Introduction of Electrical Drives

By
H. S. Darji
Department of Electrical Engineering
U. V. Patel College of Engineering

Reference Books

Definition of Electrical Drives

An electrical drive is defined as a form of machine
equipment designed to convert electrical energy into
mechanical energy & provide electrical control of this
process.

Block diagram of an Electric Drives

Power Source

Power Processing
Unit

Motor

Load

feedback
Control

Control

Reference

Unit

Small (compact)

Flexible

Efficient

Interdisciplinary
4

Basic Components of Electric

Drives
Power Source

Control
Reference

Power
Processing
Unit

Control

Motor

Load

feedback

Unit

Power Source
Motor
Power Processing Unit (Electronic Converter)
Control Unit
Mechanical Load
5

Basic Components of Electric

Drives Power Source
Provides energy to electric motors
Regulated (e.g: utility) or Unregulated (e.g. : renewable

energy)
Unregulated power sources must be regulated for high
efficiency use power electronic converters
DC source
batteries
fuel cell
photovoltaic

AC source
single- or three- phase utility
wind generator
6

Basic Components of Electric

Drives - Motor
Electrical
Motor
energy

Mechanical
energy

Obtain power from electrical sources

DC motors - Permanent Magnet or wound-field (shunt,

separately excited, compound, series)

AC motors Induction, Synchronous (wound rotor,
IPMSM, SPMSM), brushless DC
Selection of machines depends on many factors, e.g.:
application
cost
efficiency

environment
type of source available
7

Basic Components of Electric

Drives Power Processing Unit
Provides a regulated power supply to motor
Enables motor operation in reverse, braking and variable

speeds
Combination of power electronic converters
Controlled rectifiers, inverters treated as black boxes
with certain transfer function
More efficient ideally no losses occur
Flexible - voltage and current easily shaped through
switching control
Compact
Several conversions possible: AC-DC , DC-DC, DC-AC,
AC-AC
8

Basic Components of Electric

Drives Power Processing Unit
DC to AC:

Basic Components of Electric

Drives Power Processing Unit
DC to DC:

10

Basic Components of Electric

Drives Power Processing Unit
AC to DC:

11

Basic Components of Electric

Drives Power Processing Unit
AC to AC:

12

Basic Components of Electric

Drives Control Unit
Supervise operation
Enhance overall performance and stability
Complexity depends on performance requirement
Analog Control noisy, inflexible, ideally infinite
bandwidth
Digital Control immune to noise, configurable, smaller
bandwidth (depends on sampling frequency)
DSP/microprocessor flexible, lower bandwidth, real-time
DSPs perform faster operation than microprocessors
(multiplication in single cycle), complex estimations and
observers easily implemented

13

Advantages of Electrical Drives

Flexible control characteristic
particularly when power electronic converters are
employed
Wide range of speed, torque and power
High efficiency low no load losses
Low noise
Low maintenance requirements, cleaner operation
Electric energy easily transported
Adaptable to most operating conditions
Available operation in all four torque-speed quadrants
14

Choice of Electrical Drives

Several factors affecting drive selection:
Steady-state operation requirements

Transient operation requirements

nature of torque-speed profile, speed regulation, speed range, efficiency,

quadrants of operations, converter ratings

values of acceleration and deceleration, starting, braking and reversing

performance

Power source requirements

Type, capacity, voltage magnitude, voltage fluctuations, power factor,

harmonics and its effect on loads, ability to accept regenerated power

Capital & running costs

Space and weight restrictions
Environment and location
Efficiency and reliability

15

Electric Drives Application

Line Shaft Drives
Oldest form
Single motor,
multiple loads
Common line
shaft or belt
Inflexible
Inefficient
Rarely used
16

Electric Drives Application

Single-Motor,

Single-Load Drives
Most common
Eg: electric saws,

drills, fans,
washers, blenders,
disk-drives,
electric cars.

17

Electric Drives Application

Multimotor Drives
Several motors,
single
mechanical load
Complex drive
functions
Eg: assembly
lines, robotics,
military airplane
actuation.
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DC or AC Drives?
DC Drives
Motor

requires maintenance
heavy, expensive
limited speed (due to
mechanical construction)

Control Unit Simple & cheap control even

for high performance drives
decoupled torque and flux
control
Possible implementation using
single analog circuit

Performance Fast torque and flux control

AC Drives
(particularly Induction Motor)
less maintenance
light, cheaper
high speeds achievable (squirrelcage IM)
robust
Depends on required drive
performance
complexity & costs increase with
performance
DSPs or fast processors required in
high performance drives

Scalar control satisfactory in

some applications
Vector control similar to DC
drives

19

Torque Equation for Rotating

Systems
Motor drives a load through a transmission system (eg.

gears, V-belts, crankshaft and pulleys)

Load may rotate or undergo translational motion
Load speed may be different from motor speed
Can also have multiple loads each having different speeds,
some may rotate and some have translational motion
Represent motorload system as
equivalent
rotational system

Te , m
Motor

TL
Load

20

Torque Equation for Rotating

Systems Torque equation for equivalent motor-load system:

TL
Te , m

With constant inertia J,

d Jm
Te TL
dt

(1)

where:
J = inertia of equivalent motor-load system, kgm2
m = angular velocity of motor shaft, rads-1
Te = motor torque, Nm
TL = load torque referred to motor shaft, Nm

d m
d 2
Te TL J
J 2
dt
dt

(2)

First order differential equation for angular frequency (or velocity)

Second order differential equation for angle (or position)
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Torque Equation for Rotating

Systems with Gears
Low speed

applications use
gears to utilize
high speed motors
Motor drives two
loads:
Load 1 coupled

directly to motor
shaft
Load 2 coupled via
gear with n and n1
teeth

Need to obtain

equivalent motorload system

Motor
Te

Load 1,
TL0

n
TL0

J1
TL1

n1

J0

m1

Motor
Te

m
TL

Load 2,
TL1

Equivalent
Load , TL

22

Torque Equation for Rotating

Systems with Gears
Gear ratio a1 =

(3)

Neglecting losses in the transmission:

Kinetic energy due

to equivalent inertia

kinetic energy of moving parts

Hence, equivalent motor-load inertia J is:

J J0 a J

2
1 1

(4)

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Torque Equation for Rotating

Systems with Gears
If 1 = transmission efficiency of the gears:

Power of the equivalent

motor-load system

power at the loads

Hence, equivalent load torque TL is:

TL TL 0

a1 TL1

(5)

24

Torque Equation for Rotating

Systems with Translational Motion
Motor drives two

loads:
Load 1 coupled

directly to motor
shaft
Load 2 coupled via
transmission
system converting
rotational to linear
motion

Need to obtain

equivalent motorload system

Motor
Te

m
TL

Equivalent
Load , TL

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Torque Equation for Rotating

Systems with Translational Motion
Neglecting losses in the transmission:

Kinetic energy due

to equivalent inertia

kinetic energy of moving parts

Hence, equivalent motor-load inertia J is:

v1

J J 0 M 1
m

2
(7)

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Torque Equation for Rotating

Systems with Translational Motion
If 1 = transmission efficiency of the transmission system:

Power of the equivalent

motor-load system

power at the loads and motor

Hence, equivalent load torque TL is:

F1 v1

TL TL 0
1 m

(8)

27

Torque Equation for Rotating

Systems Example

28

Components of Load Torque(Tl)

Load torque can be divided into:
Friction torque (TF) -present at motor shaft and in various
parts of load.

Viscous friction torque Tv varies linearly with speed (Tv m).

Exists in lubricated bearings due to laminar flow of lubricant
Coulomb friction torque TC independent of speed. Exists in
bearings, gears coupling and brakes.

Windage torque (Tw)-exists due to turbulent flow of air or

liquid.

Varies proportional to speed squared (Tw m2).

Mechanical Load Torque (TL ) - torque required to do the useful

mechanical work.
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Mechanical Load Torque

Torque to do useful mechanical work TL depends

on application.
Load torque is function of speed

TL

k
m

where k = integer or fraction

Mechanical power of load:

and
P T
L

nm
60

Angular speed
in rad/s

Speed
in rpm
30

Torque-Speed Characteristics of Load

1)
2)
3)
4)

Torque independent of speed

Linear rising Torque-Speed
Non-Linear rising Torque-Speed
Non-Linear falling Torque-Speed

31

Torque-Speed Characteristics of Load

Torque

independent of
speed , k = 0
Hoist
Elevator
Pumping of water
or gas against
constant pressure
32

Torque-Speed Characteristics of Load

Torque

proportional to
square of speed , k
=2
Fans
Centrifugal
pumps
33

Torque-Speed Characteristics of Load

Torque inversely

proportional to
speed , k = -1
Milling machines
Electric drill

34

Classification of Electrical Drives

Group Drive(Shaft Drive)
Individual Drive
Multi-Motor Drive

35

Classification of Electrical Drives

Group Drive(Shaft Drive)
If Several groups of Mechanisms or Machines are organized on
one shaft & driven by one motor, the system is called a group
drive (Shaft Drive)

Disadvantages
There is no flexibility, Addition of an extra machine to the main

shaft is difficult.
The efficiency of the drive is low, because of the losses occurring
in several transmitting mechanisms.
The complete drive system requires shutdown if the motor,
requires servicing or repair.
The system is not very safe to operate
The noise level at the work spot is very high.
36

Classification of Electrical Drives

Individual Drive
If a single motor is used to drive a given mechanism & it
does all the jobs connected with load, the drive is
called an individual drive

Examples
Single Spindle drilling machine
Lathe machines

37

Classification of Electrical Drives

Multi-Motor Drive
In a Multi-Motor drive, each operation of the
mechanism is taken care of by a separate drive motor.
The system contains several individual drives, each of
which is used to operate its own mechanism

Examples
Metal cutting machine tool
Rolling mills
Travelling cranes
38

Dynamic Conditions of a drive

system
Dynamic conditions occur in a electric drive system

when operating point changes from one steady state

condition to another, following a change introduced in
the system variables. This variables may be
mechanical such as speed, torque etc. or electrical
such as voltage, current etc.
These conditions generally exist during starting,
braking and speed reversal of the drive.
The dynamic conditions arise in a variable speed drive
when transition from one speed to another is required.
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Dynamic Conditions of a drive

system
The drive may also have transient behavior if there
are sudden changes of load, supply, voltage or
frequency.
The dynamic behavior of a drive has a close
relation to its stability. A drive is said to be stable if
it can go from one state of equilibrium to another
following a disturbance in one of the parameters of
the system.
Stability can be identified as either steady-state or
transient.
40

Dynamic Conditions of a drive

system
The condition of stability depend on the operating
point.

The dynamics of the drive can be investigated using

the Torque balance equation given by

41

Dynamic Conditions of a drive

system

42

Dynamic Conditions of a drive

system

43

Dynamic Conditions of a drive

system

44

Dynamic Conditions of a drive

system

45

Dynamic Conditions of a drive

system
The load torque occurring in mechanical system
may be Passive or active.
Passive torque
If the torque always opposes the direction of motion
of drive motor it is called a passive torque.
Active torque
Load torque which have the potential to drive the
motor under equilibrium condition are called
active load torque.
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Steady State Operating Speed

Motor T- characteristic variation of motor torque with speed
with all other variables (voltage and frequency) kept constant.
SPEED
Synchronous motor
Induction motor

Series DC motor

Separately excited
/ shunt DC motor

TORQUE

Loads will have their own T- characteristics.

47

Steady State Operating Speed

At constant

speed, Te= TL
Steady state
speed is at
point of
intersection
between Te
and TL of the
steady state
torque
characteristics

By using power
TL electronic
converters, the
motor characteristic
can be varied

Torque
Te

Steady state
Speed, r

r3

r1

r2

Speed
48

Steady State Stability

Drives operate at steady-state speed (when Te = TL) only

if the speed is of stable equilibrium.

A disturbance in any part of drive causes system speed to
depart from steady-state point.
Steady-state speed is of stable equilibrium if:
system will return to stable equilibrium speed
when
subjected to a disturbance
Steady-state stability evaluated using steady-state T-
characteristic of motor and load.
dTe
dTL
Condition for stable equilibrium:

(9)
dm dm
49

d m
e
L
dt
Evaluated using steady-state T- characteristic of
motor and load.

Steady State Stability T T

Assume a disturbance causes speed drop to r

At the new speed r,

Te > TL

Steady-state point A
at speed = r

m
Te

TL

motor accelerates

operation restored to steadystate point

Steady-state speed is of
stable equilibrium

dTe
dTL

dm dm

r
r

TL

Te

T
50

Steady State Stability

d m
Te TL J
dt

Lets look at a different condition!

Assume a disturbance causes speed drop to r

At the new speed r,

Te < TL

Steady-state point B
at speed = r

Te

TL

motor decelerates

operation point moves away

from steady-state point
Point B is at UNSTABLE
equilibrium

dTe
dTL

dm dm

r
r

Te

TL

T
51

Torque-Speed Quadrant of
Operation
Direction of positive
m

Te

Te

(forward) speed is
arbitrary chosen
Direction of positive
torque will produce
positive (forward) speed

P = -ve P = +ve
Quadrant 2 Quadrant 1
Forward braking Forward motoring

Quadrant 3 Quadrant 4
Reverse motoring Reverse braking Te
P = +ve P = -ve
Te

P Tem
Electrical energy

MOTO
R
P = + ve

Mechanical energy
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