Z SOURCE INVERTER BASED INDUCTION MOTOR DRIVES.

ABSTRACT
In this project embedded control Z-source inverter FED induction motor traditionally Voltage Source Inverter (VSI) and Current Source Inverter (CSI) fed induction motor drives have a limited output voltage range. Conventional VSI and CSI support only current buck DC-AC power conversion and need a relatively complex modulator. The limitations of VSI and CSI are overcome by Z-source inverter. The Z-source inverter system employs a unique LC network in the DC link and a small capacitor on the AC side of the diode front end. Z source inverter and can be used in light electric vehicles and any other adjustable drive applications. The operation principle, system configuration and control method are presented. The mathematical model of the drive system is established based on the equivalent circuit and state space method. Simulation results prove the desired features and feasibility of the proposed drive system.

I. INTRODUCTION

Compared with the former inverter, the Z-source inverter has more advantages such as higher efficiency and lower cost, which is very promising for FC systems due to its novel voltage buck/boost ability [2]. The interrelated literatures [1-6] demonstrated the unique features of the Zsource inverter and its feasibility for the adjustable speed drive (ASD) systems with induction machines. . This paper investigates the induction motor drive system fed by a Z-source inverter. Firstly, the configuration, operation principle and control method of proposed electric drive system are described. Then the statespace method is used for mathematical modeling. Finally, simulation results are carried out to verify the desired performance of the proposed drive systems.

classicification of inverter:

Based on the source used Voltage source inverter Current source inverter

Based on switching methods Pulse width modulation inverters Square wave inverters

Based on switching devices used Transistorized inverter Thyristorised inverter

Based on the inversion principle Resonant inverter Non- Resonant inverter

1.4 Semiconductor devices: The electronic semiconductor device act as a switching device in the power electronic converters. In general, the characteristics of the device are utilized in such a way that it acts as a short circuit when closed. In addition to, an ideal switch also consumes less power to switch from one state to other. Semiconductor is defined as the material whose conductivity depends on the energy (light, heat, etc.,) falling on it. They dont conduct at absolute zero temperature. But, as the temperature increases, the current conducted by the semi conductor increases as it gets energy in the form of heat. The increase in current is propotional to the temperature rise. Semiconductor switches are diodes, SCR, MOSFET, IGBT, BJT, TRIAC etc.,

The insulated-gate bipolar transistor or IGBT

The insulated-gate bipolar transistor or IGBT is a three-terminal power semiconductor device, noted for high efficiency and fast switching. It switches electric power in many modern appliances: electric cars, variable speed refrigerators, airconditioners, and even stereo systems with digital amplifiers. Since it is designed to rapidly turn on and off, amplifiers that use it often synthesize complex waveforms with pulse width modulation and low-pass filters.

The IGBT combines the simple gate-drive characteristics of the MOSFETs with the highcurrent and lowsaturation-voltage capability of bipolar transistors by combining an isolated-gate FET for the control input, and a bipolar power transistor as a switch, in a single device. The IGBT is used in medium- to high-power applications such as switched-mode power supply, traction motor control and induction heating. Large IGBT modules typically consist of many devices in parallel and can have very high current handling capabilities in the order of hundreds of amps with blocking voltages of 6,000 V. The IGBT is a fairly recent invention. The first-generation devices of the 1980s and early 1990s were relatively slow in switching, and prone to failure through such modes as latchup and secondary breakdown. Second-generation devices were much improved, and the current third-generation ones are even better, with speed rivaling MOSFETs, and excellent ruggedness and tolerance of overloads[1].

The extremely high pulse ratings of second- and third-generation devices also make them useful for generating large power pulses in areas like particle and plasma physics, where they are starting to supersede older devices like thyratrons and triggered spark gaps. Their high pulse ratings, and low prices on the surplus market, also make them attractive to the high-voltage hobbyist for generating large amounts of high-frequency power to drive experiments like Tesla coils. Availability of affordable, reliable IGBTs is a key enabler for electric vehicles and hybrid cars. Toyota's second generation hybrid Prius has a 50 kW IGBT inverter controlling two AC motor/generators connected to the DC battery pack.[2] In addition, for about 20 years Toshiba has applied IGBTs as audio amplifiers

History The IGBT is a semiconductor device with four alternating layers (P-N-P-N) that are controlled by a metal-oxide-semiconductor (MOS) gate structure without regenerative

action. This mode of operation was first proposed by Yamagami in his Japanese patent S4721739, which was filed in 1968[3]. This mode of operation was first experimentally discovered by B. J. Baliga in vertical device structures with a V-groove gate region and reported in the literature in 1979
[4]

. The device structure was referred to as a V-groove

[5] [6]

MOSFET device with the drain region replaced by a p-type Anode Region in this paper and subsequently as the insulated-gate rectifier (IGR) MOSFET"[8]. Plummer found the same IGBT mode of operation in the four layer device(SCR) and he first filed a patent application for the device structure in 1978. USP No.4199774 was issued in 1980 and B1 Re33209[9] was reissued in 1995 for the IGBT mode operation in the four layer device(SCR.) Hans W. Beck and Carl F. Wheatley invented a similar device for which they filed a patent application in 1980, and which they referred to as "power MOSFET with an anode region".[10] This patent has been called "the seminal patent of the Insulated Gate Bipolar Transistor."[11] The patent claimed "no thyristor action occurs under any device operating conditions." This substantially means the non-latch-up IGBT operation for the entire device opeation range. Baliga had filed for a patent on his similar device the same year,[12] but it took much longer to issue (1990, compared to Beck and Wheatley's 1982 issue date). Devices capable of operating over an extended current range for use in applications were first reported by Baliga et al. in 1982[13]. A similar paper was also submitted by J.P. Russel et al. to IEEE Electron Device Letter in 1982[14]. The applications for the device were initially regarded by the power electronics community to be severely restricted by its slow switching speed and latch-up of the parasitic thyristor structure inherent within the device. However, it was demonstrated by Baliga and also by A.M. Goodman et al. in 1983 that the switching speed could be adjusted over a broad range by using electron irradiation [15][16]. This was , the insulated-gate transistor (IGT) , the conductivity-modulated field-effect transistor (COMFET).[7] and "bipolar-mode

followed by demonstration of operation of the device at elevated temperatures by Baliga in 1985 [17]. Successful efforts to suppress the latch-up of the parasitic thyristor and the scaling of the voltage rating of the devices at GE allowed the introduction of commercial devices in 1983 [18], which could be utilized for a wide variety of applications. Complete suppression of the parasitic thyristor action and the resultant non-latch-up IGBT operation for the entire device operation range was achieved by A. Nakagawa et al. in 1984
[19]

. The non-latch-up design concept was filed for US patents[20]. The developed 1200V

IGBTs were directly connected without any loads to a 600V constant voltage source and were switched-on for 25micro-seconds. The device forward voltage became the same as the source voltage and a large current as much as possible flowed. The developed devices successfully withstood the severe condition. This was the first demonstration of so-called "short-circuit-withstanding-capability" in IGBTs. Non-latch-up IGBT operation was ensured, for the first time, for the entire device operation range[21]. In this sense, the non-latch-up IGBT proposed by Hans W. Beck and Carl F. Wheatley was realized by A. Nakagawa et al. in 1984. Products of non-latch-up IGBTs were first commercialized by Toshiba in 1985. Device structure An IGBT cell is constructed similarly to a n-channel vertical construction power MOSFET except the n+ drain is replaced with a p+ collector layer, thus forming a vertical PNP bipolar junction transistor.

Cross section of a typical IGBT showing internal connection of MOSFET and Bipolar Device This additional p+ region creates a cascade connection of a PNP bipolar junction transistor with the surface n-channel MOSFET. This connection results in a significantly lower forward voltage drop compared to a conventional MOSFET in higher blocking voltage rated devices. As the blocking voltage rating of both MOSFET and IGBT devices increases, the depth of the n- drift region must increase and the doping must decrease, resulting in roughly square relationship increase in forward conduction loss compared to blocking voltage capability of the device. By injecting minority carriers (holes) from the collector p+ region into the n- drift region during forward conduction, the resistance of the n- drift region is considerably reduced. However, this resultant reduction in on-state forward voltage comes with several penalties: The additional PN junction blocks reverse current flow. This means that IGBTs cannot conduct in the reverse direction, unlike a MOSFET. In bridge circuits where reverse current flow is needed an additional diode (called a freewheeling diode) is placed in parallel with the IGBT to conduct current in the opposite direction. The penalty isn't as severe as first assumed though, because at the higher voltages where IGBT usage dominates, discrete diodes are of significantly higher performance than the body diode of a MOSFET. The reverse bias rating of the N- drift region to collector P+ diode is usually only of 10's of volts, so if the circuit application applies a reverse voltage to the IGBT, an additional series diode must be used. The minority carriers injected into the n- drift region take time to enter and exit or recombine at turn on and turn off. This results in longer switching time and hence higher switching loss compared to a power MOSFET.

The additional PN junction adds a diode-like voltage drop to the device. At lower blocking voltage ratings, this additional drop means that an IGBT would have a higher on-state voltage drop. As the voltage rating of the device increases, the advantage of the reduced N- drift region resistance overcomes the penalty of this diode drop and the overall on-state voltage drop is lower (the crossover is around 400 V blocking rating). Thus IGBTs are rarely used where the blocking voltage requirement is below 600 V

1.4.1Classification of semiconductor device Based on controllability: Uncontrol switching device (SCR) Semicontrol switching device Fully control switching device

Based on control modes: Current control devices(SCR ,BJT) Voltage control device(MOSFET ,IGBT)

Based on current direction Unidirectional device (SCR,MOSFET ,IGBT) Bi- Unidirection device(TRIAC)

1.5 Advantages of inverters: Small leakage current during off stage Low voltage drop during ON stage Faster turn ON and turn OFF Small control power to switch from one state to other High forward current and blocking voltage capabilities. High dv/dt and di/dt ratings

1.5.1Application of Inverters: Adjustable speed ac drives, UPS static VAR compensators Active filters Flexible AC transmission system In all vehicle for lightning Now also used for driving electric vehicle

Introduction 1.1 Inverter: Inverter is power electronic circuit that converts a direct current into an alternative current power of desired magnitude and frequency. The inverters find their application in modern ac motor and uninterruptible power supplies. 1.2 classicification of inverter: Based on the source used Voltage source inverter Current source inverter

Based on switching methods Pulse width modulation inverters Square wave inverters

Based on switching devices used Transistorized inverter Thyristorised inverter

Based on the inversion principle Resonant inverter

Non- Resonant inverter

II. Z SOURCE INVERTER BASED INDUCTION MOTOR DRIVESYSTEM: Fig. 1 shows the main circuit of the proposed Z-source inverter based induction drive system. A voltage-type Zsource inverter is utilized, instead of the traditional voltage source inverter (VSI) or current source inverter (CSI), to feed electric energy from the dc source to the brushless dc motor. To gain the buck/boost ability, the pulse width modulation (PWM) method should be used to control the Zsource inverter to generate shoot-through states. Unlike the Z-source inverter based ASD system with induction machines, the output currents of the Z-source inverter in the proposed induction drive system are composed of square waveforms of 120 electrical degree. Consequently, the operation principle, the modeling method and the control are all different from the Z-source inverter based ASD system with induction machines. Fig.2 shows some equivalent circuits when the phase a and b windings are conducted, with the current flows from phase-a winding to phase-b winding. The shoot-through states can be generated via shorting either any one arm or both arms in the bridge For ease of illustration, assume that the upper switches of the bridge operate in chopping modes, while the lower are used to short the bridge arms. The broad-brush lines and arrows indicate the path and direction of the currents, respectively. From Fig.2 (a) and (b), it can be seen that only two semiconductor devices (IGBT or the anti-parallel diode) in different arms of the bridge are conducted in the non-shoot-through modes. While in the shoot-through modes, four devices are conducted when the shoot-through occurs in one phase arm, as shown in Fig.2(c).And six devices may be conducted if the shoot-through occurs in two phase arm.

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In the phase commutation stage, the switch S1 is shut off, and the switch S5 is turned on at the same time. There are three devices conducted in the non-shootthrough modes, as shown in Fig.3 (a) and (b). While in the shoot-through modes, five devices may be conducted when the shoot-through occurs in one phase arm, as shown in Fig.3(c). And seven devices may be conducted if the shoot-through occurs in two phase arms. It is worth noting that, the shoot-through states should be generated by gating on the lower switch only when the inverter output is in active state. For example, in Fig.2(c), the switches S1 and S6 are triggered to feed the phase a and b windings, the switch S4 is used to shorted the arm, and the sketch of gating signals to the switches S1, S6and S4 can be seen in Fig.4.

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Taking the duty ratio of S1 is D1 and the duty ratio of S4 is D4, the average output voltage of the inverter is

It can be seen that the output voltage can be bucked and boosted within a wide range. A straight line is used to control the shoot-through states. When the triangular waveform is lower than the straight line, the circuit turns into shoot through modes. 1.1 What is an AC motor?

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Fig1: 3-PHASE INDUCTION MOTOR

AC motors operate from alternating current (AC) power sources. The magnetic fields typically are generated using coils on the rotor and stator, and the field movement occurs naturally in the stator due to the alternating nature of the input power. These motors are inexpensive to build and operate, reliable, and usually run from standard line power. The power supply frequency determines the speed of an AC motor, so if operated from line power, the speed of rotation is always the same. Variable frequency power drives control the speed of AC motors, but such drives are expensive. Different industries use lots of electrical motors in their applications. Electric motor drive systems are estimated to consume over half of all electricity in the United States and over 70% of all electricity in industrial applications. It is necessary to design the right motor to the right application. AC induction motor is the most common motor used in industry and mains powered home appliances. Induction motors are also sometimes called squirrel cage motors because the appearance of early rotors. AC electric motor, being rugged requires neither a separate DC power source nor slip rings. AC induction motors offer users simple, rugged construction and easy maintenance.

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1.2 Construction of an Induction Motor: A 3-phase induction motor has two main parts:

1.2.1 Stator consisting of a steel frame that supports a hollow, cylindrical core of stacked laminations. Slots on the internal circumference of the stator, houses the stator winding.

1.2.2 Rotor also composed of punched laminations, with rotor slots for the rotor winding. Stator and Rotor together, is analogous to an ac transformer with a rotating secondary. The motors name comes from the alternating current (AC) induced into the rotor by the rotating magnetic flux produced in the stator. Motor torque is developed from interaction of currents flowing in the rotor bars and the stator's rotating magnetic field. .

FIG 2: STATOR AND ROTOR

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FIG 3: SIDE VIEW REPRESENTATION OF INDUCTION MOTOR

In practice, induction motors have internal diameters that are smooth, instead of having salient poles. In this case, each pole covers 180 of the inner circumference of the rotor (pole pitch = 180). Also, instead of a single coil per pole, many coils are lodged in adjacent slots. The staggered coils are connected in series to form a phase group. Spreading the coil in this manner creates a sinusoidal flux distribution per pole, which improves performance and makes the motor less noisy.

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FIG 4. STATOR WINDING AND FLUX FORMED BY EACH GROUP PHASE

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1.3 Two-types of rotor windings: 1.31 Squirrel-cage windings

Produce a squirrel-cage induction motor (most common).It consists of copper bars, slightly longer than the rotor, which are pushed into the slots. The ends are welded to copper end rings, so that all the bars are short circuited. In small motors, the bars and end-rings are die-cast in aluminium to form an integral block. The bars are slanted on a small rotor to reduce audible noise. Fins are placed on the ring that shorts the bars. These fins work as a fan and improve cooling.

FIG 5 SQUIRREL-CAGE CONSTRUCTION

FIG 6. SQUIRREL-CAGE ROTOR

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1.32 Conventional 3-phase windings

It is made of insulated wire, which produces a wound-rotor induction motor (special characteristics). It has a 3-phase winding, similar to the stator winding. The rotor winding terminals are connected to three slip rings, which turn with the rotor. The slip rings/brushes allow external resistors to be connected in series with the winding. The external resistors are mainly used during start-up under normal running conditions the windings short-circuited externally.

FIG7. COVENTIONAL 3-PHASE ROTOR WINDING

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1.4

Operating Principle of Induction Motor

Operation of 3-phase induction motors is based upon the application of Faradays Law and the Lorentz Force on a conductor. Consider a series of conductors (length L) whose extremities are shorted by bars A and B. A permanent magnet moves at a speed v, so that its magnetic field sweeps across the conductors.

FIG8. DEMONSTRATION OF FARADAYS LAW

The following sequence of events takes place:

1. A voltage E = BLv is induced in each conductor while it is being cut by the Flux (Faradays Law)

2. The induced voltage produces currents, which circulate in a loop around the conductors (through the bars).
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3. Since the current-carrying conductors lie in a magnetic field, they experience a mechanical force (Lorentz force).

FIG 10. DEMONSTRATION OF LORENTZ FORCE

4. The force always acts in a direction to drag the conductor along with the magnetic field. 1.4.1 How does an Induction Motor Work? The three-phase stator of the Induction motor is supplied by balanced three-phase voltage that drives an ac magnetizing current through each phase winding. The magnetizing current in each phase generates a pulsating ac flux. The flux amplitude varies sinusoidally and the direction of the flux is perpendicular to the phase winding. The three fluxes generated by the phase windings are separated by 120 in space and in time for a two-pole motor . The total flux in the machine is the sum of the three fluxes. The summation of the three ac fluxes results in a rotating flux, which turns with constant speed and has constant amplitude. The rotating flux induces a voltage in the shortcircuited bars of the rotor. This voltage drives current through the bars. The induced voltage is proportional with the difference of motor and synchronous speed. Consequently the motor speed is less than the synchronous speed. The interaction of the rotating flux and the rotor
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current generates a force that drives the motor. The force is proportional with the flux density and the rotor bar current 1.4.2 Rotating Field:

Consider a simple stator with 6 salient poles - windings AN, BN, CN. The windings are mechanically spaced at 120 from each other and are connected to a 3-phase source. AC currents Ia, Ib and Ic will flow in the windings, but will be displaced in time by 120. Each winding produces its own MMF, which creates a flux across the hollow interior of the stator. The 3 fluxes combine to produce a magnetic field that rotates at the same frequency as the supply.

FIG 11. 3-PHASE SUPPLY TO 6 SALIENT POLES OF STATOR

FIG 12. FOUR PHASE GROUP OF PHASE A PRODUCING 4 POLE MAGNETIC FIELD

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FIG 12. ROTATING FIELD CAUSE BY THE THREE PHASE VOLTAGE AND ITS INFLUENCE ON STATOR POLES

1.4.3 Direction of rotation: The phase current waveforms follow each other in the sequence A-B-C. This produces a clockwise rotating magnetic field. If we interchange any two of the lines connected to the stator, the new phase sequence will be A-C-B. This will produce a counter-clockwise rotating field, reversing the motor direction.

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1.4.4 Synchronous Speed:

The rotating speed of the revolving flux can be reduced by increasing the number of poles (in multiples of two).In a four-pole stator, the phase groups span an angle of 90. In a six-pole stator, the phase groups span an angle of 60. This leads to the definition of synchronous speed:

Ns = 120 f / p

Ns = synchronous speed (rpm) f = frequency of the supply (Hz) p = number of poles

1.4.5 Slip (Relative motion):

The difference between the synchronous speed and rotor speed can be expressed as a percentage of synchronous speed, known as the slip.

S = Ns - N Ns

S = slip, Ns = synchronous speed (rpm), N = rotor speed (rpm)

At no-load, the slip is nearly zero (<0.1%). At full load, the slip for large motors rarely exceeds 0.5%. For small motors at full load, it rarely exceeds 5%. The slip is 100% for locked rotor.

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At standstill, the relative speed of the rotating mmf is at a maximum; therefore the frequency of the induced emf is at a maximum. Once the rotor is turning the relative speed, and hence frequency, of the induced emf decreases. If the rotor is turning at synchronous speed, there is no relative speed and therefore no induced rotor emf or rotor current flow. Therefore there is no torque produced. This is an impossible situation that cannot be achieved by normal motor.

Nr= Rotor speed, Ns=synchronous speed, At Standstill Nr = 0.

1.4.6 Frequency induced in the rotor: The frequency induced in the rotor depends on the slip: fR = sf fR = frequency of voltage and current in the rotor f = frequency of the supply and stator field s = slip

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1.4.7 Various Operations of Induction Motor: Locked rotor:

When the rotor is stationary, the field rotates at a frequency (relative to the rotor) equal to the supply frequency. This induces a large voltage hence large currents flow within the rotor, producing a strong torque.

Acceleration:

When released, the rotor accelerates rapidly. As speed increases, the relative frequency of the magnetic field decreases. Therefore, the induced voltages and currents fall rapidly as the motor accelerates.

Synchronous speed:

The relative frequency of the rotating field is zero, so the induced currents and voltages are also zero. Therefore, the torque is zero too. It follows, that induction motors are unable to reach synchronous speed due to losses such as friction.

Motor under load:

The motor speed decreases until the relative frequency is large enough to generate sufficient torque to balance the load torque.

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CHAPTER 3 HARDWARE DETAILS

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