EE 4043

Electrical Machines and Drives IV

LECTURE 1

By
Dr. Buddhika Jayasekara
 Teaching Style

Use multimedia presentations and white board as

visual aids for the lecture

In class assignments

Group discussions on selected topics and assignments

Student are supposed to note down important

points during the lecture

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 Learning Outcomes
After completing this module the students should be able to
1. Design and implement a three-phase induction motor drive system
covering wide speed range.
2. Distinguish between adjustable speed and servo grade induction motor
drives.
3. Identify components in an induction motor drive system and their
functions.
4. Revise rating plate of a motor for new operating environment.
5. Select the kW rating of a motor to function in a known load cycle.
6. Perform temperature rise calculations for a motor operation.
7. Identify where and how to apply synchronous motor drives in industry.
8. Perform short circuit transient calculations to estimate generator
parameters and select rating for the generator breaker.

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 Outline Syllabus

1. Three-phase induction motor drives

System structure, variable voltage variable frequency control, initial voltage boosting,
high speed control, slip regulation and direct current limiting techniques, ramp limiters,
independent flux and current control (field oriented control), closed loop drives,
coordination between motor and power electronic inverter, voltage and current
waveforms at low and high speeds, multi-quadrant operation.
2. Operational aspects of electrical machines
Rating plate data, safe operation, temperature rise calculations, sizing of motors for given
load cycles, general and special purpose motors.
3. Synchronous motor drives
Large synchronous motor drives using load commutated inverters, self controlled
synchronous motor drives.
4. Transient performance of synchronous generators
Subtransient, transient, and steady state reactance and time constants, sudden short
circuit current analysis, parameter estimation using short circuit oscillogram, sudden
open circuit performance, slip test.
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 Section 1: Three-phase Induction Motor Drives

Learning Outcomes (Section 1)

After completing this module the students should be able to
1. Design and implement a three-phase induction motor drive
system covering wide speed range.
2. Distinguish between adjustable speed and servo grade
induction motor drives.
3. Identify components in an induction motor drive system and
their functions.

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 Section 1: Three-phase Induction Motor Drives

Outline Syllabus
‾ System structure,
‾ variable voltage variable frequency control,
‾ initial voltage boosting,
‾ high speed control,
‾ slip regulation and direct current limiting techniques,
‾ ramp limiters,
‾ independent flux and current control (field oriented control),
‾ closed loop drives,
‾ coordination between motor and power electronic inverter,
‾ voltage and current waveforms at low and high speeds,
‾ multi-quadrant operation.
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 Section 1: Three-phase Induction Motor Drives
Lecture 1
Learning Outcomes of Section 1-Lecture 1
 Identify the advantages of induction motor control compared
to DC motors
 Recall the knowledge on construction and operation of three
phase induction motors (Electrical Machines and Drives II)
2.Three-phase induction motors
Squirrel cage rotor and wound rotor types, equivalent circuits, torque-speed
characteristics, losses and efficiency, NEMA classes, testing, starting, braking,
principles of speed control, operation as a generator, motor applications.

 Identify the structure of an induction motor drive

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 In Class Exercise

 Compare Induction motors and DC motors (Identify the

advantages of DC motors)?

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 Advantages of Induction Motors

Induction Motors DC Motors

advantages  Higher cost, e.g. armature
 Lower cost for given rating cost
 Lower weight  Higher weight
 Easier maintenance  Maintenance problems,
i.e., more wear and tear
Drive disadvantages  Large size, require high
current densities at
 High cost, coming down commutator, brushes, etc.
with the developments
 High complexity, require
complicated electronics

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 Induction Motors - Construction

Two types of motor:

Squirrel-Cage Wound Rotor

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 Three Phase Induction Motors – Operation
Rotating Magnetic Field

3 phase
2 pole

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 Three Phase Induction Motors – Operation
Rotating Magnetic Field
3 coil axes are spatially
separated by 120
degrees

Air gap flux

If stator is
connected to a
3phase supply ?

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Three Phase Induction Motors – Operation
Rotating Magnetic Field
mmf distribution plotted across
mechanical angle

Scenario: full current trough phase a

𝐹(𝜃) a phase (I)

c phase (-I/2)
b phase (-I/2)

Resultant mmf at this

instant

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 Three Phase Induction Motors – Operation
Rotating Magnetic Field
 Three phase currents  mmf values
𝑖𝑎 = 𝑖𝑚 𝑐𝑜𝑠𝜔𝑡 𝐹𝑎 𝜃 = 𝑁𝑖𝑎 𝑐𝑜𝑠𝜃

2𝜋 2𝜋
𝑖𝑏 = 𝑖𝑚 𝑐𝑜𝑠 𝜔𝑡 − 𝐹𝑏 𝜃 = 𝑁𝑖𝑏 𝑐𝑜𝑠 𝜃 −
3 3

2𝜋 2𝜋
𝑖𝑐 = 𝑖𝑚 𝑐𝑜𝑠 𝜔𝑡 + 𝐹𝑎 𝜃 = 𝑁𝑖𝑐 𝑐𝑜𝑠 𝜃 +
3 3

 mmf variation with respect to space and time

3
𝐹 𝜃, 𝑡 = 𝑁𝑖 cos⁡(𝜔𝑡 − 𝜃)
2 𝑚

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 Three Phase Induction Motors – Operation

 Apply AC three-phase current to stator winding to produce

rotating magnetic field.
 Rotating magnetic field induces voltages in rotor windings
resulting with rotor currents.
 Rotor currents will create rotor magnetic field.
 Constant speed stator magnetic field will drag rotor magnetic
field.

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 In Class Exercise

 Stator winding creates a rotating magnetic field. Comment on

rotor speed and speed of rotating magnetic field (or
frequencies)

ns ns: Synchronous speed (the speed

of stator rotating field in rpm).
n : Rotor speed (rpm).
n
SLIP: difference between ns  n
synchronous speed and the rotor s
speed divided by synchronous
speed.
ns
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 Induction Motor - Equivalent Circuit

Three-phase
windings Rotor windings
Where :
Three- Rs is resistance per-phase of stator
phase
winding
supply
 Rr is resistance per-phase of rotor winding
Stator Air gap Rotor Xs is leakage reactance per-phase of the
m T winding stator
s
Is Xs is leakage reactance per-phase of the
Xs Rs Xr’ winding rotor

Im Ir’ Xm is magnetizing reactance

Rr’/s Rm is Core losses as a reactance

Vs
Xm Rm

Stator Air gap motor

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Induction Motor - Performance Characteristic
Ii Xs Rs Xr’ Is=Ir’

Im Ir’

Rr’/s
Vs Xm
Po
Pi

Stator Air gap rotor

The rotor current is :

Vs
Ir 
'
1
 
 
' 2
Rr 
2
2
 Rs    X s  X r 
'

 S  

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 Ii Xs Rs Xr’ Is=Ir’

3 Rr' Vs2
Im Ir’ Td 
 ' 2
R  
 
Rr’/s
S s  Rs  r   X s  X r'
2

Vs
Po
Pi
 S  
Stator Air gap rotor

Tmax Td

Tst TL
Tm=TL
Operating point

Smax S=Sm S=0

S=1 m s
Nm =0 Nm Ns

Torque – speed Characteristic

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Induction Motor: Torque-slip
Three region operation :
1. Motoring : 0 S  1
2. Regenerating : S  0
3. Plugging : 1 S  2

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 Induction Motor: Torque-slip

 At synchronous speed
ns  n
Synchronous
s speed

ns
No torque

 When slip =1
Rotor speed =0
Starting torque

 0 S  1
 Positive torque - motoring

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 Induction Motor: Torque-slip

 when S  0
Synchronous
speed
 Rotor speed is higher than
synchronous speed

e.g. suddenly reduce the

frequency of the supply

Regenerative braking

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 Induction Motor: Torque-slip

 when 1 S  2
Synchronous
speed
Rotor and magnetic flux in
opposite directions
e.g. suddenly reversing phase
sequence
High current

Plugging mode

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 Stator Voltage Control
AC
Variable
IM
Controlling Induction Motor Speed by Voltage

Adjusting The Stator Voltage

Sources  Td
Vs

3 Rr' Vs2
Td 
 Rr' 
2


S s  Rs    X s  X r' 
2
 Decrease voltage below rated
 S  
Td
Vs > Vs1 > Vs2
Ii Xs Rs Xr’ Is=Ir’ Tmax

Im Ir’

Rr’/s
Vs
Po Tst TL
Pi
Tst1
Tst2
air
Stator rotor
gap

2 1 
S=1 S=0
s
Nm =0 Ns
Frequency Control AC
Variable
Voltage
Sources IM
Vs  Td
f

Increase frequency above

rated

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 Frequency-Voltage Control AC
Variable
Voltage
Sources IM
Controlling Induction Motor Speed by
Adjusting The Frequency-Stator Voltage Vs  Td
f

' 2
Decrease voltage and frequency
3R V
Td  r s

 
2
 V/f control
S s  Rs 
Rr'

  X s  X r' 
2

 S   Td
fs2 < fs1 < fs
Tmax

Ii Xs Rs Xr ’ Is=Ir’ Tst2

Im Ir’ Tst1
Tst TL
Vs Rr’/s
f
Po
Pi

Stator Air rotor 2 1 s

gap
S=1 S=0 S=0 S=0
 m =0 fs2 fs1 fs
 Frequency-Voltage Control AC
Variable
Voltage
Sources IM
Controlling Induction Motor Speed by
Adjusting The Frequency-Stator Voltage Vs  Td
f
Td
fs2 < fs1 < fs
Tmax Decrease voltage and frequency
Tst2
V/f control
Tst1
Tst TL

2 1 s
S=1 S=0 S=0 S=0
 m =0 fs2 fs1 fs
 Induction Motor Drives

Vdc
AC Diode Rectifier PWM or VSIs IM

Controlled Vdc Squire Wave

AC IM
Rectifier Inverter

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 In Class Assignment-01

A. Explain the difference between squirrel cage and wound rotor

induction motors.

B. Explain what is meant by slip of induction motor.

C. Briefly explain the three modes of operation(motoring,

generating, braking) of an induction motor with the aid of
clear diagrams
D. (optional) comment on following statements
1. Supply voltage can be increased above the rated voltage to increase
the speed of an induction motor
2. Constant torque output(in a range of speed) can be obtained by only
changing the supply frequency of an induction motor
[30 minutes]
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 Homework

 Identify and explain how V/f control can be used for

regenerative braking

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 Section 1: Three-phase Induction Motor Drives
Lecture 1
Learning Outcomes of Section 1-Lecture 1
 Identify the advantages of induction motor control compared
to DC motors
 Recall the knowledge on construction and operation of three
phase induction motors (Electrical Machines and Drives II)
2.Three-phase induction motors
Squirrel cage rotor and wound rotor types, equivalent circuits, torque-speed
characteristics, losses and efficiency, NEMA classes, testing, starting, braking,
principles of speed control, operation as a generator, motor applications.

 Identify the structure of an induction motor drive

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 Further Readings on Induction Motor Drives

1. Power electronics: converters, applications, and design by

Ned Mohan, Tore M. Undeland

2. Electric motor drives: modeling, analysis, and control by

Ramu Krishnan

3. Electric Motors and Drives: Fundamentals, Types and

Applications By Austin Hughes

4. Practical variable speed drives and power electronics By

Malcolm Barnes

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 Acknowledgements

All authors of other materials such as Figures,

Videos, Pictures, etc.

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 End

Questions ?

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