11

Self-Controlled Synchronous
Motor Orives [Brush/ess de
and ae Motor Drives)

The self.controlled variable speed synchronous motor drives have a number of ad-
van~Ke~_which make them either superior to or competitive with induction mototor
dcmotorvariable speed drives.
1. The operation of a synchronous motor in the self-controlled mode eliminates
hunting and stability problems, and permits the realization of versatile cQntrol
characteristics of a dc motor without the limitations associated with commuta-
tor and brushes, such as limits on maximum speed, voltage, and power,
frequent maintenance, inability to operate in contaminated and explosive envi-
ronments, and so on. Tj1e self-controlled synchronous motor drives have been
built for power ratings of tens of megawatts and speeds alWfOachmg 6000 rpm,

whichdynamic
good are beyond theCaDaolhty
response of dc
and smooth and induction
startmg motor
and braking drives. Wit.
operatIOn ~y a ha,-;e
hi~
"torque-to-currentratio. -
2. The power factor of a wound-field synchronous motor can be controlled by
controlling its field cun-ent. The operation of the drive at unity power factor
minimizes-theKVA rating, cost, and losses.ofvariable frequencysupplies, a;nd
-maximizes the motor power output while reducing its losses. By operating the
machine at a leading power factor, the inverter thyristors can be commutated
by the armature induced voltages. Use of this commutation-known as load
commutation - eliminates the need for thyristor commutation circuits,thus
permitting substantial savings in cost, weight, volume, and losses in a thyristor
inverter. Further, the load commutation increases the frequency range of a cur.
rent source inverter and a cyc!oconverter. The permanent magnet motor can
also operate with a leading power factor by the adjustment of its torque angle-
416
 Self-Controlled Synchronous Motor Drives
I'
417 -~
" Hence, the load commutation arid th.: associated bene[jl!(are i!vuilable with tl;c
permanent magnet drives also. '

Because of these advantages, the self-controlled synchronous motor drives ar~

employed in the following variable spee~:~~~i.:.::t.i.~n~:.,

1. The self-controlled synchronous motor drives fed from a load com mutated cur-
rent source inverter or a cycloconverter have been used in medium to very high
power (tens of megawatts) or high-speed drives such as compressors, extrud-
ers, induced and forced draft fans, blowers, con'veyers, aircraft test facilities,
main line traction, steel rolling mills, large ship propulsion, flywheel energy
storage, and so on.
2. The self-controlled synchronous motor drives fed from a line commutated cy-
cloconverter are employed in low-speed gearless drives for ball mills in cement
plants, mine hoists, rolling mills, and so on.
3. Recently, self-controlled permanent magnet synchronous motor drives are find-
ing applications in servo drives which so far have been dominated by dc motors.
4. The self-control is also employed for starting large synchronous machines in
gas turbine and pumped storage power phlllts. A common inverter is time-
shared by a number of machines.
The applications Chelf-controlled synchronous motor drives are expected to
increase, particularly in the areas aominated by de drives. The only disadvantage of
the self-controlled synchronous motor drives, compared to dc drives, is their com-
plex control. However, this is not a major problem due to the recent progress in
logic gates and microcomputers.
Figure 11.1 shows the phasor diagram for the variable frequency operation of a
synchronous motor. It is obtained from the phasor diagram of figure 10.3. The cur-

.. Q'axis

I; /-_./'
16
1
Figure 11.1 Synchronous motor phasor 1
diagram. d.axis
~
418 Self-Controlled Synchronous Motor Drives Chap. 11

rent phasors arc independent of frcquency. The induced voltages are given by the
followingcquations Icquations (10.8) and (l0.9)J:
V=aX,I;" (11.1)
Vr= aX,I; (11.2)
where the per-unit frequency "a" is the ratio of the frequency of operation f to the
rated frequcncy fratcd-that is,
a = fjfrated (11.3)
and X, is the synchronous reactance at the rated frequency frated' .

When operating at given values of Is>I;, and 0' (or 0), the parameters I;", flux,
and torque have fixed values. The induced voltages V and Vr. and the reactance drop
increase linearly with frequency but their phase relationship remains independent of
frequency.
Since the equivalent circuit is based on the assumption of a negligible drop
across R" V represents both the terminal voltage and the induc~d voltage (voltage Et
in fig. 10.2) due to the flux linking the armature (that is, the sum of the air-gap flux
and armature leakage flux).

11.1 SELF-CONTROL

In self-control, as the rotor speed changes, the arm~ture supply frequency is also ..
changedproportionatelysQ,thearmatUrefield al.:vaysmoves at the same speed as the
rotor. This ensures that the armature. and rOtor fields move in synchronism for'alI op- :1.'
erating points, Consequently, a self-controlled synchronous motor does not pulI out
of step and does not suffer f}"omthe hunting oscillaticfus'and instabifity associated
whh a step change in torque or frequency when con~lIed from an indcopendent OS"
cillator. ""., J
'TIle accurate tracking of speed by freqflt:ncyis realiz~1r\fith the help of a rotor
'$osition sensor, 'ofwhich there are two type's: rblor position encoder or.'armature ter-
minal voltage sensor. In a rotor position encodef>. the fiting pulses to' the semLcsm-
ductor switches of the variable frequency converter'feeding the motor are delivered.
when the direct axis (or quadrature axis) of the rotor makes certain predeterinined
angles with the axes of the armature phases. Consequently the switches are fired at a
frequency proportional to the motor speed. The frequency of the voltag~ induced in
the armature is proportional to the speed. Hence, the desired tracking of"speed by
frequency is also realized when the converter frequency is made to track the fre-
quency of the induced voltages. Si!)ce the induced voltages cannot be sensed
directly, they are sensed indirectly through the armature terminal voltages. We
will come across an example of this when we consider load commutation in the next
section.
Se!f-control ensures that for all operating points the armature and rotor fields
move exactly at the same speed. Consequently, the motor cannot adjust the torque
angle (0' or 0) mechanically as in conventional operation (see section 10.2.1). In
fact we do not need it. be<::ausethe torque angle can now be adjusted electronically.
This featUre provides an additional controllable parameter and thus, greater control

'-".'
....
 Sec. 11.1 Self-Control 421

2. When the motor is fed from a voltage source inverter or cycloconverter, the
voltage is changed as a function of frequency to obtain operation at a constant
flux below base speed and at a constant terminal voltage above base speed.
Hence, in the case of a permanent magnet motor, the only parameter left iree
for the control of torque and speed is the torque angle 1)[equation (l0.18)]. To
illustrate this, figure 11.4a shows a closed-loop speed control system employ-
SupplV

6"
VSI

"'...

~ 1 Sensor

(a)

.r ' AC supplV
,.,
"'~ ew... a
+ rectifier
"'on I.
-

" ."
1
6'

Controller CSI

6'" f"

"'m
Sensor

(b)

Figure 11.4 Closed loop speed control of self-controlled synchronous molor drives fed
from (0) vollage 50urce inverter and (b) cUlTent source inverter.
 424 Self-Controlled Synchronous Motor Drives Chap. 11

Becallse of the similarity in operation with a dc motor, the inverter-fed self-

controlled &ynchronous motor drive of figure 11.5a is known as a eommutatorless de
'.
motor. Wl1en the synchronous motor is a permanent magnet motor, a reluctatlce
motor, or ~ wound-field motor with a brushless excitation system, the drive does not
have any brushes. Consequently, it is defined as a brushless and .eommutatorless de
. motor or Simply a brushless de motor. Even when using a wound-field motor with-
out the brllshless excitation system, the drive is sometimes called a brushless dc
~otor bec~use the brushes and slip rings of the excitation system are not as objec-
tionable a~ the commutator and brushes in a dc motor. .
Whil~ the brushless dc motor has the versatile control characteristics of a dc
machine, h does not suffer from the limitations imposed by the commutator-
namely, r~strictions on the maximum speed and power ratings, frequent mainte-
nance, inability to operate in explosive and contaminated environments, and so on.
Fr?~ the drive of figure 11.5a, a brushless dc series motor can be obtained by
connectm~ the field in series with the dc link.
The ijrive of figure II.5b and an ac commutator motor also have the same simi-
larities. H~nce, the drive of figure I I .5b is known as eommutatorless ae motor.

11.3 CURRENT SOURCE INVERTER WITH LOAD

COMMUTA.TION

i One.impohant reason for preferring synchronous motor drives over squirrel-cage in-
ductton l1\~tor drives for high speed, and high and medium power ratings is the load
commutat:iotl. The load commutation is made possible because of the ability of a
synchron~us motor to Operateat a leading power factor. The load commutation has
I
been e~p\oyed for current source inverters ana cycIoconverters.
Ftgl\re 11.6 shows a current source inverter feeding a synchronous motor. The
dc supply for the inverter is obtained from a 6-pulse fully controlled rectifier, which,
togethe~ \\lith the link inductor Ld' can be considered to constitute a current source
for the Itl\rerter. The link inductor reduces the ripple in the link current Id and pre-
vents the inverter and rectifier from interfering with each other's operation.
Th~ synchronous motor has been modeled as a three-phase set of sinusoidal
voltages "Withrms value V behind a commutating inductance Lc per phase. Due to
the very :>Shortduration of commutation transients, the commutating inductance is
equal to 'the subtransient inductance of a synchronous motor.lI The phase voltages
VAN,VBN.and VCNare the voltages induced in the armature due to the flux linking the
armature (the air-gap flux and the armature leakage flux). Since the armature resis-
tance dr~p has been neglected, these voltages are equal to the terminal voltages.
Hence, tItiey are represented by phasor V in the phasor diagram .of figure 11.1 or
~gure 1~,,3b. Note that this model of the synchronous motor is valid only for opera-
tIOn durl..~g commutation intervals. For steady-state operation, the model of fig-
ure 1O.3~-which cOtlSistsof excitation voltage V( behind the synchronous reac-
tance X, or its equivalent given in figure 1O.3b-is applicable.
Th~ inverter is similar to the current source inverter of figure 8.15; except that
the com~utation circuit, consisting of diodes DI to D6 and capacitors C1 to C6, is
absent. The function of the commutation circuit is now performed by induced

.....

II
 Sec. 11.3 Current Source Inverter with Load Commutation 425

Ld
Id
r-
I I
IT. IT. T.
T
L7?-
TF
J
T; T; L.,
VAN

+
.iA
B' Ii L,
N Vd' Vd N
-"i.
r:: + L, c
Ie
Motor
T~ T'. T; i.,
., Rectifier (or source I nverter (or machine
side converter) (a) side converter)

VA.

"'t

il'1 1
11/6 11/3 11
l I
2.
IA

0 2."
,,/

':1 4 . I
I
I
I
I
I
I
I
I
I
~
\!:
L
r
I I

.
+~ (
(b)
2.

Figure 11.6 Load communication in a CUrTcntsource inverter.

r~
~""'~
~,"'''''-,,~ ."L_~- -'-

426 Self-Controlled Synchronous Motor Drives Chap. 11

voltages VAN'vnN, and VCN'Thyristors are fired in the sequence of their numbers
with a 60° interval. Turning on an odd-numbered thyristor causes commutation of
the previously conducting odd-numbered thyristor. The same is true for even-num-
bered thyristors. Thus, each thyristor conducts for 120° and only two thyristors con-
duct at a time (neglecting the commutation intervals when three thyristors conduct at
a time, as shown later).
Figure 11.6b shows the waveforms of all six line voltages. The transfer of cur-
rent from an outgoing to an incoming thyristor can take place when the respective
line voltage is positive so that it acts to forward bias and reverse bias the incoming
and the outgoing thyristors, respectively. The firing angle for the incoming thyris~or
is then measured from the instant when the respective line voltage is zero and in-
creasing. For example, the transfer of current from thyristor Ts to thyristor TI can
occur as long as the line voltage vACis positive. Consequently, for thyristor T.. the
firing angle a is measured from the instant vAC= 0 and increasing, as shown in the
figure. Each firing pulse has a duration of 120°.
Now let us examine the operation of the inverter for a > 90° as shown in the
figure. Initially, one assumes the thyristors Ts and T6 are conducting. The dc link
voltage Vdwill then be vcn. At a. TI is fired. Because of the commutating inductors,
the current cannot be transferred instantaneously from Ts to T.. Consequently. the
equivalent circuit shown in figure 11.7 is obtained for the commutation interval. The
dc link current Id is assumed constant during this interval. Since the line voltage vAC
is positive. it reduces iTS to 0 and increases iT) to Id in the period u (fig. 11.6b)
known as the commutation overlap angle. Now Ts turns off and TI and T6 conduct.
making Vdequal to VAB'By considering various 'conduction and commutation inter-
vals. one can draw the waveform of the dc link voltage Vdand machine phase currents.
Since the average value of Vdis negative and Id is positive. the power flows from the
dc link to the machine. giving motoring operation. If we examine the operation for
a < 90°, we will find that the average of Vdis positive. Since the direction of Id re-
mains unchanged, the power flows from the motor to the de link, the inverter works.
as a rectifier, and the machine regenerates.
Because the firing is synchronized with the machine induced voltages. the fre-
quency of opcration of the inverter is the same as the frequency of induced voltages.
Hence, the machine always operates in the self-control mode. The terminal voltage
(or induced voltage) sensor now essentially acts as a rotor positivn sensor.

'-i.~ -
T.

y. b Lc
. '" N . I,

_!'L
T. Figure 11.7 Equivalent circuit for Ihe
commutation of current from Ts to To in
the invencr of Fig. 11.6.
Sec. 11.3 Current Source Inverter with Load Commutation 427

The comparison of the inverter operation with that of a 6-pulse fully controlled
rectifier with a source inductance (when inverting) shows that both are identical in
all respects. In a 6-pulse fully controlled rectifier, the commutation is done by line
voltages; hence it is called line commutation. The commutation process in the in-
verter is identical to the line commutation. But because the voltages induced in the
load are responsible for the commutation, it is defined as the load commutation.

11.3.1 Analysis of Commutation and Inverter Operation

From the equivalent circuit of figure II. 7,

iTl + iTs= Id (11.4)

L diTl
C dt
- V
AC
- Lc dindt =0 ( 11.5)

Differentiating equation (11.4) yields

diTs= - diTI (11.6)

dt dt

Substituting from equation (11.6) into equation (11.5) gives

diTl =VAC (II. 7)

dt 2Lc
From figure 11.6b,
VAB= V3(V2V) sin wt (11.8)
VAC= V3(V2V) sin(wt - 60°) / (11.9)
The de link voltage is given by

[ Vd = -Lcd(
dIn
+ VAB 1 -
c~ck.
-'.
Substitutingfrom equation (II. 7) gives
.' .- - ..
Vd = (VAB - O.5VAd (11.10)
The commutation period ends at wt =.a + u when in = 0 and in = Id' From equa-
,tion (11.7),

I - I (",+r.13+u
d- 2wLcJ"'+1113vAcd(wt)

Substituting from equation (11.9) yields

2wLcld
(I J.ll)
cos a - cos(a + u) = v'6v
 428 Self-Controlled Synchronous Motor Drives Chap. 11

Let us define an angle {3as shown in figure 11.6b. Note that {3is the angle of lead
with rcspect to thc instant whcn vACceases to bc positive. Thc angle {3 is called the
commutation lead angle and is given by
{3 = 1800- a (11.12)
Substitutingfrom equation(11.12) into equation (11.11)yields
2wLc
( ) (1l.I3)
cas {3 - u - cos {3= V6VId
After turn-off, Ts remains reverse biased until vAC= 0 and is decreasing. If this
duration is denotedby y, then
y={3-u (11.14)
The angle y is known as the margin angle. For a safe commutation,
y> cutq (11.15)
where tq is the turn-off time of thyristors. The waveforms for the commutation inter-
val are shown in figure 11.6b. Figure 11.6b also shows the phase current wave-
forms. For phase A, the fundamental component is also shown in the figure. When

??lJ overlap angle u is zero, the fundamental component leads VANby an angle {3. The
effect of the commutation overlap is to delay the fundamental component. The delay
is approximately 0.5 u when the current waveform is assumed to be trapezoidal.
Hence, in the presence of overlap, the fundamental component leads the induced
voltage VAN by ({3 - 0.5 u). By considering different intervals of operation, the
waveformsshown in figure II. 8 can be drawn for the terminal voltage of pouse A, '
vaN' It differs from vAN only during the overlap period as shown (assuming negli-
gible drop across R,). The fundamental component of the phase A eucre.nt can also
be assumed to lead VaNby ({3 - 0.5 u). Hence the power factor angle of tIle machine
1> is
1> == {3 - 0.5 u (leading) (11.16)

v,NorvAN

+!uf.,.,\ <..It
IIJrL,
r II I \
II.;P..J, Fundamental

f--t
I~III
--/ i
A.-
: 't-- - ~\-" 7 ..
"'t
'/
~ . 'L , --- /r
Figure 11.8 Motor terminal voltage and current.
Sec. 11.3 Current Source Inverter with Load Commutation 429

For safe commutation, {3 must be greater than u (fig. 11.6b); hence, (I) will alwilYs
be positive. This shows that with Ipad commutation, the machinc always operales
with a leading power factor. : :

The nature of variation of u, :"y, and cp with Is> when the machine operates at a
fixed value of!3 equal to !3c and a constant flux (constant I~ and variable If) is
shown in figure 11.10. At a constant flux the ratio (V leu) is constant. From equa-
tion (IU3), when!3 is held constant, u depends only on Id or Is.
The ph asor diagrams of the machine for motoring ({3 < 90°) and braking
({3 > 90°) operations with load commutation are shown in figure 11.9. Since the
machine operates at a leading power factor, the torque angle 8' lies between 90° and
180° for motoring and between 180° and 270° for braking, as noted in' section 10.3.
In this range of 8', the conventional operation of a synchronous motor is steady-slate
unstable. But with self-control, the operation becomes stable. For example, an in-
crease in 8' caused by a disturbance, with other parameters unchanged, will reduce
the motor torque, causing a decrease in speed. Consequently, the induced voltage
will decrease, increasing the motor current and torque, and restoring the balance
between the motor and load torques.
In equation (IU3), eudepends on speed, and V depends on speed and I;n' The
current I:nin turn depends on Is and If. Hence, for a given operating point ch;:racter-
ized by given ,:aJues of {3, Is (or Id), If, and speed, u has a fixed value. From
v

9=P -Q.5~

1; Vc

(a) Motoring (b) Braking

Figure 11.9 Phasor diagrams of synchronous mOlOrJedby a load commutated cUlTent

source .inverter. "N

Figure 11.10 q, u and y versus I, cur,cs +:~}~'" I"

for a constant {3.
0 ~I,
 -= ~c==~~
~~ ~= -.
~~=,~"'"

430 Self-Controlled Synchronous Motor Drives Chap. 11

equation (11.16), the power factor angle <p has a uniquevalue.In the phasordia-
grams of figure 11.9, for given values of Is, Ii, and <p,all sides and angles of tri-
angle ABC have unique values. Therefore, the torque angle [)' (or [» also has a
unique value. Thus, for a given set of values of Is, Ii, and speed, there is a unique
value of [)' for a given {3.This suggests that (3 can also be controlled indirectly by
controlling8'. Let us define a variable [)~as
[)~= [)'+ 0.5 u (1I.I7)
Whenthe commutationoverlap is neglected,the armaturecurrent has a 6-step wave-
form shown in figure 11.3. When the firing pulses are generatedusing a rotor posi-
hn encoder, as explained in section 11.1, then if the encoder is set to produce a
constant torque angle [)~,'the torque angle will stay fixed at this value. When the
commutation overlap cannot be neglected, as in a real situation, then the torque
angle will be equal to [)~ for a no-load operation (Is = 0). As the load (or Is) in-
creases, the torque angle [)' will vary according to equation (1I.I7). The angle [)~is
defined as the no-load torque angle. Note that the firing pulse to an odd-numbered
thyristor of an inverter is delivered (fig. 8.14) when the direct axis makes an angle of
(/)~+ 60°) with respect to the axis of the respective phase (fig. 11.3).
For a 6-step current waveform, from equations (8.23) and (8.24)
.%
I =-Id (II.I8) II
, is 7T
Inns = V(2/3) Id (1 I.I9)

Where Innsis the rms value of phase currents. The effect of the overlap is to phase
shift Is by 0.5 u. However, its magnitude remains approximately the same.
When the commutation overlap is zero, Vdwill be equal to VABfrom Cdt =
(ex + 7T/3) to (ex+ 27T/3) (figure 11.6b). The average value of Vdwill then be
3%
Vd
3
=-7T i",+2"./3

",+"./3
VABd(Cdt) = -7T V cos ex (11.20)

The effect of the commutation overlap is to change the de link voltage from vABto
vAD- 0.5vAC[equation (11.10)]. The change in the average value of the de link
voltage is given by
",+"./3+"
Ud =
3%V
3
-7T i",+"./3
0.5VACd(Cdt)

= -[cos
27T ex- cos(ex+ u)] (11.21)

Substituting from equation (1 I.I 1) gives

3
Ud =-(CdLcId)
To . (11.22)

The average de link voltage in the presence of commutation overlap is

:W'6V 3
Vd= - cas a
7T
(wL<ld) - -7T (11.23)
 \
'

'

~. .
.
ii
,II

Sec. 11.3 Current Source Inverter with Load Commutation 431

The power input to the motor is

Pin = - VdId (11.24)
Power developed by the motor is
Pm = Pin - 3I;msRs (11.25)
Substituting from equations (11. 24) and (11.19) gives

Pm = -V dId - 2I~Rs

and developed torque is

T =~ =- ~[VdId + 2I~Rs] (II. 26)

CtIms CtIms
Also
Pm= 3VIs cos 4> - 31~sRs
or
3
T=-[Vls cos cp- I~sRs) (11.27)
CtIms
Equations (11.26) and (11.27) are valid for both motoring and braking operations.
Speed control below base speed is obtained by the control of the rectifier out-
put voltage Vdt (Fig. 11.6b). An increase in the rectifier output voltage, with {3held
'constant, increases the dc link current Id' As a result, Is and the motor torque in-
crease. The machine speeds up and the induced voltage V increases until the balance
between the rectifier output voltage Vdl and the inverter counter emf Vd is restored.
In a wound-field motor, usually the field is also controlled below base speed to
maintain a constant flux, as explained in section 11.5.1.
For a wound-field motor, speed control above base speed is obtained by reduc-
ing the field current'lf. A decrease in If reduces I~, which reduces the induced
.voltage V and the inverter counter emf Yd, Therefore, Id and the machine torque in-
crease. The motor speed increases until V has a value which allows the balance to be
restored between the rectifier voltage Vdt and the inverter counter emf Yd,
In a permanent magnet motor, If cannot be changed. Therefore, speed control
above base speed is obtained by increasing {3. An increase in {3reduces the inverter
counter emf \(d for a given V. The dc link current ld increases, increasing torque.
The motor speed increases until V is large enough to restore the balance between the
inverter counter emf Vd and the rectifier output voltage Vdl' The increase in {3 has
an adverse effecton the power factor [equation (11.16)]. Furthermore, the machine
terminal voltage also increases with speed. Because of the poor power factor and
high terminal voltage, both copper loss and core loss become large and efficiency
decreases.
Example 11.1
The synchronous motor of a self-controlled drive. fed from a load.commutated current
source inverter, has the following name plate data:

5 MW, 3-phase, 6600 V. 6-polc. 50 HZ. Y.connccted. unity power factor

r- Self-Controlled Synchronous Motor Drives

The parameters arc X, = 10n, subtransientreaCtance = 1.8.fl, andnegligibleR" core

loss, friction, andwindage.The field is controlledto maintaina constantflux below
Chap.
11

basespeedandtheratedterminalvoltageabovebasespeed.Themachineis operiltedat
a constant commutation lead angle of 50°. ..
1. Calculatethe marginangle, powerfactor, developedpower, ilnd tOrquefor
machineoperationat the ratedannaturecurrent(rms)andspeed.
2. Repeat I. for a speed of 1600 rpm.
3. Calculateo~for I.
4. Calculatethede link voltagefor 1.
Solution:
6600
V= V3 =38\0.5 V

At the rated frequency, C<J

= 211'X 50 = 3\4 rad/ sec.
\20f \20 x 50
Rated speed= -p rpm = - 6
= 1000 rpm

= 104.7 rad/sec.
5 X 106
Rated armature current = .v3
r-: x 6600 = 437.4A

When fed from an inverter. for an nns motor current of 437.7 A, from equations (11.18)
and (11.19),

Id = If Inns = If x 437.4 =536 A

v'6 v'6
I.=~Id==-'-x536=418
1f 1f
A

1. Since the machine is operating at a constant flux, at rated speed the tenninal
voltage will have the rated value.

From equations (11.13) and (11.\4) .\

2 x I. 8 x 536
eosy - cos(500)= V6 x 3810.5
which gives 'Y = 32°.
Now Ii = {3- 'Y= 50° - 32° = 18°
. if>= {3- 0.5 u = 50° - 9° = 4\ °
Power factor = cas 410 = 0.75

Developed power = 3Vl, cas <p

=3 x 3810.5 x 418 x 0.75 = 3.58 MW

3.58 x 106
Torque = 104.7 = 3.4 x 104N-m