ELECTRIC DRIVES

Course Outline Phase-Cont rolled

DC Drives
Induction Motor
Drives

Squirrel-cage IM
General •Kramer ’s Drive
•Scherbius Drive

Analysis
Two-Inductance Equiv alent
•Average analy sis
Cir cuits model
•Analysis wi th Har monics

Modelling
Scalar Speed Control
•TF repr esentation

Controll er Design Scalar Torque Control

CSI-Fed Induction Motor Drive

Effi ci ency Optimi zati on by Flux

Program
 References :
- Electric Motor Drives: Modeling, Analysis, and Control, by R. Krishnan. Prentice Hall of India (2007),
ISBN-10: 8120321685
- Modern AC Drives and Power Electronics by B. K. Bose, Prentice Hall, (2002), ISBN-013 016 743 6.
- A. M. Trzynadlowski, “CONTROL OF INDUCTION MOTORS”, ISBN: 0-12-701510-8
Introduction to Drives System
• Block Diagram of Electric Drive System
• Applications of electrical drives
• Quadrants of operation
• Common loads characteristics
• Rotational motion equations
• Determination of moment of inertia
• Stability of operating point
 Block Diagram of Drive System

The drive is system const ructed

to convert and control motion.

The elec tric drive syst em is

compose of electric motor
driving a mechanical load,
[directly or through motion
transmission], and the
associated control equipment
such as power converters,
switches, relays, sensors, and
digital controller.
Elements of Electrical Drives
Electric
Machine
s

Power
Mechani
Electroni
cs
cs

Electrica
l Drives

Digital
Control
Controlle Theory
rs

Sensors
Importance of Electrical Drives
• More that 50% of the electric energy produced all over the world
is utilized by large industrial motors.
• The use of electronically controlled variable speed drives can
improve the efficiency up to 40%.
• The annual energy saving worth many tens of billions dollars.
• Speed and position control may be essential to the application.
• Some processes are enhanced if speed control is available.
• Reduction of transients and stresses due to abrupt motion and
ON/OFF operations.
• Matching motor and load characteristics.
• Disturbance rejection from supply and load.
Operation Quadrant
Types of Common Loads
A general form of load torque is given by:
TL= TL,0+τ Lk
where
TL,0 and τ constant

and k is determined by load type

k> friction, viscous
k=0 hoist, crane ,
k<0 winders
Other Types of Loads

Restraining torque,
Static Friction Coulomb Friction TL=K

Most Practical loads have a combination of more

than one type of basic frictions. Nevertheless
many loads have dominant basic feature at least
over certain range of speed
EXAMPLE 1 The coil radius, r, in a textile winder changes from 0.15 m (empty coil) to 0.5 m (full coil). The
automatically controlled tension, F, of the wound fabric can be set to any value between 100 N and 500 N,
and the linear speed, u, of the fabric is adjustable within the 2 m/s to 4.8 m/s range. Determine the
operating area of the winder.

Answer: The constant-force, constant-speed operation of the winder makes the torque inversely
proportional to the speed…her is the reason:
the rotational speed, r=
u,
r
where r is the drum radius.
and TL= F×r,
then TL= F× u
L

The tension and speed of the fabric can be set to any

allowable value, independently from each other.

The operating speed of the winder is limited to the

1/0.5=2 rad/s to 2.4/0.15=16 rad/s range.

The operating area bound by two hyperbolic curves

corresponding to the minimum and maximum
values of force and speed.
Load-motor Matching

the effect of gear is:

L= a M
TM
TL=
a
PL= PM
a is the gear ratio
 is the gear efficiency
Machine volume and rated torque
The shear st ress is the tangential force per unit surface area of the cylinder, . For a given shear
st ress, the total force acting on the surface of the cylinder is:

F= ∫ (2RL)d = 2 RL
0

The corresponding Torque, T= 2 R2L

The torque to Volume ratio, T/V=2.

- The torque, developed is determined by the current and flux: then the current is determined
by the conductor size and the flux is limited by the airgap and magnet ic saturation.
Practically the flux density is machines is limited by 0.9 Tesla.
 Moment of inertia, j
The rotational analog of Newton’s second law of motion, (F=ma) is given by:

d dJ
TM−TL= d(J )= J +
dt dt

J is the moment of inertia of the rotating mass about the axis of rotation. In most cases (but not all )
the second term is zero as J is constant.

By integrating the linear motion of an infini ty small mass of the rotating part the moment of
inertia of a hollow cyl inder in obtained as

J= L[ r24−r14]
2

where  is the density (kg/m3); leads to uni t of J of kg-m2

The effect of gearing
The equivalent moment of inertia referred to one side is
determined by considering the kinetic energy, given by:
1 2
KE= J M
2

Consider the system shown,

the total kinetic energy is given by:

1
KE,e= (J1  2
1 +J2 
2
2 +J3 
2
3 +M3  ( 3r3)2)= 1Je,1 2
1
2 2
where Je,1 is the equivalent moment of inertia referred to
sid e 1 and

2 2
J1,e  = J1  +J2  ( )
2
1
+[ J3  +M3  r32] () 3
1
Example: A motor drive has two loads. One has a rotational motion. It is coupled to the motor through a reduction
gear wi th ratio =0.1 and efficiency 90%. The load has moment of inertia 10kg-m2 and torque of 10N.m. Another
load has translational motion and consists of 1000kg weight to be li fted up at a uni form speed of 1.5m/s. Coupling
between this load and the motor has an efficiency of 85%. Motor has an inertia of 0.2kg-m2 and turns at a constant
speed of 1420 rpm. Determine the equivalent inertia referred to the motor shaft and power developed by the
motor.

Solution:
2 2
J1,e  = J1  +J2  ( )
2
1
+[ J3  +M3  r32
] ()
3
1

J3 not given so it is taken as zero, to determine r3, we consider the case that the hoist drum is rotating at 1; and
we determine r from:

1420
2 r= 1.5⇒r= 0.01m
60

J1,e  =   0.2+10(0.1)2+1000∗0.01∗0.01= 0.4 kg.m2

100 100
Pm= 10∗1420∗0.1∗ + 1000∗9.8∗1.5= 17459W
90 30 85
Maximum Load Acceleration
For a given load torque, what is the effect of gear ratio on load
acceleration (ddtL)?

d M
Tm= (Jm+a2JL)
dt
form the load side:
Tm J
a ( )
= m2 +JL
a L′

′ aTm
L=
Jm+a2JL
′
for maximum acceleration daL= 0
′
L
= 0= (Jm+a2JL)Tm−aTm(2aJL)
da
gives

Jm= a2JL =
The corresponding maximum acceleration:
′ Tm
L= 2 JLJm
Common motors characteristics
 Operating point stability
The dynamic equation, is obtained from Newton’s law..
d
= TM−TL
dt
implies…

- at balance Tm=TL
- an incremental disturbance from an intersection point
should return back to the same point; otherwise if the
operation drifted away from this point it will not be a
stable operating point.

Stabili ty condition:

dTL dTM
>
d d