RAJASHRI SHAHU COLLEGE OF ENGINEERING,

TATHAWADE,PUNE.
ELECTRICAL ENGINEERING DEPT.

SUBJECT: ELECTRICAL DRIVES AND CONTROL

[EL3110]: Electric Drives and Control
UNIT-I Basics of Electric Drives and Control 07 Hours
Definition, Advantages of electrical drives, Components of Electric drive system, Selection Factors,
status of Electrical Drives (DC & AC), speed control and drive classifications, close loop control of
drives, and phase locked loop (PLL) control

UNIT-II Dynamics of Electrical Drives 08 Hours

Motor-Load Dynamics, Speed Torque conventions and multi quadrant operation, Equivalent values
of drive parameters. Load Torque Components, Nature and classification of Load Torques,
Constant Torque and Constant Power operation of a Drive. Steady state stability, Load
equalization.

UNIT-III Selection of Motor Power Rating 05 Hours

Thermal model of motor for heating and cooling-Relationship between temperature rise and time,
Heating time constant, Cooling time constant. Classes of motor duty- continuous duty, short time
duty, intermittent periodic duty, intermittent periodic duty with starting, intermittent periodic
duty with starting & braking, continuous duty with intermittent periodic loading, continuous duty
with starting & braking, Continuous duty with periodic speed changes. Determination of motor
ratings, Selection of power ratings of motor -continuous duty and constant load, continuous duty
 [EL3110]: Electric Drives and Control
UNIT-IV DC Motor Drives 08
DC motors and their performance starting, transient analysis, speed control, Controlled
rectifier fed drives, full controlled 3 phase rectifier control of dc separately excited motor,
multiquadrant operation, Chopper controlled drives Closed loop speed control of DC
motor.

UNIT-V Induction Motor Drives 08

Induction motor analysis, starting and speed control methods- voltage and frequency
control, current control, closed loop control of induction motor drives, rotor resistance
control, Slip power recovery – Static Kramer and Scherbius Drive, Single phase induction
motor starting, braking and speed control.

UNIT-VI Synchronous Motor and Brushless dc Motor Drives 06

Synchronous motor types, operation with fixed frequency, variable speed drives, PMAC
and BLDC motor drives, Stepper motor drives, switch reluctance motor drives.
 Synchronous motor –
• It runs at synchronous speed
• Speed can be varied by varying supply frequency because synchronous speed, Ns =
(120f/p)
• Due to unavailability of economical variable frequency sources, this method of speed
control was not used in past & they were mainly used for constant speed applications
• The development of semiconductor variable frequency sources such as inverter &
cycloconverter allowed the use of synchronous motor in variable speed applications
• It is not self starting. It has to be run upto near synchronous speed by some means & it
can be synchronised to supply
• Starting methods : a) using an auxiliary motor b) using damper windings

• Types of synchronous motors –

• Commonly used synchronous motors are 1. Wound field synchronous motor (Cylindrical &
salient pole) 2. Permanent magnet synchronous motor
 Synchronous motor –

Operation of a wound field synchronous motor

• Rotor is provided with a DC field winding & damper windings
• -Stator contain 3 phase winding & is connected to AC supply
• When a 3 phase supply is given to stator, a rotating magnetic field revolving at synchronous
speed is produced
• The DC excitation in rotor produces a field
• -This field interacts with rotating magnetic field to produce a torque which is pulsating in
nature & not unidirectional.
• As a result synchronous motor is not self starting
• Normally the motor is made self starting by providing damper windings on rotor
• -Due to the presence of damper windings, motor will start as an induction motor
• When speed of motor reaches near synchronous speed, DC excitation is given to rotor
• Now the rotor poles gets locked with rotating magnetic field poles in stator & continue to
rotate at synchronous speed.
 Synchronous motor –
Load angle/power angle/torque angle (δ)
• - The rotor poles are locked with stator poles & both run at synchronous speed
in same direction
• - As load on motor increases, the rotor tends to fall back in phase by some
angle
• - This angle is known as load angle (δ) - The value of δ depends upon the load
Synchronous motor –

Pull out torque (maximum torque motor can develop without pulling out of step )
• The power produced by synchronous motor

V = stator supply voltage E = Field excitation voltage/ emf induced in stator (just like
back emf in case of dc motor )

• Torque,

• For a given value of supply voltage, frequency & field excitation, the torque will be
maximum when δ = 900 .
• Any increase in torque beyond this value will cause the motor to slow down & the
synchronism is lost - This phenomenon is called pulling out of step
Synchronous motor –

• Variable frequency control of Synchronous motor

- Synchronous speed α frequency
- So by varying frequency, speed can be controlled - Like in induction
motor, upto base speed, the V/f ratio is kept constant
- In variable frequency control, synchronous motor may operate in two
modes
a) True synchronous mode /open loop mode
b) Self controlled mode
Synchronous motor –

• Variable frequency control of Synchronous motor

- Synchronous speed α frequency
- So by varying frequency, speed can be controlled - Like in induction
motor, upto base speed, the V/f ratio is kept constant
- In variable frequency control, synchronous motor may operate in two
modes
a) True synchronous mode /open loop mode
b) Self controlled mode
 Synchronous motor –
Here the stator supply frequency is controlled from an independent oscillator
- all the machines are connected to the same Inverter and they move in
response to the command frequency f*at the input to the delay circuit
- Frequency is varied gradually to ensure that the rotor gradually picks up
speed and pulls into synchronism with the stator magnetic field and settles at
the final synchronous speed - Frequency command f* is applied to a Inverter
through a delay circuit so that rotor speed is able
to track the changes in frequency
-A flux control block changes stator voltage with
frequency to maintain a constant flux below base
speed & constant terminal voltage above base
speed
-To follow this change in frequency, motor
accelerates & settles at new speed after hunting
oscillations which are damped by damper
 Synchronous motor –
• - A gradual decrease in frequency causes the synchronous speed to become
decrease and actual speed δ become negative
• - To follow this change in frequency, the motor decelerates - Motor settles
down at new speed after hunting oscillations
The frequency must be changed gradually to
allow the rotor to track the changes in
revolving field, otherwise the motor may pull
out of step
-This method can be used for smooth
starting and regenerative braking.
- This method is best suited for multiple
synchronous,reluctance or Permanent
magnet (PM) motor drives requiring accurate
speed tracking between motors - E.g, fibre
spinning mills, paper mills, textile mills.
 Synchronous motor –
Self controlled mode
• stator supply frequency is changed in proportion to the rotor speed, so that the
rotating magnetic field produced by the stator always moves at the same speed
as the rotor.
• rotor runs at synchronous speed at all operating points. (In all Load conditions)
• Consequently, a self controlled synchronous motor does not pull-out out of step
and does not suffer from hunting oscillations & instability associated with a step
change in torque or frequency when controlled from an independent oscillator
Position Sensors are mounted on the Rotor shaft to
track the rotor position and speed.
Rotor position sensor sends pulses to thyristors of
inverter - Hence the frequency of inverter output is
decided by rotor speed
Hence, the stator supply frequency can be made to
track the frequency of these signals
 Synchronous motor –
• Self controlled synchronous motor drive employing a load commutated
thyristor inverter - consists of two parts: Source side converter and load side converter.
Source side converter - 3 phase 6 pulse line
commutated fully controlled converter.
• When the firing angle range is 0° < αs <
90° the converter acts as a line commutated
fully controlled rectifier.
• During this mode the output voltage Vds
and output current Ids are both positive.
•Thyristors of the load side converter are
commutated by the motor induced voltages
just as the thyristors in a line commutated
converter are commutated by the supply
voltages. -Load commutation (load is
synchronous motor).
 Synchronous motor –
• Self controlled synchronous motor drive employing a load commutated
thyristor inverter - consists of two parts: Source side converter and load side converter.
Motoring operation
For 0° < αs < 90° & 90° < αl < 180° and with Vds >
Vdl the source side converter acts like a line
commutated Rectifier and load side Converter
acts like a line commutated Converter causing
power to flow from the source to the motor .
Regenerative braking operation.
firing angles are changed such that 90° < αs <
180° and 0° < αl < 90° the Load Side Converter
acts like a line commutated Rectifier and Source
Torque depends on (Vds - Vdl). Side Converter acts like a line commutated
Motor speed can be controlled by Inverter causing power to flow from the motor
control of line side converter firing to the source
angles.