Term Paper Electric Drives

PROJECT REPORT ON

Steady State Stability of Electrical Drives

SUBMITTED BY:
Jaswant Singh
RM6803A02
B.Tech(EEE)

UNDER THE GUIDANCE OF: Mrs.Amrinder Kaur

LOVELY PROFESSIONAL UNIVERSITY

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 Term Paper Electric Drives

Acknowledgement

This term paper would not be accomplished without the

generous contributions of any individuals and organizations.
I’m very much grateful to them for their unlimited help and
support. Above all, I express my gratitude to GOD the almighty,
who aided me with his strength, gave me wisdom and
patience to complete this term paper.

Additionally, I thank my course instructor “MRS AMRINDER KAUR”,

who believed that I could terminate this term paper on time.
Her moral guidelines, endless effort, and joyful
encouragement made me successful in this paper.
Furthermore, I want to show my appreciation to the
executives, to the librarians of, and to the lab-assistants of the
computer labs, for their unlimited patience during the time of
research writing.

Moreover, I’m also thankful to my classmates, group

members, and friends for their helps and supports.

At last, I thank to my parents and other family members for

their helps, supports and sacrifices during the study period.

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 Term Paper Electric Drives

INDEX
CAPTER NO. CAPTER NAME PAGE NO

1. Conception
• Acknowledgement 2
• Introduction 4
• Advantages of Electric Drives 5
5
• Components of Electric Drives
• Torque Equation for Rotating
6
Systems
7
• Components of Load Torque
• Four-Quadrant Operation of Drive 8
System
• Steady State Stability 8
• Criteria for Steady State Stability 9

2. Appendix 13
• References

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INTRODUCTION

Drives can be defined as system employeed for motion control- eg.

Tranportation, fans, robots, pumps etc.Prime movers are required in
drive system to provide the movement- can be diesel engines,petrol
engines,hydrolic motors,electric motors etc.

Drives that use electric motor as prime mover are known as electric
drives.
Components of electric drives are:-

Electric drives is multi-disciplinary field.Various search ares can be

subdivided from electric drives.

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Advantages of Elecric Drives:-

 Easy to control

 Wide ranges of speed

 High efficiency

 Clean operation

 Easy to store or transport energy

Components of Electric Drives:-

Motor:- Motors obtain power from electrical sources.They convert
energy from electrical to mechanical therefore can be regarded as
energy converter.There are several types of motors are used in
electrical drives, choice of type used depends on the application
and sources available.Basicaly they are classified as DC and AC
motors.
DC motors (wound or permanent magnet) – DC voltage,
AC motors
Induction motors –squirrel cage,wound rotor – AC voltage
Brushless DC motors-AC voltage
Stepper motors-require power electronic converters
Synchronous reluctance motors or switched reluctance
motor –require
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 Term Paper Electric Drives

power electronic converters.

Source:-Electrical sources or power supplies provide the energy to

electrical motor.For high efficiency operation, the power obtained
from the sources need to be regulated using power electronic
converters.
Power sources can be AC or DC in nature and they normally
uncontrollable i.e their magnitude or frequencies are fixed or
depend on the sources of energy such as solar or wind.
AC sources can be either three phase or single phase
3-phase sources are normally for high power applications.

Power Modulator:- Since the electrical sources are normally

uncontrollable , it is therefore necessary to be able to control the
flow to the motor-this is achieved by using power processor or
power modulator.With controllable sources the motor can be
reversed,brake or can be operated with variable speed.
Increasing number of power processor use power electronic
converters which has advantages over classical method.
Power electronic converters are
DC to AC
AC to DC
DC to DC
AC to AC

Control Unit :-Complexity depends on drive performance

- Analog – noise,nonflexible,infinite bandwidth

- Digital- immune to noise, configurable,bandwidth

depends on sampling frequency.

- DSP/Microprocessor-flexible,lower bandwidth compared

to above , DSPs perform faster operation than
microprocessors.

Torque Equation For Rotating Systems:-

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Loads can be –directly coupled to motor shaft

-through transmission systems
- translational motion
- rotational motion
For the purpose of analysis and controller design, a conbined
motor-load system can be represented by an equivalent
retational system:

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 Term Paper Electric Drives

For example , in order to accelrate in forward direction, the net

torque i.e Te-Tl,
Must be positive and in order to accelrate in reversed direction
the net torque must be negative.
Given a speed profile of a drive system,it is therefore possible to
estimate the required torque produced by the motor,provided
that the load torque is known.In order to calculate the motor
torque,the system has to be represented by the rotating system.

Components of Load Torque:-

Load torque can be divided into 3 major componentes:
1.Friction Torque, TF
2.Windage Torque, TW
3.Torque required for usefull mechanical work, TL

Four-Quadrant Operation of Drive System:-

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Steady State Stability

d ( Jωm ) dω m dJ
TM − TL = =J + ωm
dt dt dt

For drives with constant inertia

d
J
=0
dt dω
TM − TL = J m

dt

The drive is said to be in equilibrium if the torque developed

by the motor is exactly equal to the load torque.
If TM = TL drive will operate in steady state at this speed
provided it is the speed of stable equilibrium. τe<< τm during
transient operation drive is in electrical equilibrium so steady
state torque speed curve is applicable.
If the drive comes out of the state of equilibrium due to some
disturbance, it comes back to steady state for stable
equilibrium but for unstable equilibrium the speed of the drive
increases uncontrollably or decreases to zero. When the drive
coming out of the state of equilibrium preserves it steady
state at different speed (lying in small range), it is said to be in
neutral range.
The stability of the motor load combination is defined as the
capacity of the system which enables it to develop forces of
such a nature as to restore equilibrium after any small
departure
Equilibrium state of the drive mainly disturbs because of the
following two types of disturbances:

1.Changes from the state of equilibrium takes place slowly and

the effect of either the inertia or the inductance is insignificant
– Steady state stability.

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 Term Paper Electric Drives

2.Sudden and fast changes from the equilibrium state so

effect of both inertia and inductance can not be neglected-
Dynamic or transient stability

Criteria for steady state stability:-

Let the equilibrium of the torques and speed is

and the small deviations are

After the displacement from the equilibrium state the torque

equation becomes,

Considering the small deviation, changes can be expressed as

a linear function of change in speed

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 Term Paper Electric Drives

From the torque equation, where all quantities are expressed

in terms of their deviations from the equilibrium

Solution is,

Where

is the initial value of the deviation in speed. For the stable

system the exponent must be negative, so speed increment
will disappear with time. The exponent will always be negative
if,

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Criteria for the steady state stability is for a decrease in the

speed, the motor torque must exceeds the load torque and
for increase in speed the motor torque must be less than the
load torque.

Criteria for the steady state stability is for a decrease in the

speed, the motor torque must exceeds the load torque and
for increase in speed the motor torque must be less than the
load torque.
Load torque TL’ results in a stable equilibrium point,
and the load torque TL’’ results in an unstable situation.

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 Term Paper Electric Drives

To check the stability at an operating point of the motor, if an

increase in speed brings greater increase in load torque than
the motor torque, the speed will tend to decrease and return
to its original value, so operating point will be a stable point
else operating point will be an unstable point.

• Cases (d), (e) and (f) represents unstable operation of

drive.

• Case (g) represents indeterminate condition.

• Cases (a), (b) and (c) represents stable operation of

drive.

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 Term Paper Electric Drives

CHAPTER 2

APPENDIX

 REFERENCES

REFERENCES

• Fundamentals of Electric Drives by G.K Dubey.

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