Multi- quadrant Operation

 For consideration of multi quadrant operation of drives, it is useful to establish

switchable conventions about the signs of torque and speed.
 Motor speed is considered positive when rotating in the forward direction in
loads involving up and down motions, the speed of the motor which causes
upward motion is considered forward motion and as positive.
 For reversible drives, forward speed is chosen arbitrarily.
 Positive motor torque is defined as the torque that produces acceleration or the
positive rate of change of speed in the forward direction.
 Positive load torque is opposite in direction to the positive motor torque.
 Motor torque is considered negative if it produces deceleration.
 A motor operates in two modes- motoring and braking.
 In motoring mode, it converts electrical energy to mechanical energy, which
supports its motion. In braking, it works as a generator converting mechanical
energy to electrical energy, and opposes the motion.

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 Figure 1 Multiquadrant-operation of drives

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 The motor can provide motoring and braking operations for both forward and
reverse directions.
 The torque and speed coordinates for both forward and reverse motions are
shown in the above figure.
 Power developed by a motor is given by the product of speed and torque.
1- In quadrant I developed power is positive and called forward motoring mode.
2- In quadrant II, the developed power is negative the machine works under braking
opposing the motion and this is known as forward braking mode.
3- Similarly, quadrant III known as reverses motoring. And quadrant IV, known as
reverses braking.

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 Four-quadrant operation of a hoist
• Consider the operation of a hoist in four quadrants as shown in below figure 2:
• A Hoist consists of a rope wound on a drum coupled to the motor shaft.
• One end of the rope is tied to a cage which is used to transport objects from one
level to another level where the other end of the rope has a counterweight.
• The weight of the counterweight is chosen to be higher than the weight of an
empty cage but lower than a fully loaded cage.
• Load torque has been shown to be constant and independent of speed, by
neglecting forces due to friction and windage compared to those due to gravity.
• Load torque line TL in quadrants I&IV represents speed-torque characteristics for
the loaded hoist. This torque is the difference of torques due to the loaded hoist
and counterweight.
• The load torque line TL2 in quadrants II &III is the speed- torque characteristic for
an empty hoist. This torque is the difference of torques due to the counterweight
and the empty hoist. And it is always negative.
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 Figure 2 Four quadrant operation of a motor
driving a hoist load

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 Quadrant I operation
 The Quadrant I operation of the hoist requires
the movement of the cages upwards which corresponds to the positive motor
speed (anticlockwise direction)
 This motion will obtained if the motor produces positive torque in an
anticlockwise direction equal to the magnitude of the load torque (t L ).

• Since the developed motor power is positive, this is a forward motoring

operation.
• motoring mode occurs at the region between no-load and short circuit points
in the first quadrant. Motor parameters are:
0<ω<ωO, 0< TL <Tsc, P2=ωTL>0, P1=P2+ ∑∆P, 0< Im <Isc, ∑∆P=-constant losses. 0 ≤ η ≤
ηn. At nominal load, the motor will get the best efficiency which equals the
nominal value. It is not recommended to increase the motor current over the
nominal current (overloading) due to the heat increasing in the armature
windings.

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 Quadrant II operation

 Operation in quadrant II is obtained when

an empty cage is moved up.
Since a counterweight is heavier than an empty cage it is able to pull it up. In
order to limit the speed within a safe value, the motor must produce braking
torque equal to tL in a clockwise direction ( negative direction).
 Since speed is positive and developed power negative it is forward braking
operation (regenerative ).
 Regenerative forward braking occurs in the second quadrant when the
motor speed is superior to the no-load speed. Machine works as a
generator parallel to the source because the motor reverses its torque.
Motor parameters are: ωo<ω, TL < 0, P2=ωTL<0, -P1=-P2+ ∑∆P which
means that P2= P1+ ∑∆P, Im reverses its direction, losses are electrical
(heating in the copper windings) and friction.
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 Quadrant III operation

 Operation in quadrant III is obtained when an

empty cage is lowered.
 Since an empty cage has less weight than a counterweight, the motor should
produce a torque in a clockwise direction. To meet load torque T L.
Since speed is negative and developed power is positive this is reverse motor
operation.
• This motoring mode occurs at the region between no-load and short circuit
points in the third quadrant. Motor parameters are:
ω<0, TL <0, P2=ωTL>0, P1=P2+ ∑∆P, Im <0, ∑∆P=-constant losses. 0 ≤ η ≤ ηn. At
nominal load, the motor will get the best efficiency which equals the nominal
value. It is not recommended to increase the motor current over the nominal
current (overloading) due to the heat increasing in the armature windings.

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 Quadrant IV operation

 Quadrant IV is obtained when a loaded cage

is lowered since the weight of a loaded cage
is higher than that of a counterweight, it is able to come down due to gravity.
• In order to limit the speed of the cage within a safe value, the motor must
produce a positive torque T equal to tL in an anti-clockwise direction.

• As both power and speed are negative, the drive is operating in reverse braking
mode (regenerative mode under plugging).
Regenerative mode under plugging (reverse braking) occurs in the fourth
quadrant when the load torque is more than the starting torque and the
machine works as a generator in series with the source. Motor parameters are:
ωo<0, TL> Tsc, P2=ωTL<0, P1=-P2+ ∑∆P. So, ∑∆P = P1+ P2, Im > Isc .Working in
this region is very dangerous at natural characteristic since the two powers are
converted into heating losses in the motor windings. Therefore, regulating
characteristics of starting current less than the nominal current are suitable for
this mode.
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