2-1

Chapter 2

Understanding Mechanical System

Requirements

2020 by N. Mohan
 2-2

Block diagram of adjustable speed drives

Electric Drive

Power
Processing Motor Load
fixed Unit (PPU)
form
Electric Source adjustable speed /
(utility) form position
Sensors

Controller measured Power

speed/ position Signal

input command
(speed / position)

2020 by N. Mohan
 2-3

How can the ASD accelerate and

decelerate the load to
give desired speed profile?

ASD Load
L

 L  rad / sec 
desired speed profile
100

0 1 2 3 4 5 6 7 t sec 

2020 by N. Mohan
 2-4

Systems With Linear Motion

fe fL
M fM M

x
dx du f  fL
u ; a  e u
dx
; a
du f
 M
dt dt M dt dt M

 Figure on left includes load force, f L , that must be overcome

 Figure on right shows only the force, f M , available to accelerate
the mass, M
Accelaration Power Input Kinetic energy
f f f 1
a e L  M Pe (t )  f e  u  f M  u  f L  u WM  Mu 2
M M 2

2020 by N. Mohan
 2-5

Rotating Systems
f f

90 o

M 
r
torque
 Mg


 Torque = force radius

 Nm N  m 

 Example: what torque is needed to hold M motionless

2020 by N. Mohan
 2-6

Torque in an electric drive


Tem TL Load
Motor

 Tem electromagnetic torque produced by motor

 Tem is opposed by load torque, TL
 The difference, Tem  TL  TJ , will accelerate the system
 d  Tem  TL  TJ
dt J J

where J is the moment of inertia

2020 by N. Mohan
 2-7

Calculation of Moment of Inertia J

of a Uniform Cylinder
dr d

rd
df
r dM

r1  d


d dM   rd
 dr
 d
d f  dM v arc height length
dt
d d
 dT  r 2 dM    ( r 3dr d d  ) 
dt dt
r1 2  d  d
3
T   (  r dr  d  d  )   (  r14 ) 
0 0 0 dt  2    dt
J
 1
J solid   r14  M r12
2 2

2020 by N. Mohan
 2-8

Acceleration, Speed and Position, Power

and Energy

m Tem TJ 1  m 
Tem TL Load  J eq  
Motor 
TL

d m 1 T
acceleration ,    Tem TL   J
dt  J m J L  J eq

 speed ,  m (t )   m (0 )  0t    d
t
 position ,  (t )   (0 )  0    d

Power Pem  Tem  m ; PL  TL  m

1
Kinetic Energy W  J  2
2

2020 by N. Mohan
 2-9

Speed, torque, and angle variations with

time
m
100 rad / s

0 t (s)
Tem
5.8 Nm
0 t (s)

0 t (s)
1 2 3 4

2020 by N. Mohan
 2-10

Torque, work, and power

T
d

dW  T d

dW d
p T  T m
dt dt

d m
p J m
dt

t t m
d m
 p   d  J  m 
2
W  d  J m d m  1 J m
0 0
d 0
2

2020 by N. Mohan
 2-11

Frictional Torque
coloumb
Tf friction

 T f  B
stiction 
viscous friction

0 

 stiction

coloumb
friction

 Stiction: static component

 Coulomb friction: dynamic component (constant
magnitude)
 Viscous friction: speed dependent
 In general, friction is non-linear

2020 by N. Mohan
 2-12

Motor and load-torque interaction with a

rigid coupling

m L
TL Load
Motor Tem

JL
Jm

d m
Tshaft  Tem  J M
dt
Tshaft
 M   L  
K

2020 by N. Mohan
 2-13

Example: Aerodynamic drag

Drag power at different speeds
f L  0.046 Cw Av 2 ; (Cw : drag coefficient)
p  f L u
 power  speed 3

Power (W)
Speed
(km/h)
Cw  0.3 Cw  0.5

50 0.86 kW 1.44 kW
100 6.9 kW 11.5 kW
150 23.3 kW 38.8 kW

2020 by N. Mohan
 2-14

Torsional Resonances
m L
TL Load
Motor Tem
Tshaft
JL
Jm
d m
At motor end Tshaft  Tem  J m
dt
d L
At load end Tshaft  TL  J L
dt
Tshaft
 m L
   
K
 m and  L :angular rotation at the two ends of the shaft
 If K   ,  m   L
( J M and J L can be treated as one inertial mass )
 Finite K may lead to resonances

2020 by N. Mohan
 2-15

Mechanical - Electrical Analogy

• Torque • Current
• Angular Velocity • Voltage
• Angular Displacement • Flux Linkage
• Moment of Inertia • Capacitance
• Spring Constant • 1/Inductance
• Damping Coefficient • 1/Resistance
• Coupling Ratio • Transformer ratio

2020 by N. Mohan
 2-16

Electrical Analogy of Motor & Load

m L
TL Load
Motor Tem

JL
Jm

1/ K L m
M
Tem TJM Tshaft TJL TJ TL
TL Tem
JM JL
J eq  J M  J L

Finite shaft stiffness Infinite shaft stiffness

2020 by N. Mohan
 2-17

Coupling Mechanisms

Required when
 a (rotary) motor is driving a load which requires
linear (translational) motion
 motors prefer higher rotational speed than that
required by the load
 the axis of rotation needs to be changed
 Types
 Conveyor belts (belt and pulley)
 Rack and pinion or a lead-screw type of arrangement
 Gear mechanisms

2020 by N. Mohan
 2-18

Conversion between Linear and Rotary

Systems
fL
M u J m  motor inertia

r
M = mass of load
m r = pulley radius
Tem
Motor du
f  M  fL
Jm dt
u  r m
d m
T  r f  r 2M  rf L
dt
d m d
Tem  Jm  r2 M  r fL
   dt dt
    
required to accelerate due to load
motor

2020 by N. Mohan
 2-19

Gears
T1 r1
Tem
Motor
M
JM
TL
T2
r2
Load
L
JL

 Basic relationships: radius, speed, torque

Equal speeds at gear surfaces  r1  M  r2  L
Power transferred across gears   M T1   L T2 ,
r1  T  d M  M  d L 
  L  1 &  Tem  J M   T 
 L L J 
r2  M T2      dt    L 
      
dt
T1 T2
 Geared up: speed increased, torque decreased  L   M ; T2  T1; r2  r1
 Geared down: speed decreased, torque increased  L   M ; T2  T1; r2  r1

2020 by N. Mohan
 2-20

Gears (cont’d)
 Equivalent Inertia
   L   d m   L 
2
Tem   Jm  J L    dt     TL
 
 m   m
       
J eq
2 2
  r 
 J eq  Jm  J L  L   Jm  J L  1 
 m   r2 

 Optimum gear ratio (to minimize Tem )

2
r   r1  Jm
Jm   1   JL  r  
 r2 opt.  2 opt. JL

d m  r  d L
and Tem opt.  2 J m  2J m  2 
dt  r1 opt. dt

2020 by N. Mohan
 2-21

Types of Loads
Centrifugal loads

Fan

Constant Torque loads

Hoist

2020 by N. Mohan
 2-22

Types of Loads

Squared power loads

Compressor

Constant power loads

Winder

2020 by N. Mohan
 2-23

Four-Quadrant Operation

m
(2) (1)

m   m  
Tem   Tem  
Tem
m p p
Tem
Motor Load
m   m  
Power Tem   Tem  
p p
(3) (4)

2020 by N. Mohan
 2-24

Dynamic Operation

How the operating point changes with time

Important for High Performance Drives

Speed change: rapid and without any oscillations

Requires good controller design

2020 by N. Mohan
 2-25

Summary

 What are the MKS units for force, torque, linear velocity, angular velocity,

speed, and power?

 What is the relationship between force, torque, and power?

 Show that torque is the fundamental variable in controlling speed and

position.

 What is the kinetic energy stored in a moving mass and a rotating inertia?

2020 by N. Mohan
 2-26

Summary

 What is the mechanism for torsional resonances?

 What are the various types of coupling mechanisms?

 What is the optimum gear ratio to minimize the torque

required from the drive to accelerate a load?

 What are the torque-speed and the power-speed profiles

for various types of loads?

2020 by N. Mohan