Electric Drive Systems

ECE 732 Dynamics and Control of Electric Machines

Instructor: Dr. Iqbal Husain
Department of Electrical & Computer Engineering
North Carolina State University

Electric Motor Drive

Electric Drive: Converts power efficiently from electrical to
mechanical
Motor Controller: Implements motor control algorithm for
efficient power conversion
Power Electronics: Delivers appropriate voltage and frequency
to electric motor
Sensors and Signal Processing

Energy
Storage

Outer
Controller

Microprocessor
Digital Signal Processor
Field Prog. Gate Array

Motor
Controller

BJTs
IGBTs
MOSFETs

Power
Electronics

Motor

Permanent Magnet
Switched Reluctance
Induction

Load

Active Load
Passive Load

Constant Speed Drives

No Power Electronics
Electric Motor driven by line frequency
Not amenable to automation
In pump applications this means constant pump speed
Heat generated and energy lost in pump and throttling valve

Adjustable Speed Drives

Speed need to be regulated only roughly; transient response
and low-speed performance not critical
Power electronic drive and controller runs the motor at
appropriate speed
Results in higher efficiency

High Performance Drives

Drives that must allow regulation of a number of variables such as speed,
position, acceleration and torque
Speed handling accuracy better than 0.5%
Wide speed range control (for example, 10:1)
Fast transient response, typically better than 50 rad/s for the speed loop and
30-100ms for the position loop
EMB control system
Force
command

+-

(PID) Outer
CONTROL
loop controller

Translation
of Force to force feedback
control

Gears

Brake
pad

Brake
rotor

Electromechanical Brake System

torque
reference

Torque
controller &
inverter

Caliper

Motor
Rotary to linear converter

Gear

motor
voltage
Motor

Applications
Process Industry: Pumps, fans, agitators, compressors
Machining: Planers, winches, chippers, drill presses, sanders,
extruders, grinders, mills, presses
Heating, Ventilating and Air Conditioning (HVAC): Blowers,
compressors
Paper and Steel Industry: Hoists, rollers
Textile: Looms
Packaging: Shears
Food: Conveyors, fans
Oil, Gas, Mining: Compressors, pumps, cranes, shovels
Residential: Heat pumps, freezers, washing machines
Automotive: traction drives, accessory drives
Wind Energy systems: Generators, pumps, fans

Heat Pumps and Air-conditioners

Cycled operation
30% improvement in efficiency by running
compressor at appropriately reduced speed by

Energy Conversion in Pumps

Throttling introduces extra pressure drop, H
Power lost is Q2H
ASD reduces pump speed to match load requirement

Energy Conversion in Blower

Relative power consumption using three methods to reduce
blower speed:
Outlet damper
Inlet vane
Adjustable speed drive

ASD is the most efficient method

Wind Energy Harvesting

High performance controller required for
maximizing wind energy extraction

Electric and Hybrid Vehicles

High performance is essential in traction applications
User inputs

Accel.
pedal

Batteries
(Store)

Brake
pedal

Electronic
Controller

Power Electronic
Converter

Battery
Charger

Wheel

Acceleration

Motor

Transmission

Differential

Regenerative
Braking

Software

Hardware

Devices

Topology

Motor Controls
Supervisory
Controls

Microprocessor
Digital
Signal
Processor

IGBT

DC/DC
DC/AC

Design

Types

FEA
CAD
Materials
Packaging
Structural
Thermal

DC
Induction
PM Sync.
PM Brushless
SRM

Wheel

Multidisciplinary Nature of Electric

Drives

Mechanical Aspects of Electric

Drives
ECE 732 Dynamics and Control of Electric Machines
Instructor: Dr. Iqbal Husain
Department of Electrical & Computer Engineering
North Carolina State University

Acceleration, Speed, Position, Power

and Energy

Friction and Windage Torque

Friction and Windage Torque

Friction occurs in bearings that support rotating structures
Moving objects in air encounter windage or drag
There are three components of friction
Stiction friction : static component
: dynamic component (constant)

Coulomb friction
Viscous friction

: speed dependent (

Friction is non-linear in general

Windage torque:

Friction and Windage torque is grouped together

=
+

Aerodynamic Drag
Air drags power in proportion to speed squared
=
where is the density of air in kg/ ,
is the aerodynamic drag coefficient,
is the vehicle frontal area in
and is the velocity in /
Power is proportional to

Mechanical-Electrical Analogy

Torque
Angular Velocity
Angular Displacement
Moment of Inertia
Spring Constant
Damping Coefficient
Coupling Ratio

Current
Voltage
Flux Linkage
Capacitance
1/Inductance
1/Resistance
Transformer Ratio

Torsional Resonances

Electrical Analogy or Motor & Load

Coupling Mechanisms
Required when
A rotary motor driving a load that requires linear
(translational) motion
Higher rotational speed is preferred in electric motors
than that required by the load
The axis of rotation needs to be changed

Types
Conveyor belts (belt and pulley)
Rack and pinion or a ball-screw type of arrangement
Gear mechanisms

Conveyer Belt Load Modeling

Gears

Optimum Gear Ratio

Dynamic Operation
Types of Loads: Constant Torque, Constant
power, squared power loads, cubic power
loads
Four-Quadrant Drives
Dynamic Operation
Operating point changes with time
Speed change has to be rapid and without any
oscillations
Requires good controller design