Analysis of the voltage phasors characteristics for motor unbalanced supplies under constant voltage level

This article presents an analytical and graphical study of the supply characteristics of a three-phase induction motor operating under constant average voltage in unbalanced conditions. Till now, researchers have addressed the unbalance analysis of induction motors without paying attention to the accuracy on the voltage level issue. This work develops the loci of voltage phasors and their symmetrical components, and calculates the variation ranges of voltages and voltage unbalance factor (IEC) for an induction motor operating under constant line average voltage and constant percent voltage unbalance (NEMA). The results are applied to the variation limits established in the electrotechnical standards.     

Effects of symmetrical voltage sags on squirrel-cage induction motors

This paper analyzes the symmetrical voltage sag consequences on the induction motor behavior when single- and double-cage models are considered, namely current and torque peaks, and speed loss. These effects depend on several variables like sag type, duration and depth. Voltage sag effects are studied by using single- and double-cage models for three motors of different rated power. The double-cage model always predicts torque and current peaks higher than those of the single-cage model. The single-cage model predicts that voltage sags can produce motor instability, whereas the double-cage model is always stable. Therefore, the double-cage model must be used for the simulation of the squirrel-cage induction motor, because the single-cage model can give erroneous results in some situations.     

Development of torque and flux ripple minimization algorithm for direct torque control of induction motor drive

Direct torque control (DTC) is known to produce quick and robust response in AC drives. However, during steady state, notable torque and flux ripple occur. They are reflected in speed estimation, speed response and also in increased noise. This paper proposes a new control algorithm, which provides decoupled control of the torque, and flux with constant inverter switching frequency and a minimum torque and flux ripple. Compared to the other DTC methods, this algorithm is much simpler and has less mathematical operations, and can be implemented on most existing digital drive controllers. Algorithm is based on imposing the flux vector spatial orientation and rotation speed, which defines the unique solution for reference stator voltage. This paper contributes (a) Calculation of stator flux vector, torque and flux increments (b) The position of new stator flux vector determination (c) Calculation of the stator reference voltage (d) comparison of errors of different control strategies. In this paper, computer simulations and experimental results have been discussed for the proposed algorithm.     

Verification and expansion of a method of transient analysis of voltage collapse based on the induction motor load model

Voltage instability is now under intensive study in Japan, and some dynamic methods for analyzing voltage collapse have already been presented. However, the suitability of load models used in the methods and the generality of the results have not been verified. In this paper, useful voltage collapse data acquired in real power systems are presented. The measured data are compared with the result of dynamic digital simulation to verify the suitability of an induction motor load model. In the latter half of this paper, dynamic simulations of voltage collapse with consideration of generator dynamics are carried out. An interconnected power model system with 10 nodes is analyzed. The generality of basic characteristics concerning voltage collapse which have already been obtained without considering generator dynamics is verified by such simulations.     

Effects of electrical and mechanical parameters on the transient voltage stability of a fixed speed wind turbine

In this paper the dynamic behaviour of a wind turbine connected to the grid is examined. The model of the fixed speed wind turbine has been developed with the Simulink simulation tool (Matlab Inc.) It is composed of the induction generator, the shaft system, an aerodynamic model of the wind turbine rotor and the pitch control system. Using this model, a three-phase fault is applied close to the wind turbine and cleared by disconnecting the faulty line.The rigorous implementation of the simulink model allowed the authors to evaluate the exact dependence of various electrical parameters for the induction generator on voltage stability. Furthermore, the effects of wind turbine mechanical construction and of grid parameters on voltage stability are also evaluated and discussed.For each parameter, the terminal voltage and the generator rotor speed for different fault-clearing times are drawn. Finally, the terminal voltage and the generator rotor speed obtained for a fifth order model of the induction generator are compared with those obtained for a third order model. The differences between the two models are discussed. The results will help to understand transient stability phenomena in wind farms.     

On the application of wavelet transform for symmetrical components computations in the presence of stationary and non-stationary power quality disturbances

Symmetrical components method allows systematic analysis of unbalanced three-phase systems. This method represents the backbone for many applications in an electric power system (EPS) such as fault analysis, power system protection, power and energy measurements. Moreover, with the increased penetration of plug-in hybrid electric vehicles (PHEVs), studying and evaluating the distribution system unbalance considering power quality disturbance pronounced by fleet of these vehicles, becomes a necessity. In time-invariant polluted environment, the measurements of the symmetrical components for the fundamental and harmonic components could be performed using Fourier basics. However Fourier-based techniques are unsuitable in the presence of any time-variant power quality disturbance which is typically the case when considering PHEVs and other nonlinear industrial process such as computer numerical control (CNC) machines. In this paper, time-frequency expressions for the symmetrical components are developed using different wavelet transforms: Discrete Wavelet Transform (DWT), Wavelet Packet Transform (WPT) and Stationary Wavelet Transform (SWT). The paper also includes a comparative study of the results obtained when applying the developed approach using different wavelet basis functions, such as Daubechies, Coiflets and Symlets into three case studies (two synthetic and one real) including unbalanced three-phase system under different operating conditions while considering different kind of disturbances. The results are analyzed and conclusions are presented. The outcomes of this study lay the ground for further studies in unbalanced distribution system with high penetration of PHEVs, two-way protection devices for smart grid and power quality evaluation.     

Reduction of capacitive and induced shaft voltages in an induction motor drive using dual-bridge inverter approach

The dual-bridge inverter approach, developed to eliminate the common-mode voltage and the resulting bearing current generated by frequency converters, is investigated by means of experiments and simulations. The approach reduces the capacitive and induced shaft voltages by more than 80% in the examined 1.4MW induction motor drive. The remaining shaft voltage is found to be caused by the rectifiergenerated common-mode voltage and a time delay between the PWM pulses of the parallel inverter units.     

Suppression control of speed variation in an induction motor with fluctuating load by repetitive learning control

Induction motors are robust and inexpensive machines and are used widely for variable speed control because of the recent development of electronic technique. In the case where loads of the motors are compressors, pumps, and so on, the constant V/F control of the induction motors usually is employed because it is difficult to install speed sensors and accurate speed control is not required. In such loads, the rotational speed of the motors fluctuates considerably because the load torque is pulsated. When the frequency of the torque pulsation is close to the resonant frequency of the mechanical system, large vibration and acoustic noise are produced especially in the low-frequency region. This paper proposes a method to suppress the variation of the rotational speed of the V/F controlled induction motor with a fluctuated load by feedforward compensation using a timing sensor of 1 pulse/rev, considering that the load torque varies periodically. The feedforward data by a period for the compensation is obtained by the learning control based on the repetitive control in which the motor speed is controlled by periodically reflecting the past speed error on the present V/F input to the inverter. Effectiveness of the proposed method is confirmed by approximate analysis, simulations and experiments.     

Application of type-2 fuzzy logic controller to an induction motor drive with seven-level diode-clamped inverter and controlled infeed

This paper describes a new control method for the integrated of six current rectifiers—seven-level diode-clamped inverter feeding induction motor considering dc-link capacitors voltage balancing problem. The proposed controller uses type-2 fuzzy systems to compensate the fluctuations of capacitors voltage, draw a sinusoidal line current with nearly unity power factor, and ensure the motor speed control. The performance of dc-link voltages control is evaluated in comparison to the conventional PI control scheme. The overall system and the control algorithm are presented and a set of simulations is carried out in order to prove the good performances of the proposed solution.     

Application of reaching law approach to the position control of a vector controlled induction motor drive

In this paper, a new position control method based on the reaching law control (RLC) approach is proposed for the robust position control of electrical drive systems. The main aim of this study is to investigate the robustness of the RLC approach under inertial-frictional variations and external disturbances and to address the application problems of the RLC approach for position control systems. New components are added to the controller in order to improve the robustness. The control method is applied to a vector-controlled induction motor drive system. It is shown in the paper that the practical constraints such as torque limitation, and the demand of high control performance, i.e., high bandwidth, result in undesirable overshoots. The performance of the control method is shown by simulation and experimental results.List of symbols X, X _k Continuous and discrete-time state vectors - x ₁, x ₂ State variables (the shaft position and speed of the rotor) - , _re Position and reference angles (rad) - Angular velocity (rad/s) - A,A _n State variable matrix with true and nominal parameters - B,B _n Control input matrix, with true and nominal parameters - u,u _max Control signal, and its maximum value - A,B Uncertain parts of the state matrix and the control input matrix - Equivalent terms of A, B uncertainties referred to matching condition - C Gain vector of switching function - s _k Switching function - q A constant used in the reaching law - A constant used in the reaching law - A constant used in the chattering reduction approach - T sampling period - J,J _n True and nominal inertia coefficient (kg m²) - B,B _n True and nominal friction coefficient (kg m²/s) - J,B The uncertain parts of the inertia and friction coefficients - T _e Produced (electrical) torque (control signal) (Nm) - Load torque (Nm) - Equivalent term of A referred to matching condition and scalar component - Equivalent term of B referred to matching condition - All uncertainties and disturbances referred to matching condition - J₀,B₀ The variation ratios of the inertia and friction coefficients - G State variable matrix in discrete-time model - H Control input matrix in discrete-time model - Slope of the sliding line (surface) - a Mechanical time constant - v _sd, v _sq Stator voltages in d-q axis (V) - i _sd, i _sq Stator currents in d-q axis (A) - L _s, L _R Stator and rotor self inductances (H) - L _m Mutual inductance (H) - Leakage factor - _e, _sl Stator and slip angular velocity (rad/s) - _r Rotor time constant - P Number of poles     

Modelling and dynamic systems analysis of instability in a capacitor-coupled substation supplying an induction motor

A capacitor-coupled substation (CCS) is a relatively inexpensive way of supplying power to communities living near high voltage power lines. However, when a CCS is used to supply a large induction motor (IM), self-excitation can occur, resulting in significant sub-synchronous voltage, current and speed oscillations. Useful insight can be obtained by analysing a CCS-induction motor (CCS-IM) system using analysis methods from control systems theory. In this paper, a dynamic model of self-excitation is formed and compensation techniques are analysed using Root Locus. The model is validated by comparing it with experimental results from a laboratory installation.     

Leakage magnetic flux density in the vicinity of induction motor during operation

In this work, the low frequency electromagnetic flux density around induction motors is studied; the main objective is to provide safety regions for humans in the vicinity of these motors, especially in electrical vehicles, where high currents and hence high flux density emissions are expected. A new equivalent magnetic circuit which accounts for stray magnetic fields is developed. The analysis shows that the emission of the stray field in the radial directions depends on the permeability of the stator body as well as the ampere turn of the stator winding. Small values of stator body permeability may result in very high stray flux emissions at levels that may require shielding to protect passengers just above the motor. Relatively far away from the stator (e.g., 50 cm for the tested motors), the flux is normally of low level and may not represent an exposure threat.     

Development of voltage sag compensator and UPS using a flywheel induction motor and an engine generator

Flywheel energy storage systems are attracting attention as uninterruptible power supplies (UPS) from the viewpoint of environmental friendliness and high durability performance. Using a low‐speed, heavy flywheel and a low‐cost squirrel‐cage induction motor/generator, two applications are proposed: (1) an 11‐kW voltage sag compensator using a capacitor self‐excited induction generator without semiconductor converters and (2) a UPS composed of the flywheel system and an engine generator. Based on experimental results, an ideal voltage sag compensator and UPS are realized by the low‐technology flywheel system. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 167(1): 74– 81, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20784     

Power factor and efficiency characteristics of an induction motor with free rotating magnets

We have developed a unique induction motor that has free rotating magnets inside its rotor. In experimental results for a prototype motor, we have obtained superior performance over existing motors in terms of the power factor, efficiency, and output torque. The experimental details are as follows. The power factor of the test motor is significantly improved in comparison with that of a conventional induction motor. The power factor can be held to be unity, leading or lagging by changing the line frequency and/or source voltage. This is a quite unique feature, because the power factor of the usual induction motors always lags. The improvement of the power factor is effective not only in decreasing current loss, but also in decreasing voltage drop in the line and increasing installation capacity. The efficiency of the motor is remarkably higher than that of similar-sized conventional induction motors over a wide output power range. Actually, in ordinary induction motors, the efficiency is reduced as the power and/or the source voltage are decreased. However, the proposed motor is driven at high efficiency by lower source voltages in lower power ranges. The efficiency is improved by reducing the secondary current and the magnetizing current. © 1998 Scripta Technica, Electr Eng Jpn, 125(3): 59–66, 1998     

Compensation for parameter variation of induction motor improved torque control characteristics in low- and high-speed regions

In the vector control system using the slip frequency control method, the rotor resistance of an induction motor is used to calculate a slip frequency. Thus the change in temperature of the rotor resistance causes the deterioration of the torque control characteristic. This paper presents a new method of compensating for the rotor resistance change which is robust for the stator resistance change. A current control loop is composed of the λ-δ axes in which the λ axis is coincident to the stator current. In this method, the stator voltage error on the δ axis which is directly obtainable from this current control loop was used. The change in the stator voltage was able to be detected accurately, therefore the torque control accuracy was improved, particularly in the low-speed region. The experimental results of the current response and the compensation for the rotor resistance deviation also are shown. Moreover, although the mutual inductance has been treated as an invariable value, the value does change by a frequency and an exciting command. In this control method, an initial tuning of the equivalent mutual inductance was achieved by detecting the deviation component of the stator voltage on the δ axis at the no-load running condition. Furthermore, in the region with the constant power where the field weakening control was achieved, the excellent experimental results of the compensation for the deviation of the equivalent mutual inductance are shown.     

Effect of the stator slot opening on the electromagnetic vibration in a squirrel-cage induction motor

Field harmonics produce a radial electromagnetic force in a squirrel-cage induction motor with a particular number of rotor slots corresponding to the number of poles. The radial force causes vibration and acoustic noise. In this paper, a simplified equation for the radial force at no-load is introduced, and the relation between the width of the stator slot opening and the radial force is discussed quantitatively. The field harmonic component produced by the interaction between the fundamental magnetomotive force due to the stator current and the pulsation of air-gap permeance dominates for the radial force. Furthermore, the vibration of the stator core due to the radial force is calculated under a simple assumption. The calculated results are verified by experiments.     

异步电动机转子电阻斩波调速系统的特性分析与仿真研究

对绕线式异步电动机转子电阻斩波调速系统的静态和动态性能进行了详细的分析，得出了转子外接电阻的计算方法和系统的动态数学模型，并对系统应用MATLAB/SIMULINK进行了仿真研究。仿真结果表明，本文的分析是简单而有效的。     

采用STATCOM提高独立供电系统电压稳定性的研究

分析由异步电动机起动引起的单发电机供负荷系统发生电压崩溃的机理,提出防止此类事故的措施：引入STATCOM,介绍其基本工作原理,最后仿真表明STATCOM既对电压起到动态补偿作用又能防止孤岛系统电压崩溃的发生。     

An analysis of the field acceleration method and of vector control of induction motors

The two-axis theory and vector control based on this theory are well known. On the other hand, Yamamura has proposed the phase segregation method (spiral vector method) for the analysis of induction motors along with the field acceleration method (FAM). In this paper these analytical and control methods are compared. We begin by analyzing the equations for phase segegation, which contain information derived from the three-phase stator and rotor equations. We next demonstrate that the vector control system for constant rotor flux is obtained from the type T-I type field acceleration method when the transient term is zero. By By using the equivalent circuit for a T-I transient, we readily obtain the desired vector control system, because the circuit is identical to the steady-state circuit when the rotor flux is constant. An analytical solution of the transient response for the vector control system is obtained for arbitrary initial conditions. Finally, the stability of type T-II FAM is discussed, with special emphasis on the effect of changes in stator resistance, by computing the torque transfer function. When the stator resistance is correctly estimated, pole-zero cancellation occurs on the imaginary axis.     

Online estimation of the stator parameters in an induction motorusing only voltage and current measurements

This paper proposes a set of algorithms for stator parameter online estimation (stator resistance, stator inductance, and leakage inductance) of an induction motor using neither the rotor speed nor the rotor resistance. The estimation procedure is only based on stator current and voltage measurements. The algorithm performance is tested using simulation and experimental data from a commercial 15 kW induction motor