ELECTRIC DRIVES

INTRODUCTION TO ELECTRIC DRIVES

MODULE 1
Dr. Nik Rumzi Nik Idris
Dept. of Energ Con!ersion" UTM
#$1%
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Electrical Drives
Drives 're sstems emp(oed for motion control
Re)uire prime movers
Dri!es t*'t emp(o electric motors 's
prime mo!ers 're kno+n 's E(e,tri,'( Dri!es
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Electrical Drives
- ./out 0$1 of e(e,tri,'( energ used for dri!es
- C'n /e eit*er used for fi2ed speed or !'ri'/(e speed
- 301 & ,onst'nt speed" #01 !'ri'/(e speed 4e2p'nding5
- ME6 10#% +i(( /e ,o!ering !'ri'/(e speed dri!es
Example on VSD application
motor
pump
valve
Supply
Const'nt speed
V'ri'/(e Speed Dri!es
Power
In
Power loss
Mainly in valve
Power out
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Example on VSD application
motor
pump
valve
Supply
motor
PEC pump
Supply
Const'nt speed
V'ri'/(e Speed Dri!es
Power
In
Power loss
Power out
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Power loss
Mainly in valve
Power out
Power
In
Power loss
Mainly in valve
Power out
motor
pump
valve
Supply
motor
PEC pump
Supply
Const'nt speed
V'ri'/(e Speed Dri!es
Example on VSD application
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Power
In
Power loss
Power
In
Power out
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Conventional electric drives (variable speed)
- 7u(k
- Ineffi,ient
- inf(e2i/(e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
odern electric drives (!it" power electronic converters)
- Sm'((
- Effi,ient
- 8(e2i/(e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
odern electric drives
- Inter&dis,ip(in'r 46E" ,ontro( sstem" m',*ine
design" sensors5
- Se!er'( rese'r,* 're'
- E2p'nding
M',*ine design
Speed sensor(ess
M',*ine T*eor
Non&(ine'r ,ontro(
Re'(&time ,ontro(
DS6 'pp(i,'tion
68C
Speed sensor(ess
6o+er e(e,troni, ,on!erters
Uti(it interf',e
Rene+'/(e energ
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Components in electric drives
Motors
- DC motors & perm'nent m'gnet 9 +ound fie(d
- .C motors 9 indu,tion" sn,*ronous 4I6MSM" SM6SM5"
/rus*(ess DC
- .pp(i,'tions" ,ost" en!ironment
- N'tur'( speed&tor)ue ,*'r',teristi, is not ,omp'ti/(e +it* (o'd
re)uirements
6o+er sour,es
- DC 9 /'tteries" fue( ,e((" p*oto!o(t'i, & unregu('ted
- .C 9 Sing(e& t*ree& p*'se uti(it" +ind gener'tor & unregu('ted
6o+er pro,essor
- To pro!ide ' regu('ted po+er supp(
- Com/in'tion of po+er e(e,troni, ,on!erters
-More effi,ient
-8(e2i/(e
-Comp',t
-.C&DC DC&DC DC&.C .C&.C
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Components in electric drives
Contro( unit
- Comp(e2it depends on perform'n,e re)uirement
- 'n'(og& nois" inf(e2i/(e" ide'(( *'s infinite /'nd+idt*.
- digit'( 9 immune to noise" ,onfigur'/(e" /'nd+idt* is sm'((er t*'n
t*e 'n'(og ,ontro((er:s
- DS6;mi,ropro,essor 9 f(e2i/(e" (o+er /'nd+idt* & DS6s perform
f'ster oper'tion t*'n mi,ropro,essors 4mu(tip(i,'tion in sing(e
,,(e5" ,'n perform ,omp(e2 estim'tions
- E(e,tri,'( iso('tion /et+een ,ontro( ,ir,uit 'nd po+er ,ir,uit is
needed<
- M'(fu,tion in po+er ,ir,uit m' d'm'ge ,ontro( ,ir,uit
- S'fet for t*e oper'tor
- .!oid ,ondu,tion of *'rmoni, to ,ontro( ,ir,uit
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Components in electric drives
Sensors
- Sensors 4!o(t'ge" ,urrent" speed or tor)ue5 is norm'((
re)uired for ,(osed&(oop oper'tion or prote,tion
- E(e,tri,'( iso('tion /et+een sensors 'nd ,ontro( ,ir,uit is
needed for t*e re'sons pre!ious( e2p('ined
- T*e term =sensor(ess dri!es: is norm'(( referred to t*e dri!e
sstem +*ere t*e speed is estim'ted r't*er t*'n me'sured.
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
#verview o$ %C and DC drives
E2tr',ted from Boldea & Nasar
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
#verview o$ %C and DC drives
DC motors< Regu('r m'inten'n,e" *e'!" e2pensi!e" speed (imit
E's ,ontro(" de,oup(e ,ontro( of tor)ue 'nd f(u2
%C motors< Less m'inten'n,e" (ig*t" (ess e2pensi!e" *ig* speed
Coup(ing /et+een tor)ue 'nd f(u2 9 !'ri'/(e
sp'ti'( 'ng(e /et+een rotor 'nd st'tor f(u2
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
#verview o$ %C and DC drives
&e$ore semiconductor devices were introduced ('()*+)
- .C motors for fi2ed speed 'pp(i,'tions
- DC motors for !'ri'/(e speed 'pp(i,'tions
%$ter semiconductor devices were introduced (()*+s)
- V'ri'/(e fre)uen, sour,es '!'i('/(e 9 .C motors in !'ri'/(e
speed 'pp(i,'tions
- Coup(ing /et+een f(u2 'nd tor)ue ,ontro(
- .pp(i,'tion (imited to medium perform'n,e 'pp(i,'tions 9
f'ns" /(o+ers" ,ompressors 9 s,'('r ,ontro(
- >ig* perform'n,e 'pp(i,'tions domin'ted / DC motors 9
tr',tions" e(e!'tors" ser!os" et,
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
#verview o$ %C and DC drives
%$ter semiconductor devices were introduced (()*+s)
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
#verview o$ %C and DC drives
%$ter vector control drives were introduced ((),+s)
- .C motors used in *ig* perform'n,e 'pp(i,'tions 9 e(e!'tors"
tr',tions" ser!os
- .C motors f'!or'/(e t*'n DC motors 9 *o+e!er ,ontro( is
,omp(e2 *en,e e2pensi!e
- Cost of mi,ropro,essor;semi,ondu,tors de,re'sing 9predi,ted
%$ e'rs 'go .C motors +ou(d t'ke o!er DC motors
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Classi$ication o$ I drives (Buja, Kamierkowski, Direct torque control of PWM inverter-fed A motors - a surve!",
#$$$ %ransactions on #ndustrial $lectronics, &''()
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics

!
8
m
8
f
( )
dt
Mv d
F F
f m
=
Ne+ton:s ('+
Linear motion. constant
- 8irst order differenti'( e)u'tion for speed
- Se,ond order differenti'( e)u'tion for disp(',ement
( )
Ma
dt
x d
M
dt
v d
M F F
2
2
f m
= = =
2
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics
- 8irst order differenti'( e)u'tion for 'ngu('r fre)uen, 4or !e(o,it5
- Se,ond order differenti'( e)u'tion for 'ng(e 4or position5
( )
2
2
m
l e
dt
d
J
dt
d
J T T

=

=
?it* ,onst'nt @"
Rotational motion
& Norm'(( is t*e ,'se for e(e,tri,'( dri!es
( )
dt
J d
T T
m
l e

=

T
e
"
m
T
(
/
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
dt
d
J T T
m
l e

+ =
8or ,onst'nt @"
( )
dt
d
J
m

Tor)ue dn'mi, 9 present during speed tr'nsient

( )
dt
d
m

.ngu('r ',,e(er'tion
L'rger net tor)ue 'nd sm'((er @ gi!es f'ster ',,e(er'tion
0.19 0.2 0.21 0.22 0.23 0.24 0.25
-200
-100
0
100
200
s
p
e
e
d

(
r
a
d
/
s
)
0.19 0.2 0.21 0.22 0.23 0.24 0.25
0
5
10
15
20
t
o
r
q
u
e

(
N
m
)
Elementar- principles o$ mec"anics
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
dt
d
J T T
m
l e

+ =
Elementar- principles o$ mec"anics
dt
d
@ T T
m
m ( m e m

+ =
dt
d
@ p p
m
m L D

+ =
Dri!ing
po+er
Lo'd
po+er
C*'nge
in AE
- . step ,*'nge in speed re)uires 'n infinite dri!ing po+er
- T*erefore is ' ,ontinuous !'ri'/(e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
dt
d
J T T
m
l e

+ =
Elementar- principles o$ mec"anics
dt
d
@ T T
m
m ( m e m

+ =
dt
d
@ p p
m
m L D

+ =
Integr'ting t*e e)u'tion +it* time 'nd setting t*e initi'( speed 4$5 B
$" +e o/t'in t*e fo((o+ing<
w
D
= p
D
d
0
t

= p
L
d
0
t

+
m
J
d
m
d
0
t

d
w
D
=w
L
+J
m
0

d
m
w
D
=w
L
+
1
2
J
m
2
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics
. dri!e sstem t*'t re)uire f'st ',,e(er'tion must *'!e
- sm'(( o!er'(( moment of inerti'
- ('rge motor tor)ue ,'p'/i(it
.s t*e motor speed in,re'ses" t*e kineti, energ '(so in,re'ses.
During de,e(er'tion" t*e dn'mi, tor)ue ,*'nges its sign 'nd t*us
*e(ps motor to m'int'in t*e speed. T*is energ is e2tr',ted from t*e
stored kineti, energ<
@ is purpose( in,re'sed to do t*is Co/ D
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics
( )
dt
v d
M F F
l e
=
Combination o$ rotational and translational motions
r r

T
e"

T
(
8
(
8
e
!

T
e
B r48
e
5" T
(
B r48
(
5" ! Br
dt
d
M r T T
2
l e

=
r
#
M & E)ui!'(ent moment inerti' of t*e
(ine'r( mo!ing m'ss
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Elementar- principles o$ mec"anics 0 e$$ect o$ 1earin1
Motors designed for *ig* speed 're sm'((er in size 'nd !o(ume
Lo+ speed 'pp(i,'tions use ge'r to uti(ize *ig* speed motors
Motor
T
e
Load 1,
T
l1
Load 2,
T
l2
J
1
J
2

m

m1

m2
n
1
n
2
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Motor
T
e
Load 1,
T
l1
Load 2,
T
l2
J
1
J
2

m

m1

m2
n
1
n
2
Motor
T
e
J
equ
Equivalent
Load , T
lequ

m
2
2
2 1 equ
J a J J + =
T
lequ
= T
l1
+ a
2
T
l2

a
2
= n
1
/n
2
=
2
/
1

Elementar- principles o$ mec"anics 0 e$$ect o$ 1earin1
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue3speed 2uadrant o$ operation

T
(
4
5 6
T 7ve
7ve
P
m
7ve
T 3ve
7ve
P
m
3ve
T 3ve
3ve
P
m
7ve
T 7ve
3ve
P
m
3ve
- Eu'dr'nt of oper'tion is
defined / t*e speed 'nd
tor)ue of t*e motor
- Most rot'ting e(e,tri,'(
m',*ines ,'n oper'te in F
)u'dr'nts
- Not '(( ,on!erters ,'n
oper'te in F )u'dr'nts
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue3speed 2uadrant o$ operation

T
T
e

m
T
e
T
e
T
e

m

m
- Eu'dr'nt of oper'tion is
defined / t*e speed 'nd
tor)ue of t*e motor
- Most rot'ting e(e,tri,'(
m',*ines ,'n oper'te in F
)u'dr'nts
- Not '(( ,on!erters ,'n
oper'te in F )u'dr'nts
Quadrant 1
Forward motoring
Quadrant 2
Forward braking
Quadrant 3
Reverse motoring
Quadrant 4
Reverse braking
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
otor stead- state tor2ue3speed c"aracteristic (natural
c"aracteristic)
Sn,*ronous m,*
Indu,tion m,*
Sep'r'te( ; s*unt DC m,*
Series DC
S6EED
TOREUE
&- usin1 power electronic converters. t"e motor c"aracteristic
can be c"an1e at will
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Load stead- state tor2ue3speed c"aracteristic
S6EED
TOREUE
8rictional tor2ue (passive load)
- E2ist in '(( motor&(o'd dri!e
sstem simu(t'neous(
- In most ,'ses" on( one or t+o
're domin'ting
- E2ists +*en t*ere is motion
TG C
Cou(om/ fri,tion
TG
Vis,ous fri,tion
TG
#
8ri,tion due to tur/u(ent f(o+

T
L
T
e
Ve*i,(e dri!e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Load stead- state tor2ue3speed c"aracteristic
Constant tor2ue. e919 1ravitational tor2ue (active load)
S6EED
TOREUE
Hr'!it'tion'( tor)ue
1
8
L
T
L
: r8
L
: r 1 sin
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Load stead- state tor2ue3speed c"aracteristic
;oist drive
Speed
Tor)ue
Gravitational torque
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Load and motor stead- state tor2ue
.t ,onst'nt speed" T
e
B T
(

Ste'd st'te speed is 't point of interse,tion /et+een T
e
'nd T
(
of t*e
ste'd st'te tor)ue ,*'r',teristi,s
T
(
T
e
Ste'd st'te
speed

r
Tor2ue
Speed

r#

r%

r1
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue and speed pro$ile
(+ 4* 6* <+ t (ms)
speed
(rad=s)
(++
T*e sstem is des,ri/ed /< T
e
9 T
(o'd
B @4d;dt5 I 7
@ B $.$1 kg&m#" 7 B $.$1 Nm;r'ds&1 'nd T
(o'd
B 0 Nm.
?*'t is t*e tor)ue profi(e 4tor)ue needed to /e produ,ed5 J
Speed profi(e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue and speed pro$ile
(+ 4* 6* <+ t (ms)
speed
(rad=s)
(++
$ K t K1$ ms Te B $.$14$5 I $.$14$5 I 0 Nm B 0 Nm
1$ms K t K#0 ms Te B $.$141$$;$.$105 I$.$14&LL.L3 I LLLL.L3t5 I 0
B 431 I LL.L3t5 Nm
#0ms K tK F0ms Te B $.$14$5 I $.$141$$5 I 0 B L Nm
F0ms K t K L$ms Te B $.$14&1$$;$.$105 I $.$14F$$ &LLLL.L3t5 I 0
B &03.L3 9 LL.L3t
l e
T B
dt
d
J T + +

=
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue and speed pro$ile
1$ #0 F0 L$
speed
4r'd;s5
1$$
1$ #0 F0
L$
Tor)ue
4Nm5
3#.L3
31.L3
&L$.L3
&L1.L3
0
L
t 4ms5
t 4ms5
Speed profi(e
tor)ue profi(e
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Tor2ue and speed pro$ile
1$ #0 F0
L$
Tor)ue
4Nm5
3$
&L0
L
t 4ms5
8or t*e s'me sstem 'nd +it* t*e motor tor)ue profi(e
gi!en '/o!e" +*'t +ou(d /e t*e speed profi(eJ
@ B $.$$1 kg&m#" 7 B $.1 Nm;r'ds&1
'nd T
(o'd
B 0 Nm.
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
Ratin1s o$ converters and motors
%orque
*+eed
Power limit for
continuous torque
Continuous
torque limit
Maximum
speed limit
Power limit for
transient torque
Transient
torque limit
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
Un'!oid'/(e po+er (osses ,'uses temper'ture in,re'se
Insu('tion used in t*e +indings 're ,('ssified /'sed on t*e
temper'ture it ,'n +it*st'nd.
Motors must /e oper'ted +it*in t*e '((o+'/(e m'2imum temper'ture
Sour,es of po+er (osses 4*en,e temper'ture in,re'se5<
& Condu,tor *e't (osses 4i
#
R5
& Core (osses 9 *steresis 'nd edd ,urrent
& 8ri,tion (osses 9 /e'rings" /rus* +ind'ge
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
E(e,tri,'( m',*ines ,'n /e o!er(o'ded 's (ong t*eir temper'ture
does not e2,eed t*e temper'ture (imit
.,,ur'te predi,tion of temper'ture distri/ution in m',*ines is
,omp(e2 9 *etrogeneous m'teri'(s" ,omp(e2 geometri,'( s*'pes
Simp(ified 'ssuming m',*ine 's "omo1eneous /od
p
#
p
1
T"ermal capacit-. C (!s=
o
C)
Sur$ace %. (m
4
)
Sur$ace temperature. T (
o
C)
Input *e't po+er
4(osses5
Emitted *e't po+er
4,on!e,tion5
%mbient temperature. T
o
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
6o+er /'('n,e<
2
p p
dt
dT
C =
>e't tr'nsfer / ,on!e,tion<
! T T " # p
o 2
=
C
p
T
C
#
dt
T d

?*i,* gi!es<
( )

=
$ t
%
e
#
p
T
#
C

= " +*ere
?it* T4$5 B $ 'nd p
1
B p
*
B ,onst'nt "
" +*ere is t*e ,oeffi,ient of *e't tr'nsfer
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
t

T
t

=
$ t
e ! & " T T
T
( )

=
$ t %
e
#
p
T
>e'ting tr'nsient
Coo(ing tr'nsient
#
p
%

! & " T
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
T*e dur'tion of o!er(o'ding depends on t*e modes of oper'tion<
Continuous dut-
S"ort time intermittent dut-
Periodic intermittent dut-
Continuous dut-
Lo'd tor)ue is ,onst'nt o!er e2tended period mu(tip(e
Ste'd st'te temper'ture re',*ed
Nomin'( output po+er ,*osen e)u'(s or e2,eeds ,ontinuous (o'd
T
t
#
p
n

p
1n
Losses due to continuous load
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
S"ort time intermittent dut-
Oper'tion ,onsider'/( (ess t*'n time ,onst'nt"
Motor '((o+ed to ,oo( /efore ne2t ,,(e
Motor ,'n /e o!er(o'ded unti( m'2imum temper'ture re',*ed
t
1

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
S"ort time intermittent dut-
#
p
s

max
T
#
p
n

t
T
p
1
p
1n
p
1s
t
1
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
S"ort time intermittent dut-

t
T
( )

=
$ t s
e
#
p
T
max
T
#
p
n

( )

$ t
s n
e
#
p
#
p
( )


$ t
s n

e p p

$ t
n
s
t e

p
p

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
Periodic intermittent dut-
Lo'd ,,(es 're repe'ted periodi,'((
Motors 're not '((o+ed to ,omp(ete( ,oo(ed
8(u,tu'tions in temper'ture unti( ste'd st'te temper'ture is re',*ed
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
Periodic intermittent dut-
p1
t
*e'ting ,oo((ing
,oo((ing
,oo((ing
*e'ting
*e'ting
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
Periodic intermittent dut-
E2'mp(e of ' simp(e ,'se 9 p
1
re,t'ngu('r periodi, p'ttern
p
n
B 1$$k?" nomin'( po+er
M B M$$kg
B $.N#" nomin'( effi,ien,
T

B 0$
o
C" ste'd st'te temper'ture rise due to p
n
'( )

p p
n
=

= .(so" C $ ( *&
+&
)&&&
T
p
#
o

= =

If +e 'ssume motor is so(id iron of spe,ifi, *e't ,

8E
B$.FM k?s;kg
o
C"
t*erm'( ,'p',it C is gi!en /
C B ,
8E
M B $.FM 4M$$5 B %MF k?s;
o
C
8in'(( " t*erm'( time ,onst'nt B %MF$$$;1M$ B 5* minutes
INTRODUCTION TO ELECTRIC DRIVES & MODULE 1
T"ermal considerations
Periodic intermittent dut-
E2'mp(e of ' simp(e ,'se 9 p
1
re,t'ngu('r periodi, p'ttern
8or ' dut ,,(e of %$1 4period of #$ mins5" *e't (osses of t+i,e t*e nomin'("
0 0.5 1 1.5 2 2.5
x 10
4
0
5
10
15
20
25
30
35