Steady State Analysis oj PWM Inverter Fed Cage Induction Motor Drive

Steady state analysis ofPWM inverter fed cage induction motor drive
Sharad.S.Patili
2 ,

R.M.Holmukhe2

P.S.Chaudhari3

)Electrical Engineering Department, JSPM's Jaywantrao Sawant College of Engineering, Pune, India Electrical Engineering Department, Bharati Vidyapeeth University,College of Engineering, Pune, India 3Scientist, DRDO, Pune, India
'rajeshmholmukhe@hotmail.com

Abstract: Cage induction motor is a popular choice for variable speed operations, over a wide range, with variations in supply frequency and voltage. It is capable of giving long-term stability, and good transient performance. For Cage Induction motor drive ( CIMD ), variable voltage and variable frequency supply can be obtained by one or more power inverters, with suitable triggering and supporting control circuits. PWM inverter and cyclo -converter both are capable of providing variable voltage supply and both have been used to control the speed of induction motor. However a PWM inverter offers several advantages over cyclo converter. PWM inverter advantages are frequency can be varied over a wide range, good power factor, good efficiency and free from voltage regulation ,used in traction, PS, and in emergency power supplies. In present investigation: 1) A mathematical model of Cage Induction motor drive has been developed, which can reliably predict the steady state performance of PWM inverter fed cage induction motor drive. 2) The system is simulated on Digital computer, based on coupled circuit approach. The mathematical model has been developed in terms of measurable parameters of the system. A computer program has been developed in 'MATLAB' for the purpose of digital simulation. 3) Steady state performance of the motor is evaluated for sinusoidal supply and PWM inverter supply at nominal frequency. Based on the investigation, it is concluded that performance of the motor is comparable in both the cases of supply. It is observed that distortions are reduced as modulation index decreases in the PWM inverter line voltage. As carrier ratio is increased line current is nearly sinusoidal. Settling time is reduced with PWM inverter supply. Keywords: PWM inverter, Mathematical model

suffer from certain drawbacks such as frequent maintenance due to presence of mechanical commutator, no suitability for use in Hazardous locations or dusty atmosphere, limited overloading capacity accentuated sparking at high currents and speed etc. Therefore, dc motor is not the best suite" adjustable speed drive for all applications. The squirrel cage induction motor has been the most widely used electric motor since its inception at the end of 19th century. Over sixty percent of the power flows through the windings of cage motor. The unique feature of cage motors is: the absence of sliding electrical contacts, Poles and commutator resulting in an extremely simple and rugged construction. They are available in ratings over wide range and offer almost maintenance free and efficient operation. Above all they can work in Hostile environments where other type of motors cannot be used. On account of its inherent advantages, frequency controlled induction motors are better suited for adjustable speed requirements compared to de or synchronous motors. Apart from satisfying the requirements of variable speed application, they help in saving energy losses in large fans, pumps blowers, compressors etc. PWM INVERTER An inverter is a device that converts de power into ac power. This can be broadly classified into two types: Voltage Source Inverter (VSI) and Current Source Inverter (CSI). A Voltage fed inverter (YFI) or Voltage source inverter (VSI) is one in which the de source has small or negligible impedance. In other words, a voltage source inverter has stiff dc. Voltage source at its input terminals. Therefore it is an adjustable frequency voltage source. A Current fed inverter (CFI) or current source inverter (CSI) is fed with adjustable current from dc source of high impedance i.e. form a stiff de current source, output current waves are not affected by the load. For controlling the speed of an ac drive the flux should be kept constant, i.e. the air gap voltage to frequency (Elf) ratio should be kept constant. Since we vary the frequency to control the speed, hence voltage should be varied accordingly to keep ElF ratio constant. This voltage variation can be achieved in three ways: I. By variation of the alternating voltage output from the inverter. 2. By variation of the direct voltage input to the inverter.
II.

I. I TRODUCTIO Electrical drives play an important role as an electromechanical power converter. The fast growing advancements in semiconductor technology have made a revolution in the field of drives. The statically controlled de drives have been widely used as variable speed drive due to easy implementation of torque control loop because torque is directly proportional to current when air gap flux is constant. Thus a fast acting armature current loop gives effective torque control. The speed can easily be controlled from rated speed down to standstill by armature current through either phase controlled converters or choppers. However D. C. Motors

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Proceedings of International Conference on Energy Optimization and Control (ICEOC-2010) December 28 - 30.2010. Aurangabad, Maharashtra, India 3. By switching techniques within the inverter circuit. Discussion on each of the methods is beyond the scope of this text, but last one is important in context of this text as It gives the idea of PWM techniques. The chopping techniques which is used for controlling the dc input voltage in accordance with frequency can also be applied within the inverter circuitry. If we introduce pulses of variable duration in the basic square wave output voltage then the magnitude of the, fundamental can be varied. For this fast devices controlled turn off is required. Therefore hy simple introduction of pulses one can control the output voltage in accordance with frequency. Switching control in PWM inverters are however complex, but by introduction of high switching devices like MOSFET, this problem can be over come. There exists a number of techniques for implementing pulse width modulation in power inverters, some of popular techniques are: I. Single pulse modulation 2. Multiple pulse modulation 3. Square wave PWM 4. Sinusoidal PWM III. MATHEMATICAL MODEL OF PWINVERTER FED CAGE INDUCTION MOTOR DRIVE This topic presents the generalized equations describing the behaviour of pulse width modulated fed squirrel cage induction motor drive based oil the coupled circuit approach. The system has been analysed in a synchronously rotating reference frame. With the help of d-q transformation of variables basic equations for induction motor, are developed in per unit system. The mathematical model so developed, has been used for analysing the drive under sinusoidal as well as PWMinput. 3.1 INTRODUCTION The suitability of any drive to a given application is characterized by its steady state and dynamic behavior. In order to analytically predict the drives performance, it is essential to develop a mathematical model of the drive under required operating conditions, using reasonable assumptions. Generalized equations describing, the behavior of three-phase symmetrical induction motor is established by considering it an elementary two pole idealized machine. A computer program using 'MATLAB" software is developed here to solve the state equations using Fourth Order Runge - Kutta method to Simulate the performance of the drive. The PWM output voltage waveforms of the three-phase system are, generated based on sinusoidal pulse width modulation technique. These voltages are then transformed into d-q components and regarded as forcing functions in the d-q model of an induction motor. The model has been developed neglecting hysteresis and eddy current losses.

STATOR WINDING

3.2 MATHEMA TICAL MODEL OF INDUCIION MACHINE The generalized equations describing the behaviour of an induction motor under steady state and transient conditions are established by considering it as an elementary two pole idealized machine. The effect of number of poles is taken into account by multiplying the expression for torque by number of pole pairs. An ideal three-phase induction motor, is regarded as a group of linear coupled circuits. Concentrated coils have showed distributed stator and rotor windings.

Organised by - Department of Electrical Engineering, Govt. College cf Engineering, Aurangabad - 431 005. Maharashtra, India

374

Steady State Analysis of PWM Inverter Fed Cage Induction Motor Drive

Mathematical Model of Induction Motor in matrix form expressed as

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3.3 TRAMSFORMA TION TO SYNCHRONOUSLY ROTA TING REFERENCE FRAME Substitution of equation (3.20) in equation. (3.5) to (3.10) gives a set of differential equations, which are non-linear due to time varying nature of the coefficients. These equations can however be converted to a set of linear equations by adopting d-q trans formation. By doing so, the time varying coefficients are eliminated, and variable and parameters are expressed in mutually decoupled direct and quadrature axes. The d-q equations of an induction motor can be expressed either in stationary or in rotating reference frame. The use of a reference frame that rotates at synchronous speed provides an advantage that with sinusoidal excitation the variables appear as de quantities in steady state condition. The transformation to d-q axes reference frame rotating at synchronous speed. to rad/sec is given by Fig 3.2, A mathematical model has been developed from a three phase PWM inverter. The model developed can be used to predict the dominant feature of the drive under steady state and transient conditions. The model neglects hystrresis and eddy current losses. The turn ON and turn OFF periods are very small, to treat the device as an ideal switch.

the drive is necessary to identify the application area of the drive, for improvement in its performance for the optimization of the system for meeting the desired specifications. As the motor operates at variable speed, it is necessary that the motor input. Parameters, voltage and frequency be adjusted suitably to get the required speed and torque. Equivalent circuit approach for predetermination of the steady state performance of the induction motor is well suited, when the. input voltage is sinusoidal. However, when the motor voltage is non-sinusoidal, as in the case of present drive, it is more convenient to Work out the performance in time domain on instantaneous basis. The modulating wave and a carrier wave voltage of a particular carrier ratio are generated and the signals obtained by comparing them are used to trigger various PWM inverter devices. The PWM voltage is considered as forcing function to the coupled circuit Model of induction motor and waveforms of the motor currentSare obtWi'ed mtime domain. This requires the mathematical model of the drive to be solved through numerical techniques. From the initial standstill conditions the motor is allowed to build up under a given load torque until steady state is reached. The steady state is identified when the motor current waveform successively exhibits identical cycles. The voltage-current waveforms are then used to compute the steady-state performance in time-domain. This analysis is carried out at a selected frequency of 50 Hz and at no and full load condition. 4.2 PERFORMANCE OF THE TEST MOTOR ON SINUSOIDAL SUPPLY In this section steady-state performance of the specific induction motor, is presented with, the sinusoidal supply to establish its behaviour. Performance curves are obtained under nominal supply (rated voltage and rated frequency) shown in fig 4.I.This curve is used to determine motor performance at a given frequency for comparison when the motor is fed from PWM inverter supply. 4.2.1 PERFORMANCE UNDER NOMINAL VOLTAGE AND FREQUENCY The steady state performance curves have been obtained using equivalent circuit of the motor The equivalent circuit parameters of the test motor, given in the Appendix, are obtained through light running and blocked rotor tests. The test motor's nameplate data are as shown in Table 4.1.
Table 4.1 TEST MOTOR NAME PLATE DATA

IV .STEADY-STATE ANALYSIS This chapter deals with steady state analysis of PWM signal fed, cage induction motor drive. Using mathematical model, developed in chapter 3, performance characteristics Of the drive under steady state are, Obtained For comparison, corresponding performance. Characteristics of the motor when fed from sinusoidal supply are also presented. 4.1 INTRODUCTION The growing application of variable speed cage induction motor fed from variable. voltage variable frequency source has created the need for detailed analysis under steady state operation for predetermination of the performance. The knowledge of the steady state performance characteristics of

Connection Delta Nominal Line Voltage 415.0 volts 4.9 Amps Nominal Line Current Nominal Power Outout 2.2KW 1400 RPM Nominal Sneed Since the nameplate current refers to full load operation, it has been used for identifying the full load operating point on the performance curves. Fig.4.1 shows the computed steady-state performance from equivalent circuit approach with respect to speed in the entire
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Proceedings of International Conference on Energy Optimization and Control (ICOC-2010) December 28 - 30,2010, Aurangabad, Maharashtra, India sub-synchronous region, from standstill to synchronous speed, when the motor is operated from rated voltage and frequency supply. The full load operating- points have also been identified on theses characteristics and are reproduced in Table 4.2. It may be noted that the calculated power output is a little more than the nameplate value. This is due to neglecting friction and windage losses and core losses in calculations.

4.3 OPERATION ON PWM INVERTER SUPPLY The output voltage of PWM inverter is non-sinusoidal. The fundamental component of this voltage can be utilized to select the value Of Supply voltage. 4.3.1 VOLTAGE TO FREQUENCY CONTROL IN PWM INVERTER In present work both voltage and frequency at the output of inverter are varied to achieve speed control under v/f control to maintain high torque capability at all frequencies. The ratio v/f is Chosen corresponding to the rated voltage and frequency. In PWM inverters, amplitude of fundamental output voltage is directly proportional to the modulation index 'm', which is defined as. M = VrNc = Amplitude of modulating wave/amplitude of carrier wave . The frequency ratio or carrier ratio is defined as K = fc / f = Carrier frequency / Frequency of modulating wave If the frequency ratio 'K' is chosen to be multiple of three identical phase voltage waveforms at the inverter output are produced, resulting in a balanced three phase system. In sinusoidal PWM, three phase sinusoidal voltages are compared with a carrier wave to obtain PWM pattern. This is illustrated in Fig 4.2 (a) compares sinusoidal modulating wave of phase 'a' with a triangular carrier waveform symmetrically placed about zero reference axis. In this illustration the carrier ratio is chosen to be 20 and the corresponding modulating index selected is 1.0 This comparison is used to generate a pole voltage (pva) waveform as shown in Fig 4.2 (b) which swings between + (V d /2) to -(V d /2),where Vd is the de link voltage at the input of inverter. In present case the value of Vd 1.5 P.u. The logic employed in generating the pole voltages is that pole voltage is + (Vdl2) at those instants when amplitude of modulating wave is greater than that of the carrier wave, otherwise it is -(Vd / 2). Thus the pole voltage has only two levels (either positive or negative) and is called two-level PWM waveform. The pole voltage waveform is considered as the voltage of a phase with respect to mid point of the de source Vd. A 3-level PWM pole voltage waveform is also commonly employed. Fig 4.2 (c) shows the comparison of sinusoidal modulating waveform. Of phase 'B' with carrier wave. The modulating waveforms of phase B is 1200 lagging in time phase with respect to modulating wave of phase 'A'. This comparison yields pole voltage waveform. 'pvb ' as shown in the Fig, 4.2 (d). The line voltage Vab is obtained as Vab = pva - pvb The waveform of other line voltages v be and v ca at the output of inverter are obtained in a similar manner. Thus, V be = pvb - pvc V ca = pve - pva

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TEST'MOTOR PERFORMANCE ON SINUSOIDAL SUPPLY UNDER FULL LOAD

Supply Voltage Supply frequency Line current Motor torque Power output Power input Efficiency Power factor Speed Air Gap voltage

In actual unit 415.-00 volts 50.00Hz 4.90 A. 16.56Nw-m 2.4IKW 2.81KW

-1440 RPM 367.00volts

In per unit 0.707 1.000 1.225 0.740 0.686 0.800 0.860 0.800 0.960 0.626

From Fig 4.1 (a) it is noted that motor's starting torque is 1.04 p.u. which is 1.4 times the full load torque. The full load slip is 0.072 p.u. The starting current in Fig 4.1 (g) is 4.8 p.u. which is 3.92 times the, full load current.Figs.4.1 (g) show variation of power input and power output respectively with respect to speed. Curves 4.1 (c and e) show variations of power input and power output figures (b and d) shows power factor and efficiency, the full load values of them being 0.796 pu. and 0.856 p.u. Fig 4.1 (f) shows air gap voltage. The air gap voltage is seen to be 0.664p.u. (or 389.7 volts) under no load which slightly drops to 0.626p.u. (367 volts) under full load condition.

Organised by - Department of Electrical Engineering, Govt. College of Engineering, Aurangabad - 43/ 005. Maharashtra, lndia

376

Steady State Analysis of PWM Inverter Fed Cage Induction Motor Drive

Where [V] is the voltage vector [i) is the current vector [R] is the impedance matrix free of p terms

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For wye-connected load at the output of inverter the phase voltages may also be from pole voltages as V as = ( 2 pva - pvb - pvc )/3 V bs = ( 2 pvb - pvc - pva)/3 Vcs = (2 pvc - pva - pvb)/3 The phase voltages of phase 'A' ' Vas' and the line voltage V ab' obtained in this manner are shown in fig 4.2 (e) and (f) respectively. The amplitude of fundamental line to neutral voltages for a star connected load fed from a PWM inverter is found to be. VI = m [Vd/2] This equation points to two ways of achieving, control of output fundamental voltage V 1 (i) Keeping the modulating index m = 1.0 and varying (Vd ) supply voltage at the inverter input which results in variation of output fundamental voltage VI and (ii) for a given supply voltage, varying modulation index 'm' between 1.0 and 0.0 In the present work, performance of the drive under modulation index m 1.0 is observed. If V d is chosen 1.5 p.u. as in Fig 4.2, equation (4.1) becomes VI =0.75
4.4 SYSTEM EQUATIO S UNDER STEADY STATE

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In case of sinusoidal input to the motor, motor voltages and currents attain steady ac values under steady state. When referred to synchronously rotating d-q reference frame they appear to be dc quantities and their time derivative become zero. However in case of PWM inverter fed induction motor drive the input voltage is non-sinusoidal and therefore for steady state. The dynamic equations of the motor that are nonlinear may be solved by numerical analysis method to get steady state currents.
4.4.1 DIGITAL SIMULATIO

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The dynamic state of the induction motor can be represented by the voltage-current relations in the motor and may be expressed in the following form [V] = [R] [i) + l/w[X] [pi] Or P[i] = w[-[X] -I [R] [i) + [xrl [V]

Equations (4.5) and (4.6) constitute a set of five non-linear differential equations. This set can be efficiently solved on a digital computer using numerical integsatlon technique. Fourth order Runge - Kutta method of Ffuinerical integration is adopted here. The accuracy of integration depends on the

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Proceedings of International Conference on Energy Optimization and Control (ICEOC-20 10) December 28 - 30,2010, Aurangabad, Maharashtra, India integration interval; smaller the interval, greater is the accuracy. A step interval of 0.00002 second is selected in the present work. 4.4.2 COMPUTATION PROCESS IN PWM INVERTER

The computation process adopted in present work has been illustrated through flow charts shown in present Fig 4.3 to 4.5 It begins by taking initial values of rotor speed and machine phase currents and hence ids, iqs, idr, iqr as zero. The value of step length, base, frequency, operating frequency, initial values of applied load torque and modulation index m are also provided as input. The phase voltages Vas, Vbs, and Vcs and line voltages Vab, Vbc , and Vca at the output of PWM inverter are computed using' PWM' given in flow chart of Fig 4.4 It generates three phase sine voltages and carrier wave of given carrier ratio. The PWM waveform is generated by comparing the amplitudes of three sinusoidal voltages and the carrier wave amplitudes using the concept of two level modulation. The test motor is delta connected, its line. and phase voltages are to be obtained from the converter output. The line voltages Vab, Vbc Vca and phase voltages Vas, Vbc, Vcs are calculated from the inverter pole voltages. Using d-q transformation, the line voltages are then transformed into Vds and Vqs- Equation (4.4) are then used in the main program of Fig 4.2 to calculate the currents ids, iqs idr, and iqr The d-q transformation is used once again to obtain phase currents ias, ibs, and ics as shown in the Fig 4.5 The next cycle of calculation starts with the above-calculated values as new initial values of variables, and 'PWM' calculation is done once again. In this manner, using the chosen step length, the voltages and currents are computed until the machine reaches steady state. At the end of each cycle, the torque developed by the motor (Te) and its speed ((0 r) is also computed for given Load torque (TL) 4.4.3 VOLTAGE AND CURRENT EXPRESSIONS FOR MOTOR The phase currents are related to d-q current components in accordance with transformation defined in equations (3.21) to (3.24) Rewriting these relations for stator, ids = 2/3 [ias cosfll +ibs cos(SI - 2m3) + ics cos(SI + 2m3)] iqs = - 2/3 [ias sinSI +ibs sin(SI - 2m3) + ics sin(S1 + 2m3)] Expression (4.8) and (4.9) can be written in inverse manners as ias = ids cosS I - iqs sinS I ibs = ids cos (S I - 2m3) - iqs sin (8 I - 2m3) ics = ids cos (8 I + 2m3) - iqs sin (S I + 2m3)
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Organised by - Department of Electrical Engineering, Govt. College of Engineering, Aurangabad - 43 J 005. Maharashtra, India

378

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Steady State Analysis of PWM Inverter Fed Cage Induction Motor Drive

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V. SIMULATION RESULTS Performance of the drive has been obtained with rated frequency using the computational results outlined in the previous section. The results of full load operation of the motor are presented here for operation on (a) Sinusoidal supply (b) PWM inverter supply The waveforms of motor voltage, current, torque, input power and output power are obtained in time domain and are pres6nted for operation in time domain, and are presented for operation -at typical frequency of 50 Hz. Full load operation is considered by choosing a load torque TL = 0.74 p.u., inertia constant H is taken as 0.1024sec. The computation is also done considering saturation of the magnetic circuit. At the given frequency, the selection of voltage to be applied to the motor is done as below. (a) Sinusoidal supply For V/f control, the voltage to be applied for an operating frequency of fl Hz is found in the following manner.

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Chosen vlfratio = VL-L (RMS) I f= 400 V/50 Hz = 8 At frequency fl Hz VL-L (rms) = 8 * f 1 Or V ph (rms) = VL-L (rms) 1"'3 = 8* fl 1"'3 Or V ph (peak) = ("'2 I "'3 )* 8 * fl 1("'2/"'3)* Or V ph (peak) = f 1 ISO Thus, Vph (peak) = 1.0 for f 50 Hz

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(b) PWM inverter supply For a de link supply voltage Vd chosen equal to 1.5 P.u., per unit fundamental phase voltage (peak value) is obtained from equation (3.1) as VI =0.75 m The modulation index is selected as m = 0.8 for 50 Hz Two level modulation is adopted with a carrier ratio of20 379

Proceedings of International Conference on Energy Optimization and Control (ICEOC-20l0) December 28 - 30,2010, Aurangabad, Maharashtra, India The simulation results for f = 50 Hz operation, when the drive fed from sinusoidal supply or PWM inverter supply are given in the Figs. 4.6 and 4.7 respectively. Fig 4.6 (a) shows the applied phase / line voltage to the delta connected stator of the motor. As already mentioned the peak value of phase/line voltage is has been set to base voltage 1.0 p.u. Fig. 4.6 (a and b) show electromagnetic torque developed and speed. Their steady state values being 0.74 p.u. and 1.0 p.u. respectively. Figs 4.6 (c and d) show phase and line currents, they are steady at 1.0 p.u and 1.74 p.u. Figs 4.6 (e and t) show input and output power, they are steady at 0.741 and 0.68 p.u. Figs 4.7 (a - t) present the waveforms under PWM operation. For two level modulation, the peak value of pole voltage, line voltage/phase voltage are respectively Vd / 2 and Vd. In present case Vd is Chosen as 1.5 p.u. and therefore peak value of line voltage is 1.5 p.u. Figs.4.7 (a and b) show electromagnetic torque and speed. Figs 4.7 (c and d) show phase and line current It is noticed that although the distortion is more in voltage waveform, the current waveform has less amount of distortion due to the fact the motor winding has high reactance to the applied harmonic voltage. Fig 4.7 (e) shows the variation of input power to the motor. It reveals that the effect of harmonics on motor voltages and currents has an. effect of input power too. The input power is obtained as the product of instantaneous voltages and currents. Its average value is almost equal to that of sinusoidal supply. In the Fig.4.7 (t), the output power is obtained as the product of instantaneous torque and shaft speed .. Since the oscillation in speed is very small, the output power follows the nature of torque. As compared, with the input power, oscillations in the output power have been reduced. Moreover the average power seems to be very close to that of sinusoidal, supply. Resonant peak is reduced from 3.4 p.u. to 2.8 p.u. for torque while is, almost same for other parameters, settling time is reduced from 0.42 see to 0.18 sec. Steady state performance is almost same for both the cases. In this study, the performance of PWM inverter fed cage induction motor drive under steady state condition has been investigated. The performance has been digitally simulated using, the dynamic mathematical model. A computer program has been developed in 'MATLAB' for the purpose of digital simulation. The performance of test motor operated from sinusoidal supply and PWM inverter supply is presented for transient and- steady state period. Comparison has been made for drive's simulated performance when fed from sinusoidal supply or PWM inverter source of supply. Performance under sinusoidal supply is the best the Motor can offer. Under PWM supply, the performance further deteriorates. However the deterioration is not significant as under PWM supply also the motor current is nearly sinusoidal.
CONCLUSIONS

The aim of this study has been to devise a mathematical model, which can reliably predict the steady state performance of PWM inverter fed cage induction motor drive. The model has been developed on coupled circuit approach of the motor. The mathematical model has been developed in terms of measurable parameters of the system. The operating frequency has been selected as 50Hz. The steady state performance is computed under full load. The sources considered are sine wave supply and PWM supply. The characteristics of the motor under sinusoidal supply operation are obtained. For sinusoidal PWM inverter the steady state performance is checked SCOPE FOR FURTHER WORK Drives performance can be calculated in following manners: I. Variable frequency operation may be considered. 2. Switches are considered to be ideal, but at high switching frequencies the switching losses will be very high reducing efficiency. So efforts can be made to reduce switching losses by (a) Resonant topology (b) Actively clamping concept (c) Two amplitude oscillation theory 3. This study was done in open loop. A closed loop scheme can be devised for better control. 4. Machine model may include core losses for better accuracy of results 5. Different controllers may be used and performance- may be calculated for each one. 6. Vector control method can be used.
ACKNOWLEDGMENT

Bharati Vidyapeeth University College of Engineering, Pune-

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REFERENCES

G. K. Dubey, "Power Semiconductor Controlled Drives". (Book), Prentice Hall, New Jersey, 1989. 2. J. M. D. Murphy and F. G. Turnbull, "Power Electronics Control Of A. C. Motor", (Book), Pergamon Press. 3. R. M. Davis, "Power Diodes and Thyristor Circuits ", (Book), Peter Pergrinus Ltd., 1998. 4. G. N. Revankar and S. K. Pillai, "Recent Advances in A. C. Drives", Journal of Tech. Institution Of Engineering (India), Vol. 70, PP. 79-87, 1989. 5. B. K. Bose, "Adjustable Speed A. C. Drives- A Technology status Review", IEEE Proceeding, vol. 70, No.2, PP. 116-135, 1982. 6. B. L. Jones and J. E. Brown, "Electrical Variable Speed A. C. Drives", IEEE Proceeding Vol. 131, PI. A, No.7, PP.516 - 558, 1984. 7. T. H. Bortan, "Variable frequency and Variable Speed A. C. Drives", Electrical Machines and Power Systems, PP. 143 -163, 1987. 8. W. Leonard, "Adjustable Speed A. C. Drives "IEEE Proceeding, Vol. 76, No.4, PP.455 - 471, 1988. 9. D. Finney, "Variable Frequency A. C. Motor Drives Systems", Peter Peregrinus Ltd., 1988. 10. Phoivos D. Ziogas, "the Delta Modulation Technique in Static PWM inverters", IEEE Trans Industry Appl. Vol. IA -17, No.2, Marl Apr. 1981. II. Donato Vincenti, Phoivos D. Ziolas and Rajnikant V. Patel, "A PC - Based Pulse - Width Modulator for Static Converters", IEEE Trans. Industry Electronics, Vol. 37, No. I, Feb. 1990.

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Organised by - Department of Electrical Engineering, Govt. College of Engineering, Aurangabad - 431 005. Maharashtra, India

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