Dire Dawa University Institute of Technology

College of Electrical and Computer Engineering

Electrical Drives
ECEg-5334

Chapter-Three
Alternating Current Drives

2/1/2025 By: Minale B. 1

 Outline

− Induction Motor Equivalent Circuit & Torque-speed Curve

− Speed Control Induction Motors
− Inverter Supplied Induction Motors
− Four-quadrant Operation of Induction Motor
− Dynamics of Induction Motors
− Single-phase Induction Motors
− Synchronous Motor Drives

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 Introduction

▪ AC-drives, also called as Variable Frequency Drives (VFDs) or

Adjustable Speed Drives (ASDs), are essential components in
modern industrial applications for controlling the speed and
torque of AC motors.
▪ They play a critical role in reducing energy consumption and
improving overall system performance.
What is an AC Drive?
▪ AC-drive is an electronic device that converts a fixed frequency
& voltage input into a variable frequency and voltage output.
▪ This capability allows for precise control of motor speed and
torque, making it possible to tailor motor operation to specific
application requirements.

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 Advantages of AC Drives

▪ Versatility:
− Beyond motor control, AC drives offer features like self-
diagnostics, multi-use programming capabilities & precise
speed control.
▪ Reliability:
− Being solid-state devices with no moving parts, they tend to
be more reliable than traditional mechanical control methods.
▪ Compact Size:
− AC drives are generally smaller and lighter compared to other
speed control methods, making them easier to install in
various applications.

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 Applications

▪ AC-drives are widely used across various industries for

applications including:
▪ Pumps and Fans:
− To regulate flow rates and improve energy efficiency.
▪ Conveyors and Material Handling Systems:
− For precise speed control during operations.
▪ Machine Tools:
− Such as lathes & grinders that require variable speed settings.
▪ Process Industries:
− Including food processing, textiles & chemical manufacturing.

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 Induction Motor Equivalent Circuit

▪ The equivalent circuit of an induction motor is a simplified

representation that allows for the analysis of its performance
characteristics under steady-state conditions.
▪ This model is analogous to that of a transformer, facilitating
easier calculations related to motor behavior.

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 Con’t
▪ The complete equivalent circuit of an induction motor includes
both the stator and rotor components, with rotor parameters
referred to the stator side.
▪ Stator Resistance (R1): Represents the resistance of the stator
winding.
▪ Stator Reactance (X1): Represents the leakage reactance of the
stator winding.
▪ Rotor Resistance Referred to Stator (R2′​): The rotor resistance
transformed to the stator side.
▪ Rotor Reactance Referred to Stator (X2′​): The rotor leakage
reactance transformed to the stator side.
▪ Core Loss Resistance (R0​): Represents losses in the core due to
hysteresis and eddy currents.
▪ Core Loss Reactance (X0​): Represents magnetizing reactance.

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 Torque-Speed Curve

▪ The torque-speed curve is a critical characteristic of induction

motors, illustrating how torque varies with speed under
different loading conditions.
− Key points on this curve include:
▪ Synchronous Speed (Ns​):
− The speed at which the magnetic field rotates, determined by the
supply frequency and number of poles in the motor.
− Given by:

− where f is frequency in Hz and P is the number of poles.

▪ Slip (s):
− where Nr is the rotor speed.
− Slip is essential for torque production in induction motors.

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▪ Developed Torque:
− The torque produced by an induction motor increases with
slip until it reaches a maximum point.
− Beyond this point, if load increases further, slip increases but
torque decreases due to increased rotor losses.
▪ Starting Torque:
− The initial torque available when starting from rest, which is
crucial for applications requiring high starting power.

▪ Pullout Torque:
− The maximum torque that can be developed before the motor stalls.
This value is critical for determining load limits.

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 Con’t

▪ The torque-speed curve of an induction motor provides

valuable insights into its performance under varying loads.
▪ As load increases, the operating point shifts along this curve,
affecting both speed and developed torque.

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 Speed Control of Induction Motors
▪ Induction motors are widely used in various industrial
applications due to their robustness and reliability.
− However, controlling the speed of these motors is essential for
optimizing performance, enhancing process control & reducing
energy consumption.
− Below are the primary methods used for speed control:
▪ Voltage Control:
− This method involves varying the voltage supplied to the motor.
− The torque produced in an induction motor is proportional to the
square of the applied voltage. Reducing the supply voltage
decreases the magnetic flux, thereby lowering both torque and
speed.

▪ Application: Suitable for small motors where a broad range of

speed control is not required. However, it is not efficient for
large motors or applications needing precise speed control.
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 Con’t

▪ Frequency Control:
− This method adjusts the frequency of the power supply while
keeping the voltage constant.
− By using a Variable Frequency Drive (VFD), the frequency can be
varied to achieve smooth speed control.
▪ Advantages: Provides a wide range of precise speed control and is
commonly used in applications requiring variable speeds and high
efficiency.
▪ Pole Changing Method:
− This method changes the number of poles in the motor's stator
winding. By configuring the stator windings to allow different pole
numbers, fixed speeds can be achieved.
▪ Advantages: Efficient for applications requiring a limited number of
fixed speeds but does not offer continuous speed control.

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 Inverter Supplied Induction Motors

▪ Induction motors are powered by AC from a utility supply.

▪ However, when supplied by an inverter, these motors can
operate efficiently across a range of speeds and loads.
▪ The inverter converts fixed-frequency AC power into variable-
frequency AC power, allowing for adjustable motor speed and
improved performance.
▪ Inverter: The inverter is a critical component that converts DC
voltage into variable-frequency AC voltage.
▪ Pulse Width Modulation: is commonly used to generate a
sinusoidal output waveform from the inverter, which minimizes
harmonic distortion and improves motor performance.

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 Con’t

▪ Induction Motor:
− The induction motor operates on the principle of electromagnetic
induction, where the rotor is induced with current by the rotating
magnetic field produced by the stator.
− The motor's speed can be adjusted by varying the frequency of
the input voltage supplied by the inverter.

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 Advantages of Inverter-Supplied Induction Motors
▪ Variable Speed Operation:
− Inverters enable precise control over motor speed.
▪ Energy Efficiency:
− By using inverter fed system motor operation under varying load
conditions can be optimized.
▪ Soft-Starting:
− Inverters give smooth acceleration and deceleration, reducing
mechanical stress on motor components and extending their
lifespan.
▪ Regenerative-Braking:
− Inverter systems can recover energy during braking phases by
feeding it back into the power supply.
▪ Improved Power Factor:
− Advanced inverters can enhance power factor correction,
contributing to overall system efficiency.

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 Four-quadrant Operation of Induction Motor
▪ Four-quadrant operation refers to the ability of an induction
motor to operate in all four quadrants of the torque-speed plane,
allowing for bidirectional control and regenerative braking. This
capability is crucial for applications requiring precise control over
speed & direction like electric vehicles, cranes, and conveyor
systems.

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 Understanding the Quadrants
▪ The four-quadrants of operation are defined based on the
relationship between speed and torque:
▪ Quadrant-I: Forward Motoring:
− In this quadrant, both torque and speed are positive. The motor
operates as a motor, converting electrical energy into mechanical
energy.
▪ Application: Used in applications where the motor drives a load in the
forward direction.
▪ Quadrant-II: Forward Braking (Regenerative Braking):
− Here, speed is positive while torque is negative. The motor operates
as a generator when decelerating, converting mechanical energy
back into electrical energy that can be fed back to the power supply.
▪ Application: Common in applications like electric vehicles where
energy recovery during braking is beneficial.

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 Con’t

▪ Quadrant-III: Reverse Motoring:

− In this quadrant, both speed and torque are negative. The
motor operates in reverse, driving a load backward.
▪ Application: Suitable for applications requiring reverse motion,
such as reversing conveyors.
▪ Quadrant-IV: Reverse Braking (Regenerative Braking):
− Speed is negative while torque is positive.
− The motor generates electrical energy while slowing down in
the reverse direction.
▪ Application: Similar to Quadrant-II but for reverse operations,
allowing for energy recovery during braking.

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 Key Features of Four-Quadrant Operation

▪ Bidirectional Control:
− The ability to switch between forward and reverse operation
seamlessly allows for flexible system designs.
▪ Regenerative Braking:
− This feature enhances energy efficiency by recovering kinetic
energy during deceleration phases, which can be reused or
stored.
▪ Precision Control:
− Advanced control algorithms enable smooth transitions
between motoring and braking modes, essential for high-
precision applications.

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 Applications
▪ Four-quadrant operation is vital in various industries where dynamic
control of motors is required:
▪ Electric Vehicles (EVs):
− EVs utilize 4-quadrant drives to manage acceleration, deceleration,
and regenerative braking effectively, to enhance over all efficiency.
▪ Cranes and Hoists:
− These systems require precise control over lifting and lowering
loads, benefiting from the ability to operate in all four quadrants for
smooth motion control.
▪ Robotics:
− Robots often need to move in multiple directions with precise
control over speed and torque, making four-quadrant operation
essential for their functionality.
▪ Conveyor Systems:
− Conveyors may need to reverse direction or slow down quickly
without sudden stops, which is facilitated by four--quadrant drive
capabilities.

2/1/2025 By: Minale B. 20

 Dynamics of Induction Motors
▪ The dynamics of induction motors are critical for understanding their
performance under various operating conditions, including starting,
acceleration, deceleration, and load changes.
▪ This overview will cover the key aspects of induction motor dynamics,
including their modeling, transient response, and control methods.
Dynamic Modeling of Induction Motors
▪ Induction motors can be modeled using electrical and mechanical
equations that describe their behavior during operation.
▪ The dynamic model typically includes:
▪ Stator and Rotor Equations: The motor is represented by a set of
differential equations that relate voltage, current, torque, and speed.
− The stator equations describe the input currents and voltages, while
the rotor equations account for induced currents and slip.
▪ Slip: Defined as:

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 Con’t

▪ Torque Production: The electromagnetic torque (Te​) generated

by the motor can be expressed as:

− where k is a constant, ϕs​ is the stator magnetic flux, and ϕr is

the rotor magnetic flux.
Transient Response Analysis
▪ Transient analysis of induction motors is
essential to understand how they respond
to changes in operating conditions like
starting, load variations, or sudden faults.

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 Con’t

▪ Starting Conditions:
− When an induction motor starts from rest, it experiences a
high inrush current and develops torque that gradually
increases until it reaches its steady-state value.
▪ Load Changes:
− When the load on an induction motor changes, the slip
increases or decreases accordingly. The motor adjusts its
speed to maintain equilibrium between developed torque and
load torque.

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 Single-Phase Induction Motors

▪ A single-phase induction motor is a small electric motor that

uses alternating current (AC) to create a rotating magnetic field.
▪ They are used in many household appliances, such as fans,
washing machines, refrigerators etc.

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 Types of Single-phase Induction Motors

▪ Split-Phase Induction Motor:

− Has two windings (main & auxiliary) that create a phase
difference for starting torque.
▪ Capacitor Start Induction Motor:
− Uses a capacitor in series with the auxiliary winding for
improved starting performance and higher starting torque.
▪ Capacitor Run Induction Motor:
− Similar to capacitor start motors but maintains the capacitor
during normal operation to improve efficiency.
▪ Shaded Pole Induction Motor:
− Simple design with low starting torque; commonly used in
small fans and light loads.

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 Synchronous Motor Drives

▪ Synchronous motors are a type of AC motor that operate at a

constant speed, which is synchronized with the frequency of
the supply current.
▪ This characteristic makes them highly efficient for various
applications, particularly in industrial settings where precise
speed control is essential.

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 Advantages of Synchronous Motor Drives
▪ High Efficiency:
− Synchronous motors can achieve efficiencies greater than
95%, making them suitable for energy-intensive applications.
▪ Constant Speed Operation:
− They maintain a constant speed regardless of load variations,
which is crucial for processes requiring precise timing.
▪ Power Factor Correction:
− Synchronous motors can operate at leading power factors,
providing reactive power support and improving overall
system power factor.
▪ Reduced Maintenance:
− With fewer moving parts compared to other motor types,
synchronous motors often require less maintenance.
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 Disadvantages of Synchronous Motor Drives
▪ Complex Starting Requirements:
− The need for external starting mechanisms complicates
installation and operation compared to induction motors.
▪ Higher Initial Cost:
− Synchronous motors typically have higher upfront costs due to
their construction and control requirements.
▪ Sensitivity to Load Changes:
− If the load exceeds the rated capacity, synchronous motors can
fall out of synchronization and lose torque production.

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 Applications
▪ Synchronous motors are widely used across various industries
due to their unique characteristics:
▪ Industrial Drives:
− Used in applications requiring constant speed and high
efficiency, such as conveyors, crushers, and mills.
▪ Power Generation:
− Employed in hydroelectric plants and other renewable energy
systems where precise control over output is necessary.
▪ HVAC Systems:
− Commonly found in large heating, ventilation, and air
conditioning systems for precise airflow control.
▪ Pumps and Fans:
− Utilized in applications where consistent performance is
critical, such as water treatment facilities and large-scale
cooling systems.

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Thank You!
Q?

2/1/2025 By: Minale B. 30