Electrical Drives
Drives 're s stems emp(o ed for motion control
Dri!es t*'t emp(o electric motors 's prime mo!ers 're kno+n 's E(e,tri,'( Dri!es
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
Power In
Power out
Power loss
Mainly in valve
motor
pump
Power In
Power out
Power In
Power out
Power loss
Mainly in valve
Power loss
motor
pump
Power In
Power out
Power In
Power out
Power loss
Mainly in valve
Power loss
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
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
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
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.
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
#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,
#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
Classi$ication o$ I
motors - a surve!",
Fm Ff =
d( Mv ) dt
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
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
Te = Tl + J
d( m ) dt
dm dt
d( m ) dt
0.2
0.21
0.22
0.23
0.24
0.25
0.2
0.21
0.22
0.23
0.24
0.25
Te = Tl + J
m Te = m T( + m @ dm dt
dm dt
dm dt
pD = pL + m @
C*'nge in AE
. step ,*'nge in speed re)uires 'n infinite dri!ing po+er T*erefore is ' ,ontinuous !'ri'/(e
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 $" +e o/t'in t*e fo((o+ing<
wD =
pD d =
pL d + m J
0 m
dm d d
wD = wL + J
dm
1 2 wD = wL + Jm 2
Elementar- principles o$ 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
T(
Fe Fl = M
d( v ) dt d dt
Te B r48e5"
T( B r48(5"
! Br
Te Tl = r 2M
Elementar- principles o$ mec"anics 0 e$$ect o$ 1earin1 Motors designed for *ig* speed 're sm'((er in size 'nd !o(ume Lo+ speed 'pp(i,'tions use ge'r to uti(ize *ig* speed motors
m Load 1, Tl1 m1 n1 J2 m2 J1 n2 Load 2, Tl2
Motor Te
Motor Te
J1
n2
Motor Te
J equ = J1 + a 2 2J 2
Equivalent Load , Tlequ
a2 = n1/n2=2/1
4
T 3ve 7ve Pm 3ve T 3ve 3ve Pm 7ve
(
T
- Eu'dr'nt of oper'tion is defined / t*e speed 'nd tor)ue of t*e motor - Most rot'ting e(e,tri,'( m',*ines ,'n oper'te in F )u'dr'nts - Not '(( ,on!erters ,'n oper'te in F )u'dr'nts
T m e - Eu'dr'nt of oper'tion is defined / t*e speed 'nd tor)ue of t*e motor - Most rot'ting e(e,tri,'( m',*ines ,'n oper'te in F )u'dr'nts - Not '(( ,on!erters ,'n oper'te in F )u'dr'nts
Te m
Te m
Quadrant 4 Reverse braking
S6EED
TOREUE
&- usin1 power electronic converters. t"e motor c"aracteristic can be c"an1e at will
TG C TG
- E2ist in '(( motor&(o'd dri!e s stem simu(t'neous( - In most ,'ses" on( one or t+o 're domin'ting - E2ists +*en t*ere is motion
TOREUE
TG #
Hr'!it'tion'( tor)ue
Ve*i,(e dri!e
Te TOREUE TL 1 8L
TL : r8L : r 1
sin
Speed
Tor)ue
Gravitational torque
Load and motor stead- state tor2ue .t ,onst'nt speed" TeB T( Ste'd st'te speed is 't point of interse,tion /et+een Te 'nd T( of t*e ste'd st'te tor)ue ,*'r',teristi,s Tor2ue Te T(
r%
r r1
r#
Speed
Speed profi(e
(+
4*
6*
<+
t (ms)
Te 9 T(o'd B @4d;dt5 I 7
T(o'd B 0 Nm.
d Te = J + B + Tl dt
(+ 4* 6* <+ t (ms)
Te B $.$14$5 I $.$14$5 I 0 Nm B 0 Nm Te B $.$141$$;$.$105 I$.$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$$ &LLLL.L3t5 I 0 B &03.L3 9 LL.L3t
Speed profi(e
#0
F0
L$
t 4ms5
tor)ue profi(e
&L0
8or t*e s'me s stem 'nd +it* t*e motor tor)ue profi(e gi!en '/o!e" +*'t +ou(d /e t*e speed profi(eJ
*+eed
T"ermal considerations Un'!oid'/(e po+er (osses ,'uses temper'ture in,re'se Insu('tion used in t*e +indings 're ,('ssified /'sed on t*e temper'ture it ,'n +it*st'nd. Motors must /e oper'ted +it*in t*e '((o+'/(e m'2imum temper'ture
Sour,es of po+er (osses 4*en,e temper'ture in,re'se5< & Condu,tor *e't (osses 4i#R5 & Core (osses 9 * steresis 'nd edd ,urrent & 8ri,tion (osses 9 /e'rings" /rus* +ind'ge
T"ermal considerations E(e,tri,'( m',*ines ,'n /e o!er(o'ded 's (ong t*eir temper'ture does not e2,eed t*e temper'ture (imit .,,ur'te predi,tion of temper'ture distri/ution in m',*ines is ,omp(e2 9 *etrogeneous m'teri'(s" ,omp(e2 geometri,'( s*'pes Simp(ified 'ssuming m',*ine 's "omo1eneous /od
%mbient temperature. To
?*i,* gi!es<
dT # p + T = dt C C
" +*ere =
C #
T"ermal considerations
T
p% #
T =
p% ( e t $ ) #
>e'ting tr'nsient
T T"&!
t
T = T"&! e t $
Coo(ing tr'nsient
T"ermal considerations T*e dur'tion of o!er(o'ding depends on t*e modes of oper'tion< Continuous dutLo'd tor)ue is ,onst'nt o!er e2tended Continuous dut- period mu(tip(e S"ort time intermittent dutSte'd st'te temper'ture re',*ed Periodic intermittent dutNomin'( output po+er ,*osen e)u'(s or e2,eeds ,ontinuous (o'd
T
pn #
p1n
T"ermal considerations
S"ort time intermittent dutOper'tion ,onsider'/( (ess t*'n time ,onst'nt" Motor '((o+ed to ,oo( /efore ne2t , ,(e Motor ,'n /e o!er(o'ded unti( m'2imum temper'ture re',*ed
ps #
Tmax
pn #
t1
((
))
t
T = Tmax pn #
ps pn e t
t1
T"ermal considerations
Periodic intermittent dutLo'd , ,(es 're repe'ted periodi,'(( Motors 're not '((o+ed to ,omp(ete( ,oo(ed 8(u,tu'tions in temper'ture unti( ste'd st'te temper'ture is re',*ed
T"ermal considerations Periodic intermittent dutE2'mp(e of ' simp(e ,'se 9 p1 re,t'ngu('r periodi, p'ttern
pn B 1$$k?" nomin'( po+er M B M$$kg B $.N#" nomin'( effi,ien, TB 0$oC" ste'd st'te temper'ture rise due to pn
p = pn
= )'(
.(so"
# =
If +e 'ssume motor is so(id iron of spe,ifi, *e't ,8EB$.FM k?s;kgoC" t*erm'( ,'p',it C is gi!en / C B ,8E M B $.FM 4M$$5 B %MF k?s;oC 8in'(( " t*erm'( time ,onst'nt B %MF$$$;1M$ B 5* minutes
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