ELEC 4613

Lecture 2: Week 1 , Wednesday

Take a moment to review your notes

from the last lecture.

We will have a review quiz

You have 3 mins to respond and then we will check the live results and discuss.

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35
Review quiz
Q1: If the radius r of a rotating body increases, the moment of inertia J will increase linearly
with r – true or false?

Q2: Which one of the following is not true?

(a) F= T × r, (b) v= ω × r, (c) a= α × r, (d) l = r × θ , l: arc length

Q3: Since T=J (dω/dt), inertial torque is present only during acceleration or deceleration – True
or false?

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 Section 1: Introduction and Basic Concepts

Outline
1.1 Introduction to Electric Drive Systems
1.2 Basic concepts
1.3 Load Dynamics

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 Load matching ω Tm
TL
ω1
Jm JL

T1 T
Torque-speed characteristics
dω
Tm J t
= + TL Transient
dt T1

How to determine that load match point is stable? ω1

steady state
How to couple a motor to a load? Does this connection influence
the torque equation? Time
Torque and speed profile

Can we have a load with linear motion and a motor with rotating
motion coupled together? What will happen to TL and JL ?
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Learning Goals:
After today’s lecture you should be able to

• torque balance equation in drive system with different

couplings.
Apply

• the referred torque, inertia, acceleration and condition of

maximum acceleration of a geared drive-system.
Find • equivalent inertia of a load with linear motion.

• stable operating points of a drive system from the condition of

stability.
Identify • requirement of the 4-quardrant operation.

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 Stability of steady-state operation
ω Tm
Consider small perturbations around an operating point, TL
d (ω + ∆ω )
(Tm + ∆Tm ) − (TL + ∆TL ) =J
dt Zoomed
dω
Subtracting, Tm − TL = J
dt T

Assuming torque-speed plot of both load and motor as straight lines for a small perturbations,

d ∆ω dTm dTL d d
J = ∆ω − ∆ω = (Tm − TL ) ∆ω = K ∆ω where,
= K (TL − Tm ) ;
dt dω dω dω dω

J d∆ω
Rearranging, + ∆ω = 0
K dt
− t /τ J
Solving above first order diff. eqn, ∆ω =e , where, τ = ; K must be positive for stable
operation at any speed.
K
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 How to determine stable operation?
Intersection of motor torque and three different load characteristics are shown below. Let’s
examine stability of these points,
d dT dT
K= (TL − Tm ) = L − m
dω dω dω

ω Tm
ω TL
ω Tm TL
TL
Tm

T
T T
K > 0: stable operation K = 0: unstable equilibrium K = < 0: unstable

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 Your turn to try.. =K
d
(TL − Tm ) ;
dω
Torque-speed characteristic of an induction motor and three load characteristics are shown below.
Can you determine which load can be operated stably?

ω 1
rad/sec 2

Motor
3

T, Nm
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Coupling between motor and load:

Drive Motor Mechanical Load

Direct coupling Gear coupling

Combined

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 Load dynamics- direct coupling
For a rigid coupling between motor and the load: (Direct-Drive)
d ωm
Tm = J t + T friction + TL
dt
Jt : JL +Jm (total inertia)
Tfriction : Torque related to friction in the moving parts
2. Coulomb friction 3. Viscous friction
1. Static friction
+TF,
+Ts, Nm +Tc Nm D

ω,
ω, Rad/sec ω rad/sec
-TF,
Nm
-Ts, Nm -Tc
dθ L
ωL D
TDL D=
= Nm
dt
4. Windage : (friction with the surrounding air) proportional to square of speed, often accounted for as the part of mechanical loss.
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 The torque balance equation
d ωm
Tm= J t + Dωm + TL
dt
In position servo systems, the position is hold via by a restraining spring torque which is
position dependent
Torque balance equation in terms of position in position servo system:
d 2θ m dθ m
Tm= J t +D + K mθ m + TL
dt 2 dt
Km: spring constant

Load side speed ωL and position θL are the same as the motor side when no gear.

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 Example 2
A direct-drive needs to provide a speed profile as shown in the Figure for a constant load torque
TL = 10Nm. The inertia of the system Jt= 0.02kgm2. Viscous coefficient D = 0.0001Nm/rad/s
Neglecting other losses, calculate the motor torque Tm and draw the torque profile
Solution:
d ωm
Tm= J t + Dωm + TL
dt
=
376.8
0.02 + 0.0377
= + 10 47.72Nm, 0<t<0.2
0.2

Find Tm when 0.2<t<0.8s and 0.8<t<1s?

Speed profile
Draw the torque profile

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Take a break and reflect …..
 Power and energy of rotational systems
Power or energy from the motor = power or energy consumed in the load side

 dωL 
Pm =ωmTm =ωL  J L + DLωL + TL  (Note that in direct coupling: ωm=ωL)
 dt 
(neglecting any position dependent torque component).

t ωL t t
∫ω ∫ J Lω L d ω L + ∫ DLω dt + ∫ ω T dt
2
T dt=
m m L L L
0 0 0 0

1 t
Wm =J LωL + ∫ DLωL2 dt + WL
2

2 0

Energy Energy
Energy lost
supplied stored in
in friction Energy
from motor moving
transferred to
inertia
(I2R) load
Analogous to (1/2LI2)
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 Geared coupling
Gearing is another common coupling system

ωm n = ωL/ωm
Motor a: gear ratio.
Jm
ωL
Load
JL

Some time a gear ratio are given as 1: n

Multi-stage gear
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 F
Reflected inertia and total equivalent inertia Td2
Td1
2
ω1 1 J2
J1

r1 r2

ω2
The driving wheel of the gear (left one) rotates with ω1 and pushes the the driven gear, exerting a force F at the
point of contact , where the linear velocity v = r1ω1 = r2ω2.

d ω1 dω 2 J 2 dω 2
Td 1 J 1
In the absence of any friction,= + r1 F Td 2 = r2 F = J 2 →F=
dt dt r2 dt
r1
d ω1 J 2 d ω2 v = r1ω1 = r2ω2 → ω2 = ω1
Substituting F,
= T d1 J1 + r1 r2
dt r2 dt
2 2
  r1 
2
 d ω  r1   ω2 
Substituting ω2, T=  J1 +   J 2 
1
Reflected inertia =J 2′ =  J 2  =  J 2 n2 J 2
d1
  r2   dt  r2   ω1 
Alternatively, equal kinetic energy of load and motor side also gives the same reflected inertia J 2′ = J Lm
2
1 2 1 2 ω
Lmωm J LωL → =
J= L 2
J Lm = J n JL
2 2 ωm2 L

For a purely viscous load DL across a lossless coupling, considering power invariance, Pm = PL
2
ω
ωm ( DLmωm ) =ωL ( DLωL ) → DLmωm2 =DLωL2 → =
DLm = L
2
DL n 2
DL
ωm

For a fixed load torque across a lossless coupling, power is equal in load and motor side,
ωL
ωm=
TLm ωLTL → TLm
= = TL nTL
ωm

αL 1 dωL
It can also be shown easily that referred acceleration α =
Lm =
(try at home - the proof) n n dt
TL
Hint  α L =
JL
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Torque balanced equation in geared system

d ωm
Tm = J t + DLmωm + TLm (motor side) ωm a = ωL/ωm
dt Motor
2
Jm
where, total inertia: J t =J m + n J L =J m + J Lm
ωL
Load
reflected viscous friction of load , DLm = n DL
2 JL

reflected load torque, TLm = nTL

Can you write the torque balance equation in the load side?

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 Condition for maximum load acceleration with gear
d ωm ωL
For simplicity, considering only an inertial load: Tm =
Jm + n JL
dt
( , 2
) n=
ωm
The torque equation when reflected on the load side:
dωL 1 αL nTm
Tm = (
Jm + n JL 2
) dt n
( 2
Jm + n JL
=
n
)→ αL =
n2 J L + J m
The maximum load acceleration for a gear ratio a can be found as below:
dα L
=0 →
{ n 2 J L + J m } Tm − 2n 2 J LTm
=0 → J − n 2
J =0 → J =n 2
J L (condition of maximum accl.)
2 2 m L m
dn (n J L + J m )
Jm
2
J m = n J L → nopt = (optimum gear ratio)
JL

α L max noptTm Tm
Tm = 2J m → α L max = = (maximum acceleration in the load side)
nopt 2J m 2 Jm JL
Note torque calculated from maximum acceleration in the load side gives the motor torque reflected in the load side !
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 Load with translational (linear) motion
In hoist, lift, crane, elevator both linear and rotation motions are present.

OR Belt driven
Direct driven

Evs, electric trains also have both linear and rotational motions.

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Equivalent inertia of a load with linear motion:
d ωm d ωm  dv  
Tm J t
= + r × (=
fd ) Jt + r ×  M  (
+ Mg ) ,v rωm
=
dt dt  dt  
Jt is the sum of inertia of the motor and the sheave.
d ωm  d(rωm ) 
Tm =Jt + rM   + ( Mg ) r
dt  dt 
d ωm 2 dωm
=Jt + Mr + Mgr
dt dt
d ωm dωm where J = Mr 2
=J t + J eq + Mgr eq
dt dt

Mass M effectively rotates at radius r, with angular velocity ωm and converts to an

g is gravitational
equivalent inertia Jeq. constant 9.8m/s2.
Note that the inertia of a rotational system can also similarly convert to an equivalent mass for a linear system.
Try converting the motor torque equation to a force equation, considering m as the total mass of the motor and sheave.
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 Other types of couplings with linear motions
ML
r

Jm M1

Lead screw

Rack and pinion

Distance travelled by the mass M per revolution of lead-screw or pinion = L = 2πr.

2
 L 
∫ [kg-m ]
2 2 2
J= r dm → J= Mr = M  
 2π 

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 Example 3
The figure shows a hoist load. The drum diameter is 0.5m and the weight of the load (including the hoist cable) is 1000kg.
The hoist speed is 0.5m/s and the motor speed is 1500 rpm. The motor inertia is 0.04 kg m2 (which also includes the reflected
inertia of the drum on the motor side). The motor accelerate to the given speed in 1s.
Calculate
(i) a suitable gear ratio
(ii) equivalent inertia of the load mass JL, reflected inertia JLm and the total inertia Jt in the motor side.
(iii) the reflected load torque in the motor side due to the mass.
(iv) torque required from the motor for acceleration.
(v) torque required from the motor at steady-state, considering 20% of the load torque as the friction in the gear box,
(vi) Continuous power rating of the motor.
(vii) What is optimum gear ratio and maximum acceleration for this drive?

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Solution:
𝑣𝑣
(i)Rotating speed of the drum ω = = 2 rad/s =19 rpm
𝑟𝑟
Gear ratio n = 19/1500 = 1:79

(ii) 𝐽𝐽𝐿𝐿 = 𝑚𝑚𝑟𝑟 2 = 1000× (0.25)2 = 62.5 𝑘𝑘𝑘𝑘𝑚𝑚2

1
𝐽𝐽𝑇𝑇𝑇𝑇𝑇𝑇 = 𝐽𝐽𝑚𝑚 + 𝑛𝑛2 𝐽𝐽𝐿𝐿 = 0.04 +( )2 × 62.5 = 0.05 𝑘𝑘𝑘𝑘𝑚𝑚2
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(iii) Tension force in the cable mg = 1000× 9.81 = 9810𝑁𝑁

0.5
Torque applied on the drum TL= F× 𝑟𝑟 = 9810 × = 2452.5𝑁𝑁𝑁𝑁
2
Reflected torque TLm = nTL=31 Nm
2𝜋𝜋
𝑑𝑑𝜔𝜔 1500( )
(iv) Torque for acceleration: 𝐽𝐽𝑇𝑇𝑇𝑇𝑇𝑇 𝑚𝑚 = 0.05 60
= 7.85 Nm
𝑑𝑑𝑑𝑑 1

d ωm
( J m + n2 J L )
(v) Tm =
dt
+ DLmωm + TLm At steady state, Tm = DLmωm+TLm = 31 +20% of 31 = 37.2Nm

(vi) Continuous power rating P = Tmωm = 5.8kW

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 Four quadrant operation
Brake
Traction
Machine

Reverse Braking Forward motoring

Main
Highest Rope
Floor

Car

Counter
Reverse motoring Forward Braking weight

Lowest
Floor

Motoring converts elec. energy to mech. (positive power)

Braking converts mech. energy to elec.(negative power) Buffer

Application: Lift/hoist
Why we need the counterweight in the lift?

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Take a break and reflect …..