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Introduction To Electric Drives
Introduction To Electric Drives
Electrical Drives
Electrical Drives
valve
Supply
motor pump
Power loss
Mainly in valve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
valve
Supply Supply
motor pump motor
PEC pump
Power loss
Power loss
Mainly in valve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
valve
Supply Supply
motor pump motor
PEC pump
Power loss
Power loss
Mainly in valve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
• Bulky
• Inefficient
• inflexible
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
• Small
• Efficient
• Flexible
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Non-linear control
Real-time control
DSP application
PFC
Speed sensorless
Power electronic converters
Motors
• DC motors - permanent magnet – wound field
• AC motors – induction, synchronous (IPMSM, SMPSM),
brushless DC
• Applications, cost, environment
• Natural speed-torque characteristic is not compatible with load
requirements
Power sources
• DC – batteries, fuel cell, photovoltaic - unregulated
• AC – Single- three- phase utility, wind generator - unregulated
Power processor
• To provide a regulated power supply
• Combination of power electronic converters
•More efficient
•Flexible
•Compact
•AC-DC DC-DC DC-AC AC-AC
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Control unit
• Complexity depends on performance requirement
• analog- noisy, inflexible, ideally has infinite bandwidth.
• digital – immune to noise, configurable, bandwidth is smaller than
the analog controller’s
• DSP/microprocessor – flexible, lower bandwidth - DSPs perform
faster operation than microprocessors (multiplication in single
cycle), can perform complex estimations
• Electrical isolation between control circuit and power circuit is
needed:
• Malfuction in power circuit may damage control circuit
• Safety for the operator
• Avoid conduction of harmonic to control circuit
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Sensors
• Sensors (voltage, current, speed or torque) is normally
required for closed-loop operation or protection
• Electrical isolation between sensors and control circuit is
needed for the reasons previously explained
• The term ‘sensorless drives’ is normally referred to the drive
system where the speed is estimated rather than measured.
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Classification of IM drives (Buja, Kamierkowski, “Direct torque control of PWM inverter-fed AC motors - a survey”, IEEE
Transactions on Industrial Electronics, 2004.
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
x Newton’s law
Fm d Mv
M Fm Ff
Ff dt
d v d2 x
Fm Ff M M 2 Ma
dt dt
Rotational motion
With constant J,
d m d 2
Te Tl J J 2
dt dt
d m Angular acceleration
dt
100
speed (rad/s)
-100
-200
0.19 0.2 0.21 0.22 0.23 0.24 0.25
20
15
torque (Nm)
10
0
0.19 0.2 0.21 0.22 0.23 0.24 0.25
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
dm
Te Tl J
dt
dm dm
m Te m Tl m J pD pL m J
dt dt
Driving
power
Change
Load in KE
power
dm
Te Tl J
dt
dm dm
m Te m Tl m J pD pL m J
dt dt
Integrating the equation with time and setting the initial speed (0) =
0, we obtain the following:
t t t
dw m
wD = òpD d t = òpL d t + òw m J dt
0 0 0 dt
w
wD =wL + J òw m dw m
0
1
wD =wL + Jw m2
2
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Fl Fe
Te,
r M r
Tl
v
d v
Fe Fl M Te = r(Fe), Tl = r(Fl), v =r
dt
d
Te Tl r 2M
dt
Motors designed for high speed are smaller in size and volume
m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1 Tl2
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1
Tl2
J equ J1 a 22 J 2
m
Motor Equivalent
Te Load , Tlequ
Tlequ = Tl1 + a2Tl2
Jequ
a2 = n1/n2=2/1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
2 1
T -ve T +ve • Quadrant of operation is
+ve +ve defined by the speed and
Pm -ve Pm +ve torque of the motor
• Most rotating electrical
machines can operate in 4
T quadrants
3 4
• Not all converters can
T -ve T +ve operate in 4 quadrants
-ve -ve
Pm +ve Pm -ve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
m T
m e
Te • Quadrant of operation is
defined by the speed and
torque of the motor
Quadrant 2 Quadrant 1 • Most rotating electrical
Forward braking Forward motoring machines can operate in 4
Te T quadrants
Te • Not all converters can
m operate in 4 quadrants
m
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Synchronous mch
Induction mch
Series DC
TORQUE
TORQUE
Coulomb friction
Viscous friction
SPEED
Gravitational torque
Vehicle drive
Te
TORQUE
TL
gM
FL
TL = rFL = r g M sin
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Speed
Torque
Gravitational torque
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque Te Tl
Steady state
speed
10 25 45 60 t (ms)
speed
(rad/s)
d
100
Te J B Tl
dt
10 25 45 60 t (ms)
10 25 45 60 t (ms)
Torque
(Nm)
72.67
torque profile
71.67
6
5
10 25 45 60 t (ms)
-60.67
-61.67
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
10 25 45 60 t (ms)
-65
For the same system and with the motor torque profile
given above, what would be the speed profile?
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque
Continuous
torque limit Power limit for
continuous torque
Maximum
speed limit
Speed
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
Ambient temperature, To
p1 p2
Thermal capacity, C (Ws/ oC)
Thermal considerations
Power balance:
dT
C p1 p 2
dt
Which gives:
dT A p
T 1
dt C C
T
ph
A
1 e t / , where
C
A
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
ph
T A T
ph
A
1 e t /
Heating transient
t
T
T T(0) e t /
T(0)
Cooling transient
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Continuous duty
Load torque is constant over extended
Continuous duty period multiple
Short time intermittent duty
Steady state temperature reached
Periodic intermittent duty
Nominal output power chosen equals or exceeds continuous load
p1n
Losses due to continuous load
T A
p1n
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
Short time intermittent duty p1s
p1
p1n
T p1s
A
p1n
A
Tmax
t
t1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Short time intermittent duty
pp11nn p1ps 1s1 1eet 1 / t1 /
T A A
p1s 1
t1 /
p1n 1 e t1
T
p1s
A
1 e t /
p1n
A
Tmax
t
t1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
p1
heating coolling
heating coolling
heating coolling
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
1 p1 9000
p1 p n 1 9kW Also, A 180 W / o C
T 50
Thermal considerations
For a duty cycle of 30% (period of 20 mins), heat losses of twice the nominal,
35
30
25
20
15
10
0
0 0.5 1 1.5 2 2.5
4
x 10