Electrical Drives

Lecture 3
Dr. Magdi A. Mosa
Electrical Power and Machine Department
Faculty of Engineering – Helwan University
Today Objectives

1- Determination the moment of inertia of a system consists of many components

𝑇𝑒
ω

𝐽𝑚 𝐽𝐿
𝐽𝐶

𝑇𝐿
2- Equivalent Torque or Power of Variable Load
𝑇𝐿 𝑇2 = 100

𝑇3 = 80

𝑇1 = 50
𝑇4 = 0
𝑡1 𝑡2 𝑡3 𝑡4 𝑡1

time
𝑡𝑐𝑦𝑐𝑙𝑒
Motor Dynamics
EQUATION OF MOTION
𝑇𝑒
ω

𝐽𝑚 𝐽𝐿

𝐽𝐶

𝑇𝐿
𝑑ω ω2
𝑑ω
𝑇𝑒 − 𝑇𝐿 = 𝐽𝑒𝑞 𝑡 = 𝐽𝑒𝑞
𝑑𝑡 ω1 𝑇𝑒 − 𝑇𝐿

Why we need equivalent moment of inertia? 𝐽𝑒𝑞

1. To calculate the starting, stopping time

2. To determine the acceleration and desecration torque
3. To determine the stored energy
Motor Dynamics
EQUATION OF MOTION
𝑇𝑒
ω
ω

𝐽𝑚 𝐽𝐿 𝐽𝑒𝑞

𝐽𝐶

𝑇𝐿
Stored kinetic energy

1
𝐾𝐸 = 𝐽𝑒𝑞 ω2
2

Dynamic torque
𝑑ω
𝑇𝑑𝑦 = 𝐽𝑒𝑞
𝑑𝑡
Motor Dynamics
1) Direct coupling between motor and rotational load
𝑇𝑒
ω
ω

𝐽𝑚 𝐽𝐿 𝐽𝑒𝑞

𝐽𝐶

𝑇𝐿
Stored kinetic energy

1 1 1 1
𝐾𝐸 = 2 𝐽𝑚 ω2 + 2 𝐽𝑐 ω2 +2 𝐽𝐿 ω2 𝐾𝐸 = 𝐽𝑒𝑞 ω2
2
1 2 1 1 1
𝐽𝑒𝑞 ω = 2 𝐽𝑚 ω2 + 2 𝐽𝑐 ω2 +2 𝐽𝐿 ω2
2

𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝐿

if all components have the speed then the equivalent moment of inertia is the
summation of inertia of all elements
Motor Dynamics
2) Direct coupling between motor and linear load
𝑇𝑒
ω 𝐽𝑑 ω
𝑟𝑑 𝐽𝑒𝑞
𝐽𝑚

𝐽𝐶
1
𝑇𝐿 𝐾𝐸 = 𝐽𝑒𝑞 ω2
𝑣 2
Speed 𝑣 = ω𝑟𝑑 𝑚

Force and Torque 𝑇𝐿 = 𝐹𝑟𝑑 = 𝑚𝑔𝑟𝑑

1 1 1 1
Stored kinetic energy 𝐾𝐸 = 2 𝐽𝑚 ω2 + 2 𝐽𝑐 ω2 +2 𝐽𝑑 ω2 + 2 𝑚𝐿 𝑣 2

1 2 1 1 1 1
𝐽𝑒𝑞 ω = 2 𝐽𝑚 ω2 + 2 𝐽𝑐 ω2 +2 𝐽𝑑 ω2 + 2 𝑚𝑣 2
2

𝑣 2
𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝑑 + 𝑚 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝑑 + 𝑚𝑟𝑑 2
ω

𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝑑 + 𝑚𝑟𝑑 2

Motor Dynamics
2) Direct coupling between motor and linear load
𝑇𝑒 𝑇𝐿
ω 𝐽𝑑
ω
𝑟𝑑
𝐽𝑚 𝐽𝑒𝑞
𝐽𝐶

𝑚2
𝑣

𝑚1
Speed 𝑣 = ω𝑟𝑑

Force and Torque 𝑇𝐿 = 𝐹1 − 𝐹2 𝑟𝑑 = 𝑚1 − 𝑚2 𝑔𝑟𝑑

𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝑑 + 𝑚1 + 𝑚2 𝑟𝑑 2
Motor Dynamics
3) Gear box coupling between motor and rotational load
𝑇𝑒
ω𝑚 𝑇′𝐿 ω𝑚

𝐽𝑚 𝐽𝑒𝑞
𝑇𝐿
𝐽𝐶 ω𝐿
𝐽𝐿 1
𝐾𝐸 = 𝐽𝑒𝑞 ω𝑚 2
2
Gear efficiency (η𝑔 ) ω𝑚 = 𝑖𝑔 ω𝐿
Gear ratio (𝑖𝑔 ) =
𝑛𝑚 𝑇𝐿
𝑛𝐿 𝑇′𝐿 =
𝑖𝑔 η𝑔
Stored kinetic energy
1 1 1
KE= 2 𝐽𝑚 ω𝑚 2 + 2 𝐽𝑐 ω𝑐 2 +2 𝐽𝐿 ω𝐿 2

1 2 1 1 1
𝐽𝑒𝑞 ω 𝑚 = 2 𝐽𝑚 ω𝑚 2 + 2 𝐽𝑐 ω𝑐 2 +2 𝐽𝐿 ω𝐿 2
2

ω𝐿 2 𝐽𝐿 𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +
𝐽𝐿
𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +𝐽𝐿 = 𝐽𝑚 + 𝐽𝑐 + 2 𝑖𝑔 2
ω𝑚 𝑖𝑔
Motor Dynamics
4) Gear box coupling between motor and linear load
𝑇𝑒
ω𝑚 𝑇′𝐿

𝐽𝑚 ω𝐿

𝐽𝐶 𝐽𝑑
𝑟𝑑

Gear efficiency (η𝑔 ) 𝑇𝐿

𝑛𝑚
Gear ratio (𝑖𝑔 ) = 𝑛𝐿

𝑚 𝑣
𝑇𝐿 𝑚𝑔𝑟𝑑
𝑇′𝐿 = =
𝑖𝑔 η𝑔 𝑖𝑔 η𝑔

𝐽𝑑 +𝑚𝑟𝑑 2
𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 +
𝑖𝑔 2
Motor Dynamics
Example 1 𝑇𝑒
ω𝑚 𝑇′𝐿
𝐽1
𝐽𝑚 ω𝐿

𝐽𝐶 𝐽3
ω𝐿
𝐽𝑑
𝐽2 𝑇𝐿 𝑟𝑑
η𝑔1
𝑣
𝑖𝑔1 𝐽4 𝑇𝐿

𝐽2 +𝐽3 𝐽4+ 𝐽𝑑 +𝑚𝑟𝑑 2 η𝑔2

𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑐 + 𝐽1 + + 𝑚 𝑣
𝑖𝑔1 2 𝑖𝑔2 2 𝑖𝑔1 2 𝑖𝑔2

𝑇𝐿 𝑚𝑔𝑟𝑑
𝑇′𝐿 = =
𝑖𝑔2 η𝑔2 𝑖𝑔1 η𝑔1 𝑖𝑔2 η𝑔2 𝑖𝑔1 η𝑔1
Motor sizing

Motor sizing means determination the required motor power, speed, torque

𝑀𝑜𝑡𝑜𝑟 𝐿𝑜𝑎𝑑
For motor sizing the load divided into categories

𝑇𝐿

𝑇𝐿 𝑇3

𝑇1
𝑇4
𝑡1 𝑡2 𝑡3 𝑡4 𝑡1
time time
𝑡𝑐𝑦𝑐𝑙𝑒

1) Constant load 2) Variable Load

Motor sizing
Constant load
Constant load means the load is constant for at least 3 hours
Because after almost 3 hours of loading the motor temperature will reache to
its steady state value
𝑇𝐿
𝑇𝑟𝑒𝑞 = 𝑘𝑇𝐿

time
𝑃𝑟𝑒𝑞 = 𝑘𝑃𝐿

T𝑒𝑚𝑝
𝑘 is safety factor not less than 1.25 3 hrs. time

For example if a motor is driving load this load requires 20 h.p what is the
required motor size

𝑃𝑟𝑒𝑞 = 𝑘𝑃𝐿 > 1.25 ∗ 20 > 25ℎ𝑝

Equivalent Load
Variable load
Variable load this load is varying due to load it self, starting and stopping,…etc

𝑇𝐿 𝑇2 = 100

𝑇3 = 80

𝑇1 = 50
𝑇4 = 0
𝑡1 𝑡2 𝑡3 𝑡4 𝑡1

time
𝑡𝑐𝑦𝑐𝑙𝑒

To select the motor drives variable load there are four methods
1) Average losses method
2) Equivalent current method
3) Equivalent torque method
4) Equivalent power method
Equivalent Load
Equivalent Torque method

𝑇𝐿 𝑇2 = 100

Equivalent torque is the value of constant

𝑇3 = 80 𝑇𝑒𝑞
load torque which produces the same
amount of heat as the variable load
𝑇1 = 50
𝑇4 = 0

𝑡1 𝑡2 𝑡3 𝑡4 𝑡1

time
𝑡𝑐𝑦𝑐𝑙𝑒

𝑡𝑐𝑦𝑐𝑙𝑒
1 𝑇𝐿 2 𝑇22
𝑇𝑒𝑞 = 𝑇𝑅𝑀𝑆 = 𝑇𝐿 (𝑡) 2 𝑑𝑡
𝑡𝑐𝑦𝑐𝑙𝑒 0
𝑇32

𝑇12 𝑡1 + 𝑇22 𝑡2 + 𝑇32 𝑡3

𝑇𝑒𝑞 = 𝑇𝑅𝑀𝑆 = 𝑇12
𝑡1 + 𝑡2 + 𝑡3 + 𝑡4 𝑇42

𝑡1 𝑡2 𝑡3 𝑡4 𝑡1

𝑇𝑟𝑒𝑞 = 𝑘𝑇𝑒𝑞 𝑡𝑐𝑦𝑐𝑙𝑒

time

𝑘 is safety factor not less than 1.5

Equivalent Load
Equivalent Torque method
𝑇𝐿
𝑇𝑦
𝑇1𝑒𝑞
Note: if the load has linear part
𝑇𝑒𝑞
𝑇2
𝑇𝑥2 + 𝑇𝑦2 + 𝑇𝑥 𝑇𝑦
𝑇1𝑒𝑞 =
3 𝑇𝑥
𝑇3 = 0
𝑡1 𝑡2 𝑡1
𝑡3
2
𝑇1𝑒𝑞 𝑡1 + 𝑇22 𝑡2 𝑡𝑐𝑦𝑐𝑙𝑒
time
𝑇𝑒𝑞 =
𝑡1 + 𝑡2 + 𝑡3

𝑇𝑟𝑒𝑞 = 𝑘𝑇𝑒𝑞

𝑘 is safety factor not less than 1.5

Example
A constant speed motor has the following duty cycle 𝑃𝐿 500
𝑃2
1. Load rising linearly from 200 to 500 kW in 4 min. 400
𝑃1𝑒𝑞
2. Uniform load of 400 kW in 2 min
𝑃𝑒𝑞
3. Regenerative power returned to the supply seducing
linearly from 400 kW to 0 in 3 min. 200
4 𝑚𝑖𝑛 2 𝑚𝑖𝑛 3 𝑚𝑖𝑛 4 𝑚𝑖𝑛
4. Remains idle for 4 min
time
𝑡𝑐𝑦𝑐𝑙𝑒

𝑃3𝑒𝑞
2002 + 5002 + 200(500) -400
𝑃1𝑒𝑞 = = 360.5 𝑘𝑊
3

(−400)2 +02 + 0(−400)

𝑃3𝑒𝑞 = = 230.9 𝑘𝑊
3

2
𝑃1𝑒𝑞 𝑡1 + 𝑃22 𝑡2 + 𝑃3𝑒𝑞
2
𝑡3 360.52 (4) + 4002 (2) + 230.92 (3)
𝑃𝑒𝑞 = = = 277.3 𝑘𝑊
𝑡1 + 𝑡2 + 𝑡3 + 𝑡4 4+2+3+4

𝑃𝑟𝑒𝑞 > 1.5 ∗ 277.3 > 415.9 𝑘𝑊

Example
1) Why we need to determine the system moment of inertia?
2) What is meant by the equivalent torque?
3) What is mean by the equivalent power?
4) What is meant by constant load?
5) What is meant by short load?
6) What is meant by intermittent load?
7) Why we can select smaller motor rating for short loads?
8) Why are the different methods of motor rating selection and which is more accurate
and why?
9) Drive expression for the equivalent torque of variable load?
10) Drive expression for the equivalent torque of variable linear load?
 Dr. Magdi A. Mosa
[email protected]
01282969241