Electric Drives

Electric Drives
(22MTRN09I)

24 September 2022 Prof. Ehab Bayoumi 1

 Electric Drives

Course Contents:
1- Electrical drive construction.
2- AC transformers.
3- DC motors.
4- Three-phase Induction machines.
5- Three-phase Synchronous machines.
6- Control of electrical drives.

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Assessment:

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Lecture #1
Contents:
• What is an electric-motor drive (control) system?
• Why controlled electric machines (electric drives)?
• Examples of controlled electric machines
• Components of a typical electrical drive system
• Elements of electric drive system
1- electric machines,
2- power converters,
3- controllers,
4- the mechanical load and its representation
• Four quadrant operation

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What is an Electric-Motor Drive (Control) System?

Fig.1, Block diagram of an electric drive system.

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Why Controlled Electric Machines (Electric Drives)?
• Matching motor and load characteristics
Servo, traction, pump and many other types of loads need to be matched with machine characteristics.

• Operation with efficiency and energy saving

As in hybrid electric vehicle and other automotive electric actuators, variable speed pumps.
• Speed and position control may be essential to the process
As in tracking systems in process automation and control, manufacturing industries and guidance systems.
• Some processes are enhanced if speed control is available
As in air conditioning, transportation.
• Reduction of transients and stresses due to abrupt motion and ON/OFF operations
As in metal, textile and paper rolling mills.
• Disturbance rejection from supply and load
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Examples of Controlled Electric Machines

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(cont’d)
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(cont’d)
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(cont’d)
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 Electric Drives
Components of a typical electrical machine control system

Design of an Electric Drive requires specialist knowledge

and integration of:

1. Machine theory.
2. Power Electronics.
3. Control theory.
4. Microprocessors, Microcontrollers, ASIC and DSP
based real-time control.
5. Electromechanical systems modelling.
6. Intelligent sensors, state and parameter observers.
7. Utility interaction.

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Elements of Electric Drive System

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1- Electric Machines:

The electric machines currently used for speed control applications are :

1- dc machines 2- ac machines 3- special machines

Shunt, Induction, Switched reluctance machines
Series, Wound-rotor synchronous,
Compound, Permanent-magnet synchronous,
Separately-excited dc motors, and Synchronous reluctance, and
Switched reluctance machines Switched reluctance machines
A number of factors go into the selection of a machine for a particular application:

1- Cost 4- Torque-speed profile 7- Ripple, cogging torques

2- Thermal capacity 5- Acceleration 8- Robustness
3- Efficiency 6- Power density, volume of the motor 9- Peak torque capability

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2- Power Converters
The power converters driving the electrical machines are:

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3- Controllers

Input to the controller:

1- Torque, flux, and/or position commands Controller realization
2- Their rate of variation, to facilitate soft start and preserve 1- Analog and integrated circuits
the mechanical integrity of the load 2- Microprocessors
3- The measured torque, flux, speed, and/or position for 3- Single-chip microcontrollers
feedback control
4- Limiting values of currents, torque, acceleration, and so on 4- Digital signal processors (DSP)
5- Application specific ICs (ASICs)
5- Temperature feedback and instantaneous currents
and/or voltages in the motor and/or converter

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4- The Mechanical Load and Its Representation
M : mass Fundamentals and Basics J : moment of inertia
fd : driving force Td : driving torque
fL : load force TL : load torque
x : displacement θ : angle of rotation
v : velocity ω : angular velocity
M : mechanical momentum J : angular momentum
1- Linear Motion 2- Rotational Motion
d dv dM d dω dJ
f d − f L = ( M v) = M +v Td − TL = (J ω ) = J +ω
dt dt dt dt dt dt
If mass is constant, If moment of inertia is constant,
dv dω
fd − fL = M Td − TL = J
dt dt
2 dθ dω d 2θ
Since, v =
dx
and a =
dv d
= 2
x Since, ω = and α = = 2
dt dt dt dt dt dt
d 2x d 2θ
fd − fL = M 2 = M a Td − TL = J 2 = J α
dt dt
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3- Translation and Rotational Motion:

Translation and rotational motions Since,

are often combined as in:
Td = r f d , TL = r f L and v = r ω
1- vehicle propulsion
we find that:
2- elevator d d dω
Td − TL = r ( M v) = ( Mr 2 ω ) = Mr 2
3- rolling mill-drives. dt dt dt

Jeq =Mr2, which represents the equivalent moment of inertia of the

linearly moving mass, referred to the pulley axis.

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Friction Torques

Frictional torque acts on the motor and its linearization

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When other opposing torques are present, the torque balance equation becomes:

dω Load Torque
T=J + B ω + TL
dt

Shaft Torque
Damping Coefficient (Nm/rad/sec) Viscous Friction Torque
Or Viscous Friction Coefficient

Speed and Inertial conversion to a different speed base

𝜔𝜔2 𝑎𝑎1 𝑎𝑎2
𝑎𝑎1 = , 𝐽𝐽 = 𝐽𝐽0 + 𝑎𝑎 2 𝐽𝐽1 +….. 𝑇𝑇𝐿𝐿 = 𝑇𝑇𝐿𝐿𝐿 + 𝑇𝑇𝐿𝐿𝐿 + 𝑇𝑇𝐿𝐿𝐿 +…..,
𝜔𝜔𝑚𝑚 𝜂𝜂1 𝜂𝜂2

𝑃𝑃 = 𝜔𝜔𝜔𝜔
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Example 1
The figure given below shows a motor driving three-loads. Assuming a loss-less system. (the efficiency of the
gear transmission is 100%).Calculate the following:
a- Total moment of inertia referring to the motor shaft,
b- The total motor torque produced to drive the three-loads, and
c- The power delivered by the motor to supplied the total load torque.

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Answer:
𝜔𝜔2 300
𝑎𝑎1 = = = 0.2
𝜔𝜔𝑚𝑚 1500
𝜔𝜔3 500
𝑎𝑎2 = = = 0.333
𝜔𝜔𝑚𝑚 1500

a- Total moment of inertia referring to the motor shaft

𝐽𝐽 = 𝐽𝐽0 + 𝑎𝑎12 𝐽𝐽1 + 𝑎𝑎22 𝐽𝐽2 = (1.5+2) +0.22 x 7 + 0,3332 x 5 = 4.334

b- The total motor torque produced to drive the three-loads

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Example 2
A motor drives two loads. One has rotational motion. It is coupled to the motor through a reduction gear
with turns ratio 0.1 and efficiency of 90%. The load has a moment of inertia of 10 Kg.m2 and a torque of
10 N.m. The second load has translational motion and consists of 1000 Kg weight to be lifted up at an
uniform speed of 1.5 m/s. Coupling between this load and the motor has an efficiency of 85%. Motor
has an inertia of 0.2 kg.m2 and runs at a constant speed of 1420 rpm. Determine:
1- The equivalent inertia referred to the motor shaft, and
2- Power developed by the motor.

Answer: 2𝜋𝜋 𝑛𝑛
𝑉𝑉 = 𝑟𝑟 𝜔𝜔 𝜔𝜔 =
60
𝐽𝐽𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑡𝑡𝑡𝑡 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 = 𝑀𝑀𝑀𝑀
2
𝑉𝑉
1- 𝐽𝐽𝑒𝑒𝑒𝑒 = 𝐽𝐽𝑜𝑜 + 𝑎𝑎12 𝐽𝐽1 + 𝑀𝑀 = 0.402 𝐾𝐾𝐾𝐾. 𝑚𝑚2
𝜔𝜔
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 Electric Drives

𝑎𝑎1 𝑇𝑇1 𝐹𝐹 𝑉𝑉 0.1𝑥𝑥𝑥𝑥 1000𝑥𝑥𝑥.81 1.5

2- 𝑇𝑇 = 𝑇𝑇𝐿𝐿𝐿𝐿 + + =0+ + 𝑥𝑥
η1 η2 𝜔𝜔 0.9 0.85 2𝜋𝜋𝜋𝜋𝜋𝜋𝜋𝜋
60
= 117.53 N.m

2𝜋𝜋𝜋𝜋𝜋𝜋𝜋𝜋
𝑃𝑃 = 𝑇𝑇𝜔𝜔 = 117.53𝑥𝑥 = 17.477 𝐾𝐾𝐾𝐾
60

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Load Torques 2- Constant-Torque Loads
1- Centrifugal Loads

Fan

Hoist
T ∝ω2
T = const
P ∝ω3 P∝ ω
4- Constant-Power Loads
3- Squared-Power Loads

Compressor Winder
1
T ∝ω T ∝
ω
P ∝ω 2
P = const

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Power and Energy
The rotational motion of the mechanical arrangement shown in the diagram is
described by a first order differential equation for speed.
dω
T=J + Bω + TL
dt
Multiplication by  yields the power balance Power Flow of drive
dω
ω T = Jω + Bω 2 + ω TL
dt

Driving Power Load Power

By integrating from zero to t.
t t t t

∫ ω T dt = ∫ Jω dω + ∫ Bω dt + ∫ ω TL dt
2

0 0 0 0

Lost Energy Delivered

Stored
Mechanical Energy to the Load
Kinetic Energy
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Motor Torque-Speed Characteristics
•The steady-state torque-speed characteristics of three categories
of motor is given in that diagram.

• All synchronous motors (rotor excited salient and non-salient, reluctance,

permanent magnet, stepping etc) have:

1- a flat torque speed characteristic

• The asynchronous motors (the induction motor, dc shunt motor etc) have :

1- a slightly drooping torque-speed characteristic.

2- the rated torque, Trated, for both type of the motor is usually about one-third of the maximum torque.

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• The series motor is characterised by a constant power type (hyperbolic) T- ω curve.

• Wherever possible, the motor T- ω characteristics should be matched closely with those of the load.

• It should be noted however that with modern power electronic power converters and recently
developed control strategies, almost all motor T- ω characteristics can be made to fit with any type of
load characteristic.

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Four Quadrant Operation

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•Reversing the converter connections across to motor is often carried out electronically, by having two
back-to-back converters always in parallel across the motor. One converter is for forward motoring which is
also used for reverse braking. The other converter is for reverse motoring which is also used for forward
braking.

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Example
In Figure shown below the torque-speed characteristics of the motor and the load in the four quadrants.
Comment on the stability of the operating points A, B, C and D.
Point A
dTL y2 − y1 − ve
TL-Curve = = = −ve
dω x2 − x1 + ve
dT y2 − y1 + ve
= = = + ve
T-Curve dω x2 − x1 + ve

dTL dT
K= − ) K > 0 (+ve) Stable
dω dω

Otherwise, the disturbance will

grow, leading to instability.

Therefore K = −ve − (+ve) = −ve Unstable

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