D F1078 Pages: 2

Reg No.:_______________ Name:__________________________

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH DEGREE EXAMINATION(R&S), MAY 2019

Course Code: EE308
Course Name: Electric Drives
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries5 marks. Marks

1 What is an Electric Drive? Explain the function of each blocks with the help of a neat (5)
block diagram.

2 Explain the armature voltage control and field weakening mode control of DC ( 5)
separately excited motor drive system.

3 With a chopper circuit and waveforms explain the regenerative braking of a DC ( 5)

motor drive.

4 Explain the speed control method of induction motor with stator voltage and also ( 5)
state the disadvantages of this method.

5 Compare CSI fed IM drive with VSI fed IM drive ( 5)

6 Explain the Park’s transformation. ( 5)
7 With a block diagram explain the variable frequency control of SM drive in self- ( 5)
control mode.
8 Explain the V/F control characteristics in torque-speed plane of a SM drive (5 )
PART B
Answer any two full questions, each carries10 marks.
9 a) What are the different components of a load torque? Explain each component in ( 5)
detail.

b) Derive the mathematical condition to obtain the steady state stability of ( 5)

equilibrium point.

10 With a neat sketch, explain the motoring and braking operation of three phase ( 10)
fully controlled rectifier control of separately excited DC motor.

11 A 200 V, 875 rpm, 150 A separately excited dc motor has an armature resistance ( 10)
of 0.06Ω. It is fed from a single phase fully controlled rectifier with an ac
voltage of 220 V,50Hz. Assuming continuous conduction, calculate

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D F1078 Pages: 2

(i) Firing angle for rated motor torque and 750 rpm

(ii) Firing angle for rated motor torque and -500 rpm

(iii) Motor speed for firing angle α=160o and rated torque

PART C
Answer any two full questions, each carries10 marks.
12 Explain the operation of four quadrant chopper fed separately excited DC motor (10)
drive with necessary diagrams.

13 Explain the closed loop static rotor resistance control method for the speed (10 )
control of a slip ring induction motor. What are the disadvantages of this
method?

14 Explain the static Kramer scheme for the speed control of a slip ring IM. Explain (10 )
the firing angle control of thyristor bridge with constant motor field.

PART D
Answer any two full questions, each carries 10 marks.
15 a) With a neat circuit and waveform explain a thyristor based CSI fed IM drive. ( 5)
b) Explain how CSI fed IM drive can be used for regenerative braking and (5 )
multiquadrant operation.
16 a) Explain in detail about the classification of PM synchronous motor? ( 5)
b) Explain the field oriented control (FOC) of an AC motor with a block diagram ( 5)
17 With a block diagram explain the Micro controller based PMSM drive. (10 )
****

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 1. What is an Electric Drive? Explain the function of each blocks with the
help of a neat block diagram.

The system which is used for controlling the motion of an electrical machine, such
type of system is called an electrical drive.

Power Modulator – The power modulator regulates the output power of the source. It
controls the power from the source to the motor in such a manner that motor transmits the
speed-torque characteristics required by the load.
Control Unit – The control unit controls the power modulator which operates at small
voltage and power levels. The control unit also operates the power modulator as desired. It
also generates the commands for the protection of power modulator and motor. An input
command signal which adjusts the operating point of the drive, from an input to the control
unit.

Sensing Unit – It senses the certain drive parameter like motor current and speed. It mainly
required either for protection or for closed loop operation.

The electrical drive uses any of the prime movers like diesel or petrol engine, gas or steam
turbines, steam engines, hydraulic motors and electrical motors as a primary source of
energy. This prime mover supplies the mechanical energy to the drive for motion control.

2. Explain the armature voltage control and field weakening mode control of
DC separately excited motor drive system.
The speed of the DC Motor is given by the relation shown below.

The equation (1) that the speed is dependent upon the supply voltage V, the armature circuit
resistance Ra and the field flux ϕ, which is produced by the field current​.

The connection diagram of a shunt motor of the armature resistance control method is
shown below. In this method, a variable resistor Re is put in the armature circuit. The

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variation in the variable resistance does not affect the flux as the field is directly connected to
the supply mains.

A connection diagram of speed control of the DC Series motor by the armature resistance
control method.

Field Flux Control Method of DC Motor

Flux is produced by the field current. Thus, the speed control by this method is
achieved by control of the field current.

Shunt Motor : In a Shunt Motor, the variable resistor RC is connected in series with
the shunt field windings as shown in the figure below. This resistor RC is known as a Shunt
Field Regulator.

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 The connection of RC in the field reduces the field current, and hence the flux is also
reduced. This reduction in flux increases the speed, and thus, the motor runs at a speed
higher than the normal speed. Therefore, this method is used to give motor speed above
normal or to correct the fall of speed because of the load​.

3 With a chopper circuit and waveforms explain the regenerative braking of a

DC motor drive.

Chopper for regenerative braking operation is shown in the figure below. The
transistor Tr is operated periodically with a period T and on-period of ton. The waveform of
motor terminal voltage va and armature current ia for continuous conduction is shown in
the figure below. The external inductance is added to increase the value of La. When the
transistor is on, is increased from ia1 to ia2.

The mechanical energy is converted into electrical energy by the motor, now working as a
generator, partly increased the stored magnetic energy in the armature circuit inductance
and the remainder is dissipated in armature and transistors.
When the transistor is turned off, the armature current flows through diode D and the
source V and reduces from ia2 to ia1. The stored electromagnetic energy and the energy
supplied by the machine are fed to the source. The interval 0 ≤ t ≤ ton is called energy
storage interval and the interval ton ≤ t ≤ T called the duty interval.

4 Explain the speed control method of induction motor with stator voltage and
also state the disadvantages of this method.
The speed of a three phase induction motor can be varied by varying the supply
voltage.By varying the supplying voltage, the speed can be controlled. The voltage is varied
until the torque required by the load is developed, at the desired speed. The torque

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 developed is proportional to the square of the supply voltage and the current is proportional
to the voltage. Hence, to reduce the speed for the same value of the same current, the value
of the voltage is reduced and as a result, the torque developed by the motor is reduced. This
stator voltage control method is suitable for applications where the load torque decreases
with the speed.

This method gives a speed control only below the normal rated speed as the
operation of the voltages if higher than the rated voltage is not admissible. This method is
suitable where the intermittent operation of the drive is required and also for the fan and
pump drives. As in fan and pump the load torque varies as the square of the speed. These
types of drives required low torque at lower speeds. This condition can be obtained by
applying lower voltage without exceeding the motor current.

5 Compare CSI fed IM drive with VSI fed IM drive

Voltage source inverter (VSI)

Most of the applications preferred VSI fed to 3 phase Induction motor due to its self
starting nature. A normal VSI with 180° conducting mode required only forces
commutation. The circuit for VSI fed synchronous motor is shown above. It consists of
voltage source Inverter i.e. the combination of transistors and diodes which provide variable
frequency control to the Induction motor. The terminal voltage kept constant when the load
is varying. The output voltage is square wave hence the inverter is named as variable
frequency or square wave inverter. The frequency is varied by changing the triggering pulses
switching times across the transistor.

1. The magnitude of output voltage is controlled by controlling DC supply and

frequency is controlled by Input wave time period.
2. The above figure shows the two different operations one with three phase AC supply
and other with DC supply

There are two techniques to get desirable outputs

1. Controlling the inverter voltage by PWM technique
2. Connecting the DC chopper in between rectifier and inverter.

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 A VSI is a self or separate control feeding Induction motor. Open loop and closed
loop operation is possible but VSI provides instability and hunting problems. The stator
current drawn by the motors when fed to VSI has sharp peaks and is rich in harmonic
content which causes additional losses and heating. This technique is used for high and
medium speed applications.

PWM technique:

This technique is used to reduce harmonic, the voltage is controlled with in the inverter
itself. The stator currents are less peaking and harmonics reduced, all the effects become
minimal and commutation is also possible at low speeds. Dynamic braking can be employed.

When PWM inverter is used two cases may arise

* When inverter is fed to a constant DC source regeneration is straight forward.

* The DC supply to inverter may also be obtained from a diode rectifier which requires
additional controlled converter online side.

The phase control decides the line power factor. The line power factor improves to unity if a
diode rectifier is sufficient in PWM inverter. The field control improves the machine power
factor by minimizing the losses. So it is fetching to operate motor under Unity power factor
(UPF).

Advantages:
1. VSI drive provides good efficiency
2. .Multi-motor operation is possible
3. .Commutator less motor (CLM) mode is very stable

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 4. .PWM drive has better dynamic response
5. .VSI used for high and medium power applications, PWM used for low and medium
power applications.

Disadvantages:

1. The converter cost is high

2. By using VSI there is instability and harmonic content in output
3. .VSI is not applicable for low speed operations
4. The speed range of motor is limited to 40% due to harmonics
5. Efficiency inversely proportional toLosses
6. Smooth operation is not possible, troubles occur in torque pulsations
7. harmonics directly proportional to Losses

CSI (Current Source Inverter)

CSI is used in many applications due to its flexibility, reliability and commutation.
CSI operates on a closed loop and capable of generation, by using CSI variable frequency is
obtained. The variable frequency control of an induction motor can also be obtained using
CSI. The inductor is connected in series with the input.
1. By varying the thyristors conduction periods and Inverter, the DC current is
converted into a three phase current source.
2. The stator current is a function of rotor frequency, by keeping flux constant the
magnitude of stator is controlled by the rotor frequency.
3. When supply is AC the controlled rectifier converts it into variable DC, if the supply
is DC the chopper manages the circuit.
4. From the circuit diagram for commutation of six thyristors the circuit is provided
with six diodes and six capacitors.
5. The six thyristors are triggered with a phase difference of 180°. The diodes are used
for preventing discharge of capacitors through load.

Characteristics:
1. For below rated speed, motor operates at constant flux mode.
2. For above rated speed, motor operates at field weakening mode.
3. For speed equal to rated speed, the voltage reaches its rated value and no further
increase of speed.
Advantages:
1. CSI is robust and simple
2. Four quadrant operation is possible
3. Controlling the speed in simple way
4. Better controlled performance.

Disadvantages:
1. Cost is expensive with PWM technique
2. Unsupported for multi-motor operation
3. CSI not used in open loop control drives
4. Undesirable dynamic performance
5. At no-load condition it is difficult to operate.

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6 Explain the Park’s transformation.

The (α, β) → (d.q) projection (Park transformation)

This is the most important transformation in the FOC. In fact, this projection
modifies the two phase fixed orthogonal system (α, β) into d, q rotating reference system.
The transformation matrix is given below:

Where, θ is the angle between the rotating

and fixed coordinate system.

If you consider the d axis aligned with the rotor flux, Figure 2 shows the relationship
from the two reference frames for the​ current​ vector:
Where, θ is the rotor flux position. The torque and flux components of the current
vector are determined by the following equations:

These components depend on the current vector (α, β) components and on the rotor flux
position. If you know the accurate rotor flux position then, by the above equation, the d, q

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 component can be easily calculated. At this instant, the torque can be controlled directly
because flux component (isd) and torque component (isq) are independent now.

7 With a block diagram explain the variable frequency control of SM drive in

self-control mode.

In self control, the stator supply frequency is changed proportional to the rotor
speed. Hence the stator rmf rotates at the same speed as the rotor speed. This ensures that
the rotor moves in synchronism with stator at all operating points. Consequently a self
controlled motor will never come out of synchronism or step. It does not suffer from
hunting oscillations.The inverter may be a CSI or VSI. Depending on the type of inverter, the
input dc source may be a controllable current source or controllable voltage source.

The inverter output frequency is determined by the rotor speed. The accurate speed
of the rotor is tracked by using rotor position sensors. The output of rotor position sensor is
used to produce firing pulses for the semiconductor switches used in the converter which
feeds the motor. It means that the instant at which the switching devices operate to turn the
stator windings ON and OFF is determined by the rotor position sensors. The switches are
fired at a frequency proportional to the motor speed. With the increase of load if the rotor
slows down, then the stator supply frequency automatically changes so that the rotor
remains synchronized with the rotating field. When the motor starts from rest, the motor
current will be large at first and then will decrease with increase of speed. The speed of the
motor is controlled by varying the dc link voltage to the inverter. This dc link voltage is
controlled by varying the firing pulses of the controlled rectifier. Four quadrant operation is
possible if the inverter is fed from a full converter.

8 Explain the V/F control characteristics in torque-speed plane of a SM drive

The synchronous speed is given by,

From the above equation, it is clear that the speed of a synchronous motor can be
controlled by varying the frequency of the supply. As in the case of induction motors, the
stator flux is maintained constant by keeping the (v/f) ratio constant in this motor also.
Constant flux operation ensures that the maximum torque at all frequencies is same. v/f
ratio is increased at low frequencies to increase the torque producing capability of the motor.
Above rated speed, the stator voltage is kept constant and the frequency alone is increased.
In this case, the torque produced by the motor may be reduced.

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9 a) What are the different components of a load torque? Explain each
component in Detail.

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b) Derive the mathematical condition to obtain the steady state stability of
equilibrium point.

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10 With a neat sketch, explain the motoring and braking operation of three
phase fully controlled rectifier control of separately excited DC motor.

Three phase-full converters are used industrial applications upto 1500 kW drives. It is a two
quadrant convener i.e., the average output voltage is either positive or negative `but average
output current is always positive.

Three phase fully controlled rectifier fed separately excited DC motor drive. (Circuit
Diagram). The circuit consists of six thyristors. Here, there are two groups of thyristors, one
is positive group and another one is negative group. Here, thyristors Tl, T3, T5 forms a
positive group, whereas thyristors T4, T6, T2 forms a negative group. The positive group
thyristors are turned on when the supply voltages are positive and negative group thyristors
are turned on when the supply voltages are negative. The operation of this convener is easily
understand by using line voltages instead of phase voltages, For or = 60°, T1 is turned on at
П/3+ 60 =120°, T2 at ωt = l80°, T3 at ωt = 240° and so on.

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When T1 is turned on at ωt = l20°, T5 is turned off. T6 is already conducting. As T1 and T6
are connected to R and Y respectively, load voltage must be very as shown in fig. When T2 is
turned on, T6 is commutated. As T1 and T2 are now conducting, the load voltage is vrb,
figure. In this way, load voltage waveform can be drawn with thyristors in sequence. For ǂ =
120°, T1 is triggered at ωt = l80°, T2 is triggered at ωt = 240° and so on, The output voltage
waveform is shown in figure. From this waveform, the average output voltage is negative.
This means that dc source is delivering power to ac source. This operation is called line
commutated inverter operation. For ǂ is 0 to 90°, this converter operates rectification mode
(power flows from source to load) and 90° to 180 converter operates an inversion mode
(power flows from load to source). It can work in the inverter mode only if the load has a
direct emf E. It is a regenerative braking mode.

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11 A 200 V, 875 rpm, 150 A separately excited dc motor has an armature
resistance of 0.06Ω. It is fed from a single phase fully controlled rectifier with
an ac voltage of 220 V,50Hz. Assuming continuous conduction, calculate
(i) Firing angle for rated motor torque and 750 rpm
(ii) Firing angle for rated motor torque and -500 rpm
(iii) Motor speed for firing angle α=160o and rated torque

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12 Explain the operation of four quadrant chopper fed separately excited DC
motor drive with necessary diagrams.

Type E or the fourth quadrant chopper consists of four semiconductor switches and
four diodes arranged in antiparallel. The 4 choppers are numbered according to which
quadrant they belong. Their operation will be in each quadrant and the corresponding
chopper only be active in its quadrant.

● First Quadrant
During the first quadrant operation the chopper CH4 will be on . Chopper CH3 will
be off and CH1 will be operated. AS the CH1 and CH4 is on the load voltage v0 will be
equal to the source voltage Vs  and the load current i0  will begin to flow . v0 and i0 will
be positive as the first quadrant operation is taking place. As soon as the chopper CH1 is
turned off, the positive current freewheels through CH4 and the diode D2 . The type E
chopper acts as a step- down chopper in the first quadrant.
● Second Quadrant
In this case the chopper CH2 will be operational and the other three are kept off. AsÂ
CH2 is on negative current starts flowing through the inductor L . CH2 ,E and D4.Â
Energy is stored in the inductor L as the chopper CH2 is on. When CH2 is off the current will
be fed back to the source through the diodes D1 and D4. Here (E+L.di/dt) will be more than
the source voltage Vs  . In second quadrant the chopper will act as a step-up chopper as the
power is fed back from load to source
● Third Quadrant

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 In third quadrant operation CH1 will be kept off , CH2 will be on and CH3 is
operated. For this quadrant working the polarity of the load should be reversed. As the
chopper CH3 is on, the load gets connected to the source Vs and v0 and i0 will be
negative  and the third quadrant operation will take place. This chopper acts as a
step-down chopper
● Fourth Quadrant
CH4 will be operated and CH1, CH2 and CH3 will be off. When the chopper CH4 is
turned on positive current starts to flow through CH4, D2 ,E and the inductor L will store
energy. As the CH4 is turned off the current is feedback to the source through the diodes D2
and D3 , the operation will be in fourth quadrant as the load voltage is negative but the load
current is positive. The chopper acts as a step up chopper as the power is fed back from load
to source.

13 Explain the closed loop static rotor resistance control method for the speed
control of a slip ring induction motor. What are the disadvantages of this
method?

This equation shows that for a constant torque, the slip is directly proportional to the
rotor resistance. If the resistance in the rotor circuit is increased, the slip is increased and
the speed of the rotor is decreased.At the normal operating condition the slip increases with
increasing torque hence they are obeying a linear characteristics. For a fixed load curve​, the
speed is downward from n1 to n4. From this figure we can also obtain the maximum torque
at the starting of the resistance r2”. So, this method has an advantage of achieving maximum
torque at the starting period.
But the maximum torque is independent of the rotor resistance as per the equation,

1. The ​rheostat which is used to vary the resistance per phase causes unbalancing in
rotor.
2. The resistances generate huge losses and generate heat in the system.

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 3. In case of a large machine the size of the rheostat will be large and in such cases it is
not easily portable.
4. It requires more maintenance, hence the cost associated with it is more.
5. This method can not be used for ​industrial automation purpose since we have to
change manually the value of the resistance.

Rotor resistance can also be varied steplessly using the circuit shown in figure (a).
The AC output voltage of the rotor is rectified by diode bridge rectifier and fed to parallel
combination of fixed resistor R and a semiconductor switching transistor Tr. Effective value
of resistance across terminals A and B i.e., RAB is varied by varying the duty cycle of the
transistor Tr, which in turn varies the resistance of the rotor circuit. Inductance is added to
the circuit to reduce the ripple and discontinuity in the dc link current Id. Rotor current
waveform is shown in fig.(b) when the ripple is neglected. Thus the rms value of the current
will be

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14 Explain the static Kramer scheme for the speed control of a slip ring IM.
Explain the firing angle control of thyristor bridge with constant motor field.

The static Kramer-drive is the method of controlling the speed of an induction motor by
injecting the opposite-phase voltage in the rotor circuit. The injected voltage increases the
resistance of the rotor, thus controlled the speed of the motor. By changing the injected
voltage, the resistance and speed of an induction motor are controlled.
The static Kramer-drive converts the slip power of an induction motor into AC power and
supply back to the line. The slip power is the air gap power between the stator and the rotor
of an induction motor which is not converted into mechanical power. Thus, the power is
getting wasted. The static Kramer drives fed back the wasted power into the main supply.
This method is only applicable when the speed of the drive is less than the synchronous
speed.
The rotor slip power is converted into DC by a diode bridge. This DC power is now fed into
DC motor which is mechanically coupled to an induction motor. The torque supplied to the
load is the total sum of the torque produced by the induction and DC motor drives.

The figure shown below represents the variation of Vd1 and Vd2 with a speed of two
values of DC motor field current. When the value of Vd1 is equal to the value of Vd2 then the
steady state operation of the drive is obtained, i.e., at A and B for field current of If1 and If2.

The speed control is possible only when speed is less or half of the synchronous
speed. When the large range speed is required, the diode bridge is replaced by the thyristor
bridge. The relationship between the Vd1 and the speed can be altered by controlling the
firing angle of thyristor amplifier. Speed can now be controlled up to stand still.

15 a) With a neat circuit and waveform explain a thyristor based CSI fed IM
drive.

A thyristor current source inverter is shown in the figure below. The diodes D1-D6
and capacitor C1-C6 provide commutation of thyristor T1-T6, which are fired with a phase
difference of 60º in the sequence of their numbers. It also shows the nature of the output

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 current waveform. The inverter acts as a current source due to large inductance LD in DC
link. The fundamental component of motor phase current is shown in the figure below​.
The torque is controlled by varying DC link current Id by changing the value of Vd.
When the supply is AC, a controlled rectifier is connected between the supply and inverter.
When the supply is, DC a chopper is interposed between the supply and inverter.
The major advantage of current source inverter is its reliability. In the case of current
source inverter a commutation failure in the same leg does not occur due to the presence of a
large inductance Ld.

In an induction motor, the rise and fall of current are very fast. This rise and fall of
current provide large motor spikes. Therefore a motor of low leakage inductance is used. The
commutation capacitance C1-C6 reduce the voltage spikes by reducing the rate of rise and
fall of the current. A large value of capacitance is required to sufficiently reduced the voltage
spikes.

b) Explain how CSI fed IM drive can be used for regenerative braking and
multiquadrant operation.

When the motor speed is less than the synchronous speed, machine work as a
generator. The power flows from machine to DC link and DC link voltage Vd reverse. If a
fully controlled converter is made to work as an inverter, then the power supply to DC link
will be transferred to AC supply, and regenerative braking will take place. Hence no
additional equipment is required for regenerative braking of DC motor drive.

The drive can have regenerative braking capability and four quadrant operation if a
two-quadrant chopper provides current in one direction, but voltage in either direction is
used.

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16 a) Explain in detail about the classification of PM synchronous motor?

There are different types of synchronous motors based on the way they are excited

Non Excited Synchronous Motors and Current Excited Synchronous Motors

The rotor is made up of steel. The external magnetic field magnetises the rotor, and it
rotates in synchronism with it. The rotor is generally made of high retentivity steel such as
cobalt steel.

Non-excited motors are available in three designs:

Hysteresis Motor

Hysteresis motors are single phase motors in which the rotor is made up of
ferromagnetic material​. The rotors are cylindrical in shape and have high hysteresis loss
property. They are generally made up of chrome, cobalt steel or alnico. The stator is fed by
single phase AC supply. The stator has two windings:
1. main windings and
2. auxiliary windings.
The combination of the two produces a revolving magnetic field from a single phase
supply. They are self-starting and do not need additional windings. When single phase AC
supply is given, a rotating magnetic field is produced. This rotating magnetic field induces
eddy currents in the rotor. The rotor starts to move initially with a slip. When the rotor
reaches synchronous speed, the stator pulls the rotor into synchronism. So initially the
motor starts as an​ induction motor​ and later runs as a​ synchronous motor​.

Reluctance Motor

The reluctance motor is based on the principle that an unrestrained piece of iron will
move to complete a magnetic flux path where the reluctance is minimum. The stator has the
main winding and the auxiliary windings just like the hysteresis motor​. These help to create
a rotating magnetic field​. The rotor of a reluctance motor is a squirrel cage rotor with some
teeth removed to provide the desired number of salient poles. The reluctance becomes
minimum when the rotor is aligned with the​ magnetic field​ of the stator.

When single phase AC supply is given, the motor starts as an induction motor​. The
rotor tries to align itself with the magnetic field of the stator and experiences reluctance
torque. But due to inertia, it exceeds the position and again tries to align itself during the
next revolution. In this manner, it starts to rotate. Once it reaches 75% of synchronous
speed, the auxiliary windings are cut off. When the speed reaches synchronous speed, the
reluctance torque pulls it into synchronism. The motor remains in synchronism due to
synchronous reluctance torque.

Permanent Magnet Synchronous Motors

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 The rotor is made up of permanent magnets. They create a constant magnetic flux​.
The rotor locks in synchronism when the speed is near synchronous speed. They are not
self-starting and need electronically controlled variable frequency stator drive.

b) Explain the field oriented control (FOC) of an AC motor with a block

diagram

Stator phase currents are measured. These measured currents are fed into the Clarke
transformation block. The outputs of this projection are entitled isα and isβ. These two
components of the current enter into the Park transformation block that provide the current
in the d, q reference frame. The isd and isq components are contrasted to the references:
isdref (the flux reference) and is qref (the torque reference). At this instant, the control
structure has an advantage: it can be used to control either synchronous or induction
machines by simply changing the flux reference and tracking rotor flux position. In case of
PMSM the rotor flux is fixed determined by the magnets so there is no need to create one.
Therefore, while controlling a PMSM, isdref should be equal to zero. As induction motors
need a rotor flux creation in order to operate, the flux reference must not be equal to zero.
This easily eliminates one of the major shortcomings of the “classic” control structures: the
portability from asynchronous to synchronous drives. The outputs of the PI controllers are
Vsdref and Vsqref. They are applied to the inverse Park transformation block. The outputs of
this projection are Vsαref and Vsβref are fed to the space vector pulse width modulation
(SVPWM) algorithm block. The outputs of this block provide signals that drive the inverter.
Here both Park and inverse Park transformations need the rotor flux position. Hence rotor
flux position is essence of FOC.

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 The evaluation of the rotor flux position is different if we consider the synchronous or
induction motor.

1. In case of ​synchronous motor(s)​, the rotor speed is equal to the rotor flux speed. Then
rotor flux position is directly determined by position ​sensor or by integration of rotor
speed.
2. In case of ​asynchronous motor​(s), the rotor speed is not equal to the rotor flux speed
because of slip; therefore a particular method is used to evaluate rotor flux position
(θ). This method utilizes ​current model, which needs two equations of the ​induction
motor​ model in d,q rotating reference frame.

17 With a block diagram explain the Micro controller based PMSM drive.

For permanent magnet synchronous motor drive systems, microprocessor control

offers several interesting features principally improved performance and reliability,
versatility of the controller, reduced components and reduced development and
manufacturing costs. In the block diagram of the microprocessor controller PMSM shown in
fig, the permanent magnet synchronous motor is fed from a current source d.c link converter
system, which consists of an SCR inverter through rectifier and which is operated from three
phase a.c supply lines, and its gating signals are provided by digitally controlled firing
circuit.

The optical encoder which is composed of a coded disk attached to the motor shaft
and four optical sensors, providing rotor speed and position signals. The inverter triggering
pulses are synchronized to the rotor position reference signals with a delay angle determined
by an 8-bit control input. The inverter SCR‘s are naturally commutated by the machines
voltages during normal conditions. The speed signals, which is a train of pulses of frequency,
proportional to the motor speed, is fed to a programmable counter used for speed sensing.
The stator current is detected by current sensor and amplified by optically isolated
amplifier. The output signals are multiplexed and converted to digital form by a high speed

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analog to digital converter. The main functions of the microprocessor are monitoring and
control of the system variables for the purpose of obtaining desired drive features. It can also
perform various auxiliary tasks such as protection, diagnosis and display. In normal
operation, commands are fetched from the input-output terminals, and system variables
(the dc link current, the rotor position and speed) are sensed and fed to the CPU. After
processing, the microprocessor issues control signal to the input rectifier, then the machine
inverter, so as to provide the programmed drive characteristics.

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