Control of AC and DC

Drives
INTRODUCTION TO ELECTRIC DRIVES

Instructor: Dr. Tanveer Yazdan

[email protected]

Date: (23.09.2021)

Dr. Tanveer Yazdan The University of Lahore, Pakistan 1

INTRODUCTION TO ELECTRIC DRIVES

Electrical Drives

Drives are systems that are used to perform some specific tasks,
such as to move some loads or objects

Source of motion is from prime movers

Drives that employ electric motors as

prime movers are known as Electrical Drives
or
The electric system involving the control of electric motors in both steady
state and dynamic operation. It is achieved through taking into account the
characteristics of the mechanical loads and the behavior of the power
electronic converters.
Dr. Tanveer Yazdan The University of Lahore, Pakistan 2
INTRODUCTION TO ELECTRIC DRIVES

Electrical Drives
Role of Electric Drive:
Efficient conversion of power from electrical to mechanical in
response to an input command to control the mechanical load.

Electrical Electrical Mechanical

System Machine System

Motoring mode Pelec Pmech

Generating mode Pelec Pmech

Dr. Tanveer Yazdan The University of Lahore, Pakistan 3

INTRODUCTION TO ELECTRIC DRIVES

Electrical Drives- Application Area

• Variable torque:
Process plants, conveyors, lifts, excavators, materials handling
equipment, EVs, electric ships, electric aircraft.

• Variable-speed:
Pumps, mill drives, compressors, wind generators, electric vehicles,
railway, other transportation systems, electric ship propulsion.
New applications in vehicles, electrically actuated aircraft, wind and
other energy systems.

• Position servo:
Wire bonding machines (3-axis drive), Machine tools drives, Rolling
mill drives, Mining drives, Ship and platform positioning, Material
handing equipment, Automation systems, Robots

Dr. Tanveer Yazdan The University of Lahore, Pakistan 4

 INTRODUCTION TO ELECTRIC DRIVES

Example on VSD application

Constant speed Variable Speed Drives

valve

Supply
motor pump

Power Power out

In

Power loss
Mainly in valve

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 INTRODUCTION TO ELECTRIC 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

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 INTRODUCTION TO ELECTRIC DRIVES

Example on VSD application

Constant speed Variable Speed Drives

Improves the energy utilization in electric
valve motors and give a large impact to the
overall energy consumption
Supply Supply
motor pump motor
PEC pump

Power Power out

In Power Power out
In

Power loss
Power loss
Mainly in valve

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INTRODUCTION TO ELECTRIC DRIVES

Conventional electric drives (without power electronics)

A Conventional drive system: Via control of DC generator

3-phase
power supply

Fixed speed Variable DC Variable speed

AC DC DC Load
motor Generator Motor

Change the field current

• Bulky
• Inefficient
• inflexible

Dr. Tanveer Yazdan The University of Lahore, Pakistan 8

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Dr. Tanveer Yazdan The University of Lahore, Pakistan 9

INTRODUCTION TO ELECTRIC DRIVES

Why Electronic Control in electric drives?

 Operation with high efficiency and energy saving

 Speed and position control may be essential to the process

 Some processes are enhanced if speed control is available

 Reduction of transients and stresses due to abrupt motion and

ON/OFF operations

 Disturbance rejection from supply and load

 Matching motor and load characteristics

Dr. Tanveer Yazdan The University of Lahore, Pakistan 10

INTRODUCTION TO ELECTRIC DRIVES

Advantages of Modern Electrical Drives

 Flexible control characteristic

• particularly when power electronic converters are employed

 Wide range of speed, torque and power

 High efficiency – low no load losses

 Low noise

 Low maintenance requirements, cleaner operation

 Electric energy easily transported

 Adaptable to most operating conditions

 Available operation in all four torque-speed quadrants

Dr. Tanveer Yazdan The University of Lahore, Pakistan 11

INTRODUCTION TO ELECTRIC DRIVES

Choice of Electrical Drives

The choice of an electrical drive depends on a number of factors. Some
important factors are as follows:
 Steady-state operation requirements (nature of speed-torque
characteristics, speed regulation, speed range, efficiency, duty cycle,
quadrants of operation, speed fluctuations, rating, etc.).
 Transient operation requirement (values of acceleration and deceleration,
starting, braking, speed reversing).
 Requirement of sources (types of source, its capacity, magnitude of voltage,
power factor, harmonics, etc.).
 Capital and running cost, maintenance needs, life periods.
 Space and weight restrictions.
 Environment and location.
 Reliability.
Dr. Tanveer Yazdan The University of Lahore, Pakistan 12
INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

A modern drive system is defined by all of the components that are used
to transmit power to the load.

• The power source

• Power converters

• The Control Unit

• The Prime Mover

• The Feedback Devices

• Mechanical Load
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INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Components of Modern Electric Drive

Input power 3-phase Motor

Load
Power
Electronic
Converters
Unregulated
DC or AC

Feedback
References Controller Voltage, current,
Speed, torque,
speed, etc
position

• Inter-disciplinary • Small

• Several research area • Efficient

• Expanding • Flexible

Dr. Tanveer Yazdan The University of Lahore, Pakistan 14

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

The power source: provides the energy to the drive system

DC Special type of applications

Input power Batteries
(airplanes)

Unregulated
DC or AC
AC Utility Grid
Commonly used
1-ph, 3-ph
Renewable Sources

Power source requirements:

Type, capacity, voltage magnitude, voltage fluctuations, power factor,
harmonics and its effect on loads, ability to accept regenerated power

*Nearly 2/3rd of all electrical power is utilized by electrical machines in the

form of electric drives.
Dr. Tanveer Yazdan The University of Lahore, Pakistan 15
INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Power Electronics: A field of Electrical Engineering that deals with the

Power
application of power semiconductor
Electronic devices for the control and conversion
of electric power Converters

Converter: interfaces the motor with the power source and provides the
motor with adjustable voltage, current and/or frequency

Configurations of Power Electronic Converters depend on:

Sources available

Drive Performance - applications Power Electronic Converters:

- Braking
Electric Energy Electric Energy
- Response - Unregulated - - Regulated -
- Ratings
Dr. Tanveer Yazdan The University of Lahore, Pakistan 16
INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Converters for Motor Drives
(some possible configurations)

DC Drives AC Drives

AC Source DC Source AC Source DC Source

DC-AC-DC DC-DC

AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC

Const. Variable NCC FCC

DC DC
Naturally commutated cycloconverter
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INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

AC DRIVES
AC-DC-AC

control
AC-DC DC-AC

Motor

The common PWM technique: CB-SPWM with ZSS

carrier based PWM with zero sequence signal
SVPWM
Dr. Tanveer Yazdan The University of Lahore, Pakistan 18
INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Motor
Input power Load
Power
Electronic
Converters
Unregulated
DC or AC

Feedback
References Controller Voltage, current,
Speed, torque,
speed, etc
position

Dr. Tanveer Yazdan The University of Lahore, Pakistan 19

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Controller

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INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Controller

SCALAR CONTROL VECTOR CONTROL

Microprocessor/Microcontroller based Trend: DSP- based, FPGA
Less computational requirement High computational requirement
Low-medium performance – real time torque, flux
estimations
High performance

Controller: supervises the operation of the whole system to ensure

stability and enhance the overall performance

Dr. Tanveer Yazdan The University of Lahore, Pakistan 21

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Drive control structures based on Newton’s laws:

Dr. Tanveer Yazdan The University of Lahore, Pakistan 22

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

Motor
Input power Load
Power
Electronic
Converters
Unregulated
DC or AC

sensors
Feedback
References Controller Voltage, current,
Speed, torque,
speed, etc
position

Dr. Tanveer Yazdan The University of Lahore, Pakistan 23

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

sensors
Feedback
Voltage, current,
speed, etc

Dr. Tanveer Yazdan The University of Lahore, Pakistan 24

INTRODUCTION TO ELECTRIC DRIVES

Modern electric drives (With power electronic converters)

sensors
Feedback
Voltage, current, Phase currents Control &
speed, etc Hall effect device Protection

DC link voltage Observers Rotor

Hall effect device Speed

Torque
Torque sensor
Torque
Rotor Speed
Mech. speed sensor Control &
Protection

Dr. Tanveer Yazdan The University of Lahore, Pakistan 25

INTRODUCTION TO ELECTRIC DRIVES

Elementary principles of mechanics

v

x Newton’s law

Fm dMv
M Fm  Ff 
Ff dt

Linear motion, constant M

dv  d2 x
Fm  Ff  M  M 2  Ma
dt dt

• First order differential equation for speed

• Second order differential equation for displacement

Dr. Tanveer Yazdan The University of Lahore, Pakistan 26

INTRODUCTION TO ELECTRIC DRIVES

Electrical Drives
Rotational motion and Torque Transformations
In general, the load torque is a function of speed

e.g. In fans and pumps, the load torque is proportional to

the square of the speed.
The motor is often connected to the load through a
set of gears. The gears have a teeth ratio and can be
treated as torque transformers,

Dr. Tanveer Yazdan The University of Lahore, Pakistan 27

INTRODUCTION TO ELECTRIC DRIVES

Elementary principles of mechanics


Tem TL Load
Motor

Equation of motion

Tem electromagnetic torque produced by motor (applied torque)

Tem is opposed by load torque, TL (resisting torque)

The difference,Tem  TL TJ , will accelerate the system

d Tem TL TJ
  where J is the moment of inertia
dt J J
Equation of motion enables us to determine the variation of torque, current and
speed with respect to time during transient operation of drive
Dr. Tanveer Yazdan The University of Lahore, Pakistan 28
INTRODUCTION TO ELECTRIC DRIVES

Elementary principles of mechanics

 Rotational motion
Normally is the case for electrical drives
TL d  Jm  Inertia torque
Tem  TL  or
dt dynamic torque
Tem , m
J 𝑑𝜔
𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛: > 0, 𝑇𝑚 > 𝑇𝐿
𝑑𝑡
𝑑𝜔
𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛: < 0, 𝑇𝑚 < 𝑇𝐿
𝑑𝑡
𝑑𝜔
No change in acceleration: 𝑑𝑡
= 0, 𝑇𝑚 = 𝑇𝐿

With constant J,
d m  d 2
Tem  TL  J J 2
dt dt
• First order differential equation for angular frequency (or velocity)
• Second order differential equation for angle (or position)
Dr. Tanveer Yazdan The University of Lahore, Pakistan 29
INTRODUCTION TO ELECTRIC DRIVES

Elementary principles of mechanics

dm
Tem  TL  J
dt
dm dm
mTem  mTL  m J  pD  pL  mJ
dt dt

Driving
power
Change
Load in KE
power

• A step change in speed requires an infinite driving power

• Therefore  is a continuous variable

Dr. Tanveer Yazdan The University of Lahore, Pakistan 30

INTRODUCTION TO ELECTRIC DRIVES

Elementary principles of mechanics

A drive system that require fast acceleration must have

• large motor torque capability

• small overall moment of inertia

As the motor speed increases, the kinetic energy also increases.

During deceleration, the dynamic torque changes its sign and thus
helps motor to maintain the speed. This energy is extracted from the
stored kinetic energy:
J is purposely increased to do this job !

Dr. Tanveer Yazdan The University of Lahore, Pakistan 31

INTRODUCTION TO ELECTRIC DRIVES

The Mechanical Load

 A key factor in the design of an electric motor drive system.
 The purpose of each electric motor drive system is to give the appropriate action
in an appropriate way to load
There are four load types
– Constant power
• Motor torque above base speed will decrease. (Grinders, winders)

– Constant Torque
• Load is not a function of speed. (conveyors, positive displacement
pumps.)

– Variable Torque
• Torque increases with the square of speed. (Centrifugal pumps &
fans)

– Impact Load
• Torque loading is intermittent. Peak torque requirements must be
considered. (Punch press)
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INTRODUCTION TO ELECTRIC DRIVES

The Mechanical Load

Characteristics of different types of mechanical loads

TL is inversely
proportional to ωL

PL is linear function
of ωL

Dr. Tanveer Yazdan The University of Lahore, Pakistan 33

INTRODUCTION TO ELECTRIC DRIVES

Electric Drives
Four Quadrant Operation in Elevator

Quadrant 2 Quadrant 1
Forward braking Forward motoring

Quadrant 3
Reverse motoring Quadrant 4
Reverse braking

Dr. Tanveer Yazdan The University of Lahore, Pakistan 34

INTRODUCTION TO ELECTRIC DRIVES

Thank You.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 35