AUTOMATIC FOOT DUST CLEANING

MACHINE

CONTENTS

CHAPTER NO

DESCRIPTION

PAGE NO

ABSTRACT

INTRODUCTION

WORKING PRINCIPLE

INDUCTION MOTOR

DYNAMIC

19

MODELLING OF THE INDUCTION MOTOR

PRINCIPLES OF VECTOR CONTROL

27

INDOOR BLOWER PSC MOTOR

28

ADVANTAGES

APPLICATIONS

31

10

CONCLUSION

32

11

REFERENCES

32

30

1. ABSTRACT:

This project deals with the fabrication of Automatic Foot Dust cleaning
machine. The aim of this project work is to develop and modernized process for
cleaning the foot dust automatically on/off the machine.
It is very useful for cleaning the foot dust. It can be widely used in houses,
hospitals, auditorium, shops, computer centers, etc.

In modern days interior

decorations are becoming an important role in our life. Cleaning of foot dust is a
very important one for our health and reduces the man power requirement.
Every day children are playing games in the ground and their dress, foot,
body having dust. They are clean all the dust containing before entering into the
room or home. In our project foot dust are cleaned automatically by putting the
step in the machine.

Hence our project is very useful in our day to day life.

2. INTRODUCTION

Automatic Foot Dust Cleaning Machine is very much useful in

hospitals, houses, auditorium, shops, computer centers etc; it is very simple in
construction and easy to operate. Anybody can operate this machine easily. It
consists of large number of brush and this brush is used to clean the foot dust.
Hence it is very useful in hospitals, houses, etc. The time taken for cleaning is
very less and the cost is also very less. Maintenance cost is less. There are several
numbers of foot dust cleaning machine and are working under different principles
and the cost is also very high.
In our project is very simple drive mechanism and easy to operate any
persons and children. The size of the machine is also portable, so we can transfer
from one place to other place very easily. In our Automatic foot dust cleaning
machine is simple, all house holding device; even children can also operate it
easily with safety. It is very important one for each and every houses and hospitals
etc.

3. WORKING PRINCIPLE
The automatic foot dust cleaning machine is shown bellow figure. The foot
is kept on the pushing rod; the push button is activated automatically. The main
supply 230V A.C is given to the single phase induction motor. The motor is
running its normal speed. The motor pulley is already connected to the main shaft
pulley with the help of belt drive. The main shaft is rotating according to the speed
of the motor and pulley dimension.
The several numbers of brushes are mounted on the main shaft. The brushes
are rotated due to the rotation of the main shaft. This brushes cleaning the dust in
4

the foot or shoes.

After cleaning the dust in the foot, the foot was removed from

the machine. The pushing rod is back to its original position due to the spring
action. The bush button is off, so that cut off the main supply to the single phase
induction motor. The motor is off, so that the main shaft is off.

4.INDUCTIONMOTOR
I.OBJECTIVES
A.
Toexperimentallyevaluatethecircuitmodelelementsfora3phaseinduction
motor.
B.
1.

Tostartandtesttheperformanceofaninductionmotorunderfullloadwhenitis
powered from the threephase line by a FVNR (full voltage, nonreversing)
combinationstarter.

2.

Tocomparetheactualperformanceofathreephaseinductionmotorwiththat
predictedbythecircuitmodel.

3.

Tostartaninductionmotor,examinevariablespeedoperation,andperformafull
loadtestwhenitispoweredbytheACTestDrive.

4.

Toobtainthedataforthetorquevs.speedandcurrentvs.speedcharacteristicsof
theinductionmotorusingalabcomputerprogram.
II.THEORYANDBACKGROUND

A.

CONSTRUCTION

The induction machine has two parts stator and rotor. The stator carries a
distributed3phasewinding. Thestatorwindingistheinput/outputwindingandisthe
armatureofthemachine. Thelabmachinehasasquirrelcagerotor. Asquirrelcage
rotorhassolidbarsintheslotsandtheyareshortedtogetherattheends.
5

B.

OPERATION

Whenabalanced3phasevoltageissuppliedtothearmature,arotatingmagnetic
field is produced (just as in a synchronous machine). The speed of rotation is the
synchronousspeedgivenby
4f1
s
rad / s
p
or
120 f1
ns
rpm,
p
wherepisthenumberofpolesofthearmaturewindingandf1isthelinefrequency.
However,therotorrotatesataspeedlessthanthesynchronousspeed.Wewill
designatetheangularspeedoftherotorinrad/sbyandthespeedinrev/min(rpm)by
n.Theslipspeedisspeedoftherotorrelativetothefield,i.e.,
Slipspeed=s(rad/s)
=nsnrpm
Theperunitslip,or,simplyslip,isdefinedas
s

s ns n

s
ns

Themagnitudeandfrequencyoftherotorinducedvoltagedependsonthespeedofthe
relativemotion(betweenrotorandfield),whichis
slipspeed=s=ss.
Therotorfrequencyis,thus,
f2=sf1
Thevoltageinduced(andtherebythecurrent)inthesquirrelcagerotorisbalancedthree
phasewiththesamenumberofpolesasinthearmature.Thebalanced3phasecurrentat
thefrequencyoff2causesarotatingmagneticfieldthatrotatesattheslipspeed(s)
withrespecttotherotor,whichmeansatsynchronousspeedwithrespecttothestator.
Thetworotatingfields (statorfieldandrotorfield)rotateatthesame(synchronous)
speedandmaintainacertainangularrelationshipwitheachotherinsteadystate.
C.

EQUIVALENTCIRCUIT
6

TheequivalentcircuitgiveninFigure1servesasanapproximatecircuitmodel
foronephaseoftheinductionmotor.
I1
+

x1

I2

r1

x2
r2

V1

xm

r2 1 s
s

r2
s

Figure1.PerphaseEquivalentCircuitofInductionMotor
ThesymbolsusedinFigure1aredefinedbelow:
V1 = linetoneutralterminalvoltage.Thephasewindingsareconsideredtobe
inaYconfiguration.
r1 = statorresistanceperphase
x1 = statorleakagereactanceperphase
r2 = rotorresistancereferredtothestator,perphase
x2 = rotorleakagereactancereferredtothestator,perphase
xm = a shunt reactance supplied to provide a path for the magnetizing
componentofthecurrentflowinginthestator. Itisthiscurrentwhich
producestherevolvingfieldinthemotor.
Notethatcorelossesandrotationallossesarenotaccountedforintheequivalent
circuit.Omittingcorelossescausessmallbutnegligibleerrors.Themechanicalpower
andtorquecalculatedusingtheequivalentcircuitarethegeneratedvalues. Rotational
lossesmaybesubtractedtoobtainactualoutputvalues.Anotherapproximationisthatr2
isconstant. Inmostgeneralpurposemotors, r2 varieswiththefrequencyoftherotor
currents(andalsotemperature).Itisnecessarytousethecorrectvalueofr2.
D.

LABORATORYEVALUATIONOFTHEEQUIVALENTCIRCUIT
IMPEDANCES.

Threetestsarerequiredtoevaluatetheimpedancesoftheequivalentcircuitofa
polyphaseinductionmotor:
1.
StatorDCresistancemeasurement.
2.
Noloadtest.
3.
Blockedrotortest.
7

Sincean"equivalent"circuitisbeingdeveloped,andonlythethreelineterminals
ofthestatorwindingarebroughtout,oneisfreetoassumeeitherthatthewindingis
connectedinaYconfiguration,orthatitisconnectedinaconfiguration.Itiseasierto
deal with a Y circuit, so that is the usual assumption. Thus, for example, the DC
resistancebetweenanytwoterminalsofthewindingistakentobetwicetheresistanceof
onestatorphase.
1.DCresistancetest.
TwoterminalsoftheinductionmotorareconnectedtoaDCsupplythrougha
circuit breaker, ammeter and a load box. The load box is used to limit the current
throughthemotor. Itsresistanceisadjustedtobringthecurrenttoroughlytherated
value,andthevoltageacrossthetwoterminalsofthemotorismeasured.
1 VDC
r1
.
Then
2 I DC
SinceV1(Figure1)isDC,x1=xm=0,andtherotorimpedanceisnotcoupledtothe
stator.
2.Blockedrotortest.
For this test, the motor shaft is clamped so that it cannot turn. The motor
terminals areconnected toa3phasesupply. Therotorbecomes thesecondaryofa
transformer operating at the supply frequency. However, in normal operation the
frequencyoftherotorcurrentsiss*60or60s,whichisabout2Hz.Sincethesemachines
havedeepbars,a60Hzblockedrotortestwouldyieldavalueofr2whichistoohigh.
Reducedfrequencyisrecommendedbymanyauthors,andbytheIEEEstandards.We
willuseasupplyfrequencyof15Hztoobtainavalueofr2morenearlycorrectforfull
loadcalculations.Thissupplyfrequencyproducesarotorcurrentdistributionsimilarto
fullload conditions, and still permits the AC transducers to output stable readings.
Transducersareprovidedtomeasurelinevoltage,thethreelinecurrents,andpower(two
wattmetermethod).Currentwillbelimitedtotheratedvalue.Themeasuredquantities
will be designated Vbr, Ibr, Pbr. These measurements permit the calculation of the
blockedrotorimpedance,Zbr.
Approximation: Under the assumption, s = 1, the current thru xm is quite small,
comparedtoI2,andwillbeneglected.Thusitisassumedthat:
I1br=I2br,
andasaresult,

V1br
Zbr Rbr jx br .
I1br
Itmustberealizedthatweareattemptingtoconstructa60Hzequivalentcircuit,while
theblockedrotortestisperformedatanotherfrequency(say, fbr). Thesumofactual
reactances(forthe60Hzcircuit)x1+x2willbeobtainedby
x1 x2
60

xbr
fbr
wherexbristhereactancecalculatedbythetest.Tosplitx1andx2fromthesum,note
thatthelabmachineisageneralpurposemachineofNEMADesignBsothat
x1=0.4(x1+x2)
and
x2=0.6(x1+x2).
3.Noloadtest
Themotorisoperatedfreeofanyshaftloadforthistest.Themotorisconnected
toa3phaseAClinewithinstrumentationprovidedtomeasurelinevoltage,linecurrents,
andpower.AnACsourceofratedvoltageandratedfrequencyisusedandtheterminal
linevoltage(Vnl),averagelinecurrent(Inl),inputpower(Pnl),andnoloadimpedance
Znl)aredetermined.
Sincetheslipisnearlyzero,r2/s isverylargeandthustheouterbranchofthe
equivalentcircuitcanbeconsideredopencircuited. Thisassumptioncanbeemployed
forcalculations.Wehave,then,
Znl=r1+jx1+jxm
E.

PREDICTINGINDUCTIONMOTORPERFORMANCEFROMTHE
EQUIVALENTCIRCUIT

Itisassumedthattheequivalentcircuitelementshavebeendetermined,andthe
synchronousspeed(ns)isknown.Theproblem:Giventheappliedvoltageandtheslip,
s,findtheoutputspeed,horsepower,torque,inputcurrent,power,andpowerfactor.
Alsofindtherotorandstatorcopperlosses,andtheefficiency.
FromACcircuittheory,itisclearthatiftheequivalentcircuitparameters,line
voltage,andslip(orequivalently,speed)areknown,twomeshequationsmaybesolved
toobtainphasorcurrentsI1andI2.(UseV1asthereferencephasor.)Applyingtheper
phasemodelresultstothethreephasemotoryieldsthefollowingpredictions.

Speed=ns(1s);wherens=120f/p,rev./min.,andpisthenumberofpoles.
2 r2
Pg=RotorPowerInput=3 I2
Watts
s
2
1s
Watts
DevelopedMechanicalPower(DMP)= 1 sPg or 3 I2 r2
s
Horsepower= Pout
746
SCL=StatorCopperLoss= 3 I1

r1 Watts

PF=PowerFactor=cos I
1
Pin=PowerInput=3|V1||I1|(PF)(Watts)
Pout
Efficiency=
Pin
III.THELABORATORYMACHINE
Theinductionmachineofthelaboratoryhasthefollowingnameplatedata:
H.P.5;
RPM1750;

Phase3; Hz60;
Amps(for230V)12.5;

DesignB;
Amps(for460V)6.25

The stator has two 3phase windings. The corresponding phases may be
connectedinseriesorinparallel.Foraseriesconnection,theratingof460V,6.25A
appliesandforaparallelconnection230V,12.5A.Thelatterappliesforourcase.Thus
beforestartinglabwork,youmustremembertoconnectthetwo3phasewindingsin
parallel
IV.INSTRUCTORLABORATORYPREPARATION
TheblockedrotortestinDay1willneedaspecialsupply,namely,3phaseACof
15Hz. Thissectionassiststheinstructorstogeneratethissupply. Aseparatework
stationwithasynchronousmachineistobeusedandthesupplywillreachotherstations
throughthestationtieline.
The circuit connections and procedure will be somewhat similar to Day 3 of
Synchronous Machine experiment, except that no synchronization will have to be
performed.Connectthefieldwindingsofthesynchronousmachinetotheoutletsofthe
FieldExciter. Connectthethreeterminalsofthearmatureofthemachinetothe1M
contactorthroughthethreephasetransducerpackage.Usevoltmeterstomeasurelineto
10

linevoltages.Theoutputsidesofthe1Mcontactorsgotothetielines.SeeFigure2for
thecircuitdiagram.
Tie
Line

F1
Synchronous
Field
Machine
Exciter

3phase
Meter
Package

F2

1M
Figure2.CircuitforGeneratingtheSpecialSupply

TurnthedynoandACTestDrivecircuitbreakersONandputthecontactorpanel
intheHANDmode.2MmaybeOFFasitisnotused.Toprotectthefieldexciter,make
surethatthefieldconnectionismadeandtheexciterisoff. Nowmakethefollowing
settingsonthedyno:
SPEEDmode; FULLfield;

CurrentLimit=50%.

Themode(MANUAL/COMPUTER)isyourchoice. Turnthedynoonwiththespeed
setting atzero. Increasethespeedto450rpm(2rpm). (450rpmwillgenerate a
frequencyof15Hz). Now turntheexciteronandincrease If watchingthegenerated
voltage. Increase If (0.6 0.7 A) such that the linetoline generated (open circuit)
voltageis60(1)volts.Whenthecurrentwillbedrawn,thevoltagewilldropdownto
about15V.
This supplywillbeusedintheBlockedRotorTest. Atonetime thesupply
shouldbemadeavailabletoonlyonestationandotherstationsmusthavenoconnections
made to the tie line. Upon making the connection, the line current should be
approximately 12.5 A. If there is a sizable difference, adjust If, which changes the
voltage.
Whenallaredone,firstreduce If tozeroandturntheexciteroff. Thereafter,
reducethedynospeedtozeroandturnitoff.
V.LABORATORYPROCEDUREDAY1
In the first day's work, experiments will be performed for determining
impedancesoftheequivalentcircuit.TheMONITORcomputerprogramwillactasyour
"multimeter"fortheseexperiments.
A.

DCRESISTANCETEST
11

TheschematicforthistestisgiveninFigure3.Connectthetwoleadsfromthe
DCcircuittoanytwostatorterminalsoftheinductionmotor.Thereshouldbenoother
connectiontothemotor.Makesurealloftheloadboxswitchesareintheoff(center)
position.Usingproperprocedures,connecttheinputtothe125VDClaboratorysupply.
Haveyourwiringcheckedbyyourinstructor.Closethecircuitbreakerandlinecontactor
1M. Bypropermanipulationoftheloadboxswitches(connectingresistiveelements
successivelyinparallel),bringtheDCcurrentthroughthetwostatorphasewindingsup
toapproximatelytheratedACvalue(12.5A).Readandrecord VdcandIdc.Openthe
linecontactor,turnoffthepoweratthemainpowerpanel,anddisconnectthecircuit.
Ifthe250VDCsupplyisusedinsteadof125V,aslightlydifferentconfiguration
istobeadoptedfortheloadbox.Iftheresistors(whichare39ohmseach)areconnected
inparallelthenthecurrentthrougheachwouldbeabout6.4amps,whichwouldbewell
overtheratedcurrentoftheelement.Thus,groupsoftworesistors(inseries)shouldbe
connectedinparallelinthiscase.
LoadBox
1M
I
125Vdc

InductionMotor
V
externaldc
voltmeter
Figure3.SchematicforDCStatorResistanceTest
B.

NOLOADTEST

The schematic for this test is given in Figure 4. Be sure that the motor is
uncoupledfromthedynamometer. Connectthemotorterminals totheoutputofthe
transducerpackagewhichencompassespowermeasurementbythe2wattmetermethod.
Then make connections to the Combination Starter output, using proper safety
procedures.Yourwiringshouldbecheckedbyyourinstructorbeforeproceeding.Close
thecircuitbreakerandpressSTARTontheCombinationStarterpanel. Thenoload
speedshouldbeabout1799rpm. Readandrecordthelinecurrents,linevoltage,and
wattmeterreadings(youmayprefertojustprintthemonitorandhighlightthechannelsof
interest,asusual).STOPtheinductionmotorfromtheCombinationStarter.
Note: Actually,theinductionmotorisselfstarting,buttheCombinationStarterisused
tomakethestartingsmoother.
12

CombinationStarter
IA

PA

IB

PB

IC

PC

V
230V
3
60Hz
V

InductionMotor

Figure4.SchematicforNoLoadandFullLoadMotorTests.
C.

BLOCKEDROTORTEST

Withthepowerturnedoff,connectthemotortothetransducerpackageand3
phasecontactor1MtotheStationTieLine,asshowninFigure5.Yourinstructorshould
verifyyourwiring.Thetransducerpackageistoincludepowermeasurementbythetwo
wattmetermethod.Nowclamptheshaftofyourmotorasexplainedbyyourinstructor.
Onememberofthegroupshouldholdtheclamp(sothattheshaftdoesn'tbangtoastop).
IMPORTANT: Onlyonegroup(station)atatimemayconnecttothetieline. Ona
signalfromyourinstructor,close1M.Allowthereadingstostabilize(5secondsorso),
thencapturethedataonthecomputerscreen.TurnOFFthe1M3phasecontactorand
removethewiresfromthestationtieline.Highlightlinecurrents,voltages,andpower
readingsonyourprintout.TheaverageofIa,Ib,andIcwillbeIbr.

13

1M
IA
Station
TieLine
(energizedat
15V,15Hz)

PA

lowvoltage
output
IB

PB

IC

PC

InductionMotor

Figure5.SchematicforBlockedRotorTest

VI.LABORATORYPROCEDUREDAY2
Forthisperiod,theobjectivesarefullloadoperationoftheinductionmotorwith
line supply and AC Test Drive supply, and obtaining data for induction motor
characteristicsbyacomputerizedtest.
A.

FULLLOADTESTWITHLINEOPERATION

Themotormustbecoupledtothedynowiththechainguardinplace.Unpinand
zerothetorquetablewiththecomputer.Thecircuitforthistestisthesameasthatused
forthenoloadtest(Figure4).Afteryourinstructorhascheckedyourwiring,START
theinductionmotor.Ifthedirectionofrotationisnotpositive(asperourconvention),
STOPthemotor,interchangetwoterminalsatthemotorconnection,rezerothetorque
table,andagainSTART.
Thespeedshouldbeslightlylessthanthenoloadspeed.Capturethedataonthe
computerdisplayforlaterreference. PlacethedynocontrolintheCURRENTmode,
FULL field. Set the current to 0 with the Current Limit at 30%. START the
dynamometer.Thereshouldbenochangeinthespeedofthemachine.Nowincreasethe
CurrentControlslowlyinthesenseoppositetothedirectionofrotation.Onememberof
thelabgroupshouldobservethecomputerreadouttodeterminewhenfullloadspeed
(17502rpm)isreached. (Note: ItmaybenecessarytoincreasetheCurrentLimit
slightlytoachievefullloadspeed)Readandrecordlinevoltage,linecurrents,wattmeter
readings,torque,andspeedorjustgetaprintoutofthedataonthecomputerscreen.
STOPthedynamometer,thenSTOPtheinductionmotor,andturnOFFthecombination
starter.
14

B.

ACTESTDRIVESUPPLY

AdetaileddescriptionofACTestDriveisintheSynchronousMachine
Experiment6(SectionIII:LaboratoryEquipment).Here,theinductionmachineis
operatedwiththiskindofsupply.
ThecircuitdiagramisthesameasinFigure4,exceptfortwodifferences:
(a)
and

(b)

TheACinputisfromthe3phaseoutputterminalsoftheACTestDrive
(ratherthanthecombinationstarter).
Connectoneofthelinevoltagestoanisolationpackage.

Alter/make the connections and have them checked by your instructor. Rezero the
torquetable.TurnONthecircuitbreakerfortheACTestDrive.
With the frequency (voltage) control set to zero, start the drive byfrequency
control. Ifthedirectionofrotationis"wrong,"reducethefrequencycontroltozero,
STOP the AC Test Drive, alter the FORWARD/REVERSE switch setting and again
START. Smoothlyincreasethefrequencycontrol. (Thisisknownas"softstarting").
Watchhowvariablespeedoperationispossible(infullrange)andnotethatspeedabove
1800rpmispossible.(Howdoesitcomparewithlineoperation?)
Connecttheoutputoftheisolationpackagetoanoscilloscopetoexaminethe
waveformofthelinetolinevoltage.Use"LineTriggering"onthescopeandvarythe
frequencycontroloftheACTestDrivesothatthepictureonthescopebecomes
stationary.Inthiscondition,theACinputtothemotorisat60Hz.Roughlycopythe
waveformontoyournotebooknotingdowntheassociatedscales.(Optional:takea
pictureusingaPolaroidcamera.)
Getaprintoutofthedataonthecomputerdisplayfortheexistingcondition.
Whyarecurrent,speedetc.differentfromthelineoperationcase?
SetthedynamometerandapplyaloadjustasinPartA(lineoperation)andrecord
thedataonthecomputerdisplay.CAUTION:Becertainthatyouareloadingthemotor;
i.e.increasingdynocurrent(torque)inthedirectionopposingrotation. TheACTest
Driveisnotregenerative,anda"runaway"conditionmayoccurifyoudrivethemachine
asagenerator.(However,regenerationispossibleinlineoperation.)
Reduce the dyno current setting to zero and turn if off. Reduce the
frequency/voltageknoboftheACTestDriveandturnitoff.
C.

COMPUTERIZEDTESTFORCHARACTERISTICS

15

Inthispartoftheexperiment,thedynowillforcetheinductionmotorthrough
speedszero(blockedrotor)through1800rpm(synchronousspeed).Thecomputerwill
runthetestinaccordancewithyourspecificationsandrecordthedata.
ThecircuitforthistestisgiveninFigure6.Notethathere230V,60Hzisused
(insteadofthecombinationstarterortheACTestDrive).Thedatatobeobtainedisfor
Torquevs.SpeedandCurrentvs.Speedgraphs.Hence,measurementsofvoltagesand
powersarenotrequired. Theammetersofthetransducerpackagearedesignedfora
maximumcurrentof25A,butcurrentmagnitudesintheexperimentwillbewellover
thatvalue.Therefore,thecurrentwillbemeasuredthroughacurrenttransformer(CT).
TheCTratioof50:5isselectedbasedon
(a)
theactualmaximummagnitudeofthecurrent
and (b)
avoidanceofsaturation(forthesakeofaccuracy).

230V
60Hz
Output
Terminals

CT50:5
1M
Contactor

InductionMotor
IA

Figure6.CircuitDiagramforComputerizedCharacteristicsTest
ThewiringdiagramisgiveninFigure7(sothatyoucanverifyyourconnections).With
thecircuitwiredandcheckedbytheinstructor,unpinandzerothetorquetablereading
fromthecomputer.
Manuallystarttheinduction motortocheckthedirectionofrotation. Ifitis
oppositetothe"+"directionmarked,STOPthemotor,andreversethephasesequence.
Oncethedirectionofrotationhasbeenverified,STOPthemotor.
Exitthe MONITOR programandentertheINDUCTIONMACHINEprogram
fromthePowerExperimentsmenu.Besurethatallneededcircuitbreakersandswitches
areturnedON.Also,thethermocouplemustbeconnected,otherwiseafalsetemperature
measurementmaynotletthetestproceed(duetothethermalprotectionfeatureinthe
program).
Forthenumericalvalues(testparameters)requestedbytheprogram,enterthe
following:
16

InitialSpeed(RPM):
FinalSpeed(RPM):
RampTime(seconds)
DynoCurrentLimit:

1860
0
10(sec.)
100%

Whenallvalueshavebeenentered,select"Continuewithabovevalues"andpress
<Enter>.Whenthecomputerdisplays,"Pressanykeywhenallswitcheshavebeenset",
dothefollowing:
PutthedynocontrolintoCOMPUTERmode,
SelectFULLfieldonthedynopanel,
Putthe1McontactorintheAUTOposition.

17

FURNAS

2A

CIRCUIT BREAKERS
125 V DC 250 V DC

CONTROL POWER
110 V AC

IAR

IAL
DYNAMDRIVE

IBL

sec

DC TEST
DRIVE

pri

IBR

CT

AC TEST
DRIVE

230 V AC

ICR

ICL

THERMOCOUPLE
AC COMB

2B

STARTER

2-STEP STARTER

ID
IE
125 V DC

250 V DC
TACH

A
AC TEST

DC TEST
BLOWER

230 V AC

AC
STARTER

TIE
LINE

FurnasMotorControlCenter
Figure7.WiringDiagramforFigure6.
18

InductionMotor

Onceyoupressakeytostartthetest,thedynowillbeturnedonfirstandthenthe
1M contactor will be turned on. Note that the dyno is set to SPEED mode by the
program.Thespeedsettingwillberampedaccordingtothetestparametersenteredand
thedatastored.Whentheprogramexits,savethedatafile.
Whenthetestisover,placeallcontrolsinMANUALorHANDpositiontoavoid
accidentalstarting.Youshouldobtainaprintedcopyofthedataandchecktoseeifitis
reasonable.
Notes:
(i)

Theexperimentforgatheringdatafortherequiredcharacteristicscannot
beconductedinamanualway("Manual"Method). Thelargecurrents
required for the test would destroy the motor. In the computerized
method,thelargecurrentsareofshortdurationandsotolerable.

(ii)

ThedynoisplacedintheSPEEDmodebytheprogram. Ifthedynois
placedintheCURRENTmode,itwouldbeacomplicatedprocedureto
obtaindataforthecompletecharacteristics.
VII.CALCULATIONSANDGRAPHS

1.

Determinetheimpedances(resistancesandinductances)oftheequivalentcircuit
modelusingtheDCtest,BlockedRotortest,andNoLoadtestdata.

2.

Usethismodeltopredictmotorperformanceatthesamevoltageandspeedasin
thefullloadlineoperation.

3.

Calculate the average line current, power, power factor, horsepower, and
efficiencyfrom:
(a)
fullloadlineoperationdata,
and
(b)
fullloadACTestDriveSupplydata.

4.

From the computer controlled experiment data, plot Torque vs. Speed and
(Average)Currentvs.Speedfrom0to1800rpm.Discardpoints(ifany)above
1800rpm.
VIII.ANALYSIS

1.

Prepareatablecomparingpredictedandmeasuredperformanceoftheinduction
motoroperatedfromthe230Vline.Mentionsomesourcesofthediscrepancies.

19

2.

Compare efficiencies from line and inverter (AC Test Drive) operation and
commentonthedifference.

3.

Intermsoftheequivalentcircuit,explaintherelationshipofincreasingcurrent
anddecreasingpowerfactorasthemotorisslowedbelowsynchronousspeed.

4.

Examinethegraphsintheneighborhoodofns.Intermsoftheequivalentcircuit,
whatarethespeed,torque,power,andstatorcurrentatns?

5. Dynamic modelling of the induction motor

Vector control purpose
Mechanical motion
Linear motion
For linear motion, the forces acting on a body may usually be simplified to a driving
force, Fe, acting on the mass, and an opposing force (or load), Fl, as shown on Figure 1.

Figure 1: A body acted on by two forces.

For translational motion the following may be written:

dv Fe FL

dt
M
In any speed and position control of linear motion, force is the fundamental variable
which needs to be controlled.
Rotary motion
If the motion is rotary about an axis instead of translational, a situation as shown in
Figure 2 arises.

20

Figure 2: A body acted on by two torques.

For rotary motion the following may be written:

dw T TL

dt
J
In any speed and position control of rotary motion, torque is the fundamental variable
which needs to be controlled.
Torque in an electric drive
Electromagnetic torque produced by a motor is opposed by load torque. The difference,
Tem TL , will accelerate the system.

Figure 3: A load acted on by a motor

For motor-load motion the following may be written:

dw Tem TL

dt
J
Torque is the fundamental variable which needs to be controlled. Note that under steady
state conditions angular speed is constant and Tem TL .

DC-motor drive performance

One of the most essential qualities of a motor is the ability to generate torque. The total
torque may be described by

Tem ka f I a

21

where Ia is the current flowing in the armature and ka becomes a factor describing the
physical shape of the winding. DC machine equivalent circuit is shown in Figure 4.

Figure 4: DC machine equivalent circuit

To change Tem as a step, the armature current ia is changed as a step by the powerprocessing unit as shown in Figure 5.

Figure 5: DC-motor drive performance

Emulation of DC-motor drive performance

In vector control of induction-motor drives, the stator phase currents ia t , ib t and

ic t are controlled in such a manner that isq t delivers the desired electromagnetic
torque while isd t maintains the peak rotor-flux density at its rated value. The
*
references values isq t and isd t are generated by the torque, speed, and position
*

control loops. The total torque may be described by

Tem kT Br isq
22

Simulation of induction machine using Matlab and Simulink

Traditionally in analysis and design of 3-phase induction motors, the per-phase
equivalent circuit is shown in Figure 6 has been widely used. In the circuit, Rs (Rr) is the
stator (rotor) resistance and Lm is called the magnetizing inductance of the motor. Note
that stator (rotor) inductance Ls (Lr) is defined by
Ls = Lls + Lm,

Lr = Llr + Lm

(1.1)

where Lls (Lrs) is the stator (rotor) leakage inductance. Also note that in this equivalent
circuit, all rotor parameters and variables are not actual quantities but are quantities
referred to the stator.

Figure 6: Conventional Per-phase Equivalent Circuit

It is also known that induction motors do not rotate synchronously to the excitation
frequency. At rated load, the speed of induction motors are slightly (about 2 - 7% slip in
many cases) less than the synchronous speed. If the excitation frequency injected into the
stator is wsyn and the actual speed converted into electrical frequency unit is wm, slip s is
defined by
s = (wsyn - wm ) / wsyn = wslip / wsyn,

(1.2)

and wslip is called the slip frequency which is the frequency of the actual rotor current.
Although the per-phase equivalent circuit is useful in analyzing and predicting steadystate performance, it is not appropriate to explain dynamic performance of the induction
motor.

Dynamic model in space vector form

In an induction motor, the 3-phase stator windings are designed to produce sinusoidally
distributed mmf in space along the airgap periphery. Assuming uniform airgap and
neglecting the effects of slot harmonics, distribution of magnetic flux will also be
sinusoidal. It is also assumed that the neutral connection of the machine is open so that
23

phase voltages, currents and flux linkages are always balanced and there are no zero
phase sequence component in the system.
For such machines, the notation in terms of the space vector is very useful. For a
sinusoidal 3-phase quantity of constant rms value, the space vector of the stator voltage,
current and flux linkage are constant-magnitude vectors rotating at the frequency of the
sinusoid with respect to the fixed (stationary) reference frame. With space vector notation,
voltage equations on the stator and rotor circuits of induction motors are,

v Ri

d
dt

v Ri L

Li

di dL
i
dt dt

where the voltages v and currents i are vectors, and where the resistance R and inductance
L are matrices. Eq. 34 describes the electromagnetic system by a set of 6x6 matrices of
differential equations. The coupling between stator and rotor is dependent on the rotorposition.
Phase transformation
In many cases, analysis of induction motors with space vector model is complicated due
to the the fact that we have to deal with variables of complex numbers. When induction
motors are controlled by a vector drive, control computation is often done in the
synchronous frame. Since actual stator variables either to be generated or to be measured
are all in stationary a-b-c frame, frame transform should be executed in the control. The
most popular transform is between stationary a-b-c frame quantities to synchronously
rotating d-q quantities.
If the goal is to create a rotating space vector describing a circle, three phases with
sinusoidal currents are not necessary. From analytic geometry it is known that the circle
may be described by two coordinates in space (x and y). This may be used in this case, by
placing two coils at 90 and by supplying them with sinusoidal current displaced by 90
(or /2). These two coils are usually named the d-coil and the q-coil. In the rotating frame
of reference the frame of reference in regard to the phase A is named the d-axis (for direct
axis) and the other axis is named the q-axis (for quadrature axis).
This method reduces the three-phase system to a two-phase system.
Doing this, it is possible to model the cross-couplings between the individual coils. A
further advantage is that in steady-state, the currents flowing in the coils are a DC
current. Using the rotating frame of reference, the differentials of any state value (d/dt)
are zero in steady-state and when the differentials are different from zero, they give the

24

change from steady-state only. The rotating frame of reference also has the advantage that
the rotor-angle is known (it is a state).
Transformation of currents, voltages, flux-linkage, etc.
What remains is to define a method for performing the phase transformations to the
rotating frame of reference. The transformation is done by defining a transformationmatrix for the systems as

f dq Tabcdq f abc
where f denote currents, voltages, flux-linkage, etc. For current case, this is shown in
Figure 7.

Figure 7. Transformation of phase quantities into dq winding quantities (current case).

The electromagnetic torque
Properly the most important task for the induction motor is to produce a torque on the
shaft. The developed torque may be written on the flowing form,

Tem

p
rqird rd irq
2

d-q equivalent circuit

The result from the above is a set of equations describing the electromagnetic system in
the rotating frame of reference. The equations describing the system may be interpreted
as equivalent circuits, which may help in understanding the dynamics of the system.
Using this set of equations, it is possible to construct an equivalent-diagram of the d-, and
q-axis individually. For the rotating frame of reference the resulting equivalent diagram
for each of the axis is shown in Figure 105 .

25

a) d-axis

b) q-axis
Figure 8. dq-winding equivalent circuits.
Solving the system: Voltages as Inputs
What remains is to find a strategy for solving the differential equations given in Eq. 5555.
One possibility exist: solving for the flux linkages and then calculating the currents. The
flux linkage associated with the d-, q-axis are calculated as

Computer simulation
In order to carry out computer simulations, it is necessary to calculate intial values of the
state variables, that is, of the flux linkages of the dq windings. These can be calculated in
terms of the initial values of the dq windings currents. These currents allow us to
compute the electromagnetic torque in steady state, thus the initial loading of the
induction machine. Initial conditions are computed in Example 3-1 and in the matlab file
EXE_1.m (or EXE_2.m).
26

Finally, the Simulink model is shown in Figure 9.

Load Torque

DQ-WINDING REPRESENTATION
Va

Va

Inertia

Vb
i_dq
Vc

Vb

i_dq

f(u)

1/Jeq

Tem

Torque Eq. 3-47

Wmech

rad/s --> RPM

1
s

Wmech

-K-

RPM
Tem

Eq. 3-48

ELECRODINAMICS

abc --> dq
Vc

Plot

Entrada
trifasica

After Simulation, Double Click to

plot results using MATLAB

Start

Info

Double Click to
load parameters and initial conditions

Figure 3-13 Simulation of Example 3-3; File Name EX3_3_1.mdl

Electromagnetic Torque on the Rotor d-Axis

n

weber-vueltas

La figura 2.11 muestra las relaciones de causalidad entre i, H, B, , y .

El flujo enlazado por el devanado q del rotor es

rq Lr irq Lmisq
El devanado q tiene una inductancia constante Lm . Por tanto, la fuerza magnetomotriz
que genera este flujo enlazado es

Fisq

3 2Ns
isq
p

r r
Hdl
El campo magnetico H (aplicando
ni )
C

27

H isq

1
lg

3 2Ns
isq
p

La densidad de campo en el entrehierro debida a isq es

Bisq

0 3 2 N s
isq
lg
p

Del mismo modo la densidad de campo en el entrehierro debida a irq es

Birq

0 3 2 N s Lr
irq
lg
p
Lm

Por lo tanto:

Brq

0 3 2 N s
Lr
irq
isq
lg
p
Lm

Analisis dinamico en terminos de los devanados dq

The concept of vector control has opened up a new possibility that induction motors can
be controlled to achieve dynamic performance as good as that of DC or brushless DC
motors. In order to understand and analyze vector control, the dynamic model of the
induction motor is necessary. It has been found that the dynamic model equations
developed on a rotating reference frame is easier to describes the characteristics of
induction motors.
It is the objective of the article to derive and explain induction motor model in relatively
simple terms by using the concept of space vectors and d-q variables. It will be shown
that when we choose a synchronous reference frame in which rotor flux lies on the d-axis,
dynamic equations of the induction motor is simplified and analogous to a DC motor.
representacion en los devanados dq
relaciones matematicas de los devanados dq
torque electromagnetico
6. PRINCIPLES OF VECTOR CONTROL
28

So far, we have not paid attention to the alignment of the rotating reference frame with
respect to the physical coordinate. Noting in Eq. 3.28 that torque is directly proportional
to Iqs if qr = 0, one can choose the rotating d-axis to be the angle of the rotor flux
linkage. In fact, this choice offers a lot of advantages of simplifying control and analysis
of the motor. Other choices frequently used in direct vector control are stator flux linkage
frame (d-axis is aligned to the stator flux linkage) and airgap flux linkage frame, which
will be discussed briefly at the end of the section.

7. INDOOR BLOWER PSC MOTOR

PURPOSE;
The indoor blower fan assembly
(fig.1) is responsible for moving air
through the heat exchanger, through
the duct work and into the living
space. Typically, the assembly
consists of a direct drive motor, a
centrifugal blower wheel with
forward curved blades and a double
inlet blower wheel housing. The
assembly must overcome the
resistance of the furnace air
passageways, filter, and ductwork to
fig. 1
provide adequate supply air to the
living space. Most furnaces use a simple PSC motor with a capacitor to drive the
indoor blower assembly.
THE INDOOR BLOWER MOTOR CIRCUIT
When a call for heat is received by the IFC, the pre-purge (induced draft furnace)
and the ignition sequence begin. Once the main burners are firing and sufficient
flame current is being detected, the furnace begins a timed on indoor blower delay
warm up period. (Usually around 45
seconds) Once the delay period has
elapsed, the IFC energizes the indoor
blower motor assembly through the heat
terminal. (fig.2) If the indoor motor
fails to start or quits running during the
heat cycle, the high limit control will
trip and shut down the burners.
29
fig. 2

When the thermostat is satisfied, the gas valve is de-energized, the induced draft
motor begins a 5 second post purge cycle, and the IFC begins a timed off indoor
blower delay period. At the completion of the blower delay off period, the indoor
blower motor is de-energized and the cycle is finished.
INDOOR BLOWER FAN PSC MOTOR CHECK
The blower motor features an internal thermal overload to protect the motor
winding from overheating. If the motor is hot, allow it to cool down before
checking the motor.
TOOLS NEEDED;
MULTIMETER
PROCEDURE; SINGLE SPEED PSC MOTOR WITH INTERNAL OVERLOAD
1. Disconnect power to the furnace.
2. Using an ohmmeter, check the indoor blower motor capacitor. (Remember,
always discharge the capacitor with an insulated screwdriver BEFORE attempting
to test it.) This is to prevent shock and the possible destruction of your meter.
Place one ohmmeter lead on each
of the capacitor terminals. If the
capacitor is working properly, the
ohmmeter should ramp up and
then ramp down. If the capacitor
fails to respond, it is bad and must
be replaced. If it is good, go to the
next step. (If the capacitor is
swollen or damaged, the above
step is unnecessary)
3. Using an ohmmeter, check for
resistance between the common
and run windings, and between
common and start windings of the
indoor blower motor. You should
measure resistance between each
winding (fig.3) If you measure
infinite resistance from both
common to run and common to
start windings, the internal
overload is open and the motor
must be replaced. (The motor

fig. 3

30

fig. 4

should be cool to the touch when testing.) If you measure infinite resistance from
common to only one winding, the winding is open and the motor must be
replaced.
4. Check the resistance from the motor winding leads to the motor case (fig. 4)
You should measure infinite resistance. If you measure any amount of resistance,
the motor is shorted to ground. Replace the motor. If all of the motor windings
check out OK, proceed to the next step.
5. Restore power to the
furnace and initiate a call
for heat. When burner
flame is established, use a
voltmeter to measure the
voltage at terminals HEAT
and CIR N on the IFC
board, (fig. 5) The IFC
should send out 120 volts
through these terminals to
the indoor blower motor
after the blower delay ON
period has expired. If no
voltage is present after the
blower delay ON is
completed, replace the IFC fig. 5
board.

8. Advantages:

Manual effort is reduced.

31

 Operating time is less.

Cleaning and polishing can be done at same time.
Power consumption is less.
Operating Cost is less.
Design is very simple.
Easy fabrication.
It occupies less floor area.
Initial cost is less.
Net weight is less.
Maintenance cost less.
It can be used in various places

Smoother operation.
9. Disadvantages
They are easily damaged if the voltage exceeds the rated value
The power measured value is approximate value only.
10. Applications

Domestic purpose.
Hospitals.
Computer centers.
Auditoriums.
Cultural centers.
Schools.
Colleges.
Large scale industries.
Medium scale industries.
32

 Theatres.
Educational institutions.

11. Conclusion:
This report has detailed the development, testing and results of an automated cleaning
system prototype in its opening stages of research. A set of requirements that the system
was intended to perform was supplied along with a number of restrictions applied. The
restrictions included the required inclusion of the cleaning system into the existing
IWARD robot platform as well as the issues regarding the installation of certain
technologies due to the operating environment. A prototype was shown to be successful
within the given parameters, but further development is required in order to improve
upon the progress which was achieved. The conclusions summaries the successful
aspects of the system, the areas in need of attention should further research be conducted,
and the flaws discovered throughout the duration of the research period.
12. References
[1] http://www.iward.eu/cms/index.php
[2] http://www.iward.eu/cms/index.php?option=com_joomgallery&func=viewc
ategory&catid=3&Itemid=67
[3] http://www.medicaljobsireland.ie/tag/hospital-hygiene-audit-results/
[4] http://www.hmi.ie/Documents/february_2009/cover_story_hygiene_report
%20hm_Feb_09_p12.pdf
[5] http://www.mrsainfection.org/mrsa-in-ireland.php
[6] http://www.wsh.nhs.uk/InfectionControl/MRSA.htm
[7] Chen & Schelin: Design of Distance Monitoring Algorithm for Robotic
Applications. The University of Iowa, Spring 2009
[8] Design and Implementation of Cricket-based Location Tracking System.
International Journal of Electronics, Circuits and Systems Volume 2 Number 1
[9] Marklund: Building a mobile robot with optical tracking and basic SLAM.
Lule University of Technology, January 2009

33