Basic
Motor Control
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Classification of Electric
Motors
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Motor Control Trends
AC induction motors are widely used
Reasons : high robustness, reliability, low
price and high efficiency (up to 80%)
Weakness point : difficult controllability
Solution: digital motor controller based on
Digital Signal Processor (DSP)
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Basic Principles of AC
Motor
Main components:
1. Rotor
2. Stator
3. Precise bearings
4. Cooling fan
Rotor Cooling Fan
Stator
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Basic Principles of AC
Motor
The stator and rotor are analog with transformer
where the rotor is analog to rotating secondary.
The primary windings connect to, and are
energized by, the voltage source to produce a
rotating magnetic field.
Three-phase windings spaced 120 electrical
degrees apart are popular in industry.
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.
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Three Phase Stator Currents
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AC Motor Features
Simple and rugged construction
Low cost and minimum maintenance
High reliability and sufficiently high efficiency
Needs no extra starting motor and need not be
synchronized
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Power Flow Diagram in IM
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Rotating Magnetic Field
Constant Magnitude
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Speed-Torque Characteristics
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Synchronous Speed
f
N s 120 (rpm)
P
s 2N s (rad/sec)
Where:
N s , s Synchronous speed
N Number of pole
f Frequency of stator voltage
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Slip s
The rotating field induces an emf. in the rotor-circuit.
Current flows through the short-circuited rotor windings to
produce a flux.
The rotor tries to catch up with the stator field.
If say r (rad/sec) is the rotor speed, then the difference
between stator and rotor flux speeds is ( s - r) (rad/sec).
s r
s
s
Ns Nr
Ns
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Slip s
Let f’ be the rotor current frequency at any slip say s.
f s. f
( s r )
s
s
Ns Nr
s
Ns
r (1 s ) s
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Speed – Load Characteristics
Centrifugal Pump Coiler Drive
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NEMA Specification
NEMA = National Electrical Manufacturers Association
Design B : High efficiency and Power Factor
Centrifugal pumps, fans, blowers, machine
tools.
Design A : Same as Design B but with higher breakdown
torque.
Design C : Higher starting torque, lower breakdown torque.
Plunger pumps, compressors.
Design D : Higher starting torque and high slip.
Fly wheels, elevators, hoists.
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Motor Loads
Friction torque : Friction is present at the motor shaft
and also in various parts of the load.
Static friction and Coulomb friction.
Windage torque: The opposing torque generated by
wind when the motor runs.
Torque to do useful work.
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Factors Affecting the Speed-
Torque Characteristics
Applied voltage : T V2.
Supply frequency : The major effect of change in
supply frequency is on motor speed. The starting
torque is reduced with increase in frequency.
Rotor resistance : The maximum torque produced
does not depend on R2’. However, with increase in R2’,
the starting torque increases.
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NEC Section 430-1
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Wiring Method for AC Motor
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Wiring Method for AC Motor
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Motor Name Plate
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Locked Rotor Current Code
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Over Current
A short-circuit or a ground-fault current is an
excessive current that flows outside the normal
conducting path
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Over Current
While overloads are most often at no more than 6 to
10 times the normal current levels, short-circuit
currents can be hundreds of times that of the normal
operating current.
If not cut-off in a matter of a few thousandths of a
second, it will cause damage and destruction where
severe insulation damage can occur.
Additionally, it can cause melting of metal and
conductors, vaporization of metal, ionization of gases,
and arcing—all of which can result in a fire.
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Locked-Rotor Situation
A locked-rotor situation can also occur when a motor
is loaded so heavily that the shaft cannot turn.
This can jam the rotor in a locked position causing it to
draw excessive amounts of current, which if the motor
is not protected, could cause the motor to burn up.
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Over Load Relay
Overload relays provide a time delay to allow for
temporary overcurrent during start up, tripping
capability of a motor circuit once a dangerous level of
overcurrent has been detected for a period of time,
and the means for resetting the circuit.
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Motor Protection
Motors are required to have protection against
overload situations when the motor draws excessive
current for a certain period of time
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Forward/Reverse Wiring
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Reduced Voltage Starting
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DC Motors Vs AC Motors
DC Motors:
Used extensively in areas where variable-speed
operations was required.
Have certain disadvantages due to the existence of
the commutator and the brushes.
Require periodic maintenance and they cannot be
used in explosive or corrosive environments.
Have limited commutator capability under high-
speed, high-voltage operational conditions.
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DC Motors Vs AC Motors
AC Motors:
Have simpler and more rugged structure, higher
maintainability and economy than DC motors.
Robust and immune to heavy loading.
Allow to be designed with substantially higher
output ratings for small load, low speed operations.
Power electronics have been applied AC drives for
high-performance applications where traditionally
only DC. drives were applied.
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Sensorless Control for
AC Motors
Sensorless control has been one of the most popular
techniques in AC drive.
The elimination of mechanical transducers has been
an attractive prospect, since the shaft transducers
and the associated signal wiring are a significant
source of failure, additional cost, and additional
weight.
Numerous approaches have been proposed to
estimate the rotor velocity and/or position from the
machine terminal properties, such as the stator
current or voltage.
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ELECTRIC DRIVES -
A DEFINITION
About 50% of electrical energy produced is used in electric drives today.
Electric drives may run at constant speed or at variable speed.
Constant speed electric drive
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Variable Speed Electric Drive
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Application Range of
Electric Drive
Electric drives - variable speed applications
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Trend of Electric Drive
A.C. versus D.C. Electric
Drives Markets Dynamics
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Energy Saving Provided by
Power Electronic Module
Linear Power Amplification
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Energy Saving Provided by
Power Electronic Module
Power Electronic Switching
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Basic Topology of Electric
Drives
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ELECTRIC MOTORS FOR
DRIVES
TYPICAL CONFIGURATION
Electric Variable Speed Drive is made of some important
parts such as:
the electric motor;
the power electronic converter (PEC);
the electric and motion sensors;
the drive controller;
the command interface.
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Power Electronic Switches
Diode symbol and its ideal characteristic
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Power Electronic Switches
GTO symbol and its ideal characteristic
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Power Electronic Switches
BGT symbol and its ideal characteristic
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Power Electronic Switches
MOSFET symbol and its ideal characteristic
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Power Electronic Switches
IGBT symbol and its ideal characteristic
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DC-AC Converters (Inverters)
+
Vo
Un id irectio n al b id irectio n al
p o wer flo w p o wer flo w
b rak in g
resisto r
a.c.mo to r
Voltage source PWM inverter
a. basic configuration
b. output waveforms
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DC-AC Converters (Inverters)
Bidirectional power flow
bidirectional power flow
+ Io
Phase
3~ controlled
rectifier
a.c. motor
Current source PWM inverter
a. basic configuration
b. output waveforms
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DIRECT AC-AC CONVERTERS
3 s econ d ary three p hase tran s fo rmer
DCR fo r DCR fo r
p hase b p hase c
d ual co ntro lled a b
rectifier (DCR) for p hase a
c
a.c. mo to r
Six - pulse cycloconverter
for a.c. motor drives
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Three Phases Starter
Diagram
Consists of two distinct circuits:
a power circuit and,
a control circuit.
The power circuit consists of a circuit breaker or fused
line switch, contacts, and overload heaters connecting
incoming power lines L1, L2, L3 and the three phase
motor.
The control circuit consists of the magnetic coil, over-
load contacts and a control device such as a pressure
switch.
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Three Phases Starter
Diagram
Line Voltage Control
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Three Phases Starter
Diagram
Low Voltage Transformer Control
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Three Phases Starter
Diagram
External Voltage Control
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Checking and Correcting
Rotation and Current Unbalance
1. Established correct motor rotation by running in
both directions. Change rotation by exchanging any
two of the three motor leads. The rotation that gives
the most water flow is always the correct rotation.
2. After correct rotation has been established, check
the current in each of the three motor leads and
calculate the current unbalance as explained in 3
below.
If the current unbalance is 2% or less, leave the leads
as connected.
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Percent of Current
Unbalance Calculation:
A. Add the three line amps values together.
B. Divide the sum by three, yielding average current.
C. Pick the amp value which is furthest from the
average current (either high or low).
D. Determine the difference between this amp value
(furthest from average) and the average.
E. Divide the difference by the average. Multiply the
result by 100 to determine percent of unbalance.
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Three Possible Hook-Ups
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Current Unbalance Calculation
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Current Unbalance Calculation
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Current Unbalance Calculation
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Three Phase Motor Lead
Identification
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Motor Backspin and Ground
Fault Protection
When power is removed from a motor that is coupled
to a pump or a fan, the process back-pressure can
cause the motor to rotate at high speed in the reverse
direction.
If power is re-applied during this “backspin” condition,
the high torque resulting can cause current overloads
or broken shafts.
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Motor Backspin and Ground
Fault Protection
Protection Technique: Backspin Relay
Backspin relay monitors the regeneration signal on
the motor cables for rotation frequency and direction.
By connecting the backspin relay to the motor
controller, the motor is prevented from starting until the
forward or reverse spin frequency drops below preset
setpoints.
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Backspin Relay
Configuration
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Simple Backspin Relay for
Motor Controller
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Backspin Relay Application
Submersible Pumps.
Booster Compressors.
Pipeline Booster Pumps.
Variable Speed Drives.
Backspin relay eliminates the need for check valves on
submersible pumps.
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Data Points for Motor
Controller
Phase Currents, Average Auxiliary Switch Input.
Amps. Pressure Switch Input.
Start Amps. Power Factor.
Current Unbalance. Kilowatts.
Phase Volts, Average Volts. Analog Loop.
Voltage Unbalance. Leg Ground.
Frequency. Spin Monitor.
Supply Voltage. Communication.
Phase Rotation.
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Alarm Points for Motor
Controller
Overload. Hi/Lo Frequency.
Under load. Hi/Lo Supply.
Stall, Short CCT Auxiliary Switch.
C Unbalance Pressure.
Over Volts. Power Factor.
Under Volts. Hi/Lo Loop.
V Unbalance Spin.
Rotation Leg Ground.
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Configuration of Motor
Control
Inverter
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Configuration of Motor
Control
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Induction Motor Control Strategy
Constant V/f (scalar control) : feedback and
command signals are proportional to scalar
quantities. Can only drive the stator frequency using
a voltage or a current as a command.
Vector Control : control space consists of vector
quantities, flux and torque generating currents. Better
dynamic for torque variations in a wider speed range.
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Principles of Constant V/f
At steady state operation:
Vˆ j
ˆ
V
V 1 V
2 f
Where: V = stator voltage
= stator flux
= angular speed
f = frequency
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Principles of Constant V/f
If the ratio V /f remains constant with the change of
f , then stator flux remains constant too and the
torque is independent of the supply frequency.
In actual implementation, the ratio between the
magnitude and frequency of the stator voltage is
usually based on the rated values of these
variables, or motor ratings.
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Characteristics of constant
V/f
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Torque-Slip characteristics in
constant V/f
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Open-loop speed control
with constant V/f
Used when accuracy in speed response is not
a concern.
Applications : HVAC (Heating, Ventilation and
Air Conditioning), fan, blower, etc.
Motor will roughly follow its synchronous
speed.
The error in speed resulted from slip of the
motor is considered acceptable.
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Open-loop speed control
with constant V/f
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Closed-loop speed control
with constant V/f
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Schematic of IM Speed
Controller
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Three phase power inverter
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Relationship between switching
variable and line-to-line voltage
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Relationship between witching
variable and phase stator voltage
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Switching Patterns
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Transformation from abc to
dq axis of stator
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Space vector and switching
patterns
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