H6097

Electrical Drive Systems

Lecture 11 – Revision

Dr Spyros Skarvelis-Kazakos
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H6097 Electrical Drive Systems
Overview

• Electrical principles
• Drive mechanics
• Magnetism and machine fundamentals
• Power electronics
• Control of electrical drives
• DC machines

Revision – Slide 2
H6097 Electrical Drive Systems
What is an electric motor drive?

Revision – Slide 3
H6097 Electrical Drive Systems
Why energy consumption of drives is important

• Motor-driven systems responsible for >20% of all energy

consumed (in the US)
• Constant speed → Variable speed = 20% less energy
• 20% of 20% = 4%, which is equivalent to 2.4GW for the UK…

Longannet power station by

Paulband2 (CC BY-SA 3.0) Heat pump operation with line-fed motors

Revision – Slide 4
H6097 Electrical Drive Systems
Phasors in power engineering

෠
𝑣 𝑡 = 𝑉𝑐𝑜𝑠 𝜔𝑡 ⇔ 𝑉ത = 𝑉∠0°
෠

መ
𝑖 𝑡 = 𝐼𝑐𝑜𝑠 𝜔𝑡 − 𝜑 ⇔ 𝐼 ҧ = 𝐼∠
መ −𝜑

𝑑𝑖 𝑡 1
𝑅𝑖 𝑡 + 𝐿 ෠
+ න 𝑖 𝑡 𝑑𝑡 = 𝑉𝑐𝑜𝑠 𝜔𝑡
𝑑𝑡 𝐶

• Inductance (L): current lags,

voltage, φ < 0
• Capacitance (C): voltage lags,
φ>0
• Resistance: no effect

Common mistake: don’t confuse power angle (φ) with current angle!!!

Revision – Slide 5
H6097 Electrical Drive Systems
Phasor domain

(a) Time domain circuit, (b) Phasor domain circuit, (c) Impedance triangle

2
1
𝑍 = 𝑅2 + 𝜔𝐿 −
Real: 𝑅 = 𝑍 cos(𝜑) 𝜔𝐶
𝑋𝐿 = 𝜔𝐿
1
1 Imaginary: 𝜔𝐿 − = 𝑍 sin(𝜑) 1
𝑋𝐶 = 𝜔𝐶 𝜔𝐿 − 𝜔𝐶
𝜔𝐶 𝜑 = 𝑡𝑎𝑛−1
𝑅
𝑍 = 𝑅 + 𝑗𝑋𝐿 − 𝑗𝑋𝐶 = 𝑍 ∠𝜑
Revision – Slide 6
H6097 Electrical Drive Systems
Complex, active, reactive and apparent power

Assuming 𝜑 = 𝜑𝑉 − 𝜑𝐼 Active power:

𝑆 = 𝑉𝐼∠𝜑 = 𝑃 + 𝑗𝑄 𝑃 = 𝑉 × 𝐼 × cos 𝜑

Apparent power: Reactive power:

𝑆 = 𝑃2 + 𝑄2 = 𝑉𝐼 𝑄 = 𝑉 × 𝐼 × sin 𝜑

Power factor:

𝑃 𝑃
𝑝𝑓 = = = cos 𝜑
𝑆 𝑉𝐼

Revision – Slide 7
H6097 Electrical Drive Systems
3Φ voltages in the time and phasor domain

Phase sequence is
typically a – b – c
(positive sequence).

𝑉ത𝑎𝑛 = 𝑉∠0°
෠
𝑉ത𝑏𝑛 = 𝑉∠
෠ − 120°
𝑉തc𝑛 = 𝑉∠
෠ − 240°

𝑉ത𝑎𝑛 + 𝑉ത𝑏𝑛 + 𝑉തc𝑛 = 0

Revision – Slide 8
H6097 Electrical Drive Systems
Moment of inertia in motor systems

• In a motor-load coupling, load torque (TL) opposes rotation and includes

friction and wind resistance. The electromagnetic torque (Tem) generated by
the motor accelerates the system. The total (net) torque is:
𝑇𝐽 = 𝑇𝑒𝑚 − 𝑇𝐿
• Likewise, the motor includes a rotating body (rotor), which carries a certain
mass and therefore inertia (JM). The system’s equivalent inertia (Jeq) is then:
𝐽𝑒𝑞 = 𝐽𝑀 + 𝐽𝐿

• The relationship between net

torque and combined inertia:
𝑑𝜔𝑚 𝑇𝐽
=
𝑑𝑡 𝐽𝑒𝑞
Angular
acceleration (α)

Revision – Slide 9
H6097 Electrical Drive Systems
Torque, work and power

• The kinetic energy stored in a rotating mass is:

𝑡 𝑡 𝜔𝑚
𝑑𝜔𝑚 𝟏
𝑾 = න 𝑝 𝜏 𝑑𝜏 = 𝐽 න 𝜔𝑚 𝑑𝜏 = 𝐽 න 𝜔𝑚 𝑑𝜔𝑚 = 𝑱 𝝎𝟐𝒎
0 0 𝑑𝜏 0 𝟐
• Kinetic energy can be recovered by reversing the direction of power transfer
(from production to absorption)

Revision – Slide 10
H6097 Electrical Drive Systems
Four quadrant operation

• Remember: 𝑷 = 𝝎 × 𝑻

Revision – Slide 11
H6097 Electrical Drive Systems
Types of loads – remember 𝑷 = 𝝎 × 𝑻

Type Description Example

Centrifugal Torque varies with speed, load

Fans, blowers
(Squared) torque power varies with speed

Torque constant with speed, load Conveyors, hoists

Constant torque
power varies linearly with speed cranes, elevators

Torque varies linearly with speed,

Squared power Compressors, rollers
load power varies with speed

Torque varies inversely with speed,

Constant power Winders, unwinders
load power constant with speed

Revision – Slide 12
H6097 Electrical Drive Systems
Coupling mechanisms – ideal gears

• Angular speeds linked by the radii of the two gears:

𝑟1 𝜔𝑀 = 𝑟2 𝜔𝐿
• Torques linked by angular speeds of the two gears:
𝑇1 𝜔𝑀 = 𝑇2 𝜔𝐿
• Hence:
𝑟1 𝜔𝐿 𝑇1
= =
𝑟2 𝜔𝑀 𝑇2

Revision – Slide 13
H6097 Electrical Drive Systems
Ampere’s law if the conductor is in windings

Field intensity along mean path: Note:

𝑁𝑖 1 𝑂𝐷 + 𝐼𝐷
𝐻𝑚 = 𝑟𝑚 =
𝑙𝑚 2 2
𝑙𝑚 = 2𝜋 𝑟𝑚

Revision – Slide 14
 H6097 Electrical Drive Systems
Flux density (B) – units: Tesla (T)

Flux density (B) depends on material permeability (μ): Permeability of air (μ0):
𝐵 = 𝜇0 𝛨 ℎ𝑒𝑛𝑟𝑖𝑒𝑠
𝜇0 = 4𝜋 × 10−7
Flux density (B) of ferromagnetic materials: 𝑚
𝐵𝑚 = 𝜇𝑚 𝐻𝑚 Relative permeability:
𝜇𝑚
𝜇𝑟 = ∴ 𝜇𝑚 = 𝜇𝑟 𝜇0
𝜇0

Saturation

Hysteresis
loop

Revision – Slide 15
H6097 Electrical Drive Systems
Flux φ – units: Weber (Wb)

We can assume uniform 𝐻𝑚 and

𝐵𝑚 . Substituting:
𝑁𝑖
𝐵𝑚 = 𝜇𝑚
𝑙𝑚
Also:
𝜑𝑚 = 𝐵𝑚 𝐴𝑚
Substituting:
𝑁𝑖 𝑁𝑖 𝑵𝒊
𝝋𝒎 = 𝐴𝑚 𝜇𝑚 = =
𝑙𝑚 𝑙𝑚 𝕽𝒎
𝜇𝑚 𝐴𝑚
Reluctance (units: A/Wb):
𝑙𝑚
ℜ𝑚 =
𝜇𝑚 𝐴𝑚
Equivalent to
Ohm’s law

Revision – Slide 16
H6097 Electrical Drive Systems
Inductances

Flux linkage λ related to From previous equations:

current i by inductance Lm : 𝑁 𝑁2 𝑁2
𝐿𝑚 = 𝜇 𝐴 𝑁= =
𝜆 𝑚 = 𝐿𝑚 𝑖 𝑙𝑚 𝑚 𝑚 𝑙𝑚 ℜ𝑚
𝜇𝑚 𝐴𝑚

Revision – Slide 17
H6097 Electrical Drive Systems
Relationship between voltage, flux and current

Over time: Since 𝜆 𝑡 = 𝑁 𝜑 𝑡 , then : Substituting:

𝜆 𝑡 =𝐿𝑖 𝑡 𝐿 𝑑𝜑 𝑑𝑖
𝜑 𝑡 = 𝑖 𝑡 𝑒 𝑡 =𝑁 =𝐿
𝑁 𝑑𝑡 𝑑𝑡

typically constant

Revision – Slide 18
H6097 Electrical Drive Systems
Transformer (real)

Taking into account the voltage drops across the windings…

Revision – Slide 19
H6097 Electrical Drive Systems
Basic principles in an electric motor

Passing current through a Due to conductor movement

conductor in a magnetic field inside a magnetic field and emf is
results in electromagnetic torque: induced:
speed
𝑓𝑒𝑚 = 𝐵𝑠 𝑁𝑟 𝐼 𝑙 𝐸𝑐𝑜𝑛𝑑 = 𝐵𝑠 𝑙 𝑟 𝜔𝑚 (u)
and
With 2𝑁𝑟 conductors:
𝑇𝑒𝑚 = 2𝑓𝑒𝑚 𝑟 = 2𝐵𝑠 𝑁𝑟 𝐼 𝑙 𝑟
𝐸 = 2𝑁𝑟 𝐵𝑠 𝑙 𝑟 𝜔𝑚

Revision – Slide 20
H6097 Electrical Drive Systems
Machine structure

a) 2-pole machine (round rotor, non-salient poles)

b) 4-pole machine (round rotor, non-salient poles)
c) Salient pole machine (4-pole)

Revision – Slide 21
H6097 Electrical Drive Systems
Power Electronic Devices

• Simple (diode family)

• Diodes
• Schottky Diodes
• Thyristors (Silicon-Controlled Rectifiers – SCR)
• Diacs / Triacs
• Silicon-Controlled Switches (SCS) / Gate Turn-Off Thyristors
(GTO)

• Fancy (transistor family)

• Transistors
• MOSFETs
• Insulated Gate Bipolar Transistors

Revision – Slide 22
H6097 Electrical Drive Systems
P-N junction

P-N junction
P type N type
semiconductor semiconductor

Lecture 4 – Slide 23
H6097 Electrical Drive Systems
Diodes

A diode is effectively an electricity valve. It permits current to flow

only in one direction, thus being able to rectify AC current.

Anode Anode
Id Id
+ +
P
Vd Vd P-N junction
N
- -

Cathode Cathode

Diode symbol Diode structure

Revision – Slide 24
H6097 Electrical Drive Systems
Diodes

Id

Forward
region
Vbreakdown

Vd
Ef
Reverse (Usually ~0.7V)
region

Revision – Slide 25
H6097 Electrical Drive Systems
Converters

• Rectifiers (AC to DC)

• Half wave / Full wave
• Uncontrolled / Controlled
• Inverters (DC to AC)
• Choppers (DC to DC)
• Buck (step-down)
• Boost (step-up)
• AC to AC converters

Lecture 4 – Slide 26
H6097 Electrical Drive Systems
Half wave uncontrolled rectifier


VP sin (t )d (t ) =
1 VP
D1
VDC =
2  0 
R

Vrms =
1
 (VP sin t ) d (t ) =
2 VP
2 0 2
VP

time

Lecture 4 – Slide 27
H6097 Electrical Drive Systems
Full wave uncontrolled rectifier

2VP
D1 D2 VDC =

R

VP
D3 D4
Vrms =
2
VP

time

Lecture 4 – Slide 28
 H6097 Electrical Drive Systems
Full-bridge Voltage Source Inverter (VSI)

S1 S2

Vin Vout

Pulse Width Modulation (PWM)

S2 & S3
Vin
S3 S4 time
switch
Vout
S1 & S4

Lecture 4 – Slide 29
 H6097 Electrical Drive Systems
Cascade control structure of a motor drive

• Flexible
• Widely used in industry
• Innermost current (torque) loop – speed loop – outermost position loop
• Bandwidth (speed of response) must increase towards the inner loop
• Torque loop fastest – position loop slowest

Revision – Slide 30
H6097 Electrical Drive Systems
Operating principles of DC machines

Commutator, converting
DC current to AC
Revision – Slide 31
H6097 Electrical Drive Systems
DC machine schematic representation

In practice DC machines have

a lot of windings, hence a lot of
conductors. For 𝑛𝑎 conductors
of length 𝑙 :

𝑖𝑎
𝑇𝑒𝑚 = 𝑛𝑎 𝑙𝑟𝐵𝑓
2
Constant Constant in
permanent magnet
machines
Therefore:
𝑇𝑒𝑚 = 𝑘 𝑇 𝑖𝑎
Where:
𝑛𝑎
𝑘𝑇 = 𝑙𝑟 𝐵𝑓
2
Motor Torque Constant
Revision – Slide 32
H6097 Electrical Drive Systems
DC machine schematic representation

𝑛
At speed 𝜔𝑚 , for 2𝑎 conductors
in series, the induced emf is:

𝑛𝑎
𝑒𝑎 = 𝑙𝑟𝐵𝑓 𝜔𝑚
2

Therefore:
𝑒𝑎 = 𝑘𝐸 𝜔𝑚
Where:
𝑛𝑎
𝑘𝐸 = 𝑙𝑟 𝐵𝑓
2
Motor Voltage Constant

Hence:
𝑛𝑎
𝑘 𝑇 = 𝑘𝐸 = 𝑙𝑟 𝐵𝑓
2
Revision – Slide 33
H6097 Electrical Drive Systems
DC machine equivalent circuit

𝑑𝑖𝑎
𝑣𝑎 = 𝑒𝑎 + 𝑅𝑎 𝑖𝑎 + 𝐿𝑎
𝑑𝑡
𝑣𝑎 overcomes back-emf
(𝑒𝑎 ) and causes 𝑖𝑎 to flow
𝑑𝜔𝑚 1
= 𝑇𝑒𝑚 − 𝑇𝐿
𝑑𝑡 𝐽𝑒𝑞
Revision – Slide 34
H6097 Electrical Drive Systems
Four quadrant operation of DC motors

Revision – Slide 35
H6097 Electrical Drive Systems
Three-phase windings in AC machines

𝑖𝑎 𝑡 + 𝑖𝑏 𝑡 + 𝑖𝑐 𝑡 = 0

NOT THE SAME AS PHASORS

Revision – Slide 36
H6097 Electrical Drive Systems
Space vectors

In a 2-pole machine:
𝑁𝑆
𝐹Ԧ𝑎 𝑡 = 𝑖 𝑡 ∠0°
2 𝑎
𝑁𝑆
𝐹Ԧ𝑏 𝑡 = 𝑖 𝑡 ∠120°
2 𝑏
𝑁𝑆
𝐹Ԧ𝑐 𝑡 = 𝑖 𝑡 ∠240°
2 𝑐

𝐹Ԧ𝑠 𝑡 = 𝐹Ԧ𝑎 𝑡 + 𝐹Ԧ𝑏 𝑡 + 𝐹Ԧ𝑐 𝑡 = 𝐹෠𝑠 ∠𝜃𝐹𝑠

Likewise:
𝐵𝑠 𝑡 = 𝐵𝑎 𝑡 + 𝐵𝑏 𝑡 + 𝐵𝑐 𝑡 = 𝐵෠𝑠 ∠𝜃𝐵𝑠
𝐻𝑠 𝑡 = 𝐻𝑎 𝑡 + 𝐻𝑏 𝑡 + 𝐻𝑐 𝑡 = 𝐻 ෡𝑠 ∠𝜃𝐻
𝑠

Revision – Slide 37
H6097 Electrical Drive Systems
Space vectors

Remember, these are

field vectors in the
physical space, NOT
PHASORS

© M. Riaz
Revision – Slide 38
H6097 Electrical Drive Systems
Space vector representation of voltages and currents

NOT the same as physical space vectors. Defined as the sum of

individual phase voltages/currents at any given moment, when these
are given certain angles according to their physical orientation:
𝑖 𝑠 𝑡 = 𝑖𝑎 𝑡 ∠0° + 𝑖𝑏 𝑡 ∠120° + 𝑖𝑐 𝑡 ∠240° = 𝐼መ𝑠 𝑡 ∠𝜃𝑖𝑠 𝑡
𝑣Ԧ𝑠 𝑡 = 𝑣𝑎 𝑡 ∠0° + 𝑣𝑏 𝑡 ∠120° + 𝑣𝑐 𝑡 ∠240° = 𝑉෠𝑠 𝑡 ∠𝜃𝑣𝑠 𝑡

Revision – Slide 39
H6097 Electrical Drive Systems
Flux direction at different angles → full revolution

Revision – Slide 40
H6097 Electrical Drive Systems
Relationship of phase currents with space vector

Revision – Slide 41
H6097 Electrical Drive Systems
Relationship between space vector and phasors

Comparing space vector

with phase a phasor:
3
• 𝐼መ𝑚𝑠 = 𝐼መ𝑚
2
• Same angle

Revision – Slide 42
H6097 Electrical Drive Systems
Squirrel cage rotor three phase induction motor

Revision – Slide 43
 H6097 Electrical Drive Systems
Voltages induced in rotor bars

Slip speed: 𝜔𝑠𝑙𝑖𝑝 = 𝜔𝑠𝑦𝑛𝑐ℎ𝑟𝑜𝑛𝑜𝑢𝑠 − 𝜔𝑚 As the flux is rotating at 𝜔𝑠𝑦𝑛𝑐ℎ𝑟𝑜𝑛𝑜𝑢𝑠 and

the rotor at 𝜔𝑚 , the voltage induced in the
rotor bars is:
𝑒𝑏𝑎𝑟 𝜃 = 𝐵𝑚𝑠 𝜃 𝑙 𝑟 𝜔𝑠𝑙𝑖𝑝

Since flux density distribution varies:

𝑒𝑏𝑎𝑟 𝜃 = 𝐵෠𝑚𝑠 cos 𝜃 𝑙 𝑟 𝜔𝑠𝑙𝑖𝑝

Revision – Slide 44
 H6097 Electrical Drive Systems
Slip frequency in the rotor circuit

• Each of the rotor bars will experience a • Also, slip is defined as:
voltage peak at a frequency: 𝜔𝑠𝑙𝑖𝑝
𝜔𝑠𝑙𝑖𝑝 𝑠=
𝜔𝑠𝑦𝑛𝑐
𝑓𝑠𝑙𝑖𝑝 =
2𝜋 • Hence:
𝑓𝑠𝑙𝑖𝑝 = 𝑠 𝑓

Revision – Slide 45
H6097 Electrical Drive Systems
Induction machine torque-speed curve

MOTOR GENERATOR
Torque

Rotor speed
0 ωS

Revision – Slide 46
H6097 Electrical Drive Systems
Induction motor equivalent circuit

𝐸ത𝑚𝑎 = 𝑉ത𝑎 − 𝑅𝑠 + 𝑗𝜔𝐿𝑙𝑠 𝐼𝑎ҧ

Revision – Slide 47
H6097 Electrical Drive Systems
Splitting resistance to power output and loss

Therefore:
′ 2
For power output: ′ 𝐼𝑟𝑎
𝑇𝑒𝑚 = 3𝑅𝑟
𝜔𝑠𝑙𝑖𝑝
𝜔𝑚 ′ ′ 2
𝑃𝑒𝑚 =3 𝑅 𝐼𝑟𝑎 = 𝑇𝑒𝑚 𝜔𝑚 Rearrange and substitute:
𝜔𝑠𝑙𝑖𝑝 𝑟 𝑃𝑟,𝑙𝑜𝑠𝑠
= 𝜔𝑠𝑙𝑖𝑝
𝑇𝑒𝑚
Revision – Slide 48
H6097 Electrical Drive Systems
Two-pole PMAC machine

Revision – Slide 49
H6097 Electrical Drive Systems
Rotor-produced flux density distribution in PMAC

• Sinusoidally distributed flux density in the air gap.

• Positive peak 𝐵෠𝑟 directed along north pole axis.
• Rotor-produced flux rotates with the rotor.
• Flux density space vector:

𝐵𝑟 𝑡 = 𝐵෠𝑟 ∠𝜃𝑚 𝑡

function of time

Revision – Slide 50
H6097 Electrical Drive Systems
Torque production in PMAC machines

• Torque produced in the stator

• Supplied by power processing units, which control the
currents fed to the stator windings.
• Space vector 𝑖 𝑠 𝑡 controlled to be 90° ahead of 𝐵𝑟 𝑡 ,
which produces the torque on the rotor:

𝑖 𝑠 𝑡 = 𝐼መ𝑠 ∠𝜃𝑖𝑠 𝑡

Where 𝜃𝑖𝑠 𝑡 = 𝜃𝑚 𝑡 + 90° → torque independent of 𝜃𝑚

Revision – Slide 51
H6097 Electrical Drive Systems
Torque production in PMAC machines

• Torque in a 2-pole machine:

𝑇𝑒𝑚 = 𝑘 𝑇 𝐼መ𝑠

𝑁𝑠
Where 𝑘 𝑇 = 𝜋 𝑟 𝑙 𝐵෠𝑟 (machine torque constant, in
2
Nm/A)

• Assuming the phase difference between flux density

and current is 90°, torque is proportional to current.
• PMAC are characterised as self-synchronous drives

Revision – Slide 52
H6097 Electrical Drive Systems
Field control to adjust reactive power / power factor

(a) Unity power factor, (b) over-excited, (c) under-excited

Revision – Slide 53
H6097 Electrical Drive Systems
Position change in stepper motor

Revision – Slide 54
H6097 Electrical Drive Systems
TUTORIAL 10 - Exercise T10.1

In a balanced Y circuit, the RMS phase voltages equal 120V and the load
impedance 𝑍𝐿 = 5∠30°Ω. Calculate the power factor of operation and the total
real and reactive power consumed by the three-phase load.

Since the system is balanced, only phase a will be analysed:

𝑉ത𝑎𝑛 = 2 × 120∠0° 𝑉
ഥ𝑎𝑛
𝑉 2×120∠0°
𝐼𝑎ҧ = = = 2 × 24∠ − 30°
𝑍𝐿 5∠30°
𝐼𝑅𝑀𝑆 = 24 A and 𝑝𝑓 = cos 30° = 0.866 (𝑙𝑎𝑔𝑔𝑖𝑛𝑔)
𝑃 = 3 × 𝑉𝑎𝑛 × 𝐼𝑎 × cos 𝜑 = 3 × 120 × 24 × cos 30° = 7482 𝑊
𝑄 = 3 × 𝑉𝑎𝑛 × 𝐼𝑎 × sin 𝜑 = 3 × 120 × 24 × sin 30° = 4320 𝑉𝐴𝑟

Revision – Slide 55
H6097 Electrical Drive Systems
TUTORIAL 10 – Exercise T10.2

Calculate the holding torque required to keep the lever from turning, as a function
of angle θ in the range of 0 to 90 degrees. Assume M = 0.5 kg and r = 0.3 m.

Perpendicular net force must be zero, hence 𝑓 = 𝑀 𝑔 cos 𝛽 must be applied.

Since 𝛽 = 𝜃:
𝑇ℎ = 𝑓 𝑟 = 𝑀 𝑔 𝑟 cos 𝜃 = 0.5 × 9.8 × 0.3 × cos 𝜃 = 1.47 cos 𝜃 𝑁𝑚

Revision – Slide 56
H6097 Electrical Drive Systems
TUTORIAL 10 – Exercise T10.3

Assuming that the motor and the load each have inertia of 0.029 𝑘𝑔⋅𝑚2 and the
load torque (TL) is negligible, calculate the required electromagnetic torque (Tem),
if the speed is to increase linearly from rest to 1,800 rpm in 5 s.

The combined inertia of the system will be:

𝐽𝑒𝑞 = 2 × 0.029 𝑘𝑔 ⋅ 𝑚2
Angular acceleration:
1800
𝑑 𝛥𝜔𝑚 2𝜋 60
𝜔 = = = 37.7 𝑟𝑎𝑑/𝑠 2
𝑑𝑡 𝑚 𝛥𝑡 5
Hence:
𝑇𝑒𝑚 = 0.058 × 37.7 = 2.19 𝑁𝑚

Revision – Slide 57
H6097 Electrical Drive Systems
TUTORIAL 10 – Exercise T10.4

Calculate the kinetic energy stored in the combined inertia of 0.058 𝑘𝑔⋅𝑚2, at a
speed of 1,800 rpm.

2
1 2
1 1800
𝑊= 𝐽𝐿 + 𝐽𝑀 𝜔𝑚 = 0.058 2𝜋 = 1030.4 𝐽
2 2 60

Revision – Slide 58
H6097 Electrical Drive Systems
TUTORIAL 11 - Exercise T11.1

A three-phase diesel generator is rated at 240V (line-to-line) and absorbs

reactive power of 4 kVAr. For a power angle of 45°, calculate the per-phase
current generated and the generator’s active power rating.

𝑄 4,000
𝑄 = 3𝑉𝐿𝐿 𝐼 sin 𝜃 ∴ 𝐼 = = = 13.61 𝐴
3𝑉𝐿𝐿 𝐼 sin 𝜃 3 × 240 × 0.707

𝑄 4
= tan 𝜃 ∴ 𝑃 = 𝑘𝑊 = 4 𝑘𝑊
𝑃 tan 45

Revision – Slide 59
 H6097 Electrical Drive Systems
TUTORIAL 11 – Exercise T11.2

Assuming that the motor has inertia of 0.029 𝑘𝑔⋅𝑚2 and the load torque (TL) is
negligible, calculate the load inertia if the total required electromagnetic torque
(Tem) is 2.19 Nm and the speed is to increase linearly from rest to 1,800 rpm in 5 s.

Angular acceleration:
1800
𝑑 𝛥𝜔𝑚 2𝜋 60
𝜔𝑚 = = = 37.7 𝑟𝑎𝑑/𝑠 2
𝑑𝑡 𝛥𝑡 5
Hence:
𝑇𝑒𝑚 2.19
𝐽𝑒𝑞 = = = 0.058 𝑘𝑔 ⋅ 𝑚2
𝑑
𝜔𝑚 37.7
𝑑𝑡
The inertia of the load will be:
𝐽𝐿 = 𝐽𝑒𝑞 − 𝐽𝑀 = 0.058 − 0.029 = 0.029 𝑘𝑔 ⋅ 𝑚2

Revision – Slide 60
H6097 Electrical Drive Systems
TUTORIAL 11 – Exercise T11.3

If a capacitor of 77.6 μF is connected in parallel with an inductive load, which is

connected to a 120 V (RMS), 60 Hz AC source drawing 1 kW at a power factor
of 0.8, calculate the new power factor.

𝑃 1000
𝑆 = 𝑉 𝐼𝐿 = = = 1250 𝑉𝐴
𝑝𝑓 0.8
𝑄𝐿 = 𝑉 𝐼𝐿 2 − 𝑃𝐿2 = 12502 − 10002 = 750 𝑉𝐴𝑟
𝑉
𝑄𝑐𝑎𝑝 = 𝑉 𝐼𝑐𝑎𝑝 = 𝑉 = 𝑉 2 𝜔𝐶 =377 × 1202 × 77.6 × 10−6 = 421.3 𝑉𝐴𝑟
1
𝜔𝐶
After the power factor correction:
𝑄𝑇 = 𝑄𝑐𝑎𝑝 + 𝑄𝐿 = −421.3 + 750 = 328.7 𝑉𝐴𝑟

𝑆 = 𝑄𝑇 2 + 𝑃𝐿2 = 1052.63 𝑉𝐴
𝑃𝐿
𝑝𝑓 = = 0.95
𝑆

Revision – Slide 61
H6097 Electrical Drive Systems
TUTORIAL 11 – Exercise T11.4

Consider a core with length lm = 0.165 m and cross-sectional area Am = 4.91 x

10-6 m2. The coil requires an inductance of 25 μH. The maximum flux density is
not to exceed 1.3 T and the relative permeability μr of the magnetic material is
4,740. Calculate the number of turns N and the maximum current.
𝑙𝑚 0.165
ℜ𝑚 = = = 5,641,755 𝐴/𝑊𝑏
𝜇𝑚 𝐴𝑚 4,740 × 𝜇0 × 4.91 × 10−6

𝑁2 𝑁2
𝐿= = = 25 𝜇𝐻
ℜ𝑚 5,641,755
∴ 𝑁= 5,641,755 × 25 × 10−6 = 11.88 ≅ 12 𝑡𝑢𝑟𝑛𝑠

𝑖 × 12
𝐻𝑚𝑎𝑥 =
0.165

𝑖 × 12 1.3 × 0.165
𝐵𝑚𝑎𝑥 = 4,740 × 𝜇0 × = 1.3 ∴ 𝑖 = = 3𝐴
0.165 4,740 × 𝜇0 × 12
Revision – Slide 62
H6097 Electrical Drive Systems
TUTORIAL 11 – Exercise T11.5

How fast (in rpm) would a permanent magnet DC motor producing 3 Nm would
rotate, if provided with 80.64 V at the input? The motor has the following
parameters: armature resistance Ra = 0.35 Ω, armature inductance La = 1.5
mH, motor voltage constant kE = 0.5 V/(rad/s) and motor torque constant kT =
0.5 Nm/A.

𝑇𝑒𝑚 3
𝑇𝑒𝑚 = 3 𝑁𝑚 ∴ 𝐼𝑎 = = = 6𝐴
𝑘𝑇 0.5

𝑉𝑎 = 𝑘𝐸 𝜔𝑚 + 𝑅𝑎 𝐼𝑎 = 0.5 × 𝜔𝑚 + 0.35 × 6 = 80.64 𝑉

80.64 − 0.35 × 6 𝑟𝑎𝑑

∴ 𝜔𝑚 = = 157.08 = 1500 𝑟𝑝𝑚
0.5 𝑠

Revision – Slide 63
 H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.1

Consider a permanent magnet DC motor with the following parameters: Ra = 0.25

Ω, La = 1.6 mH, kE = 0.6 V/(rad/s), kT = 0.6 Nm/A, and Jm = 0.04 kg·m2. The rated
torque of this motor is 25 Nm. The motor is driving a bus at a speed of 1,000 rpm.
The load is considered to be purely inertial with an inertia of JL =0.06 kg·m2.
Calculate the energy that will be consumed to speed it up to 1,750 rpm, while
supplying a current of 20 A.

Revision – Slide 64
H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.1

𝑟𝑎𝑑
𝜔𝑀1 = 1,000 𝑟𝑝𝑚 = 104.72
𝑠
𝑟𝑎𝑑
𝜔𝑀2 = 1,750 𝑟𝑝𝑚 = 183.26
𝑠
𝐽𝑒𝑞 = 𝐽𝑀 + 𝐽𝐿 = 0.04 + 0.06 = 0.1 𝑘𝑔 ∙ 𝑚2
1 1
∴ 𝛥𝐸𝑖𝑛𝑒𝑟𝑡𝑖𝑎 = 𝐽𝑒𝑞 𝜔𝑀2 − 𝜔𝑀1 = 0.1 183.262 − 104.722 = 1131 𝐽
2 2
2 2
𝑇𝑒𝑚,𝑠𝑝𝑒𝑒𝑑𝑢𝑝 = 𝑘 𝑇 𝐼𝑎 = 0.6 × 20 = 12 𝑁𝑚
𝑑𝜔𝑀 𝑇𝑒𝑚 𝑇𝑒𝑚
= ∴ 𝜔𝑀 𝑡 = 𝜔𝑀1 + 𝑡
𝑑𝑡 𝐽𝑒𝑞 𝐽𝑒𝑞
𝑇𝑒𝑚
𝜔𝑀2 = 𝜔𝑀1 + 𝛥𝑡
𝐽𝑒𝑞
𝐽𝑒𝑞 0.1
𝛥𝑡 = 𝜔𝑀2 − 𝜔𝑀1 = 183.26 − 104.72 = 0.6545 𝑠
𝑇𝑒𝑚 12
∴ 𝐸𝑙𝑜𝑠𝑠 = 𝑅𝑎 𝐼𝑎 2 𝛥𝑡 = 0.25 × 202 × 0.6545 = 65.45 𝐽
∴ 𝛥𝐸𝑐𝑜𝑛𝑠𝑢𝑚𝑒𝑑 = 𝛥𝐸𝑖𝑛𝑒𝑟𝑡𝑖𝑎 + 𝐸𝑙𝑜𝑠𝑠 = 1131 + 65.45 = 1196.45 𝐽

Revision – Slide 65
H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.2

Consider a three-phase, 2-pole, permanent magnet AC motor, with the stator-

current space vector being 𝑖 𝑠 𝑡 = 10∠120° 𝐴 and the torque constant 𝑘 𝑇 =
𝑁𝑚
0.5 𝐴 . What is the delivered torque and rotor angle?

𝐼መ𝑆 = 10 𝐴 𝑎𝑛𝑑 𝜃𝑖𝑆 = 120° ∴ 𝑇𝑒𝑚 = 𝑘 𝑇 𝐼መ𝑆 = 0.5 × 10 = 5 𝑁𝑚

𝜃𝑖𝑆 = 𝜃𝑚 + 90° ∴ 𝜃𝑚 = 𝜃𝑖𝑆 − 90° = 120° − 90° = 30°

Revision – Slide 66
H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.3

In a 2-pole, three-phase AC machine, 𝑙𝑔 = 2.5 mm and NS = 250. During a

balanced, sinusoidal, 50 Hz steady state with the rotor electrically open-
circuited, the magnetizing current in phase a is 10 + 𝑗10 𝐴. Calculate the flux
density distribution space vector magnitude.

Magnetizing current is:

𝑖𝑚𝑎 = 𝐼መ𝑚 ∠𝜃𝑖𝑚𝑎 = 10 + 𝑗10 = 14.14∠45°

Flux density distribution space vector magnitude:

3 𝜇𝑜 𝑁𝑆 3 4𝜋 × 10−7 × 250
𝐵෠𝑚𝑠 = 𝐼መ𝑚 = × × 14.14 = 1.33 𝑇
2 2 𝑙𝑔 2 2 × 0.0025

Revision – Slide 67
H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.4

In a 2-pole, three-phase machine, calculate the number of turns if at a

time t 𝐹Ԧ𝑆 = 1,500∠0° 𝐴 ∙ 𝑡𝑢𝑟𝑛𝑠 and at that time the stator currents are as
follows: ia = 5 A, ib = -5 A, ic = -5 A

𝑁𝑆
𝐹Ԧ𝑆 𝑡 = 𝑖Ԧ 𝑡
2 𝑆
𝑖Ԧ𝑆 𝑡 = 𝑖𝑎 𝑡 + 𝑖𝑏 𝑡 ∠120° + 𝑖𝑐 𝑡 ∠240°

∴ 𝑖Ԧ𝑆 𝑡 = 5 + −5 ∠120° + −5 ∠240° = 10∠0° 𝐴

𝑁𝑆
∴ 10∠0° = 1,500∠0°
2

1,500∠0°
∴ 𝑁𝑆 = 2 × = 300
10∠0°

Revision – Slide 68
 H6097 Electrical Drive Systems
TUTORIAL 12 – Exercise T12.5

A 6-pole, 3-phase induction machine used for wind turbines has the following
specifications: line-to-line voltage VLL = 600 V (RMS) at 60 Hz. During operation,
the rotational speed is 1,100 rpm, while the voltage at the power electronic
converter VLL(conv) = 545.53 V (RMS). Calculate the frequency of the power
electronics converter output, as well as the slip.

Since the voltage output is proportional to the rotor resistance, which is

proportional to the synchronous speed, hence the voltage output is also
proportional to the frequency at the converter:
𝑓𝑐𝑜𝑛𝑣
𝑉𝐿𝐿(𝑐𝑜𝑛𝑣) = 600𝑉 × = 545.53 𝑉 ∴ 𝑓𝑐𝑜𝑛𝑣 = 54.55 𝐻𝑧
60𝐻𝑧
The synchronous speed in these conditions would then be:
54.55𝐻𝑧 × 60𝑠𝑒𝑐
𝑛𝑠𝑦𝑛 = = 1,091 𝑟𝑝𝑚
3 𝑝𝑜𝑙𝑒 − 𝑝𝑎𝑖𝑟𝑠
Hence
𝑛𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛 − 𝑛𝑠𝑦𝑛
𝑠𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛 = = 0.0082
𝑛𝑠𝑦𝑛
Revision – Slide 69
 H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 1

The wheel of a small van is required to accelerate from 800 rpm to 2000 rpm
𝑛
within a second. In the gearbox of the van, the gear ratio is 𝑛𝑀 = 0.39, where 𝑛𝐿
𝐿
is the number of teeth in the load gear and 𝑛𝑀 is the number of teeth in the motor
gear. The load and motor inertia are JL = 6.88 kg·m2 and JM = 0.89 kg·m2.
Damping and the load torque (TL) can be neglected. If the motor provides
501.1 𝑁𝑚 of torque, determine if the car wheel would accelerate as required.

Revision – Slide 70
H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 1

The length of the arc between two teeth is the same in two gears. Therefore:

𝑎𝑟𝑐 𝑙𝑒𝑛𝑔𝑡ℎ × 𝑛𝑀 = 2𝜋 𝑟𝑀
𝑎𝑟𝑐 𝑙𝑒𝑛𝑔𝑡ℎ × 𝑛𝐿 = 2𝜋 𝑟𝐿

𝑛𝑀 𝑟𝑀 𝜔𝐿
∴ = = = 0.39
𝑛𝐿 𝑟𝐿 𝜔𝑀
∴ 𝜔𝐿 = 0.39 × 𝜔𝑀
2
𝜔𝐿 𝑑𝜔𝑀 𝑑𝜔𝑀
𝑇𝑒𝑚 = 𝐽𝑀 + 𝐽𝐿 = 0.89 + 0.39 2 6.88 × = 501.1 𝑁𝑚
𝜔𝑀 𝑑𝑡 𝑑𝑡
𝑑𝜔𝑀 𝑟𝑎𝑑
∴ = 258.8 2
𝑑𝑡 𝑠
𝑑𝜔𝐿 𝑟𝑎𝑑
∴ = 258.8 × 0.39 = 100.92 2 = 964 𝑟𝑝𝑚
𝑑𝑡 𝑠

Hence, the final speed will be 800 + 964 = 1764 𝑟𝑝𝑚. The car wheel will not
accelerate as required.
Revision – Slide 71
 H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 2

A water pumping station is consuming reactive power, for operating five 14MW
pumps at a power factor on 0.78. The average annual cost is £3.4 per kVAr. What
would be the average yearly costs associated with that activity?

Per pump:
14
𝑃 = 3 × 𝑉𝑃 × 𝐼𝑃 × cos 𝜃 = 14𝑀𝑊 ∴ 𝑆 = 3 × 𝑉𝑃 × 𝐼𝑃 =
0.78
= 17.95𝑀𝑉𝐴

𝑄 = 3 × 𝑉𝑃 × 𝐼𝑃 × sin 𝜃 = 17.95 × sin cos −1 0.78 = 11.233 𝑀𝑉𝐴𝑟

Total cost:
£3.4
𝑐𝑜𝑠𝑡 = 11,233 𝑘𝑉𝐴𝑟 × × 5 = £190,957
𝑘𝑉𝐴𝑟

Revision – Slide 72
 H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 3

You have to design a DC motor that will fit to each of the wheels of a popular electric vehicle model. You
are given the following design specifications and need to design an appropriate motor.

• The wheel diameter is 44cm and diameter of the motor has to be less than half of that, and the rotor
diameter a quarter of the wheel.
• The depth of the wheel is 23cm and the motor depth should be less than three quarters of that.
• The battery provides 295V DC.
• Each motor needs to provide a torque of 44 Nm.
• The windings should be made with a conductor with a cross-sectional diameter of 6.5mm and
resistance of 0.011 Ω/m. The conductor can be packed around the rotor with no gaps.
• The motor’s resistive loss at the windings is 10%. This is the only loss.

Determine the following parameters:

• number of conductors 𝑛𝑎
• length 𝑙 of conductors
• radius 𝑟 of rotor
• winding internal resistance 𝑅𝑎 of the rotor winding
• magnetic field density 𝐵𝑓 produced by the rotor winding
• Mechanical power output 𝑃𝑚 of the motor
Revision – Slide 73
H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 3

It is assumed that the rotor diameter is 50% of the diameter of the whole motor,
which is 50% of the diameter of the wheel. Hence, the rotor radius 𝑟 cannot
exceed:

0.44 × 25%
𝑟= = 0.055 𝑚
2

Likewise, the conductor length cannot exceed 75% of 0.23 m, so:

𝑙 = 0.23 × 75% = 0.1725 𝑚

A rotor with radius = 0.055 m can accommodate the following number of

conductors of 6.5 mm diameter:

2𝜋𝑟 2𝜋 × 0.055
𝑛𝑎 = = = 53.17 ≅ 53 𝑐𝑜𝑛𝑑𝑢𝑐𝑡𝑜𝑟𝑠
0.0065 0.0065
Revision – Slide 74
H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 3

It is assumed that the winding loop will include (a) the conductors and (b) part of
the wire that will cross the diameter of the rotor. Hence, the total resistance of the
winding will be:
𝑅𝑎 = 53 × 0.1725 + 2 × 0.055 × 0.011 = 0.165 𝛺

Since the motor only has 10% loss, it means that 𝑃𝑚 = 0.9 × 𝑃𝑒 , hence:

𝑇𝑒𝑚 𝜔𝑚 = 0.9 × 𝑉𝑎 × 𝐼𝑎

Since:
𝑉𝑎 = 𝐸𝑎 + 𝑅𝑎 𝐼𝑎 = 𝑘𝐸 𝜔𝑚 + 𝑅𝑎 𝐼𝑎 = 295 𝑉
And:
𝑛𝑎
𝑘𝐸 = 𝑙𝑟 𝐵𝑓 = 𝑘 𝑇
2
And:
𝑇𝑒𝑚 = 𝑘 𝑇 𝑖𝑎
… Revision – Slide 75
H6097 Electrical Drive Systems
FINAL REVISION TUTORIAL – Exercise 3

Then:
𝑘 𝑇 𝜔𝑚 + 0.165 × 𝐼𝑎 = 295𝑉
𝑇𝑒𝑚
∴ 𝜔 + 0.165 × 𝐼𝑎 = 295𝑉
𝐼𝑎 𝑚
0.9 × 𝑉𝑎 × 𝐼𝑎
∴ + 0.165 × 𝐼𝑎 = 295
𝐼𝑎
∴ 0.9 × 295 + 0.165 × 𝐼𝑎 = 295
(1 − 0.9) × 295
∴ 𝐼𝑎 = = 178.8 𝐴
0.165

Hence, 𝑃𝑒 = 295 × 178.8 = 52,742 𝑊 and 𝑃𝑚 = 0.9 × 52742 = 47,468 𝑊

For 𝑇𝑒𝑚 = 44 𝑁𝑚:
𝑛𝑎
𝑇𝑒𝑚 = 𝑙𝑟 𝐵𝑓 × 𝐼𝑎
2
𝑇𝑒𝑚 44
∴ 𝐵𝑓 = 𝑛 = = 0.979 𝑇
𝑎 53
2 𝑙𝑟 × 𝐼𝑎 2
× 0.1725 × 0.055 × 178.8

Revision – Slide 76