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The (conceptually) easiest method to implement speed control in an induction machine is by varying the number of poles Equation 1755 explains the dependence of synchronous speed in an AC machine on the supply frequency and on the number of poles For machines operated at 60 Hz, the following speeds can be achieved by varying the number of magnetic poles in the stator winding:
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Number of poles n, rev/min 2 3,600 4 1,800 6 1,200 8 800 12 600
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Motor stators can be wound so that the number of pole pairs in the stators can be varied by switching between possible winding connections Such switching requires that care be taken in timing it to avoid damage to the machine
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Since the rotor speed is inherently dependent on the slip, slip control is a valid means of achieving some speed variation in an induction machine Since motor torque falls with the square of the voltage (see equation 1782), it is possible to change the slip by changing the motor torque through a reduction in motor voltage This procedure allows for speed control over the range of speeds that allow for stable motor operation With reference to Figure 1742, this is possible only above point c, that is, above the breakdown torque
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For motors with wound rotors, it is possible to connect the rotor slip rings to resistors; adding resistance to the rotor increases the losses in the rotor, and therefore causes the rotor speed to decrease This method is also limited to operation above the breakdown torque though it should be noted that the shape of the motor torque-speed characteristic changes when the rotor resistance is changed
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The last two methods cause additional losses to be introduced in the machine If a variable-frequency supply is used, motor speed can be controlled without any additional losses As seen in equation 1755, the motor speed is directly dependent on the supply frequency, as the supply frequency determines the speed of the rotating magnetic eld However, to maintain the same motor torque characteristics over a range of speeds, the motor voltage must change with frequency, to maintain a constant torque Thus, generally, the V/Hz ratio should be held constant
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17
Introduction to Electric Machines
This condition is dif cult to achieve at start-up and at very low frequencies, in which cases the voltage must be raised above the constant V/Hz ratio that will be appropriate at higher frequency Adjustable-Frequency Drives The advances made in the last two decades in power electronics and microcontrollers (see s 11 and 14) have made AC machines employing adjustablefrequency drives well-suited to many common engineering applications that until recently required the use of the more easily speed-controlled DC drives An adjustable-frequency drive consists of four major subsystems, as shown in Figure 1745
~ ~ ~
Rectifier
Intermediate circuit
Inverter
Motor
Control and regulation circuit
Figure 1745 General con guration of adjustable-frequency drive
The diagram of Figure 1745 assumes that a three-phase AC supply is available; the three-phase AC voltage is recti ed using a controlled or uncontrolled recti er (see 8 for a description of uncontrolled recti ers and 11 for a description of controlled recti ers) An intermediate circuit is sometimes necessary to further condition the recti ed voltage and current An inverter is then used to convert the xed DC voltage to a variable frequency and variable amplitude AC voltage This is accomplished via pulse-amplitude modulation (PAM) or increasingly, via pulse-width modulation (PWM) techniques Figure 1746
Voltage
Currents
Figure 1746 Typical adjustable-frequency controller voltage and current waveforms (Courtesy: Rockwell Automation, Reliance Electric)
Part III
Electromechanics
illustrates how approximately sinusoidal currents and voltages of variable frequency can be obtained by suitable shaping a train of pulses It is important to understand that the technology used to generate such wave shapes is based on the simple power switching concepts underlying the voltage-source inverter (VSI) drive described in 11 DC-AC inverters come in many different con gurations; the interested reader will nd additional information and resources in the accompanying CD-ROM
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