Electrical Drives (EPO640)

Rahimi Baharom P.ENG. (SMIEEE,MIET, MIEM)

Senior Lecturer
Faculty of Electrical Engineering
Universiti Teknologi MARA, MALAYSIA

SESSION FEB 2019 – JULY 2019

CHAPTER 1: FUNDAMENTAL
OF ELECTRIC DRIVES
SYSTEM
 Introduction
 Industrial control, in its broadest sense, encompasses all
the methods used to control the performance of an
electrical system.

 When applied to machinery, it involves the starting,

acceleration, reversal, deceleration, and stopping of a
motor and its load.

 Every control circuit is composed of a number of basic

components connected together to achieve the desired
performance.
 Introduction
 Whenever the term electric motor or electrical generator is
used, we tend to think that the speed of rotation of these
machines is totally controlled only by the applied voltage
and frequency of the source current.

 But the speed of rotation of an electrical machine can be

controlled precisely also by implementing the concept of
drives.

 The main advantage of this concept is, the motion control

is easily optimized with the help of drive.

 In very simple words, the systems which control the

motion of the electrical machines, are known as electrical
drives.
 Introduction
 A typical drive system is assembled with a electric motor
(may be several) and a sophisticated control system that
controls the rotation of the motor shaft.

 Now days, this control can be done easily with the help of
software. So, the controlling becomes more and more
accurate and this concept of drive also provides the ease
of use.

 This drive system is widely used in large number of

industrial and domestic applications like factories,
transportation systems, textile mills, fans, pumps, motors,
robots etc.
 Introduction
 Coming to the history of electrical drives, this was first
designed in Russia in the year 1838 by B.S.Iakobi, when
he tested a DC electric motor supplied from a storage
battery and propelled a boat. Even though the industrial
adaptation occurred after many years as around 1870.

 Today almost everywhere the application of electric

drives is seen.
 Introduction
The very basic block diagram an electric drives is shown
below. The load in the figure represents various types of
equipments which consists of electric motor, like fans,
pumps, washing machines etc.

SOURCE POWER MODULATOR MOTOR LOAD

CONTROL UNIT SENSING UNIT

INPUT COMMAND

Block diagram of an electrical drives

Parts of Electrical Drives
 The diagram which shows the basic circuit design and
components of a drive, also shows that, drives have
some fixed parts such as, load, motor, power modulator,
control unit and source.

 These equipments are termed as parts of drive system.

 First of all we will discuss about the other four parts of

electrical drives i.e motor, power modulator, source and
control unit.
Electrical Motors
Electric Motors are of various types.

1. The DC motors can be divided in four types – shunt wound

DC motor, series wound DC motor, compound wound DC
motor and permanent magnet DC motor.

2. AC motors are of two types – induction motors and

synchronous motors.
 Synchronous motors are of two types – round field and
permanent magnet.
 Induction motors are also of two types – squirrel cage
and wound motor.
Besides all of these, stepper motors and switched reluctance
motors are also considered as the parts of drive system.
Power Modulators
Power Modulators - are the devices which alter the nature
or frequency as well as changes the intensity of power to
control electrical drives. Roughly, power modulators can be
classified into three types:

a) Converters - to convert currents from one type to other

type.

b) Variable impedance circuits - used to controlling speed

by varying the resistance or impedance of the circuit. But
these controlling methods are used in low cost DC and
AC drives.

c) Switching circuits.
Sources
 Sources may be of 1 phase and 3 phase 50 Hz AC
supply is the most common type of electricity supplied in
Malaysia, both for domestic and commercial purpose.

 Synchronous motors which are fed 50 Hz supply have

maximum speed up to 3000 rpm, and for getting higher
speeds higher frequency supply is needed.

 Motors of low and medium powers are fed from 400 V

supply, and higher ratings like 3.3 kv, 6.6 kv, 11 kv etc
are provided also.
Control Unit
 Control Unit - Choice of control unit depends upon the
type of power modulator that is used.

 These are of many types, like when semiconductor

converters are used, then the control unit consists of
firing circuits, which employ linear devices and
microprocessors.
Advantages of Electrical Drives
a) 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.

b) They are adaptable to any type of operating conditions,

no matter how much vigorous or rough it is.

c) They can operate in all the four quadrants of speed

torque plane, which is not applicable for other prime
movers.
 DC Drives Vs AC drives

 DC drives:
- Advantage in control unit
- Disadvantage in motor

 AC Drives:
- Advantage in motor
- Disadvantage in control unit
 Force
Definition:
A push or pull on an object.

In short Force can be defined as the external agency

which makes the body change its state, size, position
under strain. It is denoted by F.

Law of Inertia:
An object continuous in its
state of rest or motion unless
acted on by an outside
unbalanced force.
 Force
Translational (linear) motion:

dv F : Force (Nm)
F M M : Mass (Kg )
v : velocity (m/s)
dt
 Torque
Definition:

In a car Torque is the force the pistons put on the

crankshaft, causing it and the wheels to turn.

Torque is defined as a twisting force

that tends to cause rotation.
 Torque
We use Torque everyday, i.e.:

Turning the key Push the door to open

 Torque
For torque, we need to know not only the mass and
acceleration of a linear force, but also how far that force is
from the axis of rotation.

the axis of rotation.

We will get different results:
- if we push the door at the hinges
site would make it much harder
to open.

- If we push the door at the side

with no hinges would make it
easy to open.
 Torque
Axis d
θ
F

Torque = Force x distance measured from the axis of

rotation to where the linear force is applied x sine of the
angle between F and d
T = F x d x sin θ
F = Linear force units Newtons (N)
d = Distance units meter (m)
θ = the angle between F and d (no units)
T = units Newtons-meter (Nm)
 Torque
We can have more than one torque to open the door.

For example current engine vehicles. Every car have

more than one piston applying torque to the crankshaft.
The total Torque equals to the sum of each individual
Torque.

There is a total Torque that is the sum of each individual

Torque.

Total T = T{1} + T{2} + ….. + T{n}.

 Torque
ROTATIONAL EQUILIBRIUM

The additional of all the torques acting on an object equals

zero.

This can mean that there is no

Torque acting on the object, or all
torques acting on the object are
cancelling each other out.
Torque
 Torque
• In rotational motion, torque is required to produce an angular
velocity of an object

• The amount of torque required to produce an angular velocity

depends on the distribution of the mass of the object.

• The moment of inertia is a value that describes the distribution.

• It can be found by integrating over the mass of all parts of the

object and their distances to the centre of rotation, but it is also
possible to look up the moments of inertia for common shapes.
 Torque
The torque on a given axis is the product of the moment of
inertia and the angular velocity. The units of torque are
Newton-meters (N∙m).

Rotational motion:

Torque = (moment of inertia)(angular velocity)

d
TJ
dt
T : Torque (Nm)
J : Moment of Inertia (Kg∙m2 )
 : angular velocity ( rad/s )
 Torque
Example:
1
The moment of inertia of a solid disc is 𝐽 = 𝑀𝑅2 , where M
2
is the mass of the disc, and R is the radius. The wheels of
a toy car each have a mass of 0.1 kg, and radius 20 cm. If
the angular velocity of a wheel is 1 rad/s, what is the
torque?
Solution:
d
T  J
dt
1
𝑇 = 0.1𝑘𝑔 0.2 2 (1)
2
𝑇 = 0.002 Nm

The Torque applied to one wheel is 0.002 Nm

 Torque
Example:
The moment of inertia of a thin rod, spinning on an axis
1
through its centre, is 𝐼 = 𝑀𝐿2 , where M is the mass and
12
L is the length of the road. Assume a helicopter blade is a
thin rod, with a mass of 150kg and length of 8meter. To
achieve an angular velocity of 18 rad/s, what torque is
required?
Solution:
d
T  J
dt
1 2
𝑇= 150𝑘𝑔 8 18 = 14400 𝑁𝑚
12

The Torque required is 14400 Nm

 Elementary principles of mechanics

v
Newton’s law
x
Fm
Md v 
M Ff Fm  F f 
dt
v = velocity
x = distance
Total force / Net force
Fm = force mass
Ff = force friction

Linear motion, constant M

dv  d2 x
Fm  Ff  M  M 2  Ma
dt dt
First order differential equation for speed
Second order differential equation for displacement
 Elementary principles of mechanics

 Rotational motion

- Normally is the case for electrical drives

Tl
Jd  m 
Te , m
Te  Tl 
dt
J
Te = torque electric Total Torque / Net torque
Tl = torque load
ωm = speed of motor
θ = represent rotor position

With constant J,
dm  d 2
Te  Tl  J J 2
dt dt

• First order differential equation for angular frequency (or velocity)

• Second order differential equation for angle (or position)
 What is the relationship between torque and speed?

200

100
speed (rad/s)

-100

-200
0.19 0.2 0.21 0.22 0.23 0.24 0.25

20

15
torque (Nm)

10

0
0.19 0.2 0.21 0.22 0.23 0.24 0.25

The larger the net torque, the faster the acceleration is.
Load and motor steady state torque

At constant speed, Te= Tl

Steady state speed is at point of intersection between Te and Tl of the
steady state torque characteristics

Torque Te Tl

Steady state
speed

r3 r1r r2 Speed

Torque-speed quadrant of operation Pm = power
motor = power
supplied to the
motor
 P =T

2 1
T -ve T +ve
 +ve  +ve
Pm -ve Pm +ve

3 4
T -ve T +ve
 -ve  -ve
Pm +ve Pm -ve

ANTICLOCKWISE is FORWARD MOTORING

Torque-speed quadrant of operation

Quadrant 1:
Both torque and speed are positive. The motor rotate in forward direction,
which is in the same direction as the motor torque. The power of the motor is
the product of the speed and torque, therefore the power of the motor is
positive. Energy is converted from electrical form to mechanical form, which is
used to rotate the motor. The mode of operation is known as forward
motoring.

Quadrant 2:
The speed is in forward direction but the motor torque is in opposite direction
or negative value. The torque produced by the motor is used to ‘brake’ the
forward rotation of the motor. The mechanical energy during the braking, is
converted to electrical energy. Thus the flow of energy is from the mechanical
system to the electrical system. The product of the torque and speed is
negative thus the power is negative implying that the motor operates in
braking mode. The mode of operation is known as forward braking.
Torque-speed quadrant of operation

Quadrant 3:
The speed and the torque of the motor are in the same direction but are both
negative. The reverse electrical torque is used to rotate the motor in reverse
direction. The power is positive implying that the motor operates in motoring
mode. The energy is converted from electrical form to mechanical form. The
mode of operation is known as reverse motoring.

Quadrant 4:
The speed is in reverse direction but the motor torque is positive. The motor
torque is used to ‘brake’ the reverse rotation of the motor. The mechanical
energy gained during the braking is converted to electrical form. Thus power
flow from the mechanical system to the electrical system. The product of the
torque and speed is negative implying that the motor operates in braking
mode. This mode of operation is known as reverse braking.
4-quadrant operation

 Te
• Direction of positive (forward)
speed is arbitrary chosen
m m
Te • Direction of positive torque will
produce positive (forward) speed

Quadrant 2 Quadrant 1
Forward braking Forward motoring
T
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking Te
Te
m m

ANTICLOCKWISE is FORWARD MOTORING

 4Q OPERATION: LIFT SYSTEM
Convention:
Positive speed
Upward motion of the cage:
Positive speed
Negative
Motor Weight of the empty cage <
torque Counterweight

Weight of the full-loaded cage >

Counterweight

Principle:

What causes the motion?

Motor : motoring P =T= +ve

Load (counterweight) : braking P =T = -ve
Counterweight Cage
 4-quadrant operation Te = +ve
Tl = -ve
Tl
 Tl
Motor Motor
Te
m m
UPWARD Te UPWARD

˂ ˂
Counterweight Cage
Counterweight Cage
Quadrant 2 Quadrant 1
Forward braking Forward motoring
T
Tl Quadrant 3 Quadrant 4
Reverse motoring Reverse braking Te Tl
Motor Motor
Te
m m
DOWNWARD
DOWNWARD
˂ ˂
Counterweight Cage
Counterweight Cage
Ratings of converters and motors

Torque

Transient Power limit for

torque limit transient torque

Continuous
torque limit Power limit for
continuous torque

Maximum
speed limit
Safe operating
area of motor Speed
TORQUE AND SPEED PROFILE (EXERCISE)

speed Speed profile

(rad/s)
100

10 25 45 60 t (ms)

The system is described by: Te – Tload = J(d/dt) + B

J = 0.01 kg-m2, B = 0.01 Nm/rads-1 and Tload = 5 Nm.

What is the torque profile (torque needed to be produced)?

Torque and speed profile

speed
(rad/s)

d
100

Te  J  B  Tl
dt

10 25 45 60 t (ms)

0 < t <10 ms Te = 0.01(0) + 0.01(0) + 5 Nm = 5 Nm

10ms < t <25 ms Te = 0.01(100/0.015) +0.01(-66.67 + 6666.67t) + 5

= (71 + 66.67t) Nm

25ms < t< 45ms Te = 0.01(0) + 0.01(100) + 5 = 6 Nm

45ms < t < 60ms Te = 0.01(-100/0.015) + 0.01(400 -6666.67t) + 5

= -57.67 – 66.67t
Exercise
 Reading Assignment
• Fundamentals of Electric Drive (Sharkawi)
• Pg. 236-268