Choice of Electrical Drives

Steady state operating requirements

Speed-torque characteristics
Speed regulation
Speed range
Efficiency
Duty cycle
Quadrants of operation
Speed fluctuations
Transient operation requirements
Requirements related to the source
Capital and running cost, maintenance needs, life
Space and weight restrictions if any.
Environment and location
Reliability
1

Rijil Ramchand

2/8/15

Dynamics of Electrical Drives

Lecture 2 (30-12-2013)

2/8/15

Fundamental Torque
Equations
Elementary principles
of mechanics Linear Motion
x
m

v
m/sec

Newtons law

M
Fm
Ff
(Newto
(Newto
n)
n)
Linear motion, constant M

First order differential equation for speed

Second order differential equation for
displacement
3

2/8/15

Fundamental Torque
Elementary principlesEquations
of mechanics Rotational Motion

Normally is the case for electrical drives

Tl
Te , m

With constant J,

First order differential equation for angular

frequency (or velocity)
Second order differential equation for angle (or
position)
4

2/8/15

Fundamental Torque
Equations

Equivalent motor-load
system
Motor

Load

For drives with constant inertia, =0

2/8/15

Fundamental Torque
Equations

Equivalent motor-load
system

Load Torque
Electromagnetic
Torque

Dynamic
Torque

Electromagnetic torque developed torque by the motor

Load Torque
Dynamic Torque Present during transient operations
Acceleration
Deceleration
6

2/8/15

Fundamental Torque
Equations

Equivalent motor-load
system

Driving
Power

Load
Power

Change in
KE

A step change in speed requires an infinite

driving power
Therefore is a continuous variable
7

2/8/15

Fundamental Torque
Equations

drive system that require fast acceleration must have

large motor torque capability

small overall moment of inertia

As the motor speed increases, the kinetic energy also

increases. During deceleration, the dynamic torque
changes its sign and thus helps motor to maintain the
speed. This energy is extracted from the stored kinetic
energy:
J is purposely increased to do this job !

2/8/15

Torque-speed quadrant of
operation

T +ve
+ve
Pm +ve

T +ve
-ve
Pm -ve

T -ve
-ve
Pm +ve

T -ve
+ve
Pm -ve

Quadrant of operation
is defined by the speed
and torque of the motor
Most rotating electrical
machines can operate
in 4 quadrants
T
Not all converters can
operate in 4 quadrants

2/8/15
Courtesy: Dr. Nik Rumzi Nik Idris, Dept. of Energy

Torque-speed
operation

Te

Quadrant 2
Forward
braking

Te
m
Quadrant 3
Reverse
motoring

10

quadrant

of

T
m e

Quadrant 1
Forward
motoring

Te T
m
Quadrant 4
Reverse
braking

Quadrant of operation
is defined by the
speed and torque of
the motor
Most
rotating
electrical
machines
can operate in 4
quadrants
Not all converters can
operate in 4 quadrants

2/8/15
Courtesy: Dr. Nik Rumzi Nik Idris, Dept. of Energy

Loads with rotational motion

Motor
Te

m1

n1

Load 1,
Tl1

J2
m2
J1

11

n2

Load 2,
Tl2

a2 is the gear tooth ratio

2/8/15

Loads with rotational motion

If the losses in transmission are neglected, then the
KE due to equivalent MOI must be the same as KE of
various moving parts

Motor
Te

Equivalent
Load , Tlequ

Jequ

12

2/8/15

Loads with rotational motion

Power at the motor and loads must be the same. If

transmission efficiency of the gears is , then

13

2/8/15

Loads with rotational motion

If in addition to load directly coupled to the motor with
MOI J0 there are m other loads of MOIs J1 , J2 , J3 Jm
and gear teeth ratios a1, a2,am, then the equivalent
MOI Jequ is given by

+ . +

If in addition to load directly coupled to the motor with

torque Tl0 there are m other loads with torques Tl1, Tl2, Tl3,
.. Tlmcoupled through gears with gear teeth ratios a 1,
a2,am and transmission efficiencies 1, 2,m then the
equivalent torque Tlequis given by

14

2/8/15

Problem - 1
A motor drives two loads. One has rotational motion. It
is coupled to the motor through a reduction gear with a
= 0.1 and efficiency of 90%. The load has a MOI of 10
kgm2 and a load torque of 10Nm. Other load has
translational motion and consists of 1000kg weight to
be lifted up at an uniform speed of 1.5m/s. Coupling
between this load and the motor has an efficiency of
85%. Motor has a MOI of 0.2 kgm2 and runs at a
constant speed of 1420rpm. Determine the equivalent
MOI referred to the motor shaft and power delivered by
the motor.

15

2/8/15