Section 5: Induction Motor Drive

1. Brief review of IM theory.

2. IM drive characteristics with:
• Variable input voltage
• Variable rotor resistance
• Variable rotor power
• Variable voltage and variable frequency, VVVF drive
(VSI V/f inverter drive)
• Variable current and variable frequency, VCVF drive (CSI
I/f inverter drive)

ELEC4613 – Electric Drive Systems 1

 Introduction
 Induction machines are the most widely used in industry because
of its ruggedness, low maintenance. The IM is also cheaper than
most other electric motors. Covers applications from a few Watts
to mega Watts.
 Traditionally, used as-
 constant speed drive (without an inverter)
 variable speed V/f (Volts/Hertz) drive (with slow dynamics)
 Recent developments in control techniques and power electronics
has made it possible for the Induction Motor (IM) to be used in
applications requiring fast dynamic response and decoupled
control of torque and flux, like the brushed DC motor.

ELEC4613 – Electric Drive Systems 2

Physical Structure of the Induction Motor

ELEC4613 – Electric Drive Systems 3

 Stator and Rotor

3-phase Sinusoidally Cage rotor Wound rotor

Distributed Stator winding
ELEC4613 – Electric Drive Systems 4
 Working Principle
 3-phase balanced currents of a certain frequency in three-phase
stator windings leads to

Rotating Magnetic Field

 Speed of the rotating magnetic field is the synchronous speed,
f1 rev/sec;   2 f1  1 mech rad/sec
N syn  syn
p p
p
 Because of this rotating field, voltage is induced in the rotor
windings (or aluminum bars). The consequent 3-phase current flow
in the rotor establishes a rotor field.
 Interaction between rotor and stator fields will produce the
necessary torque to rotate the rotor and load with speed nrot.
Nrot  f2 / p rev/sec; 2 f 2 2
rot   mech rad/sec
p p
ELEC4613 – Electric Drive Systems 5
 IM working principle continued

The revolving field of the rotor rotates at slip frequency with

respect to rotor. This field also rotates at synchronous speed, Nsyn,
with respect to the stator because of rotation of the rotor.

ELEC4613 – Electric Drive Systems 6

 Slip and slip frequency
N syn  N rot syn1  rot
Slip, s 
N syn syn

Slip frequency, f r  sf1  f1  f 2

s = 1 when the rotor is at standstill.

s = 0 when the motor runs at synchronous speed. Possible ???
s  0.025 – 0.07, normally. The slip frequency, sf1, is the
frequency of the voltage and current induced in the rotor.
Rotor induced voltage/phase:
E2  4.44N rˆr f r  4.44N rˆr sf 1
Rotor voltages and currents are at the slip frequency sf1.
ELEC4613 – Electric Drive Systems 7
 Representation of the Rotor Circuit
I2 sX2 I2 X2 I2 R2 X2

R2 R2 1 s
sE2 R2 E2 s E2
s
Mechanical
load
(a) (b) (c)
At slip frequency At stator frequency
I2
I 2'  X 2' R2'
R2'  a 2 R2 ; X 2'  a 2 X 2s tan dstill a A

E1  aE2  E2' Rotor circuit R2'  1  s 

Referred to E1  aE2  E '
2
I2 s
I 2'  stator
a A’

ELEC4613 – Electric Drive Systems 8

 The approximate equivalent circuits
  I2
I 
'
R 2' X 2'
I 1 R1 X1 2
a A

Ic Im R2'  1  s 
V1 E1  aE2  E '
Rc Xm 2
s
A’

'2 R2' 3sR2' E12

P
Total Rotor Power: 2 = 3I = W
 
2 2
s R2' 2 + s1 L'2

Developed R2' 1  s 
P
Output Power: o  P2  3 I '2 '
R
2 2  3 I '2
2  1  s  P2 W
s
ELEC4613 – Electric Drive Systems 9
 Developed power and torque
Slip Power: Psl  P2  Po  sP2  3I 2' 2 R2' W
Developed torque = Developed output power/mech speed
in rad/sec:
Po 3I 2' 2 R2'  1  s  / s
Tdev   Nm
2 N rot 2 N rot
3I 2' 2 R2'  1  s  / s

2 N syn  1  s 
3 p I 2' 2 R2' 3 pI 2' 2 R2'
  Nm
2 f1 s 2  f1  f 2 
Rotor Power ( P2 ) Slip Power ( Psl )
  Nm
Syn Speed Slip Speed
ELEC4613 – Electric Drive Systems 10
 I1 RTh XTh A I ' R2' X 2'
2

R2' 1  s 
VTh
s
A’

X mV1
VTh 
 R12   X 1  X m  2 
 

jX m  R1  jX 1 
ZTh   RTh  jX Th
R1  j  X 1  X m 

Note that for Xm >> (R1 and X1); RTh ≈ R1; XTh ≈ X1; and VTh ≈ V1.
Note also that Rc is not included in this representation. The rotational
loss that Rc represents is included in the no-load slip snl.
ELEC4613 – Electric Drive Systems 11
 Rotor current and torque
VTh
I 
'
2
A
2
 R  '

 RTh  s    X Th  X 2 
2 ' 2

 

3p VTh2 R2'
Tdev    Nm
1  R2' 
2
s
 Th s   Th 2
2
R   X  X '

 

ELEC4613 – Electric Drive Systems 12

Torque-speed characteristics of an IM with variable voltage

, rad/sec V1 = 0.5 pu
s<0
V1 = 0.7 pu
syn1 V1 = 1 pu
s=0
V1 = 1 pu
V1 = 0.7 pu
V1 = 0.5 pu Fwd Motoring
Re-generating s=1
0 Torque, Nm

Rev Motoring s>1

Plugging
P  T
syn1 s=2

ELEC4613 – Electric Drive Systems 13

 Braking of an IM drive
Two ways:
• By plugging.
• By adjusting
input frequency
below shaft
frequency f2.
This requires
an inverter.

Note: Operation with high slip causes high power loss; may lead to
high rotor temperature as a consequence.
ELEC4613 – Electric Drive Systems 14
 Tmax and slip smT for Tmax
3 p VTh2
For small slip, Tdev   ' s Nm
1 R2

R2'
For maximum torque,  RTh   X Th  X 2 
 2 ' 2

smT  

R2'
Slip for maximum torque, smT 
R   X Th  X
2
Th 2
' 2

3p VTh2
Maximum torque, Tmax   Nm
21 R  R 2  X  X ' 2
Th Th  Th 2 
'
Note that Tmax is independent of R2
ELEC4613 – Electric Drive Systems 15
 '
IM torque characteristic with R2
L oad T -
ch a ra cteristic

1

R2
in crea ses

T d ev
T ra ted T m ax

ELEC4613 – Electric Drive Systems 16

Variable-speed Induction Motor drives

ELEC4613 – Electric Drive Systems 17

 IM drive with variable supply voltage
Variable AC voltage at the mains supply frequency can be obtained
from tap-changing transformer, from back-back phase-controlled
thyristor converter or from an inverter.

Vmaxl n  1  sin 2   Vmaxl l  1  sin 2  

V1        V1        
2 
  2  2   2 
ELEC4613 – Electric Drive Systems 18
 T- characteristics with variable voltage
V 1 = 0.5 p u
V 1 = 0.7 p u
V1 = 1 pu
1

Load T= K 2
0
T o rq u e, N m
Variable voltage operation at the utility supply (base) frequency
offers very limited speed range. Pump type loads are suitable;
however, high-slip and very lossy operation is inevitable with
reduced supply voltage.
ELEC4613 – Electric Drive Systems 19
 Ex 1: Voltage control for a fan or compressor loads

Fan or compressor type load:

Shaft Power: Po  T m  K  1  s   1  s   K  1  s 
2 3

Po
 K 1  s 
2
Rotor Developed Power: P2 
1 s

 sP2  Ks 1  s 
2
Slip Power: Psl  I 2' 2 R2'

Ks
 I 2'  1  s 
R2'
For maximum Psl : s = 0.333
ELEC4613 – Electric Drive Systems 20
 Ex 2: constant load
For constant torque type load:
Po  T m  K 1  s 

Po
P2  K
1 s
Ks
Psl  I 2' 2 R2'  sP2  Ks  '
I2  '
R2

Examples 1 & 2 show that, the rotor current or rotor power

loss increases less slowly with slip (or load) for a fan or
compressor type load than with a constant-torque type load.

ELEC4613 – Electric Drive Systems 21

 WRIM drive with variable rotor power
AC Mains

Slip Variable
Wound Resistor
Rings
Rotor IM Bank

ELEC4613 – Electric Drive Systems 22

 T-ω characteristic with variable rotor resistance
Load T-
characteristic

1

R2
increases

Tdev
Trated Tmax
Figure 5.2.4. T- characteristic with variable rotor resistance.
Speed and torque can be reduced by increasing R2' , however,
lower speed operation is with increased slip, implying increased
rotor power loss.
ELEC4613 – Electric Drive Systems 23
IM drive with variable rotor power (slip power control
– static Scherbius scheme)

Id
V1 1:n V1
V2

Vd Vdi

ELEC4613 – Electric Drive Systems 24

 T - Id characteristic with control of DC link current
3I 2' 2 R2' 3I 2 R2  1  s 
'2 '
Slip Power, Psl  P2  Po    3I 2' 2 R2'  sP2 W
s s
Output Power, Po  1  s  P2 W
3sE2 max,l l
The diode rectifier output DC voltage, Vd 

Note that E2max,l-l is peak-line-line rotor voltage at standstill (for s = 1).
3 3 2  sE2
Thus, Vd  where E2 is the rotor RMS voltage/phase.

3 3 2  sV1
If the stator voltage drop is negligible, E2  V1/a, Vd 
a
Also, if the rotor resistance R2 is small i. e., the DC power is large
compared to the power loss in rotor resistance R2,
3 6  sV1
Psl  sP2  Vd I d  Id
a
ELEC4613 – Electric Drive Systems 25
 3 6  V1
Thus, P2  Id
a
p 3 6  V1
The developed torque, T  Id Nm
s a

T  KI d
Thus, the developed torque can be controlled via the DC link current
Id, when the slip power is small compared to the total rotor (or air-
gap) power P2.

ELEC4613 – Electric Drive Systems 26

 Speed control with slip power recovery
P2  Po  Psl  Pret Po  1  s  P2
Psl  Pret
s
P2
V1
By neglecting the voltage drop across stator impedance, E2 
a
3sE2 max,l l 3 6 sV1 (1)
The DC output voltage of rectifier,Vd  
 a
3 6 V2 3 6 V1 (2)
Vdi   cos    cos  for  > 90
 n
From (1) and (2), and equating Vd = Vdi because the DC link
inductors supports no DC voltage,
a
 s   cos  ; Normally, n  a. Why?
n
ELEC4613 – Electric Drive Systems 27
Speed control with slip power recovery

Figure 5.2.8.

ELEC4613 – Electric Drive Systems 28

 AC
M A IN S

DC R eac tor
Id

T
 re f _ ec 
+_ SC + CC FCC



 29
 IM drive with 3-phase VSI VVVf inverter

Vd
VAn,1  m   0.354mVd
2 2

where m is the depth of modulation

ELEC4613 – Electric Drive Systems 30

 Performance with VVVF (V/f) supply
We assume that the AC supply voltage to the motor is sinusoidal, but
of arbitrarily variable amplitude (RMS value V1) and frequency f1.
f1   f o 0  1
for operation from zero to base speed.  is higher than 1 for operation
above base speed.

I1 R1 X1 I ' R '

2
 X 2'
2

Im
E1 R2'  1  s 
V1 Xm
s

Figure 5.2.11
ELEC4613 – Electric Drive Systems 31
 VVVF (or V/f) drive with constant air gap flux
V1  R1 I1  j1 L1 I1  E1  R1 I1  j1 L1 I1  Kˆag f1
For operation near base speed, the stator voltage drop: R1 I 1  j1L1 I 1
can be neglected, compared to V1.

ˆ V1
V1  Kˆag f1 K ag 
f1
Thus, for operation near base speed, constant V/f supply implies
operation with constant air-gap flux.

ELEC4613 – Electric Drive Systems 32

 T-ω characteristic with constant V/f drive
With negligible stator impedance drop,
E1 V1 sV1
I 2' =   '
R2' R '
R2  j2 sf1 L'2
+ j1 L'2 2
+ j1 L'2
s s
Vo
sf1
' fo sf1 Kˆag
 I2  
'2
R2  sf1 2 L2 
' 2
 R2' 2   ' 2
sf1 2 L2 
 Kˆ f   
2 2
3p sR2' ag 1 3p sf1R2' ag Kˆ
Tdev = = Nm
+  s L  
2 R ' 2 + 2 sf L'

2
1 R' 2 ' 2
2 1 2
2 1 2
'
I
Thus, 2 and Tdev values remain the same for a given sf1, regardless
of f1. ELEC4613 – Electric Drive Systems 33
 IM drive with constant V/f ratio
I 2'
Tdev

sf1
Slip freq, sf1 Slip freq, sf1

no no
fo
fo
n1 n1
f1 f1
n2 n2
f2 f2
n3 n3
f4 f3

I’2
ELEC4613 – Electric Drive Systems 34
 Starting with maximum torque, V/f drive
For maximum developed power and torque in the rotor circuit
R2' R2' f1 f1 '
  X 2'  X2
s f1  f 2 f o

f o R2'
When Tmax is developed, sf1  f1  f 2  '
X2
Note: maximum torque occurs at the same slip frequency for all f1.
fo R2' R2'
For maximum torque to occur at zero speed, f1  ' 
X2 2 L'2

 
2
3 p Kˆag fo
From 5.3.26 and 5.2.27, Tmax  Nm

4 X 2'
ELEC4613 – Electric Drive Systems 35
 IM drive with constant V/f ratio

Rated
V1
Kˆ gap

V1

fo f1

ELEC4613 – Electric Drive Systems 36

Constant max torque and power characteristics

Speed, Rated
Rad/sec V 1 & fo

T dev Nm T max

Figure 5.2.14. T-  characteristics under VVVF drive with f1

below and above fo.
ELEC4613 – Electric Drive Systems 37
T- characteristics with VSI V/f drive
 , ra d /se c T -
c h a ra c te ristic
w ith ra te d V o
a n d b a se f o
Q2 Q1

S e q u e n c e : a -b -c

T, N m
0 T ra te d T m ax

S e q u e n c e : a -c -b
Q3 Q4

ELEC4613 – Electric Drive Systems 38

 V/f drive at low speed
V1  R1 I1  j1 L1 I1  E1  R1 I1  j1 L1 I1  Kˆag f1

At low speed, the stator impedance drop R1 I 1  j1L1 I 1

may not remain negligible compared to V1 or E1. It implies reduction
of the air-gap flux ̂ ag, , and consequent reduction of Tdev

 
2
sR K ˆ f
3p 2 ag 1
Tdev =
1 R22 +  s1 L2 2

ELEC4613 – Electric Drive Systems 39

 V/f drive at low speed

Base 1 increases with negligible

Speed stator impedance
with stator
impedance
Speed,
Rad/sec

Tdev Nm

Figure 5.3.1. Drooping T- characteristic at low speed with VVVF drive

ELEC4613 – Electric Drive Systems 40

 V/f drive with low frequency voltage boost

Rated V1

low-frequency
voltage boost

Vbo

f1 fo
Figure 5.3.2. Voltage boost of VVVF drive at low speed

The zero-frequency boost is Vbo  R1  I 1 rated

ELEC4613 – Electric Drive Systems 41
 VSI V/f drive controller – open loop

V1
Reference
Speed 1
reference 1  Tf s
f1
Reference

Open-loop V/f controller

ELEC4613 – Electric Drive Systems 42

 Speed control with an inner slip loop
E1 V1 sKˆag f1
I 2' =  
R2' R2'
s
+ j1 L'2
s
+ j1 L'2 R22   sf1 2 L2
' 2

V1
f*
*sl
+
+
f1

Fig 5.3.5. Closed-loop speed controller with inner slip control

ELEC4613 – Electric Drive Systems 43
IM drive with current sources (CSI drive)

A
Motor
Vdc B
C

P
i*a W
M

P
ib* W
M

P
i *c W
M

ELEC4613 – Electric Drive Systems 44

 IM drive with variable I-f supply

I1
A I ' j X 2'
2

Im

jXm E1 R2'
I1
s

A’

Figure 5.4.1. Per-phase equivalent circuit with current source input

ELEC4613 – Electric Drive Systems 45

 IM drive with variable I-f supply
3 pI 2' 2 R2'
Tdev 
2 f1 s
Torque is inversely proportional to slip frequency

ELEC4613 – Electric Drive Systems 46

 IM drive with variable I-f supply
Maximum rotor power and hence developed torque occurs when
R2' R2' f1 f1
s

  X m  X 2'  
f1  f 2 f o

X m  X 2' 
f o R2'
When Tmax is developed sf1  f1  f 2 
X m  X 2'
R2'
smT  Normally, Xm >> X’2 . SmT for CSI drive

 X m  X 2'  is much smaller than for VSI.

R2'
For starting from standstill with Tmax 
X m  X 2'
fo R2' R2'
For maximum torque to occur at start f1  
'

X m  X 2 2 Lm  L'2 
ELEC4613 – Electric Drive Systems 47
 IM drive with variable I-f supply contd.
3 pI 2' 2 R2'
Tdev 
2 f1  f 2
I2'
For a given I1, the rotor current       is given by (using current division)

' j X m I 1
I2 
R2'
s

 j X m  X 2' 
R2'
Using the slip condition for maximum torque,  smT 

 X m  X 2' 
3p X m2 I 12
Tmax  
 
Nm
4 X m  X 2' f o
ELEC4613 – Electric Drive Systems 48
T- characteristic with CSI drive

49
ELEC4613 – Electric Drive Systems
 I-f drive with constant air-gap flux
 R2' ' 
  j X 2 
I m  I1   s 
R2'
s

 j X m  X 2
'


Im  I1 

 
R2  2 sf1 L2
'2 ' 2
 

 '2 2
R
 2  2
 sf 1 Lm 
 L'
2  

ELEC4613 – Electric Drive Systems 50

I1 for constant air-gap flux operation
I1

Q2 Q1
No
load I1

-sf1 0 +sf1

Q3 Q4

I1 in reverse sequence
ELEC4613 – Electric Drive Systems 51
 I1 at no-load
E V
E1   X m I m  Kˆag f1 ˆ
Kag  1

1 rated
f1 fo

ˆ E1  X m I m V1 rated X m I m
Kag    
f1 f1 fo fo

Xm is the magnetizing reactance at base frequency fo.

V1rated
I m  I 1,no load 
Xm

ELEC4613 – Electric Drive Systems 52

 Speed-control system block diagram

+ sl I1 I-Ref I
ref
Gen N M
 V
 +
f1

+ 

Figure 5.4.5. Variable current, variable frequency inverter drive

scheme.

ELEC4613 – Electric Drive Systems 53

CSI I/f drive for large IM machines
Rectifier L Idc Inverter
T1 C T3 C T5

AC C
Mains C C

T4 T6 C T2

*
I dc 
FCCR

ec1 T1
M
ec2 FCCI
ec3 T6

T
ELEC4613 – Electric Drive Systems 54
 Quasi-square phase current waveforms

T1 T1
+ Id
ia T1
T4 T4
-Id
T3 T3
ib T6 T6 T6

T5 T5
ic T2 T2

Figure 5.4.7. Motor current waveforms and thyristor switching

states for a current source drive.
ELEC4613 – Electric Drive Systems 55