ELECTRICAL DRIVE SYSTEMS

(EPM452)

Introduction to Electric Drives

Dr. Asmaa Abdelghany

Dept of Electrical Power & Machines

2025
 Grading System

Final-term Examination 65
Mid-Term Examination 25
Assignments 5
Quiz 5
Lab Reports 10
Total 110
 Text Books
1. M. H. Rashid, “Power electronics: circuits, devices, and applications,” Pearson -
Prentice Hall, 3rdedition, 2003.
2. S. B. Dewan, G. R. Slemon and A. Straughen,”Power Semiconductor Drives,”John-
Wiley & Sons, 1984.

Recommended Books
1. B. K. Bose, “Modern Power Electronics and AC Drives,” Prentice Hall, 2002.
2. W. Shepherd and L. N. Hulley, ”Power Electronics and Motor Control,” Cambridge
University Press, 1987.
3. P. C. Sen, ”Thyristor DC Drives” John Wiley & Sons, 1981.
 Electrical Drives
• The study of electric drive systems involves controlling electric motors in the steady
state and in dynamic operations, taking into account the characteristics of the
mechanical loads and the behaviour of power electronic converters.

• The speed of an electric motor was controlled by such restrictive methods as

resistance insertion, autotransformers, or multimachine systems.

• Motor selection for a given application was limited to the available type of power
source. For instance, dc motors were used with direct current sources, and induction
motors were driven by ac sources.

• Definition: An electric drive is a system consisting of one or several motors and

control equipment designed to govern the performance of these motors.
❑Classic Electrical Drives
• The system in Figure 1 consists of three electromechanical machines: ac motor, dc
generator, and a dc motor.
• The ac motor is powered by single- or three phase ac source. Its speed is constant.
• The output of dc generator is adjusted by controlling the excitation current, thus
controlling the terminal voltage of the dc motor and hence the motor speed.
• This system is expensive, inefficient, and complex, and requires frequent
maintenance.
• Due to limited technology available during 20th century, this system was the leading
option for speed control.
• A number of systems are still using this service; for example, old elevators may still
use this system today.

Figure 1
❑ Advantages of Electrical Drives:

1. The steady state and dynamic performance can be easily shaped to get the desired
load characteristics over a wide range of speeds and torques.

2. Efficient Starting /Braking is possible.

3. With the development of Power Electronics, design of Efficient Power Converters to

feed power to the electric drives has become simple and easy.

4. Electric motors have high efficiency, low losses. They have longer life, lower noise
and lower maintenance requirements.

5. They can operate in all the four quadrants of operation in the Torque/Speed plane.
6. The resulting Electric braking capability gives smooth deceleration and hence gives
longer life for the equipment. Similarly Regenerative braking results in considerable
energy saving.
❑ Block diagram of an Electrical drive:

▪ The load: Can be any one of the systems like fans, pumps, washing machines, drills,
etc to carry out a specific task. Usually, the load requirements are specified in terms of
its speed/torque demands. An electrical motor having the torque speed characteristics
compatible to that of the load has to be chosen.
▪ Power modulator: performs on or more of the following four functions
i. Modulates flow of power from the source to the motor
ii. During transient operations, such as starting, braking and speed reversal, it restricts
source and motor currents within suitable values.
iii. Converts electrical energy of the source in the form suitable to the motor.
iv. Select the mode of operation of the motor, i.e. motoring or braking.

Types of Power Converters:

There are several types of power converters depending upon the type of motor used in a
given drive.

(1) AC to DC converters: They convert single phase/Polyphase AC supply into fixed or

variable DC supply.
(2) AC voltage controllers: They are employed to get a variable AC voltage of the same
frequency from a single phase or three phase supply.

(3) DC to DC converters: They are used to get variable DC voltage from a fixed DC
voltage source using Power electronics devices.
(4) Inverters: They are employed to get variable voltage /variable frequency from DC
supply using PWM techniques.

(5) Cycloconverters: They convert fixed voltage fixed frequency AC supply into variable
voltage variable frequency supply to control AC drives.
▪ Control unit/Sensing unit: The control unit controls the operation of the Power
converter based on the Input command and the feedback signal continuously obtained
from a suitable point (In a closed loop operation) at the load end so as to get the
desired load performance.

• Electric motors: most commonly used motors are

• DC motors – Shunt, Series ,Compound, Permanent magnet.
• AC motors- Squirrel cage & Slip ring induction motors, synchronous motors.
• Special motors- Brushless DC motors, stepper motors switched reluctance motors.

• In the earlier days because of easy speed control DC motors were used in variable speed
drive applications and ac motors were used for constant speed drives.
• DC motors have a number of disadvantages compared to Induction motors due to the
presence of commutator and brushes. Squirrel cage motors are less costly than DC
motors of the same rating, highly rugged and simple.
• But with the development in Power electronics and the advantages of AC motors, AC
drives have become more popular in variable speed drive applications in present days.
▪ Power sources
• DC –batteries, fuel cell, photovoltaic
• AC –Single-three-phase utility, wind generator

• The choice of the motor and converter depends on the nature of the power supply
available. The available source must satisfy the requirements of the drive system
especially the maximum power rating.

✓ 2 kw of drive power use 1-phase

✓ 2 kw –5 kw 1-ph or 3-ph
✓ more than 5 kw 3-ph
✓ Traction system which may require 1-ph source in spite of the large power (may reach
20 MW).
✓ Some drives are powered from batteries, and another are solar powered drives such as
used in space and water pumping applications.
❑ 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 (1960s)

• Variable frequency sources available –AC motors in variable speed applications

• Demerits: - Coupling between flux and torque control

- Application limited to medium performance applications –fans,
blowers, compressors

• High performance applications dominated by DC motors –tractions, elevators,

servos.
❑ 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.
❑Comparison between DC and AC Drives
❑Classification of load torque
Speed-torque characteristics of the load must be known to calculate the acceleration time
and to select the proper type of motor to suit the load.

1. Constant Torque characteristics: 𝑻𝑳 = 𝒌

• Most of the working machines that have mechanical nature of work like shaping,
cutting, require constant torque irrespective of speed.
• Similarly, cranes during the hoisting and conveyors handling constant weight of
material per unit time also exhibit this type of characteristics.
(2) Torque proportional to square of the speed: 𝑻𝑳 = 𝒌𝝎𝟐
• Another type of load met in practice is the one in which load torque is proportional to
the square of the speed, e.g. : Fans, rotary pumps, and compressors.

(3) Torque Inversely proportional to speed: 𝑻𝑳 ∝ 𝟏/𝝎

• Certain types of lathes, boring machines, milling machines, steel mill coiler and
electric traction load exhibit hyperbolic speed-torque characteristics.
❑ Multi-quadrant operation:
• The relation between this load torque and the motor speed must be defined.
• For steady-State operation this definition is made in terms of the 4-quadrant, speed-
torque diagram.
• A motor operates in two modes – Motoring and braking.
• In motoring, it converts electrical energy into mechanical energy, which supports its
motion.
• In braking, it works as a generator converting mechanical energy into electrical
energy and thus opposes the motion.
➢ let us consider operation of hoist in four quadrants as shown in the figure.
➢ The quadrant I operation of a hoist requires movement of cage upward, which
corresponds to the positive motor speed which is in counterclockwise direction. Since
developed power is positive, this is forward motoring operation.

➢ Quadrant IV is obtained when a loaded cage is lowered. Since the weight of the loaded
cage is higher than that of the counter weight .It is able to overcome due to gravity
itself. In order to limit the cage within a safe value, motor must produce a positive
torque T equal to TL2 in anticlockwise direction. As both power and speed are
negative, drive is operating in reverse braking operation.

➢ Operation in quadrant II is obtained when an empty cage is moved up. Since a counter
weigh is heavier than an empty cage, its able to pull it up. In order to limit the speed
within a safe value, motor must produce a braking torque equal to TL2 in clockwise
direction. Since speed is positive and developed power is negative, it’s forward braking
operation.
❑ Dynamics of Electrical Drives
▪ Fundamental Torque Equations
The dynamic relations applicable to all types of motors and loads. The dynamic or
transient condition. These condition appears during starting, braking and speed reversal
of the drive.

𝒅(𝑱𝝎𝒎 ) 𝒅(𝝎𝒎 ) 𝒅(𝑱)

𝑻𝒆 − 𝑻𝒍 = =𝑱 + 𝝎𝒎
𝒅𝒕 𝒅𝒕 𝒅𝒕

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 𝒅𝑱
• For drives with constant inertia =𝟎
𝒅𝒕
𝒅𝝎𝒎
𝑻𝒆 = 𝑻𝒍 + 𝑱
𝒅𝒕
𝒅𝝎
• 𝑱 𝒎 = Torque component called dynamic torque because it is present only during
𝒅𝒕
the transient operations.
𝒅𝝎𝒎
• At steady state operation 𝑱 = 𝟎.
𝒅𝒕
𝒅𝝎𝒎
• Note: The energy associated with dynamic torque 𝑱 is stored in the form of
𝒅𝒕
kinetic energy.

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❑ Components of Load Torque, 𝑻𝒍
Load torque can be divided into 3 major components:

(i) Friction Torque, 𝑻𝒇

• Friction torque exists due to the friction between various moving parts of the motor,
e.g. at the shaft. 𝑻𝒇 can be sub-divided into 3 components:

1) 𝐓𝐯 , Viscous friction –proportional to speed (𝐓𝐯 = 𝐁𝛚)

2) 𝐓𝐜 , Coulomb friction –independent of speed
3) 𝐓𝐬 , Static friction (Stiction) –exists during start-up

In most cases, 𝑻𝒄 and 𝑻𝒔 is negligibly small.

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(ii) Windage Torque, 𝑻𝒘
• Caused by wind that opposes the motion of the motor.
• 𝑻𝒘 is directly proportional to the square of the speed, 𝑻𝒘 = 𝒌𝝎𝟐 .
• 𝑻𝒘 is negligibly small compared to 𝑻𝒗 .

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(iii) Acceleration Torque, 𝑻𝑱
• Acceleration torque is developed under transient conditions and is used to overcome
the mechanical inertia of the mechanism.
• This torque may be expresses as:

where 𝑱 is the rotational inertia of the system in 𝒌𝒈. 𝒎𝟐

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(iv) Torsional Torque, 𝑻𝒌
• If there is torsional elasticity in the shaft coupling the load to the motor, a further
torque component will exist under transient conditions which is:

• 𝑻𝒌 stores potential energy. The result of this energy storages may be oscillation if
𝑻𝒌 is small.
• When modeling a system It is usually permissible to assume that shafts are
perfectly Stiff and that 𝑻𝒌 may be neglected.
(v) Torque Required for Useful Mechanical Work, 𝑻𝑳

• 𝑻𝑳 depends on particular application: It may be constant, or it may vary with time.

• The overall load torque, 𝑻𝒍 may be written as:

𝒅𝝎𝟐
𝑻 𝒍 = 𝑻𝑳 + 𝑩 𝝎 + 𝑻𝑪 + 𝑻𝒌 + 𝑲 𝝎 + 𝑱
𝒅𝒕
• With 𝑻𝒄 , 𝑻𝒌 , and 𝑲𝝎𝟐 which are normally negligibly small,

𝒅𝝎
𝑻𝒍 = 𝑻𝑳 + 𝑩 𝝎 + 𝑱
𝒅𝒕

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Example:
Using the motor-load structure below, assume the motor has a combined inertia of
𝟎. 𝟎𝟓𝟖 𝒌𝒈. 𝒎𝟐 . The load torque is negligible. Calculate the required electromagnetic
torque if the speed is to be increased from standstill to 1800 rpm in 5 sec.

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Example:

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Solution:

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

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Example:

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