College of Engineering and Technology

Department of Electrical Engineering

AC Drives
1

“Fundamentals of Electrical Drives”, by

G.K. Dubey, Alpha Science International Ltd.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
2

 Electrical Drives:

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
3

 Electrical Drives:
Motion control:
is required in large number of domestic and industrial applications like:
transportation systems (electric vehicles, locomotives, electric trains), rolling
mills, textile mills , paper machines, machine tools, fans, pumps, robots, washing
machines, hoists, cranes………………………………………………. etc.
- Systems employed for motion control are called “ Drives ” and may employ
any of the “ prime movers ” such as, diesel or petrol engines, gas or steam
turbines, steam engines, hydraulic motors and electric motors, for supplying
mechanical energy for motion control.
- Drives employing electric motors are called “Electrical Drives”.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: Washing machines, electric cars, fans, mixers,
cleaning machines, sewing machines, , water pumps, compressors, lifts, air
conditioners, …………………………………….……………………..etc.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: Washing machines
-Permanent split capacitor motors
High efficiency, quiet operation and continuous reversibility are the main
characteristics for this type of motor. This makes it suitable for use in a wide
range of domestic appliances such as washing machines.
-Capacitor start induction motors.
They have the same running performance as split-phase motors but a higher
starting torque. They are mainly used in washing machine drive systems.
-Universal Motor
As we know washing machine (Domestic) runs on single phase AC Supply and
motor is of single phase AC Type which is also known Universal Motor.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-DC Series Motor
High starting torque capability of the
DC Series motor makes it a suitable
option for traction application.
It was the most widely used motor
for traction application in the early 1900s.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-DC Series Motor
The main drawback of DC series motor is high maintenance due to brushes
and commutators. These motors are used in railways.
This motor comes under the category of DC brushed motors.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-Induction motors
The induction motors do not have a high starting toque like DC series
motors under fixed voltage and fixed frequency operation. But this
characteristic can be altered by using various control techniques like FOC or
V/f methods.
By using these control methods, the maximum torque is made available at the
starting of the motor which is suitable for traction application.
Squirrel cage induction motors have a long life due to less maintenance.
Induction motors can be designed up to an efficiency of 92-95%.
The drawback of an induction motor is that it requires complex inverter
circuit and control of the motor is difficult.

Electrical drives: An introduction, Chap.1

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-BLDC motor:
Before the latest incarnation of electric vehicles, cars already used
BLDC motors for windshield wipers, CD players, and power windows
The BLDC motor has a permanent-magnet rotor surrounded by a wound stator.
The winding in the stator get commutated electronically, instead of with brushes.
This makes the BLDC motor:
Simpler to maintain, More durable, Smaller, 85%–90% more efficient, Able to
respond faster and at higher operating speeds, simpler to control in regard to
speed control and reversing, Lighter, Less prone to the failures that brushed motors
experience, and able to self-start.
The composition of the BLDC motor also keeps the machinery inside a vehicle
cooler and thermally resistant. Plus, because the motor is brushless, there is no
dangerous brush sparking.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-Permanent Magnet Synchronous Motor (PMSM)
This motor is also similar to BLDC motor which has permanent magnets on the rotor.
Similar to BLDC motors these motors also have traction characteristics like high
power density and high efficiency.
The difference is that PMSM has sinusoidal back EMF whereas BLDC has
trapezoidal back EMF. Permanent Magnet Synchronous motors are available for
higher power ratings. PMSM is the best choice for high performance applications
like cars, buses.
Despite the high cost, PMSM is providing stiff competition to induction motors
due to increased efficiency than the latter. PMSM is also costlier than BLDC
motors. Most of the automotive manufacturers use PMSM motors for their hybrid
and electric vehicles. For example, Toyota Prius, Chevrolet Bolt EV, Ford Focus
Electric, zero motorcycles S/SR, Nissan Leaf, Hinda Accord, BMW i3, etc use PMSM
motor for propulsion.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: electric cars
-Switched Reluctance Motors (SRM)
Switched Reluctance Motors is a category of variable reluctance motor with
double saliency. Switched Reluctance motors are simple in construction and robust.
The rotor of the SRM is a piece of laminated steel with no windings or
permanent magnets on it. This makes the inertia of the rotor less which helps in
high acceleration. The robust nature of SRM makes it suitable for the high speed
application. SRM also offers high power density which are some required
characteristics of Electric Vehicles.
Since the heat generated is mostly confined to the stator, it is easier to cool the
motor.
The biggest drawback of the SRM is the complexity in control and increase in the
switching circuit. It also has some noise issues. Once SRM enters the commercial
market, it can replace the PMSM and Induction motors in the future.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: fans

-Single phase induction motor :These motors consume minimum power and
hence, are also known as fractional kilowatt motors. A single phase induction
motor requires only one power phase for operating.
-Capacitor start induction motors.
-Universal Motor
-Shaded pole
-BLDC

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: mixers
-Universal Motor
………………………………………………………………………………….
Vacuum cleaning machines
-Universal Motor
-BLDC
………………………………………………………………………………......
Water pumps
-Single phase induction motor
-3 phase induction motor

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Domestic applications like: compressors
-Dc motors
-Single phase Induction motors
………………………………………………………………………………….
Elevators and lifts
-3 phase induction motor
………………………………………………………………………………….
Air conditioners
-Single phase induction motor
-Permanent split capacitor motors

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
- Industrial applications like: transportation systems (electric trains,
locomotives, electric vehicles), rolling mills, textile mills , paper machines,
machine tools, fans, pumps, robots, electric cranes,……….etc.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Industrial applications like: transportation systems
( locomotives, electric trains).
-series dc motors
-3phase induction motors

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Industrial applications like:
Rolling mills
-Salient pole synchronous motors
-Squirrel cage induction motor

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Industrial applications like:

Textile mills
-Squirrel cage induction motor

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
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 Electrical Drives:
Industrial applications : Paper mills
Direct-Current (DC) Motors

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
20

 Electrical Drives:
Industrial applications like:
machine tools
-AC Motors, DC Motors
-Stepper Motors.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
21

 Electrical Drives:
Industrial applications like:
Industrial fans, pumps
-3 phase induction motors

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
22

 Electrical Drives:
Industrial applications like: robots
-AC Motors
-DC Motors
-Stepper Motors.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
23

 Electrical Drives:
Industrial applications like:
Electric Cranes
-3 phase induction motors

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
24

Block diagram of an Electrical Drives

Electrical drives: An introduction, Chap.1 B. Alsayid

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Department of Electrical Engineering
AC Drives
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 Block diagram of an electrical drive

Electrical drives parts:
- Loads
- Sources (power sources)
- Power modulators
- Motors
- Control unit
- Sensing unit
- Input command

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
26

 Electrical Drives Parts:

-Loads :

- load is usually a machinery designed to accomplish a given task (fans, pumps,

robots, washing machine, machine tools, trains and drills).

- Usually loads requirements can be specified in terms of speed and torque

demands (speed – torque characteristic).

-A motor having speed-torque characteristics and capabilities compatible to

the load requirements is chosen.

Electrical drives: An introduction, Chap.1 B. Alsayid

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Department of Electrical Engineering
AC Drives
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- Loads
- Speed-torque characteristic of low speed hoist
At low speeds, windage torque is
negligible. Windage torque is the
Opposition offered by air to the motion.
Therefore, net torque is mainly due to
gravity which is constant and independent
of speed.
There are drives where coulomb friction
dominates over other torque components.
Consequently, torque is independent of
speed, e.g. paper mill drive.

Electrical drives: An introduction, Chap.1 B. Alsayid

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Department of Electrical Engineering
AC Drives
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 Dynamics of Electrical Drives:

- Components of load torques
- Friction torque TF :
Friction torque can be
resolved into three components
(see Fig. 2.6(b)). Friction at zero
speed is called stiction or static
friction. Component Tv which varies
linearly with speed is called viscous
friction. Another component Tc, which is
independent of speed, is known
as Coulomb friction.

Electrical drives: An introduction, Chap.1 B. Alsayid

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- Loads
- Speed-torque characteristic of
Fans, compressors, aeroplanes, centrifugal
pumps, ship-propellors, coilers, high speed
hoists, traction etc. are example of the case
where load torque is a function of speed.
In these loads, the windage torque dominates,
consequently, load torque is proportional to
speed squared (Fig. 2.7(a)).

Similar nature of Classification of

Load Torques can be expected when the motion
is opposed by any other fluid, e.g. by water in
centrifugal pumps and ship-propellors, giving
the same characteristic as shown in Fig. 2.7(a).

Electrical drives: An introduction, Chap.1 B. Alsayid

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Department of Electrical Engineering
AC Drives
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- Loads
- Speed-torque characteristic of high speed hoist
In a high speed hoist, viscous friction
and windage also have appreciable
magnitude, in addition to gravity,
thus giving the speed-torque curve
of Fig. 2.7(b).

Electrical drives: An introduction, Chap.1 B. Alsayid

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Loads
- Speed-torque characteristic of traction load
speed-torque characteristic of a traction load when moving on a levelled
ground is shown in Fig. 2.7(c).
Because of its heavy mass, the stiction is large.
Near zero speed, net torque is mainly due to
stiction.
The stiction however disappears at a finite
speed and then windage and viscous friction
dominate.
Because of large stiction and need for
accelerating a heavy mass,
the motor torque required for starting a
train is much larger than what is required
to run it at full speed.

Electrical drives: An introduction, Chap.1 B. Alsayid

 College of Engineering and Technology
Department of Electrical Engineering
AC Drives
32

 Electrical Drives Parts:

-Loads :

- load is usually a machinery designed to accomplish a given task (fans, pumps,

robots, washing machine, machine tools, trains and drills).

- Usually loads requirements can be specified in terms of speed and torque

demands (speed – torque characteristic).

-A motor having speed-torque characteristics and capabilities compatible

to the load requirements is chosen.

Electrical drives: An introduction, Chap.1 B. Alsayid