EET 421 O C O C S POWER ELECTRONIC DRIVES

Slip-Recovery Drives for Wound-Field Induction M t W d Fi ld I d ti Motors

Introduction Introd ction

In a wound-field induction motor the slip d f ld d h l rings allow easy recovery of the slip power which can be electronically controlled to control the speed of the motor. The ld t Th oldest and simplest t h i d i l t technique to t invoke this slip-power recovery induction motor speed control is to mechanically vary the rotor resistance.

INDRA 2009

Introduction Introd ction (contd)

Slip-power Slip power recovery drives are used in the following applications: Large-capacity pumps and fan drives Variable-speed wind energy systems Shipboard VSCF (variable-speed/constant frequency) systems Variable V i bl speed hydro-pumps/generators dh d / t Utility system flywheel energy storage systems

Speed Control b Rotor Rheostat by

Recall that the torque slip equation for an torque-slip induction motor is given by:
Vs2 P Rr . Te = 3 2 2 s e ( Rs + Rr / s ) + e2 ( Lls + Llr ) 2

From this equation it is clear that the torque slip torque-slip curves are dependent on the rotor resistance Rr. The curves for different rotor resistances are shown on the next slide for four different rotor resistances (R1-R4) with R4>R3>R2>R1.

Speed Control by Rotor Rheostat (contd)

Speed Control by Rotor Rheostat (contd)

With R1=0, i.e. slip rings shorted, speed is h l h d d determined by rated load torque (pt. A). As Rr increases curve becomes flatter leading increases, to lower speed until speed becomes zero for Rr >R4. Although this approach is very simple, it is also very inefficient because the slip energy is wasted in the rotor resistance.

Speed Control by Rotor Rheostat (contd) ( td)

An electronic chopper implementation is also possible as shown below but is equally inefficient.

Static Kramer Drive

Instead of wasting the slip power in the rotor circuit resistance, a better approach is to convert it to ac line power and return it back to the line. Two types of converter provide this approach: 1) St ti K Static Kramer Drive - only allows D i l ll operation at sub-synchronous speed. 2) St ti Scherbius Drive - allows Static S h bi D i ll operation above and below synchronous speed. h d

Static Kramer Drive (contd) Dri e

A schematic of the static Kramer drive is shown below:

Static Kramer Drive (contd)

The machine air gap flux is created by the stator supply and is essentially constant. The rotor current is ideally a 6-step wave in phase with the rotor voltage. The motor fundamental phasor diagram referred to the stator is as shown below:
Vs = stator phase voltage, Is=stator current, current Irf = fundamental rotor current referred to the stator, g = air gap flux, t t i fl Im=magnetizing current, and =PF angle.

Static Kramer Drive (contd) Dri e

The voltage Vd is proportional to slip, s and the current Id is proportional to torque. torque At a particular speed, the speed inverters firing angle can be decreased to decrease the voltage VI. This will increase Id and thus the torque. A simplified torque-speed expression for this implementation is developed next.

Static Kramer Drive (contd) Dri e

Voltage Vd (neglecting stator and rotor g ( g g voltage drops) is given by:
1.35sVL Vd = n1

where s=per unit slip, VL= stator line voltage slip and n1=stator-to-rotor turns ratio. The inverter dc voltage VI is given by:
1.35VL cos VI = n2

where n2=transformer turns ratio (line side to inverter side) and =inverter firing angle.

Static Kramer Drive (contd) Dri e

For inverter operation /2<< In steady operation, /2<<. state Vd=VI (neglecting ESR loss in inductor) =>

n1 s= cos n2

The rotor speed r is given by:

n1 r = (1 s ) e = (1 cos ) e = (1 cos ) e if n1=n2 n n2

Thus rotor speed can be controlled by controlling inverter firing angle, . At =, r=0 and at =/2 , r=e.

Static Kramer Drive (contd) Dri e

It can be shown (see text) that the torque ( ) q may be expressed as:
P 1.35VL Te = Id 2 e n1

The below figure shows the torque-speed curves at different inverter angles.

Static Kramer Drive (contd) Dri e

The fundamental component of the rotor p current lags the rotor phase voltage by r because of a commutation overlap angle (see figure below). At near zero slip when ( fi b l ) li h rotor voltage is small, this overlap angle can exceed /3 resulting in shorting of the upper and lower diodes.

Static Kramer Drive (contd) Dri e

The phasor diagram for a static Kramer drive at rated voltage is shown below:

IL

Note: All phasors are referred to stator.

Static Kramer Drive (contd) Dri e

On the inverter side, reactive power is drawn by the line -> reduction in power factor (L> s). The inverter line current phasor is IT. The figure shows IT at s=0 5 s=0.5 for n1=n2. The real component ITcos pp p opposes the real component of the stator current but the reactive component ITsin adds to the stator magnetizing current. The t t l li Th total line current IL i th phasor sum t is the h of IT and IS. With constant torque, the magnitude of IT is constant but as slip varies, the phasor IT rotates from =90 at s=0 to =160 at s=1.

Static Kramer Drive (contd) Dri e

At zero speed (s=1) the motor acts as a (s 1) transformer and all the real power is transferred back to the line (neglecting losses). The motor and inverter only consume reactive power. At synchronous speed (s=0) the power factor is the lowest and increases as slip increases. Th PF can be improved close i The b i d l to synchronous speed by using a stepdown transformer. The inverter line transformer current is reduced by the transformer turns ratio -> reduced PF.

Static Kramer Drive (contd) (cont d)

A further advantage of the step-down transformer is that since it reduces the inverter voltage by the turns ratio, the device power ratings for the switching devices in the inverter may also be reduced. A starting method for a static Kramer drive is shown on the next slide.

Static Kramer Drive (contd) (cont d)

The motor is started with switch 1 closed and switches 2 and 3 open. As the motor builds up speed, switches 2 and 3 are sequentially closed until desired smax value is reached after which switch 1 is opened and the drive controller takes over.

AC Equivalent Circuit of Static Kramer D i K Drive

Use an ac equivalent circuit to analyze the performance of the static Kramer drive. The slip-power is partly lost in the dc link resistance and partly transferred back to the line. The two components are: Pl=Id
2R d

1.35VL I d cos and Pf = n2

Thus the rotor power per phase is given by: 1.35 1 35VL I d 1 2 ' ' P ' = Pl + Pf = I d Rd + cos 3 n2

AC Equivalent Circuit of Static Kramer D i ( K Drive (contd) td)

Therefore, Therefore the motor air gap power per phase is given by:

P = I Rr + P '+ P
' g 2 r

' m

where Ir=rms rotor current per phase, Rr = rotor resistance, and Pm = mech. output power per phase.

AC Equivalent Circuit of Static Kramer D i ( K Drive (contd) td)

Only the fundamental component of rotor current, Irf needs to be considered. For a 6-step waveform,
I rf = 6

Id

Thus, the rotor copper loss per phase is given by:

1 2 P = I Rr + I d Rd = I r2 ( Rr + 0.5 Rd ) 3
' rl 2 r

AC Equivalent Circuit of Static Kramer Dri e(contd) Drive(contd)

The mechanical output power per phase is then given by: Pm = (fund. slip power) (1-s)/s
2 (1 s ) 1.35VL = I rf ( Rr + 0.5 Rd ) + I rf cos 3 6 n2 s

AC Equivalent Circuit of Static Kramer Dri e(contd) Drive(contd)

The resulting air gap power is given by:

RA P = I RX + I s
' g 2 rf 2 rf

2 where: RX = 1 ( Rr + 0 Rd ) h 0.5 9 1.35VL RA = ( Rr + 0 5 Rd ) + 0.5 cos and d 3 6 n2 I d

AC Equivalent Circuit of Static Kramer Dri e(contd) Drive(contd)

The per-phase equivalent circuit derived p p q from these equations (referred to the rotor) is shown below:

Torque Expression
The average torque developed b the h d l d by h motor = total fundamental air gap power synchronous speed of motor
' 2 I rff RA Pgff P P Te = 3 = 3 s 2 e 2

where Pgf = fundamental frequency perphase air gap power power.

Torque Expression (contd) (cont d)

A torque expression in terms of f inverter firing angle may be derived (see text pg. 320) resulting in: pg
2 cos P V cos s Te 3 n2 2 e Rr sn2 n1 2 s

s cos + s sn2 n1
2

Torque Expression Torq e E pression (contd)

The torque-speed curves at different firing torque speed angles of the inverter are shown below:

Harmonics in a Static Kramer Dri e Drive

The rectification of slip-power causes harmonic currents in the rotor which are reflected back into the stator. This results in increased machine losses. The harmonic torque is small compared to h i i ll d average torque and can generally be neglected in practice practice.

Speed Control of a Static Kramer D i K Drive

A speed control system for a static Kramer drive is shown below:

Speed Control of a Static Kramer D i ( K Drive (contd) td)

The air gap flux is constant and the torque g p q is controlled by the dc link current Id (controlled in the inner control loop). The speed i controlled via th outer control d is t ll d i the t t l loop (see performance curves below).

Power Factor Improvement

As indicated earlier, the static Kramer d d l h drive is characterized by poor line PF because of phase controlled inverter inverter. One scheme to improve PF is the commutator-less Kramer drive - see Bose text pp. 322-324 for description.

Static Scherbius Drive

The static Scherbius drive overcomes the forward motoring only limitation of the static Kramer drive. Regenerative mode operation requires the slip p p power in the rotor to flow in the reverse direction. This can be achieved by replacing the diode bridge rectifier with a thyristor b id th i t bridge. Thi i th b i t This is the basic topology l change for the static Scherbius drive from the static Kramer drive drive.

Static Scherbius Dri e (contd) Scherbi s Drive

Static Scherbius Dri e (contd) Scherbi s Drive

One of the limitations of the previous f h l f h topology is that line commutation of the machine-side converter becomes difficult near synchronous speed because of excessive commutation angle overlap. A g p line commutated cycloconverter can overcome this limitation but adds substantial cost and complexity t th b t ti l t d l it to the drive.

Static Scherbius Dri e (contd) Scherbi s Drive

Another approach is to use a double-sided pp PWM voltage-fed converter system as shown below:

Modified Scherbius Drive for Shipboard VSCF Power Generation Po er

Another approach that has been used for stand-alone shipboard power generation is shown below:

Modified Scherbius Drive for Shipboard VSCF Power Generation (contd)

In this approach an induction generator provides real stator power Pm to a 3 60Hz constant voltage bus which is equal to the turbine shaft power and the slip power fed to the rotor by a cycloconverter. The stator reactive power QL is reflected to the rotor as sQL which adds to the machine magnetizing p power requirement to g q give the total reactive power QL of the cycloconverter. This power is further increased to QL at the cycloconverter i l t input b th shaft-mounted t by the h ft t d synchronous exciter.

Modified Scherbius Drive for Shipboard VSCF Power Generation (contd)

The slip frequency and its phase sequence are adjusted for varying shaft speed so that the resultant air gap flux rotates at synchronous speed. At subsynchronous speeds the slip power sPm is supplied to the rotor by the exciter and so the remaining ouptut power ( g p p (1-s)Pm ) is supplied to the shaft. At supersynchronous speeds, the rotor output power flows in the opposite di it direction so th t the total shaft ti that th t t l h ft power increases to (1+s)Pm.

Modified Scherbius Drive for Shipboard VSCF Power Generation (contd)

Rotor voltage and frequency vary linearly with deviation from synchronous speed. For example if the shaft speed varies in example, the range of 800-1600 rpm with 1200 rpm as the synchronous speed (s=0.33) the (s 0.33) range of slip frequency will be 0->20Hz for a 60Hz supply frequency.