M. B. E.

SOCIETY’S
COLLEGE OF ENGINEERING, AMBAJOGAI.

UNIT II
CONTROL OF ELECTRICAL DRIVES

By
Prof. L. V. BAGALE
MODES OF OPERATION
An electrical drive operates in three modes:
1.Steady state
•Speed of drive is steady at particular speed.
•When 𝑇=𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒=𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
•For this Motor speed-torque curve must be adjusted
•So that, 𝑇=𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒=𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
2.Accelerating including starting
•Drives operates in accelerating mode when increase in speed is required.
•When 𝑇>𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒>𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
•For this Motor speed-torque curve must be changed
•So that, 𝑇>𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒>𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
3.Decelerating including braking
•Drives operates in decelerating mode when decrease in speed is required.
•When 𝑇<𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒<𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
•For this Motor speed-torque curve must be changed
•So that, 𝑇<𝑇𝑙→𝑚𝑜𝑡𝑜𝑟𝑡𝑜𝑟𝑞𝑢𝑒<𝑙𝑜𝑎𝑑𝑡𝑜𝑟𝑞𝑢𝑒
SPEED CONTROL AND DRIVE CLASSIFICATION
Drive classification :-Depending on speed , torque and power
1.Constant speed drive
•Motor runs at nearly fixed speed.
•Also known as single speed drive.
2.Multi-speed drive
•Operates at discrete speed setting
3.Variable speed drives
•Step-less change in speed
4.Multi-motor drive
•Load is driven by more then one motor
5.Constant torque drive
•Torque will remain constant for variable speed
6.Constant power drive
•Power (𝑇∗𝜔𝑚)will remain constant.
Speed regulation
•What is your objective?

Motor speed should remain constant when load torque is changed. (from no-
load to full-load or during the presence of disturbance)

•Ideally speed can remain constant.

•But in practice ?

Speed will drop.

Speed regulation:
•Measure of quality of speed control system

No load Speed - Full load Speed

Speed Regulation 100%
Full load Speed
CLOSED LOOP CONTROL OF DRIVES
•Feedback is provided in electrical drive to satisfy one of the following:
1.Protection
2.To enhance speed of response
3.To improve steady state accuracy
•In this section we will see different closed loop configurations used in electrical
drive system.
 1.Current – limit Control:

+
Contoller Converter Motor Load

V*
-
If
Current Sensor

Threshold logic circuit

0 Imax

•This method limits converter and motor current below a safe limit during transient
operations. It has a current feedback loop with a threshold logic circuit.
•As long as the current is within a set maximum value, feedback loop does not affect
the operation of the drive.
•During transient period, feedback forces the increase of current beyond the set
value to the set value and become inactive. Further the operation repeats in every
transient condition. Thus the current fluctuate around the set value.
•When the operation close to the steady state point, current will not have a tendency
to cross the maximum value, consequently, feedback loop will have no effect on the
drive operation.
2.CLOSED LOOP TORQUE CONTROL:
+
Torque Contoller Converter Motor Load

T*
-
T
Torque Sensor

•This technique mainly used in battery operated vehicles, rail cars and electric
trains.
•Driver presses the accelerator to set torque reference T*. Because of feedback, the
actual torque T follows the reference T*.
•Speed feedback loop is present through the driver. By giving appropriate pressure
on the accelerator, driver adjusts the speed depending on traffic, road condition,
car condition etc.
3.CLOSED LOOP SPEED CONTROL:

+ Δm I*
Speed Current Converter Motor Load
Contoller + Controller
m* - - I
m Current
Limiter Current
Sensor

Speed
Sensor

Current
Limiter

•Widely used in electrical drives.

Two control loops:
Inner loop: current control loop
•Limit the converter and motor current below safe limit
•Speed may be controlled directly or indirectly.
•Inner loop is also beneficial in reducing effect of non-linearity on drive
performance present in converter-motor system.
Outer loop: speed control loop
How outer loop works?
Increase in reference 𝜔𝑚 positive Δ𝜔𝑚
•Speed error is processed through speed controller
•Output of controller is applied to current limiter which saturates even for small
speed error.
•Limiter set reference current for inner (current) loop.
•Drive will accelerates at maximum allowable current.
•When drive speed is closed to desired speed, limiter de-saturates.
•Steady state is reached when 𝜔𝑚∗=𝜔𝑚 and at current for which motor torque
is equal to the load.
Decrease in reference𝜔𝑚 negative Δ𝜔𝑚
•Speed error is processed through speed controller
•Output of controller is applied to current limiter which saturates even for small
speed error.
•Limiter set reference current for inner (current) loop.
•Drive will decelerates at maximum allowable current.
•When drive speed is closed to desired speed, limiter de-saturates.
•Steady state is reached when 𝜔𝑚∗=𝜔𝑚and at current for which motor torque
is equal to the load.
•Operation is transferred from braking to motoring.
•Current and speed controller can be PI, PD, PID depending on performance
requirements
•Closed –Loop Speed Control Of Multimotor Drivers
When mechanical part of the load is of large physical dimension it becomes desirable
to share the load between several motors.
for example a rotary printing press usually has several printing station which
mechanically coupled by a long drive shaft. Each section is driven by its own motor.
As load requirements may be different,then the motor rating of each section is
different. but all motor run at same speed. whatever be torque requirement of each
section is met by its own driving motors.
The section (n-1) and n of such multi-motor drive are shown in fig(a).section n is
coupled by section (n-1) with the help of clutch Cn-1 and so on. the fig(b) shows the
closed-loop speed scheme .It consist of one common outer speed-loop and one inner
torque control loop for each section. As All motor run at sames speed, one speed
control loop is enough. speed feedback may be obtained from suitably placed speed
sensor. where k1,k2,k3….kn are the gain constants of the closed loop torque control
of section 1,2,3,…n respectively thus ensuring that the torque sharing of each section
is proportional to the motor rating. Such multimotor drives are also employed in
electrical and diesel electric locomotive. Rapid transit vehicles and some paper
discussed
In multi-motor drives discussed above various section of drive are
mechanically coupled through a long shaft. In other class of multi-motor
drives. which are employed in continuous production process. various section
are not coupled through the material under process as it simultaneously
passes through the section. for examples continuous hot strip rolling
mills,fibre spinning mills. and paper mills without mechanical shaft drive
.fig(c)depicts an n stand continuous hot strip rolling mill. Red hot strip
simultaneously pass through all rolling stands. Rollers of each stand are driven
by its own individual motor. various stands which are not mechanically
coupled through a long shaft get coupled through a thin red hot strip which
can not contain any appreciable forces
When the material passes through a rolling
stand.its cross section decrease and its length
and velocity increase.In order to keep tension
the strip with in suitable limit.-the motor A next
rolling stand must run at a appropriate higher
speed .this implemented by the closed loop
schemes shown in fig(d). Each rolling stand has
its own closed loop speed control scheme. In
this scheme ration of successive reference
speed remains fixed
CLOSED LOOP POSITION CONTROL

•Two control loops:

•Inner loop: Speed control loop
•Outer loop: Position control loop
•These loops provides:
•Restriction of the current and speed within safe limits.
•Enhances speed of response
•Reduces the effect of nonlinearities in converter motor and load. On
transient and steady state operation performance.
•Position control is used in many applications:
•Feed drive in machine tools
•Screw down mechanism in rolling mills.
 PHASE LOCKED LOOP (PLL) CONTROL
WHY?
•Due to imperfection in sensing and control circuits the closed loop schemes that
we have seen earlier can give speed regulation of 0.2%.
•By using PLL we can achieve speed regulation as below as 0.002%
•Which can be useful for conveyors for material handling, paper & textile mills
and computer peripherals.
How it Works?
•Two pulse trains are compared at phase detector
•Phase detector produces pulse width modulated output 𝑉𝑐.
•Pulse width of 𝑉𝑐 is depends on phase difference between two pulse
trains.
•Polarity depends on sign of phase difference.
•Output of phase detector is filtered by loop filter to obtain DC signal.
•DC signal will be applied as control voltage to VCO.
•The output of VCO is feedback signal 𝑓.
•Due to closed loop output of VCO such that 𝑓will reduce phase
difference.
•When 𝑓=𝑓∗ steady state is reached. And loop is said to be locked.
Drive with PLL
•The VCO is replaced by converter, motor and speed encoder.
•The output of the loop filter will be control signal for converter.
•It alters converter operation such that
•Motor speed adjust to make the frequency of encoder output signal (𝑓)equal
to the frequency of reference signal (𝑓∗).
•By changing 𝑓∗speed of the motor can be changed.

Advantages:-
It can achieve a speed regulation as low as 0.002%.
Disadvantages:-
Transient response is low.
PLL has low speed limit below which it can become unstable.
SPEED SENSING
Sensing of speed is required for the implementation of closed loop speed control
schemes.
Two methods are used for speed sensing
1.Induced voltage sensing
2.Use of tachometer
1.Induced voltage sensing
In dc drives, speed can be sensed without a tachometer when field current is
held constant.
Speed is proportional to back emf at costant field. Therefore, if field control is
not use, speed can be sense by measuring back emf.This method is inexpensive
and provides speed measurement with an accuracy of -2% or +2% of base speed
2.Use of tachometer
Most accurate speed regulation is achieved by using tachometer driven by motor
shaft.Tachometer is an ac or dc generator with a high order of linearity between
its speed and output voltage.
Typical voltages outputs are 10V or 1000rpm.
Tachometer output voltage consists of a ripple whose frequency depends on its
speed.Tachometers are available to measure speed with accuracy of -0.1% to
+0.1%.
CURRENT SENSING
Why?
•To implement :
Current limit control, Inner current control loop of closed loop speed
control, Closed loop torque control of a DC drive
•To sense fault conditions
•To sense a speed in DC drives by back emf sensing method

Current sensing method in 3−∅AC circuit

1.Current transformer (CT) are used to provide isolation between high power
supply circuit and low power control circuit
2.The output of CT will be rectified by 3-∅full wave bridge rectifier
3.The output of rectifier will be applied across resistor R
4.The voltage drop across the R will be filtered by filter circuit
5.The voltage drop 𝑉0 ∝ current in AC lines

Other current sensing methods

1.Current sensor :-Hall effect
•Can detect direction of current
•Availability in wide range of current
2.Use of non-inductive resistance shunt with isolation amplifier
2.Discuss closed loop speed control of DC motor. Why current loop is to be
introduced as an inner loop in closed loop operation.
3.Explain closed loop speed control scheme for control of below and above base
speed.
4.Explain with block-diagram closed loop torque control scheme.
5.Explain with block-diagram closed loop position control scheme.
6.Short Note on PLL based DC drive.
7.Write a short note on (1) Speed sensing (2) Current sensing
 CLASSES OF MOTOR DUTY

Now a days, in almost every applications, electric motors are used, and to control
them electrical drives are employed. But the operating time for all motors are not the
same.
Some of the motors runs all the time, and some of the motor’s run time is shorter than
the rest period. Depending on this, concept of motor duty class is introduced and on
the basis of this duty cycles of the motor can be divided in eight categories such as

1) Continuous duty
2) Short time duty
3) Intermittent periodic duty
4) Intermittent periodic duty with starting
5) Intermittent periodic duty with starting and braking
6) Continuous duty with intermittent periodic loading
7) Continuous duty with starting and braking
8) Continuous duty with periodic speed changes
Continuous Duty
This duty denotes that, the motor is running long
enough AND the electric motor temperature reaches
the steady state value.
These motors are used in paper mill drives,
compressors, conveyors etc.

Short Time Duty

In these motors, the time of operation is very low
and the heating time is much lower than the cooling
time. So, the motor cooks off to ambient
temperature before operating again.
These motors are used in crane drives, drives for
house hold appliances, valve drives etc.

Intermittent Periodic Duty

Here the motor operates for some time and then
there is rest period. In both cases, the time is
insufficient to raise the temperature to steady
state value or cool it off to ambient temperature.
This is seen at press and drilling machine drives.
Intermittent Period Duty with Starting
In this type of duty, there is a period of starting,
which cannot be ignored and there is a heat
loss at that time. After that there is running
period and rest period which are not adequate
to attain the steady state temperatures. This
motor duty class is widely used in metal cutting
and drilling tool drives, mine hoist etc.

Intermittent Periodic Duty with Starting and

Braking
In this type of drives, heat loss during starting
and braking cannot be ignored. So, the
corresponding periods are starting period,
operating period, braking period and resting
period, but all the periods are too short to
attain the respective steady state
temperatures, these techniques are used in
billet mill drive, manipulator drive, mine hoist
etc.
Continuous Duty with Intermittent Periodic Loading
In this type of motor duty, everything is same as the periodic duty but here a no
load running period occurs instead of the rest period. Pressing, cutting are the
examples of this system.

Continuous Duty with Starting and Braking

It is also a period of starting, running and braking and there is no resting period.
The main drive of a blooming mill is an example.

Continuous Duty with Periodic Speed Changes

In this type of motor duty, there are different running periods at different loads
and speeds. But there is no rest period and all the periods are too short to attain
the steady state temperatures.
 CRITERIA FOR SELECTION OF MOTOR.
Selection of Motor Power Rating:
•Selection of power rating is important to achieve economy with reliability.
•Improper selection of motor power rating results extra initial cost and extra loss
of energy due to operation below rated power makes the choice uneconomical.
•Furthermore, induction and synchronous motors operate at a low power factor
when operating below the rated power.
•During operation of the machine, heat is produced due to losses and
temperature rises. An amount of developed heat is dissipated into the
atmosphere. When the dissipation of heat is equal to the developed heat, then it
is said to be equilibrium condition. Motor temperature then reaches a steady
state value.
•Steady state temperature depends on power loss, which in turn depends on the
output power of the machine. Since temperature rise has a direct relation with
the output power, it is termed thermal loading on the machine.
•Steady state temperature varies in different parts of the machine. It is usually high
is the windings because loss density in conductors is high and dissipation is slow;
the conductors which are wrapped in insulating material are partly embedded in
slots and thus are not directly exposed to the cooling air.
•Insulating materials have lowest temperature limit. They are classified based on
temperature limit as follows:
Insulation Class Temperature ( in 0C)

 90

A 105

E 120

B 130

F 155

H 180

C >180

•Motor rating should be selected in such a way that the insulation temperature
never exceeds the prescribed limit; otherwise it loses its thermal stability.
•It is simple to calculate the motor power rating of the motor which operate at a
constant power and speed. But most loads operate at variable power and speed at
different applications.