Introduction

Dr. Mukesh M Bhesaniya

Department of Electrical Engineering
G H Patel College of Engineering and Technology
V V Nagar
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 Introduction
Motion control is required in large number of industrial and domestic
applications like transportations, rolling mills, textile machines, fans, paper
machines, pumps, washing machines, robots etc.
A system which has ability to provide motion control is known as drives.
It may have prime mover as diesel engine or petrol engine, steam engines, gas or
steam turbine, electric motors or hydraulic motors for providing mechanical
energy to have the motion control.
Many industries require electric motors whose speed can be varied as per
requirement.
Robotics required high precision for controlling the position. So, high
performance position controlled drives are employed in such systems.
In many applications a reversal in direction of rotation is also required in
addition to speed variation.

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 Introduction
Drives employing electric motors are called as Electrical Drives.
An electric drive is an electromechanical system that employs an electric motor
as the prime mover instead of a diesel engine, steam or gas turbines, hydraulics,
etc. to control the motion and processes of different machines and
mechanisms.

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 Introduction
In the PAST:
3 machines Motor-generator- motor set
Expensive, Inefficient and Complex
Requires frequent maintenance
Has been a leading option for speed control in the first half of the 20th
century
Still exists in old elevators
Shaft Shaft
ac current dc current

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 Block Diagram of Drive
The present:
Use of a single converter for speed control
Sophisticated design and control
Built in options such as overcurrent protection (reduces size considerably)
More precise applications such as position control

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 Components of Electric Drive
The main components of Electric Drive are
 Power Source
 Power processor or power modulator
 Motors
 Control unit
 Sensing unit
 Load

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 Components of Electric Drive
Power source:
 Power source can be A.C. or D.C.in nature and normally they are
uncontrollable.
 The parameters of A.C. like amplitude, frequency and phase may be fixed or
variable.
 The D.C. power source like batteries provides fixed magnitude and zero
frequency supply.
 A.C. sources can be
o 3 – Ф or 1 – Ф
o 50 Hz or 60 Hz
o 240V/415V
o 11kV/415V, etc.
o 3 – Ф sources are normally for high power applications.
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 Components of Electric Drive
Power Processor or Power Modulator:
 Power modulator performs many tasks and they are as follow:
 It controls the flow of power from source to load in such a way that speed-
torque characteristic required by load is achieved.
 It also converts nature of supply i.e. if the supply is D.C. and induction motor
is connected to mechanical load then modulator converts D.C. source into
variable frequency A.C. supply. It is referred as converter.
 During transients like starting, braking and speed reversal, it keeps the
motor current within the acceptable limits.
 It also helps to select the mode of operation such as motoring or braking.

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 Components of Electric Drive
Power Processor or Power Modulator:

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 Components of Electric Drive
Motors:
 To drive the mechanical load electrical motors are required. Basically there
are two types of motors:
 A.C. motors and
 D.C. motors
 A.C. motors :
 Induction motors: wound rotor, squirrel-cage & linear
 Synchronous motors: wound field & permanent magnet
 D.C. motors:
 shunt, series, compound & permanent magnet
 Apart from these, BLDC, stepper motors and SRM (Switched Reluctance
Motor) are used.

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 Components of Electric Drive
In past, for constant speed operation either induction motors or synchronous
motors were used.
To achieve variable speed operation using these machines was very difficult, too
expensive and less efficient.
Therefore, to perform variable speed operation D.C. machines were dominated.
But, now days due to advancement in the semiconductor technology (converters
with semiconductor devices like IGBT, GTOs, Thyristors & Power transistor), A.C.
machines are used for variable speed operation.

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 Components of Electric Drive
Sensing Unit:
 In order to provide command to the power modulator to control the flow of
power from source to load, sensing unit provides input to the control unit.
 Depending upon the control algorithm either motor current, voltage, speed
or torque is sensed and feedback is given to Control Unit.
 There are many sensors available to sense the specific parameters of motor.

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 Components of Electric Drive
Control Unit:
 Control unit takes two inputs (i) reference signal & (ii) feedback signal.
 It does certain operation on these signals i.e. comparison.
 Based on error generated, the control unit initiates the command to the
power modulator.
 Basically, power processor is a converter consisting of controlled
semiconductor devices.
 Control unit produces the firing pulses as a command to achieve required
speed – torque characteristic by load.
 The firing circuits may be implemented using linear & digital integrated
circuits, transistors and microprocessor or DSP when sophisticated control is
required.

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 Components of Electric Drive
 The complexity of the control unit depends on the desired drive
performance and the type of motors used.
 A controller can be as simple as few op-amps and/or a few digital ICs, or it
can be as complex as the combinations of several ASICs and digital signal
processors (DSPs)
 Types of Controllers:
 Analog
 Digital - DSP/microprocessor

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 Components of Electric Drive
Load:
 Load is generally mechanically designed equipment to do specific operation
i.e. pumps, trains, fans, machines tools etc.

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 Advantages of Electrical Drives
Electrical drives are readily used these days for controlling purpose but this is
not the only advantage of Electrical drives. There are several other advantages
which are listed below –
1) These drives are available in wide range of torque, speed and power.
2) The control characteristics of these drives are flexible. According to load
requirements these can be shaped to steady state and dynamic characteristics.
As well as speed control, electric braking, gearing, starting many things can be
accomplished.
3) They are adaptable to any type of operating conditions, no matter how
much vigorous or rough it is.
4) They can operate in all the four quadrants of speed torque plane, which is
not applicable for other prime movers.
5) They do not pollute the environment.

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 Advantages of Electrical Drives
6) They do not need refueling or preheating, they can be started instantly and
can be loaded immediately.
7) They are powered by electrical energy which is atmosphere friendly and
cheap source of power.

Because of the above mentioned advantages of electrical drives, they are getting
more and more popular and are used in a wider range of applications.

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 Choice of Electrical Drives
Choice of Electrical Drives depends on a number of factors. Some of the
important factors are:
 Steady state operation requirements: Nature of speed torque characteristics,
speed regulation, speed range, efficiency, duty cycle, quadrants of operation,
speed fluctuations if any, ratings.
 Transient operation requirements: Values of acceleration and deceleration,
starting, braking and reversing performance.
 Requirements related to the source: Type of source, and its capacity, magnitude
of voltage, voltage fluctuations, power factor, harmonics and their effect on
other loads, ability to accept regenerated power.
 Capital and running cost, maintenance needs, life.
 Space and weight restrictions if any.
 Environment and location.
 Reliability.
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 Classification of Drives
Electrical drives can be classified in many ways depending on various parameters
Based on supply of type of motor used, drives can be
 D.C. drives &
 A.C. drives
Based on direction of flux generated,
 reversible type drives &
 non-reversible type drives.
Based on running speed:
 Constant speed(single speed) Drives and
 Variable speed drives
According to design,
 individual drive,
 group drive or shaft drive &
 multi-motor drive.
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 Individual Drive
In individual drive an electric motor used for transmitting motion to various
parts or mechanism belonging to single equipment.
For example, such drive are used to rotate the spindle, moves the feed and with
the help of gears imparts motion to lubricating and cooling pumps in lathe.
In application, individual drive consist of motor which is specifically designed to
form an integral part of the machine.
In individual drive, the energy is transmitted to different parts of same
mechanism by means of mechanical parts like gear, pulley, etc. hence occurs
some power loss.

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 Individual Drive

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 Group Drive
It consists of single machine which actuates several machines or mechanism by
means of one or more line shaft. Hence this is also called "line shaft drive".
This line shafts are connected to multi stepped pulleys and belts that connect
this pulley and shaft of the driven machine, serves to vary their speed.
Group drive is economical in consideration for the cost of motor and control
gear. A single motor of large capacity costs less than that of the total cost of
number of small motors for same total capacity namely, a single motor of
100KW costs less than that of ten motors of 10KW each.
Since all the motors may not operate on full load at the same time, the KW
rating of motor of group drive is often less than the aggregate KW output rating
of the individual motor and further cause reduction in cost.

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 Group Drive

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 Multimotor Drive
The multimotor drive consist of several individual motor which serve to one of
many motions or mechanism in some production unit.
For example, in travelling crane, there are three motors used. One for hoisting,
other for long travel motion and third for cross travel motion.
Such a drive is essential in complicated metal cutting machine, paper making
machine, rolling mills, rotary printing machine, etc.
The use of multimotor drive is expanding in modern industries due to their
advantage outweighs increase in capital cost compared to the group drive.

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 Multimotor Drive

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 Comparison A.C. Vs D.C. Drive

AC Drives
DC Drives
(particularly Induction Motor)
Motor • requires maintenance • less maintenance
• heavy, expensive • light, cheaper
• limited speed (due to mechanical • high speeds achievable (squirrel-cage)
construction) • robust

Control Unit Simple & cheap control even for
high performance drives
• decoupled torque and flux
control
• Possible implementation using
single analog circuit
Performance Fast torque and flux control
Depends on required drive performance
• complexity & costs increase with
performance
• DSPs or fast processors required in high
performance drives
Scalar control – satisfactory in some
applications
Vector control – similar to DC drives

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 Thank you

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