Dynamics of Electrical Drives 23 It should be emphasized that this criterion for stability is an approxima- tion in the sense that it assumes that the steady state speed-torque curves are traversed when small disturbances cause a departure in speed from some operating point. This assumption may or may not be valid, as there are many instances in which the transient speed-torque relations are quite different from the steady state ones. Despite this fact, the above criterion is quite useful. Figure 2.17 shows seven possible combinations of motor and load characteristics and indicates which of them represent stable or unstable operation of the electric drive. Example 2-2, A motor having a suitable control circuit develops a torque given by the relationship Ty ~ aw + 6, where a and b are positive cons- tants This motor is used to drive a load whose torque is expressed as T, = co® +d, where c and dare some other positive constants, The total inertia of the rotating masses is J. (a) Determine the relations amongst the constants “a, b,c and d in order that the motor can start together with the load and have an equilibrium operating speed ? (b) Calculate the equilibrium operating speed ? (c) Will the drive be stable at this speed ? (a) Determine the initial acceleration of the drive ? (©) Determine the maximum acceleration of the drive ? Solution: (a) At o = 0, Ty = b and Ty = d. Hence the motor can start with the load only if b > d. Ty = Ty at the equilibrium speed ie, da + b=cot+d ie. co* — aw —(6—d) = 0 Hence @ = hve | Ae - 3} In order that « is finite a + 4c(6 — d) > 0, which is true. +sign before the radical will give a positive @ as long as Varad >0 —sign before the radical will give a positive w only if 4 VET EEA 2e 2e ie, a? > a? + 4e(b— d) ives, 4c (6—d) <0 ise, ¢ < 0, which is not true, since c is given to be a positive constant. Hence the +-sign before the radical only will give a positive finite equili- brium speed if, Ja® + 46 — 4) > 0.