Stability of Electric Drives

Dr. K. R. Rajagopal
Associate Professor
Electrical Engineering Department
Indian Institute of Technology, Delhi – 110016
E.mail: rgopal@ee.iitd.ernet.in
Website: http://krrg.tripod.com
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive
 The drive is said to be in equilibrium if the torque
developed by the motor is exactly equal to the
load torque.
 If the drive comes out of the state of equilibrium
due to some disturbance, it comes back to steady
state for stable equilibrium but for unstable
equilibrium the speed of the drive increases
uncontrollably or decreases to zero. When the
drive coming out of the state of equilibrium
preserves it steady state at different speed (lying
in small range), it is said to be in neutral range.
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 The stability of the motor load combination is defined
as the capacity of the system which enables it to
develop forces of such a nature as to restore
equilibrium after any small departure therefore.
 Equilibrium state of the drive mainly disturbs because
of the following two types of disturbances,
1. Changes from the state of equilibrium takes place
slowly and the effect of either the inertia or the
inductance is insignificant – Steady state stability.
2. Sudden and fast changes from the equilibrium state so
effect of both inertia and inductance can not be
neglected- Dynamic or transient stability.
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
Criteria for steady state stability:-
 Let the equilibrium of the torques and speed is TM, TL
and ω and the small deviations are ΔTm, ΔTL and Δω.
After the displacement from the equilibrium state the
torque equation becomes,
d d   
J J  TL  TL  TM  TM  0
dt dt
d
but, J  TL  TM  0, so
dt
d   
J  TL  TM  0
dt
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 Considering the small deviation, changes can be
expressed as a linear function of change in speed,
dTM dTL
TM   , TL  
d d
 From the torque equation, where all quantities are
expressed in terms of their deviations from the
equilibrium,

Jd
    dTL dTM 
    0
dt  d d  
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 Solution is,
 dTL dTM 
    0 e1/ J
 d  d  t
 Where, (Δω)0 is the initial value of the deviation in
speed. For the stable system the exponent must be
negative, so speed increment will disappear with
time. The exponent will always be negative if,
dTL dTM
 0
d d
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 Criteria for the steady state stability is for a
decrease in the speed the motor torque must
exceeds the load torque and for increase in speed
the motor torque must be less than the load torque.

 Load torque TL’ results

in a stable equilibrium
point, and the load
torque TL’’ results in an
unstable situation.
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 To check the stability at an operating point of the
motor, if an increase in speed brings greater
increase in load torque than the motor torque, the
speed will tend to decrease and return to its original
value, so operating point will be a stable point else
operating point will be an unstable point.
 Dr. K. R. Rajagopal

Steady State Stability of an Electric IIT Delhi

Drive (Cont.)
 Cases (a), (b) and (c)
represents stable
operation of drive.
 Cases (d), (e) and (f)
represents unstable
operation of drive.
 Case (g) represents
indeterminate condition.
Various Speed and Torque
Curves of Motor and Load