BET 4054

DRIVES TECHNOLOGY

CHAPTER 1:
FUNDAMENTAL OF ELECTRIC
DRIVES
 LEARNING OBJECTIVES

To learn and understand :

• Fundamental of electric drives
• Block diagram and parts of electric drive
• Choice of electrical drives
• Dynamic of electrical drives
• Fundamental torque equations, speed torque
conventions and multi quadrant operation
• Equivalent values of drives parameters, components
of load torques, nature and classification of load
torques.
 ELECTRICAL DRIVES

EMPLOYED
FOR CONTROL
MOTION

REQUIRE
PRIME MOVER

ELECTRICAL
MOTOR AS
PRIME MOVER

• Can be either used for fixed speed or variable speed

• 75% - constant speed, 25% variable speed (expanding)
BLOCK DIAGRAM OF ELECTRICAL
DRIVES
 EXAMPLE ON VSD APPLICATION

Constant speed Variable Speed Drives

valve

Supply Supply
motor pump motor
PEC pump

Power Power out

In Power Power out
In

Power loss
Power loss
Mainly in valve
CONVENTIONAL ELECTRIC DRIVES
(VARIABLE SPEED)

• Bulky
• Inefficient
• inflexible
 Modern electric drives (With power electronic converters)

Utility interface
Renewable energy

Non-linear control
Real-time control
DSP application
PFC
Speed sensorless
Power electronic converters
• Small
• Efficient
• Flexible
Modern electric drives

Machine design
Utility interface
Speed sensorless
Renewable energy
Machine Theory

Non-linear control
Real-time control
DSP application
PFC
Speed sensorless
Power electronic converters

• Inter-disciplinary
• Several research area
• Expanding
e.g. Single drive - sensorless vector control from Hitachi
e.g. Multidrives system from ABB
Components in electric drives
Motors
• DC motors - permanent magnet – wound field
• AC motors – induction, synchronous (IPMSM,
SMPSM), brushless DC
• Applications, cost, environment

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
Components in electric drives

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
Overview of AC and DC drives

Extracted from Boldea & Nasar

 Overview of AC and DC drives

DC motors: Regular maintenance, heavy, expensive, speed limit

Easy control, decouple control of torque and flux

AC motors: Less maintenance, light, less expensive, high speed

Coupling between torque and flux
Overview of AC and DC drives
Before semiconductor devices were introduced (<1950)
• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1950s)
• Variable frequency sources available – AC motors in
variable speed applications
• Coupling between flux and torque control
• Application limited to medium performance
applications – fans, blowers, compressors –
scalar control
• High performance applications dominated by DC
motors – tractions, elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance applications –

elevators, tractions, servos
• AC motors favorable than DC motors – however
control is complex hence expensive
• Cost of microprocessor/semiconductors decreasing –
predicted 30 years ago AC motors would take over
DC motors
 CHOICE OF ELECTRIC DRIVES

Choice of electric drive need to obtain satifactory of

performance .

Factors that need to be consider in selecting electric drive

• Estimation of motor torque
• Speed range and absorbed power
• Starting current limitation
• Duty cycle and rating
• Enclosure and cooling
 DYNAMIC OF ELECTRIC DRIVES

• Electric drive system involves control of electric

motor in steady state and dynamic operations
depends type of mechanical load.
• Important mechanical parameters involves in
dynamic operation of electric drive are torque,
moment of inertia and angular acceleration.
 DYNAMIC OF ELECTRIC DRIVES

• Factors that affecting driver performance:

1. System loads 4. Wind age
2. Friction
3. Inertia

• Travelling time – the time required to change the rotor speed (or rotor position) from one steady
state operating point to another.

• Can be determine by the mechanical parameters of the system (inertia & load torque) and by
electrical quantities (motor voltage & developed torque).
 FUNDAMENTAL TORQUE EQUATION

Torque is a measure of the force that can cause an

object to rotate about an axis
d
T T  J
m L
 D
m
m
dt
Tm – torque of the motor wich equal
and opposite to load torque, Nm
TL – load torque, Nm
J – moment of inertia, kgm2
ωm-rotational speed of motor, rad/sec
 FUNDAMENTAL TORQUE EQUATION

Torque is a measure of the force that can cause an

object to rotate about an axis
d
T T  J
m L
 Dm
m
dt
Right hand side equation all about the load of the torque.
Left hand side equation is the torque required to
accelerate the inertia of the load and rotor.
The inertia reflected to the load and shaft which are
usually connected with gear and belt.
FUNDAMENTAL TORQUE EQUATION

Reflected inertia through belts or gear

 FUNDAMENTAL TORQUE EQUATION…

• Torque developed by motor is counter balanced by a load

torque, TL and a dynamic torque, J(dω /dt).

• Torque component J(dω /dt) is called the dynamic torque

because it is present only during the transient operations.

• Windage torque (Tw) - the torque required by the load when

the air surrounding the rotating parts moves.

• Viscous friction (Tv) - the torque required is directly

proportional to the speed of rotation.
 FUNDAMENTAL TORQUE EQUATION

• Coulomb friction (Tc) - the torque required is independent

of speed in this type of friction. It acts as a load torque in
either direction and is also called dry friction. Viscous friction
changes to coulomb friction at very low speeds.

• Static friction or stiction (Ts) - occurs due to the sticking

nature of the surfaces and present at standstill. Since Ts is
present only at standstill it is not taken into account in the
dynamic analysis. This is generally very small and can be
neglected.
 MOMENT OF INERTIA

• Measure of a load's resistance to angular

speed change. 2 2
GD D
J m
4g 4
G – weight of rotating mass, N
g – gravity acceleration, ms-2
D – diameter of gyration, m
m – mass , kg

• The diameter of gyration is the diameter of

rotating path of the object at which the mass of
the body is concentrating.
 MOMENT OF INERTIA

Object Moment of inertia

Thin-walled hollow cylinder with D2

m
diameter D 4

Hollow cylinder with inner diameter D1 1 D12  D22

and outer diameter D2 m
2 4

Solid cylinder with diameter D 1 D2

m
2 4

• Depending on the system configuration and design,

the moment of inertia can vary during motion.
 MOMENT OF INERTIA

• Applications where moment of inertia is

constant: T, ω

1. Hoist 2. Forklift Wheel

• Motor motion is angular while motion of
the load is linear.
• The inertia of the load can be computed
using the kinetic energy for both motion
Load
(angular & linear).
• Since the ratio v/ω is constant and equal F,v
to the radius of the wheel, the inertia of
the load J is constant. 1 1
KE  J  mv 2
2

2 2
 MOMENT OF INERTIA

A variable moment of inertia can occur when the system

configuration leads to asymmetrical motions.
Piston & Shaft
The velocity vectors are governed by the following equation:

v cos    r cos    r sin(   ) Connecting ωr

v cos β
rod δ
2
 sin(   )  ω
J  mr 2
 β
α
 cos   v

The inertia is dependent on β, which is a function of the wheel

position. Thus, the inertia varies during motor rotation.
 TRAVELLING TIME

• Time taken by motor during speed changes.

• At any given speed, ω the difference between the
load torque, TL and motor torque, Tm is inertia
torque, Ti.
d
T J
i
 T T m L
dt
• The higher the inertia torque, Ti
the higher the motor acceleration. (refer to load's
resistance to angular speed change.)
• When motor speed changes from ω1 to ω2, the
travelling time is:
2 J 2 J
t d   d
1 T  T 1 T
d L i
 TRAVELLING TIME…

• The travelling time between two (2) speed can be

reduced if at least one (1) of the following conditions is
met:
1. The inertia torque, Ti increases
by adjusting the motor characteristics.

2. The moment of inertia, J decreases

by using gears or belt systems.

PLT 303 – Electrical

Drives
 GEARS & BELTS
• Gear ratio – the ratio of its diameters or speed.
n – shaft speed
n d
1 2
d – gear diameter
n d2 1

1
KE total  KEmotor  KE gear  KEload  J eq12
2
1 1 1 1 1
J eq1  J m1  J d1 1  J d 2  2  J L 22
2 2 2 2

2 2 2 2 2
2
 d1 
 
KE: Kinetic Energy
J eq  J m  J d1  J d 2  J L   J: Moment of inertia
 d2 
 GEARS & BELTS
2
 d1 

J eq  J m  J d1  J d 2  J L   
 d2 
Base on the equation, gear ratio can change the inertia
of motor and load torque.
Verify by the load power at either side of gear assuming
gear loss less :
T T 
L 2 eq 1

n d
T T
eq
T L
1
L
2

n d 2 1
 GEARS & BELTS…
If the gear system is designed
so that d1/d2 < 1, thus:
1. Load inertia is reduced.
2. Load torque is reduced.
3. Travelling time is
reduced.
A belt system can have an
effect identical to a gear
system.
Thus, equations above can be
directly applied to the belt
system.
 4 QUADRANT OPERATIONS
✘ Mechanical load have specific set of requirement called 4
quadrant operations.
✘ 4 quadrant operations depends on the polarity of the
speed and torque.
✘ Speed + : clockwise rotations
✘ Speed - : ccw rotations
✘ Torque + : Accelerations of speed
✘ Torque - : Deceleration of speed
✘ 2 mode of motor operations :
✘ Motoring : convert electrical to mechanical (power is +)
✘ Braking : convert mechanical to electrical (power is -)
4-quadrant operation

 Tm
• Eq of 1Q & 3Q : grinding
machine
m m
Tm • Eq of 2Q & 4Q : elevator

Quadrant 2 Quadrant 1
Forward braking Forward motoring
T
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking
Tm
Tm
m m
 CLASSIFICATION OF LOAD
TORQUE
✘2 type which are active and passive load :
✘ Active load : have potential to drive the electrical motor in
equilibrium conditions.
✘ Eg : torque due to the force of gravity
✘ Passive torque : always oppose the motion and change
the sign or reversal motions
✘ Eg: torque due to friction.