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2998 Electric
2998 Electric
2998 Electric
=
With constant J,
Rotational motion
- Normally is the case for electrical drives
)
dt
J d
T T
m
l e
T
e
,
m
T
l
J
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
dt
d
J T T
m
l e
+ =
For constant J,
)
dt
d
J
m
T
e,
T
l
F
l
F
e
v
M
T
e
= r(F
e
), T
l
= r(F
l
), v =r
dt
d
M r T T
2
l e
=
r
2
M - Equivalent moment inertia of the
linearly moving mass
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Elementary principles of mechanics effect of gearing
Motors designed for high speed are smaller in size and volume
Low speed applications use gear to utilize high speed motors
Motor
T
e
Load 1,
T
l1
Load 2,
T
l2
J
1
J
2
m1
m2
n
1
n
2
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Motor
T
e
Load 1,
T
l1
Load 2,
T
l2
J
1
J
2
m1
m2
n
1
n
2
Motor
T
e
J
equ
Equivalent
Load , T
lequ
m
2
2
2 1 equ
J a J J + =
T
lequ
= T
l1
+ a
2
T
l2
a
2
= n
1
/n
2
Elementary principles of mechanics effect of gearing
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Motor steady state torque-speed characteristic
Synchronous mch
Induction mch
Separately / shunt DC mch
Series DC
SPEED
TORQUE
By using power electronic converters, the motor characteristic
can be change at will
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Load steady state torque-speed characteristic
SPEED
TORQUE
Frictional torque (passive load)
Exist in all motor-load drive
system simultaneously
In most cases, only one or two
are dominating
Exists when there is motion
T~ C
Coulomb friction
T~
Viscous friction
T~
2
Friction due to turbulent flow
E
T
L
T
e
Vehicle drive
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Load steady state torque-speed characteristic
Constant torque, e.g. gravitational torque (active load)
SPEED
TORQUE
Gravitational torque
gM
F
L
T
L
= rF
L
= r g M sin E
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Load steady state torque-speed characteristic
Hoist drive
Speed
Torque
Gravitational torque
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Load and motor steady state torque
At constant speed, T
e
= T
l
Steady state speed is at point of intersection between T
e
and T
l
of the
steady state torque characteristics
T
l
T
e
Steady state
speed
r
Torque
Speed
r2
r3
r1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque and speed profile
10 25 45 60 t (ms)
speed
(rad/s)
100
The system is described by: T
e
T
load
= J(d/dt) + B
J = 0.01 kg-m2, B = 0.01 Nm/rads-1 and T
load
= 5 Nm.
What is the torque profile (torque needed to be produced) ?
Speed profile
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque and speed profile
10 25 45 60 t (ms)
speed
(rad/s)
100
0 < t <10 ms Te = 0.01(0) + 0.01(0) + 5 Nm = 5 Nm
10ms < t <25 ms Te = 0.01(100/0.015) +0.01(-66.67 + 6666.67t) + 5
= (71 + 66.67t) Nm
25ms < t< 45ms Te = 0.01(0) + 0.01(100) + 5 = 6 Nm
45ms < t < 60ms Te = 0.01(-100/0.015) + 0.01(400 -6666.67t) + 5
= -57.67 66.67t
l e
T B
dt
d
J T + +
=
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque and speed profile
10 25 45 60
speed
(rad/s)
100
10 25 45
60
Torque
(Nm)
72.67
71.67
-60.67
-61.67
5
6
t (ms)
t (ms)
Speed profile
torque profile
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque and speed profile
10 25 45
60
Torque
(Nm)
70
-65
6
t (ms)
For the same system and with the motor torque profile
given above, what would be the speed profile?
J = 0.001 kg-m2, B = 0.1 Nm/rads-1
and T
load
= 5 Nm.
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Unavoidable power losses causes temperature increase
Insulation used in the windings are classified based on the
temperature it can withstand.
Motors must be operated within the allowable maximum temperature
Sources of power losses (hence temperature increase):
- Conductor heat losses (i
2
R)
- Core losses hysteresis and eddy current
- Friction losses bearings, brush windage
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Electrical machines can be overloaded as long their temperature
does not exceed the temperature limit
Accurate prediction of temperature distribution in machines is
complex hetrogeneous materials, complex geometrical shapes
Simplified assuming machine as homogeneous body
p
2
p
1
Thermal capacity, C (Ws/
o
C)
Surface A, (m
2
)
Surface temperature, T (
o
C)
Input heat power
(losses)
Emitted heat power
(convection)
Ambient temperature, T
o
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Power balance:
2 1
p p
dt
dT
C =
Heat transfer by convection:
) T T ( A p
o 2
E =
C
p
T
C
A
dt
T d
1
= A
E
+
A
Which gives:
)
t
E
= A
/ t h
e 1
A
p
T
A
C
E
= t , where
With AT(0) = 0 and p
1
= p
h
= constant ,
, where E is the coefficient of heat transfer
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
t
t
T A
t
t
t
A = A
/ t
e ) 0 ( T T
T A
)
t
E
= A
/ t h
e 1
A
p
T
Heating transient
Cooling transient
A
p
h
E
) 0 ( T A
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
The duration of overloading depends on the modes of operation:
Continuous duty
Short time intermittent duty
Periodic intermittent duty
Continuous duty
Load torque is constant over extended period multiple
Steady state temperature reached
Nominal output power chosen equals or exceeds continuous load
T A
t
A
p
n 1
E
t
p
1n
Losses due to continuous load
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Short time intermittent duty
Operation considerably less than time constant, t
Motor allowed to cool before next cycle
Motor can be overloaded until maximum temperature reached
t
1
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Short time intermittent duty
A
p
s 1
E
max
T A
A
p
n 1
E
t
T A
p
1
p
1n
p
1s
t
1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Short time intermittent duty
t
t
T A
)
t
E
= A
/ t s 1
e 1
A
p
T
max
T A
A
p
n 1
E
)
t
E
=
E
/ t
s 1 n 1 1
e 1
A
p
A
p
)
t
>
/ t
s 1 n 1
1
e 1 p p
1
/ t
n 1
s 1
t e 1
1
p
p
1
t
<
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Periodic intermittent duty
Load cycles are repeated periodically
Motors are not allowed to completely cooled
Fluctuations in temperature until steady state temperature is reached
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Periodic intermittent duty
p1
t
heating coolling
coolling
coolling
heating
heating
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Periodic intermittent duty
Example of a simple case p
1
rectangular periodic pattern
p
n
= 100kW, nominal power
M = 800kg
L= 0.92, nominal efficiency
AT
= 50
o
C, steady state temperature rise due to p
n
kW 9 1
1
p p
n 1
=
'
+
'
L
= Also,
C / W 180
50
9000
T
p
A
o
1
= =
A
= E
T
1
2
3 4
T +ve
+ve
P
m
+ve
T -ve
+ve
P
m
-ve
T -ve
-ve
P
m
+ve
T +ve
-ve
P
m
-ve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
4-quadrant operation
m
T
e
T
e
m
T
e
m
T
e
T
Direction of positive (forward)
speed is arbitrary chosen
Direction of positive torque will
produce positive (forward) speed
Quadrant 1
Forward motoring
Quadrant 2
Forward braking
Quadrant 3
Reverse motoring
Quadrant 4
Reverse braking
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Ratings of converters and motors
Torque
Speed
Power limit for
continuous torque
Continuous
torque limit
Maximum
speed limit
Power limit for
transient torque
Transient
torque limit
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Steady-state stability