ELECTRIC DRIVES

INTRODUCTION TO ELECTRIC DRIVES MODULE 1

Dr. Nik Rumzi Nik Idris Dept. of Energ Con!ersion" UTM #$1%

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Electrical Drives
Drives 're s stems emp(o ed for motion control

Re)uire prime movers

Dri!es t*'t emp(o electric motors 's prime mo!ers 're kno+n 's E(e,tri,'( Dri!es

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Electrical Drives
./out 0$1 of e(e,tri,'( energ used for dri!es C'n /e eit*er used for fi2ed speed or !'ri'/(e speed
301 & ,onst'nt speed" #01 !'ri'/(e speed 4e2p'nding5

ME6 10#% +i(( /e ,o!ering !'ri'/(e speed dri!es

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Example on VSD application

Const'nt speed
valve Supply motor pump

V'ri'/(e Speed Dri!es

Power In

Power out

Power loss
Mainly in valve

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Example on VSD application

Const'nt speed
valve Supply motor pump Supply PEC

V'ri'/(e Speed Dri!es

motor

pump

Power In

Power out

Power In

Power out

Power loss
Mainly in valve

Power loss

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Example on VSD application

Const'nt speed
valve Supply motor pump Supply PEC

V'ri'/(e Speed Dri!es

motor

pump

Power In

Power out

Power In

Power out

Power loss
Mainly in valve

Power loss

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Conventional electric drives (variable speed)

7u(k Ineffi,ient inf(e2i/(e

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

odern electric drives (!it" power electronic converters)

Sm'(( Effi,ient 8(e2i/(e

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

odern electric drives

Uti(it interf',e Rene+'/(e energ

M',*ine design Speed sensor(ess M',*ine T*eor Non&(ine'r ,ontro( Re'(&time ,ontro( DS6 'pp(i,'tion 68C Speed sensor(ess 6o+er e(e,troni, ,on!erters

Inter&dis,ip(in'r 46E" ,ontro( s stem" m',*ine design" sensors5 Se!er'( rese'r,* 're' E2p'nding

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Components in electric drives Motors - DC motors & perm'nent m'gnet 9 +ound fie(d - .C motors 9 indu,tion" s n,*ronous 4I6MSM" SM6SM5" /rus*(ess DC - .pp(i,'tions" ,ost" en!ironment - N'tur'( speed&tor)ue ,*'r',teristi, is not ,omp'ti/(e +it* (o'd re)uirements 6o+er sour,es - DC 9 /'tteries" fue( ,e((" p*oto!o(t'i, & unregu('ted - .C 9 Sing(e& t*ree& p*'se uti(it " +ind gener'tor & unregu('ted 6o+er pro,essor - To pro!ide ' regu('ted po+er supp( - Com/in'tion of po+er e(e,troni, ,on!erters -More effi,ient -8(e2i/(e -Comp',t -.C&DC DC&DC DC&.C .C&.C

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Components in electric drives

Contro( unit - Comp(e2it depends on perform'n,e re)uirement - 'n'(og& nois " inf(e2i/(e" ide'(( *'s infinite /'nd+idt*. - digit'( 9 immune to noise" ,onfigur'/(e" /'nd+idt* is sm'((er t*'n t*e 'n'(og ,ontro((er:s - DS6;mi,ropro,essor 9 f(e2i/(e" (o+er /'nd+idt* & DS6s perform f'ster oper'tion t*'n mi,ropro,essors 4mu(tip(i,'tion in sing(e , ,(e5" ,'n perform ,omp(e2 estim'tions - E(e,tri,'( iso('tion /et+een ,ontro( ,ir,uit 'nd po+er ,ir,uit is needed< - M'(fu,tion in po+er ,ir,uit m' d'm'ge ,ontro( ,ir,uit - S'fet for t*e oper'tor - .!oid ,ondu,tion of *'rmoni, to ,ontro( ,ir,uit

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Components in electric drives

Sensors - Sensors 4!o(t'ge" ,urrent" speed or tor)ue5 is norm'(( re)uired for ,(osed&(oop oper'tion or prote,tion - E(e,tri,'( iso('tion /et+een sensors 'nd ,ontro( ,ir,uit is needed for t*e re'sons pre!ious( e2p('ined - T*e term =sensor(ess dri!es: is norm'(( referred to t*e dri!e s stem +*ere t*e speed is estim'ted r't*er t*'n me'sured.

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

#verview o$ %C and DC drives

E2tr',ted from Boldea & Nasar

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

#verview o$ %C and DC drives

DC motors< Regu('r m'inten'n,e" *e'! " e2pensi!e" speed (imit E's ,ontro(" de,oup(e ,ontro( of tor)ue 'nd f(u2

%C motors< Less m'inten'n,e" (ig*t" (ess e2pensi!e" *ig* speed Coup(ing /et+een tor)ue 'nd f(u2 9 !'ri'/(e sp'ti'( 'ng(e /et+een rotor 'nd st'tor f(u2

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

#verview o$ %C and DC drives &e$ore semiconductor devices were introduced ('()*+) - .C motors for fi2ed speed 'pp(i,'tions - DC motors for !'ri'/(e speed 'pp(i,'tions %$ter semiconductor devices were introduced (()*+s) - V'ri'/(e fre)uen, sour,es '!'i('/(e 9 .C motors in !'ri'/(e speed 'pp(i,'tions - Coup(ing /et+een f(u2 'nd tor)ue ,ontro( - .pp(i,'tion (imited to medium perform'n,e 'pp(i,'tions 9 f'ns" /(o+ers" ,ompressors 9 s,'('r ,ontro( - >ig* perform'n,e 'pp(i,'tions domin'ted / DC motors 9 tr',tions" e(e!'tors" ser!os" et,

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

#verview o$ %C and DC drives %$ter semiconductor devices were introduced (()*+s)

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

#verview o$ %C and DC drives %$ter vector control drives were introduced ((),+s) - .C motors used in *ig* perform'n,e 'pp(i,'tions 9 e(e!'tors" tr',tions" ser!os - .C motors f'!or'/(e t*'n DC motors 9 *o+e!er ,ontro( is ,omp(e2 *en,e e2pensi!e - Cost of mi,ropro,essor;semi,ondu,tors de,re'sing 9predi,ted %$ e'rs 'go .C motors +ou(d t'ke o!er DC motors

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Classi$ication o$ I

drives (Buja, Kamierkowski, Direct torque control of PWM inverter-fed A

motors - a surve!",

#$$$ %ransactions on #ndustrial $lectronics, &''()

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics ! 2 8m 8f Ne+ton:s ('+

Fm Ff =

d( Mv ) dt

Linear motion. constant

d( v ) d2 x Fm Ff = M = M 2 = Ma dt dt
8irst order differenti'( e)u'tion for speed Se,ond order differenti'( e)u'tion for disp(',ement

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics T( T e " m / ?it* ,onst'nt @" Rotational motion & Norm'(( is t*e ,'se for e(e,tri,'( dri!es

Te Tl =

d( Jm ) dt

d ( m ) d 2 Te Tl = J =J dt dt 2
8irst order differenti'( e)u'tion for 'ngu('r fre)uen, 4or !e(o,it 5 Se,ond order differenti'( e)u'tion for 'ng(e 4or position5

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics 8or ,onst'nt @"

Te = Tl + J

d( m ) dt

dm dt

Tor)ue d n'mi, 9 present during speed tr'nsient .ngu('r ',,e(er'tion

d( m ) dt

L'rger net tor)ue 'nd sm'((er @ gi!es f'ster ',,e(er'tion

200 speed (rad/s) 100 0 -100 -200 0.19 20 15 torque (Nm) 10 5 0 0.19

0.2

0.21

0.22

0.23

0.24

0.25

0.2

0.21

0.22

0.23

0.24

0.25

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics

Te = Tl + J
m Te = m T( + m @ dm dt

dm dt
dm dt

pD = pL + m @

Dri!ing po+er Lo'd po+er -

C*'nge in AE

. step ,*'nge in speed re)uires 'n infinite dri!ing po+er T*erefore is ' ,ontinuous !'ri'/(e

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics

Te = Tl + J
m Te = m T( + m @ dm dt

dm dt
dm dt

pD = pL + m @

Integr'ting t*e e)u'tion +it* time 'nd setting t*e initi'( speed 4$5 B $" +e o/t'in t*e fo((o+ing<

wD =

pD d =

pL d + m J
0 m

dm d d

wD = wL + J

dm

1 2 wD = wL + Jm 2

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics . dri!e s stem t*'t re)uire f'st ',,e(er'tion must *'!e - ('rge motor tor)ue ,'p'/i(it - sm'(( o!er'(( moment of inerti'

.s t*e motor speed in,re'ses" t*e kineti, energ '(so in,re'ses. During de,e(er'tion" t*e d n'mi, tor)ue ,*'nges its sign 'nd t*us *e(ps motor to m'int'in t*e speed. T*is energ is e2tr',ted from t*e stored kineti, energ < @ is purpose( in,re'sed to do t*is Co/ D

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics Combination o$ rotational and translational motions 8( r 8e r ! Te"

T(

Fe Fl = M

d( v ) dt d dt

Te B r48e5"

T( B r48(5"

! Br

Te Tl = r 2M

r#M & E)ui!'(ent moment inerti' of t*e (ine'r( mo!ing m'ss

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics 0 e$$ect o$ 1earin1 Motors designed for *ig* speed 're sm'((er in size 'nd !o(ume Lo+ speed 'pp(i,'tions use ge'r to uti(ize *ig* speed motors
m Load 1, Tl1 m1 n1 J2 m2 J1 n2 Load 2, Tl2

Motor Te

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Elementar- principles o$ mec"anics 0 e$$ect o$ 1earin1

Motor Te

m1 Load 1, Tl1 n1 m2 J2 Load 2, Tl2

J1

n2

Motor Te

J equ = J1 + a 2 2J 2
Equivalent Load , Tlequ

Tlequ = Tl1 + a2Tl2

Jequ

a2 = n1/n2=2/1

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue3speed 2uadrant o$ operation

4
T 3ve 7ve Pm 3ve T 3ve 3ve Pm 7ve

T 7ve 7ve Pm 7ve

(
T

T 7ve 3ve Pm 3ve

- Eu'dr'nt of oper'tion is defined / t*e speed 'nd tor)ue of t*e motor - Most rot'ting e(e,tri,'( m',*ines ,'n oper'te in F )u'dr'nts - Not '(( ,on!erters ,'n oper'te in F )u'dr'nts

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue3speed 2uadrant o$ operation m Te

T m e - Eu'dr'nt of oper'tion is defined / t*e speed 'nd tor)ue of t*e motor - Most rot'ting e(e,tri,'( m',*ines ,'n oper'te in F )u'dr'nts - Not '(( ,on!erters ,'n oper'te in F )u'dr'nts

Quadrant 2 Forward braking

Quadrant 1 Forward motoring

Te m

Te m
Quadrant 4 Reverse braking

Quadrant 3 Reverse motoring

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

S6EED

otor stead- state tor2ue3speed c"aracteristic (natural c"aracteristic)

S n,*ronous m,* Indu,tion m,* Sep'r'te( ; s*unt DC m,* Series DC

TOREUE

&- usin1 power electronic converters. t"e motor c"aracteristic can be c"an1e at will

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Load stead- state tor2ue3speed c"aracteristic

8rictional tor2ue (passive load)
S6EED

TG C TG

- E2ist in '(( motor&(o'd dri!e s stem simu(t'neous( - In most ,'ses" on( one or t+o 're domin'ting - E2ists +*en t*ere is motion
TOREUE

TG #

Cou(om/ fri,tion Vis,ous fri,tion 8ri,tion due to tur/u(ent f(o+

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Load stead- state tor2ue3speed c"aracteristic

Constant tor2ue. e919 1ravitational tor2ue (active load)
S6EED

Hr'!it'tion'( tor)ue

Ve*i,(e dri!e

Te TOREUE TL 1 8L

TL : r8L : r 1

sin

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Load stead- state tor2ue3speed c"aracteristic

;oist drive

Speed

Tor)ue
Gravitational torque

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Load and motor stead- state tor2ue .t ,onst'nt speed" TeB T( Ste'd st'te speed is 't point of interse,tion /et+een Te 'nd T( of t*e ste'd st'te tor)ue ,*'r',teristi,s Tor2ue Te T(

Ste'd st'te speed

r%

r r1

r#

Speed

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue and speed pro$ile

speed (rad=s) (++

Speed profi(e

(+

4*

6*

<+

t (ms)

T*e s stem is des,ri/ed / <

@ B $.$1 kg&m#"

Te 9 T(o'd B @4d;dt5 I 7
T(o'd B 0 Nm.

7 B $.$1 Nm;r'ds&1 'nd

?*'t is t*e tor)ue profi(e 4tor)ue needed to /e produ,ed5 J

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue and speed pro$ile

speed (rad=s) (++

d Te = J + B + Tl dt
(+ 4* 6* <+ t (ms)

$ K t K1$ ms 1$ms K t K#0 ms #0ms K tK F0ms F0ms K t K L$ms

Te B $.$14$5 I $.$14$5 I 0 Nm B 0 Nm Te B $.$141$$;$.$105 I$.$14&LL.L3 I LLLL.L3t5 I 0 B 431 I LL.L3t5 Nm Te B $.$14$5 I $.$141$$5 I 0 B L Nm Te B $.$14&1$$;$.$105 I $.$14F$$ &LLLL.L3t5 I 0 B &03.L3 9 LL.L3t

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue and speed pro$ile

speed 4r'd;s5 1$$

Speed profi(e

1$ Tor)ue 4Nm5 3#.L3 31.L3

#0

F0

L$

t 4ms5

tor)ue profi(e

L 0 1$ &L$.L3 &L1.L3 #0 F0 L$ t 4ms5

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Tor2ue and speed pro$ile

Tor)ue 4Nm5 3$

@ B $.$$1 kg&m#" 7 B $.1 Nm;r'ds&1 'nd T(o'd B 0 Nm. L 1$ #0 F0 L$ t 4ms5

&L0

8or t*e s'me s stem 'nd +it* t*e motor tor)ue profi(e gi!en '/o!e" +*'t +ou(d /e t*e speed profi(eJ

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

Ratin1s o$ converters and motors

%orque
Transient torque limit Continuous torque limit Power limit for transient torque

Power limit for continuous torque

Maximum speed limit

*+eed

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations Un'!oid'/(e po+er (osses ,'uses temper'ture in,re'se Insu('tion used in t*e +indings 're ,('ssified /'sed on t*e temper'ture it ,'n +it*st'nd. Motors must /e oper'ted +it*in t*e '((o+'/(e m'2imum temper'ture

Sour,es of po+er (osses 4*en,e temper'ture in,re'se5< & Condu,tor *e't (osses 4i#R5 & Core (osses 9 * steresis 'nd edd ,urrent & 8ri,tion (osses 9 /e'rings" /rus* +ind'ge

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations E(e,tri,'( m',*ines ,'n /e o!er(o'ded 's (ong t*eir temper'ture does not e2,eed t*e temper'ture (imit .,,ur'te predi,tion of temper'ture distri/ution in m',*ines is ,omp(e2 9 *etrogeneous m'teri'(s" ,omp(e2 geometri,'( s*'pes Simp(ified 'ssuming m',*ine 's "omo1eneous /od
%mbient temperature. To

p1 Input *e't po+er 4(osses5

T"ermal capacit-. C (!s=oC) Sur$ace %. (m4) Sur$ace temperature. T (oC)

p# Emitted *e't po+er 4,on!e,tion5

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations 6o+er /'('n,e<

C dT = p p2 dt

>e't tr'nsfer / ,on!e,tion<

p 2 = # "T To !
" +*ere is t*e ,oeffi,ient of *e't tr'nsfer

?*i,* gi!es<
dT # p + T = dt C C

?it* T4$5 B $ 'nd p1 B p* B ,onst'nt "

T = p% e t $ #

" +*ere =

C #

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations
T
p% #

T =

p% ( e t $ ) #

>e'ting tr'nsient

T T"&!

t
T = T"&! e t $

Coo(ing tr'nsient

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations T*e dur'tion of o!er(o'ding depends on t*e modes of oper'tion< Continuous dutLo'd tor)ue is ,onst'nt o!er e2tended Continuous dut- period mu(tip(e S"ort time intermittent dutSte'd st'te temper'ture re',*ed Periodic intermittent dutNomin'( output po+er ,*osen e)u'(s or e2,eeds ,ontinuous (o'd
T
pn #

Losses due to continuous load

p1n

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations

S"ort time intermittent dutOper'tion ,onsider'/( (ess t*'n time ,onst'nt" Motor '((o+ed to ,oo( /efore ne2t , ,(e Motor ,'n /e o!er(o'ded unti( m'2imum temper'ture re',*ed

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations S"ort time intermittent dutp1 p1n p1s

ps #

Tmax

pn #

t1

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations S"ort time intermittent dutT

ps ( e t $ ) # p n p p s e t $ p e t $ n = s # #

((

))
t

T = Tmax pn #

ps pn e t

t1

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations

Periodic intermittent dutLo'd , ,(es 're repe'ted periodi,'(( Motors 're not '((o+ed to ,omp(ete( ,oo(ed 8(u,tu'tions in temper'ture unti( ste'd st'te temper'ture is re',*ed

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations Periodic intermittent dut-

p1 *e'ting *e'ting ,oo((ing *e'ting ,oo((ing ,oo((ing

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations Periodic intermittent dutE2'mp(e of ' simp(e ,'se 9 p1 re,t'ngu('r periodi, p'ttern
pn B 1$$k?" nomin'( po+er M B M$$kg B $.N#" nomin'( effi,ien, TB 0$oC" ste'd st'te temper'ture rise due to pn

p = pn

= )'(

.(so"

# =

p )&&& = = *& ( $ o C T +&

If +e 'ssume motor is so(id iron of spe,ifi, *e't ,8EB$.FM k?s;kgoC" t*erm'( ,'p',it C is gi!en / C B ,8E M B $.FM 4M$$5 B %MF k?s;oC 8in'(( " t*erm'( time ,onst'nt B %MF$$$;1M$ B 5* minutes

INTRODUCTION TO ELECTRIC DRIVES & MODULE 1

T"ermal considerations Periodic intermittent dutE2'mp(e of ' simp(e ,'se 9 p1 re,t'ngu('r periodi, p'ttern
8or ' dut , ,(e of %$1 4period of #$ mins5" *e't (osses of t+i,e t*e nomin'("
35 30 25 20 15 10 5 0 0 0.5 1 1.5 2 2.5 x 10
4