GENERAL ELECTRICAL DRIVES

What is electrical drives? Components of electrical drives Advantages of electrical drives DC drives Vs AC drives Torque equations Load torque profiles Four quadrant operation

DC DRIVES Vs AC DRIVES
DC drives: Advantage in control unit Disadvantage in motor AC Drives: Advantage in motor Disadvantage in control unit

DC DRIVES DC DRIVES: Electric drives that use DC motors as the prime movers DC motor: industry workhorse for decades Dominates variable speed applications before PE converters were introduced Will AC drive replaces DC drive ?
Predicted 30 years ago DC strong presence easy control huge numbers AC will eventually replace DC at a slow rate

DC Motors Advantage: simple torque and speed control without sophisticated electronics Limitations: Regular Maintenance Heavy motor Expensive motor Sparking

General Torque Equation

Translational (linear) motion:

dv F !M dt
Rotational motion:

F : Force (Nm) M : Mass (Kg ) v : velocity (m/s)

d[ T!J dt

T : Torque (Nm) J : Moment of Inertia (Kgm2 ) [ : angular velocity ( rad/s )

Torque Equation: Motor drives

d[ d[ Te ! TL  J or Te  TL ! J dt dt
Te : motor torque (Nm) TL : Load torque (Nm)

Te  TL " 0 Te  TL 0

Acceleration Deceleration Constant speed

Te  TL ! 0

continue
Drive accelerates or decelerates depending on whether Te is greater or less than TL During acceleration, motor must supply not only the load torque but also dynamic torque, ( Jd[/dt ). During deceleration, the dynamic torque, ( Jd[/dt ), has a negative sign. Therefore, it assists the motor torque, Te.

Torque Equation: Graphical

Te

Speed

Forward Forward Reverse Reverse running braking acc. running

Reverse Forward braking acc.

Load Torque
Load torque, TL, is complex, depending on applications. In general:
TORQUE

TL = k TL = k[

TL = k[2

SPEED

4Q OPERATION
F: FORWARD R: REVERSE M : MOTORING B: BRAKING
SPEED Te

Te

FB RM
Te

II III [

I IV
Te

FM
TORQUE

RB

4Q OPERATION: LIFT SYSTEM

Positive speed Motor Negative torque

Counterweight

Cage

4Q OPERATION: LIFT SYSTEM

Convention: Upward motion of the cage: Positive speed Weight of the empty cage < Counterweight Weight of the full-loaded cage > Counterweight Principle: What causes the motion? Motor : motoring P =T[= +ve P =T[ = -ve

Load (counterweight) : braking

4Q OPERATION: LIFT SYSTEM

Speed

You are at 10th floor, calling empty cage from gnd floor

You are at 10th floor, calling fully-loaded cage from gnd floor

FB RM

FM Torque RB

You are at gnd floor, calling empty cage from 10th floor

You are at gnd floor, calling Fully-loaded cage from 10th floor

DC MOTOR DRIVES
Principle of operation Torque-speed characteristic Methods of speed control Armature voltage control Variable voltage source Phase-controlled Rectifier Switch-mode converter (Chopper) 1Q-Converter 2Q-Converter 4Q-Converter

Principle of Operation

DC Motors
Stator: field windings Rotor: armature windings

Current in Current out

Equivalent circuit of DC motor

Ra + Vt _ ia La + ea _ Lf if Rf + Vf _

di v t ! R a ia  L a  ea dt

di f v f ! R f if  L dt
Electromagnetic torque Armature back e.m.f.

Te ! ktJia
e a ! k E J[

Torque-speed characteristics
Armature circuit:

Va ! Ra ia  L
In steady state,

dia  ea dt

Va ! Ra I a  Ea
Therefore speed is given by,

[!

Ra V Te  a 2 kT J kT J

Three possible methods of speed control: Armature resistance Ra Field flux * Armature voltage Va

Torque-speed characteristics of DC motor

Speed

No load speed

Full load speed

Maximum load Torque

Torque

Separately excited DC motors have good speed regulation.

DC Motor Speed Control

Speed

By Changing Ra

Ra increasing
Maximum Torque

Torque

Power loss in Ra Does not maintain maximum torque capability Poor speed regulation

DC Motor Speed Control

Speed

By Decreasing Flux

Flux Decreasing

Maximum Torque

Torque Trated

Slow transient response Does not maintain maximum torque capability

DC Motor Speed Control

Speed

By Changing Armature voltage Va increasing

Maximum Torque

Torque Trated

good speed regulation maintain maximum torque capability

Speed control of DC Motors

Below base speed: Armature voltage control (retain maximum torque capability) Above base speed: Field weakening (i.e. flux reduced) (Trading-off torque capability for speed)

Torque

Armature voltage control Field flux control

Line of Maximum Torque Limitation

[base

speed

Methods of Armature Voltage Control Phase-controlled rectifier (ACDC)

ia + 3-phase Or 1-phase supply Vt  Q2 Q3

[
Q1 Q4

Methods of Armature Voltage Control 1. Ward-Leonard Scheme 2. Phase-controlled rectifier (ACDC) 3. Switch-Mode Converter (Chopper) (DCDC)

Methods of Armature Voltage Control Phase-controlled rectifier: 4Q Operation

1 or 3phase supply + Vt


1 or 3phase supply

[
Q2 Q3 Q1 Q4

AN ALTERNATIVE WAY Phase-controlled rectifier : 4Q Operation

F1 3-phase supply + R2 Va F2 R1

[
Q2 Q3 Q1 Q4

Converters For DC motor Drives Switchmode converters: 1Q Converter

T1

+ Vt -

Q2 Q3

Q1 Q4

Converters For DC motor Drives

Switchmode converters: 2Q Converter

[
T1 D1 Q2 Q3 T2 Q1 Q4

+ Vt D2 -

Q1 p T1 and D2 Q2 p D1 and T2

Converters For DC motor Drives

Switchmode converters: 4Q Converter

[
T1 D1 D3 T3

+ Vt -

Q2 Q3

Q1 Q4

T4

D4

D2

T2

Advantages of Switch mode converters

Switchmode converters Switching at high frequency p Reduces current ripple p Increases control bandwidth Suitable for high performance applications