Introduction to Electrical Drives

Ts Dr. Irneza Ismail KEE4733 Electrical Machine & Drive 1

 Definition of Electrical Drives
● Drives – system employed
for motion control

● Motion control requires

prime movers

● Electrical Drives – Drives

that employ Electric
Motors as prime movers

Ts Dr. Irneza Ismail KEE4733 Electrical 2

Machine & Drive
 Advantages of 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

Ts Dr. Irneza Ismail KEE4733 Electrical 3

Machine & Drive
 Conventional Electric
Drives

Ts Dr. Irneza Ismail KEE4733 Electrical 4

Machine & Drive
 Modern Electric
Drives

feedback

Ts Dr. Irneza Ismail KEE4733 Electrical 5

Machine & Drive
 Electric Drives
Application
● Line Shaft Drives
● Oldest form
● Single motor,
multiple loads
● Common line
shaft or belt
● Inflexible
● Inefficient
● Rarely used

Ts Dr. Irneza Ismail KEE4733 Electrical 6

Machine & Drive
 Electric Drives
Application
● Single-Motor, Single-
Load Drives
● Most common
● Eg: electric saws,
drills, fans, washers,
blenders, disk-
drives, electric cars.

Ts Dr. Irneza Ismail KEE4733 Electrical 7

Machine & Drive
 Electric Drives
Application
● Multimotor Drives
● Several motors,
single mechanical
load
● Complex drive
functions
● Eg: assembly
lines, robotics,
military airplane
actuation.

Ts Dr. Irneza Ismail KEE4733 Electrical 8

Machine & Drive
 Basic Components of
Electric Drives

feedback

● Power Source
● Motor
● Power Processing Unit (Electronic Converter)
● Control Unit
● Mechanical Load
Ts Dr. Irneza Ismail KEE4733 Electrical 9
Machine & Drive
 Basic Components of
Electric Drives - Motor
Electrical Mechanical
Motor
energy energy
• Obtain power from electrical sources
• DC motors - Permanent Magnet or wound-field (shunt,
separately excited, compound, series)
• AC motors – Induction, Synchronous (wound –rotor, IPMSM,
SPMSM), brushless DC
• Selection of machines depends on many factors, e.g.:

Ts Dr. Irneza Ismail KEE4733 Electrical 10

Machine & Drive
 Basic Components of Electric
Drives – Power Source
• Provides energy to electric motors
• Regulated (e.g: utility) or Unregulated (e.g. : renewable
energy)
• Unregulated power sources must be regulated for high
efficiency – use power electronic converters
• DC source
• batteries
• fuel cell
• photovoltaic
• AC source
• single- or three- phase utility
• wind generator

Ts Dr. Irneza Ismail KEE4733 Electrical 11

Machine & Drive
 Basic Components of Electric
Drives – Power Processing Unit
• Provides a regulated power supply to motor
• Enables motor operation in reverse, braking and variable
speeds
• Combination of power electronic converters
✓ Controlled rectifiers, inverters –treated as ‘black boxes’ with
certain transfer function
✓ More efficient – ideally no losses occur
✓ Flexible - voltage and current easily shaped through
switching control
✓ Compact
✓ Several conversions possible: AC-DC , DC-DC, DC-AC, AC-AC

Ts Dr. Irneza Ismail KEE4733 Electrical 12

Machine & Drive
 Basic Components of
Electric Drives – Power
● DC to AC:
Processing Unit

Ts Dr. Irneza Ismail KEE4733 Electrical 13

Machine & Drive
 Basic Components of
Electric Drives – Power
● DC to DC:
Processing Unit

Ts Dr. Irneza Ismail KEE4733 Electrical 14

Machine & Drive
 Basic Components of
Electric Drives – Power
● AC to DC:
Processing Unit

Ts Dr. Irneza Ismail KEE4733 Electrical 15

Machine & Drive
 Basic Components of Electric
Drives – Power Processing Unit
● AC to AC:

Ts Dr. Irneza Ismail KEE4733 Electrical 16

Machine & Drive
 Basic Components of Electric
Drives – Control Unit
• Supervise operation
• Enhance overall performance and stability
• Complexity depends on performance requirement
• Analog Control – noisy, inflexible, ideally infinite bandwidth
• Digital Control – immune to noise, configurable, smaller
bandwidth (depends on sampling frequency)
• DSP/microprocessor – flexible, lower bandwidth, real-time
• DSPs perform faster operation than microprocessors
(multiplication in single cycle), complex estimations and
observers easily implemented

Ts Dr. Irneza Ismail KEE4733 Electrical 17

Machine & Drive
 Basic Components of Electric
Drives – Component Selection
• Several factors affecting drive selection:
• Steady-state operation requirements
• nature of torque-speed profile, speed regulation, speed range,
efficiency, quadrants of operations, converter ratings
• Transient operation requirements
• values of acceleration and deceleration, starting, braking and reversing
performance
• Power source requirements
• Type, capacity, voltage magnitude, voltage fluctuations, power factor,
harmonics and its effect on loads, ability to accept regenerated power
• Capital & running costs
• Space and weight restrictions
• Environment and location
• Efficiency and reliability

Ts Dr. Irneza Ismail KEE4733 Electrical 18

Machine & Drive
 DC or AC Drives?
AC Drives (particularly
DC Drives
Induction Motor)
Motor • requires maintenance • less maintenance
• heavy, expensive • light, cheaper
• limited speed (due to • high speeds achievable (squirrel-
mechanical construction) cage IM)
• robust
Control Unit Simple & cheap control even for Depends on required drive
high performance drives performance
•decoupled torque and flux control •complexity & costs increase with
•Possible implementation using performance
single analog circuit •DSPs or fast processors required in high
performance drives
Performance Fast torque and flux control Scalar control – satisfactory in some
applications
Vector control – similar to DC drives
Ts Dr. Irneza Ismail KEE4733 Electrical 19
Machine & Drive
 Torque Equation for Rotating
Systems
● Motor drives a load through a transmission system (eg. gears,
V-belts, crankshaft and pulleys)
● Load may rotate or undergo translational motion
● Load speed may be different from motor speed
● Can also have multiple loads each having different speeds,
some may rotate and some have translational motion
Te , m TL
Represent motor-load
system as equivalent Motor Load
rotational system

Ts Dr. Irneza Ismail KEE4733 Electrical 20

Machine & Drive
 Torque Equation for Rotating
Systems Torque equation for equivalent motor-load system:
 d (J m )
Te − TL = (1)
dt
TL
where:
J = inertia of equivalent motor-load system, kgm2
Te , m m = angular velocity of motor shaft, rads-1
Te = motor torque, Nm
TL = load torque referred to motor shaft, Nm

d (m )
With constant inertia J,
d 2
Te − TL = J =J 2 (2)
dt dt
• First order differential equation for angular frequency (or velocity)
• Second order differential equation for angle (or position)
Ts Dr. Irneza Ismail KEE4733 Electrical 21
Machine & Drive
 Torque Equation for Rotating
Systems with Gears m m
● Low speed Motor Load 1,
n
applications use Te TL0
gears to utilize high TL0
speed motors J1
● Motor drives two TL1
loads: J0 n1 Load 2,
● Load 1 coupled TL1
directly to motor m1
shaft
● Load 2 coupled via
gear with n and n1
teeth m
Motor Equivalent
● Need to obtain Te Load , TL
equivalent motor- TL
load system
Ts
Dr.Dr. Irneza
Ungku Ismail
Anisa, December 2009 KEE4733
EEEB443 -Electrical
Control & Drives
J 22
Machine & Drive
 Torque Equation for Rotating
Systems with Gears
● Gear ratio a1 = (3)

● Neglecting losses in the transmission:

Kinetic energy due
=  kinetic energy of moving parts
to equivalent inertia

● Hence, equivalent motor-load inertia J is:

J = J + a2 J (4)
0 1 1

Ts Dr. Irneza Ismail KEE4733 Electrical 23

Machine & Drive
 Torque Equation for Rotating
Systems with Gears
● If 1 = transmission efficiency of the gears:

Power of the equivalent

=  power at the loads
motor-load system

● Hence, equivalent load torque TL is:

TL = TL0 +a T 1 L1 (5)
1
Ts Dr. Irneza Ismail KEE4733 Electrical 24
Machine & Drive
 Torque Equation for Rotating
Systems – Example 1
● Figure below shows a motor driving three loads. Assuming there are no
losses in the system, calculate the:
● total moment of inertia of the system referred to J3= 5kgm-2
the motor shaft
N3 Load 3, TL3
●amount of torque the motor must = 6
produce to drive the loads
m3 =
● output power of the motor Nm
m= 1500 rpm 500 rpm

Motor Load 1, N1
Te TL1 = 10 Nm

Jm=1.5kgm-2 J1= 2kgm-2 J2= 7kgm-2

N2 Load 2,
TL2 = 10 Nm
m2=
Ts
Dr.Dr. Irneza
Ungku Ismail
Anisa, December 2009 KEE4733
EEEB443 -Electrical
Control & Drives 300 rpm 25
Machine & Drive
 Torque Equation for Rotating
Systems with Belt Drives
● By neglecting slippage,
equations (4) and (5) can
still be used.
● However,
Dm
a1 = (6)
DL
where:
Dm = diameter of wheel driven by motor
DL = diameter of wheel mounted on load shaft
Ts
Dr.Dr. Irneza
Ungku Ismail
Anisa, December 2009 KEE4733
EEEB443 -Electrical
Control & Drives 26
Machine & Drive
 Torque Equation for Rotating
Systems with Translational Motion
● Motor drives two
loads:
● Load 1 coupled
directly to motor
shaft
● Load 2 coupled via
transmission
system converting
rotational to linear
motion
m
● Need to obtain Motor Equivalent
equivalent motor- Te Load , TL
TL
load system
Ts
Dr.Dr. Irneza
Ungku Ismail
Anisa, December 2009 KEE4733
EEEB443 -Electrical
Control & Drives
J 27
Machine & Drive
 Torque Equation for Rotating
Systems with Translational
Motion
● Neglecting losses in the transmission:
Kinetic energy due
=  kinetic energy of moving parts
to equivalent inertia

● Hence, equivalent motor-load inertia J is:

 v1 
2

J = J 0 + M1   (7)

 m 

Ts Dr. Irneza Ismail KEE4733 Electrical 28

Machine & Drive
 Torque Equation for Rotating
Systems with Translational Motion
● If 1 = transmission efficiency of the transmission system:

Power of the equivalent =  power at the loads and motor

motor-load system

● Hence, equivalent load torque TL is:

F1  v1 
TL = TL0 + (8)
1  m 

Ts Dr. Irneza Ismail KEE4733 Electrical 29

Machine & Drive
 Relation between Translational
and Rotational Motions

● The relationship between the torques and linear forces are:

T1 = rF1 Tm = rFm
● Relationship between linear and angular velocity:
v = r
● Hence, assuming the mass M is constant:

Fm − F1 = M
dv d
Tm − T1 = Mr
2
dt dt
Ts Dr. Irneza Ismail KEE4733 Electrical 30
Machine & Drive
 Torque Equation for Rotating
Systems – Example 2
● An example of a hoist drive employing gears is shown below.
The system can be represented by an equivalent system
shown on the right. Write down the equation for the:
● Equivalent system moment of inertia
● Equivalent system load torque

Equivalent system

Hoist drive
Ts Dr. Irneza Ismail KEE4733 Electrical 31
Machine & Drive
 Torque Equation for Rotating
Systems – Example 3

● If the motor is rated at 19kW, is the motor sufficient to drive

the two loads?
● The translational motion load now has to lift a weight of 1200
kg at the same speed of 1.5m/s. Is the motor still capable to
drive both loads at the same motor speed of 1420 rpm?

Ts Dr. Irneza Ismail KEE4733 Electrical 32

Machine & Drive
 Components of Load
Torque
• Load torque can be divided into:
• Friction torque – present at motor shaft and in various
parts of load.
• Viscous friction torque Tv – varies linearly with speed (Tv  m).
Exists in lubricated bearings due to laminar flow of lubricant
•Coulomb friction torque T – independent of speed. Exists in
C
bearings, gears coupling and brakes.
• Windage torque Tw – exists due to turbulent flow of air or
liquid.
•Varies proportional to speed squared (Tw  m ). 2

• Mechanical Load Torque TL - torque to do useful

mechanical work.
Ts Dr. Irneza Ismail KEE4733 Electrical 33
Machine & Drive
 Mechanical Load Torque
• Torque to do useful mechanical work TL – depends on
application.
• Load torque is function of speed
•
T  k where k = integer or fraction
L m

• Mechanical power of load:

2
• P = TLm and m = nm
60
Speed
Angular speed in rpm
in rad/s
Ts Dr. Irneza Ismail KEE4733 Electrical 34
Machine & Drive
 Mechanical Load Torque

Ts Dr. Irneza Ismail KEE4733 Electrical 35

Machine & Drive
 Mechanical Load Torque
● Torque independent
of speed , k = 0
● Hoist
● Elevator
● Pumping of water
or gas against
constant pressure

Ts Dr. Irneza Ismail KEE4733 Electrical 36

Machine & Drive
 Mechanical Load
Torque
● Torque proportional
to square of speed ,
k=2
● Fans
● Centrifugal pumps
● Propellers

Ts Dr. Irneza Ismail KEE4733 Electrical 37

Machine & Drive
 Mechanical Load Torque
● Torque inversely
proportional to
speed , k = -1
● Milling machines
● Electric drill
● Electric saw

Ts Dr. Irneza Ismail KEE4733 Electrical 38

Machine & Drive
 Steady State Operating
Speed
Motor T- characteristic – variation of motor torque with speed
with all other variables (voltage and frequency) kept constant.
SPEED

Synchronous motor

Induction motor

Separately excited
Series DC motor / shunt DC motor

TORQUE

Loads will have their own T- characteristics.

Ts Dr. Irneza Ismail KEE4733 Electrical 39
Machine & Drive
 Steady State Operating
Speed
By using power
• At constant Torque
Te TL electronic
speed, T e= T L converters, the
• Steady state motor characteristic
can be varied
speed is at
point of Steady state
Speed, r
intersection
between Te
and TL of the
steady state
torque r1 r2
r3
characteristics Speed

Ts Dr. Irneza Ismail KEE4733 Electrical 40

Machine & Drive
 Steady State Stability
● Drives operate at steady-state speed (when Te = TL) only if the
speed is of stable equilibrium.
● A disturbance in any part of drive causes system speed to
depart from steady-state point.
● Steady-state speed is of stable equilibrium if:
 system will return to stable equilibrium speed when
subjected to a disturbance
● Steady-state stability evaluated using steady-state T-
characteristic of motor and load.
dTL dTe
●Condition for stable equilibrium:  (9)
dm dm
Ts Dr. Irneza Ismail KEE4733 Electrical 41
Machine & Drive
 d (m )
Steady State Stability Te − TL = J
• dt
● Evaluated using steady-state T- characteristic of motor and
load.
● Assume a disturbance causes speed drop to r’
● At the new speed r’, m Steady-state point A
Te’ > TL’ at speed = r
Te TL
motor accelerates
dTL dTe
r 
operation restored to steady- ’ dm dm
r
state point
Steady-state speed is of T
stable equilibrium TL’ Te’
Ts Dr. Irneza Ismail KEE4733 Electrical 42
Machine & Drive
 Steady State
Stability Te − TL = J
d (m )
●Let’s look at a different condition! dt
● Assume a disturbance causes speed drop to r’
● At the new speed r’,
m Steady-state point B
Te’ < TL’ at speed = r
TL Te
motor decelerates
dTL dTe
r 
operation point moves away ’ dm dm
r
from steady-state point

Point B is at UNSTABLE T
Te’ TL’
Ts Dr. Irneza Ismail
equilibrium
KEE4733 Electrical 43
Machine & Drive
Torque-Speed Quadrant
of
Operation  T
•Direction of positive
e
m m
(forward) speed is
Te arbitrary chosen
•Direction of positive
torque will produce
P = -ve P = +ve positive (forward) speed
Quadrant 2 Quadrant 1
Forward braking Forward motoring T
Quadrant 3 Quadrant 4 P = Tem
Reverse motoring Reverse braking Te
P = +ve P = -ve Electrical energy
Te
m m MOTOR
P = + ve

Mechanical energy

Ts Dr. Irneza Ismail KEE4733 Electrical 44

Machine & Drive
 References
● El-Sharkawi, M. A., Fundamentals of Electric Drives,
Brooks/Cole Publishing Company, California, 2000.
● Dubey, G.K., Fundamentals of Electric Drives, 2nd ed.,
Alpha Science Int. Ltd., UK, 2001.
● Krishnan, R., Electric Motor Drives: Modelling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
● Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
● Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

Ts Dr. Irneza Ismail KEE4733 Electrical 45

Machine & Drive