BIRLA INSTITUTE OF TECHNOLOGY, MESRA

Assignment

Name- Monika Sharma

Roll Number- BE/25045/16
Branch- EEE
Semester- VI
Subject- Industrial Drives and Control
 MO/13- Mid Semester
Q1.(a) Explain (i) Chopper (ii) Cycloconverter
Ans:- (i) Chopper- Chopper converts a fixed dc voltage into variable dc voltage.
They are designed using semiconductor devices such as power transistors, IGBTs,
GTOs, power MOSFETs and thyristors. Output voltage can ve carried steplesssly by
controlling the duty ratio of the device by low power signals from a control unit.
(ii) Cycloconverter- Cycloconverter converts a fixed frequency level into variable
frequency level. They are built using thyristors and are controlled by firing signals
derived from a low power control unit. Output frequency is restricted to 40% of
supply frequency in order to keep harmonics in the output voltage and source current
within acceptable limits.
(b) Explain multiquadrant operation Illustrate your answer with the example
of a hoist.
Ans:- A motor operates in two modes- motoring and raking. In motoring, it converts
electrical energy to mechanical energy, which supports its motion. In braking it
works as a generator converting mechanical energy to electrical energy, and thus,
opposes the motion. Motor can provide motoring and braking operations for both
forward and reverse directions. Positive motor torque is defines as the torque which
produces acceleration or the positive rate of change of speed in forward direction.
Positive load torque is opposite in direction to the positive motor torque. Motor
torque is considered negative if it produces deceleration.
Wm

Forward Forward
braking motoring
II I

T
III IV
Reverse Reverse
motoring braking
A hoist consists of a rope wound on a drum coupled to the motor shaft. One end of
the rope is tied to a cage which is used to transport man or material from one level
to another level. Other end of the rope has a counter weight. Weight of the counter
weight is chosen to be higher than the weight of an empty cage but lower than of a
fully leaded cage. Forward direction of motor speed will be one which gives upward
motion of the cage. Though the positive load torque is opposite in sign to the positive
motor torque, it is convenient to plot it on the same axis.
Q2. A motor drives four loads, two have rotational motion and two translational
motion. Moment of inertia of the motor is 1.2 kg-m2. Motor runs at a speed of
1000 rpm. Following are the details about the four leads.
Load Type of motion Speed Inertia/Mass Torque/Force
I Rotational 200rpm 7kg-m2 10N-m
2
II Rotational 200rpm 5kg-m 6N-m
III Translational 10m/s 10kg 20N
IV Translational 10m/s 20kg 30N
Calculate the equivalent inertia of the system referred to the motor shaft and
power rating of the motor, assuming negligible loss in the transmission system.
Ans:- Given: 𝐽𝑚 = 1.2 𝑘𝑔 − 𝑚2 ;
𝜔𝑚 = 1000𝑟𝑝𝑚
10𝑚
𝜔1 = 200𝑟𝑝𝑚; 𝜔2 = 200𝑟𝑝𝑚; 𝑣3 = ; 𝑣4 = 10𝑚/𝑠
𝑠
𝐽1 = 7𝑘𝑔𝑚2 ; 𝐽2 = 5𝑘𝑔𝑚2 ; 𝑀3 = 10𝑘𝑔; 𝑀4 = 20𝑘𝑔
𝑇1 = 10𝑁𝑚; 𝑇2 = 6𝑁𝑚; 𝐹3 = 20𝑁; 𝐹4 = 30𝑁
𝑣3 𝑣4
𝐽𝑒𝑞𝑢 = 𝐽𝑚 + 𝐽1 + 𝐽2 + 𝑀3 ( )2 + 𝑀4 ( )2
𝜔𝑚 𝜔𝑚
10 10
𝐽𝑒𝑞𝑢 = 1.2 + 7 + 5 + 10( )2 + 20( )2
2𝜋 2𝜋
1000 ∗ 1000 ∗
60 60
=15.202 kg𝑚2
𝐹3 𝑣3 𝐹4 𝑣4
𝑇𝑙𝑒𝑞𝑢 = 𝑇1 + 𝑇2 + +
𝜔𝑚 𝜔𝑚
 20 ∗ 10 30 ∗ 10
𝑇𝑙𝑒𝑞𝑢 = 10 + 6 + +
2𝜋 2𝜋
1000 ∗ 1000 ∗
60 60
=20.78 N-m
SP/17 End Semester
Q.1(a) Prove the following statement “In a drive an equilibrium point will be
stable when an increase in speed causes load torque to exceed the motor torque
i.e.
𝒅𝑻𝑳 𝒅𝑻
>
𝒅𝝎𝒏 𝒅𝝎𝒏
Ans:- As an example let us examine the steady state stability of equilibrium point A
in Fig. The equilibrium point will be termed as stable when the operation will be
restored to it after a small departure from it due to a disturbance in the motor or load.
Let the disturbance causes a reduction of Δ𝜔𝑛 in speed. At new speed, motor torque
is greater than the load torque, consequently, motor will accelerate and operation
will be restored to A. Similarly, an increase of Δ𝜔𝑛 in speed caused by a disturbance
will make load toque greater than the motor torque, resulting into deceleration and
restoration of operation to point A. Hence the drive is steady state stable at point A.
Wm

Wm

T Tl
ΔWn

Torque

Above discussion suggests that an equilibrium point will be stable when an increase
in speed causes load torque to exceed the motor torque, i.e. when at equilibrium
point following condition is satisfied:
 dTL dT
>
dωn dωn
Q.1(b) Figure shows the plots of speed vs load torque. Comment on stability of
the operating points A, B, C, and D.

Speed

TL1
A

T
B

C TL2
T
D
Torque

Ans:- Condition for stability is that an equilibrium point will be stable when an
increase in speed causes load torque to exceed the motor torque.
(i) At point A, an increment in speed causes greater motor torque than the
load torques. Point A is unstable.
(ii) At point B, when we increases speed then load torque exceeds to motor
torque. Point B is stable.
(iii) At point C, increase in speed causes increase in load torque. Point C is
stable.
(iv) At point D, increase in speed causes increase in motor torque. Point D
is unstable.
Q.1(c) Describe four quadrant operation of Hoist.
Ans:- A hoist consists of a rope wound on a drum coupled to the motor shaft. One
end of the rope is tied to a cage which is used to transport man or material from one
level to another level. Other end of the rope has a counter weight. Weight of the
counter weight is chosen to be higher than the weight of an empty cage but lower
than of a fully leaded cage. Forward direction of motor speed will be one which
gives upward motion of the cage. Though the positive load torque is opposite in sign
to the positive motor torque, it is convenient to plot it on the same axes. Load torque
has been shown to be constant and independent of speed. This is nearly true with a
low speed hoist where forces due to friction and windage can be considered to be
negligible compared to those due to gravity. Gravitational toque does not change its
sign even when the direction of driving motor is reversed. Load torque 𝑇𝑙1 in
quadrants I and IV represent speed torque characteristic for the loaded hoist. This
torque is the difference of torques due to loaded hoist and counter weight. The load
torque line 𝑇𝑙2 in quadrants II and III is the speed torque characteristic for an empty
hoist. This torque is the difference of torques due to counter weight and the empty
hoist. Its sign is negative because the weight of a counter weight is always higher
than that of an empty cage.

Wm
Tl2 Tl1 T
T Tl
Tl Wm
Wm
Counter
weight

Counter
weight Loaded
Empty cage
II I
cage
III T
T IV T
Tl Tl
Wm Wm

Counter Counter
weight Loaded
weight
cage
Empty
cage

Four quadrant operation of a motor driving a hoist load

SP/16 End Semester

Q.1(a) What are the functions of a power modulator?
Ans:- (i) Modulates flow of power from the source to the motor in such a manner
that motor is imparted speed torque characteristics required by the load.
(ii) During transient operations, such as starting, braking and sped reversal, it
restricts source and motor currents within permissible values; excessive current
drawn from source may overload it or may cause a voltage dip.
(iii) Converts electrical energy of the source in the form suitable to the motor, e.g. if
the source is dc and an induction motor is to be employed, then the power modulator
is required to convert dc into a variable frequency ac.
(iv) Selects the mode of operation of the motor, i.e. motoring or braking.
(b) A 3 phase, 50 kW, 6 pole, 960 rpm IM has a constant torque of 500 N-m and
at wide intervals additional torque of 1400 N-m for 10 sec. Calculate (i) the
weight of the flywheel used for load equalization, if the motor torque were not
to exceed twice the rated torque and the radius of gyration is 0.9 m, (ii) the time
taken after removal of additional load before the motor torque becomes 700 N-
m.
Assume that IM has linear torque characteristics.
Ans:-
𝑇𝑟 𝑡ℎ
(i) 𝐽= [ 𝑇𝑙ℎ −𝑇𝑚𝑖𝑛 ]
(𝜔𝑚0 −𝜔𝑚𝑟 ) 𝑙𝑜𝑔𝑒 ( )
𝑇𝑙ℎ −𝑇𝑚𝑎𝑥

Where J= moment of inertia

𝑇𝑟 = 𝑟𝑎𝑡𝑒𝑑 𝑡𝑜𝑟𝑞𝑢𝑒

𝜔𝑚0 = 𝑛𝑜 𝑙𝑜𝑎𝑑 𝑠𝑝𝑒𝑒𝑑 (𝑟𝑎𝑑⁄𝑠𝑒𝑐 )

𝜔𝑚𝑟 = 𝑠𝑝𝑒𝑒𝑑 𝑎𝑡 𝑟𝑎𝑡𝑒𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 (𝑟𝑎𝑑/sec)
𝑇𝑙ℎ = ℎ𝑖𝑔ℎ 𝑙𝑜𝑎𝑑 𝑡𝑜𝑟𝑞𝑢𝑒
𝑇𝑚𝑖𝑛 = 𝑚𝑜𝑡𝑜𝑟 𝑡𝑜𝑟𝑞𝑢𝑒
𝑇𝑚𝑎𝑥 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑡𝑜𝑟𝑞𝑢𝑒
𝑡ℎ = 𝑡𝑖𝑚𝑒
Given: 𝑡ℎ = 10 𝑠𝑒𝑐; 𝑇𝑚𝑎𝑥 = 500𝑁 − 𝑚; 𝑇𝑚𝑖𝑛 = 2 ∗ 𝑇𝑟 ; 𝑁𝑚𝑟 = 960𝑟𝑝𝑚
120𝑓 2𝜋
𝑇𝑙ℎ = 500 + 1400 = 1900𝑁 − 𝑚; 𝜔𝑚0 = ∗ = 104.6 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑝 60

We know, 𝑃 = 𝑇𝑟 ∗ 𝜔𝑚𝑟
 2𝜋
𝜔𝑚𝑟 = 960 ∗ = 100.48 𝑟𝑎𝑑/𝑠𝑒𝑐
60
50000
𝑇𝑟 = = 497.6𝑁 − 𝑚
100.48

497.6 10
𝐽= [ ]
(104.6 − 100.48) 𝑙𝑜𝑔 (1900 − 2 ∗ 497.6)
𝑒 1900 − 500
= 6389.9 𝑘𝑔 − 𝑚2
𝐽 = 𝑊 ∗ 𝑅2
6389.7 = 𝑊 ∗ (0.9)2
= 7888.5 𝑘𝑔
(c) Explain steady state stability of electrical drives.
Ans:- Equilibrium speed of a motor lead system is obtained when motor torque
equals the load torque. Drive will operate in steady state at this speed, provided it is
the speed of stable equilibrium. Concept of steady state stability has been developed
tor easily evaluate the stability of an equilibrium point from the steady state speed
torque curves of the motor and load, thus avoiding solution of differential equations
valid for transient operation of the drive. In most drives, the electrical time constant
of the motor is negligible compared to its mechanical time constant. Therefore,
during transient operation. Motor can be assumed to be in electrical equilibrium
implying that steady state speed torque curves are also applicable to the transient
operation.
As an example let us examine the steady state stability of equilibrium point A in Fig.
The equilibrium point will be termed as stable when the operation will be restored
to it after a small departure from it due to a disturbance in the motor or load. Let the
disturbance causes a reduction of Δ𝜔𝑛 in speed. At new speed, motor torque is
greater than the load torque, consequently, motor will accelerate and operation will
be restored to A. Similarly, an increase of Δ𝜔𝑛 in speed caused by a disturbance will
make load toque greater than the motor torque, resulting into deceleration and
restoration of operation to point A. Hence the drive is steady state stable at point A.
 Wm

Wm

Wm

Wm
T Tl Tl T
T Tl T
C D
ΔWn

A B
Tl

Torque Torque Torque Torque

Points A and C are stable and B and D are unstable

SP/16 Mid semester

Q.1(a) What are the advantages of electrical drives?
Ans:- (i) They have flexible control characteristics. The steady state and dynamic
characteristics of electrical drives can be shaped to satisfy load requirements.
(ii) They are available in wide range of torque, speed and power.
(iii) Electric motors have high efficiency, low no load losses and considerable short
time overloading capability.
(iv) Do not pollute the environment.
(v) Can operate in all the four quadrants of speed torque plane.
(b) Drive an expression for moment of inertia of a flywheel through load
equalization.
Ans:- Let 𝜔𝑚0 = no- load speed
𝜔𝑚𝑟 = rated speed
𝑇𝑟 = rated torque
𝜔𝑚0 −𝜔𝑚𝑟
𝜔𝑚 = 𝜔𝑚0 − .𝑇 (1)
𝑇𝑟

Differentiating equation and multiplying both sides by J (moment of inertia) gives

 𝑑𝜔𝑛 𝐽(𝜔𝑚0 − 𝜔𝑚𝑟 ) 𝑑𝑇
𝐽 =−
𝑑𝑡 𝑇𝑟 𝑑𝑡
𝑑𝑇
=-𝜏𝑚
𝑑𝑡
𝐽(𝜔𝑚0 −𝜔𝑚𝑟 )
Where 𝜏𝑚 =
𝑇𝑟

𝜏𝑚 is defined as the mechanical time constant of the motor. It is the time required for
the motor speed to change by (𝜔𝑚0 − 𝜔𝑚𝑟 ) when motor torque is maintained
constant at rated value 𝑇𝑟 .
𝑑𝑇
𝜏𝑚 + 𝑇 = 𝑇𝑙
𝑑𝑡
Consider now a periodic load torque, a cycle of which consists of one high load
period with torque 𝑇𝑙ℎ and duration 𝑡ℎ , and one light load period with torque 𝑇𝑙𝑙 and
duration 𝑡𝑙 . For high load period (0 ≤ t ≤ 𝑡ℎ )
−𝑡⁄ −𝑡⁄
𝑇 = 𝑇𝑙ℎ (1 − 𝑒 𝜏𝑚 ) + 𝑇𝑚𝑖𝑛 𝑒 𝜏𝑚

0 ≤ t ≤ 𝑡ℎ

Where 𝑇𝑚𝑖𝑛 is the motor torque at t=0; if motor torque at the end of heavy load
period is 𝑇𝑚𝑎𝑥
−𝑡ℎ⁄ −𝑡ℎ⁄
𝑇𝑚𝑎𝑥 = 𝑇𝑙ℎ (1 − 𝑒 𝜏𝑚 ) + 𝑇𝑚𝑖𝑛 𝑒 𝜏𝑚

For the light load period 𝑡ℎ ≤ 𝑡 ≤ 𝑡ℎ + 𝑡𝑙 with the initial motor torque equal to 𝑇𝑚𝑎𝑥
is
−𝑡 ′⁄ −𝑡 ′⁄
𝑇 = 𝑇𝑙𝑙 (1 − 𝑒 𝜏𝑚 ) + 𝑇𝑚𝑎𝑥 𝑒 𝜏𝑚

𝑡 ′ = 𝑡 − 𝑡ℎ

When operating in steady state motor torque at the end of a cycle will be the same
as at the beginning of cycle. Hence at 𝑡 ′ = 𝑡𝑙 , T =𝑇𝑚𝑖𝑛
−𝑡𝑙⁄ −𝑡𝑙⁄
𝑇𝑚𝑖𝑛 = 𝑇𝑙𝑙 (1 − 𝑒 𝜏𝑚 ) + 𝑇𝑚𝑎𝑥 𝑒 𝜏𝑚
 𝑡ℎ
𝜏𝑚 =
𝑇 − 𝑇𝑚𝑖𝑛
𝑙𝑜𝑔𝑒 ( 𝑙ℎ )
𝑇𝑙ℎ − 𝑇𝑚𝑎𝑥

𝑇𝑟 𝑡ℎ
𝐽= [ ]
(𝜔𝑚0 − 𝜔𝑚𝑟 ) 𝑙𝑜𝑔 ( 𝑇𝑙ℎ − 𝑇𝑚𝑖𝑛 )
𝑒 𝑇 −𝑇
𝑙ℎ 𝑚𝑎𝑥

𝑡𝑙
𝜏𝑚 =
𝑇 − 𝑇𝑙𝑙
𝑙𝑜𝑔𝑒 ( 𝑚𝑎𝑥 )
𝑇𝑚𝑖𝑛 − 𝑇𝑙𝑙

𝑇𝑟 𝑡𝑙
𝐽= [ ]
(𝜔𝑚0 − 𝜔𝑚𝑟 ) 𝑙𝑜𝑔 (𝑇𝑚𝑎𝑥 − 𝑇𝑙𝑙 )
𝑒 𝑇
𝑚𝑖𝑛 − 𝑇𝑙𝑙

Q2.(a) Define active and passive load torques with examples.

Ans:- Active load torques: Load torques which have the potential to drive the motor
under equilibrium condition are called active load torques. Such load torques usually
retain their sign when the direction of the drive rotation is changed.
Examples- Gravitational force, tension, compression and torsion
Passive load torques: Load torques which always oppose the motion and change
their sign on the reversal of motion are called passive load torques.
Example- Friction, windage, cutting etc.
(b) State essential parts of electrical drives. What are the functions of a power
modulator?
Ans:- Motion control is required in large number of industrial and domestic
applications like transportation systems, rolling mills, paper machines, textile mills,
machine tools, fans, pumps, robots, washing machines etc. Drives employing
electric motors are known as electrical drives.
 Source Power Modulator Motor Load

Sensing
Control unit
unit

Input
command

Block diagram of an electrical drive

Functions of a power modulator:

(i) Modulates flow of power from the source to the motor in such a manner that
motor is imparted speed torque characteristics required by the load.
(ii) During transient operations, such as starting, braking and sped reversal, it
restricts source and motor currents within permissible values; excessive current
drawn from source may overload it or may cause a voltage dip.
(iii) Converts electrical energy of the source in the form suitable to the motor, e.g. if
the source is dc and an induction motor is to be employed, then the power modulator
is required to convert dc into a variable frequency ac.
(iv) Selects the mode of operation of the motor, i.e. motoring or braking.