PROBLEMS ROBB EDT ( DyNirics OF ELECTRICHL DRIves) —— — === © A dyive het the folowing Patemeters, T= tso- ayn, mam roheng Ne iS te steed fe sem, Lead feet Tp l0opN-m intially phe dive & OPeaating in stedy opke The Chowacteristia of the Joc fovue ae Changed to Tp =-looN-o. Calculate ital ond fixed euiblctivm Speeds. Sel Given ata, The mete Foswee equation T= I5a- oO} Nl, Nom Intel Steady side Peed of the dive Ny = 2 intial load fog awe T= (00 N-7 Fitel Steady state Speed of fhe olrive Ne =? Fihleh load favque T= -)ap N-m. at intial Steady Ofte Speed Conallpin dis othe moter -load esau ewrdton at intial Steady tate 2, To Tht Tape IS0-D-N, = [oe + (0) oy) = 50at find Steady-state dite. a, fhe fipgdammental jownue eauation at find stmoly sate B®, = try T= Ths tT SS [$0-O:1N, = —[00 4 fo) OINy= BS0 “Ma = B58 acon ypm foo the diven Condition the intel and Final Steady spate Shel De Soo xpm and 2500 FPm yesPectively, ———_ —-@ Amore use fe dete a holst mote Chasactent ates ae given by, Muadsentt I, Wend [i & “T= @os-o.gn, N-m GuadganA TL, gard TY 4 T= -@a0-aan, v-™ Whee “N° Wo fhe oped fo gpm thon hoist ts lpaded, the pet lead tewue 7 =j00, W-™ and dthen tt 1k utloaded, neh Joad fortaue Gs - GaN. abhip the ewwidlovium speeds far nfenction fall fe Pot Auadaws Soll Given Anta, holmes Tottue Chayacterishes ht @uadranty I, Lan Ti ts T= 200-can,N-m —) Mop Tae Characters Mf Auadseth Tl and DW ts “Gs too - oan, Hom —@ Net load torve idhen helt th loaded F, = fad N-m Net lowd tosaue cohen hoist is Untbadel Tig = - go Nom. Seeds inal Quodeents My Novy Ne =? he baundasy Conditiort far Sguation @) 2b feat Ni-foad if Teo 30= goo- aay = 0-8N = Goa => N= /000 apm => bia = 104A add feeff Neo: Mee Je ab zesospeed. Os T = 200- 0-90) = foo Nem be Cauation D yepresent @ stint Hae PAID Morugh th Pal BNP 0 tooo) and (800, 0) respectely The baimdaey Conditions for equation @) ate. sj a q= Ole ab No load @e-= O= -Be0 -a-g N =P OnaN = —R00 Nos joes EPR Se by = [000 HF Whale ————— N=0; Le a zero sped @> r= -800- oto) => Ts -dto nem = re etahon @) geraesent & Siist line pasting nomugh Be points (0) - 1000) amd F00, 9) yespectively.feom — bownclawy Covell pient pt Seeds the ctuntionn DAB aid — focd fewaues Can be dea ab Short bebmy. —> fro the abow diadam Aj gc 0 ae he eauldibvium PolalA in Guadent, I, E70) and TV pespefively ad exullivsivm Point “f° the Rerclamorntal fpwiaue Outation (4 thet 2 joo = Aoo- OAM, > Ognsl00 = N= Seo wen ———ab awibbsium poi yy "B’ foitdamenkd te6aulé eowation i, ~ 8 = Roo~ 0-9 py = ON ago n= BO | ep oe Np = oo 2PA ab etal lesiuae Pelt “2” Fundecanentl fount ere ony ix m= hi. ~ $0. = = too- ogy. OaN= -ho Me eRe cir Of » Ne 2 foo apn. at eauilinnum fel D firtclamentil — few que aration fy = % (00 = = 800-02 NyOANe = -Zo0 No= 322 _ _pspo gpm o-8 == fos the given boise te Cwibesium SA fy opegation i atl FBS Buunctssints, Ae 4 T-Quadeat Na= Foo sem D- Quadsant Ne= Juco sem. T - Ausra Ne = - fon dpm. OF = Butedaant Np = = 1500 ypExams 21 ‘A mctor drives ria loads Cine has rotational motico. It is coupled to the: moar theough seductice pear with a =.) und elficieny of 9%. The liad ha a mrament of wera af 10 ke sn? und 2 vangoe af 10.N-m, Diher loud his trsaslarioaal tiation and consists of 1000 ke weight to be lifted up at an uniform speed of 1.3.mis. Coupling berween this load and the motor fits an eflicinicy of 85%, Motor has an inerda uf 0.2 kg-m?and rins at x consians speed af 1430p. ‘Determine equivalent inertia referred tm the motor shafi and power sieveloped by the maotar. Given datx, Mowe drive heb feo lould @ Roptiond Gi Translated. Rofational, Motion, Geax gatlo a,20:) efficiency €, = 97-09 Mament of inertia T= fo ka-mt jobute hh = loam. Taetslatienal Mota, wie teh gen) Meal M,= loo kg Speed Up = pS Pie efhiciencs ts = €Sy. = es Motes nesta J, = 0-9 Kp-m® Sheed of mofet Mm = Jd Go apm. uivaled Merba T=? Poet devebped ny mots P. = 9ofl rmement ef jnentia wefer do mofre Shaft. th Te Lt aay mf tm, Uy 2 Ae “fo = SN KMBO LaF wad fee fo T= 0-8 + 4)" (1a) + 000 GESy* oe + ofl + tooo x |) O17 Ie £ Odd O11 + Oriel “Js oe = “ond gem told eauivelmt fae yer to shaft Is. iy (ae) of Orato se re \ Aap. OF ORs (aaa) CFs ma) = fei + pps 4a, T= t+ a - jig =The Power devabped by wofar 3 fa = x Wn = EBX [NET = FATE TN uals Bn = [PATH IW for pe Given aftlical total mement of inexiia yay B Shaey 1® T= 0-4 kyr and Pheer leveled we rote th paretw.2.2 A mrowe drives foe Baad, teu have soeationsl sietion send One trinslational motion, Moment of treme (the rumor ir 2 kg-ca® Mote nina atx wpead nf 1000 7pm. Following are the derais abou. tne four nate: Las ‘pe of mine Speed InesiwMaos —_“TeauelFaree 1 Rouatiaaa 20m pet Tent Wien tt Rottieee! 300 heat bam i ‘Transixicnal tons ig. mn w “Tnnuizicoal 1OMA, ke 0 (Cutouts the equivalent ikea ofthe systems refered in the mintoc shalt nd pores rating of the moeat, ‘sursing mephasbie boy in oe transmission system Salle Given date , Mament of Meptia of the moter J, = [a kg-rit. Sfeed of the mote Ne = leoo wen angus veloci¢yoe the webs Bias 27™ occa gag co - ie mois hB £4 Loads © poletional Bleed = foo vem gear atte a) = MLS B00 = ny i yeaet Moment of inevtia Y= TKg-m* “ft aaa %, = }ON-m Cffickeo tay € fainsmissien SBSH =J00u =]. @ @ Rotatond paid Ny = Boo Fm. lay galio ag Na goo _ ee a” Wm yee 7 O Mement of Ineria Jy S Kg mt Toe tate, Tey = ON=T. CHicien & tes]@ Transtational, Seed Vy = jo mfsee Mat M)= lo Kg Foie Fi = AON effeence $y = | @ teanstational. She Va = lo aise Ma My = ake Fee Ty = 30N Efticienty ta zh Tet momen of nesta Yel to -mopae Shape ig 2 2 Te Le + as Tet AY og (8) a = ba +(oaxT+oaysy jax (12. , * (ions) + #0(,22.) = IR + O04K19 + 30 Canparaig) ole o 4g 4 833Nek [ead foraite ee to Shaft T= T+ Sia + a Ths n Ey. opr tpelae) tHE (eg Ms. The 04 Grit fo sexe =e oe 22. 12 ie GE) a = atia +50(0:07551) 2 Ba++ 4.478 Th = = BN m * ftmoet develfed By woofer & Pag = Tx Sen Bg = FTTH oe? = 834-73 « B25 walls fe Ble given susten th, moment of inestia weft t she J = | 953 Kame. toad fredue yefa do Shop “Ty = P97SN- H Power developed be Tete Paz 935 watts.La A weight or 0g being ied up ata vif spend of LEMOS by a wince diventy a or runing uapesdce 1902 en, The movnentsofinerie the str wd winch are Sane Aga? repeat Collate te mactar toque amd ee eqalvaiest warent Of inert cefeced-fo the meta? stat. In the shoence of weight mano devekops a eque OF 190 Hom hes funding a1 COO rN Bolt: Riven olde, Wolfe heh one Tambiatima! load Ma of load = M, = S00 ka Fave Fi = Sooxvél = 4905 N Peed Vos [2S fee Rioment of inegiia of mote T, = 0S pg-m? Moment of ineatia of winch [, = 3 Kg-me Motes trae ab cbsene Of welgt Tyg = loan Sheed of fhe sofa Nm = igoo aPra anguln sfeed of He aiofer i&m > gikinos fo = /O4-7 Yad fee Net gam ent of Mestin pepe a shaft i 2 i vi yee Je T+ Ta mi (ey = 0540-34 Seon fs \* Vas = O8+ 500% Basan _ t+ J = 0° 9080 Ka—mt. O8t OloagAer load fe aue refit do Shake ote WC) zs pus = |0o + aitos oe = )oo+ FORT. Tbs | Foae Nem oboe fhe Given drive ; Net moment of frentia we A Shalt T= nqone: yi Met foal toque yefe 2 Shaft Th = 10:29 Nem,{14 tne eechalry ane in Fg P25. samor dives tt swank drum thaunh a eduction gear with BEAT Tiina .1 The Tce nangue of wench abst bs 5 Nem and w enatar staf 10 Nem, Move speed an Calcwins the equirueot mnmeeat of retin Of the dever referee uo metor yma and roster wer pram have mn effcaney a¢ 50% asi ata OH eis 4 waa ds sper |icable "ak mee ol fs Fig 923 Sel Given date, He get yatio = 6+] fiction terae of winch what) “T= 13 N= Molee shafy fmque. Ts = 10 N-™ Geass, efficiency Y= or= 0-4 From dia deem, monet of inertia of Mate J, = o-5 kg-met qasment of fneria of maps Gy = alskg-m* momen of Mestio of winch deum “J, — | Kyat Mas of fe load = M = Soo kg. Force of te load Fa My = soox?-e) = 4905 WN. angular velocity of wich a9, = a. tbe = 0+) x thm. dines yole city of fom [o = yx foie = OA yO.px SmNeb moment Of [nesta at gape Shaft ih. T=: TF. Ut Gt Tad + gm. (maxwey FOS +0154 | ¥ (0-4 S00 (0-8%01) = O5+015 + ool + saax gyi = Obes Og J -0-86 Ra-m Neb load fate at mofer shape th eh th = e+ Ths FY = |0+ ar + sooariet (Stes) +T pn 1o+ [6-88 + Seoxdg xoaxe:) = Abo 4 Fe! 7 = 1a Fe Ne for the fiven System, Mek qement of jnéitia at Mote shart Lo ge bye. Met load tarde ab mae shat T= (Qt py@ [210 Avmownodoad systema fas felling Meas: Quaarans Ear I, Pa 4O.Q.40, eat: Nate sien ‘a spam. Mouit tx coapied 9 an-arive boad imephe Ty » # 200, Noo Codella the snefnr ORAS Tard edhing apecaiions is Ihe forward éirection. Whee epceating m= quarts 7 T= =400 - GAN, Neos, Calculate foe eeuiltrium peed in cuales I. sole Ginn data, Bat Piotes Ege: etuaton in Quadeets T&T 1B Ty = 4400-0-4 Ny —— O Moles devo entation in Quadvan- Dane iF it, Ta = -400 = ory active load fee T= tgaq New. “@etive load eon, load fesnue feta sige woh vate teeqeue when fhe dizechg of dsive gobtion & chatged” i 7 ._, olet Wole speed¥ in fratd motosing ‘Np ef Mole steed it famed baking orenatiot age? Mote speed im 1 auadiscent Al = ¥ fie fox caution OD fie beendary Conditions Be ab Jj=0 fe at No-load Oe Az deo-—a4 Ny =? GN, = 400 SN, = looa ape. a Meo, fe ot MG Zero speed, O> T= 400 - O-tfo) . * T= Soo Ne3F © Chalo pepsecemt a Stiight lle AMNig Aang ey t000} & G00, 0}for emctin @ fie bevtdagy Cornel fiend de at Tazo fe ab Alo-joad @ > Os - Hoa ou My 2 +04N>-Hoa Vo Nas — loon FP at ab Ngsoy fe ab tex0 apeed, @=s Ta = - 4100 - 4-4 fo) Ta = -HooN-7. euution @ ge pecsont the Sbwtibataemy dine Pah diay nilge, (0; -1980) ana é 400, 0). Fomaate Mooring r Re ca verse ‘mor Nena—> Poi A” gepscsentd Ofe gating Point for fried Molmity Ofe zation —> Point BR” ve Presen!3 i Bitaitg ofe ration = Poh” gerresont epedaing PIN jn Aumdyent “3° Since ib ly a achive fot — hertse ib yewtain ve: eve" divection of yopten is Chaaged. Sheed at ofeeading polite AY iy Na” is get fim &*-O B00 = 400 -Ou vy ve OL M = 200 Ma = S00 sre. Sheed at operating Poi 8" jy Ny fro eed 800 = fon - oy Np Speed ab afegating Point “Cc” WA Ne frum 48) “2005 - 400-4 Ne. “fer fhe Systm, sfleed in fageatid mopar ofesahon Na = Oa a pom Sheed bt firw®ol faaring ofeddin Ne = Isoa wpm, gfeed fn Tl Auwelrent is Ae ce Seo eh otGd eadedate the atssting ime of vive with flowing Papa meer’ Je lo kam, To 1540-5 Gin and Ty = s+0-6 im, Al Given date, gamed OF inéstio of fhe dive =| 0 kq-wm* mole farqeée Ts I5+0>5 he dead forme Ty = gya-g wun wie SANG fine of dave & ty=? ‘Mofeo 0) spt usher [f wiedth bed trfaue, ced Steady skate, furtchmentd Torque et abov Th IS toes td = S400 gL * Ofte = (a + bide = 108 Bale e os GviSids fhe Slady Spte obatitg g ampules sfeeg _ oad 4, re Ceisicn Final aeed 2g 2 OF 0-95(100-0) Ups 45 atdee the sfeitng time of olatie fie Aiden for TaN sped From 10 Badlfee fo 95 Wel feeThe. famdamantal “Tate extetion ab fransent of spoiling iy = hey dae TUT die LieteSe > sro du4 jg. de ae 100-1 = fa olut oe de =clb saw (0-0-(05 iGpedtng of both adh fey spotting me Bh. fs FS fe = (ie ode Q iBone iss io ftalece]™ =-100 [bre io~o-ters)= Leia) | = leaf tn Cavs) = da ()] 2 too Lnfaos) fe." tne tee tu (26)) = -too (- 9-975) fy = RIT SH Re —> fe syamting fine fo He dvive i3 Ay = grtaisec =Eeawrun 2.2 A drive has fallowing pommerery 6 10 kgenr, T= 100 — LN, Naam, Passive load neque 7) « 0.05%, Nom, ‘where M is tbe speed in rpen. Initally he atrive is cmpecnin in steady-state, Now it isto be reversed. For this mecor charveteristic is changed to T= ~ 100 - 0.11, Nom, Calculate the tine of reversal. Sel’ Gaven Ade, qmement of ineste of fe dye T=lo keg-rt qnote torque dusing mafwy oPesabot TT, 2 |G0-0-)N Fassive load forte Ty = a-05m, N-m Motes frsqwe dusing Weve Te toe at ah fime fas yevetsal tye ? initially steaty State steed 1B, gH feat fletdamendl tate Equation of “Tm = Th = joo alt= aos My O1eM= 180 = N= oid = 66667 Hem ol = = fos weved sa fox fran sient free Ms Mit e7s(Ns- 4) Nas béit+ 0-95 (- 664 - 6667) = 66Ci4 OF5C-a)) = 666-7 01-19 Na = = 600-03 apyduzisy yevessd) Tel) = - loo <04N A TCH) = aag Ny TSB = cee TF) - ncw) lo ge = +(00- 6/0 -oesW BD gdv = (oor: [xe Ag foo -O-1S ay = B(-jo0-0' 150) aM. 48.49 -0- /4am a =9G49 = OF aN Hilimallng or bof gikh ure get tr 60003 {ae = a e PG Fed (ae k bit ; 00'S. = gg iaw 1. tr = a [ee , $e? = aa 5 I (ABT 0 1HRKE- 009)) — In IE 1-0 issuer) ple z > aby HOH). In (190+ -saei)| a “T6447! elke [ Aa] eal22 A/drive an follomiag parameters = 10 Sg-mi, T= 1S + OSH, Nom and T= $4 OG, Nem. where ‘Mia the speed oye nial the dice bz worreig in weady.stene Now the cine is bucked by elects braking. Targa of ‘sieoe te braking ix given by P'=— 1 ~O.04N, Nas, Caleebts tie taken by the drive 1p sal Gen dake, fhe nemod of west of fhe Awive T= jo kgm widdd pores duxlng mot operation Tyna 21S +005 My Nem load teste The S+O0EN, Nom ots tevaue elugitta bearing “Ty = -1a-o-a%M, Nom time fs byaxing by =? al Sled shte dave gfeed th, “Tan = Th [S+0-05 N,= Sto 08M 2S |0= ool, > Nz loco wpm — Afle byaking fhe dave feed Ne =a fot HY transfert, fundamensl fetwe equation duying braking 6B Pde 2 hon > TE) Mota a tof) ste 2 -[0-004N 5-008 N- 2 2. f[-)5-0-1N), Y= & (-is-0m). dye BBs apa 0-01 dt: dv = egaa - COTE ~ @ in Ge “obo B,’ gpeed Chavgd free [ooo sem fe 0 FPm™ ite aeetiig (gv both Side conte bina ita. by ° (or {- dw o =| akhs - OTS N Tooa o & --+ = [ln ve-aas-onensn) | loro ae { Jang-l4" 383) - filmes 99) ee o-095 ToT 333 = egg (808) f= arsese the fme zequlted far te duive fo sop by beaking 4 & =3109-8 cine an faioming pruueces: #= 3 kan’, = 14 —O1N, Hen aad Passe toad seen Tr (LOOEN, Norm; whore A in the seta in re Initially te duos Ia operanag, steady stare. Sow itp Ube nrverac. Eels moun’ enaraterie titeved tack thar T'='= [ET (001N, Nn fot pore as well.es argaline yokiex sf, CHbculate the vevecsal tine Fivet date, dyive meant of ineyha T= | kg- wt Mote porque Guiat'ot curing aiofetlap “Tq 2 IF 0-8 Nom toad toviue “Ty 2.0005 M, Nem duaing yever sal moter fosque ewatiat Ty = 19-O°0/K, Nom tine far geversl of due ty =? cab steady Sate jnitéal gtted of duive iy Ta = Te s [S-OolN, = or o05 N, oolsy = IT => KN, nO BF PM fos sried wevorsad Final Enuililmdsm Seed Nge = — leno rm fo avoid transient Problem Aly = Rl) + 0-95 (Nae - NY) Ng=z fooo +o9s (rleao = foo) = looofi-17) =4o0 Na=-Goo remfor speed veversal franslenty Famalarmendl fofetsie exuuntion Teds Tet ym Ttn) =m. " > T(h) => (4) dt = -[5-9-0lN-O- 005 N gi = 32.(-15- 0-018) ie ae = =(4303 — Ola ae. ao 0 = [Bas - Ole fom fime -a s : ; O'see ly’ sec Sfked OF the dzive change) Erin fooo rem fo —Foo vem. By itfeaebag e€9@, ae get, - 908 be [are ae = [HR 3— Coleen o tooo - Foo ir ar fim (-tarts —0-ten)] foop soa ain cE (- tag - 0-14 x¢ too) ~ tn (-waaa- i4c)]Ges a] in(-i-23) ~ fn (-a09-24)] (Fes -teiy - oe (Co) B84.93 = eh (-a-797) o- la by = 19-TF se “the fie penuited fog ple Seed 4s tye sqrt see =n (8) ] wets! of the dviw2.17 Figure P2.17 shows plots of speed vs motor and load torques. Comment on the stability ofthe operating. points A, B, C and D, Speed “Torque Fig. P27 if henis any sPeed intsease af point A” o Fig. 217 Joad toswe (Tr) wire operating Point ative motes tosque(T) negatively gyede than hemse the dyive accekvate3 and moving away from “A® > [fF tha is any speed decrement at Point “A” the x motes Tosae (T) negatively Sraller than Joad toveue(T,) hense (he drive decelesates and ofesating point moving away From A’ —> hense opesating point “A” iS UN Shble.TF thew any sped Incaemon at Point “B" pie Joad koveie (Tu) is Great than moj toeme (T) hense fie dyjye 4 decelegae and oPexcting pot moving fumed "Bt —> If ther & any Speed decrement at Point "BE" pe loud forwe (Th) iy leh Chan motor fraie CT) hense the drive A accelegte and ppeaaling Point marin fowords "Bt —Thense the opeading font 'B" bh Stuble Shbilies of ofevatig Polat “C* SIE thee iy amp Peed intrement ab Polat co He aed fest! (Tea) Greats Han moter fangue (7), hemse fhe Ayve & decebyahe and opesating Point moving feeds ec! > Tf theeis any Sfeed decrerien! at point ‘e” fhe load forge (Tg) ts [eh than votes foowe (7), hense the drive jy aCtelenates and gfesating point Tolling fowasds “ec” —phense fH ofetating pojat eis spike =—_oaSa