Torque and power of electric drive
Outline
➢ Factors influencing electric drives
➢ Types of electric loads
➢ Classification of loads
➢ Selection factors for electric drives
➢ Mechanical and electrical loads variations of speed-torque
characteristics
➢ Speed – torque characteristics of Electric motor
➢ Joint speed – torque characteristics of electrical motors
and Mechanical loads
➢ Braking
1
Braking
While operating electric drives it is often necessary to stop the
motor quickly and also to reverse it.
The speed and accuracy of the stepping or reversing operations
improve the productivity of the system and quality of the
product. In the above applications, braking torque is required,
which may be supplied either mechanically or electrically.
The speed and accuracy of the stepping or reversing operations
improve the productivity of the system and quality of the
product. In the above applications, braking torque is required,
which may be supplied either mechanically or electrically. 2
Braking
An electrical drive has to operate in three modes i.e. steady
state, starting and braking during both forward and reverse
directions.
Braking operation is required in two cases.
i. While bringing the drive to the rest (deceleration). When is
operating in forward (Quadrant-1) or reverse (Quadrant-3)
motoring modes.
Device used in braking absorbs kinetic energy for moving
parts
ii. While lowering the loads. That means when the load assists
the drive motion [for e.g. moving a loaded hoist in the down
ward direction.
Device used in braking absorbs potential energy in addition
to KE
3
Braking
In both the cases braking can be achieved by mechanical
braking.
Its disadvantages
❑ Frequent maintenance like replacement of brake shoes/lining,
❑ lower life
❑ wastage of braking power as heat etc
These disadvantages are overcome by Electrical braking but
many a times mechanical braking also supplements the
electrical braking for reliable and safe operation of the drive.
During electric braking the motor works as a generator
developing a torque which opposes the rotational motion.
Steady state is reached when the motoring torque is equal to
the load torque. 4
Braking
Steady state operation is also referred to as motoring
operation.
Starting and braking are also referred to as transient
operations.
Four quadrant operation can be achieved with a single Full
converter along with changeover contactors to reverse the
armature or field connections and with firing angle changeover
control [(0° ≤ α ≤ 90° ) or (90° ≤ α ≤ 180° )].
But Dual converters are preferred due to their superior
performance.
In closed loop speed control systems normally two control
loops are used.
▪ An inner Current control loop and
▪ An outer Speed control loop. 5
Braking
Mechanical braking Electrical braking
Requires frequent
mfff maintenance. Very little maintenance
They are prone to wear and tear
The energy of the rotating parts is The energy of the rotating parts can
wasted as heat or in friction. Heat is be converted to electrical energy
generated during braking which can be utilized or returned to
the mains
Braking may not be smooth Smooth braking without scrating
snating
Brake shoes, brake linings, brake Equipment of higher rating than the
drum are required motor may be required
This braking can be applied to hold Cannot produce holding torque
the system at any position
6
Braking
There are three types of electrical braking.
1. Regenerative braking
2. Dynamic or Rheostatic braking and
3. Plugging or Reverse voltage braking
Regenerative braking
Implies operating the motor as a generator while it is still
connected o the supply network.
Mechanical energy is converted to the electrical energy, part of
which is returned to supply. Rest of the energy is lost as heat in
the windings and bearings of the electrical machines
7
Braking
For regenerative braking to take place,
➢ the source motor circuit should have the ability to carry
current in either directions.
➢ The converter should not be a semi converter
H/W
WHY Regenerative braking can not take place in DC series
motor
Dynamic or rheostatic braking
In this method mechanical energy is converted into electrical
energy, which is dissipated as heat in the resistance of the
machine winding or in resistors connected to them as an
electrical load.
8
Braking
Plugging or reverse current braking
Plugging involves reconnecting the power supply to the motor
so that it tends to drive the opposite direction.
Plugging is highly inefficient because in addition to the
generated power additional power from a supply source is also
wasted in the braking resistance.
9
Braking
10
Braking
In the expression for the torque of a DC motor, torque is
directly proportional to the product of flux per pole (φ) and
armature current (Ia):
Since, in case of a DC shunt motor, the flux per pole (φ) is
considered to be constant.
Torque vs. armature current characteristics 11
Class work
A 210 V, 1200 RPM, 10 A separately excited DC motor is
controlled by a 1- phase fully controlled converter with an AC
source voltage of 230V, 50Hz.
Assume that sufficient inductance is present in the armature
circuit to make the motor current continuous and ripple free for
any torque greater than 25% of rated torque. Ra = 1.5 Ω
12
