EE09 604 ELECTRIC DRIVES

ASHNA MOHAN
Asst. Professor
Electrical Dept.
Sahrdaya College of Engineering and
Technology , Kodakara

Module I

Concept of Electric Drives parts of electrical

Drives Dynamics of electric drive torque
equation Four quadrant operation of electric
drives Loads with rotational and translational
motion Steady state stability- components of load
torques nature and classification of load torques
load equalization control of electrical drives
closed loop speed control current limit control
closed loop torque control Phase Locked Loop
control- Energy conservation of electrical drives

Dubey G. K., Fundamentals of Electric Drives

Advantages of Electric Drives

Drives are employed for systems that require motion
control. Drives employing electric motors are known
as electric drives.
1. They are available in wide range of torque, speed and power.
2. Flexible control characteristic
3. Electric motors have high efficiency, low no load losses and
considerable short time overloading capability.
4. They are adaptable to almost any operating conditions
5. Do not pollute the environment.
6. Can operate in all the four quadrants of speed-torque plane.
7. Unlike other prime movers, there is no need to refuel or
warm-up the motor started instantly and can immediately
be fully loaded
8. Electric energy is easy to be transported.

Block Diagram Of Electric Drive

Source

Power modulator

Control unit

Input command

Load

Motor

Sensing
unit

Components of electrical drives

The main components of a modern electrical drive are
the motors, power processor, control unit and
electrical source.

a) Motors
A motor having speed torque characteristics and
capabilities compactable to load requirement.
Dc motors- shunt, series, compound and permanent
magnet.
Induction motors- squirrel cage, wound rotor and linear.
Synchronous motor- wound field, permanent magnet.
Brushless dc motor, stepper motor, switched reluctance
motor.

Components of electrical drives

b) Power processor or power modulator
Since the electrical sources are normally
uncontrollable, it is therefore necessary to be able to
control the flow of power to the motor this is
achieved using power processor or power
modulator.
Converters
Variable impedances
Switching circuits

Components of electrical drives

c)Control Unit
Control unit provides the control for power modulator
Its nature depends on the power modulator used.
Converters Firing circuits Linear and digital Ics,
transistors and microprocessors
Switching circuits
Sequencing and interlocking
solid state relays and PLCs
d) Source
Electrical sources or power supplies provide the
energy to the electrical motors.

Dynamics of electric drives

Motor

Load

Tl

J = moment of inertia of motor load system

= instantaneous angular velocity of shaft
T = instantaneous value of developed of motor
torque
Tl = instantaneous value of load torque
m

Equation shows that torque developed by motor is counter

balanced by a load torque and a dynamic torque.

Four quadrant operation

m
Forward
motoring

Forward
braking
II

I
T

III
Reverse
motoring

IV
Reverse
braking

Four quadrant operation of a motor driving

a hoist load

Loads with rotational motion

J0
Motor

Load
Tl0

m
n
n1

J1
Load
Tl1

Kinetic energy

Power

1 be the transmission efficiency of gears

Loads with translational motion

J0
Motor

Load
Tl0

Rotational to linear
motion transmission

Kinetic energy
Mass
M1
Force
F1
Power

v1

Steady state stability

Equilibrium speed of a motor load system is obtained
when motor torque equals the load torque.
Drive will operate in steady-state at this speed, provided
it is the speed of stable equilibrium.
In most drives, the electrical time constant of the motor
is negligible compared to its mechanical time constant.
Therefore, during transient operation, motor can be
assumed to be in electrical equilibrium

Steady state stability

m
T

Tl
A

Stable

Steady state stability

m
T
B

Tl

Unstable

Steady state stability

m
T

Tl
C

0
Stable

Steady state stability

m

Tl

T
D

0
Unstable

Steady state stability

Steady state stability

For small perturbations, speed torque curve can be
assumed to be straight line

Components of load torque

i. Friction torque TF
ii. Windage torque TW
iii. Torque required to do the mechanical work TL
Friction torque
Viscous friction Tv = Bm
Coulomb friction Tc
Static friction Ts

Windage torque
Windage torque =Cm

Components of load torque

is very small compared to

compared to TL

and negligible

Nature and classification of load torques

Nature and classification of load torques

high speed hoist

Nature and classification of load torques

Traction Load

Nature and classification of load torques

Constant power load

Load equalization
m

m0

mr
C

Tr

Tmax

A motor with smaller rating than peak load can used and peak current drawn
from the supply is reduced by large amount. Fluctuations in the motor torque
and speed decreased. Since power drawn from the source fluctuates very little ,
tis is called Load equalization.

Load equalization

Tlh

Tmax
Tmin
Tll

Tl
m
T
tl

th
t

Load equalization

Speed control
Driving motor in fixed speed- constant speed
motor
Drives need step less changes speed variable
speed drive.
When load is driven by more than one motormulti motor drive
If the maximum torque capability not changing
with change is speed- constant torque drive

Closed loop control of drives

Protection
Enhancement of speed of response
To improve steady- state accuracy

Current limit control

Limiting converter and motor current below a
safe limit during transient.
Controller

Converter

Motor

Current
sensor

Threshold
logic

Load

Closed loop torque control

In battery operated vehicles

T*

Torque
Controller

Converter

Motor

T
Torque
sensor

Threshold
logic

Load

Closed loop speed control

*
Speed
controller

current
Controller

Current
limiter

Converter

Motor

I
Current
sensor

Speed
sensor

Load

Phase locked loop control

f*
PFD
f

Vc

Loop
Filter

Voltage
Controlled
Oscillator

Phase locked loop control

f*
PFD

Vc

Loop
Filter

Load

Converter

f
Speed
Encoder

Loses in electrical drive system

Electrical transmission losses
Conversion losses in power modulator
Electrical motor losses
Mechanical losses
Losses in the load
Losses caused by throttling
Mechanical transmission losses

Measures for energy conservation

Use of efficient semiconductor converters

Use of efficient motors
Use of variable speed drives
Energy efficient operation of electric drives
Improvement of power factor
Using a motor of right rating
Improvement of quality of supply
Use of single phase to threphase semiconductor
converters
Regular and preventive maintenance of motors,
transformers, etc