SSD Notes Unit - I

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DRIVE CHARACTERISTICS (unit -1)
Equations governing motor load dynamics - Equilibrium operating point and its steady
state stability - Mathematical condition for steady state stability and problems - Multi
quadrant dynamics in the speed torque plane - Basics of regenerative braking - Typical
load torque characteristics - Acceleration, deceleration, starting and stopping.
Unit – 1
1. EQUATIONS GOVERNING MOTOR AND LOAD DYNAMICS

• Equivalent circuit.
• Electromagnetic modeling.
• State space modeling.
• T.F and block diagram.
Equivalent circuit
Electromechanical modeling
J dωm/dt+B1ωm=Te-T1=Ta
J=Moment of inertia Ref to motor shaft (Kg/m2)
B1=Damping co-efficient Ref to motor (Nm/rad/sec)
T1=Shaft torque
Ta=Armature torque
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Dynamics of the motor load system

Fundamental torque equations
Motor drives the load through the transmission system (belt, gear) with rotating
motion.
Load can be rotating or linear and the speed may be differ.
Ωm
T TL
J= moment of inertia of the motor load reference to the motor shaft Kg-m2
Ωm= instantaneous angular velocity of the motor shaft, rad/sec
T= torque developed in the motor shaft, N-m
TL= load torque (resistance) referred to the motor shaft.
• The torque developed in the motor is counter balanced by load torque TL and the
dynamic equation JdΩm/dt
• JdΩm/dt it is present during the transient operation
• Drive accelerate are decelerate depend upon weather T is greater than TL
During acceleration:
motor should drive not only the TL but also additional component JdΩm/dt to
over come the drive inertia (eg: trains)
For fast response system:
motor torque should be higher and load system should have low inertia.
During deceleration:
the dynamic torque equation (JdΩm/dt) will change its sign
• The JdΩm/dt will maintain the drive speed with the stored kinetic energy.
• If the kinetic energy of the load (braking torque of the motor to get deceleration)
is high then the system response will be less.
• For fast response system the braking torque should be high inertia of the motor
load system should be low.
• If transient occurs at the motor speed for short duration dynamic torque will
maintain the speed of the motor (eg: pressing M/C)
• To overcome this fluctuation flywheel is mounted on the shaft
Components of load torque (TL)
• Friction torque TF
This was present in the motor shaft and also various parts of the load and motor
• Windage torque TW
During rotation wing generates a opposition torque against its rotation.
• Torque require to do the useful mechanical work TM
Various friction torques
T
Stiction
• The value of stiction is higher at standstill.

• The value will be zero when running.
• For starting the drive the motor should exceed at least this stiction torque
Three components of friction torque
• Viscous friction Tv it will vary with respect to speed.
Tv=B ωm
Where B- viscous friction coefficient
• Tc = coulomb friction
• Ts = standstill torque not in dynamics
Friction torque and its types
ω
T
T
T
Ts
Tv
Tc
• Windage torque Tw with propotinal to the speed square.
Tw=Cωm2
where C is constant
General motor torque TL=TM+Tv+Tw
TL=TM+B ωm +Tc+Cωm2
• In some applications Tc+Cωm2 is very small compared to B ωm
• For simplification we make as zero
• Final torque equation
T= j dωm /dt + TM+ B ωm
Some common load torque characteristics

Servo M/C tool
Pumps, fan
Excavators
Traction
-T,Nm T,Nm
Lifts, hoist
State space modeling---------------------------------------- (refer Text book KRISHNAN)

Rewriting the EQU---1--- (Electrical)
La dia/dt = v – e – iaRa
Multiply by La
dia/dt = v/La- Kb/La ωm – Ra/ La ia
Rewriting the EQU---2--- (Mechanical)

J dωm/dt = Te – T1- B1 ωm
Multiply by J
dωm/dt = Kb/J ia - B1/J ωm – 1/J T1

Introducing ρ differential operator W.R.T time
ρ ia= - Ra/ La ia - Kb/La ωm + 1/ La v + 0 T1
ρ ωm = Kb/J ia - B1/J ωm - 1/J T1+ 0 v
- Ra/ La - Kb/La ia 1/ La 0 v
ρ ia
+
ρ ωm ωm - 1/J
Kb/J - B1/J 0 T1
X = A X + B U
2. EQUILIBRIUM OPERATING POINT AND ITS STEADY STATE STABILITY.
• Selection of equilibrium operating point

Selection of equilibrium operating point
• At the steady state operation motor torque is equal to load torque
• If there is any small perturbation speed will restore after small departure
• Motor is assumed to be electrically equilibrium for all operating points
• Motor time constant is usually negligible compared to its mechanical time
constant
+ve Slope intersects the
TL>T motor Curve
1 2
ω
TL<T
-ve Slope not intersects
3 the motor Curve
T,Nm
Three possible cases of K

• If TL > Tm drive is said to be operating in stable region.
• If TL < Tm drive is said to be operating in unstable
• If TL and Tm increase the drive is said to be operating in unstable equilibrium.
TL>T TL<T
m m
Tm
Tm TL
ω ω TL ω
Tm
TL
T T T
K>0:stable operation K=0:unstable equilibrium K=<0:unstable operation
TL↑ Tm↓
Problems
Comment on stability of the equilibrium points A, B, C and C
Tm ω Tm
B A
TL
TL
stable Unstable
T
TL
TL D
C
Tm Tm
Unstable stable
3. MATHEMATICAL CONDITION FOR STEADY STATE STABILITY
If oscillations die
If the load has appreciable viscous friction these oscillations may die out quickly.
If oscillations not die
• If the absents of such viscous friction may result very worst performance of drive.
• Only it will die if the slops of the motor and load T-ω Characteristics at the point
of the intersection are favorable.
• if Tm-TL≠ 0 the torque equation will become Tm-TL= J dω/dt.
J= moment of inertia of the shaft W.R.T time
• For small perturbation in the operating point.
ie Tm = Tm + ∆Tm
TL = TL + ∆TL
ω = ω + ∆ω
∆Tm, ∆TL, ∆ω- new operating point.
Perturbation torque equation
d∆ω/dt = dTm/dω ∆ω - dTL/dω ∆ω
where dTm/dω & dTL/dω =K

K=torque constant
• Rewriting the EQU K= d/dω (TL-Tm)
4. MULTI QUADRANT DYNAMICS IN THE SPEED TORQUE PLANE

Different types of drive system
Constant power drives
Various speed transitions
Different types of drive system

• If the drive is said to be operating at rated speed of natural supply such drive are
called single speed drive
• Some drive need starting and some times braking such drives are called multi
speed drive
• Some drive need steeples control such drives are called variable speed drive
• No of motors are controlled simultaneously such drive are called multi motor
drives
Constant power drives

• Variable speed drive is said to be constant power drive when the maximum power
handling capacity does not change with the speed
• Then the drives said to be operating at constant power mode
• “constant power” refers to power handling capacity of drive not the supply
no load speed – full load speed
Speed regulation = full load speed
• If the open loop fail to provide speed regulation then the closed loop drive will
operate
• The range of the desired speed depends upon the application
Motor speed torques curves for different speed settings along with load
characteristics
ωm 1 TL Maximum speed
Maximum Power
II I
Maximum torque
III IV Base Speed
TL 13 Speed settings
Various speed transitions
• Decrease in speed in the same direction.

• Speed reversal.
• Increase in speed in the same direction.
Decrease in speed in the same direction
ωm TL
A ωm1 S1
Maximum Power
II I
B
ωm2 Maximum
torque
C S2
T
Speed reversal.
ωm TL
A ωm1
S1 Maximum
B
II I
C
T
D -S1 -
ω
III IV
E
-S2 -
F
ω
TL
Increase in speed in the same direction

ωm TL
ωm1 Maximum Power

S1
C
B
II I
A
ωm2
S2
T
4. BASICS OF REGENERATIVE BRAKING
5. TYPICAL LOAD TORQUE CHARACTERISTICS
Motor Load Types

Constant Torque Load
In this group, the torque demanded by the load is constant throughout the speed change
The load requires the same amount of torque at low speeds as at high speeds. Loads of
this type is essentially friction loads
Torque = lb-ft
Speed = RPM
Examples: Conveyors, Extruders, and Surface
Winders
Constant horsepower Load
The horsepower demanded by the load is constant within the speed range. The load
requires high torque at low speeds.
Examples: Center-driven winders and Machine tool spindles
Variable torque load
Load horsepower and torque characteristics

Constant horsepower, torque varies inversely with speed
•
Applications: Metal cutting tools operating over wide speed range, mixer,
extruder and special machines where operation at low speed may be continuous
Constant torque, horsepower varies as the speed
•
Applications: General machinery hoists, conveyors, printing press

Horsepower varies as square of the speed, torque varies with speed
•
Applications: Positive displacement pumps, some mixers, some extruders

Horsepower varies as cube of the speed, torque varies as square of speed
•
Applications: All centrifugal pumps and some fans (Note that fan power
may vary as the power of speed)
High inertial loads
•
Applications: Are typically associated with machines using flywheel to

supply most of the operating energy, punch press
Shock loads
•
Applications: Drives of crushers, separators, grinders, conveyors, and

vehicular systems
Power converters and motors can be damaged if they are not protected from the
overload conditions
6. ACCELERATION, DECELERATION, STARTING AND STOPPING

Acceleration & de-acceleration
• Point A indicates the steady stability.
• Point B indicates the equilibrium operating point.
• Point C desires the operation of drives load torque Tl2.
Perturbation in point A
• Small increase in speed leads to increase in load torque greater than motor torque.
• Result in shift in operating point to the load torque region.
• So de-acceleration will occur in the drive.
• Motor will tends to accelerate to maintain its region at A.
Performance of the drive for small perturbation at point A
Load torque TL1

ωm
A Motor torque T
Load torque TL2

C
Perturbation in point B
• Due to the increase in speed causes the motor torque exceeds the load torque.
• The drive will accelerate to the new point B.
• Small decrease in speed results in de-acceleration to maintain the point B.
• Result in unstable equilibrium point.
Performance of the drive for small perturbation at point B
Load torque TL1

ωm
A
Motor torque T
Load torque TL2

C
Perturbation in point C Torque

• B and C lie on the part of the motor speed-torque characteristics.
• C provides the stable operation but not B.
• So point C shows that the equilibrium operating of drive depends on both motor
and load.
• In this curve point B and C located in positive slope so it is operating in unstable
region.
Starting
• The maximum current that a D.C motor can safely carry during transients of short
duration is limited by the maximum armature current that can be commutated
without sparking.
In Theoretical approach
• The commutating pole winding will cancel out all voltages opposing the
commutation at all values of speed and current.
In Practical approach
• The sparking will be there due to the currents above the rated value.
In general
• With out use of starter the full load terminal voltage will be 20 times more than
the rated current.
• So these current will damage the commutator and windings.
• We can prevent these by introducing the starter or series resistors (for large M/C)
it will cut off gradually.
Braking
• During braking the motor will run as a generator.
• The torque developed will be opposite and converts electrical energy to
mechanical energy.
• This can be obtain either storing the inertia in rotor or by active load torque.
END

SSD Notes Unit - I

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SSD Notes Unit - I

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www.Vidyarthiplus.

DRIVE CHARACTERISTICS (unit -1)

1. EQUATIONS GOVERNING MOTOR AND LOAD DYNAMICS

Dynamics of the motor load system

• The value of stiction is higher at standstill.

Friction torque and its types

Some common load torque characteristics

State space modeling---------------------------------------- (refer Text book KRISHNAN)

dia/dt = v/La- Kb/La ωm – Ra/ La ia

Rewriting the EQU---2--- (Mechanical)

dωm/dt = Kb/J ia - B1/J ωm – 1/J T1

2. EQUILIBRIUM OPERATING POINT AND ITS STEADY STATE STABILITY.

• Selection of equilibrium operating point

Three possible cases of K

3. MATHEMATICAL CONDITION FOR STEADY STATE STABILITY

where dTm/dω & dTL/dω =K

4. MULTI QUADRANT DYNAMICS IN THE SPEED TORQUE PLANE

Different types of drive system

Constant power drives

III IV Base Speed

Various speed transitions

• Decrease in speed in the same direction.

Decrease in speed in the same direction

Increase in speed in the same direction

ωm1 Maximum Power

5. TYPICAL LOAD TORQUE CHARACTERISTICS

Motor Load Types

Examples: Center-driven winders and Machine tool spindles

Variable torque load

Load horsepower and torque characteristics

Applications: General machinery hoists, conveyors, printing press

Applications: Positive displacement pumps, some mixers, some extruders

Applications: Are typically associated with machines using flywheel to

Applications: Drives of crushers, separators, grinders, conveyors, and

6. ACCELERATION, DECELERATION, STARTING AND STOPPING

Performance of the drive for small perturbation at point A

Load torque TL1

Load torque TL2

Performance of the drive for small perturbation at point B

Load torque TL1

Load torque TL2

Perturbation in point C Torque

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