An electrical drive can be defined as an electromechanical

device for converting electrical energy into mechanical energy

to impart motion to different machines and mechanisms for
various kinds of process control. An electrical drive can be defined as an
electromechanical device for converting
electrical energy into mechanical energy
to impart motion to machines and
An electrical drive system has the following components mechanisms for various kinds of process
1. Electrical machines and loads control
2. Motor Components:
Electrical Source
3. Power modulator Mechanical Load
4. Sources Power Converter
5. Control unit Controller
Sensor
6. Sensing unit Motor
Multi Machine System for speed control : Ward Leonard Method
History of Drives
 Classification of Load Torque
• Load torque is the amount of torque constantly required for application and includes
friction load and gravitational load.
• Acceleration torque is the torque required just for the maximum acceleration and
deceleration rate for the load.
• The faster the load needs to accelerate, the higher the acceleration torque is.
• Sometimes the load torque is higher; sometimes the acceleration torque could be higher.

Load torque is the amount of

torque constantly required
for application and includes
frictional and gravitational
load.
Acceleration torque is the
torque required for the
maximum acceleration and
deceleration rate for the load
Active Load Torque:

Load torques which have the potential to drive the motor under equilibrium conditions are
called active load torques. Load torques usually retain sign when the drive rotation is
changed.
i) Torque due to force of gravity ii) Torque due tension iii) Torque due to compression and
torsion etc
Passive Load Torque

Load torques which always oppose the motion and change their sign on the reversal of
motion are called passive load torques. Torque due to friction cutting
i) Torque due to friction, cutting etc
 Friction Torque (TF)
Friction will be present at the motor shaft and also in various parts of the load. TF is the
equivalent value of various friction torques referred to the motor shaft.

Windage Torque (Tw )

When motor runs, wind generates a torque opposing the motion. This is known as windage
torque.

Torque required to do useful mechanical work (TL)

Nature of this torque depends upon particular application. It may be constant and
independent of speed. It may be some function of speed, it may be time invariant or time
variant, its nature may also change with the load’s mode of operation.
Component Tv varies linearly with speed is called
VISCOUS friction and is given by Tv = B ωm

TC , which is independent of speed, is known as COULOMB

friction.

Ts accounts for additional torque present at stand still

TW which is proportional to speed squared is given by

Tw = C ωm2
Advantages of Electrical Drives

high efficiency
low no load losses
low noise
wide range of speed,torque,p
adaptable to most operating conditions
available in all four torque-speed
quadrants
 T = T0 + T1 ( nL /no ) + T2 ( nL /no )2 + . . . etc.
Load Characteristic - Speed Torque Characteristic

If a load is driven through an ideal speed reducer of ratio R (≥1), then the speed of the reducer's input shaft is n =
n ∗R, while the torque on this shaft necessary to drive the load is T = T/R since the power fed into the ideal reducer
L L

( ∝ nT ) must equal to the output power ( ∝ n T ) transferred from the reducer to the load. The steady state torque -
L L

speed characteristic of the load referred to the reducer's input shaft is

TL = { T0 + T1 ( n/Rno ) + T2 ( n/Rno )2 } / R
 Load types
where C is a proportionality constant, Tr is the load torque at the rated speed nr, n is the operating speed, and
k is an exponential coefficient representing the torque dependency on speed.

• When the motorshaft torque is equal to the torque exerted by

the load, the motor is stationary. In such cases the torque and
the speed are constant.

• The first group (1) consists of machines for winding material

under tension. This group includes, for example veneer cutting
machines and machine tools. Torque inversely proportional
to speed. In this case, k = -1
• Group (2) consists of conveyor belts, cranes, positive
displacement pumps, compressors as well as machine tools.
Torque independent of speed. k = 0

• Group (3) consists of machines such as hydraulic pumps,

rollers, smoothing machines, and other processing machines.
Torque linearly dependent on speed k = 1
• Group (4) comprises machines operating by centrifugal force,
such as centrifuges, centrifugal pumps and fans. Torque
proportional to the square of speed, k = 2
 Duties & Cycles

continuous duty limited duration duty periodic intermittent duty

Paper mill
drives,
compressor
s, fans etc
metal
Cranes, cutting
valve and
drives, drilling
drives for tool
position drives,
control, fork lift
etc drives etc
Sample designation: S2 30 min
Sample designation: S3 25%.
periodic intermittent duty periodic intermittent duty with periodic uninterrupted duty
with starting electric braking with intermittent load

S4 25% JT=0.15 kgm2 JL=0.7 kgm2 S5 25% JT=0.15 kgm2 JL=0.7 kgm2 S6 40%
periodic uninterrupted duty periodic uninterrupted duty with duty with non-periodic variations of
with electric braking correlated variations of load and load and speed
speed

S8 JT=0.15kgm2 JL=0.7kgm2
S7 25% JT=0.15 kgm2 JL=0.7 kgm2 (1.5KW-740rpm-30%) (2KW-1460rpm-
30%) (1.1KW-980rpm-40%).
S1 : Operation at constant load of sufficient duration to achieve thermal equilibrium; for it to be applicable the user must
precisely specify the load and nominal operating conditions in which the machine is to run for an unlimited period.

S2 : Constant load operation for a limited period of time, less than that required to achieve thermal equilibrium, followed by a
period of standby sufficient to cool the machine down to the coolant fluid temperature, with a tolerance of 2°C. This duty is
abbreviated as S2 followed by an indication of the running time

S3 : Sequence of identical cycles, each including a period of operation at constant load and a period of standby; in this duty the
cycle is such that the starting current does not significantly affect the over temperature. The duty is designated S3 followed by
the intermittency ratio; the cycle duration used to calculate the intermittency ratio is 10 minutes.

S4 : Sequence of identical cycles, each including a non-negligible starting phase, period of operation at constant load and period
of standby. The duty is designated S4 followed by the intermittency ratio, the motor moment of inertia J T and load moment of
inertia JL, referred to the motor shaft

S5 : Sequence of identical cycles, each including a starting phase, period of operation at constant load, period of rapid electric
braking and period of standby. The duty is designated S5 followed by the intermittency ratio
S6 : Sequence of identical cycles, each including a period of operation at constant load and period of operation under no load;
there is no period of standby. The duty is designated S6 followed by the intermittency ratio

S7 : Sequence of identical cycles, each including a starting phase, period of operation at constant load and period of electric
braking; there is no period of standby. The duty is designated S7 followed by the motor moment of inertia J T and load
moment of inertia JL, referred to the motor shaft.

S8 : Sequence of identical cycles, each including a period of operation at constant load at a preset constant speed, followed
by one or more periods of operation at other constant loads at other speeds (done by changing the number of poles, for
instance); no standby period exists. The duty is abbreviated as S8 followed by he motor moment of inertia J T and load
moment of inertia JL, referred to the engine shaft, the loads, speeds and intermittency ratios for each period of operation at a
given speed.

S9 : Duty in which the load and speed generally vary in a non-periodic manner within the allowable range; this duty includes
frequent overloads which may largely exceed the full load values; for this type of duty one must consider suitable full load
values as a reference for the overloads.
 √
T
𝑃 1 2 . 𝑡 1 +𝑃 22 . 𝑡 2+ 𝑃 3 2 . 𝑡 3
𝑃 𝑒𝑞 (𝑟𝑚𝑠 )=
𝑡 1 +𝑡 2 +𝑡 3

√
T 𝑃 1 2 . 𝑡 1 ∗ 𝑃 22 . 𝑡 2 ∗ 𝑃 3 2 . 𝑡 3
𝑃 𝑒𝑞 (𝑟𝑚𝑠 )=
𝑡 1 +𝑡 2 +𝑡 3
T

𝑃 𝑒𝑞 (𝑟𝑚𝑠 )=
√
𝑃 1 2 . 𝑡 1 ∗ 𝑃 22 . 𝑡 2 ∗ 𝑃 3 2 . 𝑡 3
𝑡 1 ∗ 𝑡 2 ∗𝑡 3

𝑃 𝑒𝑞 (𝑟𝑚𝑠 )=
√
𝑃 1 2 . 𝑡 1 + 𝑃 22 . 𝑡 2+ 𝑃 3 2 . 𝑡 3
𝑡 1 ∗ 𝑡 2 ∗𝑡 3
Quadratal Diagram of Speed – Torque Characteristic
Load Diagram --- Crane
Heating & Cooling of Motors
 Temperature Rise Vs Time for Heating

Temperature Rise Vs Time for Cooling

Graphical Determination of Heating Time constant
Graphical Determination of Steady state Temperature Rise
Equation for Motion
Referring Torque to a Single Axis ( Motor Shaft )
Referring Moment of Inertia to a Single Axis ( Motor Shaft )
Referring Forces & Masses having Translational Motion to a Motor Shaft
Load with Rotational Motion

Gear teeth ratio is given by

The Kinetic energy due to equivalent inertia is equal to kinetic energy of various moving part

Dividing the above eqn by ωm2

Power at the loads and motors must be equal

If n loads are connected directly to motor with moment of inertias J1 , J2 ,…….Jn and having gear teeth ratio a1,a2,……an