18EEO305T - ELECTRICAL DRIVES

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 SYLLABUS
UNIT I- INTRODUCTION OF ELECTRIC DRIVES
Fundamentals of Electric Drives-Advantage of Electric Drives-
selection of Motor power rating-Thermal model of motor for heating
and cooling - Classes of duty cycle-Determination of motor rating -
control of Electric drives- modes of operation - speed control and
drive classifications -closed loop control of drives.

UNIT II- DC DRIVES

DC Motor Drives:-DC motor and their performance-Braking -
Transient analysis - Ward Leonard drives - Transformer and
uncontrolled rectifier control – controlled rectifier fed DC drives -
Chopper controlled DC drives - Time ratio control and current limit
control - Single, two and four quadrant operations - Effect of ripples
on the DC motor performance.

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UNIT III- INDUCTION MOTOR DRIVES
Induction Motor Drives-Stator control-Stator voltage and frequency
control – VSI,CSI and cycloconverter fed induction motor drives –open
loop and closed VVVF control - Rotor resistance control and slip power
recovery schematic control of rotor resistance using DC chopper-Vector
Control basic concepts.

UNIT IV-SYNCHRONOUS MOTOR DRIVES

Synchronous Motor Drives: - Speed control of three phase
synchronous motors Voltage and current source fed synchronous
motor-Cycloconverter fed synchronous motors - Effects of harmonics
on the performance of AC motors – PMSM

UNIT-V: DIGITAL TECHNIQUE IN DRIVES

Digital Control and Drive Applications-Digital technique in speed control
of electric drive system-Advantages and limitations - microcontroller
based control of drives- selection of drives and control schemes for
electrical vehicle Application, paper mills, lifts and cranes.
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 UNIT 1 - INTRODUCTION OF ELECTRIC DRIVES

❖ Electric Drives-Advantage of Electric Drives

❖ Selection of Motor power rating

❖ Thermal model of motor for heating and cooling
❖ Classes of duty cycle & Determination of motor rating
❖ Control of Electric drives- modes of operation
❖ Speed control and drive classifications
❖ Closed loop control of drives

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 Definition of Electrical Drives

Diesel/petrol/gas/stream engines,
hydraulic motors, electric motors

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 Advantages of Electrical Drives

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 Block Diagram of Electric Drive System

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 Components in electric drives
Motors
• DC motors - permanent magnet – wound field
• AC motors – induction, synchronous
• 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

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 Components in electric drives
Control unit
• Complexity depends on performance requirement
• analog- noisy, inflexible, ideally has infinite bandwidth.
• 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:

• Malfunction in power circuit may damage control circuit

• Safety for the operator
• Avoid conduction of harmonic to control circuit

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 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.
• The term ‘sensorless drives’ is normally referred to the drive
system where the speed is estimated rather than measured.

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 Why Power Electronic Devices?

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 Power Converters

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 Power Converters

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 Choice (or) selection of Electrical Drives

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 Factors for Selecting Electrical Drives

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 Components of load torques
1. Friction Torque (TF)
The friction torque (TF) is the equivalent value of various friction
torques referred to the motor shaft.

2. Windage Torque (Tw)

When a motor runs, the wind generates a torque opposing the
motion . This is known as the winding torque.

3. Torque required to do useful mechanical work (Tm)

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 Classes of motor duty
• Now a days, in almost every applications, electric motors are
used, and to control them electrical drives are employed.
• But the operating time for all motors are not the same. Some
of the motors runs all the time, and some of the motor's run
time is shorter than the rest period.
• Depending on this, concept of motor duty class is
introduced and on the basis of this duty cycles of the motor
can be divided in eight categories.

1.Continuous duty
2.Short time duty
3.Intermittent periodic duty
4.Intermittent periodic duty with starting
5.Intermittent periodic duty with starting and braking
6.Continuous duty with intermittent periodic loading
7.Continuous duty with starting and braking
8.Continuous duty with periodic speed changes
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 Paper mills
compressors
Conveyers
fans

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 Operation considerably less than time constant, τ

Motor allowed to cool before next cycle

Motor can be overloaded until maximum

temperature reached

Crane drives
Household appliances
Machine tools for position control

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 Cutting
Drilling Machines

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 Metal cutting
Drilling tool drives
Mine hoists

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 Billet Mill drive
Manipulator drive
Machine tools

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 Continuous duty with intermittent periodic loading

• Consists of periodic duty cycles, each consisting of a period of

running at a constant load and period of running at a no load.
• Load period and no load period being too short for respective
temperatures to be obtained.

• This duty distinguished from the intermittent periodic duty by period

of running by constant load and period of running by no load instead
of rest condition.

• Pressing, cutting and drilling machine drives

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 Continuous duty with starting and braking
• Consists of periodic duty cycles, each consisting of a period
of starting, period of running at a constant load and period
of braking, there is no rest condition.

Continuous duty with periodic speed changes

• Consists of periodic duty cycles, each consisting of a period
of running at one load and speed, and another period of
running at different load and speed. There is no period of
rest.

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 Four quadrant (multiquadrant) operation of motor
using hoist load

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 Four quadrant (multiquadrant) operation of
motor using hoist load

ω Te •Direction of positive (forward)

ω speed is arbitrary chosen
ω
Te
•Direction of positive torque will
produce positive (forward) speed

Quadrant 2 Quadrant 1
Forward braking Forward motoring
T
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking Te
Te
ω ω
m m

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 Torque-speed quadrant of operation

2 1 • Quadrant of operation is
T -ve T +ve
ω +ve ω +ve defined by the speed and
Pm -ve Pm +ve torque of the motor.
• Most rotating electrical
machines can operate in
T
4 quadrants.

3 4 • Not all converters can

T -ve T +ve
ω -ve ω -ve operate in 4 quadrants.
Pm +ve Pm -ve

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 1st Quadrant (Forward Motoring):
∙The torque and speed of the motor are in the same direction. Of
course, the load torque is opposite to the machine torque.
∙The electrical machine in this case is operating as a motor. The
flow of power is from the machine to the load.

2nd Quadrant (Forward Braking):

∙The speed direction is unchanged while the direction of the
torque is reversed.
∙Since the load torque direction is in the same direction of speed,
the mechanical load is delivering power to the machine.
∙The machine then receives mechanical energy, converting it in
to electrical energy and returning it back to the electric source.
* The electric machine is thus acting as a Generator. 22
 3rd Quadrant (Reverse Motoring):
∙Compared to the first quadrant, the system speed and torque are
reversed in the third quadrant.
∙Since the torque and speed of the machine are in the same
direction, the power flow is from the machine to the load. The
machine is therefore acting as a motor rotating in the reverse
direction to the speed of the first quadrant.
∙Bidirectional grinding machine is the good example of the 1st
and 3rd quadrant operation. The direction of the load torque of
the grinding load is reversed when the speed is reversed (3rd
quadrant). A horizontal conveyor belt is another example of this
type of operation.

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 4th Quadrant (Reverse Braking):
∙The torques remains unchanged as compared to the first quadrant.
The speed, however, changes the direction.
∙From the load perspective, the load torque and the speed are in the
same direction. Hence the power flow is from the load to the
machine.
∙The machine is in this case acting as generator delivering the
electric power to the source.
∙The first and fourth quadrant of operation can be explained with
the elevator. When the elevator is going upward or downward, the
direction of the load torque remains unchanged but the direction of
the speed only reversed.

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 Four quadrant operation of a drive

Parameters I quadrant II quadrant III quadrant IV quadrant

Operation of the The hoisting up of The hoisting up of The downward The downward
Hoist the loaded cage the unloaded cage motion of the motion of the
unloaded cage loaded cage

Te +VE -VE -VE +VE

TL -VE +VE +VE -VE

WM +VE +VE -VE -VE

Power +VE -VE +VE -VE

Operation of the forward motoring Forward Braking Reverse motoring Reverse Braking
Drive

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 Thermal model of motor for Heating and Cooling

• when an electrical motor and drive operates, there is a generation of

heat inside the motor.

• The amount of heat generated inside the motor should calculate

accurately as possible.

• The material of the motors and the shapes and size of the motors are
not unique but the generation of heat does not alter very much
depending on these characteristics.

• Aim of this modeling is to choose the appropriate rating of a motor so

that the electric motor does not exceed its safe limit during operation.

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For Cooling curve
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 Speed control and Drive Classifications

• Drives - driving motor runs at a nearly fixed speed Constant

speed or single speed drives.
• Multi speed drives are those which operate at discrete speed
settings- Variable speed drives.
• When a no. of motors are fed from a common converter or
when a load is driven by more than one motor – multi motor
drive..
• Speed regulation = (no load speed – full load speed)/
(full load speed)*100%

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 Closed-Loop Control of Drives:

Feedback loops in an electrical drive may be provided to

satisfy one or more of the following requirements:
 Protection
 Immediate Speed response
 Improvement in steady state accuracy
 Efficiency

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 Current – limit Control

+
If*
Controller Converter Motor Load
-
If

Current Sensor

0 Imax Threshold logic

circuit

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Current Limit Control of Drives scheme is employed to limit the converter and
motor current below a safe limit during transient operations. It has a current
feedback loop with a threshold logic circuit. As long as the current is within a
set maximum value, feedback loop does not affect operation of the drive.
During a transient operation in Current Limit Control of Drives, if current
exceeds the set maximum value, feedback loop becomes active and current
is forced below the set maximum value, which causes the feedback loop to
become inactive again. If the current exceeds set maximum value again, it is
again brought below it by the action of feedback loop. Thus the current
fluctuates around a set maximum limit during the transient operation until the
drive condition is such that the current does not have a tendency to cross the
set maximum value, e.g. during starting, current will fluctuate around the set
maximum value. When close to the steady-state operation point, current will
not have tendency to cross the maximum value, consequently, feedback loop
will have no effect on the drive operation.
 Closed loop torque control

Torque
Controller Converter Motor Load
T*
-

Torque Sensor

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 Closed loop speed control

+ Δm I*

Speed Current
Converter Motor Load
Controller + Controller
m* -
- I
Current
m Limiter
Current
Sensor

Speed
Sensor

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Closed loop speed control of multi motor Drives

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Phase locked loop (PLL) control

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Two pulse trains reference pulse train of frequency f * and the feedback pulse train of frequency f are
compared in a phase detector. Output of the phase detector produces a pulse-width modulated output Vc.
Pulse-width of Vc depends on the phase difference between the two input pulse trains and polarity
depends on the sign of phase difference (i.e. lag or load) between them.

The output of the phase detector is filtered by the loop filter to obtain a dc signal and applied as control
voltage to a voltage controlled oscillator (VCO); the output of which is the feedback signal f. Because of
the closed-loop, VCO output frequency changes in a direction that reduces the phase difference. When
steady state is reached, f becomes exactly equal to f* and the loop is said to have locked.

Control voltage required by VCO to produce f equal to f* comes from the phase difference between the
two input signals. If now f* is altered, f will follow the change and control voltage required by VCO
will be obtained by the adjustment of phase difference between the two input signals.

An electrical drive employing Phase Locked Loop Control is shown in Fig. The VCO is replaced by
converter, motor and speed encoder. Output of the loop-filter forms the control signal for the converter.
It alters the converter operation such that the motor speed adjusts to make the frequency of speed
encoder output signal f equal to the frequency of reference signal f*. By changing f* the motor speed
can be changed.

Excellent speed regulation is the main feature of this drive. However, it has two important
disadvantages: transient response is slow and it has a low speed limit below which it becomes unstable.
Closed loop position control

A Closed Loop Position Control scheme is shown in figure. It consists of a closed-loop

speed control system with an inner current control loop inside an outermost position
loop. Current and speed-loop restrict the current and speed within safe limits, enhance
the speed of response, reduce the effects of nonlinearities in the converter, motor and
load (such as nonlinear transfer characteristic of converter, coulomb friction, variation
of parameters due to temperature and friction) on the transient and steady state
performance of the position control system. Position controls are required in a number
of drive applications, e.g. feed drive in machine tools in rolling mills.

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 Modes of Operation

An electric drive operates in three modes,

i.Steady state

ii.Acceleration including starting

iii.Deceleration including stopping

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 Steadystate, Acceleration and deceleration

• Load torque is equal to motor torque

• Change in speed is achieved by varying the steady state motor
speed torque curve so that Load torque is equal to motor torque at
desired new speed.
Drive depends on the values of T and Tl.

• T > Tl –Acceleration * T < Tl – deceleration

• During acceleration, the motor torque not only overcome the load
torque but it supplies to dynamic torque to overcome drive inertia.

• In drives with larger inertia, like electric trains, motor torque must
exceed the load torque by a large amount in order to get sufficient
acceleration.

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 Selection of Motor Power Rating
• Selection of power rating is important to achieve economy with
reliability.
• Improper selection of motor power rating results extra initial cost and
extra loss of energy due to operation below rated power makes the
choice uneconomical.
• Furthermore, induction and synchronous motors operate at a low
power factor when operating below the rated power.

• During operation of the machine, heat is produced due to losses and

temperature rises. An amount of developed heat is dissipated into the
atmosphere. When the dissipation of heat is equal to the developed
heat, then it is said to be equilibrium condition. Motor temperature then
reaches a steady state value.
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.
• Steady state temperature depends on power loss, which in turn
depends on the output power of the machine. Since temperature
rise has a direct relation with the output power, it is termed
thermal loading on the machine.
• Steady state temperature varies in different parts of the
machine. It is usually high is the windings because loss density
in conductors is high and dissipation is slow; the conductors
which are wrapped in insulating material are partly embedded in
slots and thus are not directly exposed to the cooling air.

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 Determination of motor Rating

Broadly classified into,

❖ Continuous Duty
❖ Fluctuating loads
❖ Short time and intermittent duty

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 Continuous Duty
• A motor with next higher power rating from commercially available
ratings is selected.

• Motor speed should also match load’s speed requirements.

• Necessary to check whether the motor can fulfill starting torque
requirement and can continue to drive load.

TL

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 Fluctuating loads & intermittent loads

➢ Motor loss P1 consists of two

components- constant loss Pc
which is independent of load and
contains core & friction loss; and
load dependent copper loss.

➢This fluctuating load consisting of

n values of motor currents I1, I2, I3,
…In for the durations of t1, t2,
t3,...tn respectively. Then the
equivalent current is,

load diagram of Fluctuating load

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 Equivalent current is,

When torque is directly proportional to current and power is

directly proportional to torque,

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 Short Time Duty

❑In short time duty, time of motor operation

considerably less than the heating time
constant & motor is allowed to cool down to
ambient temperature.
❑If a motor with continuous duty power
rating of Pr is subjected to a short time duty
load of magnitude Pr’ - then motor temp rise
will be far below the maximum permissible
value & motor can be overloaded by a
factor K.
The overloading factor
for short time duty,

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 Intermittent periodic duty
➢During a period of operation, if the speed
changes in wide limits, leading to changes
in heating and cooling conditions, equ.
current, torque or power are not employed.
➢Temp rise will fluctuate between a
maximum value Tmax and a minimum
value Tmin. Temp at the end of the working
interval will be given by,
➢The overloading factor for intermittent
periodic duty is,

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 Applications of Electric Drives
Transportation Systems
Rolling Mills
Paper Mills
Textile Mills
Machine Tools
Fans and Pumps
Robots
Washing Machines etc

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