lecture set 8 - purdue university
TRANSCRIPT
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Lecture Set 8:Induction Machines
S.D. SudhoffSpring 2021
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About this Lecture Set
• Reading–Electromechanical Motion Devices, 2nd Edition,
Sections 6.1-6.9, 6.12
• Goal–Understand the theory, operation, and modeling of
induction machines
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Lecture 68
Preliminaries
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Sample Applications• Low Power:–Shaded pole machines (small fans)–Permanent Split Capacitor Machines
(Residential HVAC)• Medium Power:– Industrial HVAC–Pumps–Vehicle Propulsion–Drive Applications
• High Power:–Ship, Train Propulsion–Wind Power Generation
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Characteristics
• The Good
• The Bad
• The Ugly
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Types of IM Machines
• Wound Rotor
• Squirrel Cage
• Solid Rotor
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1.5 MW Induction Generator
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150 Hp @ 1800 RPM
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5 Hp @ 1800 RPM
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ECE321 10
1 Hp @ 1800 RPM (Stator)
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1 Hp @ 1800 RPM (Rotor)
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Lecture 69
Theory of Operation: Stator MMF
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Two-Phase IM
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Stator MMF
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Stator MMF
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Stator MMF
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Stator MMF
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Stator MMF
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Stator MMF
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Lecture 70
Theory of Operation: Rotor MMF
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Rotor MMF
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Rotor MMF
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Rotor MMF
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Rotor MMF
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Rotor MMF
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Rotor MMF
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Comparison of MMFs
• As viewed from stator
• As viewed from rotor
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IM Torque Production
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Lecture 71
Overview of Machine Models
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Our Analysis
• Machine Variable Model
• Referred Machine Variable Model
• QD Model
• Steady-State Model
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Machine Variable Model
• Voltage equations
• Flux Linkage Equations
• Inductance Matrices
• Torque equation
abs ( )
abs s srT
abr sr r abr
L L iL L i
λλ
00
lr mrr
lr mr
L LL L
L
cos sinsin cos
r rsr sr
r r
L
L
absabssabs pλ irv
abr r abr abrp v r i λ
as
[( )sin2
(i )cos ]
e sr as ar bs br r
br bs ar r
PT L i i i i
i i i
00
ls mss
ls ms
L LL L
L
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Referred Machine Variable Model
• Referral of variables
• Voltage equations
• Flux linkage equations
• Torque equation
rr
sr N
N rr2
abr
abs
rT
sr
srs
abr
abs ii
LLLL
)(λλ
00
lr msr
lr ms
L LL L
L
rr
rrmssr
rs
sr LNN
cossinsincos
LL
abrsr
abr NN ii
abrrs
abr NN vv
abrrs
abr NN λλ
absabssabs pλ irv
abrabrrabr pλ irv
]cos)sin)[(
2rarbsbras
rbrbsarasmseiii(i
iiiiLPT
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QD Model
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Phasor Model
• Torque: ]~~Re[2
2 *arasmse IIjLPT
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Lecture 72
Machine Variable Model:Voltage and Flux Linkage Equations
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Voltage Equations
dtdirv as
assas
dtdirv bs
bssbs
dtdirv ar
arrar
dtd
irv brbrrbr
abrabrrabr
absabssabs
ppλλ
irvirv
][)( bsasT
abs f ff
][)( brarT
abr f ff
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Flux Linkage Equations – Scalar Form
brasbrarasarbsasbsasasasas iLiLiLiL
brbsbrarbsarbsbsbsasbsasbs iLiLiLiL
brarbrarararbsarbsasarasar iLiLiLiL
brbrbrarbrarbsbrbsasbrasbr iLiLiLiL
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Flux Linkage Equations – Matrix Form
abrsrabssabs iLiL λ
abrrabsT
srabr iLiL )(λ
abr
abs
rT
sr
srs
abr
abs
ii
LLLL
)(λ
λ
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Derivation of Magnetizing Inductances
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Derivation of Magnetizing Inductances
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Derivation of Magnetizing Inductances
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Derivation of Magnetizing Inductances
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Derivation of Magnetizing Inductances
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Flux Linkage Equation Summary
IL ssss
sss L
LL
00
IL rrrr
rrr L
LL
00
rr
rrsrsr L
cossinsincos
L
mslsss LLL
mrlrrr LLL
m
sms
NLR
2
m
rmr
NLR
2
m
srsr
NNL
R
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Lecture 73
Machine Variable Model:Torque Equation
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Starting Point
abr
abs
rT
sr
srs
abr
abs
ii
LLLL
)(λ
λ
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Derivation of Torque Equation
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Derivation of Torque Equation
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Lecture 74
Referred Machine Variable Model:Flux Linkage Equations
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Why
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Starting Point
abr
abs
rT
sr
srs
abr
abs
ii
LLLL
)(λ
λ
IL ssss
sss L
LL
00
IL rrrr
rrr L
LL
00
rr
rrsrsr L
cossinsincos
L
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Referral of Flux Linkage Equations
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Referral of Flux Linkage Equations
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Summary
abr
abs
rT
sr
srs
abr
abs
ii
LLLL
)(λ
λ
rr
rrr
r
sr L
LNN
002
LL
mslrmrr
slrrr LLL
NNLL
2
rr
rrmssr
r
ssr L
NN
cossinsincos
LL
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Lecture 75
Referred Machine Variable Model:Voltage and Torque Equations
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Referral of Voltage Equations
abrabrrabr
absabssabs
ppλλ
irvirv
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Referral of Voltage Equations
• Finally, we get
• Whereabrabrrabr
absabssabs
ppλλ
irvirv
rr
sr N
N rr2
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Referral of Torque Equation
• It can be shown that
]cos)(sin)[(2 rarbsbrasrbrbsarasmse iiiiiiiiLPT
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Lecture 76
The Stationary Reference Frame
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Stationary Reference Frame
• Stator transformation
• Rotor transformation
bs
ass
ds
sqs
ff
f
f10
01absss
sqds fKf
sqds
ssabs fKf 1)(
br
ar
rr
rrs
dr
sqr
ff
f
f
cossinsincos
abrsr
sqdr fKf
sqdr
srabr fKf 1)(
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Stationary Reference Frame
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Geometrical Interpretation
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Lecture 77
Transformation of the Voltage Equations to the Stationary Reference Frame
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Transformation of Voltage Equations
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Transformation of Voltage Equations
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Transformation of Voltage Equations
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Transformation of Voltage Equations
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Summary
sqds
sqdss
sqds pλ irv
sqdr
sdqrr
sqdrr
sqdr pλλ irv
[ ]s s s Tdqr dr qr λ
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Lecture 78
Transformation of the Flux Linkage Equations to the Stationary Reference Frame
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Transformation of Flux Linkage Equations
abrsrabssabs iLiL λ
abrrrabsabr iLiL T'sr λ
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Transformation of Flux Linkage Equations
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Transformation of Flux Linkage Equations
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Transformation of Flux Linkage Equations
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Transformation of Flux Linkage Equations
sqdrms
sqdsss
sqds LL ii λ
mslrrr
mslsss
sqdrrr
sqdsms
sqdr
LLL
LLL
LL
''
' iiλ
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Lecture 79
Transformation of the Torque Equation to the Stationary Reference Frame
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Transformation of the Torque Equations
sin coscos sin2
r rTe sr abs abr
r r
PT L
i i
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Transformation of the Torque Equations
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Transformation of the Torque Equations
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Transformation of the Torque Equations
)(2
sqr
sds
sdr
sqsmse iiiiLPT
'( )2
s s s se qr dr dr qr
PT i i
)(2
sds
sqs
sqs
sdse iiPT
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Lecture 80
QD Equivalent Circuit
80
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QD Equivalent Circuit
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QD Equivalent Circuit
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QD Equivalent Circuit
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Comments on QD Machine
• When is it valid ?
• What is it used for ?
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Lecture 81
Balanced Steady-State Operation and the Phasor Model
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Stator Side
• Steady-state forms
• We can show
2 cos[ (0)]as s e esfF F t
2 sin[ (0)]bs s e esfF F t
)0(~~ esfjsas
sqs eFFF
)(~~ )0(esfjsbs
sds ejFFF
s
dss
qs FjF ~~
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Stator Side
87
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Stator Side
88
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89
Rotor Side
• Rotor relationships
• We can show
2 cos[( ) (0)]ar r e r erfF F t
2 sin[( ) (0)]br r e r erfF F t
sdr
sqr FjF ~~
ars
qr FF ~~
brs
dr FF ~~
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90
Rotor Side
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91
Rotor Side
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92
Rotor Side
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Lecture 82
Balanced Steady-State Operation Phasor Equivalent Circuit
93
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94
Phasor Equivalent Circuit (2-Phase)
• Torque: ]~~Re[2
2 *arasmse IIjLPT
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95
Phasor Equivalent Circuit (2-Phase)
• Voltage Equations
• Slip
• Torque
)~~(~)(~arasmseaslsesas IILjILjrV
)~~(~~
'arasmsearlre
rar IILjILjsr
sV
e
res
]~~Re[2
2 *arasmse IIjLPT
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96
Derivation
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97
Derivation
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98
Derivation
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99
Derivation
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100
Derivation
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101
Chief Problems with Model
• Magnetizing Saturation
• Leakage Saturation
• Distributed System Effects
• Thermal Effects
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Lecture 83
Balanced Steady-State Operation of 3-Phase Machines
102
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103
Phasor Equivalent Circuit (3-Phase)
• Where
msMarasMe LLIIjLPT23]~~Re[
23 *
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104
Delta Connected Machine
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105
Wye Connected Machine
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Lecture 84
Analyzing Machine Operation
106
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107
Typical Operating Situations
• Utility grid– Fixed voltage, fixed frequency voltage source
• Inverter (power electronic control)– Voltage source based inverter (variable voltage, variable
frequency)• Volts-per-hertz control
– Current source based inverter (variable current, variable frequency)• Maximum torque per amp control• Field-oriented control• Direct torque control
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108
Derivation of Rotor Current
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109
Torque for a Given Stator Current
• We can show
22
22
)()(2
rrsr
rsMs
eLr
rILPNT
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110
Torque for a Given Stator Current
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111
Torque for a Given Stator Current
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112
Torque for a Given Stator Current
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Lecture 85
Operation From A Current Source
113
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114
Operation from Current Source
• Machine Parameters• 460 V, l-l, rms; 50 Hp @ 1800 rpm– Stator resistance: 72.5 m– Rotor resistance: 41.3 m– Stator and referred rotor leakage: 1.32 mH–Magnetizing Inductance: 30.1 mH
• Operating Conditions– Armature current: 50 A, rms– Frequency: 60 Hz
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115
Current Source Torque - Speed
0 100 200 300 4000
50
100
150
200
250216.266
1.508
T e ri
376.9920 ri
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116
Maximum Torque Per Amp Control
• Control Summary
• To show this, start with
rrMs
rrsres
rLNPLrT
I
2
22*
||))((||2
rr
rs L
r
22
22
)()(2
rrsr
rsMs
eLr
rILPNT
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117
Maximum Torque Per Amp Control
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118
Maximum Torque Per Amp Control
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119
Maximum Torque Per Amp Control
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120
MTPA Control Example
• Consider the 50 Hp example• Suppose we want 200 Nm at a speed of 1000 rpm• Compute the magnitude of the a-phase current, A• Compute the required voltage• Compute the efficiency
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121
MTPA Control Example
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122
MTPA Control Example
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123
MTPA Control Example
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Lecture 86
Operation From A Voltage Source
124
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125
Operation From Voltage Source: Stator Current
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126
Example 1
• Consider our 50 Hp machine• Fed from 460 V l-l rms source• Load torque of 200 Nm• Objective: Compute speed and current
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127
Steady-State Operating Point
0 100 200 300 4000
100
200
300
400
500493.596
0.499
T e V s e ri
T L
376.9840 ri ri
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128
Steady-State Operating Point
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129
Example 2
• Consider our 50 Hp machine• Fed from 460 V l-l rms, 60 Hz source• Let’s look at machine properties versus speed
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130
Current vs Speed
0 100 200 300 4000
50
100
150
200
250
300271.655
22.45
I as V s e ri r rs
I as V s e ri r r0
I as V s e ri r rb
376.6150 ri
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131
Torque vs Speed
0 100 200 300 4000
100
200
300
400
500493.595
4.981
T e V s e ri r rs
T e V s e ri r r0
T e V s e ri r rb
376.6150 ri
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132
Efficiency vs Speed
0 100 200 300 4000
0.2
0.4
0.6
0.8
0.985
0
V s e ri r rs
V s e ri r r0
V s e ri r rb
4000 ri
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133
Efficiency vs Output Power
0 1 104 2 104 3 104 4 104 5 104 6 104 7 104 8 104 9 104 1 1050
0.2
0.4
0.6
0.8
0.985
0
V s e ri r rs
V s e ri r r0
V s e ri r rb
9.216 1040 P out V s e ri r rs P out V s e ri
r r0 P out V s e ri r rb
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Lecture 87
Parameter Identification
134
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135
Parameter Identification
• DC Test
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136
Parameter Identification
• Blocked Rotor Test
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137
Parameter Identification
• Blocked Rotor Test
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138
Parameter Identification
• No Load Test
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Lecture 87
Volts Per Hertz Control
139
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140
Volts Per Hertz Control
• The idea:
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141
Volts Per Hertz Control
• The idea:
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142
Volts Per Hertz Control
0 100 200 300 4000
100
200
300
400
500493.583
0
T e eb ri
T e eb 0.75 ri
T e eb 0.5 ri
T e eb 0.25 ri
376.6150 ri