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Recent Researches in Circuits, Systems, Control and Signals Influence of Voltage Drop to Electric Drive with Induction Motor and Voltage Sourced Inverter P.Beneš, J.Fořt and M. Pittermann1 Abstract — This paper solves problematic of immunity from the voltage drop of the power supply of the electric drive with induction motor with Voltage-Fed inverter. There are reflected opportune control algorithms for the quickly to change of working regime from full load in regime “drive” to “no-load” regime (to achieve for approximately constant value of voltage in capacitance in DC-link) and opportune control algorithms for quickly to return to original working regime after the regeneration of energy supply. There are also referenced the variants of adaptation of power circuits for to achieve a higher of immunity from the voltage drop of the power supply. Keywords— electric drive with induction motor, electric drive with voltage sourced inverter, voltage drop ACKNOWLEDGMENT This research work has been made within research project of Czech Science Foundation No. GACR 102/09/1164. I. INTRODUCTION E LECTRIC drives with induction motor (supplied from voltage sourced inverter) is often used type of drives. Today this type is used for the most demanding applications. A fundamental disadvantage of the drive with asynchronous motor and voltage sourced inverter (compared with older types of DC motor drive) is notably higher complexity of the drive. Induction motor is happening during the transition tends to oscillating behavior. Then there is the danger of the state 1 Manuscript received July 31, 2011. This research work has been made within research project of Czech Science Foundation No. GACR 102/09/1164. P.Beneš is with West Bohemia University of Pilsen, Czech Republic (corresponding author to provide phone: 420-377-634493; fax: 420-377634402; e-mail: [email protected]). J.Fořt is with West Bohemia University of Pilsen, Czech Republic (corresponding author to provide phone: 420-377-634415; fax: 420-377634402; e-mail: [email protected] ). M.Pittermann is with West Bohemia University of Pilsen, Czech Republic (corresponding author to provide phone: 420-377-634423; fax: 420-377634402; e-mail: [email protected] ). ISBN: 978-1-61804-035-0 189 where the power is restored may have to connect the inverter output voltage to the motor in the wrong value of frequency or phase (due to the current value of the motor shaft rotation speed or due to the current value of angle fading magnetic field in the motor). Hence the "safest" behavior "simplest" drives such behavior, when, after intervention by the under-voltage protection will shut down the drive, then a deceleration and after appropriate time delay occurs re-start the drive from "zero" initial conditions. Such behavior would consider coming to the least demanding applications (eg. typically drives a fan, etc.) and the simplest algorithm for inverter control. Manufacturers of frequency converters, however even these "simple" cases often improve the behavior of these drives by editing "additional" features (eg. feature called "flying start" drive, the wait is not required to stop the motor). In addition, this procedure is unsatisfactory for a significant number of applications where the influence of these considerable delays may occur to an unacceptable negative effect on the driven equipment. Therefore, from this perspective, there is influence of these failure modes to drive with asynchronous motor powered from the voltage inverter. Therefore, the drive to ensure greater resistance against these agents will be given editing power in the power scheme in the control circuits. II. FAULT CONDITIONS These faults are considered: 1) Short-term reductions in voltage 2) Long-term decline in the value of supply voltage 3) Take special conditions leading not only to decrease tensions, but also to other negative influences (for example the unbalanced supply) 4) Faults in regenerative braking mode Attention will be devoted mainly to cases according to point 1 and point 2. III. MEANS OF ENSURING GREATER RESISTANCE DRIVE AGAINST VOLTAGE DROP Increased resistance to negative influences mentioned in Recent Researches in Circuits, Systems, Control and Signals chapter II can be implemented as follows: A) Using a more complicated power circuit of the drive, allowing delivery of sufficient energy to the capacitor and inverter fault conditions listed in chapter 2 B) Using a better method of controlling the drive C) Increased tolerance of the drive in terms of allowed values larger drop in voltage on the capacitor D) Ensuring appropriate and rapid return to original working condition Fig. 4.3 Drive with step-up converter The drives described on Fig.4.2 and on Fig.4.3 are able to adjust small value in the input to high value in DC-link. IV. MORE COMPLICATED POWER CIRCUIT Power circuit can be completed by these devices: a) active rectifier (see Fig.4.2) b) other type of converter for stabilization of voltage c) other external source for DC-link Other methods are methods (for a relatively short voltage drop), which used tanks to store energy. For illustrative image is shown in Table 1 some examples of storage elements corresponding to usable energy (for that mode) and the period T during which it would be possible to cover that deficit 1kW output. These options mean more complicated drive power circuit (ie.a higher price than the basic variant in Fig.4.1.) TABLE 1 Storage elements and its operating mode Capacitor C=1mF, VN=540 V, UMin=0,9 UN Capacitor C=1mF, VN=540 V, UMin=0,8 UN Capacitor C=1mF, VN=540 V, UMin=0,7 UN Capacitor C=1mF, VN=800 V, UMin=0,1 UN Super-Capacitor C=1F, VN=200 V, UMin=0,1 V Inertia J= 0,4 kg m2 nN= 3000 RPM, nMin=0,9 nN Inertia J= 0,4 kg m2 nN= 3000 RPM, nMin=0,8 nN Inertia J= 0,4 kg m2 nN= 6000 RPM, nMin=0,1 nN LiFePo battery 80Ah, 12V Fig. 4.1 Basic variant of drive Fig. 4.2 Drive with active rectifier Active rectifier (4.2) bring some advantages in the field the reducing of negative influence drive into supply grid (minimize the harmonics components in the input current). In addition, this drive provides regenerative brake. In some application its main advantage is the possibility to increase the input voltage. In some applications (which does not require a regenerative brake, etc.) can be used according involvement as Fig.4.3. This configuration of power-converter is often used in applications with 1-phase supply (to achieve a low content of higher harmonics in the input as so called APFC). Energy T 28 J 28 ms 53 J 53 ms 74 J 74 ms 320 J 320 ms 20 kJ 20 s 3 kJ 3s 13 kJ 13s 76 kJ 76 s 3,5 MJ 1 hour The simplest variant is the "only" increase the overall value of the capacity of capacitors in DC-link (first 3 rows). For better utilization of storage element (eg capacitor with a higher permitted discharge) would be the storage element not directly connected to the DC-link but by using another converter (for example see Fig.4.4). Fig. 4.4 Drive with energy storage with own converter ISBN: 978-1-61804-035-0 190 Recent Researches in Circuits, Systems, Control and Signals V. CONTROL ALGORITHMS The drive according the Fig.4.1 (with the basic configuration of power circuit) is not able to operate continuously with full power during the voltage drop. According to Table 1 would have to quickly discharge the capacitor in the DC-link. Therefore it is necessary to rapidly reduce the output drive. Fig.5.1 shows the transient corresponding requirements of the rapid drop in performance for simple control algorithm of induction motor (eg, scalar control algorithms). The actual process output is not slow. Therefore, it could cause a large discharge of capacitor in DC-link. shock could occur for example n the event that during the very time when the inverter decreased motor speed (ie, the inverter would have a higher recovery rate than your current value of engine speed). It is also necessary to respect the magnetic flux in the motor. Fig.5.3-5.5 shows the waveforms after restoring power to the motor. To illustrate, there are shown transient, when after the restoration of power supply should be the torque motor zero (which in the aftermath of the transition state actually will). Fig.5.3 shows the case that the induction machine could magnetic flux disappear. Then jump of the supply voltage as well as "correct frequency and size" (ie. with regard to the new steady state) results in current and torque surges (motor is excited to form oscillating happening). Fig. 5.1 Time chart of scalar control algorithms Fig. 5.3. Restoration work of work of inverter, (induction motor without magnetic flux) Fig.5.2 shows the same transient but with the rapid control algorithm of induction motor (for example vector control algorithms). The transient time was reduced. Fig. 5.4. Restoration work of work of inverter, (incorrect angle of the voltage vector to the current position mg.flux, which remained in the engine during a power outage). Fig. 5.2 Time chart of scalar control algorithms If the inverter has been switched off (eg due to the large drop in voltage on the capacitor due to the intervention or protection), it is necessary to ensure that restoration work did not occur inadmissible the inverter current or torque. Torque ISBN: 978-1-61804-035-0 Fig.5.4 shows the condition when the induction machine kept mg. flux but is used in the restoration of a different phase shift inverter voltage than would correspond to the mg. flux (ie, even a 191 Recent Researches in Circuits, Systems, Control and Signals "error only" in the angle can lead to oscillating action). So for the restoration of power with minimal current and torque must be respected and the current value of the angle of mg. flux (eg see Fig. 5.5), where transient minimized. indicated increased resistance against these errors in the supply and demand both in terms of the complex arrangement of power circuit or in a sense more complex regulatory structures. There were also some of the courses outlined in the respective transition states. More information can be traced in the following literature. REFERENCES [1] Cibulka J.:Vybrané dynamické jevy trakčního pohonu s asynchronním motorem. Ph.D.-these WBU Pilsen 2004 [2] Cibulka J., Pittermann M.; Reakce asynchronního motoru s napěťovým střídačem na poruchové stavy vyskytující se při provozu trakčního pohonu. In XXVIII.celostátní konference o elektrických pohonech Plzeň 2003, str 148-153 [3] Cibulka J., Pittermann M., Zeman K.; Kvalitativní posouzení regulačních zásahů užívaných při dlouhodobém přerušení dodávky energie do stejnosměrného obvodu měniče. In XIX. Mezinárodní sympozium učitelů elektrických pohonů SYMEP 2002, Liberec 2002, str 150-155 [4] Cibulka J., Zeman K.; Simulace dlouhodobého přerušení dodávky energie do ss.obvodu měniče trakčního pohonu. In Celostátní konference Elektrické pohony a výkonová elektronika EPVE 2001 Brno 2001, str. 56-61 [5] Danzer J..: Elektrická trakce I.,II.,III.. Skripta ZČU Plzeň 2002 [6] Flajtingr, J.; Kule L.: Elektrické pohony se střídavými motory a polovodičovými měniči. Skripta ZČU Plzeň 2002 [7] Kůs, V. : Nízkofrekvenční rušení. Skripta ZČU Plzeň 2003 [8] Kůs V.: Vliv polovodičových měničů na napájecí soustavu BEN 2002 [9] Podrapský J.: Napájecí jednotky frekvenčních měničů Siemens. XXX.celostátní konference o elektrických pohonech. Plzeň 2007, str.160-166 [10] Vinh, D.Q..:Dynamické vlastnosti asynchronního motoru napájeného měničem kmitočtu.. Dizertační práce ZČU Plzeň 1996 [11] Vondrášek F.: Výkonová elektronika I.,II.,III. Skripta ZČU Plzeň 1994 [12] Zboray, L.; Ďurovský F.; Tomko J.: Regulované pohony. Vienala Košice 2000 [13] Zeman K., Cibulka J.; Vybrané poruchové stavy trakčního pohonu s asynchronním motorem. In XX-VII.celostátní konference o elektrických pohonech Plzeň 2001 [14] Zeman K., Cibulka J.; Vybrané poruchové stavy trakčního pohonu s asynchronním motorem. In XX-VII.celostátní konference o elektrických pohonech Plzeň 2001, str.277-173 [15] Zeman K.; Peroutka Z.; Janda M.: Automatická regulace pohonů s asynchronními motory. Skripta ZČU Plzeň 2004 Fig. 5.5. Restoration work of work of inverter - adhered to the voltage angle mg. flux, which remained in the motor after a power failure (induced voltage precision) and immediately set to zero torque. Fig. 5.6 shows the transition process, which is also respected mg. flux angle (as in Fig.5.5.), but immediately set the full value of torque. Petr Beneš received the M.Sc. degree in electrical engineering from the Pilsen, Czech Republic) at the voltage angle mg. flux, which remained in the motor after a powerdepartment of Electromechanics and Power electronics in 2008. Since 2011 failure (induced voltage precision) and immediately set to full he worked as lecturer on WBU. In 2010 and 2011 he studied at the TUChemnitz in Germany. He specialized in robotics, electric drives and power torque. electronics. Jiří Fořt received the M.Sc. degree in electrical engineering from the For this purpose it is necessary to use good quality WBU (West Bohemia University of Pilsen, Czech Republic) at the induction motor control scheme (such as vector control department of Applied electronics in 1996. He received Ph.D. degree in electric drives and electric traction at WBU in 2003. Since 2000 he worked as induction motor with embedded jet engine model, or evaluate lecturer on WBU Pilsen. the value of the induced voltage in the stator windings). Martin Pittermann received the M.Sc. degree in electrical engineering from the WBU (West Bohemia University of Pilsen, Czech Republic) at the department of Applied electronics in 1995. He received Ph.D. degree in electric drives and electric traction at WBU in 1999. From 1997 to 1999 he worked as research worker in ŠKODA Research Pilsen. Since 1999 he VI. CONCLUSION worked as lecturer on WBU Pilsen. He specialized in electric traction, control techniques, electric drives and power electronics. Fig. 5.6. Restoration work of work of inverter, - adhered to the WBU (West Bohemia University of The article dealt with the behavior problems with asynchronous drive motor and the inverter voltage during the short-falls and power outages. There are some variants ISBN: 978-1-61804-035-0 192