Synchronous Motor Drives

Dr.P.K.Biswas
Associate Professor
NIT Mizoram
Adjustable speed synchronous motor drive
Speed of synchronous motors can be controlled by controlling the supply frequency. This
method of speed control is known as the variable frequency method (or) adjustable
frequency control. Similar to induction motors constant flux operation below base speed is
achieved by operating the synchronous motor with constant (v/f) ratio. Once the rated
voltage is reached at base speed the machine is operated at rated terminal voltage and
variable frequency for higher speeds. The pull out torque is constant for constant flux
operation, while it is found to decrease with the increase in frequency for higher speed.

Speed control modes of synchronous motor

There are two control modes for synchronous machine drives.
i. Open- loop (or) True synchronous (or) separate controlled mode
ii. Self – Synchronous mode (or) self-controlled mode.
In open loop (or) True synchronous machine mode, the motor speed is controlled by the
independent frequency control of the converter. In self control mode, the variable
frequency converter control pulses are derived from an absolute rotor position encoder
mounted on the motor shaft.
Open loop volts/ Hertz control

open loop volts/Hz speed control of multiple synchronous motors.

An independent frequency control is the open loop volts/Hz speed control. This
method of speed control is particularly popular in multiple synchronous reluctance
or PM machine drives, where close speed tracking is essential among a number of
machines for application such as fibre spinning mills, textile and paper mills.
In figure all the machines are connected in parallel to the same inverter so that they
move in synchronism corresponding to the command frequency ωe* at the input.
The phase voltage command Vs* is generated through a function generator (FG),
where the voltage is essentially maintained proportional to the frequency so that
the stator flux ψs remains constant.
In this mode, the supply frequency is controlled from an independent oscillator. For
a given frequency setting, the machine runs at a fixed speed, independent of
variations in load, supply voltage and field current. Hence the speed can be
controlled precisely in open-loop by controlling the frequency.
When operating in steady state, a gradual increase in frequency causes the stator
field speed to become greater than the rotor speed and the torque angle to
increase. The motor accelerates to follow the changes (increase) in frequency.
When the frequency reaches a new value, the machine settles down at a new
speed after hunting oscillations, which are damped by
the damper winding.
On the other hand, a gradual decrease in frequency causes the stator field speed
to become lower than the rotor speed. Consequently the torque angle becomes
negative. The motor decelerates under regenerative braking following the decrease
in frequency. When the frequency reaches a new setting, the machine settles at a
new speed after oscillations which are damped by the damper winding.
It should be ensure that the frequency must be changed gradually to allow the rotor
to track the changes in the revolving field speed, otherwise the motor may pull-out
of step.
The motor can also be started by increasing the frequency slowly from zero value.
It draws much lower current and produce a much higher torque. As in the case of
an induction motor the common control strategy is to operate the motor at a
constant air-gap flux upto the base speed and at constant terminal voltage above
the base speed. The air-gap flux depends on the value of the magnetizing current
Im. Hence constant air gap flux operation below base speed is achieved by
operating the motor with a constant (v/f) ratio.
Self control mode

self – controlled synchronous motors

A synchronous machine is said to be self-controlled if it gets its operating

frequency from an inverter whose thyristors are fired from a rotor position sensing
unit. This unit measures the rotor position with respect to a stator reference and
sends pulses to the thyristors.
In this control, as the rotor speed changes, the stator supply frequency is also
changed proportionally, so the stator field always moves at the same speed as the
rotor. This ensures that the stator and rotor fields move in synchronism for all
operating points. Consequently a self-controlled synchronous motor does not
pullout of step and does not suffer from hunting oscillations and instability
associated with a step change in torque or frequency when controlled from an
independent oscillator. The accurate tracking of speed by frequency is realized
with the help of a rotor position sensor.
The stator winding of the machine is fed by an inverter that generates a variable
frequency variable voltage sinusoidal supply. But in this case instead of controlling
the inverter frequency independently, the frequency and phase of the output wave
are controlled by an absolute position sensor mounted on machine shaft, giving it
self-control characteristics. Of course, the pulse train from the position sensor can
be delayed by an external command.
A self-controlled synchronous machine can be considered analogues to a dc
motor except for the following differences.
i. Unlike a dc machine, the field is rotating and the armature is stationary (often
called an inside-out dc machine)
ii. Unlike a mechanical position – sensitive inverter, an electronic inverter that is
controlled by an absolute position encoder.
This dc machine analogy gives the self-controlled synchronous machine various
names such as electronically commutated motor (ECM), brushless dc motor
(BLDM) or commutator less – brushless motor. However, the commercial name of
BLDM is restricted to the trapezoidal PM machine drive.
 Features
An electronic commutator replaced the mechanical commutators and brushes, thus
eliminating the disadvantages of the dc machine, such as maintenance and reliability
problems, sparking limitations in speed and power rating, difficulty to operate in
corrosive and explosive environments, EMI problem etc.
Because of self-control, the machine does not show any stability or hunting
problem of the traditional synchronous Machine.
The transient response can be similar to a dc machine.
With a high-energy magnet the rotor inertia can be made smaller, which is an
advantage in a fast-response servo type drive.
Because of so many favorable characteristics, synchronous machine drives almost
exclusively use self-control.
Comparison between self & separately controlled synchronous Motor drive.
Power factor control
In linear loads, power factor (P.F.) is defined as P.F. = cos ф
Where ф is the phase angle between phase voltage and phase current of the load.
Further for a three-phase load,
Apparent power = 3 V I
Real power = 3 V I cosф
Reactive power = 3 VI sin ф
Where V = phase voltage and I = phase current of the load, respectively.
When a non-linear load is fed from a sinusoidal supply, current will consist of
fundamental and harmonics. The power factor for a nonlinear load is defined as:
PF = Real power/ Apparent power = 3 VI cos ф / 3.V. I rms
= (cos ф) x (I /I rms)
= Displacement factor x Distortion factor
Where V = fundamental component of source voltage and also rms value of source
voltage as
source is sinusoidal. I = fundamental component of load current, Irms = rms value
of the load
current and ф = phase angle between V and I.
Displacement factor (or fundamental power factor) = cos ф
Distortion factor = I/ I rms.
In a non-linear load, good power factor is achieved when both displacement and
distortion factors approach unity.
Drives operation on low power factor
• An induction motor direct on line
• Ac – Dc diode rectifier and line commutated thyristor converter fed dc motor and
variable frequency ac motor drives.
•Ac regulator fed induction motor drives.
• Induction motor drive with slip power recovery.

Benefits of improving PF
i. A high power factor decreases the copper loss in transformers, distribution
cables, transmissions line and other equipments, thus allowing considerable
saving in energy consumptions.
ii. It helps in stabilizing the system voltage.
iii. It reduces the load on transmission and distribution equipment and transformer.
Thus, it allows transmission of larger power and full utilization of substation
and generating unit capabilities.
iv. It avoids large penalty often imposed on low power factor consumers by the
utilities.
Power factor control of synchronous motor drive

Automatic closed loop adjustment of power factor

Figure Shows the block diagram of automatic closed-loop adjustment of power
factor.The main aim of adjustment of power factor is the variation of the field
current. This is possible in a wound field machine. If the motor is operated at a
power factor of unity, the current drawn by it will have the lowest magnitude for a
given power input and therefore the lowest internal copper losses.

From this diagram, the motor voltage and current are sensed and fed to the power
factor calculator. The power factor calculator computes the phase angle between
the two and thereby the power factor. It is the actual power factor value.

The computed power factor value is compared against the power factor
commanded value by using error detector. The error is amplified by the error
amplifier and its output varies the field current until PF confirm to the commanded
value.
Marginal angle control in synchronous motor drives

Current source inverter feeding a synchronous motor

The dc supply for the inverter is obtained from a 6-pulse fully controlled rectifier,
which together with the link inductor Ld can be considered to constitute a current
source for the inverter. In addition the link inductor Ld reduces the ripple in the link
current Id and prevents the inverter and rectifier from interfacing with each others
operation.
In a converter, if the commutation is done by line voltages, then it is called line
commutation. But if the voltage induced in the load are responsible for the
commutation, it is defined as load commutation.
 Motor terminal voltage of phase A

We Know, the commutation lead angle β is given by, β = 180˚- α

The marginal angle γ is given by, γ = β – μ
and for safe commutation of thyristors of load commutated CSI, γ > ωtq
where tq is the turn off time of thyristors.
The P.F. angle of the synchronous motor is given by, Ф = β – 0.5μ (leading)
In a motoring operation, the power factor is maximum when β is minimum or α is
maximum. Consequently the power transferred from the dc link to the machine for
a given value of Id is maximized. This inturn maximizes the machine torque for a
given Is. A minimum value of β is obtained when the margin angle is chosen just
sufficient (γ min) to ensure safe commutation.
γmin = Kq ω tq
Where kq is a safety factor.
Now the minimum value of β is
 βmin = μ + γmin

(PF)max = cos (βmin - 0.5μ)

= cos (γmin + 0.5μ)
we have,
cos (β - μ) – cos β = 2ωLc Id /√ 6V
cos (μ + γmin) = cos γmin - 2ωLcId / √6V

In above equation,ω depends on speed, and V depends on speed and Im. The
current Im in turn depends on Is and If.

Constant margin angle control

A number of approaches are possible for inverter control. Commonly used control
strategy is the constant margin angle control. The operation of the inverter at a
minimum safe value of the margin angle gives the highest power factor and the
maximum torque per ampere of the stator current, thus allowing the most efficient
use of both the inverter and motor.

The exact implementation of this control strategy is not possible because the
minimum value of the commutation lead angle cannot be accurately predicted. It is
therefore implemented only approximately. Even then it requires complex control.
Thank you