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4.3.

2015

Understanding Mechanical
System Requirements
EES 472 Electric Drives
Assoc. Prof. Dr. Mutlu BOZTEPE
Ege University, 2015

Motivation
 How can the ASD accelerate and decelerate the load to
give desired speed profile

EE472 Electric Drives, Dr. Mutlu Boztepe, Ege University, 2015

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4.3.2015

Systems With Linear Motion

EE472 Electric Drives, Dr. Mutlu Boztepe, Ege University, 2015

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Rotating Systems

EE472 Electric Drives, Dr. Mutlu Boztepe, Ege University, 2015

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4. Mutlu Boztepe. Dr.2015 EE472 Electric Drives. Mutlu Boztepe. Ege University. Dr. 2015 5 Rotating Systems EE472 Electric Drives.3. 2015 6 3 . Ege University.

Dr. Mutlu Boztepe.3. Mutlu Boztepe. Power and Energy EE472 Electric Drives. Ege University. Ege University. Dr. Speed and Position.2015 Calculation of Moment of Inertia J of a Uniform Cylinder EE472 Electric Drives. 2015 8 4 . 2015 7 Accelaration.4.

Mutlu Boztepe. 2015 10 5 . 2015 9 EE472 Electric Drives. Dr. Ege University. Mutlu Boztepe.2015 EE472 Electric Drives. Dr.3. Ege University.4.

Mutlu Boztepe. Dr.4. Dr.3. Ege University. 2015 11 EE472 Electric Drives.2015 EE472 Electric Drives. Mutlu Boztepe. 2015 12 6 . Ege University.

4. the friction may consist of a component called coulomb friction which remains independent of speed magnitude (always opposes rotation) or another component called viscous friction which increases linearly with speed. Mutlu Boztepe. EE472 Electric Drives.  Once in motion.3.  In general the friction torque has all aforementioned components. 2015 13 EE472 Electric Drives. Dr. Ege University. This friction is called stiction. Ege University.2015 Frictional Torque  Need for a high force (torque) in the beginning (from rest) to set an object in motion. Mutlu Boztepe. Dr.  However it can be linearized for an approximate analysis as shown dotted line in which characteristics is similar to that of viscous friction. 2015 14 7 .

Dr. Ege University.2015 EE472 Electric Drives. Mutlu Boztepe. Dr. 2015 15 Torsional Resonances EE472 Electric Drives.4. Mutlu Boztepe. 2015 16 8 . Ege University.3.

Mutlu Boztepe. Ege University. Mutlu Boztepe.Electrical Analogy EE472 Electric Drives.3.2015 Mechanical .4. Dr. Dr. Ege University. 2015 18 9 . 2015 17 Electrical Analogy of Motor & Load EE472 Electric Drives.

2015 20 10 . 2015 19 EE472 Electric Drives.2015 EE472 Electric Drives. Dr.4. Mutlu Boztepe. Mutlu Boztepe. Ege University.3. Dr. Ege University.

3.4. 2015 21 Conversion between Linear and Rotary Systems EE472 Electric Drives. Dr. Mutlu Boztepe. Dr. Mutlu Boztepe. Ege University.2015 Coupling Mechanisms EE472 Electric Drives. Ege University. 2015 22 11 .

Ege University. 2015 23 Gears EE472 Electric Drives. Mutlu Boztepe.3.4. 2015 24 12 .2015 EE472 Electric Drives. Dr. Ege University. Mutlu Boztepe. Dr.

Dr. Mutlu Boztepe. Ege University. 2015 26 13 . Mutlu Boztepe.2015 Gears (cont’d) EE472 Electric Drives. Ege University.4. Dr. 2015 25 Optimum gear ratio to minimize Tem Tem and load acceleration! EE472 Electric Drives.3.

2015 Types of Loads Centrifugal loads Tork ~ speed2 Power ~ speed3 EE472 Electric Drives. Ege University.3. 2015 27 Types of Loads Constant Torque loads Tork =constant Power ~ speed EE472 Electric Drives. Dr. Mutlu Boztepe.4. Dr. 2015 28 14 . Mutlu Boztepe. Ege University.

Ege University. Dr. 2015 30 15 . Mutlu Boztepe. 2015 29 Types of Loads Constant power loads •Tork beyond a certain speed range varies inversely with speed •Power =constant EE472 Electric Drives. Ege University.3.2015 Types of Loads Squared power loads Tork ~ speed Power ~ speed2 EE472 Electric Drives. Dr.4. Mutlu Boztepe.

2015 32 16 . drives are required to operate in all quadrants of torque-speed plane.4. drive decelerates and operating point moves away from point B. 2015 31 Steady-state stability  The equilibrium point A is termed as stable if the operating point restores itself after small disturbance in the motor or load. Dr. Mutlu Boztepe.  At new speed motor torque is greater than load torque. Thus. Ege University.2015 Four-Quadrant Operation  In many high performance systems. consequently motor will accelerate and operation will be restores to point A. point B is unstable point. a decrease in speed causes load torque is greater than motor torque. EE472 Electric Drives.  For point B. it may be necessary to operate the system inn the regenerative breaking mode.  In order to control the load speed rapidly. Therefore the drive is steady-state stable at point A. Dr. Mutlu Boztepe. EE472 Electric Drives. Ege University.3.  Assume that disturbance casuses a reduction of m in speed.

Dr. Ege University. Mutlu Boztepe. Removing average quantitites and rearranging the terms gives For small perturbations. Ege University. Mutlu Boztepe.3. where dT/dw terms are the slopes.4. into above Eq. gives For m  0 Solution of this 1st order differential equation. 2015 33 Dynamic Operation     How the operating point changes with time Important for High Performance Drives Speed change: rapid and without any oscillations Requires good controller design EE472 Electric Drives. Dr.2015 Steady-state stability – Alternative approach Let a small perturbation in speed. Thus. EE472 Electric Drives. 2015 34 17 . By substituting these Eq. the speed-torque curves of motor and load can be assumed to be straight lines. m results in T and Tl perturbations.

and power?  ‰ What is the relationship between force. speed. torque. Ege University. Mutlu Boztepe. Ege University. linear velocity.4. Mutlu Boztepe. 2015 35 Problems EE472 Electric Drives. and power?  ‰ Show that torque is the fundamental variable in controllingspeed and position. angular velocity.2015 Summary  What are the MKS units for force. Dr.3. Dr. 2015 36 18 .  ‰ What is the kinetic energy stored in a moving mass and arotating inertia?  What is the mechanism for torsional resonances?  What are the various types of coupling mechanisms?  What is the optimum gear ratio to minimize the torque required from the drive to accelerate a load?  What are the torque-speed and the power-speed profiles for various types of loads? EE472 Electric Drives. torque.

Ege University.3. Dr. 2015 38 19 . Mutlu Boztepe. Mutlu Boztepe.2015 Problems EE472 Electric Drives.4. 2015 37 Problems EE472 Electric Drives. Dr. Ege University.

3. Ege University. Mutlu Boztepe.2015 Problems EE472 Electric Drives. 2015 39 Problems EE472 Electric Drives. Dr.4. Mutlu Boztepe. Ege University. Dr. 2015 40 20 .