adjusted such that the motor operates with the air-gap flux equal to the maximum permissible value for all loads and speeds. Air-gap flux control avoids the extremes of magnetic saturation or underutilization of the iron of the machine.

>> Closed Loop Control

If the armature current, field current, and torque angle are controllable, the power factor at the motor terminals can be controlled. Leading Power factor operation load commutation of inverter. UPF can be achieved by forced commutated inverter. Commutation failure will occur if the margin angle becomes so small that the turn off time provided is less than the Thyristor recovery time.

Closed Loop Power factor Control

Closed Loop Power factor Control

Shaft Positioning is used in conjunction with Voltage and Current sensing to allow closed loop control of Power factor. The phase relationship between motor voltage and current is automatically varied so that the motor power factor is maintained constant at a command value. The resultant air gap flux is independently regulated by closed loop control. Actual air gap flux is compared with desired value and the error signal is used to drive the field current controller.

Brushless Excitation
Electronically commutated permanent magnet synchronous motors are used in high performance tools and robotics. In a permanent magnet synchronous motor, the field excitation cannot be controlled , and the excitation emf or back emf, keeps increasing with speed. Above the base speed the motor back emf is excessively large.

>> Brushless Excitation

Motor Copper loss is high due to large stator currents. A brushless resolver or digital encoder is used as a rotor position sensor providing the precise information needed to generate reference current waveforms which are sinusoidal functions of angular position.

Closed Loop Control of PM Synchronous Motor

Closed Loop Control of PM Synchronous Motor

Set speed and actual speed are compared , and the speed error defines the set current or commanded torque. Brushless resolver give s the absolute rotor position information and the torque angle is dynamically varied as a function of rotor speed and torque to give optimum drive performance. The Multiplying DAC (MDAC) output voltage is also proportional in magnitude to an independent reference voltage which is the compensated speed error or set current signal.

Closed Loop Control of PM Synchronous Motor

All the three currents are controlled in amplitude by the common speed error voltage. Each phase currents are compared by independent current loops with the set current and error signal is fed to the PWM generation unit.

References
Dubey G.K., Power Semiconductor Drives
Prentice Hall International 1989. Murphy J.M.D., and Turnbull F.G., Thyristor Control of AC Motors, Permagon Press, 1988. URL www.eas.asu.edu/~karady/360_stuff/Lectures/2

Discussion

Thank You