Chapter 2

Dynamics of Electrical Drives

This chJplcr rrt:~nts the dynamic relations applicaNt 10 all types of electrical
dri"es.

2.1 rUNDAMENTAL TORQUE EQUATIOSS

A motor £cneratly dri,-es a load (machine) throu~h.amc ltansmission system.
While motor al ...·.ys routes, OK load may roLile or rna) undcrlo a Il<mslattonal
motion. Load speed may be different (rom that of motor, and if the load has
mtn)' parts, their speeds 0\11 be differeDl and whilt some may rotate, others
may f:O through. translational motion. 11 is. howe V". convenient to represent
the motor load system by an equivalent rotational system Sho1A'lI in Fig. 2. 1.
motor lood

o T »)
Fie- 2.1 Equivalenlmocor.1oed S)~m

Various nowions used are:

J,. Polar moment of inertia of motor-load system referred to the motor
shaft. k,.m'.
w..:: lQ.St&nlancous angular 'Velocity 0( motor staft. tad/sec.
T:: Instantaneous vaJUt of developed motor tcx'l.ue, N·m.
T,o::: Instantaneous value of load (resisting) lorqae. referred to motor shafl.
N·m.
Lo3d torque includes friction and y.indaf:e torq:.l: of motor.
Motor-load syskm of Fig. 2.1 can be described b~' L~ followin~ (undaJncnul
tOfque equltion:

d dw", dJ (2. t)
T- 7i = dt (l!O .. ) = J di't c:J. J,

Equation (2.1) is .pplkable to nriabk inc:rti. drh'c:s such as mine winders.

rttl drives. industrial robots. For dl",'cs ",it.; constant i."lmia. (diM,) = O. 7berefore

dOl
T £ 1i+J~ (2.2)
d,
 ~·lIamiC'J (>/ El(('trical DrilYJ IS

"'"
10r ward forward
braking molor ing

® CD
0 T
@) @
'~vcuscr rtvcrrs(!
motoring braking

a hoist in four 'quadrants &$ shown in Fig. 2.3. Direclions of motor and load
torques, and direction of speed ~ marked by arrows.
A hoist consists of. rope "'·01.100 on a dtwn coupled 10 the motor shaft. One
end of the rope: is lied to a caEe .,,·hich is us.ed to lranspon man or m:lteri!!l from
one level to I40thcr le\·el. Olbcr end ohhc rope h31 • counter weicht. Weitht
of the counter wei,ht is choseo to be hirher than the. weight of an empty cagt
but lower lhaft of • (ully load=d care.
Forv..an:t direction of mOlar 5p¢cd .,,'ill be one ,... hich ,h'es up .....ard motion
of the cage. Speed-torque cbanctcrislics of the hoist load are also shollo" ill
Fig. 2.3. Thouih the positi\'C load torq\M: Is opposile in sim to the positive
ITIOlOr torque:.. &CCOlding to Eq. (2.2). it is convenient to plOi it on the same
Illel. Load-lorque cW"Ve dn..'11 in ws m&nner is, in fact., negati"e of the letual.
Load tocque has been sbollo'1l 10 be CODSWlt and independent of speed. This
i5 nearly true ..ilh • 10.... speed hoist .,,"ben: forces due 10 friction and wiDda£e
un beCOlUidcred lObe oetliPbk compared 10 those due 10 p"nity. Gra"itational
torque don DOt change: its lip nen whca lhe direction of drivin, motor· h
reversed. Load torque line Tn in quadrants I and IV represents speed-torque
chanct.rristic rOf the loaded boist. This IOtquc is lhe difference of torques due
to loaded hoist and eounter ."Cicht. 1hc Ioed IOl"quc liM Ta ill quadrants 0 and
m is the spud-torque chan..'"'ttrislic for III empc:y hoist. 1'hi.s torque i5 1hc
difference of torques due 10 counter wcip.; and lhe empty hoist. Its sign is
negative because the . ·eiPl oIa counter .~iShl is al"'IYs hiEber than thai of
In emrtY ca,e.
Tbe quadrant I operation of a hoist requires the mo\'ement of the ca~t
up""ard, ...1Uc:b corresponds to the positi,'c motor speed which is in Inticioc).:wise
direction here. This motioo ...ru be obtairaed if the molor produces rositive
torque ill antidock'lli se dirtctim cquailO the mapilude of load torque Tn . Since
developed motor po,.icr is posith-e. this is forwud motorinf operation.
Qoldrlnt IV operation is otr..lilKd v.. hen lloaded, ca(;e is lowered. Since tht:
wei£ht of a Ioaaed clEe is bipcr tMn tha of. co unter weight, it is able to
 W m

T"

(o .. n'er
"':r i;ht
t
mot i on
-•
c
0
•
tovnt('r ""
... ci 9ht "
fmotion
~

,
0
0 lOad 'orQ IJ~
empty wit~. loo~d IOQcWd
'". cage:
( CO il ® CD c09 ~ . ,"
lood torc:ve
",.. i\'" ttTI~t)'
cage _

r-.·-'l i m o ti o n
•
empty
L-.JeQgc

(O wn t. ,
W( ;9""

F11!. l.J Fo:.Jr qlUdrant ~alion or IInOw. dri\'in~ a h<>i~II t:>ad

C Cl ~ do\\'n due 10 the ~ra'· it)·

hsclf. In orokl \0 lUnil \he spc~ of n,c ,imin
a ute value. mocor must prOOlK't a po5itin torque T equal 10 Tn in anLidoch..isc
dlfl~:Cli on . As both po\\'er and spttd arc M,atin.. drive is operatin, iu reverse
bralin,.
Opcralioa in quadrant U Is obtained ""hell III empty calc is: moved up.
Since. coonler wCi,ht is .beaVter than an empty tace.
;1 is: able 10 pIIU at up.
In order 10 limit the speed . :imin .. safe value, bJOtor muSi produce I brakinF
tcorquc equal 10 T/2 in c)ock""i5C (Mplin) diru:lion. Since spce.d is positive
and ck\'c~ power nCi_live, it is fonnrd bu1:inl operation.
Operation in quadran! DI is obtained ..... hen an empty cage is lowered. Since
an empty cai:c has • k n c:r ....·citht than a counter \1,'c:itht. lJ\c: moeor should
rroduce a torq~ in clockwise dircction. Sincc speed is nt~ali\'c and developed
rower positi\'c, lhis is rncrse motoring operation.

2.~ EQU/v ALE", VALUES OF DRI\'E PARAMETERS

Dific:nmt paru of a load may be. coupled lhrou,h diffCTent mechanisms, such
as ~cars, V-belts and crankshart. 1bcsc: pans may bl"e different spc!eds and
dirfercnl lypeS of motion~ such a~ rnlllt tonal and lr.InSlalionai. TI.is 5O:tion
f'lf'KIl" methods of (indin, the cqui"I!col fTlOm(nl of inertia (J) of rrotor-Ioad
'litem and equinlcnt torqlJC components. an rderred rnolOf shaft. to
i~'-1 Loads ",·ilh Rota.liun lll Molio D
~I \is con)idcr a motor drh'inl' 1v.'O 100.15. one coupled dirl.':lly 10 ill ih3ft and .
other Ihrou(:.h a ~"r .... ilh" and "I IteL"J u sho.....n in Fi,. 2.4(10). UI L~ mom:nl
of intni. of motor and ~ d irectl y coupled 10 its Shari be Jo- rfIOIor ' J.'Ctd and
Io:que (If the direc-tly cCl\ipIr4 Io3d be cu", and TJ:I fts~cti \·el y. Lei tt-.: moment
of illt"i •. 'J'Ced and torque of lht INj coupled th rGU!!h a cur be J:. cu.1 and
Til rCSll«ti \·t'I)'. Now.

(1) .. 1 "
- a - - Dt \2.3)
co... "I

.... htre 01 is tht ,ear tooth ratio.

I I

motor
Jo

,- load ,
TIO
,
gear
(a) LOMk with f'IXIIlionaJ modoc

motor lOad, rotat io nal to lil"'.o r

TIO motion transmisslo

Flc·1A Motoc" ~ syltem ..ith Sous ..·ith TOUlional Mel lina:- mot.o:ll.l

If the lossd in tRnnnission arc 1lt:,lected. then the tincti .: ntn t!,x
to equinlcnl i~" must be the same IS DMlic enuf)' of \ iL-ioir. rrxni !lf
r~. Thus .
 0.4 )

from Eqs. (2.3) ant.! (2..1)

(2.5)

Power aIIM ')olds and motor must be the $3Jnt . 1C lr.1nsminion dlkiency of
the ,e3rs be 'I., then

T,(I)., '"' .,
T"W ...1
TIOQ) .... '""::-:" (2.6)

where T, is the 10lal equ inltnt torque refelTed to motor sh3f1.

From £'Is. (2 .3) and (2.6)

olT" (2.7)
T,.TG ... -
~,

H in ..:idition to load directly coupled 10 Ihr molOi ...·ith inertia J, there are
"' otMr loads ....i\h moment of inertias J .. J~ ...• J. ud etar tttth ratios of D j •

(2.8)

Ir III loads .,.·jth lorqucs T". TQ> ••• • T.. are COUr1td lhrough ~ca1S v,ith teeth
ralios. a .. ":' .... a. and transmission efficicDC~ 'I,. 'I:. .... 'I.. in lddition 10
one directl), coupled. then

T, =T
IO +O.-T/I+ -02 7;1 + ... + :.~.~T.",., (2.9)
'I, 'h 'I.
lr loads are drh'en throu£h. bell d'1\'e instead 01 ,em, then. ne£lectin, sliwarc.
the c:quh'.!ent inenia and lolqUe can be obtained from Eqs. (2.8) and (2,9) by
considc:rin, a l • 412' ... . D. each 10 be lht r..ioe of diameters of ....·heeb dri"en
by motar 10 the diunc:ter of -..beel mounled on the load shaft.

2.3.2 Loads ~ith Tr.anslalio'ul Motioo

UI us consider a molor dri"in, 1.....0 Io3ds. one coupled directly to iu shafl and
other Ihroa,h • transmission s),stem connnin, r0l3ticmai motion to linear
molion (Fi,. 2A(b) . Lei momenl of inenia of the motor and IOild directly
coupled 10 it be 10- load lorq~e dire.::11)' courled 10 molor be 1tf) and the mass,
velocity and force of load with translational molion be At, ~k£). VI (mlsec) and
FI (Newtons) respectiyely.
If the transmission IOSSQ AR ncJ;I«::lcd, then l;.inelic e1ltrID' due to equh'alent
inenia } m~sl be the same 1.5 kinetK: cnrrl)' of various mcwing JWU. Thus
 D,w.i<"soIEI~crricDIDri,,~s 19

., J&Jo-tAlI(;~r (2. 10)

Similarly, power .. the motor and load should be the nme, thus if efficiency
of transml"ion be 'h
Fj til
1jcu. =110 , co .... -
",
T, '"
F,(,., )
rIO ... -'- - (2. 1l)
'11 eLI.
If, in addition 10 one load directly coupled to the molor shaft, there are m
olhr:r loads with translational motion ""lth velocities "I' v"~....
tI. and masses
All. All. ....
At. rtl;l«tively, Ikn

(2.12)

on.
(2.13)

ExaNPl.£ 2.1
A motcw driva I1fI'O 1c»ds. Ooe has rocH..,...1 motioD, Ills coupled to the motor
throu,b • Rdllaioa ,ea with II • 0.1 IDCI efficieacy 0I~. '!be bid has a
b"IOIDCDl of intrtiao( 10 q.J &Ad a ~ oltO N·m. Other bet balnm ' ar ional
moboa and ""IASCS of 1000 k, wciabllO be lifted up al u uniform speed or
1.5 mis, CoupUq bctw«a this lo.d and the macer bas an etlkiency of 8S ....
MOI:cw has au. iDerti. of 0.2 k"IQ' ud NIlS at a cOQStant speed 011420 rpm.
Dclcnrune equivalent inertia rderred to the motor shaft and power developed
by the motor.

Sol"tion
From Eqs . (2.1) and (2.12). tM total moment of inertia rderred to the mOlor
.hall

/-Jo-tlllJ 1 ... M*(;~r (1)

Here J• • 0.2 q.m' , 411 • 0.1. J I • 10 tC'm', v • .. I.S mls &ad , •

(1420)( .-W30. 148.7 ndlleC.
Substilutinc ia Eq. (I) ,ives
 From Eqs. (2.91 and (2.1l)

(2)

Hen:: 'II"" 0.9. DI .0.1. Tn - 10 N·m, 'Jj • 0 .8S, FI • 10(0)( 9.81 N.

", • 1.5 m.ls and ~ c )48.1 rdlscc.
Subuilutillf in Eq. (l) rins

... 0.1 )()O I()')J )C UI ( U ) . 117.5) N-

'I" ().9 .. o..as j(fi IA

2.3.3 ~huut'fmtlll el MOIIM:nt ollntr1la

.iomul or inertia ca.n be calculated if dimensions and ..d,hts 0( \'arious puts
of the load and motor ue t.no'A'1I. fl can .Iso be measURd upcrimen'aUy b)'
retardation lest.
In rell:cb.ti(lJ) lUI, the cllhe is run at a sp«d sli,htly turher chu rated .peed
and &hen lhc supply to it is cut orr. Drh'uontilluc'IIO nan M 10 kinetic enero
stored 'ia it and d"ekratu due 10 ro:atioul m«bWcallossu. Vatiatiorl oC
lreed ",ilh time is recordeJ.
AI any 'J'C:ed CUm. ro ....·(1 (p) consumed in suw1yin, rotational loues is pven
b)'

(2.'4'

fr("om rctard:l.tion ttSl Jw..lJ1 al rated s~ed i. oblainr.4. Nov,' drive is

reconnected 10 the supply and !'lin at rated sp«d and rotational mechar.ical
powcr inpullo thc drj\'c is me~ surcd. This is aprro"imately e~1.ll1 10 P. Now
J c;!n be w culated from Eq. (2.1-4), Main probkm in this mclbod is that
rDl:.l ional me~b:l.ni cal loues c.anDOt be me&S\lred &«uratcJy benuiC core
buc. and rOlltionli mechanical )("ossu cannot be Kparated. In view of this.
ttlardation t«1 on I de KpaBld)' excited lDOIor or • lyndwonotlJ motor is
clUTied QUt v.ith field on. No"" core loss is indudcd in the rotallonal loss.
"'hicb is nov.' obtained as a diffcn::nce or annafurt po_'cr inp.l and armature
roppcr lo~~. In case of ...-ou nlt rolor inductioa mCII.OT, n:wdillion Itst can
be carried QUI by keeping the Wlor suppl} and opcninr the rotor __inding
connectior..
J cln be determined mort ICcurllei)' by obWning sreed time cun'e (rom the
retardation lest as ~bol'C and also rotatio nal 10SkS vs lpeedrloc as shown in
fia . 2 , ~ . Usinr these I...." plot$,. rotationallasKS vI.time plot tin be obtained,
c., . (or time 'I. ru..1 is (ound (rom the rcwda!ton plot. then (or tNS spetd
rotational Joss P, is obtainc:d Crom the plot 01 rotational lou n lpeed and '
plotted against., . Arc. A enclosed bet .....een the 1'OIaliona.1 loss VI' plot Ind the
timt' lArs (shaded arcI), is lhe kinctk muO' dissipllcd dwin, rctardaticm tcst.
 ,",",0

it'S wm

V5

t,w",
fllo 2.S o.~ a'ICdKId oIdacnai111lioa oItqwvatenl momerrt or iMRia

1f iaili.1 speed at the drive duriDl rdM'darion teu ~.•• cu.o lhm
!JQI!._A (2.1S)

2.4 COMPO!\'ENTS OF LOAD TORQUES

Load torque T, can be funbtt dh'idl'd into (oJlO-.'inf components:
(i) F,;c.itM _qld r,: Friclioa ...ill be present .It the mot(IJ shaft and abo
in various pans of (be load. TF is tquh'alent \'alue of various friction torques
referred 10 the- lI'IOlor shaft.
(ii) M'itldtJ,.. IOrqM, T.. : \\1Itn a motor runs. wind Generates I I()(q~
opposil'll she motion. This is kno ...n as wiDdart lorq\ae.
(iii) Tor'lU' rtquiud,o Jo 'ht Mu/wl ""dllmicol M'on;, TL: Nature (If this
torque depends on piI1iCUIM arr1icacion. JI mar be cormant lind inlkpcndcm
of ,peed: it may be some furictioa of .peed; il may depend on the posilton or
path followed by load; il rnay be lime in\yiant or time varianl; il may \'ary
cyclically and iu nature ma)' al10 chance with the loads mode of operati.'l1l .
V.riation of (riclion tor,que _jib speed is 500wn in FiE. 2.6(01). Its nlue' at
Slandstill is mlleb hi,her than ill \'Iluc 'Ii~hlly aoo\'( ltro srtC'd, Frk'iion II
ltrO speed is uUed sUclion or static friction , In order for dri'" 10 Sian, tm-
motor torque should II kast cACecd stietion, Friction torque ~3 n bC" rnohcd
into three componenu (SC( Fi" 2,6(b)), CO~I T. which varies linearly
with spted is called \'iscous rriction Ind is ,inn by:

T•• Bro. (2.1fo)

""here B is thr viscous friction coef[lcialL
 i
I
T, lc

Ts
o Ts \orque

Tc I'

(0) (b)

nc. 2.6 Friction IOI'que and its componc:nll

Another component Tr .....ich is independent or speed, is krIoy."'R as Coulomb

{rl;lion. Third comronen1 T. acco:.Ints (or a:ldilionallOrque present., standstill.
Since T, i~ pccscnt only at stanchtill it is not u1:cn into account in the dynamic
.rul)"si~ .
Windarc lorqlae T• • _i1ich is poportiMJl1O 5pCed 5QUued. is ziven by

T.... Cat! (2.m

..t.c-rc C is • constat.
From the above dil(Unioa. (or fj"itc i{lttois.

(2.18)

In many 'rpliatioDl (Tc '" Ccu!) is vcry small COCI'IpU'Cd to B~ and

IK[lir:iblc compared 10 r .... In order eo a.implif)' the ual)'sia.. term (Tc '" Cat!>
h arproximately ac:co.aotcd bX \lpdadQ' the ,.~I.IC of "iJoous frictMH! coefficient,
B. With IN. 'flptoltiawion. from Eq. (2.2)

T_J ''''. .
til'" 'I. + Bw. (2.19)

If !.hue is • torsional elasticity in shafl couplinr: the load \0 the molor, an

additionaJ comronena of Iotd ~. tno_lI. rourlin,1OrqUC, will be pt'f'scnt
Couplin'lorque (T,) is liven by
T•• x.." (2.20)

"'herr Be is the lonion anete of COIoIpijl1l (radM.Ds) and K. the rotational stiffness
of the shan (N·mIn.1).
In most applications. lhah CUI be assumed 10 be perfectly ltiff and coupling
10000UC T. cln k IK£Jcclcd. h~ presence in apJV.eciabk I""....;; niludc h:n ad\'er~
dfe.:ls on rnot(lf". There is potcntial el'lC1(y asloOCialcd ..... ili : oupJiDJ lorque and
kinetic cncfty ..i lh the dynoam,ic 1000quc. u.chlll,c of cnnfY btI\Io'ttn these two
cner&Y SlCli£cs knds 10 produce oscilb6ons ,,'hirh an: darnrcd by viscous
friction lOfquc: Bw. \\kn B is vnall, OKilIinions occur pU.c -J.."in, noise. Further,
shaft may also break \l'hen lhe drive is swted.

2.5 KATURE A~l> CLASSIFICATIO~ OF LOAD TORQUES

As IU.ted in Sec. 2.4(iii), the flalur~ of load torque dt;enoh on panicuJar
aprliclliOCl. A low speed hoist is an uamplc of a load . ·here lhc klrqllC is
constant and inckpeNknt of spHd (Fir. 2.3). Al low spe::c"'.....indl.fe IOIquc
h nt:rlicibk. ThrrefOrt. net torqw is m ~ i n')" due 10 fTnf.:y \l"hich is COfl$Ulnl
anet iDdcpcndtDt 0( SJlCCd. Theft are drins \IoNre coulontllriclioa doIninatC"s
o\U «her Iorqut compor.enlS. Consequ~ntly, torque is itdependc.Dl of speed.
e., . J*PCI" mill drive.
F-. eCllllpicuon. aeroplanes, ttntrifuCl1 pumps. slUp-propeUoR. coi.Jen.
hip IpCCId boUts., tractioo esc, arc examplcs or the Ctit .."here load aorqut is
a f...aioa of speed. to fans, compressors and m-opbnes. Ihr ~ daaUasa.
C« FTlI'Y. kMIIIf torque is proportional to ,peed squired (11Ct Fi,. 2.7(a».
WiDdap h: die opposition offc~ by air to the motion. Simi1.w DMUI'C of load
tOt'lpl' CatI be: cxpected ....-ben the motion is oppo5C"d by ID)" Clher nuid. c.,. by
•....ter ill use of c-eDtrifugal pumps and ,hip.propcllon .h·jn. the umt:
chirlCla"istic as sM... in Fit . 2.1(1). In a hiah ,peed boiss.. viscous friction

(c) Traction load (d) Consu.n t power loads

l~ ,..mdtlfl!r,:tO/J oj £Irru j("ol D ri ... ~

and ..... ind .. r c al w .,a1."e arrreciat>le m3.Fnilude. in 3:1dilion 10 f rnity, thus

,ivrn~ the ~('('ej · IORIuc curyc of Fit. 2.7(h N :lI u~ of speed.lorque characlcristic
of a ua.·tio:"! load. ~.. hen nKwill t OCI a k, dkd pound is shn..... n in Fif . 2.7(c).
8ec3u ~e of iu hea\")' mus . the Uicliol"l is brte. Ncar lero $J1Ccd. ncl lorque is
mainly duc to 5lietion. The stiction t,n .... l\·cr di§:Irrc3.fi 1\ a fin ile lpeed and
the n windarc and \"il'Cou!> fric ti on~ d"minalc. 8 ~C3U~C of Iar~c stiction and
need for acceknlinr I h~ 3"y mit '~ . Ih ~ mOlllf torque;. required for Itaninr a
tra in is nluch Iar'~f th Jn " 'hal i!> fcq Ji r, <! tn tun 'it al full Jpecd. Torque in a
m iler tJriu' is aho a fun.:tion of sreed It i ~ aff'l"o).imalcl)· h)"rcrbolie in naturt
' l' IOO"',"n in Fi~ 2.7(d ). The dc\doi't J P"'o'\CI i~ ocarly consto. .. a1 atl speeds..
Fil'urc 2.7(e) Ioho"''S the ua.:lioll lcot 10lqIK 10 be fUne1lon of only sreed.
beClUse " 'c hne usumtd a lC\"e ll~d "":J:wJ. In a.:lual rraclice Ihc uain has to
DCI:Oliale up""ard and c:fo,.TI",·ard sll\('t li. Comequcntl)" a 100que: due to (fnil)·.
...·bicb varies .....ith [I05ilioll is also rr.: s~nt. Funhermore ......hen a Irain talei a
lurn the friCli nn:.1 force on whet b c h.:H'f':~ Ioubstant.ially, Thus, traction is an
uamrle ... tlcrc the ~ad torque also dtr<l\ds on posilion or p.llh followed .
Vari(JUi load torques can be broodl)" d 3Ssified into tW(l ClU(rories-active
and p3~siv( . L('I;yj torques ..... hich h ,l \·t tht (IOIentiallo dr;\'e lhe mo(or under
cquilihrium condition arc called octiu:toad 'orql4~S. Such load IOfques usuall)'
retain their li,n ~'hcn lhc d irection of the drh"C rolltioo is chan~ed. Torque(s)
due: to rraviulional for.:c , lenl'IOn, ro:nrreuion aK torsion, underc:one by In
(Iutic body, come under this cale,OI)·. l...o3d IOrquu which alw.)". oppose the:
motion and chute their litn on lhe rt\"(~5.11 of motion are Cllled paniw food
lo rqu("s . Such torques arc due 10 friction . " 'inda,e. cunin, etc.

2.6 CALCULAnON OF TIME A~'D El\'ERCl'·WSS IN

TRANSIEl\T OPERATlOSS
Staning. braking, ipeed chan~ and lpetd reversal art; (flnltent operations.
Time lal.:en and encri" dissipation in molQJ durin, the tr.n,iclM 'opciauoru. "can
be evaluated by solvin, Eq. (2.19) alon, ""jlb motor circuit equMtons.
When T and TL 1ft constanls or proporuonals to 5pCed. Eq. (2.19) -.ill be a
fanlorder linev differential ~ualion. Then it can be IOIved analyticaJly. When
Tor TL is neilher constant nor proportional kl speed, (2.19) will be a non·linear
dirrerential equation. It could chen be 1OI\'ed numerically by Runga-Xulta~_
For any of the abo\'ementioncd u-a.ftStena.. fina.! spe«I is an equilibrium ,peed.
Theoreticatly. uall5ic,!u are O\'er in infinite time .....'hich is not 50 in p-acticc.
In order to reso h 'e this anomal),. tIl~ sicD( operalion is considered 10 be over
when 9S~ chanFe in lpeed h;lS tal:cn rl ..~ . For example. when speed clwI£es
from Cl\nl to equilibrium speed w... time ulen for lhc speed ID chanie from
"-\..1 to 1tu..1 + O . ~5{w.... - C!l",1)) is t'0z:.sjde~cd lobe equal to the: lransienttime.
Transient time and energy loss (an also be cornpoted .....illl w.isflC1ory ~
using stead)··state lreed·torque and srccd<urrent curves or motor and speed-
torque cu("Ye of load. This is because mectwUcal time conSlant of a driYe is
usua.ll y "ery lute compucd to c1erok a' time cooSlant of motOf. Consequently.
c1ectricallr"ansic:nlS die do ..... n V(f)' fut and motor OJlUation can be. consldcrtd
10 talc place al ('>n~ the stud)'-S1ate sf'("~d· lorque and srced<urrcnt curves.
 From EiJ. 0 ,2)
dr. Jdwp (2.21 )
1«(1).) - 1,($'.)

\I,tKre T{,) and T, <w.) indicate &hat the motor and load I(lI'qUCi lie (unctions
of drh'e sped ",.
Time taken (or drive speed 10 chan" (rom G>m, 10 ~~ is obuintd by inle·
f'r'll in&: Eq. (2.21)

I."
Equation (2.22) can he: inltl'ltrd only if functions T(m",,) and T Ife known
and are or imepaJ form. OI.herwiH the iDle".! is e,',lualed ".phicaUy.
bpu:sdOll on the rl,hl of Eq. (2.22) Is the: ana bc1""een Ihe reciprocal of the
acrekratioll IJII7(,) - T'(-.111 VI "'- CW'\'C and CJ. allis (SH f'1J. 2.B). The:
uansient lime can be evaJllI&cd by ·meuurin. lhi, .ca.

-E
-,
3
, :-
~
-3
E
-...
0'--

When 4t..J is an equilibrium speed cu-. then the reciprocaJ of acceleration

will tccome Infinile a' "'- Consc:quenlly. linw: C'o'alUlled tNs wa)' ....iII bro'
infini .e . Therefore. in this case transient tinw: is comrulC:d by measurinG the
area t'clv.-cen speeds cu.. and 0Ia •• O.95(~ - cu....).
Enern dissi('alCd in I motor v.indinS during a transit'nl opna!ion is riven by

E. J~Rildl (2.23)

v.· hc~R is the: moI:or v.·indin, resisll.nCc and i the: C'Umnl nowin, throu,h it.
In many applications. by makinl UK of ,peed-torque elpre.S5tons for mOlor
and load. it is possible to Ulanle Eq. (2.23) in inlCJnbIe form. Hov.'C,·er. this
i~ n('lt p..... I<~ it>k in arpli<: ~ '.i ,m~ where nt'lI ljll':::lr imrcd:r.nc( is rr.::~en l in loc
n.t'lllT dlcuil. Thcn Eq (2 ,23) b C\"lIluat~'d ~ra.... hicall)' usin~ stcady,sUlle s.~cd·
h'hluC and ~rced<urnnl cur,'r ). a~;
By parhkal solution o r Eq, (2.22). w... \') t eun'( is obI3in.:d . From this
cum: anj ~ l cad~- ·~13le spe.::d·cuncM cur-'C'. ;= n t CurvC' is oouint'd. Area C'ndosed
t>:! .... .:cn this cur,'e and lime a~is nlUltipli.:d to)" R 1!i\'C's the" cneT1!Y dissipated
in motot windillr This approach can ah() handle nonlinear resislan.:c R ..... hich
,·a rk • • ~ if, 1l1n: lio:l 01 i . Here" j!R \·s lime ( urn hplolloo. Arca ~I ..... c:cn thi~
eUT\'C and the time Ilis ~i\'es the encr!;)' dissif'",[cd.

Ex.o.~lI 'u: 2.2

A drin' ha~ (ollo ....·inl' p:a.ra~tclS:

J", 10 kg.rn:. T", 100 - O.IN, N·m, PusivC' load torque'

T, a O .O~'''. 1\·m. ..... here N. is the sf'I(C'd in rpm.
Inilially the: dri\"C' is orc-ratinr in sle3dy-slalc. Now it is. 10 be rC'versed, For this
m Nor chanClC'ristic is chtn ~ed to T = - 100 - O.lN. N·m. Calculate the tirM
o( 'C\'usa\'

SOIUI;OIl
For sle.:ady·slatr s['C'cd
T-T,aO
tOO - 0,111' - O.05N - 0
0' O, ISN a 100 or N", 666.1 rpm

After rc,'crUlI. (Of slc~dy-sI:ut' sp«:d nolinr th3.! the load is ra-ssh'c
- 100 - O.lN - O,05N '" 0
0' N = - 666.1 rpm
WhC'n r(\'crsing, (rom Eq, (2.2l

I dcu ... = -100 _ O.lN- 0.05N

d,

~= 30 (-100 _ 0.15N)& _ 95.49 - 0.1431.

dl It:

·'·, dN
, '"
J f
dr II: ~J _ 95,49 _ 0.1.0 N (I)

wh::-r( A\ = 666.7 rpm and N~ == 0.95)( - 666.1 c _ 633.4 rpm

In lr~r:!.:i ni Eq. (I) yields r = 25.51 S:
2.7 STEAll\'STATESTADlUT\'
Equilibrium 'r«d C'C'. rTIOCor·luad syslrm j, oblain. J ..-he r. motof tOC'quc: equals
lhe load 1Olquc:. Drive ..-ill opt'f"IlC inllfad)'·SlililC at !his iJ'«d. pro\'kkd il is
Illt arced of Itablc equilibrium. Conccrc or IIU:J)'· lI~t: l1:lbility tw: bern
«"dored 10 R adii), c\'ahaalC the "ability of an equilimum point from Illt
ItCad)'.ltllc Ipttd ' IOfq~ cun'u of lhe ft'ICMor and 1Nd, thus " 'Gidi", solution
of differential cqu:uicns \':lIid (OC" transient Optf.linn (If Lt,c drh 'c.
1a mOIl. drh'nolhc de..""trical lime constant oI'lhc meteor is DCsli,ible compared
10 ils mechafti(aJ time COMI.;\!. lk,cfore. dur-inC u.nsinl ~fltion. moeor
can be .uumed 10 be: in dttlrical equilibrium imrJ)in, thJl stcldy-state. speed-
lorque Cllnln 1ft aw1kabk 10 the traMicnt opcruion aboO.
As an uampk let '" c.umlne lhc study,slate .ubllity or equilibrium point
A ,. Fir . 29(1). 'J'b,c rquilibrium poilU -.i ll be Itrmcd u stable: ",'hal Iht
operation 'Will be restored 10;1 .ncr. unallckJ*Wft rtom it due: 10. disturbance
in Ibe IDOCOI' or ao.d. u. die dilturbanct CInes • rtduaioa of 4cu. in speed
At DeW ipCCd. D'IOlc. ~ lJ puttt than the to.d Iorquc, eon'tql.lCnlly.
maG wiUlCC'eltrate and .tllio. will be re.stored 10 A. Similarly. _ tnause
of ~ ia speed cau.Kd by • diswrbence will make Ioed IOfQuc pultt than
the motor IorQue:, raultJ", illo ~luatJoa and fUloraUoa o( opcratioD to
poi.. A. Hence Iht driV't is study-.\ak st.bIe at paiM A. Let .. DOW examine
.tibriufD poiDt B whida " otoiKd wta the Iamt motor «iva *Nllhcr
Ao.d. A decreue ill .peed cauus die &orad ICfqUC 10 be:<ouw puter dwI the
IIQcr k'JrqUe. ~V't dcctlcnlcs and opntin& poinl mova..-y from B. Similaty,
wbtD .....till, .. B an iftittC&U. i. ~d will make moIor 1«que ruter lhan
the lo.d torque. "lUc:h win move d'IC' opnatin, poinr '''''Y (rom B. Thus. B is
an unstable roint o( equilibrium. Rtaden may similarly eumine lhc: stabilit),
or points C and D ,h'cn in Flli. 2.9«() and (d).
Wm
T Wm

"wm 1')<T\
,-- ,'\
0
Tor que t o,que
(a) (b)

wm wm

o \O,quQ: o torquQ
(e) (d)
 A b!;I\'c di~uui("ln .uff:cm Ih:lIl1n equilibrium rainl ...·ill be sl:.t-.k ",oI,(n an
in , II; "~c in ~pt c d causcs 10l j ·lalqU( to exceed the motor torque, Le. wlt"n a!
cquilihrium r ui nt f.III"..... inr COn:Jilion is ulisfied:

dT, dT
->- (2 . 2~)
dw., dw",

Inequl lity (2 . 2~) e:m be d.:rh·ed by an a1ternath'e arrrorh. UI a small

rrnLlrt-.lti("ln in sro:cd . ..1"-'1,., rnults in !JT and ~T, rcnurhalion~ in T and T,
r c~rc,tin· I ). Th.:: n fwm Eq . (2.2)

d(Cc) • • !Jw ",)

(T+..1T) - (T1·!JT,)+J d,
dO) on d..1w
T+..1T.::r,-+.dT,+' dl ., dt " (2.25)

Suh:ra:tinr (2 .2) rrom (2.2S) and run-angin" tmns ri\'u

(2.26)

For sn,:all penurtutions. 1M s~ed torque CUI"Ve$ of the mocor and load tan
tIC h~umcd to be Jolrai,ht lines. Thus

(2.21)

.d7j"(J~J.dW. (2.28)

..... here (dTldru.-J and (rIT,ldOJ..) are rClpeeli\'dy slopes of the study-Slale
treed-torque turns of motOf and load at opera!inl point under eonsidn"a-
li(ln. Su~sti tutinr Eq~. (2.27) and (2.28) into (2.26) and reamn~inr the terms
yicl.:l~

(2.29)

This i~ a first cwder linear dirkrential equation. If initial dc\'iation in s~d al

I :: 0 be (.1("..)0 then Ihe lolution or Eq. (2.29) will be

..1Cd",,*,,(.1W.,Joup
/ '(dT,
-7 dT
dO)." - dw. ))
( (2.30)

An orerating (lOin! \\;11 be 'titblc when dw.., arrroaehes zero u t zppr03chn

infinity. For !.his to tup"ptn the urnncnt in Eq. (2.30) must be I"ICrath·c. This
yields Iht incqul1it)' of Eq. (2 .2" ).
'2.' LOAD I:QUALISA nor;
In !-Orne ~ye aJlrlication~. load lorqlJ~ nIK.ualu .....KJdy ...ithin 1hon inlcr\'ah
of time. For uamplc. in plessins: rmatbines'. IVlc torque of short duration is
rcquirtd durin, preuinr operation. olhc,,·i~c lhe torque is nearly UTO . Other
examples Itt electric h:!.mmer. sled roUin, milk anll reciploc:Jlin, pumps. In
such drh'cs. if motor is required to surrly pe2k torque demanlkd b)' J03d, first
motor ...'inl has 10 be hi~h. Secondly. motOl' ....·iII dra ...' • rul~d current fwm
t~ supply. "'})con amplitude of pulstd CUlTtnt fOl'1lls an appreciable propcmion
(If surply li~ uracily. il rives ri~ 10 line \'oluge nucluations. v.'ru.:h ad\'crsally
affect ClOO It»<h connected 10 thr lint. III some IwlicatioM. real: load <kmand
may form major proportion of the source uracily iuclr. AI in bloomin, mills,
thtn load nlKtUllions may also ad\'many affect lbe $lability of $OUfe(.
Abovementioned problems of fluetuilin, loads lit. o\-ncotTIt: by moun1in~
a Oy...-hed on the motor .tIart in non-rcvenible drives. Motor 'p«d·torque
characteristic b made dtoopinr (cluracteristic AC in FiS. 2.10). Altem:lIi\·cly.
by closed loop cumnt conltol. torque as Jftwcnted from exceedin!; a penni!.sibk

"'m
..""
, 8

'"'m, ---'~..,
•
0
1, Tfl'lQll T

value (characteristic: ABC in Fi" 2.10), Durin, high load period. load torque
....ill bt mIlCh brltr comparc.d to the motor torque. Decderation occurs Pfoducin!;
IlarfC: dynamic lorquc: component (l d(~/dl), O)1W'Oic torque.and motor 1OJ'qUC:
together arc able to prod\KlC lorq\tC required by the load (Eq, (2,2). Because
of de«mtion. the motor 'reed falb, DurinS light toad period, the motor
lorquc ellceeds the load torque causing acceleration, Speed is brouiht back 10
original value before the nelll hiSh load period. Variation of motor and load
torques. and speed for a periodic load and for a drooping motor speed-torque
curve (AC in Fig, 2.10) arc sho\\'n in Fig. 2.1 1. It sho ...."S that peak torque
required from the rnoIoi""has much smaller "31ue than the peak load torque .
Hence. a motor with much smaller rating than peak load can be. used and rcak
current 00....11 by motor from the source is rtductd by a large amounl Auctuation~
in motor torque and speed are al!.o reducrd. Since po.....er drawn from the
source nuctuates very linle, this is called 10Dd tqllalisar;on.
In variable speed and re\'ersible dri\'CS. a flywheel cannot be mounted on
the motor lhaft, as it will increase transient time of the drive by a large amoun!.
If motor is fed from a motor-generator &Cl (Ward-Lecmard Drivc). thC'p n)'whec\
can be mounted on shart of the motor~&enentor sel. This arrangement equalisc5
30 Fllndi/IIlN""l.' vf Eketrical Dri\"f'S

Tlf'l t-- T. r- 1l
i' . . .",(.;;;. ". ~ . "\.i;- .~

Trr,Oo.
; .. , , ..1
l~~~,l'--,,='='I=-=3'=~;;~.h~==-='=-=~·
•
fi,. 2.11

It»d Oll the sourcr , tout nOl the load on motor Co n ~cqucnlly, a mOl.or cap:lblc
of supplying pcd:.lood.lorque is required.
t.!omclll of ineni3 of tht fl)'whrel required for loaJ equalisation is n.Jculated
a ~ follows:
Assumint: a linCM motol-l>peo:d-\ocque CUI '"e in Ihe: u:¥ion of inte:lt:st (drvoping
ch::ua::tcristic AC of Fig. 2.10)

(2.31 )

""'hat' W:n.,. CI\n- and T. are. no-load speed. rated 5p<cd anj raled to:quc: rcspecth-eJy.
Because of slov.' response due to luge inc:nia, motor can be assumed to be
in electrical equilibrium during lransient operation of the motor· load system.
In that case Eq. (2.31) ",;'11 be applicable for tbe transier1t operation also.
Differentiatin, (2.31) and mulliplYlna both sides by J ,h'es

J d(J) .. '" _ J(IiJ..o - G1_) tIT (2.32)

II T,. II

.. - f
n (2.33)
• -df

(2.34)

Term r". is defined as the EnCcharucal lime const:mt of the ITKIlor. It is the
time required for the molor speed to change b)' (w.:.- w....) when motor torque
is mainlained constant at fated value T•.
From Eqs. <2.2) and (2.33)

(2.35)

Con~ idcr hOW a periodic IQ:ld lorque. a cycle of \1:hich (onsists or on( hifh
IO.1d rcriod ..... ith torque T~ ami duration 't. and (\~e lighl load ('triad ..... ilb
lo:qut.' Tu and duration " (F, .. 2. 1I).. For high toad f'Criod (0 ~ , ~ 'Ill solution
of Eq . (2.35) is
 DyNJltlirs 0/ EtrrlrirDt Dri,·u 31

T= T,~(1- ~ . ' '"" + 1..... «··,· ..

r", OSISt. (2.36)
where T..... i51M mocor lorq~ II I. (I. ""hieh is also inst:lnl when hu,'y load
T,. is .rplitd.
If motor torque at the end of hea\"~ load period i$ TJrW' Ihen rrom Eq. 12.36)

T.... =: r,~(1- ~ ..." .. ) + T.... ~ ...·'·· (2.37)

Solution of Eq. (2.:\5) (or \he l i~h' l.);ld period I/. :S l :S I. + I,) with the initial
mOlor torque equal to T_ is

O:5(SI, (2.38)

(2.39)
·Whell operIdll, In II*Y·,\l.1C, motor torque a' the end o( • eydc will be
thc same u • Ihc bclinniDI 0( cycle. Hence at ( • I,. T. Tmin. Substituting
In Eq. (2.39) I!va
(2.40)

From Eq. (2.37)

(2.")

From (2.3-4) and (2.-4))

(2.'2)

Also from Eq. (2.-40)

(VU)

Flom Eqs. (2.34) and ( 2.43)

t,

loa (T_ -T.)

(2.44)
.
'T-.-T"
32 Fl.llldom" tloh oj flurrieal Dri\'~s

M (lm~n l
of i n~nia of the n y ~'be~1 required un t'ae calculated either from
Eq. (2 .42) or (2.44). Funk
J :: W~, ,_m
.. 1
(2.45)
\It'here "' is the weith! of the nyy,'heel (kG) and R is the radius (m).

Ex .U.II'L£ 2.3
A m(\lOf equipp:d wilh a ny,,'heel is 10 supply. lood lorque of 1000 N-m for
10 sec followed by a lieht lood periOd of 200 N·m ion, enoulb fOf the flywheel
to rtrain its lIeady-state IpCcd. Jt is desired 10 limitlhe motor torque to 700
N·m . What should be the moment of incr1ia of nywheel? Motor has an inertia
of 10 tr_m 2. Its no ~ speed is 500 rpm and'the ,lip al a torque of SOO N-m
j, S'l . Assume speed-torque dwac;1eristic of motor 10 be • straight line in the
rq'ion of inlerul.

Solution
From Eq. (2.<2)

(I)

sao x 2.-
H~rc DO load speed· 60 - ~1-36 radliCC
Speed al $00 N·lQ .. (I - 0.05) 52.36. "9.74 rad/sec

T4I '" 1000 N·m. Tmu. 700 N·m. T.... T... 200 N-m. ria '" 10 S.
Substituting in Eq. (I)

J E 190.&.$I~Ji~IO~~~I"
1 (1000 - 2(0) 1871.8kl-m'
DC. 1000 _ 700

~1om.!nt of intnil of the Oy ....·hrd = 1811.8 _ 10 ~ 1861.8 kj! _m1.

PROBLEMS

2.1 A drh'c ~ the rolJo .....in& parlmdt::n:

T . I~ - 0 .1 N. N·m. ".. here N is the speed in rpm.
Load torQ1.: C T/ :: 100, N·m
 Initially the driH: is operatinr in S't~y.J1.lt . Tht eharkttristics or Iht load
torque art char.;td Co 1, . _ 100 N·m. Cakublt ' ,lit;.1 and final tq uilibri um
speeds.
1.2 A tnolOl is u~cd Co driVt a boil!. MOiOf ch,JtaclCn,bcs art , ;\"cn by
Qlaadranu I, II and IV: 1 . 200 - o.m, Nom
Quadranu II. III .nd IV: 1 ~ - 200 _ O.2N, N· m
. "tM:rt N is thf: spetd in rpIfI .
Wlltn hoist is ~dr.d. thc nelload torque 1j. 100. N·m and . 'tM:n il is unJoW.d.
ntl toad lorque 1,. - 80, N-m. Oluin the equilibrium .peeds for opetalion in
all the (our quUrl1lU.
1.J A D'IOIOI' c!ri,·t S fou r kJads, 1.·0 Iu.\"t rotational motion and ty.·o translational
atOlion. Momnll or lntnia of !he aKMOr is 1.2 kl·JPI. MOIor nu\S al • lpeed of
1000 rpm. followinG arc \he 6c:ui b ~I four SoadI;

Lood Type of motioD Spud lnertiaIMan TorquelF«c:e

0
OJ
I
..........
RCMational

Tnru.......
""'
lOWS
....
""' .... 7 k,.m'
.5 k,-m'
10 k.
10 N' ID
6N·m
20N
IV TransWional lOWS 10k, .oN
CaIcIalase the equivalent iIIcnia diM I)'IIaD metred to lilt BIOIOJ dull and
power J1ItitIJ of the: motor. mslUDiltc ••HPbk _ bI dM: "lUminion 1)'Sttm..
l.4 A weilhl of SOOq is heiDI tifwl.,.a .......peed oll..5 MIS by. wiDCb
dri'lCft by a motor runninl II a speed .1000"... 11M: IDOIDCIIU of a.utia of
die mo&Of and '"'-ch are 005 and G..3 k,_. f iupeaively_ Cakulalt: die IDO«<
torque and the equivalent IDOIDCDI 01 inatia .derred 10 dar: mocor dWl ID
tile abwnu of _i,ht, motor dcvdclps a torque 0( roo H-.. wbc:rt MIlLinI at
1000 rpm.
2.5 IJIIhc meehanism l!town in Fi, . Pl...5. DWlUIt dri'tes the wiN::b drum throulh a
reduction It AI' with a ,eAl' IOOlh ratio of 0.1 . The friction lorque" winch ibaft
i, IS N-m and 1.1 motor Ibaft 10 N-. , MOler , .>ecd is 1500 rpm. Calculate the
equivaltnt moment or inc:ttia of me drive relmed to motor .hafl and lDOIot"
torque ir lem baVt an efficifllcy of 9O'l:.

0.0-1

~P=9
m o tor
i ~====l~==( w inch dru m
-l, ~1kg . ",,2
gco. bO ,
J o <O-5 kg . ..,2 JQ . O·1S ~ 9 · m' CObit
01 tl'll 101010'
. pc"c<l l oad
500 hg

fil. P1.5

1.6 A mocor is required 10 drive the: tab· up roll ()fI a pwtic stri p line. 'The ma.ndrd
on . ·hich the: stri p is wound il 15 em in &a.mEltr and tM; strip builds urlo a
rolllS em in diameter. Strip Itnsion il mainwncd ccm U.,talIOOO N. 'The strir
movu al a uniform )peed of 25 MIS _'The motor is co upkd'to a mandrel by a
reduc tion Stat ";Ih Q ., 0.5. Tllc ,atl ha ve an approxi mate t meicncy of 87'K
al all Ipc:cd~ . Dclcnnine the Jpeed arwI po ..... er rltinl of the mOlor re q·lJired for
this appl ication.
~ FWl(lLm;Clllals (>/Ekctrirul Dril"ts

2.7 A horilonul con\'t~tl bth movinf It a unifoon srccd ('If 1.2 MIS lfansportl
nlato:rillill. the ralr of IOOlon.'\C'iIhr. Bt!1 i ~ 200 M lo n, and dri\'en by . motor
al 1200 rrm.
(l) D.:: lcrn.inc tht lo.oJ inrrti. rdem'" 10 the mOIOI ~hafl .
<'to) C a kuhlt' lilt t orq u ~ Ihal m«or should dc\'c1or 10 ICttklale the tooeh fl om
'U/'Id~li lllu full )f\<cd ill I; 5«'. Moment of inerti:. of the molor is 0.1 t~ _ ml .
2." 11('> ..' d \. ~O\l ddme paJ si\'c I~ IOrq ut l an d al:b \'c load l(Y.ques'? What arc the
d i ffcrcn~u bCI"'ccn the I.. O'?
2.9 Cln I nlotor- lulj syucm "" ilh • plS,h~ loild tor~ hl'c an equilibrium speed
in quadranlll~ 'A~ 3t "'ill t-e your anl "' er 'if thc Iol:i is '!;Ih'c ~
.2.1 0 A motof-lNd system hM fel101l'jn; detai ls: Qu.adranls I and II, 1z .OO-O.~N .
N-n; : .... heu /I.' i~ tbe sl"'Ccd in rpm. Motor h wuplcd 10 an . ( th·c load lorque
1,. :t 200. "'_m. Calculalc the lII0I01' s~~ fOf' moIOrin, and bral:in~ operations
in lhe- fo....... ald dilcelion. WileD operatinr in quadrants 111 and )". T _ - ~OO
- 0 .4.\'. N· II\. Cal.::ul.lle W equilibrium speed ill quidlAnI 111.
2.11 C ..I( ulalc 1M sianin, rime of .I &h'e wi th 1011O'A'inl; paramclels:
J", 10 t~. nl:' 1 • is + O . ~ li\. and 1, = ~ + 0.6 w.-
1.12 A drive N I fo llo"';n, parameters: J .. 10 l.f·m'. 1,. I~ • O.O~"'·. N-m and
1, '" ~ • O,()6...., f\;-m . ""here ,... i~ the sreed in rpm.
lnitiall)' the drive is ~-ort.inl: in ue:ady.SlalC. No\l,' the: dri\'e is bnkcd b)' e1ccaicaf
t-roJ:in,. Torquc of the m otor in brakin, is ri'~ by 1", - 10 - O.04N. N·m .
C .. kulalc time tal.:en by the dri.Yt to stop.
2.B A dril'e hu follow, parwnettn: J. I t,·,.,2
1 _ 1.5 - O.OIN. N-m and Pauive load torque f, . O.OOS/l.'. N-m; " 'hue N is
U.e lpeed in rpm.
Initially ~ d,;I'e is opcnliDi ia ac.a4y·5UlIe. Now it is 10 be ~w;Bed. For lhJs
motor characterillic:: is altered such Chit T_ - 15 - O.OIN. N· m for positive •
..~U as nc,atiV'C nJue. of N. Caiclalate *rewna:llitDe.
1.104 Ala c1cctric lnOfor bas foD01Itiaa: spcod-eorque rdItions:

Srecd. rpm
Torque, N·m
Srecd. rpm
.>00

.000
o
.44'
12~
12~
1)38
33.0
<90
."",.o ,,&0
37.8
"22
36
.090
27.6

.Torque. N-m 22 .~ 9.1

"
Cakulate the "anine time. J. 0.1 N· m .
11 .6

E~l"lain .. tat do you undentand bYlbe IIcadY-Italc Rlbil i lY~ \IIb.1 is the main
2.1!!-
'$$umptiOfl?
1.16 u.r!!ln m.1he s\e.ady·stale slabili!)' of. drh~ dcpc:nck on tdll;" e chanctm$lics
(lr the mOl()f and load and not juu on mOlOf (or~) ~haraCleri ~ l ic.
2.17 Fifurc Pl. 17 sbo ..... s plots or ipeed \'l motor and load torques. Commenl on the
Slat-il il)' of the operltin, pain" A. B. CandO.

$Ou4

, . . . -:.:-+-_".L'll
'"B e ,
o
o tor (jut
rtf. P2. 17
2.11 Sr-;r,J.:.,!'1"'''' cur.c, of Jlll>:;)fS unJ,."f clff~'cr.l or"ulion~ ar~ ~h("'.ll in FiJ:.
P2.1ti. Ora ...· load ("un·e . ... hi("h \\ ill fiu mblt oru.:nion ".il!l Ihe ronion~ of
d l3r.aclerlSl'n M3rkcd AB, BC. 013. anJ EF.

I Or Quf

''-----
,L----f.;;-;:,
'Clrque

2.19 A drive ha followin, equ;llions forlllOlOl" Uld ~ torques:

T ~ (I + 2(1).) and 1j .. 3.[lU.

Obtain lhe equilibrium points and clcLmnine!heir stc.adY·'UlIe stabilil)".
l.lO otMaill!he equilibriwn points and determine Ibcir IltidY·SIaIC uabilily whcn
molOf ud load torques art;

r--1-2(1). and 1,--3'/••

2.21 Whal art the reasons for usiPJ ktad equallutiOfl in M elcdrical drive?
2.22 A 6 polt. 50 Hz. 3-phast \I,ound ~Or induc:tioft ftl(MOf has • flywbul coupled
to iu thft. Thc lotal momerl1 of iftCftia of moIor· kI.ad·flywhed is 1000 t,·m'.
t.o.d lOrque is 1000 N'm of 10 ICC dW'Uion follow«l by a no kMd period which
is ton, enou,h for 1M drive 10 reacltil$ bO to.d speed. Menor has I slip of JIl-
II a lorqUC of ~ N.m. CakulalC
(i) Maximum I«que dndoped by lbe: JYIOIor.
(li) S~ II the cnd of d«-deralion. period.
Assume mocor speed.lorque ("Uf'·C to be a suailbl line in the operatin, ranle.
2.23 A mocor cquirred with. fly ....·hed ~ 10 suWly • load lOlque of 600 t\· m for
10 KC folJo¥>'ed by" no load period len, cnough for the Oywlwc:llo regain its
full speed. It is desired to Iimil1!lc motor torque to 4S0 N·m. Whll should be
lIMo moment of inenia of the f1Y""hed1 The flO 103d spud of the mOior is 600
rpm and il hIS " dip of So} aI torque of 0400 N·m. Anumc lhe mOtOf speed·
lorque ("hltJ("tCri5tic 10 be • strai,ht ' Ii~ in the ranGe of operalion. MOlor h as
an inertia of 10 ks·m'.
2.24 A 3·phase. 100 ItW. 6 role , 960 rpm wound rotor induction mOlOf dri,"e~. load
whose tOlque varies su("h thai a torqut of 3000 N·m of 10 sec dur-ati on is
(ollo>.-cd by • torQll': of ~OO N'm of dUI<Il\;un SunJ!: cnwgb lor IDe rnutur to
'1I3in steady·sta tc specd. C.!cuI3Ie momenl (If incni3 (",f the ny",-hecJ, if mOlor
lorque should nol cxceed 1\O"ice the rated \'alue. Moment of inertia of the motol
is 10 Lr· m!. MOlor has • linear Spe~ . lorque CUf\·C in Ihc rceion of inter~ s1.
2.25 Soh'e Problem 2.:1:4. when the molor hu speed lorquc ch~("Ieristi(" ~u("h that
from no load 10 Iwit"C the rated lorque Ihe speed·torque ("ur.'C is. 51raisht line
parallcllo torque uis and 111v.·it"e the raled lor;\I C the ("haracteristic is paralle l
to the speed Illis_ Minimum mOlor speed is ,r. be rrsthcled 10 6O'K of th e
synchronous speed.