GENERAL ELECTRICAL DRIVES

What is electrical drives?

Components of electrical drives
Advantages of electrical drives
DC drives Vs AC drives
Torque equations
Load torque profiles
Four quadrant operation

DC DRIVES Vs AC DRIVES
DC drives:
Advantage in control unit
Disadvantage in motor

AC Drives:
Advantage in motor
Disadvantage in control unit

DC DRIVES: Electric drives that use DC motors
as the prime movers
Dominates variable speed applications before
PE converters were introduced
DC motor: industry workhorse for decades
Will AC drive replaces DC drive ?
Predicted 30 years ago
AC will eventually replace DC at a slow rate
DC strong presence easy control huge numbers
DC DRIVES
DC Motors
Limitations:
Advantage: simple torque and speed control
without sophisticated electronics
Regular Maintenance Expensive motor
Heavy motor Sparking
General Torque Equation
Translational (linear) motion:
dt
d
J T
e
=
Rotational motion:
dt
dv
M F =
F : Force (Nm)
M : Mass (Kg )
v : velocity (m/s)
T : Torque (Nm)
J : Moment of Inertia (Kgm
2
)
e : angular velocity ( rad/s )
Torque Equation: Motor drives
dt
d
J T T or
dt
d
J T T
L e L e
e e
= + =
0 >
L e
T T
Acceleration
0 <
L e
T T
Deceleration
0 =
L e
T T
Constant speed
Te : motor torque (Nm) T
L
: Load torque (Nm)
continue
Drive accelerates or decelerates depending
on whether Te is greater or less than T
L
During acceleration, motor must supply not only
the load torque but also dynamic torque, ( Jde/dt ).
During deceleration, the dynamic torque, ( Jde/dt ), has
a negative sign. Therefore, it assists the motor
torque, Te.
Torque Equation: Graphical
Te
Forward
running
Speed
Forward
braking
Reverse
acc.
Reverse
running
Reverse
braking
Forward
acc.
Load Torque
Load torque, T
L
, is complex, depending on applications.
SPEED
TORQUE
T
L
= ke
2
T
L
= ke

T
L
= k

In general:
4Q OPERATION
SPEED
TORQUE
I

III

II

IV

e Te e Te
e Te e Te
FM FB
RM
RB
F: FORWARD R: REVERSE M : MOTORING B: BRAKING
4Q OPERATION: LIFT SYSTEM
Counterweight Cage
Motor
Positive speed
Negative torque
4Q OPERATION: LIFT SYSTEM
Convention:
Upward motion of the cage: Positive speed
Weight of the empty cage < Counterweight
Weight of the full-loaded cage > Counterweight
Principle:
What causes the motion?
Motor : motoring P =Te = +ve
Load (counterweight) : braking P =Te = -ve
4Q OPERATION: LIFT SYSTEM
You are at 10
th
floor, calling
fully-loaded cage from gnd floor
You are at gnd floor, calling
empty cage from 10
th
floor
You are at 10
th
floor, calling
empty cage from gnd floor
You are at gnd floor, calling
Fully-loaded cage from 10
th
floor
Torque
Speed
FM FB
RM RB
DC MOTOR DRIVES
Principle of operation
Torque-speed characteristic
Methods of speed control
Armature voltage control
Variable voltage source
Phase-controlled Rectifier
Switch-mode converter (Chopper)
1Q-Converter
2Q-Converter
4Q-Converter
Current in
Current out
Stator: field
windings
Rotor: armature
windings
Principle of Operation
DC Motors
Equivalent circuit of DC motor
a t
i k Te | =
Electromagnetic torque
|e =
E a
k e Armature back e.m.f.
L
f
R
f

i
f

a
a
a a t
e
dt
di
L i R v + + =
+

e
a


_
L
a
R
a

i
a

+

V
t


_
+

V
f


_
dt
di
L i R v
f
f f f
+ =
Torque-speed characteristics
a a a a
E I R V + =
In steady state,
( )
|
|
e
T
a
e
T
a
k
V
T
k
R
+ =
2
Therefore speed is given by,
Three possible methods of speed control:
Armature resistance Ra
Field flux u
Armature voltage Va
a
a
a a a
e
dt
di
L i R V + + =
Armature circuit:
Torque-speed characteristics of DC motor
Torque
Speed
Maximum
load
Torque
No load speed
Separately excited DC motors have good
speed regulation.
Full load speed
DC Motor Speed Control
Torque
Speed
Maximum
Torque
By Changing Ra
Ra increasing
Power loss in Ra
Does not maintain maximum torque capability
Poor speed regulation
DC Motor Speed Control
Torque
Speed
Maximum
Torque
Flux Decreasing
T
rated

Slow transient response
Does not maintain maximum torque capability
By Decreasing Flux
DC Motor Speed Control
Torque
Speed
Maximum
Torque
By Changing Armature voltage
T
rated

Va increasing
good speed regulation
maintain maximum torque capability
Speed control of DC Motors
Below base speed: Armature voltage control (retain maximum
torque capability)
Above base speed: Field weakening (i.e. flux reduced) (Trading-off torque
capability for speed)
Torque
speed
Line of
Maximum
Torque Limitation
Armature voltage control
Field flux control
e
base

Methods of Armature Voltage Control
Phase-controlled rectifier (ACDC)
T
Q1
Q2
Q3 Q4
e
3-phase Or
1-phase
supply
+

V
t



i
a

Methods of Armature Voltage Control
1. Ward-Leonard Scheme
2. Phase-controlled rectifier (ACDC)
3. Switch-Mode Converter (Chopper) (DCDC)
Phase-controlled rectifier: 4Q Operation
Q1
Q2
Q3 Q4
e
T
1 or 3-
phase
supply
1 or 3-
phase
supply
+

V
t

Methods of Armature Voltage Control
Phase-controlled rectifier : 4Q Operation
Q1
Q2
Q3 Q4
e
T
F1

F2

R1

R2

+ V
a
-
3-phase
supply
AN ALTERNATIVE WAY
Switchmode converters: 1Q Converter
Q1
Q2
Q3 Q4
e
T
+
V
t

-
T1
Converters For DC motor Drives
Switchmode converters: 2Q Converter
+
V
t

-
T1
D1
T2
D2
Q1
Q2
Q3 Q4
e
T
Q1 T1 and D2
Q2 D1 and T2
Converters For DC motor Drives
Switchmode converters: 4Q Converter
Q1
Q2
Q3 Q4
e
T
+ V
t
-
T1
D1
T2
D2
D3
D4
T3
T4
Converters For DC motor Drives
Switchmode converters
Switching at high frequency
Reduces current ripple
Increases control bandwidth
Suitable for high performance applications
Advantages of Switch mode converters