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

• DC DRIVES: Electric drives that use DC motors

as the prime movers
• DC motor: industry workhorse for decades
• Dominates variable speed applications before PE
converters were introduced

• Will AC drive replaces DC drive ?

– Predicted 30 years ago
– DC strong presence – easy control – huge numbers
– AC will eventually replace DC – at a slow rate
 DC Motors

• Advantage: simple torque and speed control

without sophisticated electronics

• Limitations:
• Regular Maintenance • Expensive motor
• Heavy motor • Sparking
 General Torque Equation
Translational (linear) motion:

dv F : Force (Nm)
F M M : Mass (Kg )

dt v : velocity (m/s)

Rotational motion:
d T : Torque (Nm)
TJ J : Moment of Inertia (Kgm2 )
 : angular velocity ( rad/s )
dt
Torque Equation: Motor drives
d d
Te  TL  J or Te  TL  J
dt dt
Te : motor torque (Nm) TL : Load torque (Nm)

Te  TL  0 Acceleration

Te  TL  0 Deceleration

Te  TL  0 Constant speed
…continue

Drive accelerates or decelerates depending

on whether Te is greater or less than TL

During acceleration, motor must supply not only

the load torque but also dynamic torque, ( Jd/dt ).

During deceleration, the dynamic torque, ( Jd/dt ), has

a negative sign. Therefore, it assists the motor
torque, Te.
 Torque Equation: Graphical
Te

Speed

Forward Forward Reverse Reverse Reverse Forward

running braking acc. running braking acc.
 Load Torque

Load torque, TL, is complex, depending on applications.

In general:

TORQUE
TL = k

TL = k
TL = k2

SPEED
 4Q OPERATION
F: FORWARD R: REVERSE M : MOTORING B: BRAKING
SPEED
Te  Te 

FB II I FM
TORQUE
III IV RB
Te  Te 
RM
4Q OPERATION: LIFT SYSTEM

Positive speed

Motor Negative torque

Counterweight Cage
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 =T= +ve

Load (counterweight) : braking P =T = -ve

 4Q OPERATION: LIFT SYSTEM
Speed

You are at 10th floor, calling You are at 10th floor, calling
empty cage from gnd floor fully-loaded cage from gnd floor

FB FM
Torque
RM RB

You are at gnd floor, calling You are at gnd floor, calling
empty cage from 10th floor Fully-loaded cage from 10th floor
 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
 Principle of Operation
DC Motors
Rotor: armature
windings
Stator: field
windings

Current in
Current out
Equivalent circuit of DC motor
Ra La Lf Rf

ia +
+ if +

Vt ea Vf

_ _ _

di di f
v t  R a ia  L a  ea v f  R f if  L
dt dt

Te  ktia Electromagnetic torque

e a  k E  Armature back e.m.f.

Torque-speed characteristics
Armature circuit:
dia
Va  Ra ia  L  ea
dt
In steady state,
Va  Ra I a  Ea

Therefore speed is given by,

Ra Va
 T 
 kT   2 e
kT 
Three possible methods of speed control:

Armature resistance Ra
Field flux 
Armature voltage Va
Torque-speed characteristics of DC motor
Speed

No load speed

Full load speed Maximum

load
Torque

Torque
Separately excited DC motors have good
speed regulation.
 DC Motor Speed Control
By Changing Ra
Speed

Ra increasing
Maximum
Torque

Torque
• Power loss in Ra
• Does not maintain maximum torque capability
• Poor speed regulation
 DC Motor Speed Control
By Decreasing Flux
Speed

Flux Decreasing Maximum

Torque

Torque
Trated

• Slow transient response

• Does not maintain maximum torque capability
 DC Motor Speed Control
Speed By Changing Armature voltage

Va increasing

Maximum
Torque

Torque
Trated
• 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 Armature voltage control

Field flux control

Line of
Maximum
Torque Limitation

base speed
Methods of Armature Voltage Control

Phase-controlled rectifier (AC–DC)

ia

+
3-phase Or
Vt Q2 Q1
1-phase
supply
Q3 Q4 T

Methods of Armature Voltage Control

1. Ward-Leonard Scheme
2. Phase-controlled rectifier (AC–DC)
3. Switch-Mode Converter (Chopper) (DC–DC)
Methods of Armature Voltage Control

Phase-controlled rectifier: 4Q Operation

+
1 or 3-
phase 1 or 3-
Vt phase
supply
supply


Q2 Q1

Q3 Q4
T
AN ALTERNATIVE WAY

Phase-controlled rectifier : 4Q Operation

F1 R1

3-phase
supply
+ Va -
R2 F2

Q2 Q1

Q3 Q4
T
Converters For DC motor Drives

Switch–mode converters: 1Q Converter

T1 

+ Q2 Q1

Vt Q3 Q4 T
-
Converters For DC motor Drives

Switch–mode converters: 2Q Converter

T1 Q1
Q2
D1
Q3 Q4 T
+
T2 Vt
D2 - Q1  T1 and D2

Q2  D1 and T2
Converters For DC motor Drives

Switch–mode converters: 4Q Converter

D1 D3 Q1
T1 T3 Q2
+ Vt -
Q3 Q4 T

T4 D2 T2
D4
Advantages of Switch mode converters

Switch–mode converters

• Switching at high frequency

 Reduces current ripple
 Increases control bandwidth

• Suitable for high performance applications