Electric Drives

Normally, the industrial drives require the motors to

function at various torque and speed both in forward and
reverse directions. Motors are not only operate in forward
mode but required to operate at brake or generator modes.
Industrial drives have flexibility to run clockwise and anticlockwise and the torque may act with or against the
direction of rotation. This torque as well as the speed may
be positive or negative. This fact is usually described by 4
quadrants, the first is motor mode in forward direction, the
second is the generator or brake mode in positive torque
and negative speed, the third is motor mode in reverse
direction, and the fourth is the generator or brake mode
with positive speed and negative torque

T Torque-speed curve

generator

Tf1

brake

Tf2

motor

If2

IM

Starter

If1

motor
brake

2 brake

generator

f1 << f2

Starting torque
increase and
the current
decrease with
decreasing
frequency

1
motor

generator

DC

motor

generator
brake

Torque- speed of induction motor

pull out

f1 < f 2 < f3
f1

f2

start
pull in

Load torque

full load
f3

n1

n2

no load

The load torque change its condition with the frequency

and speed. It increases with the frequency until it pulls out
at high frequency

Drive Systems

Types of Controllers

PID controller (lead-lag compensator)

Vector control - Kalman filter
Fuzzy logic, Neural network, Neuro-fuzzy control
Variable structure control - Sliding mode control
Sensorless control Direct Torque Control
Computer control (LabView-LAN-Inverter)
Digital control (DSP & filters)
PLC and PIC micro-ship, Mobile Control
Evolutionary Algorithm (Line search, Simulated
annealing, Tabu search, GA, PSO, ACO)

Modeling
Electro-mechanical system
Rotating system
T = Torque input

= output angular displacement

J = moment of inertia
B = viscose coefficient
k = shaft stiffness coefficient
Closed loop block
Angular velocity
can be controlled by
viscose damping

J B k T
1
G(s) 2
Js Bs k

Control system
Tuning the PID parameters

Ziegler-Nicole: Consider a plant system of

The closed loop with gain K is:

And the characteristic equation
is:
Routh gives the
range of the gain K
for stable system,
and indicates that
the locus intersects
the imaginary axis
at =1.225 implies
a period of:

=0

Stability Study
Large signal (time domain-transient response)
Simulation: (Matrix exponential, Hoen, Simpson, Rung-Kutta,
Merson, England, Cayley-Hamilton)
Catastrophe theory: cusp, manifold, butterfly, hyperbolic, spline,
curve fitting
Lyapunov general method
Small signal (frequency domain-perturbation and noise control)
Bode and Nyquest plots
D-decomposition theory
Lyapunov gradient method
Linear constant transfer function
Routh-Hurwitze criterion
Eigenvalue/eigenvector and root locus
Lyapunov direct method