RAJASHRI SHAHU COLLEGE OF ENGINEERING,

TATHAWADE,PUNE.
ELECTRICAL ENGINEERING DEPT.

SUBJECT: ELECTRICAL DRIVES AND CONTROL

[EL3110]: Electric Drives and Control
UNIT-I Basics of Electric Drives and Control 07 Hours
Definition, Advantages of electrical drives, Components of Electric drive system, Selection Factors,
status of Electrical Drives (DC & AC), speed control and drive classifications, close loop control of
drives, and phase locked loop (PLL) control

UNIT-II Dynamics of Electrical Drives 08 Hours

Motor-Load Dynamics, Speed Torque conventions and multi quadrant operation, Equivalent values
of drive parameters. Load Torque Components, Nature and classification of Load Torques,
Constant Torque and Constant Power operation of a Drive. Steady state stability, Load
equalization.

UNIT-III Selection of Motor Power Rating 05 Hours

Thermal model of motor for heating and cooling-Relationship between temperature rise and time,
Heating time constant, Cooling time constant. Classes of motor duty- continuous duty, short time
duty, intermittent periodic duty, intermittent periodic duty with starting, intermittent periodic
duty with starting & braking, continuous duty with intermittent periodic loading, continuous duty
with starting & braking, Continuous duty with periodic speed changes. Determination of motor
ratings, Selection of power ratings of motor -continuous duty and constant load, continuous duty
 [EL3110]: Electric Drives and Control
UNIT-IV DC Motor Drives 08
DC motors and their performance starting, transient analysis, speed control, Controlled
rectifier fed drives, full controlled 3 phase rectifier control of dc separately excited motor,
multiquadrant operation, Chopper controlled drives Closed loop speed control of DC
motor.

UNIT-V Induction Motor Drives 08

Induction motor analysis, starting and speed control methods- voltage and frequency
control, current control, closed loop control of induction motor drives, rotor resistance
control, Slip power recovery – Static Kramer and Scherbius Drive, Single phase induction
motor starting, braking and speed control.

UNIT-VI Synchronous Motor and Brushless dc Motor Drives 06

Synchronous motor types, operation with fixed frequency, variable speed drives, PMAC
and BLDC motor drives, Stepper motor drives, switch reluctance motor drives.
 Syllabus

•DEFINITIONS,
•ADVANTAGES OF ELECTRIC DRIVE AND COMPONENTS OF ELECTRIC DRIVE
•SELECTION FACTORS,
•STATUS OF ELECTRIC DRIVE,
•SPEED CONTROL,
•DRIVE CLASSIFICATION,
•CLOSE LOOP CONTROL OF DRIVE,
•PHASE LOCKED LOOP (PLL)CONTROL
 ELECTRICAL DRIVES AND CONTROL

DRIVE - System which control motion called as drive.

What is Electrical drives?
• Electrical power systems employed for motion control are
called “Electrical Drives”.
• It consists of a sophisticated electronic system or a combination
of different systems for the purpose of motion control.
• Motion is provided with the help of prime movers.
• Example of prime movers - Petrol engines, Diesel engines, gas
or steam turbines, steam engines, hydraulic motors, and
electric motors.
BLOCK DIAGRAM OF ELECTRIC DRIVE
 PARTS OF ELECTRICAL DRIVES

• Load,
• Motor,
• Power modulator,
• Control unit
• Source.

Supply : 1- ph or 3 -ph AC OR DC.

 PARTS OF ELECTRICAL
DRIVES

• Load - usually machinery designed

to accomplish a given task, e.g.
fans, pumps, washing machines,
machine tools, trains and drills.

•There are large number of loads

and each load has its own specific
• Usually load requirements can be specified in terms of speed and torque
requirements.
demand.
• A motor having speed-torque characteristics and capabilities compatible to the
load requirements is chosen.
 PARTS OF ELECTRICAL DRIVES

Electrical Motors-
•DC motors-
Shunt, series, compound and permanent magnet:
•Induction motors-
squirrel-cage, wound rotor and linear;
•Synchronous motors—
wound field and permanent magnet;
•Brushless dc motors;
•Stepper motors; and
•Switched reluctance motors.
 PARTS OF ELECTRICAL DRIVES
DC motors –
( presence of commutator and brushes )
disadvantages as compared to ac motors (induction and
synchronous motors):
• higher cost,
• higher weight,
• higher volume
• higher inertia for the same rating,
• need for frequent maintenance,
• unsuitable for explosive and contaminated
environments
• restrictions on maximum voltage, speed and
power ratings.
 PARTS OF ELECTRICAL DRIVES
• In the past, induction and synchronous
motors were employed in constant speed
drives.
• Variable speed drives consisting DC machines
were either too expensive and had very poor
efficiency.
• Consequently, variable speed drive
applications were dominated by DC motors.
• AC motors are now employed in variable
speed drives due to development of
semiconductor converters employing
thyristors, power transistors, IGBTs and GTOS.
PARTS OF ELECTRICAL DRIVES
 PARTS OF ELECTRICAL DRIVES

Squirrel-cage induction motor,

- costs nearly one-third of a DC motor of the same
rating,
- extremely rugged, requires practically no
maintenance and
- can be built for higher speeds, torques and
power ratings.

Wound-rotor motors are more expensive than

squirrel-cage motors.
Their maintenance needs, more than squirrel-
cage motors.
They are also available in high power ratings
 PARTS OF ELECTRICAL DRIVES

• Wound field and permanent

magnet synchronous motors have a
higher full load efficiency and
power factor than induction
motors.

• Wound field motors can be

designed for a higher power rating
than induction motors.
 PARTS OF ELECTRICAL DRIVES

• Wound field and permanent magnet

synchronous motors have a higher full
load efficiency and power factor than
induction motors.
• Wound field Synchronous motors can
be designed for a higher power rating
than induction motors.
• compared to squirrel- cage induction
motors they have higher cost and size for
the same rating and require more
maintenance
 PARTS OF ELECTRICAL DRIVES

Permanent magnet synchronous

motors have all the advantages of
squirrel- cage induction motors
except that they are available in
lower power ratings.

Because of numerous advantages of

ac motors, ac drives have succeeded
in replacing dc drives in a variable
speed applications.
 PARTS OF ELECTRICAL DRIVES

Brushless dc motor is somewhat

similar to a permanent magnet
synchronous motor - has lower cost
and requires simpler and cheaper
converter.
It is being considered for low power
high speed drives
 PARTS OF ELECTRICAL DRIVES
2 Power Modulators - performs one or more of the
following functions:
(i) Modulates flow of power from the source to the
motor to obtain speed-torque characteristics required
by the load.
(ii) During transient operations, such as starting,
braking and speed reversal . It restrict source and
motor currents within permissible values .(excessive Power modulator is
current drawn from it may cause a voltage dip). employed mainly to
perform function (iii),
(iii) Converts electrical energy of the source in the form it is called converter.
suitable to motor
(iv) Selects the mode of operation of the motor, i.e.
motoring or braking.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – classification : (a)

Converters; (b) Variable impedances and (c)
Switching circuits.

(a) Converters
Need for a converter arises when nature of the
available electrical power is different from
required for the motor.
Power sources are usually of the following types:
(i) Fixed voltage and fixed frequency ac Power modulator is employed
mainly to perform function (iii),
(ii) Fixed voltage dc. it is called converter.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators –
control of dc motors requires variable dc voltage
whereas for ac motors requires either fixed
frequency variable voltage ac or variable
frequency variable voltage ac.
These motor requirements are met by the
converters and their combinations
1. AC to DC Converters
 PARTS OF ELECTRICAL DRIVES
2 Power Modulators -. AC to DC Converters
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators –
AC Voltage Controllers or ac Regulators:
Employed to get variable ac voltage of the same
frequency from a fixed ac voltage.
 PARTS OF ELECTRICAL DRIVES
2 Power Modulators - AC Voltage controller
Fig. (a) - a fixed ac voltage supply.
Fig. (b) -Variable ac voltage with few discrete
steps
Fig. (c) -employs a thyristor voltage
controller. Stepless control of the output
voltage can be obtained by controlling firing
angle of converter thyristors.
old drives may employ magnetic amplifier
to get variable voltage Because of high cost,
weight and volume, and poor efficiency
they have been replaced by thyristor voltage
controllers in almost all applications.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators –
3. Choppers or dc-dc Converters
used to get variable voltage DC from
a fixed voltage DC and designed using
power transistors, IGBTs. GTOS,
power MOSFETs and thyristors.

Output voltage can be varied

steplessly by controlling the duty
ratio of the device by low power
signals from a control unit.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators –

4. Inverters:
• employed to get a variable frequency as supply from a DC
supply.
• can be designed to behave as voltage source or current source.

Accordingly they are known as voltage source or current source

inverters
 PARTS OF ELECTRICAL DRIVES
2 Power Modulators –
4. Inverters: For the control of ac motor, voltage/current should also be
controlled along with frequency.
Output voltage and current have stepped waveform, may have substantial
amount of harmonics.

Variable frequency and variable voltage

AC is directly obtained from fixed voltage
DC when the inverter is controlled by
pulse width modulation
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – Converter

5. Cycloconverter: converts fixed voltage and frequency ac to variable
voltage and variable frequency ac.
They are built using thyristors and are controlled by firing signals.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – (b) Variable Impedances

Variable resistors are commonly used for the control of low cost dc and ac
drives and are also needed for dynamic braking of drives.
Variable resistors may have two (full and zero) or more steps and can be
controlled manually or automatically with the help of contactors.
Stepless variation of resistance can be obtained using a semiconductor switch in
parallel with a fixed resistance; variation of duty ratio of the switch gives a
stepless variation in effective value of the resistance.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – (b) Variable Impedances

In high power applications liquid rheostats, known as slip regulators, are
employed to get stepless variation of resistance.
Inductors, usually in two steps (full and zero), are employed for limiting the
starting current of ac motors.
Old drives may also employ saturable reactors for the control of induction
motors.
In saturable reactors, reactance is controlled steplessly by controlling dc
current of the control winding.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – c) Switching Circuits

Switching operations are required to achieve any one of the
following:
(i) for changing motor connections to change its quadrant of
operation.
(ii) For automatic starting and braking control,
(iii) for operating motors and drives according to a predetermined
sequence,
(iv) to provide interlocking to prevent maloperation and
(v) to disconnect motor when abnormal operating conditions occur.
 PARTS OF ELECTRICAL DRIVES

2 Power Modulators – c) Switching Circuits

• Switching operations in motor's power circuit are carried out by high power
electromagnetic relays known as contactors.
• Recently attempts have been made to use thyristor switches.
•Thyristor switches have disadvantages that they cannot provide perfect
isolation between the source and motor circuit.
•In the past sequencing and interlocking operations used to be implemented
using low power electromagnetic relays.
•Solid state relays have replaced them almost in all applications.
 PARTS OF ELECTRICAL DRIVES

3-Sources -
1-phase and 3-phase 50 Hz ac
• low power drives are generally fed from 1-phase source.
• Rest of the drives are powered from 3-phase source; except in
the case of traction drives where even at very high power levels,
1-phase supply is used because of economy.
 PARTS OF ELECTRICAL DRIVES
3-Sources -
1-phase and 3-phase 50 Hz ac

•Most drives are powered from ac source either directly or through a converter
link.
•When fed directly from 50 Hz ac supply, maximum speeds of induction and
synchronous motors are limited to 3000 rpm.
• For higher speeds, conversion to higher frequency supply becomes mandatory.
Low and medium power motors (tens of kilowatts) are generally fed from 400 V
supply: for high ratings, motors may be rated at 3.3 kV. 6.6 kV, 11 kV and higher.
• In case of aircraft and space applications, 400 Hz ac supply used to achieve
high power to weight ratio for motors.
 PARTS OF ELECTRICAL DRIVES
• Control unit:
• Control of power modulation is provided by control unit.
• Control unit consist of firing ckt.
• Function of control unit will be to provide a signal to power modulator for
smooth operation of drive.
• Sensing unit:
• It senses the certain drive parameter like motor current and speed. It mainly
required either for protection or for closed loop operation or smooth operation
of motor.

• Load:
Depend on speed torque characteristic of load, motor is to be selected.
 STATUS OF DC and AC DRIVES

• In the past induction and synchronous motor drives were mainly used in fixed speed applications.
• Variable speed applications were dominated by DC motor drives.
• Emergence of thyristors in 1957 lead to the development of variable speed induction motor
drives in late sixties which were efficient and could match the performance of DC drives.
• Consequently, because of the advantages of squirrel-cage induction motors over DC motors), it
was predicted that induction motor drives will replace DC drives in variable speed applications.
• Following were hurdles forbided for replacing DC motor by Induction motor :
(i) Although squirrel-cage induction motor was cheaper than dc motor, the converter and control
circuit of an induction motor drive was very expensive compared to those for a dc drive.
Therefore, total cost of an induction motor drive was significantly higher than that of a dc drive.
(ii) While the technology of DC drives was well established, that of ac was new.
(iii) ac drives were not as reliable as dc.
(iv) Developments in linear and digital ICs, and VLSI were helpful in improving the performance
and reliability of ac drives. But then these developments also led to similar improvements in DC
drives.
 STATUS OF DC and AC DRIVES

However over the years

• Improvement in thyristor capabilities,
• availability of power transistors and GTOs and IGBTs
• reduction in cost of thyristors, power transistors and GTOs;
• developments of VLSI and microprocessors; and
• improvement in control techniques of converters
Have resulted into reduction in cost, simple controllers, and improvement
in performance and reliability for ac drives and hence ac drive
applications are growing.
• Induction motor drives find applications in low to high power applications
• synchronous motor drives are employed in very high power (megawatts)
and medium power drives.
• The permanent magnet synchronous motor and brushless dc motor drives
are being considered for replacing DC servo motors for fractional HP range.
ELECTRICAL DRIVES AND CONTROL

Modulator:
• Modulate the power
• Modulator control transient condition
• It controls modes of operation.
• MODULATOR IS CLASSIFIED AS
• CONVERTOR
• VARIABLE IMPEDENCES
• SWITCHING CKT
 ELECTRICAL DRIVES AND CONTROL

1.CONVERTERS:
AC-----DC
DC------DC(VARIABLE)
DC------AC
AC------AC(VARIABLE).
2.VARIABLE IMPEDENCE:
To Control the speed variable impedences are used.
3. Switching ckt:
• it is a part of modulator.
• using switching ckt we can change the operation of motor.
 ELECTRICAL DRIVES AND CONTROL

• MOTOR:
• DC
• AC - IM (SCIM,SQRIM,LIM)
SYNCHRONOUS MOTOR
• SPECIAL MOTORS

• SOURCES:
• Supply can be 1 ph or 3 ph AC OR DC.
ELECTRICAL DRIVES AND CONTROL
Advantages
• The electric drive has very large range of torque, speed and power.
• Their working is independent of the environmental condition.
• The electric drives are free from pollution.
• The electric drives operate on all the quadrants of speed torque plane.
• The drive can easily be started and it does not require any refuelling.
• The efficiency of the drives is high because of control unit.

Application of Electric Drive

• It is used in a large number of industrial and domestic applications like
transportation systems, rolling mills, paper machines, textile mills, machine
tools, fans, pumps, robots and washing, etc.
Disadvantages of Electrical Drive
• The power failure completely disabled the whole of the system.
1.The application of the drive is limited because it cannot use in a place
where the power supply is not available..
2.The initial cost of the system is high.
3.During the breakdown of conductors or short circuit, the system may
get damaged due to which several problems occur.
Choice (or) Selection of Electrical Drives :-
1. Steady State Operating conditions requirements:
Nature of speed torque characteristics, speed regulation, speed range,
efficiency, quadrants of operation, speed fluctuations, ratings etc
2. Transient operation requirements:
Values of acceleration and deceleration, starting, braking and reversing
performance.
3. Requirements related to the source: type of source, its capacity, voltage
fluctuation, power factor ,harmonics, harmonics effect on load.
4. cost, maintenance needs, life.
5. Space and weight .
6. Environment and location.
7. Reliability.
 Types of drive
• Types of Electrical Drives
• Based on Supply
• AC Motor drives
• DC Motor drives

• Based on Number of Motors

• Individual
• Group Drive

• Based on Speed
• Constant Speed drive
• Variable Speed drive
 Types of drive

Depending upon how the electric motor is used in industrial applications,( According to Number of
machines ) electric drives may be classified into three types,
I. Group drive
II. Individual Drive
III. Multimotor Drive
 Types of drive
Group drive
Group drives are employed in industries that switch over from non-electric drive (oil
or steam engine) to electric drive where only the engine is replaced by a motor and
retaining the rest of the power transmission system.

Advantages of Group Drive

•As group drive uses a large sized single motor,
so there is considerable saving in cost.
•Group drive has low maintenance cost.
•In case of group drive, the overload occurring
for main motor is very less.
When the main motor operates near rated
capacity, then the power factor and efficiency of
the group drive be better
 Types of drive
Group drive
When several machines are organized on a single shaft and are driven by a single
large motor, this system is known as group drive.
Group drive is also known as line shaft drive - To the common shaft, a number of
small machines are connected by means of multi-stepped pulleys
 Types of drive
Group drive
Disadvantages of Group Drive
• If there is a fault in main motor, then it causes stopping of all the small machines.
• In group drive, the small machines have to be installed at places which is convenient for
shafting.
• In group drive, the speed control of individual small machine is not possible
• In case of group drive, high amount of power is wasted in power transmission (in pulleys,
etc.).
• In group drive, future expansion is not possible.
• Noise produced by group drives is high.

When only a few number of machines are required to

be operated, then the main motor operates with a very
less capacity. Thus, its power factor and efficiency be
poor
 Types of drive
Group drive
Applications of Group Drive
• Grain processing industries
• Food grinding mills
• Paper mills
• Textile mills
• Workshops, etc.
 Types of drive
Individual electric drive

• An individual machine is fitted

with its own electric motor.
• In case of individual electric
drive, each operator has
complete control on his machine.
• By using the individual drive, a
safer operation can be
performed.
 Types of drive

Individual electric drive

Advantages
• It is possible to control the speed of
individual machine easily.
• Individual drives have flexibility in
the layout.
•In case of individual drive, fault on
any one machine does not create
problem for other machines.
• Individual drive is economical in
long-term.
 Types of drive
Individual electric drive
Disadvantages
• The initial cost of individual drive
is high.
•There is power loss in
transmission system equipment
such as gears, pulleys, etc.

Applications of Individual Drive

•Drill machines,
•Lathe machines, etc.
 Types of drive
Multi-motor Drive
- mechanism in which separate
motors are used for operating
different parts of the same
machine.
- separate motors are provided for
actuating different parts of the
driven mechanism.
 Types of drive
Multi-motor Drive - Advantages :
1. It drives provide better control of process.- Each
Machine is driven by a separated motor it can be
run and stopped as desired.
2. Machines not required can be shut down and
also replaced with a minimum of dislocation.
3. There is a flexibility in the installation of different
machine’s., complicated process can be automate
4. In the case of a motor fault, only its connected
machine will stop where as others will continue
working undisturbed.
5. Absence of belts and line shafts greatly reduces
the power loss and risk of accidents.
 Types of drive
Multi-motor Drive -
Disadvantage:
Multimotor drives involve high initial
cost.
The maintenance of one motor
causes disturbance to the entire
process.
Choice (or) Selection of Electrical Drives :-
1. Reliability of operation throughout the ranges of load.
2. Steady state operation requirements such as:
• Duty cycle.Speed range.Efficiency
• Rating.
• Quadrants of operation
• Speed regulation.
• Speed/torque characteristic nature.
• Fluctuations in speed.
Choice (or) Selection of Electrical Drives :-
3. Sources required such as:
Type of voltage (A.C/D.C.) source.
For A.C. source - Power factor. • Harmonics.Harmonics affecting loads. Regenerated
power acceptability.
4. Cost:
Capital cost , .Running cost. Maintenance cost. Service cost.
5. Life: More life expected.
6. Capacity: Thermal capacity.
7. space and weight restriction if any
8. To work satisfactory in types of location.
9 Environment Changes
Choice (or) Selection of Electrical Drives :-
Transient operation requirements:
Values of acceleration.
Values of deceleration.
Starting performance
Braking performance.
Reversing performance.
 Types of drive
Point of Comparison AC Drives DC Drives

Converter circuit AC drives have two converter circuits viz. DC drive involves only one converter circuit that is
rectifier for AC to DC conversion and rectifier for AC to DC conversion.
inverter for DC to AC conversion.
Circuit complexity AC drives involve complicated circuit design Circuit of DC drive is relatively less complex due to
due to presence of rectifier circuit and the single power conversion, i.e. from AC to DC
inverter circuit. only.
Parameter of speed speed control is performed by changing the speed control is achieved by armature and field
control supply frequency. control.
Speed torque curves Using AC drives, the adjustment of speed- With DC drives, it is easy to adjust the speed-torque
torque curves of motor is complex. curves of the motor.
Control and power control and power circuits are complex. control and power circuits of DC drives are simple.
circuits
Braking braking mechanism of AC drives are The braking mechanism of DC drives is controlled
controlled by changing the supply frequency. by applying resistance at rotor side of motor.
Sparking operation of AC drives is spark free, In DC drives, the spark is produced the brushes,
therefore, can be used in wet areas. hence they cannot be used in wet areas.
Maintenance less maintenance. frequent and more maintenance.
 Different way to control electric drive:
Closed Loop Control of Drives

• In a control system, -two types of systems, - open loop and closed loop
control system.

• In open loop control system - output has no effect on the input, i.e the
controlling phenomenon is independent of the output,

• Closed loop control system - output is fed back to the input terminal
which determines the amount of input to the system,
Closed loop control of Electric drives:

In electrical drives closed loop control satisfy the following requirement:

• Protection.
• Enhancement of speed of response
• To improve steady state accuracy.

There are three types of closed loop control drive:

1) Current limit control
2) Closed loop torque control
3) Close loop speed control
*Closed loop speed control of Multi-motor drive
 Closed loop control drives:
There are different closed loop configurations used in electrical drives irrespective of the type of supply
they are fed, i.e DC or AC.
Current Limit Control
• During the starting, if precautionary measures are not taken there is a chance of huge current flow
through the motor circuit.
• To limit the current , Current sensor(to sense the current fed to the motor) and current limit controller
is installed.
• Feedback loop does not affect the normal operation of the drive but if the current exceeds the
predetermined safe limit, the feedback loop activates and the current is brought down below the safe
limit.
• Once the current is brought
down below the safe limit the
feedback loop again deactivates
and in this way the control of
current takes place.
 Closed loop control drives:
Closed Loop Torque Control
set the reference torque T *.
The actual torque T follows the T* which is controlled by control system
Closed loop speed control:
Closed loop speed control of multi motor drive:
 PLL (PHASE LOCKED LOOP)

A PLL is a non linear feedback system that tracks the phase of input
signal and maintain the phase of output same as input
 PLL (PHASE LOCKED LOOP)

• Phase detector generate error signal Ve

based on input signal and feedback signal.
• error signal Ve passes through low pass
filter generates Vcont control voltage,
• According to Vcont control voltage, Voltage
control oscillator generates required
frequency signal
• PLL output can be taken from Vcont, the
filtered VCO control voltage,
• Oscillator frequency locks to input
frequency
• Either phase or frequency can be used as
the input or output variable
 PLL (PHASE LOCKED LOOP)

Applications:
a. Clock generation
b. Frequency synthesizer
PLL OPERATE IN THREE STATE :

• Free running state

• Capture state
• Phase lock state