Performance Evaluation of Three-Phase Induction Motor ...
Transcript of Performance Evaluation of Three-Phase Induction Motor ...
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 8 (2018) pp. 6098-6109
© Research India Publications. http://www.ripublication.com
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Performance Evaluation of Three-Phase Induction Motor Drive Fed
from Z-Source Inverter
Mahima Sharma1, Mahendra Lalwani2
# Research Scholar, * Associate Professor Department of Electrical Engineering, Rajasthan Technical University, Kota, India.
Abstract
The use of induction motor is growing day by day because of
its superiority and high efficiency over DC machine. So for
wide range of use in the industry, this machine requires an
efficient drive circuit arrangement. Currently conventional
voltage source inverter (VSI) or current source inverter (CSI)
is dealing as key part in the field of induction motor drive
circuit. These converters fail to perform at our desire level due
to some crucial drawbacks like they can perform as either
buck or boost operation and they contain considerable amount
of harmonics as well as EMI noise. So replace these
traditional inverters by pulse width modulation (PWM)
control Z-source inverter (ZSI) which offers buck-boost
operation capability by utilizing shoot-through state and
provides less EMI noise. This paper presents an exhaustive analysis, design of impedance network, implementation of
simple boost control PWM technique and simulation of ZSI
for different values of modulation index.
Keywords Z-source inverter, Induction motor, Pulse width
modulation, Modulation index (MI), Switching frequency,
Harmonic.
INTRODUCTION
In previous decades, the DC motors were extensively used for
the industrial purposes due to the decoupled torque and flux
that can be obtained by controlling field and armature current
respectively [1]. Though the DC motor provides high starting
torque, it has a number of drawbacks such as it requires high
maintenance and is not suitable for environment [2, 3].
Induction motor has taken the place of a workhorse in
industry instead of DC motors because of its robustness, less
maintenance, high efficiency and low cost [4]. In the past
induction motors were used essentially for constant speed
applications as there was the unavailability of the variable
frequency voltage supply. Output voltage of inverter can be
adjusted by controlling the inverter by PWM method [5, 6].
PWM is the method to control modern power electronic
circuit. The basic idea is to control the duty cycle of a switch
load controllable average voltage. The input DC supply is
either in the form of voltage or current, converted in to
variable output AC voltage [7]. Two prediction based on input
source are VSI and CSI used in industries for variable speed
drive and many other applications [8].
Currently conventional VSI or CSI is dealing as key part in
the field of induction motor drive circuit. These converters
succeed to present at our desire level due to several essential
drawbacks like they can execute as either buck or boost
operation and they contain considerable amount of harmonic
as well as electromagnetic interference (EMI) noise [9]. These
inverters are replaced by PWM control ZSI which offers
buck-boost operation capability by utilizing shoot-through
state (ST) and provides less EMI noise. The PWM inverter is
controlled by three different PWM techniques: Sinusoidal
PWM (SPWM) technique, Selective harmonic elimination
PWM (SHEPWM) technique and Space vector modulation
(SVM) [10, 11, 12]. This paper describes a harmonics
reduction technique which is based on PWM generator to
supply the induction motor. A MATLAB simulation model of
induction motor drive is arranged by using SPWM,
SHEPWM, SVM and ZSI. Then some important motor characteristics such as rotor speed, PWM output,
electromagnetic torque, rotor current and stator current are
observed for three system models at various loading
conditions. The model using ZSI, exhibits efficient
performance in all cases compared to the other models.
Harmonic distortions are harmful for induction motor so it is
necessary to mitigate the harmonics and provide a harmonic
less supply to the induction motor. The main objective of this
paper is to find the improved technique for harmonic
reduction for induction motor. This paper presents an
enhanced ZSI, used to limit the speed of an induction motor.
The ripple of Z-source elements, output voltage source,
current are varied with modulation index and switching
frequency with their harmonic profile.
This paper is the analysis of all the possible states of harmonic
reduction in induction motor. Section II describes the
objective of THD reduction techniques, Section III defines the
outline of different harmonic mitigation techniques and
section IV is to design the impedance network. Method of
designing impedance network is presented in section V.
Simulations are used to authenticate the accuracy of the
design process by considering an illustrative example in
section VI. Finally, conclusions are presented in section VII.
STATEMENT OF THE PROBLEM
When the motor is working in healthy condition, the
modulation index and switching frequency are coordinated by
the electric power system. Here modulation index is
m=Am/Ac. Where modulating signal Am is a sinusoidal wave
and Ac is the triangular carrier wave. When a high frequency
triangular carrier wave is compared with the sinusoidal
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 8 (2018) pp. 6098-6109
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reference wave then it determines the switching instant of
output voltage [13, 14, 15]. Table 1 show the variation in
modulation index and switching frequency of PWM generator
Modulation index increases with the increase of fundamental
line voltage while the total harmonic distortion (THD)
decreases. Thus THD can be reduced by increasing
modulation index. Here modulation index is fixed at m=0.8.
Switching frequency increases, harmonic loss decreases but
above a particular level of switching frequency THD again
increases. So, a moderate value of switching frequency is
required for PWM fed induction motor [16, 17]. Induction
motors have THD, this drawback can be overcome by using
PWM techniques and ZSI. THD reduction control strategies
are applied in induction motor which decreases the switching
angles of non-sinusoidal waveforms. Figure 1 shows the
detailed description of ZSI, PWM techniques and THD
reduction [18, 19, 20, 21].
Table 1. Variation of THD in modulation index and switching frequency
Parameter Value THD (PWM output voltage) %
Modulation Index
0.3 197.65
0.5 138.80
0.7 105.10
0.8 91.56
0.9 79.47
1.0 68.55
Switching frequency
1080 91.71
1200 90.71
1500 90.95
1800 91.32
2160 91.37
2500 93.37
Induction Motor
PWM fed induction motor
Z-sourceSVM SHEPWMSPWM
Comparison on between
ZSI and VSI output
Output of inverter THD
(entering into motor stator)
Variation in switching
angle
Effect on inverter output
Check the THD of the
stator current and PWM
outputVariable input fed to motor
Variation in output
Phase angleVariation in modulation
index and switching
frequency
THD reduction
Effect on rotor and
stator current
Generating control
signal
Effect on rotor and
stator current
THD calculation
Figure 1. Block diagram of THD reduction
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Three-phase electronic power converters are controlled by
PWM and have a wide range of applications for DC to AC
power supplies and AC machine drives.
HARMONIC MITIGATION TECHNIQUES
Harmonic distortion is one of the major concerns in the area
of electrical power quality. Because of their potential negative
impacts, the uncontrolled flow of harmonics in power systems
is prevented by employing various mitigation methods [22,
23]. The harmonic contents can be reduced with the help of
PWM techniques and ZSI. PWM techniques mitigate the
harmonics in induction motor and Z-source to control the
number of modulation index and minimize the shoot-through
state (ST). Different approaches in harmonic mitigation
techniques are shown in figure 2 [24, 25, 26].
Sinusoidal pulse
width modulation
Z-source technique
Space vector pulse
width modulation
Selected harmonic
elimination pulse
width modulation
Harmonics Mitigation
Techniques
Pulse width modulation
technique
Figure 2. Harmonics mitigation technique
Various techniques have been devised by many researches for
controlling the output current of a PWM voltage-fed inverter.
A current control technique is also devised for three-phase
PWM AC/DC converters. Table 2 shows the pros and cons of
different PWM techniques [27, 28, 29].
Table 2. Pros and cons of PWM techniques
PWM Techniques
SPWM SHEPWM SVM
Pros
Control of inverter output
without any additional
components [30]
Reduction of lower harmonic
The elimination of specific low-order
harmonics from a given voltage/current
waveform achieved by SHEPWM
technique [31]
SHEPWM method at fundamental
frequency, for which transcendental
equations characterizing harmonics are
solved to compute switching angles
[35, 36]
Compared to SPWM with the same
modulation index, the THD of SVM is
slightly lower [32]
SVM can achieve 15% more basic
component than SPWM
Decrease of input current THD and
increase of power factor are desired [37]
Cons
Reduction of available voltage
Increase switching losses due
to high PWM frequency [33]
Complexity increase
High cost
No flexible too control [34]
It is difficult to solve the SVM
expressions as these are extremely
nonlinear in nature and may produce
simple, multiple, or even no solutions for
a meticulous value of modulation index
[38, 39]
PROPOSED TECHNIQUE
The ZSI rectifies the associated problems with the VSI and
CSI. The symmetrical impedance network connects the source
to the load through the inverter. The impedance network
consists of two equal inductors and two equal capacitors as
show in figure 3.
V
S
I
Load
Input
source
Es
Ds L1
C2
C1
L2
Impedance Network
Figure 3. Equivalent circuit of ZSI
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This network acts as a second order filter. In this impedance
network a constant impedance output voltage is fed to the
three-phase inverter main circuit. Depending upon the gating
signal, the inverter operates and this output is fed to the three-
phase AC load/motor. The number of control methods are
used to control ZSI, which include the variation in modulation
index and switching frequency. The closed loop speed control
scheme utilized by slip regulation of combined inverter and
induction machine improves the dynamic performance. The
speed loop error generates the slip speed command ( *
sl )
through the proportional-integral controller and limiter. The
slip is added to the speed feedback signal ( r ) to generate the
synchronous speed command ( *s ) [40, 41, 42]. The
synchronous speed command generates the voltage command
(Vs) through a Volts/Hz function generator as shows in figure
4.
PI Controller
*
r
r
Slip Limiter *
sl
r
*
s
Constant V/f
Dc
Supply
3-phase
ZSI
IM
Speed sensor
Figure 4. Closed-loop speed control scheme utilizing V/f and
slip regulation
The control strategy of the ZSI is an important issue and
several feedback control strategies have been investigated in
recent publications. There are four methods to control the ZSI
DC-link voltage: simple ST boost control (SBC), maximum
ST boost control (MBC), maximum constant ST boost control
(MCBC) and modified space vector modulation ST control
method (MSVM). Following control methods are show in
table 3.
Table 3. Comparison of different ST control methods
ST boost control method SBC MBC MCBC MSVM
Line voltage harmonic - + 0 +
Phase current harmonic 0 0 + -
DC link voltage ripples 0 - + 0
Switch voltage stress 0 + 0 -
Inductor current ripples 0 - + -
Efficiency 0 + + -
Obtainable ac voltage 0 0 + -
Total - ++-- +++++ +----
Here (+, 0 and -) represents the best, the moderate and the
lowest performance, respectively
SIMULATION AND RESULTS
In this section the various condition of harmonic reduction
and controlling of THD are describes. This paper defines two
different control method of motor drive: PWM and Z-source.
PWM technique is connected to output link for controlling
speed regulation and Z-source network is connected to DC-
link for controlling ST switching states.
A. Three-phase induction motor without PWM
The simulation model of induction motor without using any
mitigation technique is show in figure 5. In this model, pulse
generator is used for triggering purpose of inverter and a step-
up transformer is used to step-up the voltage signals. A three-
phase induction motor is connected to three-phase sinusoidal
source via a transformer. Stator current harmonics is analyzed
with fast fourier transform (FFT) show in figure 6. In this
model THD is 24.66 % without using any mitigation
technique. Table 4 shows parameters of three-phase induction
motor.
Table 4: Three-phase induction motor parameters
Parameters Value
Nominal power 3HP
Voltage applied 220V
Frequency 50 Hz
Rs and Ls (stator resistance and
inductance)
1.115Arms & 0.005974H
Rr and Lr (rotor resistance and
inductance)
1.083Arms & 0.005974H
Mutual inductance Lm(H) 0.2037H
Inertia, friction factor pole pairs 0.02 J (kg.m2), 0.005752 F
(N.m.s) & 2p
Synchronous speed 1800 rpm
Angular frequency 188.5 rad/s
Figure 5. MATLAB Model of induction motor without using
any technique
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Figure 6. Stator Current THD
A.1 Three-phase induction motor with PWM
PWM technique is to control output voltage and harmonic
reduction. PWM is commonly used technique for controlling
power in inertial electrical devices, made practical by modern
electronic power switches. Here PWM techniques like
SPWM, SHEPWM and SVM are applied to inverter and it
also studies the performance of the induction motor.
A.1.1 Sinusoidal Pulse Width Modulation
The MATLAB simulation model is show in figure 7. A
snubber circuit is used between rectifier and inverter. A PWM
generator is used to trigger the inverter. As perfect output
waveforms are basic requirement for the smooth running of
the induction motor. PWM technique is a technique which is
used to mitigate the harmonics and speed control of induction
motors. Figure 8 show the stator current responses of IM
when at time 0.4 sec. Stator current waveform attains a steady
state at near 0.4 sec. For an input DC voltage of 600 V, the
circuit produces three-phase AC voltage output. This load is
Y-connected and purely inductive in nature. Figure 9 shows
the stator current and PWM inverter voltage waveform. THD
is controlled till 11.61% therefore in the proposed simulation
model the accurate maximum frequency increases efficiency
of the motor. Figure 10 shows the PWM output voltage
waveforms and THD of inverter.
Figure 7. Simulation model of induction motor with using SPWM
Figure 8. Stator current
Figure 9. FFT analysis in Stator current THD
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Figure 10. PWM voltage waveform and THD
A.1.2 Selected Harmonic Elimination PWM Technique
Compared with other PWM topologies, only the SHEPWM
based techniques work effectively at low switching
frequencies and theoretically provides the best output voltage
and current quality. Figure 11, show the simulation model of
SHEPWM fed induction motor. The output waveforms for
rotor current and stator current were obtained. The following
are rotor and stator currents in the induction motor showing
figure 12 and 13. This output is not pure because of many
harmonics. Both the stator and rotor currents exhibit high
transients during the starting of the motor. Stator and rotor
current settle down to low amplitude sinusoidal oscillations.
Figure 14 shows the THD in SHEPWM fed induction motor.
Figure 11 . Simulation model of SHEPWM fed induction motor
Figure 12. Rotor current in SHEPWM fed induction motor
Figure 13. Stator current in SHEPWM fed induction motor
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Figure 14. Stator current THD in SHEPWM fed induction
A.1.3 Space Vector Modulation
The SVM control system model is used to generate the SVM
control signal for inverter and verify the output results are
shown in figure 15. The space vector Vref with magnitude Vm
rotates in a circular orbit at angular velocity u, where the
direction of rotation depends on the phase sequence of
voltages are show in figure 16. With the sinusoidal three-
phase command voltage the composite PWM fabrication at
the inverter output should be such that the average voltage
follows these command voltage with minimum amount of
harmonic distortion.
Figure 15. Simulation model of SVM fed induction motor
Figure 16. Space vector trajectory
Figure 17 shows the stator current of SVM is an advanced
technique used for variable frequency drive applications. It
utilizes DC bus voltage more effectively and generates less
THD in the three-phase VSI. Figure 18 shows the control
signal generated by SVM. SVM utilize a disordered changing
switching frequency to spread the harmonics continuously to a
wide band area so that the peak harmonics can be reduced.
Simulation has been carried out by varying the modulation
index between 0 and 1. Figure 19 shows the voltage waveform
of phase to neutral SVM inverter. Two popular modulation
strategies have been implemented in the SVM: alternating
zero vector strategy and symmetrical modulation strategy.
Figure 20 shows the harmonics of rotor current of induction
motor fed by SVM inverter with the help of fourier block
present in simulink.
Figure 17. Stator current of induction motor fed by SVM
inverter
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Figure 18. Control signal generated by space vector
subsystem block
Figure 19. Phase to neutral voltage of SVM inverter
Figure 20. Rotor current of induction motor fed by SVM
inverter
Table 7 shows the decrement in harmonics magnitude with
respect to fundamental component of rotor current.
Table 7: Harmonic Contents in Rotor Current
Harmonics order Harmonic magnitude
fundamental
3 0.2632
5 0.0654
7 0.602
11 0.0281
SVM output waveforms have less harmonics, therefore to
achieve better performance for inverter SVM algorithm in the
ZSI is preferred. THD of stator and rotor current is shown
figure 21 and 22.
Figure 21. Stator current THD in SVM fed induction motor
Figure 22. PWM output current waveform and THD
Z-source Fed Induction Motor
In this model an induction motor drive system with the use of
ZSI is implemented. Figure 23 show simulation model to
verify the Z-source results, the simulations are conducted with
initial system parameters. Here, inductance is 4mh and
capacitance is 300mf.
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Figure 23. Simulation model of ZSI fed induction motor
The block diagram of three-phase ZSI fed induction motor is
shown in figure 24. It is frequently essential to control the
output voltage of inverter from the constant V/f control of an
induction motor [43]. PWM based firing of inverter provides
the best constant V/f and controlling of the speed of induction
motor [44, 45, 46].
ConverterZ-source impedance
network Inverter
PWM setting
V/f control
Speed setting
IMPower supply
Figure 24. Block diagram of ZSI fed induction motor
In this ZSI conventional control method modulation index are
kept high so that minimum stress on the device are obtained.
Simulation model shows that motor output line current is
reduced to large extent. Three-phase stator current waveforms
and stator voltage for a given load condition is shown in the
figure 25 and 26 respectively. The ZSI can be improved by
controlling capacitor voltage. The purpose of the capacitor is
to absorb the current ripple and maintain a fairly constant
voltage so as to keep the output voltage sinusoidal. The
proposed control method generates the ST duty ratio by
controlling both the inductor current and the capacitor voltage
of the ZSI as shown in figure 27.
Figure 25. Stator current in ZSI fed induction motors
Figure 27. Capacitor voltage in ZSI impedance network
Figure 26. ZSI voltage output waveform
Harmonic analysis of ZSI
The simulink block diagram is designed to obtain the different
waveforms. Figure 22 describes the satisfactory performance
of a drive, output should be ripple free so that the input taken
from the inverter is analyzed for harmonics. The component
values of ZSI depend on switching frequency only. Figure 28
show the stator current THD waveforms to be very smooth
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sinusoidal waveform as compared to the traditional PWM
inverter. Due to this operational behaviour ZSI can boost the
output voltage to any value greater than input voltage as
shows in figure 29.
Figure 28. THD analysis of stator current in induction motor
fed by ZSI
Figure 29. THD analysis of Z-source PWM inverter output
voltage
The speed control of such motors can be achieved by
controlling the applied voltage on the control operation of
ZSI. Table 8 represents the changes in THD of ZSI and VSI
according to different modulation index.
Table 8: Comparison of ZSI and VSI fed induction motor in
terms of THD
Modulation Index THD(ZSI)% THD(VSI)%
0.5 2.88 4.53
0.7 5.11 7.82
0.8 7.24 11.81
0.9 6.36 9.49
1 8.45 14.06
The THD in stator current is lower in case of Z-source fed
induction motor. The ZSI is analyzed using VSI. The
distinctive feature of the ZSI is that the output AC voltage can
be any value between zero and infinity regardless of the input
DC voltage [14]. That is, ZSI is a buck-boost inverter that has
a extensive range of accessible voltage. The traditional VSI
and CSI cannot provide such features.
CONCLUSIONS
Induction motor drive system with the use of PWM and ZSI
technique describe new approaches towards control of motor
drive over traditional control methods. PWM technique in
induction motor investigates changes in THD and shows the
effectiveness of harmonics. PWM parameter variation shows
that modulation index and switching frequency are inversely
proposition to each other and Z-source inverter take place in
the field for better performance of induction motor. In this
field one step ahead technique is used where VSI and ZSI
comparison shows that Z-source impedance network increases
the range of output voltage of inverter and reduces THD in
stator current. This paper presents an enhanced ZSI, used to
limit the speed of an induction motor.
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