Problem Solutions

Author: Ion Boldea, S.A.Nasar....
Author phone number:+40-56-155452

1
PROBLEM SOLUTIONS

CHAPTER 1

1.1.
From (1.3) the effective interest rate per year i
E
is
i
i
i
E
p
=
+
+
=
+
+
=
1
1
1
1 0 08
1 0 04
1 0 0384
.
.
.
The net present value of losses NPV for a n = 4 year return is from (1.4)
( )
( )
( )
| |
NPV S
i
i i
E
E E
=
+
+
=
+
=
1 1
1
500
1 0 0384 1
0 0384 10384
4
4
.
. .
$2040
The influence of taxes and inflation on these savings is now calculated
from (1.6) and (1.7).
( ) ( ) NPV NPV T
e
= = = 1 2040 1 0 35 . $1325

( )
| |
( )
( )
| |
( )
NPVd
NPVe
n
T
i
i i
n
n
=
+
+
=
+
+
=
1 1
1
1325
4
1 0 08 1
0 08 0 08 1
0 35 137
4
4
.
. .
. $384.
So the premium investment value (price of PEC investment) NPV
e
(1.5)
is
NPV NPV NPVd
e
= + = + = 1325 384137 170913 . . $

1.2.
The global (primary) power requirement P
g
is
P
P KW
g
= =

=

1 2 34
100
0 4 0 9 0 6
46216
. . .
. KW
for the conventional drive, and
P
P KW
g
'
' . . .
. = =

=

1 2 34
100
0 4 0 9 085
3268 KW
for the PEC drive. The difference is noticeable.


2 Problem solutions
1.3.
The total inertia at motor shaft J
t
(1.13) is
J J J a
t m L
= + = + =
2
0 02 2 1 100 0 04 . / . Kgm
2

The motor torque requirement (1.11) is
T J T
e t L
= + = + =
0 04 1884 200 27536 . . Nm for 0 t 0.2 s

T T
e L
= = 200 Nm for 0.2 t 0.8 s
T J T
e t L
= + = + =
0 04 1884 200 124 64 . . Nm for 0.8 t 1 s

1.4.
The motor base torque T
eb
is

( )
T
eb
= =

P
p
b
b
/
/
100 10
367 2
545
3
Nm
For same power at
max
= 3
b
, T
e
is
T T
T
e eb
b eb
= = = =
max
.
3
545
3
148 33 Nm
With zero losses the generator torque at (-P
b
) is simply
T T Nm at
e eb b
= = 545 (base speed)

CHAPTER 3

3.1.
a. As seen on Figure 3.12, also, for constant d.c. current I
d
the source
current will change stepwise from - I
d
to I
d
at t = 0 and from + I
d
to - I
d

at t = .

b. The d.c. voltage will look as in the figure below


ELECTRIC DRIVES 3

The average output voltage V V
acav s
= = =
2
2
2
2 120 107 77

. V.
c. The source current fundamental (rms) I
S1
is
I
I
S
d
1
4
2
50
4
2
4517 = = =

. A
The displacement power factor DPF is (3.6)
DPF = = cos
1
1
as the source current fundamental and voltage are in phase.
The power factor PF (3.10) is
PF
I
I
DPF
I
I
S
S
S
S
= =
1 1

I
S
, (3.11), is
I I I I
S S S S
= + = + + + +
=
1
2 2
2
1 2 2 2
1
1
3
1
5
1
7
10918
L .
I
I I
S
d S

= =
4
2
1

Finally PF
I
I
S
S
=
=
1
1
10918
0 916
.
.
3.2.
The current waveform follows from figure below (Figure 3.9).

The turn on angle
on
is obtained when V
d
= V
S
(t): 120 120 2 = sin
on

Thus
on
= 45
0
,
c
= 135
0
(at
c
the current is maximum).
The turn off angle
off
is obtained by making zero the average voltage on
the source inductance (3.17).

4 Problem solutions
( )
( )
V t V d t
s d
on
off
2 0 sin

or ( ) ( ) V V
s on off d off on
2 0 cos cos =
( ) 2 1 2 / cos =
off off on

Approximately
off
171
0
and thus (3.20)
i
d
= 0 for 0 < < 45 and 171 < < 180
0 0 0

and
( ) ( )
( ) ( )
| |
i
V t V t
L
t t
d
s on d on
s
=

=

2
120 2 0 707 4
367 5 10
3
cos cos
. cos /

for 45 < < 171
0 0

3.3.
The maximum overlapping angle u
max
= 30
0
is (from 3.28)
cos
max max
u
L
V
I
s
s
d
= 1
2
2

( )
I
d max
.
. =

=
1 0867 120 2
2 367 1 10
30 66
3
A
The ideal d.c. voltage V
dc
, (3.29), is
V V
d s 0
2 2 2 2
120 108 = = =

V
While the actual one, V
d
, (3.30), is
V V
L
I
d d
s
d
= =

=
0
3
2
108
2 367 1 10
30 66 100833

. . V

CHAPTER 4

4.1.
a. As the armature resistance R
a
= 0.14 from (4.18) the voltage at
standstill V
a
for rated current is
V R I
a a n
= = = 014 2918 4 088 . . . V

ELECTRIC DRIVES 5
b. As E
n
at 1200rpm is (4.21): E
n
= 105.4V for full excitation current, at
rated current and voltage E
n
should remain unchanged at 3600rpm.
Consequently the new value of i
f
is
i i
f fn
= = =
1200
3600
1
1200
3600
0 33 . A
The total input power is
P V I V i
i n n exc f
= + = + = 110 2918 110 0 33 3246 . . W
The torque Te is proportional to both field and armature current -
magnetic saturation neglected - and thus
T T
i
i
T
e en
e
en
en
= = = =
3
24 48
3
816
.
. Nm

4.2.
As example 4.3. treats the same problem we only need to extrapolate the
results for current from the motion equation
J
dn
dt
K i T
T load
2 =
i J
dn
dt
T
K
load
T
= +
|
\
|
.
| 2
1

Now we simply take n(t) from (4.54)
( ) ( )
( ) n t n Ae t
t
t
= + + =
=
250
280 3577 cos . for T
em
ms
and
( ) ( )
n t n A e A e
t
t t
= + + =
=

1
468 8
2
66 8
3577
. .
. for T
em
ms
( ) ( )
for n rps T Nm
t en =
= = = 2194 8 36 . , . 4.53 T
load

K
T
= 0.836, J=0.005Kgm
2
and, respectively, 0.05Kgm
2

A = 2.54, = -41.76
0
, A
1
= 0.435, A
2
= -2.335.

4.3.
a. The rated current I
n
is simply
I
P
V
P
V
n
input
an
n
n an
= = =

100 10
0 92 800
13587
3
.
. A

6 Problem solutions
b. The loss breakdown is
P P p p p P
input n copper mec iron n
n
= + + =
|
\
|
.
|
1
1

Consequently p
copper
is
p
copper
=
|
\
|
.
| = 100 10
1
0 92
1 0 015 0 015 56956
3
.
. . . W
Now ( ) p R R i
copper a es n
= +
2
and thus
R R
p
i
a es
copper
n
= = =

=
2
56956
2 13587
01542
2 2
.
.
.
c. the rated e.m.f. E
n
is
( ) E V R R R I
n an a es iron n
= + +
Where R
P
I
iron
iron
n
= =

=
2 2
0 015 1000
13587
0 0812
.
.
.
( )
E
n
= + = 800 2 01542 0 0812 13587 747 065 . . . . V
The electromagnetic torque
T
E I
n
e
n n
n
= =

=
2
747 065 13587
2 20
80714

. .
. Nm

CHAPTER 5

5.1.
a. The output voltage and current waveforms depend essentially on the
value of L
s
.
For L
s
= 0 the current is in phase with the voltage in the secondary of the
transformer.
For L
s
= the output current is constant as shown in the figure below.


ELECTRIC DRIVES 7

b. The average output voltage and current for the two cases ( = /3) is
( ) ( ) ( ) V V t d t
V
V
dav
L
s
=
+
= =
= =

=
0
1 1
2
2 3
1
2
3
2
2
2
3
5
6
3 3
2 2
120 3 3
2 2
70 334

sin cos
. V

( )
( )
i
V
R
dav
L
dav
L
s
s
s
=
=
= = =
0
0 70 334
10
7 0334
.
. A
( ) ( ) ( ) V V t d t
V
dav
L
s
=
+
= =
=

=
1
2
3
2
2
2
3
7
6
120 3 3
2 2
70 334
1 1
2
2
2
3

sin cos
. V

( )
( )
i
V
R
dav
L
dav
L
s
s
s
=
=
= = =
0
70 334
10
7 0334
.
. A
c. The waveform of transformer primary current depends on and L
s
and
on the transformer connections.
In our case the star with null connection in the secondary is accompanied
by a star connection in the primary. Neglecting the magnetizing current we
have

8 Problem solutions
i w i w i w
i w i w i w
i i i
A a B
A a C
A B C
1 2 1
1 2 1
0
0
0
=
=
+ + =

i
w
w
i i i t
i
w
w
i t
i
w
w
i t
A a B C
A b
A c
= = = < <
= < <
= < <
2
3
2 2
5
2
3
5 9
2
3
9 13
2
1
1
2
1
1
2
1
1
for
6 6
for
6 6
for
6 6

5.2.
In a d.c. series motor the motion induced voltage varies with the
armature current i
a
. When i
a
is discontinuous, the e
g
variation is large. For i
a

= 0 the induced voltage is produced only by the remnant flux.
Other than that the waveforms of the output voltages and current are
straightforward as shown below.

5.3.
The motor voltage equation for constant speed is
( ) ( ) V t R i L
di
dt
K n i i t
a a a
a
e a rem
2
1 1
sin = + + + < + for <
i t
a
= + < + 0
1
for < < for discontinuous current ;
Also ( ) ( ) i i
a a

= =
+
0

ELECTRIC DRIVES 9
i
rem
accounts for the remnant flux.
For continuous current the above equation is valid for <
1
t < and
( ) ( ) i i
a a

=
+
0 . Also due to the freewheeling diode V = 0 for
<
1
t < + . The limit between continuous and discontinuous current
mode occurs when = and thus ( ) ( ) i i
a a

= =
+
0 .
The current expression is
( ) i
K n i
R
Ae
V
Z
t t
a
e rem
a
L
R K n
t
a
a e
=

+ + <
+
2
1 1 1
sin for <
( ) Z R K n L
L
Z
a e a
a
= + + =
|
\
|
.
|
2
1
2 2
1
1 1

; sin
The boundary condition for discontinuous mode is
( ) i
a
t
1
0 0
1
=
= = =
+

while i again for t

a 2
;
For continuous mode the above equation should be accompanied by an
additional one
( )
i A e
K n i
R
t
a
L
R K n
t
e rem
a
a
a e
' '
/
=

< +
+

1
1
for <
with ( ) ( ) i i
a a

1
1
/
' / =
The average voltage e
av
is
( ) ( )
( )
e V t d t
V
av
= = +
1
2
2
1
1 1
sin cos

5.4.
The input voltage is pulse-width-modulated at higher frequency (a
multiple fo a.c. source frequency) through a sinusoidal carrier and thus the
input current i
1
is made of symmetric pulses. Thus the displacement power
factor DF = 1.
This is the main advantage of such a scheme together with the reducing
of input current harmonics. The average output voltage e
a
is
( ) ( ) ( ) e e d t
V
t d t
V
a a
K
p
K K
K
p
K
K
= = =

= =
1 2 2
1
0
1 1
1 1
sin cos cos


10 Problem solutions
where p is the number of pulses per half-cycle. Because of PWM symmetry
the input current waveform lacks the even harmonics. Thus
( ) ( ) I
b
i n t d t
I
n n
n
n a
K K
K
p
= = =

= 2
1
2
2
2
2
1 1
0
1
1
sin cos cos

The rms value of input current I is
( ) ( ) I i d t
I
a
K K
K
n
=
(
(
=
(

=
1
2
1
0
1/ 2
1
1/ 2

The power factor PF is
( )
( )
PF
I
I
n n
K K
K
p
K K
K
n
= =

(
=
=
1 1
1
1/ 2
2
2
1

cos cos

The harmonic factor in the input current HF is
| |
HF
I I
I
=

2
1
2
1/ 2
1

The lowest order harmonic in the input current is n+1 and being high it
may easily be filtered out by an adequate input filter. The power transistors
may be replaced by GTOs or forced commutated thyristors in higher power
applications.
A d.c. motor fed through such a device may now be easily investigated
as the voltage and current waveforms are approximately known.

CHAPTER 6

6.1.
a. The main switch T1 is turned on for the time interval t
on
and thus the
source voltage is applied to the load through the filter. Turning off the
main switch T1, the load current flows through the diode D1 until a
minimum I
min
which could be zero after a time interval t
off
.I
min
> 0 and is
obtained at t = T = 1/f
ch
(f
ch
- switching frequency) means continuous
current mode.
The current in the inductor i
L
increases linearly during t
on
and decreases
linearly during Tt
on
as shown below.


ELECTRIC DRIVES 11

Neglecting the losses for steady-state the integral of inductor voltage V
L

over the time period is zero
( ) ( ) V dt e t e T t
L
T
a on a on
0
0
= = ; that is e
0

finally
e
e
t
T
a on
0
= =
The power balance produces the condition
e i e i
e
e
i
i
a a
a
a
0 0
0
0
= = ; =
The step down chopper works like a d.c. current transformer.

6.2.
The limit between continuous and discontinuous current mode is reached
when the minimum current is zero for t = 0, T, 2T, . The average inductor
is half the maximum current.
The average inductor current is, for this case,
( )
( )
I i
t
L
e
Te
L
t
T
e
e
LB Lpeak
on
a
o on a
= = = =
1
2 2 2
1
0
e as =
0

The output current required for continuous mode is thus maximum for
I
LB
= 0 that is for =
1
2
and I
Te
L
LB
o
max
=
8
. Discontinuous current mode
occurs for
( )
I I I
av LB LB
= 4 1
max
.
In the discontinuous current mode the inductor voltage and current
waveforms are as shown on the figure.

Again the inductor voltage average should be zero

( ) ( ) e
0
= e T e T
a a
0
e
e
a
0
1 =
+
+ <

;
The maximum inductor current is
( )
I
T e
L
e
L
T
Lpeak
a a
=

=
e
0

The average current I
av
is
I I
e
L
T
e
L
T I
av Lpeak
a
LB
=
+
=
+
= =

2 2 2
4
0
max

( ) = I I
av LB
/
max
4
Thus ( )
e
e
I
I
I
a
av
LB
LB
0
2
2
1
4
4 1 =
+

max
max
; for I (discontinuous mode)
av

and
( )
e
e
I
a
LB
0
4 1 = for I (continuous mode)
av max

6.3.
a. During the conducting time (t
on
) of T1 the inductor current increases
linearly from I
min
to I
max
while with T1 off the energy from the source
and inductor is transmitted to the load.
The average inductor voltage should be zero and thus
( ) e t e t
on a off 0
0 + = e
0


ELECTRIC DRIVES 13

Finally,
e
e
T
t
a
off 0
1
1
= =

Theoreticaly for = 1 e
a
/ e
0
which is not true in practice as the
losses in the inductor and capacitor reduce the voltage transfer ratio after
reaching a maximum to zero at = 1.
b. As in the previous example the boundary between continuous and
discontinuous current occurs with
( ) I i
t
L
Te
L
LB Lpeak
on a
< = =
1
2 2 2
1 e
0

As the inductor current is equal to the input current the power balance
produces the output current I
av

I
av
e I e
a LB
=
0

( )
I
av
=
Te
L
0 2
2
1
So for discontinuous current mode the average load current I
av
I
LB
.
c. If the diode ripple is fully absorbed by the capacitor C the electric charge
Q of capacitor produces the voltage ripple ea:

e
Q
C
I T
C
a
av
= =


6.4.
a. The switching signals are generated by comparing a triangular V
t
carrier
voltage with the control voltage. For V
con
> 0 we may consider V
con
> V
t
,
the (T
A+
, T
B-
) pair conducts while for V
con
< V
t
(T
A-
, T
B+
) conducts.

The average output voltage e
av
is positive when V
con
> 0 but the average
load current is either positive for e
av
> e
g
and negative for e
av
< e
g
.
Similarly for negative control voltage V
con
the current may be either
positive or negative depending on the sign of the difference between the
average voltage e
av
and the induced voltage e
g
both negative otherwise.
Four quadrant operation is thus obtained.

6.5.
First the rated induced voltage eg is calculated
e V R I
g n a av
= = = 120 1 10 110 V
We may approximate
e e K I n
g grem e av n
= +
110 5 10 30
105
300
0 35 = + = = K K
e e
. s
L
at
and R
at
represent the total inductance and resistance of the motor.

The load current i
a
expressions are (4.19)-(4.20).

ELECTRIC DRIVES 15
( )
i A e
e e
R K n
a
t
R K n
L
grem
at e n
at e n
at
= +

+

+
0
; 0 < t t
on

( )
( )
i A e
e
R K n
a
t t
R K n
L
grem
at e n
on
at e n
at
' ' ; =
+

+
t < t t
on 1

Suppose discontinuous current mode, then i
a
(0) = 0 and
( )
A
e e
R K n
grem
at e n
=

+
=

+
=
0
120 5
1 0 35 30
10
.

( ) ( ) i t i t
f
a on a on on
ch
= = =

' . with t
1 1
50
0 36 10
3
s
A e A ' . . ' .
.
= = =

+
0 434 10 10 9 682 10116

6 10
1 10 5
20 10
3
3
A
The current i
a
will reach zero after the time t
1

( )
( )
t t
L
R K n
e
R K n
on
a
at e n
grem
a e n
1
3
3
10 116
20 10
1 105
5
1 105 10 116
547 10
=

+
+
|
\
|
.
|
|
=
=

+ +
|
\
|
.
| =
ln
.
ln
.
. s

t
1
= + = < = = =

6 10 547 10 1147 10
1 1
50
20 10
3 3 3 3
. . T
f
ch
s
Indeed the current is discontinuous. The average voltage e
av
is
( )
e e
t
T
e
T t
T
av
on
grem
= +

= +

=
0
1
120
6
20
5
20 1147
20
381325
.
. V
The average current i
av
is
I
e e
R
e e K I n
R
I
av
av g
at
av grem e av n
at
av
=

=

=

=
38135 5 0 35 30
1
2 8813
. .
. A


CHAPTER 7

7.1.
The close loop transfer function ( )
( )
( ) ( )
A p
A p
K A p
c
I
=
+ 1
with
( )
( )
( )
K p
p
p p
I
= =
+
+ +
05 13973 10
1 0 31847 10
1 01 01 0 02
4
3
2
. .
.
. . .
and A
The Laplace transform of the current input is
( ) i p
p
input
=
10 05 .

Thus the Laplace transform of the current output is
( )
( )
( ) ( )
( )
( ) ( )
i p
p
A p
A p
A p
p A p
a
=

+
=
+
10 05
05
1
10
1
.
.

The inverse Laplace transformation is to be used to obtain the time
response.

7.2.
According to the accepted assumptions the functional diagram of the
drive is as shown on figure below.

D.c. motor with PI speed controller and no electrical transients

As the current controller may be considered to be instantaneous in
response, it may be replaced by a gain K
K
ic
i
= = =
1 1
05
2
.
.
The voltage equation for rated load is
e R i K n
a a an e n
= +
K
e
=

= =
110 0 25 20
30
105
30
35
.
. Wb

ELECTRIC DRIVES 17
Also B
J
m
= =

=

=

2 2 01
10
2
100
6 28 10
2
.
. Nm.sec/rot
The speed transfer function n(p) / e
a
(p) may be obtained simply from the
above figure.
( )
( )
( )
( )
n p
e p
K
p
p p
K K
K
B
a
n
sn
sn sn
sn i
e
+
+ +
>>
1
1
1
2
1
2
; for K
n

with

= =

=
m
sn i
e
sn sn
K K
K
B
K K
K
n
2
10 2 6 28 10
01 2 35
5634
2
.
. .
.

The poles of 1 0
2
+ + = p p
sn sn
are
p i
sn sn
1 2
2
1
2
1
4
1
1 1
,
; ; =
(
(
= =

2
n n

for a damping ratio of 1 2 / and
n
= 10 we obtain
2
1
2
10
5634
5634 2 10 79 44 = = =
K
K
sn
sn
.
. .

sn
= =

=
1 79 44
100 5634
0141
2
n
.
.
. s

7.3.
The structural diagram for zero reference speed change and presence of
load torque may be obtained from figure presented in problem 7.2.

The speed/load-torque transfer function is
( )
( )
( )
( ) ( ) ( )
n p
T p
A p
A p B p
L
=

1


( )
( )
( )
( )
A p
B p
p K K
K p
p
m
sn ic
e sn
sn
=
+
=
+
1
1
2
1
; B K
n

In numbers
( )
( )
A p
p
=
+
1
6 28 10 1 10
2
.

( )
( ) ( )
B p
p
p
p
p
=
+
=
+
0. .
. .
.
.
.
.
1 79 44 2
35
2
1 0141
0141
88547
1 0141
0141

Thus
( )
( ) ( ) ( )
( )
n p
T p p p
p
p
L
=
+

+
+

+
=
1
6 28 10 1 10
1
1
88547 1 0141
0141
1
6 28 10 1 10
2
2
. . .
.
.

( ) ( )
=

+ + +
p
p p p
0141
08855 10 1 10 88547 1 0141
2
.
. . .

The speed/load-torque perturbation transfer function shows a zero in the
origin (p in the denominator) and thus zero steady-state speed error for load
perturbations is obtained.

7.4.
a. The d.c. series motor equations are
( ) e R pL i K i n K n
a at at a e a rem
= + + + '
J pn
K i K
i T
e a rem
a L
2
2

=
+
'

First we linearize the equations around e
an
, i
an
, n
n
, T
Ln

n n n
i i i
e e e
T T T
n
a an a
a an a
L Ln L
= +
= +
= +
= +

( ) ( ) e R pL i K i n i n K n
a at at a e a n an rem
= + + + + '

ELECTRIC DRIVES 19
J p n
K i i K i
T
e an a rem a
L
2
2
2

=
+
'

with ( ) e R i K i K n
an at an e an rem n
= + + '
( )
T
K i K
i
Ln
e an rem
an
=
+ '
2

For ( ) T p
L
= 0 we obtain

( ) ( )
( )

i
e
R K n pL K i K
K i K
J p
a
a
at e n at e an rem
e an rem
=
+ + + +
+
' '
' 2
2
2
(A)

( )
n i
K i K
J p
a
e an rem
=
+ 2
2
2
'
(B)
To determine the unknowns K
e
and K
rem
we use the voltage equation for
rated point
120 1 10 10 30 5 = + + K
e
'
K
e rem
' . ; . = = = =
105
300
0 35
5
30
0166 K
Introducing the numerical values in (A) and (B) yields
( ) ( )
( )
i
e
p
p
e
p
p
a
a
a
=
+ + + +
+
=
=
+ +
1 0 35 30 4 10 0 35 10 0166
2 0 35 10 0166
2 10
115 4 10
66 61
2
2
2
2
. . .
. .
.
.

( )
n i
p
i
p
a a
=
+
2 0 35 10 0166
2 10
1817
2
2
. . .

b. For zero voltage variation e
a
= 0 and thus

( ) ( )
( )
( )

n i
R K n pL
K i K
i
p
p i
a
at e n at
e an rem
a
a
=
+ +
+
=
+
+
=
= +
'
'
.
. .
. .
115 4 10
0 35 10 0166
3142 109 10
2
2

( ) ( )

i
T
K n K
Jp
R K n pL
K i K
a
L
e n rem at e n at
e an rem
=
+
+
+ +
+
=
2
2
2
' '
'

( )
=
+ +
=
+ +

T
p p
T
p p
L L
7166
2
2 10 3142 109 10
11411 01973 6845 10
2 2
4 2
.
. .
. . .
+ +
58 43
115 4 10 66 61
2 2
.
. .
T
p p
L

CHAPTER 8

8.1.
To calculate the complex roots (eigen values) Equation (8.70) is used
( ) ( ) ( ) ( ) ( ) s s j j j
s r r s s r b r b s b r r
2
2 1 1 0 ' ' ' ' ' ' ' ' + + + + + + = (A)
with
b
= 0 (stator coordinates),
s
= 0.01937s,
r
= 0.01937s,
r
= 2np
1

= 4n, n in rps.

Eigenvalues of IM in stator coordinates


ELECTRIC DRIVES 21
Simply for n = 0, 5, 10, , 40 rps the second order Equation (A) with
complex coefficients is solved and the s
12
complex roots are represented in
xy plane curves as on figure above.
The calculations are tedious but straightforward.

8.2.
Let us remember the parameters from example 8.3: r
s
= 0.5, r
r
= 0.6,
L
s
= L
r
= 0.08H, L
m
= 0.075H, also p = 1,
r
b
= 1Wb, K
s
= K
r
= 0.9375 = L
m
/
L
s
= L
m
/ L
r
, = 0.1211 = (1 L
m
2
/ L
s
L
r
). From (8.97) - the torque
expression - we may find the slip frequency s
1

S
T r
p
e r
r
1 2 2
2
3
2 40 0 6
3 1 1
16 = =

=
.
rad/s
The primary frequency
1
is

1 1
2 16 2
900
60
1 110 2 = + = + = S np . rad/s
The stator flux
s
b
(from 8.98) is
( ) ( )

s
b
r
b r
s
jS
K
j
j =
+
=
+
= +
1
1
1 16 0 01614
0 9375
10666 0 275
1
' .
.
. .

s
s m
s
r
r m
r
L L
r
L L
r
' . ; ' . =

= =

= 0 01937 0 01614
The stator voltage V
s
b
comes from (8.100)
( )
( )( )
V
j K
j j
j
s
b
s
s
b
s
r
b
s
=
+
=
=
+ +
= +
1
1 110 2 0 01937 10666 0 275 0 9375 1
0 01937
2367 44 5
1

'
'
. . . .
.
. .

i
L
d
r
b
m
= = =
1
0 075
1333
.
. A
i ji
L
r
S j j
q d
r
r
= = =
1
1333
0 08
0 6
16 28 44 .
.
.
. A
i i ji j
s
b
d q
= + = + 1333 28 44 . .
The power factor angle
1
is


1
1 1 0
2
2367
44 5
28 44
1333
531 = = + =

arg arg tan
.
.
tan
.
.
. V i s
b
s
b

cos .
1
0 601 =

Vector diagram

8.3.
The starting current i
start
is
( ) ( )
i
V
r r L L
start
s start ls lr
=
+ + +
2
1
2
2

so r r
V
i
s start
start
s
+ = =

= cos . .
1
120
15 5
0 3 0 48
( )
1 1 1
120
15 5
0 954 15263 2 60 L L
V
i
ls lr
start
s
+ = =

= = sin . . ;
so r
s
=
+
=
0 48
1 3 12
010435
.
.
.
r r r
r s start r
= = = = 12 12 010435 012521 3 . . . . ; r
The no-load losses P
0
contain the stator copper and core losses
( ) P r r i
s m n 0 0
2
3 = +
r
P
i
r
m
n
s
= =
=
0
0
2 2
3
200
3 5
010435 2 562 . .
The core losses p P r i
iron s n
= = =
0 0
2 2
3 200 3 010435 5 192173 . . W
The starting torque

ELECTRIC DRIVES 23
T
r I p
start
start start
=

=

=
3 3 3 012521 75 2
2 60
33645
2
1
2

.
. Nm
The main inductance L
m
is
( )
( )
L
V
i
r r L
m
n
s m sl
=
|
\
|
.
| +
|
\
|
.
|
|
=
=
|
\
|
.
| +
|
\
|
.
|
|
=
1
1
2 60
120
5
010435 2 562 0 7631 0 06127
1 0
2
2
1
2
2
. . . . H

L L
sl rl
= =

=
15263
2 60 2
0 002
.
.
H
The rotor current i
r
is
( ) i
r
S
j L I r L
r
S
j L V
r
r
lr n m m
r
lr
= +
|
\
|
.
|
+ +
|
\
|
.
|

|
\
|
.
| +
=

1
1
0
2
1
2
1
1
2
2
120
0125
0 02
0 763
19 06
.
.
.
. A

So the rotor losses p
cor
is
p r i
cor r r
= = = 3 3 01252 19 06 136 44
2 2
. . . W
The stator current is approximately i i i
s r on
+ = +
2 2 2 2
19 06 5 . A.
So the stator copper losses p
cos
are
p r i
s s cos
. . . = = = 3 3 010435 19 70 1215
2 2
W
The electromagnetic power P
e
is
P
p
S
e
cor
= = =
136 44
0 02
6822
.
.
W
and the input power P
1
is
P P P P
e iron 1
6822 1215 192173 713567 = + + = + + =
cos
. . . W

8.4.
The stator current is approximately

( ) ( )
I
V
r r S L L
s
L
s r ls lr
+ + +
=
/
/
3
2
1
2
2

( ) ( ) ( ) ( )
=
+ + +
=
220 3
12 0 2 0 02 2 120 0 005 0 005
10 26
2
2 2
/
. . / . . .
.
A
With i
s
I
r
, the electromagnetic torque
( )
T
r I p
S
e
r r
=

=

=
3 3 0 2 10 26 2
0 02 2 120
8 42
2
1
2

. .
.
. Nm
The electromagnetic power
P
T
p
e
e
= =
1
3174 W
The retrieved power P
1
is
P P r i P
e s s iron 1
2 2
3 3174 3 0 2 10 26 192173 2918 = + + = + + = . . . W

8.5.
For the phase connection on Figure 8.15b (phase a in series with phases
b and c in parallel), the stator current vector I
sdc
is (i
b
= i
c
= -i
a
/ 2) is
I i i i i I
sdc a b c a
= + +
|
\
|
.
|
|
\
|
.
| = =
2
3
2
3
2
3
0
cos cos

The rotor current vector I
rdc
(8.124) is
I I
L
L j
r
I
j
I rdc sdc
m
m
r
r
sdc sdc =
=

01
01
0 2
2 10
4
.
.
.
A
The corresponding braking torque T
e
, (8.130), is
( )
T p
L I r
L r
e
m
rdc
r r
lr r r
=
+
=

+
=
3
2
3
2
2
01 4 2 10 0 2
5 10 2 10 0 2
6 0288
2
2
2 2 2
2 2
3
2
2
. .
.
. Nm

8.6.
The torque expression for constant rotor flux
r0
is

ELECTRIC DRIVES 25
( ) ( ) T p
r
e
r
r
r r
r
= = =
|
\
|
.
|
3
2
3
2
2
1
0 2
2 20 1884 1
40
0
2
1
2

.

This is evidently a straight line easy to draw. Notice that in general the
term in paranthesis is closer to zero than to unity in variable speed drives
with constant rotor flux.
The stator
s0
(8.135) is
( ) ( )

s
r
r
s
jS
K
j
j 0
0
1
1
1
1 01 2 20 0 01
0 95
1052 01322 =
+
=
+
= +
' . .
.
. .
s0
106 = . Wb
Neglecting the stator resistance voltage drop, the stator voltage V
s0
is
V
s s 0 1 0
2 20 106 13317 = = = . . V
The phase voltage (rms) for star connection V V
n s
=
0
2 /

8.7.
For constant stator flux the critical slip frequency ( ) S
K
1
(8.137) is
( ) S
K
r
1
1 1
0 01
100 = = =
' .
rad/s
The torque expression (8.136) is
( ) ( )
T p
K
r
S
S
S
S
S
S
e
s
r
s
r
=
+
=

+
=
+
3
2
1
3
2
2
0 95
0 2
2 20 106
1 2 20 0 01
1910
1 157
2
1 0
2
1
2
2 2
2
2 2

'
.
.
.
.
.

The stator voltage for f
1
= 20Hz is
V
s s
= = =
1 0
2 20 106 13317 . . V
As expected for f
1
= 60Hz the stator flux
s0
is

s
s s
V V
f
0
1 1
2
13317
2 60
0 3533 = = = =
' '
.
. Wb
The breakdown torque T
ek
(8.138) is
T pK
r
ek s
s
r r
'
'
'
. .
. .
. = =

=
3
2 2
3
2
2
0 95 0 3533
2 0 2 0 01
84 48
2
2 2 2
Nm
This is a fairly large torque reflecting the case of a medium power motor.


CHAPTER 9

9.1.
a. As the rotor time constant (
r
*
) does not vary = 1 (9.21) and, with K =
S
1
r
= 0.3 and 0.5, the torque and flux ratios are
T
T
K
K
e
e
*
.
.
.
. =
+
+
=
+
+
=

1
1
1 0812
1 0 3
1 0 3
0812
2
2 2
2
2

r
r
K
K
*
. =
+
+
=
1
1
0812
2
2 2

The same result is obtained for K = 0.5 as = 1.
b. This time = 1 (L
m
= L
m
*
) and
= = =

r
r
r
r
r
r
*
*
/
2
2 3

T
T
e
e
*
.
.
. =
+
+
= 2 1
1 05
1 05 2
125
2
2 2
for = 2, = 1, K = 0.5
r
r
*
.
.
. =
+
+
= 1
1 05
1 05 2
0 7905
2
2 2

T
T
e
e
*
.
. /
. =
+
+
=
2
3
1
1 05
1 05 4 9
08616
2
2

r
r
*
.
. /
. =
+
+
= 1
1 05
1 05 4 9
11368
2
2

Rotor time constant corrector

ELECTRIC DRIVES 27
c. As seen from Figure 9.4, when increases the rotor flux decreases. So
an error in the rotor flux may be translated through a PI control into a
r

calculator.

9.2.
No-load means in rotor flux coordinates i
q0
= 0 and i
s0
= i
d
.
The stator flux
s0
is
( )
s s d m ls d n
L i L L i V
0 0 0
2 = = + = ; / V
s

( ) V
s
= + =
b s m ls d
L L i
0
2 60 120 2
( ) L L i
m ls d
+ =
120 2
120
0 449
. Wb
Or ( ) 0 005 0 08 0 005 0 449 61
0 0 0
. . . . . + = i i i
d d d
A
So the no-load current i i
n d 0 0
2 61 2 4 326 = = = / . / . ; the rated current
is obtained admiting that i
d
= i
d0
and thus
( )
i i S
q d r 0 0 1
61 3
01 0 03 0 003
0 35
118 =
+
= .
. . .
.
. A
i i i
n d q
= + = + =
1
2
1
2
61 118 9 42
0
2
0
2 2 2
. . . A
The rotor flux
( )
r m d
L i = = =
0
01 0 03 61 0 427 . . . . Wb
( ) ( )
( )
s s d ls lr q
L i L L i = + + =
= + + =
0
2 2
2
2
2
2
0 449 0 003 0 003 118 0 456 . . . . . Wb

The rated electromagnetic torque T
e
is
( ) T p
r
S
e
r
r
rated
= = =
3
2
3
2
2
0 427
0 35
3 14 72
2
1
2

.
.
. Nm
The maximum torque at 2
b
corresponds to the criterion of maximum
torque per flux (9.61)
( )
( )
S
r
L L
k
r
ls lr
1
0 35
0 005 0 005
35 =
+
=
+
=
.
. .
rad/s
The stator flux available
s
is


s
b
n
b
V
=

=

=
V
s
2
2
2
120 2
2 2 60
0 2245 . Wb
s s d
L i = 2
In this case the motor is not saturated and thus
L
su
= + = 01 0 003 0103 . . . H
So i
dk
= =
0 2245
0103 2
1561
.
.
. A
( )
( )
i
L L
qk
s
ls lr
=
+
=
+
=
2
0 2245
141 0 005 0 005
15621
.
. . .
. A
The torque
( ) ( )
( )
T p L L L i i
e s ls lr dk qk
= + = =
3
2
3
2
2 0103 0 01 1561 15621 6 949 . . . . . Nm
The electromagnetic power is about the same as for rated conditions
(T
e
b
T
e
2
b
) and an almost 2 / 1 constant power range is obtained.

9.6.
The speed response is described by Equation (9.149)
( )
r r
load
t
load
T
H
e
T
H
m
= +
|
\
|
.
| +
0 1 1

with H p
r
r
r
=
3
2
2
and
m
J
pH
=
H = =
3
2
2
1
0 4
0 75
2
.
.
m
=

=
01
2 0 75
0 066
.
.
. s
( ) ( )
r
t
e = +
|
\
|
.
| +
2 60 1 0 01 2 60
10
0 75
2 60
10
0 75
0 066
.
. .
.

( )
r
t
e = +
1333 3768 363466

0 066
. . .
.

Note
Problems 9.3, 9.4, 9.5 are related to the simulation examples and are treatable likewise.

ELECTRIC DRIVES 29
CHAPTER 10

10.1.
We make use of (10.34)-(10.35) after eliminating
d
and
q

0 = + r i L s i L i
s d d d r q q

~ ~ ~
(A)

V
s
r i L s i L i
q
s q q q r PM d d
= + + +
|
\
|
.
|
~ ~ ~
(B)
with

i
L i
r sL
d
r q q
s d
~
~
=
+
(C)
and
( )
i
V
s
r sL
L L
r sL
q
q
r PM
s q
r d q
s d
~
=

|
\
|
.
|
+ +
+

2
(D)
The torque response in Laplace form is

( )
T p L L i i
e PM d q d q
~ ~ ~
= +
|
\
|
.
|
3
2
(E)
i
d
~
and i
q
~
are to be eliminated in (E) by using (C) and (D).

10.2.
a. The no-load voltage (10.50) V
s0
is
V L i V
s r dm F r PM 0 0
2 = = =
So
PM
=

=
80 2
2 2
1800
60
0 3 . Wb
b.
( ) i i i i
sn n qn dn
= = = = 2 10 2 0
So the torque (10.94) is
( ) ( )
T p L L i i
e PM d q d q
= + = =
3
2
3
2
2 0 3 10 2 12 69 . . Nm

V L i
d r q q
= = = 2 30 2 0 01 10 2 53129 . . V
V r i
q s q r PM
= + = + = 05 10 2 80 2 119 85 . . V
So V V V
sn d q
= + = + =
2 2 2 2
53129 119 85 1311 . . . V
c. The no-load speed
r0
(10.98) is

r
sn s d
d d PM
V r i
L i
0
2 2 2
=

+

with i i V Wb L H
d n PM q
= = = = = 2 1311 0 3 0 01 ; . ; . ; . V L
sn d

( )
r 0
2 2
2
1311 05 10 2
0 01 10 2 0 3
823328 =

+
=
. .
. .
. rad/s
n
p
r
0
0
2
823328
2 2
65551 = =

.
. rps = 3993.3 rpm
d. Making use of V
d
, V
q
expressions
V r i L i
d s d r q q
=
( ) V r i L i
q s q r d d PM
= + +
with V V V
sn d q
= +
2 2
; i i i
sn d q
= = + 10 2
2 2

r
= = 2 2 60 240
To simplify the relation let us neglect r
s
(r
s
0).
( ) ( )
( )
V L i L i
L i i L i L i
sn r q q d d PM
r q sn d d d PM d d PM
= + + =
= + + +

2
2
2 2 2 2 2 2
2

( ) 1311 240 0 01 10 2 0 3 10 2 0 01 0 3
2
2 4 2
. . . . . = + + +
i i
d d


ELECTRIC DRIVES 31
The solutions are i
A
A
d
1 2
40
20
,
=

. Both of them are larger than

i
sn
= 10 2 . The answer is that the motor may not work at that speed
(3600 rpm) at rated current.

10.3.
a. According to the definition of norms
L l
V
I
d d
n
n n
= =
=

1
3
120
20 120
0 04777 . H
L l
V
I
q q
n
n n
= =
=

1
0 3
120
20 120
0 004777 . . H
( ) r r p u
V
I
s s
n
n
= = = . . . . 0 05
120
20
0 3
b. For the base speed
i i i i
sn n dn qn
= = + = 2 20 2
2 2

also
i
i
L
L
d
q
q
d
= = =
1
10
0 31622 .
So i
dn
= 85026 . A; i
qn
= = =
i
dn
0 31622
85026
0 31622
26888
.
.
.
. A
The torque T
en
is
( )
( )
T p L L i i
en d q dn qn
= =
= =
3
2
3
2
2 0 04777 0 004777 85026 26888 29 48 . . . . . Nm

The input power
P
1n
= + = + = T
p
r i
en
n
s n

1 2 2
3 29 487
120
2
3 0 3 20 591535 . . . W
The power factor cos
1n
is
cos
.
.
1
3
391535
3 120 20
08215
n
= =

=
P
V I
1n
n n


e.
e
rn PMq 0
0 3 120 2 = = .
PMq
=

=
0 3 120 2
120
01347
.
. Wb
The ideal no-load speed correspondes this time to i
d
= 0 (10.116)
( )
V L i
sn r q q q PMq r
= =
0 0

r
sn
q n PMq
V
L i
0
2
120 2
0 004777 20 2 01347
=
=

=
. .
rad/s
n
0
=

CHAPTER 11

11.1.
a. According to (11.8), the torque T
e
is
T p i
e PM dc
= = =
4 4
125 2 10 31847
. . Nm
b. The ideal no-load speed
r0
is (11.11)

r
d
PM
V
0
4 4
500
125
314 = = =
.
rad/s
c. The speed torque curve (straight line) - (11.10) - is
T p
V
r
esc PM
d
s
= =
=
4
2
4
125 2
500
2 2
3981
. . Nm
r
e
T
=
|
\
|
.
|
314 1
3981 .

11.2.
a. The maximum torque per current criterion (11.51) reads
( )
2 0
2 2
i i
L L
i
dn dn
PM
d q
sn


ELECTRIC DRIVES 33
where i
sn
= 10A, L
d
= 0.06H, L
q
= 0.1H,
PM
= 1Wb
( )
2
10
0 06 01
100 0
2 2
i i
dn dn
=
.
. .

i
dn
1 2
25 25 800
4
25 37 749
4
3187
15687
2
,
.
.
.
=
+
=

=

Only the negative component will be considered as it produces positive
reluctance torque
i i i
qn sn dn
= = =
2 2 2 2
25 15687 19 4658 . .
The base speed with r
s
= 0 comes from (11.52)
( ) ( )
( ) ( )

b
sn
sn
sn
d dn PM q qn
V V
L i L i
= =
+ +
=
=
+ +
=
2
2
2 2
300
0 06 15687 1 01 19 4658
154 046
. . . .
. rad / s

The torque at base speed T
eb
is
( ) ( )
( )( ) ( )
T p L L i i
eb PM d q dn qn
= + =
= + =
3
2
3
2
2 1 0 06 01 15687 19 4658 9504
. . . . . Nm

b. The flux level at 3
b
is

s
sn
b
V
*
.
. = =

=
3
300
3 154 0 46
0 64915Wb
The i
d
equation for maximum torque/flux (11.53) is
( ) ( ) ( ) ( )
L i L L L L i L i L L
d d PM d q q d d d d PM d q s
+ + + =
2
2
2 0
*

( ) ( ) ( ) ( )
( ) ( )
i L L L L L L L L L L i
L L L L
d d d q q d PM d d q d q PM d
PM d q d q s
2 2 2
2
2
2 2 2
2 0
+ +
+ + =

*

( ) ( ) ( ) ( ) 2 4 3 2 0
2 2 2 2
2
i L L L i L L L L L L L
d d d q d PM d d q PM d q d q s
+ + + =
*


( )
( )
( ) ( )
( )
2
4 3 2
0
2
2
2
2
2
i i
L L L
L L L
L L L L
L L L
d d PM
d q d
d d q
PM d q d q s
d d q
+

+
+
=

*

( )
( )
( ) ( )
( )
2 1
4 0 06 3 01 0 06
0 06 0 06 01
1 2 0 06 01 0 06 01 0 65
0 06 0 06 01
0
2
2
2 2
2
i i
d d
+

+
+
=
. . .
. . .
. . . . .
. . .

2 25 215277 0
2
i i
d d
+ = .
i
d
1 2
25 625 8 215277
4
25 28 235
4
13308
,
. .
. =
+
=

= A
( )
( ) ( ) i
L
L i
q
q
s d d PM
= + = + =
1 1
01
0 65 0 06 13308 1 6179
2
2
2
2

*
.
. . . . A
So the corresponding torque is
( ) ( ) ( ) T
e
= + =
3
2
2 1 0 06 01 13308 6179 28 404 . . . . . Nm

CHAPTER 12

12.1.
a. The maximum flux linkage is simply calculated from Figure 12.22 from
the expression
max max
. = = =
L i
a
s
0
3
6 10 10 10 0 6Wb
b. The base speed, for given maximum voltage V
d
= 300V,
w
=
s
= /6
and
max
is (12.4) is
b b
d w
V
= = =

=

max
/
.
.
300 6
0 6
26166 rad/s
b
=
b
is the mechanical angular speed as
w
is a mechanical angle also.
c. The maximum average torque at zero speed is proportional to the area
OABCO per dwell angle
w
=
s
= /6
T
OABCO
eav
=
/ 6

Form Figure 12.22
DE L i
u s
= = =
10 10 2 0 02
3
. Wb

ELECTRIC DRIVES 35
( ) AB BF AF L i L i L L i
L i
a
s
u a
s
u
u
= = = =
= = =
0 0 0
0
3
5 5 10 10 10 05
max max max
max
. Wb = CD

OABCO ECBFE DEFAD OCE = + =
( )
( )
( )
( )
=
+

+
+ = i i
CE BF
i i
DE AF
CE
i
s s
s
0 0
2 2 2
max max

( )
( )
( ) i i
CD AB
CE
i
i i AB
s
s
s 0 0
2 2
052
2
2
max max
.
+
+ = + =
( )
10 2 05 052 4 52 + = . . .
T
eav
= =
4 52
6
8 6369
.
/
.
Nm
For torque versus position for constant current we need the analytical
expressions of flux/current/position curves (12.24 - 12.25)
( )

= +

|
\
|
.
|
|
> i L K
i
i
u s
r
s
s
0
0
0 ; ; i
( ) = + > L i K i
u s r s 0 0
0 ; ; i
From Figure 12.22
( )

max
/
i i
s
A
K DE CD
s
= =
= +
|
\
|
.
| = +
2
2 10 10
6
2
3

with CD = 05 . Wb, DE = 0 02 . Wb, K
s
= 0.955
The torque, (12.18), is
( ) ( ) T i i di
e r
r
r
i
, , = =
0

( )
( ) ( ) = +

|
\
|
.
|
|
+ +
(
(
=

r
u s
r
s
i
u s r
i
i
i L K
i
di L i K di
s
s
0
0
0


( )
( ) ( )( ) = +

(
(
+ +
(
(
=

r
s
u s
r
s
u
s s r s
i
L K
i
L
i i K i i
2
0
2 2
0
2 2

( ) ( ) = + =
K i
K i i K i i
s s
s s s s
2
2 /
So the torque is independent of position but is somehow linear with the
current. This is due to the piecewise magnetization curves valid for heavy
local saturation of stator pole zones close to the airgap.
As expected for i = i
smax
= 10A, ( ) ( ) T T
eav
A
e
A 10 10
8 6369 = = . Nm
d. At 2
b
the maximm flux is given again by (12.4)

max
/
.
. =

=
300 22 180
2 26166
0 22 Wb
(The flux does not vary from
0
= 5
0
to
r
= 0
0
). Approximately from
(12.24) we may find the peak current for this situation
i
L K
i
u s
r
s
=
+
=
+
=

0 22
0 01 0 955
22
2
180
11384
.
. . /
. A
Notice again the fact that the flux does not vary for
0
< 0 (the rotor
poles are between stator poles).

CHAPTER 13

13.1.
The line filter
a. First we determine the line current fundamental I
1

I
driveKVA
V
LL
1
3
25000
3 220
65685 = =
= . A
The harmonic factor HF (13.1) is
HF
I
I
= = + + =

2 2
1
2
2 2 2 2 2 2
5 0 25 7 0 05 11 0 015 1305 . . . .
b. The capacitor KVA is in general 30% of drive KVA
KVAF f CV CV CV
LL LL LL
= = =

2 10 2 60 10 0 377
1
3 2 3 2 2
.
The capacitor value is

ELECTRIC DRIVES 37
C
KVAF
V
LL
= =

=

0 377
0 3 25
0 377 220
411 10
2 2
6
.
.
.
F
The inductance L (13.3) is
( )
L
f C
r
= =

=

1
4
1
4 5 60 0 95 411 10
0 7595 10
2 2 2 2 6
3
.
. H
L, C are total capacitors and inductances (for three phases).
c. To calculate the voltage total harmonic distorsion factor, after the filter
has been introduced we have to determine the voltage attenuation factors
( )
( )
( )
a h
h
KVAF
SCKVA
5
2
2
1
5
1 5
= +
|
\
|
.
|
|

/

with = 0.95, h = 5, 7, 11
a
5
(5) = 7.242, a
5
(7) = 1.554, a
5
(11) = 1.1322
voltage harmonics with filter off are (13.7)
( ) ( ) V I 5 5 5
25
100
25 5
25
500
6 25% = = = % .
( ) ( ) V I 7 7 7
25
100
5 7
25
500
175% = = = % .
( ) ( ) V I 11 11 11
25
100
15 11
25
500
0825% = = = % . .
Thus the total voltage distorsion factor THD
f
, (13.18), is
( ) ( )
( )
( ) ( )
( )
( ) ( )
( ) THD V a V a V a
f
= + + = 5 5 5 7 7 7 11 11 11
5
2
5
2
5
2
/ / /
( ) ( ) ( )
= + + = 5 6 25 7 742 7 175 1554 11 0825 1132 12 057%
2 2 2
. / . . / . . / . .

13.2.
The voltage reflection
a. The motor load impedance
Z
V
driveKVA
V
V
driveKVA
motor
n
n
n
= =

=
3
3 3 120
10000
4 32
2 2
.

The reflection coefficient
m
(13.20) is
m
motor
motor
Z Z
Z Z
=

+
=

+
= =
0
0
1 1 10
1 1 10
9
11
0818
/
/
.
b. From (13.22) we have
3
0 2
l V
u t
V
c d m
r
d
*
.
l
u t
cable
r
m
=
0 2
3
0 2 160 05
3 0818
652
. . .
.
.
*
m
c. The critical cable length comes from (13.24)
l
u t
cable
r
m
=

=
*
.
.
.
3
160 05
3 0818
32 6
m
d. An RC filter is used (Figure 13.5a). The filter resistance
R = Z
0
= Z
m
/ 10 = 4.32 / 10 = 0.432
The filter capacitor for 20% reflected wave is obtained from (13.26)
( )
12 2 1
0
0
0
. E E
Z
R Z
e
t
R Z C
r
=
+
|
\
|
.
|
|
+

0 6 1
1
2
0 5 10
2 0 432
6
.
.
.
=
|
\
|
.
|
e
C

08
0 5787 10
6
.
.
=

e
C

05787 10
125 01785
05787 10
01785
324 10 324
6 6
6
.
ln . .
.
.
. .
= = =

= =

C
C F F

CHAPTER 14

14.1.
The stator flux vector amplitude
s
(with zero stator resistance, r
s
= 0)
may be calculated from (14.28)
V
s r s


ELECTRIC DRIVES 39
with V V
V
s n
L
= = = = 2
3
2 4 6 10
2
3
3737
3
. V

s
s
r
V
= = =
3737
376 7
9 92
.
. Wb
The inductances in Henris are
L L l
V
I
d q d
L
n r
= = =

=
/
.
.
.
.
3
0 75
4 6 10
3 1000 376 7
7 058
3
mH
The leakage inductance is
L l
V
I
ls ls
L
n r
= =

=
/
.
.
.
.
3
017
4 6 10
3 1000 376 7
16
3
mH

(A) Vector diagram for i
d
< 0

So the magnetization inductance L
dm
is
L L L
dm d ls
= = = 7 058 16 5458 . . . mH
Now as the current (phase current, (rms), I
n
) is known
( ) i i I
d q n
2 2
2
2 + =
Also i
L
q
s
q
= =

sin . sin
.
.
9 92 30
7 058 10
702 74
0
3

i I i
d n q
= = = 2 2 1000 702 74 1227 25
2 2 2 2
. . A
Now
d d d dm F
L i L i = +

0 < =

=

= i
L i
L
L i
L
F
d d d
dm
s d d
dm
cos

( )
=

9 92 30 7 058 10 1227 25
5488 10
3162 47
0 3
3
. cos . .
.
. A
For i
d
= +1227A
( )
0
9 92 30 7 058 10 1227 25
5488 10
17084
0 3
3
< =

i
F
'
. cos . .
.
. A
In this latter case the machine is underexcited (see Figure B).

(B) Vector diagram for i
d
> 0

The electromagnetic torque is
( )
T
e
=
3
2
p i i
d q q d

For the two cases
( ) ( ) T
e
i
d
>
= =
0
0 0
3
2
2 9 92 30 702 74 9 92 30 1227 25 129 438 . cos . . sin . . Nm
(generating - Figure B)
( )
( ) ( ) T
e
i
d
<
=
0
0 0
3
2
2 9 92 30 702 74 9 92 30 1227 25 . cos . . sin .
( ) T
e
i
d
<
=
0
3639352 . Nm (motoring - Figure A)

14.2.
The no-load rotor voltage for
r0
= 0.8
1
and, respectively,
r0
= 1.2
1

is, (14.81),

ELECTRIC DRIVES 41
( )
( )
( )
V V
L
L
r s
r m
s
0
0 8
0
1 0
1
1
5000 2 0 93 1 08 13113
.
. . .
=

= = V
( )
( )
V
r 0
1 2
1
5000 2 0 93 1 12 13113
.
. . .
= = V
So in the first case (sub-synchronouns speed) the stator and rotor voltage
are in phase while, for the second case (hyper-synchronous speed) they are
180
0
phase shifted and the phase sequence is opposite to each other.
The required rotor reactive power injected in the rotor for S = 0.2,
(14.85), for stator unity power factor has to cover the leakage power in the
machine (as the magnetization power is neglected here)
Q S L i
rotor sc s
= =
3
2
1
2

( )
=
= S
3
2
2 60 0 05
5000
2 60 1000
1000 2 015 10
2
6
. . VA
The cycloconverter and step-up transformer rating is 20% of stator rating
S V I
n sn sn
= = = 3 3 5 10 1 10 15
3 3
MVA
S S
nrotor n
= = = 0 2 15 0 2 3 . . MVA

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0 04 1884 200 27536 . . Nm for 0 t 0.2 s

0 04 1884 200 124 64 . . Nm for 0.8 t 1 s

while i again for t

sin cos cos

sin cos cos

0 434 10 10 9 682 10116

1333 3768 363466

. Both of them are larger than

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