An-Najah National University

Faculty of Engineering
Electrical Engineering Department

• Course Title: Electrical Drive

Lecturer : Dr .Kamel Saleh

Kamel.saleh@najah.edu
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Modern Electrical Drive Systems

• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed

• 75% - constant speed, 25% variable speed (expanding)

• Variable speed drives typically used PEC(power electronic converters

to supply the motors

DC motors (brushed)
AC motors
SRM - IM
BLDC - PMSM
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Modern Electrical Drive Systems

Example on VSD application

Constant speed Variable Speed Drives

valve
Supply
PEC motor pump
Supply
motor pump

Power out Power out

Power Power
In In

Power loss
Power loss
Mainly in valve
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Conventional Electric Drives

 Ward-Leonard system –  Disadvantage :

introduced in 1890s  Bulky
 Expensive
 Inefficient
 Complex
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Modern Electrical Drive Systems

Typical Modern Electric Drive Systems

Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy

POWER IN Power
Electronic Motor Load
Converters

feedback  Small (compact)

 Efficient
Reference
Controller  Flexible
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Basic Components of Electric Drives

Power
Power Source Motor Load
Processing Unit

feedback
Control Control
Reference Unit

 Power Source
 Motor
 Power Processing Unit (Electronic Converter)
 Control Unit
 Mechanical Load
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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Basic Components of Electric Drives

Electrical Mechanical
Motor
energy energy

• Obtain power from electrical sources

• DC motors - Permanent Magnet or wound-field (shunt,
separately excited, compound, series)
• AC motors – Induction, Synchronous (wound –rotor, IPMSM,
SPMSM), brushless DC
• Selection of machines depends on many factors, e.g.:
• application • environment
• cost • type of source available
• efficiency 7
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Basic Components of Electric Drives

Power source
• Provides energy to electric motors
• Regulated (e.g: utility) or Unregulated (e.g. : renewable
energy)
• Unregulated power sources must be regulated for high
efficiency – use power electronic converters
• DC source
• batteries
• fuel cell
• photovoltaic
• AC source
• single- or three- phase utility
• wind generator 8
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Basic Components of Electric Drives

Power Processing Unit

• Provides a regulated power supply to motor
• Enables motor operation in reverse, braking and variable
speeds
• Combination of power electronic converters
 Controlled rectifiers, inverters –treated as ‘black boxes’
with certain transfer function
More efficient – ideally no losses occur
Flexible - voltage and current easily shaped through
switching control
Compact
Several conversions possible: AC-DC , DC-DC, DC-AC, AC-
AC 9
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Basic Components of Electric Drives

Control Unit
• Supervise operation
• Enhance overall performance and stability
• Complexity depends on performance requirement
• Analog Control – noisy, inflexible, ideally infinite bandwidth
• Digital Control – immune to noise, configurable, smaller
bandwidth (depends on sampling frequency)
• DSP/microprocessor – flexible, lower bandwidth, real-time
• DSPs perform faster operation than microprocessors
(multiplication in single cycle), complex estimations and
observers easily implemented

10
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Overview of AC and DC drives

DC drives:
• Electrical drives that use DC motors as the prime mover
• Regular maintenance, heavy, expensive, speed limit
• Easy control, decouple control of torque and flux

AC drives:

• Electrical drives that use AC motors as the prime mover

• Less maintenance, light, less expensive, high speed
• Coupling between torque and flux – variable spatial angle
between rotor and stator flux

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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Overview of AC and DC drives

Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications

After semiconductor devices were introduced (1960s)

Variable frequency sources available – AC motors in variable
speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications –
fans, blowers, compressors – scalar control

High performance applications dominated by DC motors – 12

tractions, elevators, servos, etc
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Overview of AC and DC drives

After vector control drives were introduced (1980s)

• AC motors used in high performance applications – elevators,
tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –
predicted 30 years ago AC motors would take over DC motors

13
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Component selection

• Several factors affecting drive selection:

• Steady-state operation requirements
• nature of torque-speed profile, speed regulation, speed
range, efficiency, quadrants of operations, converter
ratings
• Transient operation requirements
• values of acceleration and deceleration, starting, braking
and reversing performance

14
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems

Torque equation for equivalent motor-load system:
 d  Jm 
Te  TL 
(1)

TL
dt
where:
J = inertia of equivalent motor-load system, kgm2
Te , m m = angular velocity of motor shaft, rads-1
Te = motor torque, Nm
TL = load torque referred to motor shaft, Nm

d m 
With constant inertia J,
d 2
Te  TL  J J 2 (2)
dt dt
• First order differential equation for angular frequency (or velocity)
• Second order differential equation for angle (or position)
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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems with Gears

m m
 Low speed Motor Load 1,
n
applications use Te TL0
gears to utilize TL0
J1
high speed motors
TL1
 Motor drives two
loads: J0 n1 Load 2,
 Load 1 coupled directly TL1
to motor shaft m1
 Load 2 coupled via gear
with n and n1 teeth
 Need to obtain m
equivalent motor- Motor Equivalent
load system Te Load , TL
TL

J
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems with Gears

Gear ratio a1 = (3)

Neglecting losses in the transmission:

Kinetic energy due

=  kinetic energy of moving parts
to equivalent inertia

Hence, equivalent motor-load inertia J is:

J  J 0  a12 J1 (4)

17
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems – Example 1

Figure below shows a motor driving three loads. Assuming there are no losses
in the system, calculate the:
• total moment of inertia of the system referred to J 3 = 5kgm-2
the motor shaft
• amount of torque the motor must produce N3 Load 3,
to drive the loads m3 T L3 = 6 Nm

• output power of the motor 500 rpm

m 1500 rpm

Motor Load 1, N1
Te T L1 = 10 Nm

Jm=1.5kgm-2 J 1 = 2kgm-2 J 2 = 7kgm-2

N2 Load 2,
m2 T L2 = 10 Nm
300 rpm 18
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems with Translational Motion

 Motor drives
two loads:
 Load 1 coupled
directly to motor
shaft
 Load 2 coupled via
transmission system
converting rotational
to linear motion
 Need to obtain
equivalent m
motor-load Motor Equivalent
Te Load , TL
system TL

J
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems with Translational Motion

Neglecting losses in the transmission:

Kinetic energy due
=  kinetic energy of moving parts
to equivalent inertia

Hence, equivalent motor-load inertia J is:

2
 v1 
J  J 0  M 1   (7)

 m 
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems with Translational Motion

If 1 = transmission efficiency of the transmission system:

Power of the equivalent
=  power at the loads and motor
motor-load system

Hence, equivalent load torque TL is:

F1  v1 
TL  TL 0    (8)
1  m 
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Relation between Translational and Rotational Motions

The relationship between the torques and linear forces are:

T1  rF1 Tm  rFm
Relationship between linear and angular velocity:
v  r
Hence, assuming the mass M is constant:
Fm  F1  M
dv d
Tm  T1  Mr 2
dt dt
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Equation for Rotating Systems – Example 3

If the motor is rated at 19kW, is the motor sufficient to drive the

two loads?
The translational motion load now has to lift a weight of 1200 kg
at the same speed of 1.5m/s. Is the motor still capable to drive
both loads at the same motor speed of 1420 rpm?
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Components of Load Torque

Load torque can be divided into:

• Friction torque – present at motor shaft and in various parts of
load.
• Viscous friction torque Tv – varies linearly with speed (Tv  m).
Exists in lubricated bearings due to laminar flow of lubricant
• Coulomb friction torque TC – independent of speed. Exists in
bearings, gears coupling and brakes.
• Windage torque Tw – exists due to turbulent flow of air or liquid.
• Varies proportional to speed squared (Tw  m2).
• Mechanical Load Torque TL - torque to do useful mechanical
work.

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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Components of Load Torque

Load torque can be divided into:

• Friction torque – present at motor shaft and in various parts of
load.
• Viscous friction torque Tv – varies linearly with speed (Tv  m).
Exists in lubricated bearings due to laminar flow of lubricant
• Coulomb friction torque TC – independent of speed. Exists in
bearings, gears coupling and brakes.
• Windage torque Tw – exists due to turbulent flow of air or liquid.
• Varies proportional to speed squared (Tw  m2).
• Mechanical Load Torque TL - torque to do useful mechanical
work.

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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Mechanical Load torque

• Torque to do useful mechanical work TL – depends on

application.
• Load torque is function of speed
• TL  m
k
where k = integer or fraction

• Mechanical power of load:

  2
• P TL m and m  nm
60
Speed
Angular speed in rpm
in rad/s 26
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Mechanical Load torque

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Mechanical Load torque

Torque independent of
speed , k = 0
• Elevator
• Pumping of water
or gas

28
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Mechanical Load torque

Torque proportional to square
of speed , k = 2
Fans
Centrifugal pumps
Propellers

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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Mechanical Load torque

Torque inversely proportional

to speed , k = -1
Milling machines
Electric drill

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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Steady State Operation speed

Motor T- characteristic – variation of motor torque with speed

with all other variables (voltage and frequency) kept constant.
SPEED

Synchronous motor

Induction motor

Separately excited
Series DC motor / shunt DC motor

TORQUE

Loads will have their own T- characteristics.

31
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Steady State Operation speed

By using power
• At constant Torque
Te TL electronic
speed, Te= TL converters, the
• Steady state motor characteristic
can be varied
speed is at
point of Steady state
Speed, r
intersection
between Te
and TL of the
steady state
torque r3 r1 r2
Speed
characteristics
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 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque-Speed Quadrant of Operation

 •Direction of positive
Te
m m (forward) speed is
Te arbitrary chosen
•Direction of positive
torque will produce
P = -ve P = +ve positive (forward) speed
Quadrant 2 Quadrant 1
Forward braking Forward motoring T
Quadrant 3 Quadrant 4 P  Tem
Reverse motoring Reverse braking Te
P = +ve P = -ve Electrical energy
Te
m m MOTOR
P = + ve

Mechanical energy
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