ELECTRIC DRIVES

INTRODUCTION TO ELECTRIC DRIVES

MODULE 1
S. Samsudeen
Electrical Energy Conversion

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Electrical Drives
Drives are systems employed for motion control

Require prime movers

Drives that employ electric motors as

prime movers are known as Electrical Drives

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Electrical Drives

About 50% of electrical energy used for drives

Can be either used for fixed speed or variable speed

75% - constant speed, 25% variable speed (expanding)

MEP 1523 will be covering variable speed drives

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Variable Speed Drives

Constant speed
valve
Supply

Power
In

motor

pump

Power out

Power loss
Mainly in valve

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Variable Speed Drives

Constant speed
valve
Supply

Power
In

motor

Supply

pump

PEC

Power out

Power loss
Mainly in valve

Power
In

motor

pump

Power out

Power loss

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Variable Speed Drives

Constant speed
valve
Supply

Power
In

motor

Supply

pump

PEC

Power out

Power loss
Mainly in valve

Power
In

motor

pump

Power out

Power loss

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Conventional electric drives (variable speed)

Bulky

Inefficient

inflexible

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern electric drives (With power electronic converters)

Small

Efficient

Flexible

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern electric drives

Machine design
Speed sensorless
Machine Theory

Utility interface
Renewable energy

Non-linear control
Real-time control
DSP application
PFC
Speed sensorless
Power electronic converters

Inter-disciplinary (PE, control system, machine

design, sensors)

Several research area

Expanding

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Components in electric drives

Motors
DC motors - permanent magnet wound field
AC motors induction, synchronous (IPMSM, SMPSM),
brushless DC
Applications, cost, environment
Natural speed-torque characteristic is not compatible with load
requirements
Power sources
DC batteries, fuel cell, photovoltaic - unregulated
AC Single- three- phase utility, wind generator - unregulated
Power processor
To provide a regulated power supply
Combination of power electronic converters
More efficient
Flexible
Compact
AC-DC DC-DC DC-AC AC-AC

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Components in electric drives

Control unit
Complexity depends on performance requirement
analog- noisy, inflexible, ideally has infinite bandwidth.
digital immune to noise, configurable, bandwidth is smaller than
the analog controllers
DSP/microprocessor flexible, lower bandwidth - DSPs perform
faster operation than microprocessors (multiplication in single
cycle), can perform complex estimations
Electrical isolation between control circuit and power circuit is
needed:
Malfuction in power circuit may damage control circuit
Safety for the operator
Avoid conduction of harmonic to control circuit

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Components in electric drives

Sensors
Sensors (voltage, current, speed or torque) is normally
required for closed-loop operation or protection
Electrical isolation between sensors and control circuit is
needed for the reasons previously explained
The term sensorless drives is normally referred to the drive
system where the speed is estimated rather than measured.

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

Extracted from Boldea & Nasar

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

DC motors: Regular maintenance, heavy, expensive, speed limit

Easy control, decouple control of torque and flux

AC motors: Less maintenance, light, less expensive, high speed

Coupling between torque and flux variable
spatial angle between rotor and stator flux

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

Before semiconductor devices were introduced (<1950)
AC motors for fixed speed applications
DC motors for variable speed applications
After semiconductor devices were introduced (1950s)
Variable frequency sources available AC motors in variable
speed applications
Coupling between flux and torque control
Application limited to medium performance applications
fans, blowers, compressors scalar control
High performance applications dominated by DC motors
tractions, elevators, servos, etc

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

After semiconductor devices were introduced (1950s)

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

After vector control drives were introduced (1980s)
AC motors used in high performance applications elevators,
tractions, servos
AC motors favorable than DC motors however control is
complex hence expensive
Cost of microprocessor/semiconductors decreasing predicted
30 years ago AC motors would take over DC motors

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Classification of IM drives (Buja, Kamierkowski, Direct torque control of PWM inverter-fed AC motors - a survey,
IEEE Transactions on Industrial Electronics, 2004.

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

v
x

Newtons law

Fm Ff

Fm
Ff

d Mv
dt

Linear motion, constant M

d v
d2 x
Fm Ff M
M 2 Ma
dt
dt

First order differential equation for speed

Second order differential equation for displacement

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

Rotational motion
- Normally is the case for electrical drives

Tl

Te Tl

T e , m
J

d Jm
dt

With constant J,

d m
d 2
Te Tl J
J 2
dt
dt

First order differential equation for angular frequency (or velocity)

Second order differential equation for angle (or position)

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

For constant J,

d m
dt

d m
dt

dm
dt

Torque dynamic present during speed transient

Angular acceleration

Larger net torque and smaller J gives faster acceleration

speed (rad/s)

200
100
0
-100
-200
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

20
torque (Nm)

Te Tl J

15
10
5
0
0.19

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

Te Tl J
m Te m Tl m J

dm
dt

dm
dt

pD pL m J

Driving
power
Load
power

dm
dt

Change
in KE

A step change in speed requires an infinite driving power

Therefore is a continuous variable

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

Te Tl J
m Te m Tl m J

dm
dt

dm
dt

pD pL m J

dm
dt

Integrating the equation with time and setting the initial speed (0) =
0, we obtain the following:

wD

pD d

pL d

wD wL J

d m

wD wL

mJ
0

1
2
J m
2

d m
d
d

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

A 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 !

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

Combination of rotational and translational motions
Fe

Fl

Te,
r

Tl
v

Fe Fl M

d v
dt

Te Tl r 2M

Te = r(Fe),

d
dt

r2M - Equivalent moment inertia of the

linearly moving mass

Tl = r(Fl),

v =r

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics effect of gearing

Motors designed for high speed are smaller in size and volume
Low speed applications use gear to utilize high speed motors

Motor
Te

m1

n1

Load 1,
Tl1

J2
m2
J1

n2

Load 2,
Tl2

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics effect of gearing

Motor
Te

m1
Load 1,
Tl1

n1
m2

J1

Motor
Te

n2

J2
Load 2,
Tl2

J equ J1 a 22 J 2
Equivalent
Load , Tlequ

Tlequ = Tl1 + a2Tl2

Jequ

a2 = n1/n2=2/1

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

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
Not all converters can
operate in 4 quadrants

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation

Te

Quadrant 2
Forward braking

Te

T
m e

Quadrant 1
Forward motoring

Quadrant 3
Reverse motoring

Te
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

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Motor steady state torque-speed characteristic (natural

characteristic)

SPEED

Synchronous mch
Induction mch
Separately / shunt DC mch
Series DC

TORQUE

By using power electronic converters, the motor characteristic

can be change at will

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Frictional torque (passive load)
SPEED

T~ C

T~ 2
T~

Exist in all motor-load drive

system simultaneously
In most cases, only one or two
are dominating
Exists when there is motion
TORQUE

Coulomb friction
Viscous friction
Friction due to turbulent flow

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Constant torque, e.g. gravitational torque (active load)
SPEED

Gravitational torque

Vehicle drive

Te
TORQUE
TL

gM
FL

TL = rFL = r g M sin

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Hoist drive

Speed

Torque
Gravitational torque

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load and motor steady state torque

At constant speed, Te= Tl
Steady state speed is at point of intersection between Te and Tl of the
steady state torque characteristics
Te

Torque

Tl

Steady state
speed

r3

r1r

r2

Speed

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

speed
(rad/s)

Speed profile

100

10

25

The system is described by:

J = 0.01 kg-m2,

45

60

t (ms)

Te Tload = J(d/dt) + B

B = 0.01 Nm/rads-1 and

Tload = 5 Nm.

What is the torque profile (torque needed to be produced) ?

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

speed
(rad/s)
100

10

25

45

60

TeJtB

Tl

t (ms)

0 < t <10 ms

Te = 0.01(0) + 0.01(0) + 5 Nm = 5 Nm

10ms < t <25 ms

Te = 0.01(100/0.015) +0.01(-66.67 + 6666.67t) + 5

= (71 + 66.67t) Nm

25ms < t< 45ms

Te = 0.01(0) + 0.01(100) + 5 = 6 Nm

45ms < t < 60ms

Te = 0.01(-100/0.015) + 0.01(400 -6666.67t) + 5

= -57.67 66.67t

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

speed
(rad/s)
100

Speed profile

10

25

45

60

t (ms)

Torque
(Nm)
72.67
71.67

torque profile

6
5
10
-60.67
-61.67

25

45

60

t (ms)

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

Torque
(Nm)
70

J = 0.001 kg-m2, B = 0.1 Nm/rads-1

and Tload = 5 Nm.
6
10

25

45

60

t (ms)

-65

For the same system and with the motor torque profile
given above, what would be the speed profile?

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Ratings of converters and motors

Torque
Transient
torque limit
Continuous
torque limit

Power limit for

transient torque

Power limit for

continuous torque

Maximum
speed limit

Speed

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Unavoidable power losses causes temperature increase
Insulation used in the windings are classified based on the
temperature it can withstand.
Motors must be operated within the allowable maximum temperature

Sources of power losses (hence temperature increase):

- Conductor heat losses (i2R)
- Core losses hysteresis and eddy current
- Friction losses bearings, brush windage

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Electrical machines can be overloaded as long their temperature
does not exceed the temperature limit
Accurate prediction of temperature distribution in machines is
complex hetrogeneous materials, complex geometrical shapes
Simplified assuming machine as homogeneous body
Ambient temperature, To

p1
Input heat power
(losses)

Thermal capacity, C (Ws/oC)

Surface A, (m2)
Surface temperature, T (oC)

p2
Emitted heat power
(convection)

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Power balance:
C

dT
p1 p 2
dt

Heat transfer by convection:

, where is the coefficient of heat transfer

p 2 A(T To )

Which gives:
dT A
p

T 1
dt
C
C

With T(0) = 0 and p1 = ph = constant ,

T

ph
1 e t /
A

, where

C
A

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
ph
A

ph
1 e t /
A

Heating transient

t
T T(0) e t /

T(0)

Cooling transient

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
The duration of overloading depends on the modes of operation:
Continuous duty
Load torque is constant
over extended
Continuous
duty period multiple
Short time intermittent duty
Steady state temperature reached
Periodic intermittent duty
Nominal output power chosen equals or exceeds continuous load
p1n
A

Losses due to continuous load

p1n

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations

Short time intermittent duty

Operation considerably less than time constant,
Motor allowed to cool before next cycle
Motor can be overloaded until maximum temperature reached

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Short time intermittent duty

p1s

p1
p1n

p1s
A

p1n
A

Tmax

t1

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations

T
p1n
A

Tmax

t1

pp11nn p1ps 1s1 1eet 1 / t 1 /

A A

Short time intermittent duty

T

p1s
1 e t /
A

p1s
1

t1 /
p1n 1 e
t1

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations

Periodic intermittent duty

Load cycles are repeated periodically
Motors are not allowed to completely cooled
Fluctuations in temperature until steady state temperature is reached

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Periodic intermittent duty

p1
heating

coolling

heating coolling
heating coolling

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Periodic intermittent duty
Example of a simple case p1 rectangular periodic pattern
pn = 100kW, nominal power
M = 800kg
= 0.92, nominal efficiency
T= 50oC, steady state temperature rise due to pn

1
1 9kW

p1 p n

Also,

p1
9000

180 W / o C
T
50

If we assume motor is solid iron of specific heat cFE=0.48 kWs/kgoC,

thermal capacity C is given by
C = cFE M = 0.48 (800) = 384 kWs/oC
Finally , thermal time constant = 384000/180 = 35 minutes

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Periodic intermittent duty
Example of a simple case p1 rectangular periodic pattern
For a duty cycle of 30% (period of 20 mins), heat losses of twice the nominal,
35
30
25
20
15
10
5
0

0.5

1.5

2.5
4

x 10