CHAPTER V

Motor Drives
Motor drive systems definitions
Review of motor principles
Mechanical Requirements of Motor Drives

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Electric Motor Drives

DEFINITION: Electric drives for
motor is used to draw electrical energy
from the mains and supply the
electrical energy to the motor at
whatever voltage, current and
frequency necessary to achieve the
desired mechanical output.
General arrangement for variable speed
drive.
Power Source
Controller

Power
Electronics
Converter

Motor

Process/
Load

Process
Control
Computer

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Example of Motor Drive System:

Air Conditioning System
Power Source
Power
Electronics
Converter
Desired
temperature
Desired
humidity

System
Controller

Variable speed drive

Motor

Air
conditioner

Indoor temperature
and humidity

Temperature and
humidity

Building
Cooling

Indoor
sensors

Three Main Elements of Motor Drives:

Electric Motor (DC, AC, SRM, Stepper)
Load Type
Control

Requirements of Drives:
Variable speed
Controllable Torque
Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Motor: Review of general

principles
FORCE

MAGNETIC FIELD
CURRENT

" Left Hand" Rule

Thumb
Pointing Finger
Middle Finger
Flux Density : B =
Force : F = B Il

Force (F)
Magnetic Field (Flux) ( )
Current (I)

A : Area; l : length of current carrying wire

Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Flux in C-core
iron

Leakage flux

+
+
+
+
+
+
+
+
+
+

air-gap

+ Current into the paper

- Current out of the the paper

NOTE: Use right hand "Screw Rule" to determine the direction of flux

Electric - magnetic analogy

EMF
Current =
Resistance
V
I=
R
MMF
Flux =
Reluctance
NI
=

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Air-gap flux densities

MMF=NI

g
Area A

Reluctance of air (in the air - gap),

g
==
o A
Then,
MMF NIA o
=

g
NI o
B= =
A
g
Note that air - gap flux density can be calculated by
only knowing the MMF of the coil (NI) and the length
of the gap.
The flux density is limited by the saturation of the iron
(1.6 - 1.8T)

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Evolution of motor geometry

+
+
+
+
+
+
+
+
+
+
-

C--Core

+
+
+
+
+
+

+
+
+
+
+
+

Split air-gap

Simple motor
geometry

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

++
+
+

+ +++

current into the paper

current out of the paper

+
+
+

.
.
.
.

. .

. .

Force

+
.

Torque Production

Force

TORQUE PRODUCTION

"SLOTTING"
Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Mechanical System requirements

for drives: Linear motion

fe

fL

Linear motion :
FM = Fe Fl =

d
(Mu ) = M du = Ma
dt
dt

where
a=

du FM
=
dt
M

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

Rotating motion
f

torque

T = F .r
For moment of inertia , J
T = J
is the angular accelaration, i.e :
d
= m
dt
Then,
d m
T=J
dt

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

10

Motor and load interaction

Jeq = combined loadmotor
moment of inertia

Jeq
m
TL
Tem

Motor

m = motor speed (rad/s)

TL = load torque

Load

Tem = motor torque

Tem : ElectromagneticTorque produced by the motor

TL : LoadTorque, plus the bearing friction and wind
resistance(drag)
TJ : NetTorque = Tem TL
The difference between Tem and TL causes the combined
inertia ( J eq ) of the motor and the load to accelerate,
TJ
d
m =
dt
J eq
Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

11

Example(1)
Jeq = combined loadmotor
moment of inertia

Jeq
m
TL
Tem

Motor

m = motor speed (rad/s)

TL = load torque

Load

Tem = motor torque

Using the motor-load structure as above, assume the

motor has a combined inertia of 0.058kgm2. The
load torque is negligible. Calculate the required
electromagnetic torque if the speed is to be
increased from standstill to 1,800rpm in 5 sec.
m
d
m =
dt
t
(1800 0)rpm 1 min
2
=

= 37.7 rad / sec 2

5 sec
60 sec rotation
d
Tem = J eq m = 0.058 37.7 = 1.19 N .m
dt
Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

12

Example(2)
The speed profile of the rotating system shown in
previous example. (Jeq=0.058kgm2) is shown
below. Assume the load torque is 5 N.m. Calculate
and plot, as a function of time the electromagnetic
torque required from the motor
speed
(rad/s)

Section A

Section
B

Section C Section D

Section E

Section F

300

0.1

0.2

0.3

0.4

0.5

t(s)

300

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

13

Torque and Power

In rotational system, if a net torque T causes the

cylinder to rotate by a differential angle , the differential
work done is :
dW = Td
If this differntial rotation takes place in d differential
time dt , then power can be expressed as :
dW
d
p=
=T
= T m
dt
dt
d
where m =
is the angular speed of rotation.
dt

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

14

Friction
Friction within motor and load appose
rotation

Examples:
Bearings (to support rotating structure)
Air (drag/windage)
Ditction (friction at zero speed)

Moving objects:
Coulomb friction (independent of speed)
Viscous friction (increases linearly with speed)

Power Electronics and

Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

15

Load Types

Centrifugal (squared) Torque

Load torque is a function of speed
Example: Fans

Torque

Speed

Constant Torque
Load torque is independent of speed
Example: Low speed hoist, elevator

Torque

Speed
Power Electronics and
Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB

16