CHAPTER V

Motor Drives

• Motor drive systems definitions

• Review of motor principles
• Mechanical Requirements of Motor Drives

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Electric Motor Drives
• DEFINITION: Electric drives for
motor is used to draw electrical energy
from the mains and supply the
electrical energy to the motor at
whatever voltage, current and
frequency necessary to achieve the
desired mechanical output.

• General arrangement for variable speed

drive.
Power Source

Controller Power Motor Process/

Electronics Load
Converter

Process
Control
Computer

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Example of Motor Drive System:
Air Conditioning System
Power Source Temperature and
Variable speed drive
humidity

Power Motor Air Building

Electronics conditioner Cooling
Converter

Desired
temperature Indoor temperature
System and humidity Indoor
Controller sensors
Desired
humidity

• Three Main Elements of Motor Drives:

– Electric Motor (DC, AC, SRM, Stepper)
– Load Type
– Control

• Requirements of Drives:
– Variable speed
– Controllable Torque

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Motor: Review of general
principles

FORCE

MAGNETIC FIELD
CURRENT

" Left Hand" Rule

 Thumb  Force (F)
 Pointing Finger  Magnetic Field (Flux) ( )
 Middle Finger  Current (I)

Flux Density : B 
A
Force : F  B  Il

A : Area; l : length of current carrying wire

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Flux in C-core
iron

- +
- +
- +
- +
- +
- +
Leakage flux - + air-gap
- +
- +
- +

+ Current into the paper

- Current out of the the paper

NOTE: Use right hand "Screw Rule" to determine the direction of flux

Electric - magnetic analogy

EMF
Current 
Resistance
V
I
R
MMF
Flux 
Reluctance
NI


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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Air-gap flux densities

MMF=NI

g
Area A

Reluctanceof air (in the air - gap),

g
 
o A
Then,

MMF NIA o
 
 g
 NI o
B 
A g
Note that air - gap flux density can be calculated by
only knowing the MMF of the coil (NI) and the length
of the gap.
The flux density is limited by the saturation of the iron
(1.6 - 1.8T)
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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
Evolution of motor geometry

- +
- +
- +
- +
- + - +
- + - +
- +
- +
- +
- +
- +
- +
- + -
- + +
- +
- +
- +
- +
- +

C--Core Split air-gap

Simple motor
geometry

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
Torque Production

+ current into the paper

current out of the paper

.
Force + +++
++ +
+ +
+
+
. .

. .
.

.
.

.
Force
.
.
.

TORQUE PRODUCTION

"SLOTTING"
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Dr. Zainal Salam, UTM-JB
Mechanical System requirements
for drives: Linear motion

fe fL
M

Linear motion :
d
FM  Fe  Fl  Mu   M du  Ma
dt dt
where
du FM
a 
dt M

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Rotating motion
f

r
torque


T  F .r
For moment of inertia , J
T  J
 is the angular accelarati on, i.e :
d
 m
dt
Then,
d m
TJ
dt

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Motor and load interaction

Jeq = combined load–motor

Jeq moment of inertia

m m = motor speed (rad/s)

TL
Tem TL = load torque
Motor Load
Tem = motor torque

Tem : ElectromagneticTorque produced by the motor

TL : LoadTorque, plus the bearing friction and wind
resistance(drag)
TJ : NetTorque  Tem  TL

The difference between Tem and TL causes the combined

inertia ( J eq ) of the motor and the load to accelerate,
d TJ
m 
dt J eq

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Example(1)

Jeq = combined load–motor

Jeq moment of inertia

m m = motor speed (rad/s)

TL
Tem TL = load torque
Motor Load
Tem = motor torque

Using the motor-load structure as above, assume the

motor has a combined inertia of 0.058kgm2. The
load torque is negligible. Calculate the required
electromagnetic torque if the speed is to be
increased from standstill to 1,800rpm in 5 sec.

d  m
m 
dt t
(1800  0)rpm 1 min 2
    37.7 rad / sec 2
5 sec 60 sec rotation
d
 Tem  J eq   m  0.058  37.7  1.19 N .m
dt

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB
 Example(2)
The speed profile of the rotating system shown in
previous example. (Jeq=0.058kgm2) is shown
below. Assume the load torque is 5 N.m. Calculate
and plot, as a function of time the electromagnetic
torque required from the motor

speed Section Section Section Section Section Section

(rad/s) A B C D E F

300

0.1 0. 0.3 0.4 0.5 t(s)

2

–300

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Drives (Version 3: 2003):
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 Torque and Power

T
d

In rotational system, if a net torque T causes the

cylinder to rotate by a differential angle  , the differential
work done is :

dW  Td
If this differntial rotation takes place in d differential
time dt, then power can be expressed as :
dW d
p T  T m
dt dt
d
where  m  is the angular speed of rotation.
dt

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Drives (Version 3: 2003):
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 Friction

• Friction within motor and load appose

rotation
• Examples:
– Bearings (to support rotating structure)
– Air (drag/windage)
– Ditction (friction at zero speed)

• Moving objects:
– Coulomb friction (independent of speed)

– Viscous friction (increases linearly with speed)

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 Load Types
• Centrifugal (squared) Torque
– Load torque is a function of speed
– Example: Fans

Torque

Speed

• Constant Torque
– Load torque is independent of speed
– Example: Low speed hoist, elevator

Torque

Speed

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Drives (Version 3: 2003):
Dr. Zainal Salam, UTM-JB