AC DRIVES

AC motor Drives are used in many industrial and

domestic application, such as in conveyer, lift, mixer,
escalator etc.

The AC motor have a number of advantages :

Lightweight (20% to 40% lighter than equivalent DC motor)
Inexpensive
Low maintenance
The Disadvantages AC motor :
* The power control relatively complex and more
expensive

There are two type of AC motor Drives :

1. Induction Motor Drives
2. Synchronous Motor Drives

INDUCTION MOTOR DRIVES

Three-phase induction motor are commonly used in adjustable-speed

drives (ASD).

Basic part of three-phase induction motor :

Stator
Rotor
Air gap

The stator winding are supplied with balanced three-phase AC voltage,

which produce induced voltage in the rotor windings. It is possible to
arrange the distribution of stator winding so that there is an effect of
multiple poles, producing several cycle of magnetomotive force (mmf) or
field around the air gap.
The speed of rotation of field is called the synchronous speed s , which
is defined by :
s is syncronous speed [rad/sec]
2
Ns is syncronous speed [rpm]
s
or
p is numbers of poles
p
is the supply frequency [rad/sec]
f is the supply frequency [Hz]
120 f
Ns
Nm is motor speed
p

The motor speed

The rotor speed or motor speed is :

Where S is slip, as defined as :

m s (1 S )

m
S S
S

Or

NS Nm
NS

Equivalent Circuit Of Induction Motor

Where :
Rs is resistance per-phase of stator winding
Rr is resistance per-phase of rotor winding
Xs is leakage reactance per-phase of the
winding stator
Xs is leakage reactance per-phase of the
winding rotor
Xm is magnetizing reactance
Rm is Core losses as a reactance

Performance Characteristic of
Induction Motor

Stator copper loss :

Ps cu 3 I s Rs

Rotor copper loss :

Pr cu 3 ( I r ) 2 Rr

'

Core losses :

V
V
Pc 3 m 3 s
Rm
Rm

'

Performance Characteristic of
Induction Motor
- Power developed on air gap (Power fropm stator to
'
rotor through air gap) :
' 2 Rr
Pg 3 ( I r )

'

R
'
- Power developed by motor : Pd Pg Pr cu 3 ( I r ) 2 r (1 S )
S

Pd Pg (1 S )

or
- Torque of motor :

or

Pd
Td
m

Pd 60
Td
2 N m

or

Pg (1 S )

S (1 S )

Pg

Performance Characteristic of
Induction Motor

Input power of motor :

Pi 3Vs I s cos m
Pc Ps cu Pg

Output power of motor :

Po Pd Pno load

Pd Pno load
Po
Efficiency :
Pi Pc Ps cu Pg

Performance Characteristic of
Induction Motor
If

Pg ( Pc Ps cu )

and

Pd Pno load

so, the efficiency can calculated as :

Pd Pg (1 S )

1 S
Pg
Pg

Performance Characteristic of
Induction Motor
Generally, value of reactance magnetization Xm >> value Rm (core
2
2
2
losses) and also X m ( Rs X s )
So, the magnetizing voltage same with the input voltage :
Therefore, the equivalent circuit is ;

Xm

Vm Vs

Performance Characteristic of
Induction Motor
Total Impedance of this circuit is :

Xm

The rotor current is :

'

R
X m ( X s X r ) jX m ( Rs r )
S
Zi
'
Rr
'
Rs
j( X m X s X r )
S
'

Vs

'

Ir

Rr'
Rs
S

' 2

1
2

Xs Xr

Td

Torque speed Characteristic

3 Rr' Vs2

'
r

R
S s Rs
S

X s X

' 2
r

Three region operation :

1. Motoring :

0 S 1

2. Regenerating :

S 0

3. Plugging :

1 S 2

Performance Characteristic of
Induction Motor
Starting speed of motor is m = 0 or S = 1,
Starting torque of motor is : Tst

3 Rr' Vs2

X s X

'
r

R
s Rs
S

Slip for the maximum torque Smax can be found by setting :

So, the slip on maximum torque is : S max

' 2
r

d Td
0
dS

Rr'

R X X
2

1
2
'
2
r

Performance Characteristic of
Induction Motor
Torque maximum is :

Tmax

3 Vs2

2 s Rs Rs X s X r'

And the maximum regenerative torque can be found as :

Tmax

3 Vs2

2 s Rs Rs X s X r' 2

Where the slip of motor s = - Sm

Speed-Torque Characteristic :

Td

Td

And starting torque (slip S=1) is :

' 2
r

Rr'
S s Rs
S

For the high Slip S. (starting)

So, the torque of motor is :

3 Rr' Vs2

S s X s X

Tst

'
r

R
Rs
S

3 Rr' Vs2

X s X

' 2
r

' 2
r

3 Rr' Vs2

s X s X

' 2
r

For low slip S region, the motor speed near unity or synchronous
speed, in this region the impedance motor is :
R'
' 2

So, the motor torque is :

Xr

3Vs2 S
Td
s R 'r

And the slip at maximum torque is :

S max

Rr'

R X X

1
2
'
2
r

The maximum motor torque is :

Rs

Td

3 Rr' Vs2

'
r

R
S s Rs
S

X s X

' 2
r

Stator Voltage Control

Controlling Induction Motor Speed by
Adjusting The Stator Voltage

Td

3 Rr' Vs2

Rr'
S s Rs
S

X s X

' 2
r

Frequency Voltage Control

Controlling Induction Motor Speed by
Adjusting The Frequency Stator Voltage

Td

3 Rr' Vs2

Rr'
S s Rs
S

X s X

' 2
r

If the frequency is increased above its rated value, the flux and torque
would decrease. If the synchronous speed corresponding to the rated
frequency is call the base speed b, the synchronous speed at any other
frequency becomes:

s b

And :

b m

1 m
b
b

The motor torque :

Td

Td

3 Rr' Vs2

'
r

R
S s Rs
S

X s X

' 2
r

3 Rr' Vs2

'
r

R
S b Rs
S

X s X

' 2
r

If Rs is negligible, the maximum torque at the base speed as :

Tmb

3 Vs2

2 S b X s X r'

And the maximum torque at any other frequency is :

2

3
Vs
Tm
2 S b X s X r' 2

Sm

At this maximum torque, slip S is :

Rr '
X s X r'

Normalizing :

Vs
3
Tm
2S b X s X r' 2
Tmb

3 Vs2

2 S b X s X r'

Tm
1
2
Tmb

And

Tm 2 Tmb

Example :
A three-phase , 11.2 kW, 1750 rpm, 460 V, 60 Hz, four pole, Y-connected
induction motor has the following parameters : Rs = 0.1Rr = 0.38Xs =
1.14Xr = 1.71and Xm = 33.2If the breakdown torque requiretment is
35 Nm, Calculate : a) the frequency of supply voltage, b) speed of motor at
the maximum torque

Solution :
Input voltage per-phase : Vs

460
265 volt
3

Base frequency : b 2 f 2 x 3.14 x 60 377 rad / s

Base Torque : Tmb
Motor Torque :

60 Po
60 x 11200

61.11 Nm
2 N m 2 x 3.14 x 1750

Tm 35 Nm

a) the frequency of supply voltage :

Tm
1
2
Tmb

Tmb
61.11

1.321
Tm
35

Synchronous speed at this frequency is :

s b
s 1.321 x 377 498.01 rad / s

or

60 x 498.01
N s Nb
4755.65 rpm
2 x
p NS
4 x 4755.65
So, the supply frequency is : f s

158.52 Hz
120 b
120
b) speed of motor at the maximum torque :
At this maximum torque, slip Sm is :

Sm

Rr '
X s X r'

Rr = 0.38, Xs = 1.14, Xr = 1.71and

So,

Sm

0.38
0.101
1.3211.14 1.71

or,

N m N S (1 S ) 4755.65 (1 0.101) 4275 rpm

CONTROLLING INDUCTION MOTOR SPEED USING

ROTOR RESISTANCE
(Rotor Voltage Control)

Wound rotor induction motor applications

cranes

CONTROLLING INDUCTION MOTOR SPEED USING

ROTOR RESISTANCE
(Rotor Voltage Control)

Equation of Speed-Torque :

Td

3 Rr' Vs2

R
S s Rs
S

In a wound rotor induction motor, an external

three-phase resistor may be connected to its
slip rings,

'
r

X s X

' 2
r

3Vs2 S
Td
s R 'r

These resistors Rx are used to control motor starting and stopping

anywhere from reduced voltage motors of low horsepower up to
large motor applications such as materials handling, mine hoists,
cranes etc.

The most common applications are:

AC Wound Rotor Induction Motors where the resistor is wired into the
motor secondary slip rings and provides a soft start as resistance is
removed in steps.
AC Squirrel Cage Motors where the resistor is used as a ballast for soft
starting also known as reduced voltage starting.
DC Series Wound Motors where the current limiting resistor is wired to
the field to control motor current, since torque is directly proportional to
current, for starting and stopping.

The developed torque may be varying the resistance Rx

The torque-speed characteristic for variations in rotor resistance

This method increase the starting torque while limiting the starting current.
The wound rotor induction motor are widely used in applications requiring
frequent starting and braking with large motor torque (crane, hoists, etc)

The three-phase resistor may be replaced by a three-phase diode rectifier and

a DC chopper. The inductor Ld acts as a current source Id and the DC
chopper varies the effective resistance:

Re R (1 k )

Where k is duty cycle of DC chopper

The speed can controlled by varying the duty cycle k, (slip power)

The slip power in the rotor circuit may be returned to the supply by replacing
the DC converter and resistance R with a three-phase full converter
(inverter)

Example:
A three-phase induction motor, 460, 60Hz, six-pole, Y connected, wound rotor
that speed is controlled by slip power such as shown in Figure below. The
motor parameters are Rs=0.041 , Rr=0.044 , Xs=0.29 , Xr=0.44 and
Xm=6.1 . The turn ratio of the rotor to stator winding is nm=Nr/Ns=0.9. The
inductance Ld is very large and its current Id has negligible ripple.
The value of Rs, Rr, Xs and Xr for equivalent circuit can be considered
negligible compared with the effective impedance of Ld. The no-load of motor is
negligible. The losses of rectifier and Dc chopper are also negligible.
The load torque, which is proportional to speed square is 750 Nm at 1175 rpm.
(a) If the motor has to operate with a minimum speed of 800 rpm, determine
the resistance R, if the desired speed is 1050 rpm,
(b) Calculate the inductor current Id.
(c) The duty cycle k of the DC chopper.
(d)The voltage Vd.
(e)The efficiency.
(f)The power factor of input line of the motor.

460
Vs
265.58 volt
3

p 6

2 x 60 377 rad / s
s 2 x 377 / 6 125.66 rad / s
The equivalent circuit :

The dc voltage at the rectifier output is :

Vd I d Re I d R (1 k )
Nr
Er S Vs
S Vs nm
Ns

and

For a three-phase rectifier, relates

Er and Vd as :

Vd 1.65 x 2 Er 2.3394 Er
Nr
E

S
V
S Vs nm
Using :
r
s
Ns
Vd 2.3394 S Vs n m
Pr
If Pr is the slip power, air gap power is : Pg
S
Pr
3Pr (1 S )
S)
Developed power is : Pd 3( Pg Pr ) 3(
S
S

Because the total slip power is 3Pr = Vd Id and

So,

Pd TL m

(1 S )Vd I d
Pd
TLm TLm (1 S )
S

Substituting Vd from
Solving for Id gives :

Vd 2.3394 S Vs n m
TL s
Id
2.3394 Vs nm

In equation
:

Pd above, so

Which indicates that the inductor current is independent of the speed.

Vd I d Re I d R (1 k )
I d R (1 k ) 2.3394 S Vs n m

From equation :
So,

Which gives :

I d R (1 k )
2.3394 S Vs n m

and equation : Vd

2.3394 S Vs n m

I d R (1 k )
S
2.3394 S Vs n m

I d R (1 k )
m s (1 S ) s 1

2
.
3394
V
n
s m

The speed can be found from equation :

as :

TL s R (1 k )
m s 1
2
(
2
.
3394
V
n
)
s m

Which shows that for a fixed duty cycle, the speed decrease with load
torque. By varying k from 0 to 1, the speed can be varied from minimum
value to s

m 180 / 30 83.77 rad / s

K v m
800
750 x

1175

From torque equation : TL

347.67 Nm

From equation :

TL s
Id
The corresponding inductor current is :
2.3394 Vs nm
347.67 x 125.66
Id
78.13 A
2.3394 x 265.58 x 0.9

The speed is minimum when the duty-cycle k is zero and equation :

I d R(1 k )
m s (1 S ) s 1

2
.
3394
V
n
s m

78.13 R
83.77 125.66(1
)
2.3394 x 265.58 x 0.9
And :

R 2.3856