ETD820S – Student’s Solutions (to be checked)

Chapter 2

Problem 2.1

215006712 MPASI MURONGA

A drive has the following parameters:
T = 150 – 0.1N, N-m, where N is the speed in rpm. Load torque TL = 100 N-m. Initially the
drive is operating in steady state. The characteristics of the load torque are changed to
TL = -100 N-m.
Calculate initial and final equilibrium speeds:
Solution:
Initial equilibrium speed:
T −T L =0

150−0.1 N =0
0.1 N=50
N=500 rpm
Final equilibrium speed:
T −T L =0

150−0.1 N +100=0
250−0.1 N =0
0.1 N=250
N=2500 rpm

Problem 2.2

215042077 TIMOTEUS TUWILIKA IKAKU

a) In the First Quadrant (Forward Motoring)

Hoist is Loaded.
T = positive
Tl = Negative
Motor speed = positive

T = 200 – 0.2N
Tl = 100 N.m

100 = 200 – 0.2N

 200−100
N= =500 rpm∈a counter clockwise direction
0.2

b) In the Second Quadrant (Forward Braking)

Hoist is Unloaded.
T = Negative
Tl = Positive
Motor speed = Positive

T = 200 – 0.2N
Tl = -80 N.m

-80 = 200 – 0.2N

200+80
N= =1400 rpm∈a counter clockwise direction
0.2

c) In the Third Quadrant (Reverse Motoring)

Hoist is Unloaded.
T = Negative
Tl = Positive
Motor speed = negative

T = -200 – 0.2N
Tl = -80 N.m

-80 = -200 – 0.2N

−200+80
N= =−600 rpm∨600 rpm∈a clockwise direction
0.2

d) In the Forth Quadrant (Reverse Braking)

Hoist is Loaded.
T = Positive
Tl = Negative
Motor speed = negative

T = -200 – 0.2N
Tl = 100 N.m

100 = -200 – 0.2N

−200−100
N= =−1500 rpm∨1500 rpm∈ a clockwise direction
0.2
Problem 2.3

215079493 PATRICK MUTUKU MWIWA

Formula of equivalent inertia J and power rating of loads with rotational motion is given by

…………………………………………………………equation1

…………….equation2

Where

, ,

If the loads with translational motion

……………………………………………equation3

………………………………………………equation4

From equations (1) and (2)

We get the equivalent inertia as

Substituting the values in the equation we have

From equations (2) and (4), the power rating will be

Assuming 100% efficiency through the system

Problem 2.4 by
201050560 TOINI SECILIA NDEUMONA. SHIKONGO.

Given data;
Motor has one translational load
Mass of load M1= 500 Kg
Force F1= 500×9.81
= 4950 N

Speed V1= 1.5 m/s

Moment of inertia of motor J0= 0.5 Kg-m2

Moment of inertia of winch J1= 0.3 Kg-m2

Motor torque at absence of weight Tl0=100 N-m

Speed of the motor Nm= 1000 rpm
2 π ×1000
Angular speed of the motor ω m=
60
 = 104.7 rad/sec

Net moment of inertia refers to shaft;

J = J0 + J1 + M1 ( ) V1
ωm
2

= 0.5 + 0.3 + 500 (104.7

1.5
) 2

= 0.8 + 500×2.052 ×10−4

= 0.8 + 0.1026
= 0.9026 Kg-m2

Net load torque refers to shaft;

( )
Tl = Tl0 + F1
V1
ωm

= 100 + 4905 (104.7

1.5
)
= 100 + 70.27
= 170.27 N-m

Therefore, for a given drive;

Net moment inertia refer to shaft J = 0.9026 Kg-m2 and,
Net load torque refer to shaft Tl = 170.27 N-m

Problem 2.5 by

211004863 BONGANI LIKANDO

The moment of inertia referred to the motor shaft is

J = J0 + α2J1 + α2J2

= 0.5 + 0.12(0.15) + 0.12(1)

= 0.5115 kg-m2

The torque is calculated as

αT
T= Tl0 +
η
0.1(15)
= 10 +
0.9
= 11.667 N-m

Problem 2.6 by 200944932 PAULUS KANTANA KANGANZI

The Diagram
 Figure 1

(Variable speed drive –prof.usb.ve, page 8, Fig. 1.8 Take up roll, [available at]
prof.usb.ve/jaller/calificaciones/Cap_1.pdf)

Given Values:

Reduction Gear ratio, α = 0.5;

Strip speed, v = 25m/s;
Tension force on the strip, f = 1000 N
Gear Efficiency at all speeds, = 87% = 0.87

Let:
The mandrel diameter on which the strip rolls be d 1 and the radius r 1,
The strip build up roll diameter be d 2, and the radius r 2

15 cm 0.15 m
d 1 =15 cm = m = 0.15 m, r 1 = = 0.075 m,
100 cm 2
d 2 = 25 cm = 0.25 m, r 2 = 0.125 m.

For a satisfactory roll to be formed, the strip tension must be constant, which is expressed by
the force f acting tangentially (perpendicular to the radius r ) on the roll. Thus the torque
developed is given as,

T w =fr N .m

The Torque when the take up roll is full of strip,

T F =f r 2
¿ 1000 N × 0.125 m
¿ 125 N .m

The Torque when the take up roll is empty of strip,

T E =f r 1
¿ 1000 N × 0.075 m
¿ 75 N .m

Motor output power during both instances

 v Tw
PO =fv=T w ω= Watts
r

Output power when the take up roll is full of strip,

m
25 ×125 N . m
vT F s
PO = = =25000 Watts
F
r2 0.125 m

Output power when the take up roll is empty of strip,

m
25 ×75 N . m
vT E s
PO = = =25000 Watts
E
r1 0.075 m

Since, PO =PO F E

∴ P O=25000 W

Note: The output power to the mandrel is constant because the tension force, f and the strip
speed v are constant. Therefore, as the radius increase as the strip builds up the torque and the
angular velocity must decrease, consequently keeping the power constant.

Assumption: Neglecting all motor power losses.

Now, the input power to the motor, P¿

PO 25000 W
P¿ = = =28735.6 Watts
❑ 0.87
The speed at the shaft of the gear box.

Since the gear shaft is connected to the mandrel subjected to the radius r 1 at a constant
velocity v .
The angular velocity ω with regard to the mandrel dimension and gear ratio is

ω=
( rv × 260π ) × ( 1α ) rpm
1

¿ ( 0.075
25
×
60
2π ) ×(
0.5 )
1

¿ 6366.198 rpm
¿ 6366.2 rpm

Therefore the speed and power rating of the motor are 6366.2 rpm is 28735.6 W.

Problem 2.7
 212001760 BRANDON LUFRENZ MATSUIB

conveyer Belt info: rate of material transported=100 tonnes /hr

Moving with uniform=1.2 m/s length of belt=200 m

Motor: speed=1200 rpm equivalent to 125.66 rps

Solution:

(a)

1.2m
Total time for belt ¿ move @ =unifrom speed × length of belt=1.2 ×200=240 s
s
240
240s to hr
3600
240
Total mass=rate of material transportation × total time=100 × =6.667 tonnes
3600
6.667 tonnes equivalent to 6 667 kg

( )
2 2
v 1.2 2
J=J O + M 2
=0+6667 × 2
=0.6080 kg−m Inertia referred to motor shaft
Wm 125.66

(b)

J ( W MO−W mr )
τ M=
TS

Making Ts = standing torque required

J ( W MO−W mr ) 0.1× ( 125.66 )

T S= = =1.575075 N−m
τM 8

Problem 2.8: by

212035029 SUNDAY TULINA HAITEMBU

Active Load Torques: Load torques which have the potential to drive the motor under equilibrium
conditions are called active load torques. Active load torques usually retain their sign when the drive
rotation is changed.

Examples include torque due to gravitational force , tension compression and torsion undergone by
an elastic body.
Passive Torque: Load torques which always oppose the motion and change their sign on the reversal
of motion are called passive load torques.

Examples include torque due to friction, cutting, windage etc.

Problem 2.9 by

212035029 SUNDAY TULINA HAITEMBU

Motor can operate in 1st quadrant or 3rd quadrant, with passive load torque. It can’t operate in 2nd
or 4th quadrant.

However with active load, operation is possible in any of the four quadrants, including 2nd and 4th.

Problem 2.10 by

212035495 MOSES KAKWENA ALUMBUNGU

Quadrants I & II: T = 400-0.4N N-m

Quadrants III & IV: T = -40 - 0.4N N-m

Load torque T l= ± 200 N-m

Active load torque drives the motor under equilibrium condition

For equilibrium T = T l

Motor speed for motoring operation in forward direction:

During motoring the load torque is positive, thus T =T l,

Therefore, 400−0.4 N =200

−0.4 N =200−400
−0.4 N =−200
−200
N=
−0.4
Therefore N = 500 rpm.

Motor speed for motoring operation in forward direction:

 During braking the load torque is negative, thus T =−T l,

Therefore, 400−0.4 N =−200

−0.4 N =−200−400
−0.4 N =−600
−600
N=
−0.4
Therefore N = 1500 rpm

Equilibrium speed in quadrant III:

T = -400 - 0.4N N-m andT l=200,

Therefore −400−0.4 N =200

−0.4 N =200+ 400

−0.4 N =600
600
N=
−0.4
Therefore N = -1500 rpm.

Problem 2.11
213013606 NDINELAO IPUMBU NANGOLO

Jd ωm
dt=
T ( ωm ) −T l (ωm )
(1)

( 10−0.1 ω )
10 d ω m 10 d ωm 10
dt= ¿ = dω m (2)
( 15+0.5 ω m )− ( 5+0.6 ω m ) ( 10−0.1 ω m ) m

The starting time, t can be obtained by integrating equation 1. The starting time will
be the time taken for the drive speed to change from zero toa running speed , ωm 1.
ωm1

∴ t=∫
0
( 10−0.1
10
ω )
m
d ω =−100 ( ln ( ω
m m1 −100 ) −ln 100 )

¿ 100 ln 100−100 ln ( ωm 1−100 )

¿ 460.5−100 ln ( ω m 1−100 ) second

Problem 2.12
213041200 TITUS NUUYOMA

For steady-state speed

T=Tl

15+0.05N=5+0.06N

Therefore, N=1000rpm

During braking and under steady state condition,

-10-0.04N=5+0.06N

0.06N-0.04N=-10+5

0.02N=-5

THEREFORE N=-250

When braking,

dω 30
j dt = Jπ (-5-0.02N)
dN
dt
=-4.78-0.019N

N2
ⅆN
T=∫ ……………………………………………………………..Eq(1)
N1 −4.78−0.019

Where N1=1000rpm

N2=0.048x-250=-12rpm

Integrating Eq. (1) yields=87.01 S

Problem 2.13
213045044 LINUS HAFENI ENDJALA
For Steady-state speed;
T – Tl = 0
15 – 0.01N – 0.005N = 0
15 = 0.015N
15
N= =1000 rpm
0.015
After the reversal time, noting that the load is passive;

-15 – 0.001N – 0.005N = 0

-15 = 0.015N
−15
N= =−1000rpm
0.015
When reversing;

dω
J =−15−0.01 N −0.005=0
dt
dN 30
= (−15−0.015 N )
dt Jπ
30
¿ 2
(−15−0.015 N )
1 πkg m
= -143.24 – 0.1432N

N2
dN
But t=∫ dt =∫
N1 −143.24−0.1432 N
When N1 = 1000 rpm, N2 = 950 rpm

Therefore solving for t;

t=−0.04875
[ ]
1
N
2

t=52.66 seconds (reversal time)

Problem 2.14
214040836 LETISIA NDAFELAO SHILENGIFA
Speed-torque characteristic curve below shows that the motor above is an induction motor.

At the time of starting, the speed is zero so the only values needed for calculation are when speed is
0 and torque is 9.7 Nm.
Starting time:

J xN
Tst = 9.55 x T seconds

0.1 x 0
= 9.55 x 9.7

= 0 sec

Where J = Moment of inertia in Nm

N = Speed in rpm

T = Torque in Nm

Tst = Starting time

Problem 2.15
214042510 KELVINE FESSY NAFUKA AMUKWAYA

Steady state stability is a condition attained by a motor-load system when the load torque is
matched by the motor torque. At this point the drive system is said to operate at a constant
speed referred to as the speed of stable equilibrium. The main assumption during this
phenomenon is that the motor parameters such as armature current, supply voltage and flux
are kept constant as they affect the motor torque and speed variables; and the load is a
constant load.

Problem 2.16
214042510 KELVINE FESSY NAFUKA AMUKWAYA

The steady state stability condition of a motor-load system surely does depend on both motor and
load characteristics. For stability to be attained, the motor and load torques have to be in
equilibrium and if one of the properties on one side changes, the entire system will have to be
stabilized. Thus, a constantly changing load can not be coupled with a fixed torque motor or a
motor with non-adjustable torque can not be coupled with a no changing load. In apparatuses
such as pressing machines and electric hammers where the torque fluctuates; the motor is
motor is required to supply peak torque demand by load and it is expected to draw a pulsed
current from the supply in order to cater for the changing load torque requirements (load
equalisation).

Problem 2.17
214047458 PAULUS HILIFAVALI PAULUS

Point A
At point A, we have an unstable operating point. A decrease in speed will cause the load torque T L1
to be greater than the Motor Torque T, which causes a deceleration in the motor speed. Eventually
the motor will drop to zero.

Point B

At this point we have a stable operating point. A decrease in the speed will cause the motor torque
to be greater than the load torque and hence cause acceleration of the motor. This will cause the
change in speed to be restored to the operating point. The same happens when we have an increase
in the speed. Such a change will cause the Load toad torque to be more than the motor torque and
results in a deceleration of the motor, hence restoring the speed to the stable point.

Point C

At this point, we still have stable operating pint. A decrease in the speed will cause the Motor torque
to be greater than the load torque and hence cause acceleration of the motor. This will cause the
change in speed to be restored to the operating point. Similarly, an increase in the speed will cause
the motor torque to be less than the load torque and cause deceleration in the motor

Point D

A decrease in speed will cause the load torque to be greater than the Motor Torque, which causes a
deceleration in the motor speed. This will cause the motor-load system to come to a standstill or go
to abnormal speeds when we have an increase in the speed. Hence at this point we have an unstable
operation.

Problem 2.18
214052265 MANDLENKOSI DEMETRIUS NDHLOVU
1. For the first speed and torque curve shown below:

Figure 1

Source: Fundamentals of Electric Drives by Dubey G.K

a) Based on figure 1, the load curve that will give stable operation for portion AB is:

0 Torque
 ∆Wm

T Tl

Wm

b) Based on figure 1, the load curve that will give stable operation for portion BC is:

0 Torque

∆Wm

T Tl

Wm

2. For the second speed and torque curve shown below:

 Figure 2

Source: Fundamentals of Electric Drives by Dubey G.K

a) Based on figure 2, the load curve that will give stable operation for portion DE is:

Wm

T Tl

∆Wm

Torque
0

b) Based on figure 2, the load curve that will give stable operation for portion EF is:

Wm

T Tl

∆Wm

Torque
0
 Problem 2.19
215006712 MPASI MURONGA
for equilibriumT =T l

T =T l

( 1+2 w m )=3 √ w m

( 1+2 w m ) =(3 √ wm )
2 2

2
4 w m −5 wm +1=0

( 4 w m−1 ) ( w n−1 ) =0
w m 1=1

w m 2=0.25

Therefore the motor torque becomes:

T e1=1+2 ( 1 )

¿ 3 Nm (Unstable)
T e2=1+ 2 ( 0.25 )

¿ 1.5 Nm (Stable)

Problem 2.20
215006712 MPASI MURONGA
T =T l

(−1−2 wm ) =−3 √ wm

(−1−2 wm ) =(−3 √ w m)
2 2

2
4 w m −5 wm +1=0

( 4 w m−1 ) ( w n−1 ) =0
w m 1=1

w m 2=0.25

The motor becomes:

T e1=−1−2 ( 1 )

¿−3 Nm (Stable)
T e1=−1−2 ( 0.25 )

¿−1.5 Nm (Unstable)
Problem 2.21
215042077 TIMOTEUS TUWILIKA IKAKU
Load equalisation is used in electric drives which are used in applications where the load torque
fluctuates widely within short intervals of time. The fluctuation of the load draws heavy current from
the supply during the peak interval and also cause a large voltage drop in the system due to which
the equipment may get damage. Load Equalisation stores the energy in the light load and this energy
is utilised when the peak load occurs. Thus, the electrical power from the supply remains constant
and this prevents excess current to be drawn and thus other circuit components are protected from
overcurrent. Efficiency is also improved as the drop in voltage is reduced, so this means fewer losses.

Problem 2.22

215058879 ERASTUS TUHAFENI MOSANA STEPHANUS

120 f 120× 50
i. NNL = Ns = = =1000 rpm
P 1000
1000× 2 π
No Load Speed = =104.72 rad / sec
60
Speed at 500 Nm = (1-0.03) × 104.72 = 101.578 rad/sec
J (Wmo−Wmr ) 1000(104.72−101.578)
τm= = =6.2832
Tr 500
For an induction Motor, Tmin = 0 N.m

( )−T
−t h −t h
Tmax = τm τm
T lh 1−e min e

( )
−10
= 1000 1−e 6.2832 −0=796.4 N.m

ii. At the end of deceleration, T = Tmax and t = 10s

9.55 × T ×t 9.55× 796.4 ×10
Nm= = =76.056 rpm
J 1000

Problem 2.23

215061640 NDILINAWA AINO NUUGWANGA MAKWA

Moment of inertia formula

 Tr
J=
(ω ¿ ¿ mO−ωmr )¿¿

No load speed
2 πN
ω mo= rad/sec
60
2 π ×600
¿
60
¿ 62.832 rad /sec

At speed of 400 N‐m

nr =( 1−S ) ω m

¿ ( 1−0.08 ) × 62.832
¿ 57.805 rad / sec

Calculating the first part of the equation

Tr
400
(ω ¿ ¿ mO−ω mr)= =79.57 ¿
62.832−57.805

The following are parameters for the formula for moment of inertia

T lh=¿600 N-m

T min =¿0 N-m

T max=¿450 N-m

t h=¿10s

Calculating moment of inertia

 Tr
J=
(ω ¿ ¿ mO−ωmr )¿¿

[ ]
10
J=59.57
(
log e
600−0
600−450 )
2
J=429.707 kg−m

Moment of inertia of the flywheel

¿ J−t h

¿ 429.707−10
2
¿ 419.707 kg−m

Problem 2.24

215079493 PATRICK MUTUKU MWIWA

From the equation

………………. Equation 1

The full load speed of the induction motor is given as;

The slip of the induction motor is given by;

…………………………………………………………………………………….Equation2

The synchronous speed of the motor is given by

…………………………………………………………Equation3

Slip of the motor is given by

The rated torque of the motor ……………Equation 3

Since maximum torque is twice the rated

No-load speed

Moment of inertia of flywheel will be equal to

Problem 2.25

215099850 LYAPWAPO TUYAKULA SEVELINA AKAWA

Motor parameters

T lh=3000 Nm

t h=10 sec

T min =500 Nm
Pr =100 kW

w mr=960 rpm

Calculating synchronous speed

120 f 120 ( 60 )
n s= = =1200 rpm
p 6

Minimum motor speed is restricted to 60% of synchronous speed

w mo=0.6 ns=0.6 (1200 )=720 rpm

60 Pr 9550∗Pr
T r= = =994.72 Nm
2 πwmr wmr

Maximum torque is equal to twice the rated torque

T max=2T r=1989.44 Nm

n s−wmr 1200−960
s= = =0.2
ns 1200

720 ×2 π
no load speed= =75.4 rad / sec
60
speed at 994.72 Nm= ( 1−0.2 ) 75.4=60.32rad /sec

Tr 994.72
= =65.96
( wmo−wmr ) 75.4−60.32

Calculating Moment of Inertia

 [ ]
10
J=65.96 =728.21 kg m2
(
log e
3000−500
3000−1989.44)
Moment of inertia of flywheel ¿ 728.21−10=718.21 kg m2