Frequency Control

Reduce frequency
Increase frequency
T

Flux will increase higher currents

Reduce flux stall motor

Maximum torque 1 / f2
Tm
STm
N1

f
Jan-May 2010

changes
changes
changes

N
Electrical Machines & Drives - ECNG 3010

10 - 1

Voltage/Frequency Control
N1 (synch. Speed) =f1
If f1 is reduced from frated with V1 constant
Flux will increase
Losses & Im
E1 / f1 constant

Jan-May 2010

flux constant

Electrical Machines & Drives - ECNG 3010

10 - 2

Voltage/Frequency Control
I1

R1

I2

jX2

jX1

Io

V1

R2

RFW

jXm

E1

Assume:
R1, RFW constant
X1, X2, Xm f
Lm constant if
flux is constant

R2(1 s)/s
E1
f1

I1X1
f1

V1
f1

- I1

R1
f1

+ j

f1
I1R1

constant

f1

Over most of the range :

Jan-May 2010

X1

E1
f1

Increases for low speeds

constant if

Electrical Machines & Drives - ECNG 3010

V1
f1

constant.

10 - 3

Voltage/Frequency Control
|I2|2 R2
T=
N1 s
T=

|E1|2 R2 s
1
N1 R22 + s2 X22

|E1|2 R2 s
P
1 R22 + s2 X22

P
P |E1|2
Tm =
=
1 2X2
82 L2

If E1 / f1 constant

Jan-May 2010

N.m/phase

R2

sm =

X2
E1

R2
2f1L2

f1

Tm constant

Electrical Machines & Drives - ECNG 3010

10 - 4

Torque Speed Characteristic

T
Tm
sm
N1
To

TL

Ideal
Jan-May 2010

constant
changes
changes
changes

N
N1
(rated)

E/f1 constant

V1 / f1 constant

Electrical Machines & Drives - ECNG 3010

10 - 5

Voltage/Frequency Control
CONSTANT TORQUE LOAD
Slip speed constant for all speeds
(N1 N) = constant
f2 = sf1 =

(N1 N)
f1 =
N1

P
(N1 N)
2

f2 constant if N1 N constant
True for all constant torque loads
If f2 is constant then I2 is constant for all speeds.
Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 6

Voltage/Frequency Control
P |V1|2
4R1

Tm =

f1 1 + 1 +

Smooth control
for range
of speeds

Jan-May 2010

X
R1

Nm/phase
Reduction of Tm for low speeds

Low current
High efficiency
Good power factor
Good speed regulation
Low slip

Electrical Machines & Drives - ECNG 3010

10 - 7

Voltage Source Inverters

3 phase
Fixed v
Fixed f

3 phase
Full wave
Controlled
Rectifier

Idc
Vdc
D.C. Link

Firing angle control

(voltage controller)

Jan-May 2010

3 phase
Full wave
Inverter

3 phase
Adjustable V
Adjustable f
M

Firing angle control

(frequency controller)

Electrical Machines & Drives - ECNG 3010

10 - 8

Voltage Source Inverters

+Vdc
s4

-Vdc

s1

s6

Two Basic
Types

Jan-May 2010

s2

Waveform
switching mode and load

s5

s3
A

Frequency of waveforms
Frequency of switching

Stepped Wave
Inverter
Pulse width modulated
inverter (PWM)
Electrical Machines & Drives - ECNG 3010

10 - 9

Stepped Wave Inverter

1
2
+Vdc

2
3

3
4

4
5

5
6

6
1

1
2

2
3

3
4

vAN

-Vdc
+Vdc

vBN

-Vdc
+Vdc

vCN

-Vdc
+2Vdc
+Vdc

vAB

vAB1

-Vdc
-2Vdc
Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 10

Fourier Analysis
60o ,240o

240o

van (t)= Vdc

120o

- Vdc

0o ,300o

RMS Value
Van =

1
2

2
0

van2(t)

d(t) =

Vdc = 0.816 Vdc

Fourier Coefficients
23
Vdc
a1 =

- 23
c1 =
Vdc

Jan-May 2010

b1 = 0
1 = 90o

Electrical Machines & Drives - ECNG 3010

10 - 11

Fourier Analysis
vAN1(t) =

23

60o ,300o

120o ,240o

vAB (t)= Vdc

60o,

180o

Vdc sin (t 900)

- Vdc

0o

,240o

180o

+2Vdc

120o

360o

- 2Vdc

300o

Fourier Coefficients
33
a1 =

6
c1 =

Jan-May 2010

Vdc
Vdc

b1 =

Vdc

1 = - tan-1 3 = -600

Electrical Machines & Drives - ECNG 3010

10 - 12

Fourier Analysis

vAB1(t) =

Vdc sin (t 600)

vAB1(t) leads vAN1(t) by 30o

Three phase system

|vAB1| = 3|vAN1|

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 13

Stepped Wave Inverter

Conducting
Switches

2 3 4 5 6 1 2 3 4 5 6 1
3 4 5 6 1 2 3 4 5 6 1 2
4 5 6 1 2 3 4 5 6 1 2 3

Conducting angle
is 180o

+Vdc
-Vdc
+Vdc

t
vBN

-Vdc
+Vdc

vCN

-Vdc
+2Vdc

vAB

+Vdc
-Vdc
-2Vdc

Jan-May 2010

t
Electrical Machines & Drives - ECNG 3010

10 - 14

Properties of Step Waves

Corresponding
Line
Voltage
Waveform

Properties of Phase Voltage Waveform

Phase
Voltage
Waveform

Fundamental Component
Peak

van

4
Vdc = 1.273Vdc

Vdc

RMS
4
23
Vdc =
Vdc
2

Total
RMS

Distortion
factor

THD

vAB
Vdc

22
= 0.9

2
- 1 =0.483
8

-Vdc

van
Vdc

23
Vdc = 1.1Vdc

6
V = 0.78Vdc
dc

3
2
Vdc = 0.955
3

van
t

-Vdc
-2Vdc

t
-2Vdc

-Vdc

2Vdc
Vdc

2Vdc

6
Vdc = 1.91Vdc

6
Vdc = 1.35Vdc
2

2Vdc

3
=0.955

2
- 1 =0.311
9

2
9-1

=0.311

2Vdc
Vdc

vAB

-Vdc
-2Vdc

3Vdc

vAB
t

-3Vdc

van

2
Vdc

Vdc

t
Jan-May 2010

2
Vdc

1
Vdc
2

2
=0.637

Electrical Machines & Drives - ECNG 3010

2
4-1

vAB

=1.212

Vdc
-Vdc

t
10 - 15

Effects of Periodic Non-Sinusoidal

Supply Voltages
v

Voltages
& Currents

Fundamental
& harmonics

Connected to an induction motor

Time harmonics contribute to the total air-gap m.m.f. wave
Forward (+) m.m.f. waves
Backward (-) m.m.f. waves
Space Harmonics
Total m.m.f. space add time harmonics

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 16

Effects of Periodic Non-Sinusoidal

Supply Voltages
Analysis in the frequency domain
Steady state solution for each harmonic
Equivalent circuits for each harmonic

SUPERPOSITION
Reactance's, harmonic slip, skin effect
Pulsating Torque
Motor Losses and efficiency

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 17

PWM Inverter

Applied voltage & current waveforms

with minimum possible distortion

Jan-May 2010

Synthesis of voltage waveforms

Pulse-width modulation (PWM)

Control of fundamental component in magnitude and

frequency.

Low harmonic content.

Harmonic order higher than step-inverters.

Electrical Machines & Drives - ECNG 3010

10 - 18

PWM Techniques
Constant amplitude pulses in which pulse duration is modulated.
Several ways
Width =
Single pulse

3/2
t

/2
Multiple pulse

/2
t
Reduces THD
Vrms = V

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 19

PWM Techniques

Vc
V

Modulating signal vm(t)

Carrier signal vc(c t)

t

1
fc

Fundamental frequency component of output wave is

equal to the frequency of the modulating wave

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 20

PWM Techniques
Two periodic waveforms (carrier modulating)
Modulation:

fm < fc

A wide range of
different
techniques

Motor speed control (sinusoidal modulation)

Modulating signal

+
comparator
Carrier signal

Jan-May 2010

Output modulated PWM signal

Electrical Machines & Drives - ECNG 3010

10 - 21

Sinusoidal Modulation
v

1
fc

Vc
Vm

vm
(t)

vo
V

-V

Modulation index
= Vm / Vc = M
(0 M 1)

vc(t)

p=

Frequency modulating
(frequency ratio)

1
f

Jan-May 2010

Frequency carrier

Electrical Machines & Drives - ECNG 3010

10 - 22

Sinusoidal Modulation
V1

(peak)

VLL1(rms) =

M Vdc
2
3 V1

(peak)

( 0 M 1)

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 23

PWM Voltage Source Inverters

3 phase
Fixed v
Fixed f

3 phase
Full wave
Controlled
Rectifier

Idc
Vdc
D.C. Link

3 phase
Full wave
Inverter

3 phase
Adjustable V
Adjustable f
M

(fixed VDC)
(Control V&f)

Uses a diode bridge rectifier.

Several inverters.
Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 24

PWM Inverters

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 25

PWM Inverters

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 26

Space Vector PWM

Based on the space vector representation of

voltages in the d, q plane (Parks
transformation).
Switching states and periods.
Vmax produced about 15% higher than
sinusoidal PWM.
Less harmonics than sinusoidal.
Numerous strategies.

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 27

Space Vector PWM

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 28

Vector Control

Induction machine inherent coupling of flux

and torque with current and frequency.
Not possible to control torque directly by
controlling the rotor current.
Scalar control is slow.
Vector control decouples vectors of field
current and armature flux to independently
control them.
Vector control similar to the control of a
separately excited DC machine.

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 29

Vector Control

Jan-May 2010

Uses Clarkes
transformation from 3-phase
to orthogonal.
Uses Parks transformation
to reference to rotor.
Torque proportional to the
two currents. Ids controls
the flux and Iqs controls the
torque.

Electrical Machines & Drives - ECNG 3010

10 - 30

Vector Control

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

10 - 31