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Chap 4

Chapter Four discusses the dynamic behavior of electric drives, focusing on the torques acting in a drive system and the conditions for acceleration and deceleration. It explains the energy losses during transient states, particularly during motor starting, and highlights different starting methods for electric motors. The chapter also includes various equations and figures to illustrate concepts such as inertia and energy loss in drive systems.

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Adem Abdela
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9 views29 pages

Chap 4

Chapter Four discusses the dynamic behavior of electric drives, focusing on the torques acting in a drive system and the conditions for acceleration and deceleration. It explains the energy losses during transient states, particularly during motor starting, and highlights different starting methods for electric motors. The chapter also includes various equations and figures to illustrate concepts such as inertia and energy loss in drive systems.

Uploaded by

Adem Abdela
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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CHAPTER FOUR

Dynamic Behaviour of Electric Drives


4.1 Torques acting in a drive system,
referring torque and moment of inertia from
one axis to other axis

(4.1)

(4.2)
(4.3)

The accelerating torque is


Ti = Fi * r, for r is radius of wheel

Fig 4.1 simple hoist system


The fundamental mechanical relationships
dynamics as well as static conditions
expressed in equation (3.1) can be
considered as
1.Td > Tl , then T i > 0 (accelerating toque)
so that speed increases
2.Td < Tl , then T i < 0 (decelerating toque)
so that speed decreases
3. Td = Tl , then T i = 0 so that drive attains
steady state i.e. runs at constant speed.

The first two cases deal with


transient/dynamic processes (accelerating/
decelerating) therefore called the dynamic
equations of the drive.
(4.4)
Fig. 4.2 inertia

(4.5)
(4.6)

(4.7)
J J J

Fig4.3 . Inertia determination for different bodies


Fig 4.4 Motor and load coupling
system
Fig 4.5 Simple gear
Fig. 2.2
(4.8)

(4.9
)
(4.10)
(4.11)

(4.12)
(4.13)

(4.14)

3.
6
Fig. 4.6
4.2 Transient in Electric Motors: consider
separately exited DC motor

Fig3.7 DC motor equivalent circuit

(this for Radd = 0)

(3.17)
(3.18)

(3.18
)
(3.19)

Substituting eqs. (3.18) and (3.19) in to eq.


(3.17) we have
(3.20)
Example
3.3 Energy losses in
Transient
Consider, for example, a motor with the rotor inertia of JM that
drives a load with the mass moment of inertia of JL through a
transmission with the gear ratio of N. The kinetic energy, EL,
of the load rotating with the angular velocity ωL is
(3.22)

while the kinetic energy, EM, of the rotor whose velocity is ωM is


given by
(3.23)

Thus, the total kinetic energy, ET, of the drive can be expressed
as
(3.24)

where JT denotes the total mass moment of inertia of the system


referred to the motor shaft
The energy loss during the transient of the drive can be classified as

A. During the starting


If the motor start with out load, the friction is neglected

i.e. AL (3.25

for

(3.26)

For motor starts from rest,

It shows that the energy loss in motor during starting is equal to the
stored energy in its rotating parts at steady state speed.
B. If the motor is started with constant load torque , the energy loss
during transient is
(3.27)

(3.28)

The first part of equation (2.28) Represents the energy loss in the
armature circuit due to acceleration whereas the second part
represents the loss in the armature circuit due to load carried by
motor.
ing
mode
(Reverse braking)
mode

Reverse ing
mode (Forward braking) mode
Fig. 3.9b
-P

+
Fig.3.9c The four quadrant operation and variables change in polari
Fig. 3.9d power flow in the four quadrant operation
bellow

Fig. 3.9e four quadrant operation of locomotive


Fig.3.9f
3.5 Starting of electric motors
The starting current of the electric motor, is typically much higher
than the rated current. For example, using the approximate
equivalent circuit Induction motor, the starting current, Is,st, can be
estimated as

Fig 3.10 Approximate per-phase equivalent circuit of the induction


motor
In the example motor, the starting current, at about 250 A/ph, is
6.3 times higher than the rated current. For small motors this is
usually not a serious issue, and they are started by connecting
them directly to the power line.
However, large motors, especially those driving loads with high
inertia or high low-speed torque, require assisted starting. The
following are the most common solutions.

Fig3.11a autotransformer starting Fig. 3.11b impedance starting


Fig 3.11c wye-delta starting Fig3.11d soft-starting

In comparison with the direct online starting, all the preceding


methods of assisted starting result in reduction of the starting
torque. This, with certain loads, can be a serious disadvantage.

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