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Control of AC Machines

    Pekik Argo Dahono
AC Machines
1. Synchronous machines
• Wound field
• Permanent magnet
• Reluctance
2. Induction machines
• Squirrel-cage rotor
• Wound rotor
Equivalent Circuit of Induction Machines
 is     Rs   Lls         Llr
                                         is   Rs   Lls        Llr
                               ir
                                                                    ir
vs           Rc         Lm     Rr
                                    vs                   Lm         Rr
                                s
                                                                     s



 is     Rs              Ll           is       Rs   Ll

                               iR                                   iR

vs                 Ls          RR   vs                   LM         RR
                                s                                    s
Analysis of Induction Machines
                                                      Torque :
Rotor current :
                                                                      3P        E 2 RR
                                                      Te  Pg /  m 
                                                                                                  
               E
Ir                                                                    2 s RR / s 2  Ll 2
      RR / s 2  Ll 2
                                                           3P     E 2 RR s
                                                      Te 
                                                                                
Airgap power :
                                                            2  RR  sLl 2
                                                                 2
                             3E 2 R R
Pg  3I r2 RR / s 
                       
                      s RR / s 2  Ll 2         Maximum Torque :
                                                                         2
                                                               3P  E  1
Rotor losses :                                        Tem        
                                                                4    Ll
Pr  3I r2 RR
                                                                   RR
Output Mechanic :                                     at s m  
                                                                   Ll
              1 s
Pm  3I r2 RR
               s                                      Normal operating conditions RR  sLl 2
                                                                                   2


Airgap power : Rotor losses : Output  1 : s :1 - s        3P E 2 s
                                                      Te 
                                                            2 R R
Torque and Current Characteristics
         of Induction Machines
Torque




                          Current
                  Slip

         1   0   1

                         I FL
                                            Slip
                                    1   0
Pole Changing of Induction Machines

• Discrete and limited
  speed control.
                                  Low speed




                         Torque
• Suitable for some
  applications.                               High speed

• Can be designed with                               Load
  constant torque,
  constant HP, and
  variable torque.
• Available up to                                     Speed
  medium HP motors.
Voltage Control of Induction Motors

• Percent losses is increased
  when the speed is decreased.       AC source                               IM
• Suitable for soft-start control.
• Why-delta, autotransformer,
  part-winding, primary resistor
  starters are commonly used to
  limit the starting current.
• Suitable for speed control of                       V1  V2  V3
  small HP motors.




                                             Torque
                                                               V3
• Voltage control can be done by
  using TRIAC or antiparallel
  thyristors.                                                         Load
• Wide speed control range is                          V2
  achievable by using high slip                        V1
  motors.
                                                                     Speed
Variable-Voltage Variable-Frequency
Torque :
                                              E6 E5 E4 E3 E2       E1
                 RR sl
              2
     3P  E                                  f 6 f 5 f 4 f3 f 2   f1
Te 
                                


                                     Torque
         
      2    RR   sl Ll 2
               2                                                        Load



     3P  E   sl
              2
Te      
      2    RR
                                                                               Speed


Maximum Torque :
                      2
         3P  E  1
Tem        
          4    Ll
Variable-Voltage Variable-Frequency
              Te
                    V

                        sl



     Vboost
         0                    
Scheme of VVVF System
                             Smoothing
                             inductor


                                                                      AC Motor
  AC source

                                                                         3
                              Smoothing
                              capacitor
                                                              vout



                Controlled                   Square - wave
                rectifier                      inverter

                             VVI System

                                                                     AC Motor
 AC source

                                                                       3
                             Smoothing
                             capacitor
                                                             vout



              Uncontrolled                PWM inverter
               rectifier

                             PWM System
Simulated Results : VVVF System
Simulated Results : VVVF
Slip-Controlled Induction Motor Drives


                                             V
                                                                       va
                                                 va  V sin 
Te*
           sl 
            *
                                                              
                                                 vb  V sin   23
                                                                       vb
      GT                                         vc  V sin  23 
                                                                 

                   
                                                                      vc
                                 
                   r




                             3P  E   sl
                                     2
                        Te      
                              2    Rr
Vector Control
                        Pg  3EI r
                        E  Lm I m
                               Pg     3P
                        Te             Lm I m I r
          Im       iR          m      2
                   RR                                   Im
Is   LM        E        Is     2
                               Im      I r2  tan 1
                    s                                   Ir
                                       Rr
                        Lm I m  I r
                                        s
                                      R I
                        s   sl  r r
                                      Lm I m
Vector Control
                                                                                                  *
                                                       Is            *
                                                                    ia    2 I s sin 
                                                                                                 ia
                *
               Ir   I s  I m  I r2
                                                                                      
Te*                         2
       2                                                             *                    
                                                                          2 I s sin   23       *
           :
                                   Im   s                     
                                                                    ib                           ib
      3P             s  tan 1
                                   Ir                               ic 
                                                                     *
                                                                            2 I s sin  23 
                                                                                           
                                                                                                  *
 *
Im                                                 
                                                                                                 ic
      Lm
                                                       g

                                                       
                                             sl           
                                               
                            Rr          :
                                                   

                                                           r
Vector Control
                                                     Ed



                                               Three - Phase
                                               VSI Inverter                             IM


                                                Current
                                               Controller                ia , ib , ic


                                                      * * *
                                                     ia , ib , ic
                        I R2
                          *
                                I m2
                                   *
                                                 Signal
                                                Generator
 *
Im                                                   
                              I*        
                       tan 1 m 
                              I*                       et
                   *          R
r
 *     Speed
     Controller
                  IR
                                                    
                             *
                        RR I R           sl            e          r
                             *
                        LM I m
Wound-Rotor Induction Motor Drives
     AC source




                     R1  Rr  Rr  Rr
                      r
                           2    3    4
            Torque

                         4  3 2
                        Rr Rr Rr
                                     R1
                                      r


                                          Load




                                         Speed
Slip-Power Recovery Drives


              Wound rotor
              Induction motor

AC Source
Variable-Speed Power Generation
                          Wound rotor
                          Induction motor
                Ps , s               Psl , sl
    AC Source
                                                  cycloconverter



                                     Pm , m




            s  m  sl
            Ps : Psl : Pm  1 : s : 1  s
Synchronous Motor Drives
                                               Synchronous
                                               Machine
AC source                                                    PG




              Triger                 Triger
              circuit                circuit

     Id *              Current
                       controller
Self-Controlled Principle

         N     P  EI s1 cos
               T he phase angle of E is detected by using
         S
               a position sensor. T he emf is
               E  K m I f
               If the field current is constant hen the
                                                t
               magnitude of emf E is also constant.
               T orque is
I s1   E0   Te  P / m  KI f I s1 cos
Synchronous Motor Drives
                                                 Synchronous
                                                 Machine
                                                               PG




                                   Gate driver


                                    Current
                                   Controller



       ia  I s sin 
        *                      
       ib  I s sin  23          
   *
  Is    *                     
       ic  I s sin  23 
        *                             
                                         
              

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control of AC machines

  • 1. Control of AC Machines Pekik Argo Dahono
  • 2. AC Machines 1. Synchronous machines • Wound field • Permanent magnet • Reluctance 2. Induction machines • Squirrel-cage rotor • Wound rotor
  • 3. Equivalent Circuit of Induction Machines is Rs Lls Llr is Rs Lls Llr ir ir vs Rc Lm Rr vs Lm Rr s s is Rs Ll is Rs Ll iR iR vs Ls RR vs LM RR s s
  • 4. Analysis of Induction Machines Torque : Rotor current : 3P E 2 RR Te  Pg /  m    E Ir  2 s RR / s 2  Ll 2 RR / s 2  Ll 2 3P E 2 RR s Te    Airgap power : 2  RR  sLl 2 2 3E 2 R R Pg  3I r2 RR / s   s RR / s 2  Ll 2  Maximum Torque : 2 3P  E  1 Rotor losses : Tem    4    Ll Pr  3I r2 RR RR Output Mechanic : at s m   Ll 1 s Pm  3I r2 RR s Normal operating conditions RR  sLl 2 2 Airgap power : Rotor losses : Output  1 : s :1 - s 3P E 2 s Te  2 R R
  • 5. Torque and Current Characteristics of Induction Machines Torque Current Slip 1 0 1 I FL Slip 1 0
  • 6. Pole Changing of Induction Machines • Discrete and limited speed control. Low speed Torque • Suitable for some applications. High speed • Can be designed with Load constant torque, constant HP, and variable torque. • Available up to Speed medium HP motors.
  • 7. Voltage Control of Induction Motors • Percent losses is increased when the speed is decreased. AC source IM • Suitable for soft-start control. • Why-delta, autotransformer, part-winding, primary resistor starters are commonly used to limit the starting current. • Suitable for speed control of V1  V2  V3 small HP motors. Torque V3 • Voltage control can be done by using TRIAC or antiparallel thyristors. Load • Wide speed control range is V2 achievable by using high slip V1 motors. Speed
  • 8. Variable-Voltage Variable-Frequency Torque : E6 E5 E4 E3 E2 E1 RR sl 2 3P  E  f 6 f 5 f 4 f3 f 2 f1 Te    Torque   2    RR   sl Ll 2 2 Load 3P  E   sl 2 Te    2    RR Speed Maximum Torque : 2 3P  E  1 Tem    4    Ll
  • 9. Variable-Voltage Variable-Frequency Te V sl Vboost 0 
  • 10. Scheme of VVVF System Smoothing inductor AC Motor AC source 3 Smoothing capacitor vout Controlled Square - wave rectifier inverter VVI System AC Motor AC source 3 Smoothing capacitor vout Uncontrolled PWM inverter rectifier PWM System
  • 11. Simulated Results : VVVF System
  • 13. Slip-Controlled Induction Motor Drives V va va  V sin  Te* sl  *     vb  V sin   23 vb GT vc  V sin  23     vc  r 3P  E   sl 2 Te    2    Rr
  • 14. Vector Control Pg  3EI r E  Lm I m Pg 3P Te   Lm I m I r Im iR m 2 RR Im Is LM E Is  2 Im  I r2  tan 1 s Ir Rr Lm I m  I r s R I s   sl  r r Lm I m
  • 15. Vector Control * Is * ia  2 I s sin  ia * Ir I s  I m  I r2   Te* 2 2 *   2 I s sin   23 * : Im s   ib ib 3P  s  tan 1 Ir ic  * 2 I s sin  23   * * Im  ic Lm g  sl   Rr :  r
  • 16. Vector Control Ed Three - Phase VSI Inverter IM Current Controller ia , ib , ic * * * ia , ib , ic I R2 *  I m2 * Signal Generator * Im   I*   tan 1 m   I*   et *  R r * Speed Controller IR  * RR I R  sl e r * LM I m
  • 17. Wound-Rotor Induction Motor Drives AC source R1  Rr  Rr  Rr r 2 3 4 Torque 4 3 2 Rr Rr Rr R1 r Load Speed
  • 18. Slip-Power Recovery Drives Wound rotor Induction motor AC Source
  • 19. Variable-Speed Power Generation Wound rotor Induction motor Ps , s Psl , sl AC Source cycloconverter Pm , m s  m  sl Ps : Psl : Pm  1 : s : 1  s
  • 20. Synchronous Motor Drives Synchronous Machine AC source PG Triger Triger circuit circuit Id *  Current  controller
  • 21. Self-Controlled Principle N P  EI s1 cos T he phase angle of E is detected by using S a position sensor. T he emf is E  K m I f If the field current is constant hen the t magnitude of emf E is also constant. T orque is I s1 E0 Te  P / m  KI f I s1 cos
  • 22. Synchronous Motor Drives Synchronous Machine PG Gate driver Current Controller ia  I s sin  *  ib  I s sin  23   * Is *   ic  I s sin  23  *     