BEKE 4753 Electrical Drives

INTRODUCTION TO ELECTRICAL
DRIVES
(Module 1)
 Had you watched the videos??
Electrical drives for industrial applications:
 Video 1:
https://www.youtube.com/watch?v=2Gjs7IPOCXs
 Video 2:
https://www.youtube.com/watch?v=jcuNEW6Fdq0

 1. Why electrical drives are important for our daily life?

 2. What is the main components of electrical drives?

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What say you Ir (to be)??

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 Introduction to Electric Drives
 Drives/Actuators - employed for systems that require motion
control – e.g. transportation system, fans, robots, pumps,
machine tools, etc.
 Motion control:
– torque/speed/position/rotating/linear motion etc.
 Prime movers are required in drive systems to provide the
movement or motion and energy that is used to provide the
motion can come from various sources: diesel engines, petrol
engines, hydraulic motors, electric motors etc.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Electrical Drives
Drives are systems that are used to perform some
specific tasks, such as to move some loads or objects.

Source of motion is from prime movers.

Drives that employ electric motors as

prime movers are known as Electrical Drives.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Advantages of Electrical Drives:

 Flexible control characteristic – This is particularly true when power
electronic converters are employed where the dynamic and steady
state characteristics of the motor can be controlled by controlling
the applied voltage or current.
 Available in wide range of speed, torque and power; they are
available in mW up to MW range.
 High efficiency, low noise, low maintenance requirements and
cleaner operation.
 Electric energy is easy to be transported over long distances.
 Adaptable to various operating conditions: explosive, submerged in
liquid, various types of mounting, etc.
 Can be started instantly and can be fully loaded immediately (no
need to warm-up or refueling the motor).

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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).

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Electrical Drives

Machine Drive

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 INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Constant speed Variable Speed Drives

valve

Supply
motor pump

Power Power out

In

Power loss
Mainly in valve
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 INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Constant speed Variable Speed Drives

valve

Supply Supply
motor pump motor
PEC pump

Power Power out

In Power Power out
In

Power loss
Power loss
Mainly in valve
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 INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Example on VSD application

Constant speed Variable Speed Drives

valve

Supply Supply
motor pump motor
PEC pump

Power Power out

In Power Power out
In

Power loss
Power loss
Mainly in valve
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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Conventional Electric Drives (variable speed)

Variable speed drives without power electronics

Ward-Leonard System

Field excitation of DC
generator is adjusted to
provide adjustable DC Speed of DC Motor
voltage to the DC machine. depends on the
Disadvantages: terminal voltage
 Bulky (variable DC).
 inefficient
 Not flexible 12
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Input power 3-phase IM

Load
Power
Electronic
Converters
Unregulated
DC or AC

References Controller Feedback

Speed, torque, Voltage, current,
position speed, etc

• Inter-disciplinary • Small
• Several research area • Efficient
• Expanding • Flexible
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• Electrical Traction/Train
System

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Power
Configurations of Power Electronic Converters depend on:
Electronic
Converters
 Sources available

 Drive Performance - applications

- Braking
- Response
- Ratings

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Power
Electronic
Converters

Example of PE converters for high performance application:

AC – DC conversion DC – AC conversion

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Input power 3-phase IM

Load
Power
Electronic
Unregulated
Converters
DC or AC

Feedback
References Controller Voltage, current,
Speed, torque,
speed, etc
position

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Controller

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Controller

SCALAR CONTROL VECTOR CONTROL

• Microprocessor/ • Trend: DSP- based,
Microcontroller based FPGA
• Less computational • High computational
requirement requirement – real time
• Low-medium performance torque, flux estimations
• High performance

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Input power 3-phase IM Load

Power
Electronic
Unregulated Converters
DC or AC

sensors
Feedback
References Controller Voltage, current,
Speed, torque, speed, etc
position

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (With Power Electronic Converters)

sensors
Feedback
Voltage, current,
speed, etc

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Modern Electric Drives (with Power Elect. Converters)

Feedback
sensors
Voltage, current, Phase currents Control &
speed, etc Hall effect device Protection

DC link voltage Observers Rotor

Hall effect device
Speed
Torque
Torque sensor

Rotor Speed Torque

Mech. speed sensor Control &
Protection

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

Extracted from Boldea & Nasar

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

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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.

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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.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Overview of AC and DC drives

After semiconductor devices were introduced (1950s)

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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.

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 4-quadrant Operation
Electric vehicle propulsion systems 

 Electric motors convert energy from electrical to mechanical - energy

converters.
 In braking mode, the flow of power is reversed.
 Depending upon the type of power converters used, it is also
possible for the power to be fed back to the sources (regenerative
braking) rather than dissipated as heat (dynamic braking).
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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation

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

3 4
T -ve T +ve • However, not all
w -ve w -ve converters can operate in
Pm +ve Pm -ve 4 quadrants.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation


m T
m e
Te • Quadrant of operation is
defined by the speed and
torque of the motor.
Quadrant 2 Quadrant 1 • Most rotating electrical
Forward braking Forward motoring machines can operate in 4
Te T quadrants.
Te - forward/reverse
m • Not all converters can
m operate in 4 quadrants
– Single quadrant
– 2 quadrants
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking – 4 quadrants

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation


Te Quadrant 1:
m m Forward motoring
Te
• Both torque and speed are
positive (forward direction).
• P  Te (+ve)
Quadrant 2 Quadrant 1
Forward braking Forward motoring • Energy is converted from
Te T electrical form to
Te mechanical form, which is
m used to rotate the motor.
m
• Flow of energy: electrical
system → mechanical
Quadrant 3 Quadrant 4 system.
Reverse motoring Reverse braking

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation


Te Quadrant 2:
m m Forward braking
Te
• Speed is in forward
direction (+ve) but the
motor torque is in opposite
Quadrant 2 Quadrant 1
Forward braking Forward motoring direction (-ve).
T • P  Te (-ve)
Te
Te • Motor torque is used to
m ‘brake’ the reverse rotation
m
of motor
• Flow of energy: mechanical
Quadrant 3 Quadrant 4 system → electrical system
Reverse motoring Reverse braking
(motor operates as
generator).
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Example of forward braking operation:
• In DC motor drive, forward braking is initiated when the armature
terminal voltage of a motor rotating in forward direction (Quadrant 1)
is reduced lower than the back EMF of the motor.
• This forces the current to flow in reverse direction thus implying a
negative torque (Quadrant 2).
• The motor speed reduces to a new steady state speed and again
operates in the Quadrant 1.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation


Te Quadrant 3 :
m m Reverse motoring
Te
• Speed and torque of motor
are in the same direction
but are both negative (-ve).
Quadrant 2 Quadrant 1
Forward braking Forward motoring • P  Te (+ve)
Te T • The reverse electrical
Te torque is used to rotate the
m motor in reverse direction.
m
• Flow of energy: electrical
system → mechanical
Quadrant 3 Quadrant 4 system.
Reverse motoring Reverse braking

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Example of reverse motoring operation:
• In DC motor drive, if the motor initially operates in Quadrant 1
(forward speed), it will have to operate in forward braking first
(Quadrant 2) before the speed can be reversed (Quadrant 3).
• In order to move from Quadrant 1 to Quadrant 3, the voltage applied
to the motor terminal has to be reversed.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque-speed quadrant of operation


Te Quadrant 4:
m m Reverse braking
Te
• Speed is in reverse
direction but torque is
positive.
Quadrant 2 Quadrant 1
Forward braking Forward motoring • P  Te (-ve)
Te T • The reverse electrical
Te torque is used to rotate the
m motor in reverse direction.
m
• Flow of energy: mechanical
system → electrical system
Quadrant 3 Quadrant 4 (motor operates as
Reverse motoring Reverse braking
generator).

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

v (velocity)
x (distance) Newton’s law
d Mv 
Fm Fm  Ff 
dt
M (mass) Ff
 The net force acting on a
body of mass M equals to
the rate of change of its
mechanical momentum.
Linear motion, with 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

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

 Rotational Motion

- Normally is the case for electrical drives

Tl
d  Jm 
Te  Tl 
dt
T e , m
J Te : Electrical torque
Tl : load torque
J : moment of inertia
With constant J, m : angular velocity
d  m  d 2  : displacement/position
Te  Tl  J J 2
dt dt
• First order differential equation for angular frequency (or velocity)
• Second order differential equation for angle (or position)

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

For constant J, T  T  J dm
e l
dt
d m 
J : Torque dynamic – present during speed transient
dt
d m 
: Angular acceleration
dt

 Larger net torque and smaller J gives faster acceleration

200

100
speed (rad/s)

-100

-200
0.19 0.2 0.21 0.22 0.23 0.24 0.25

20

15
torque (Nm)

10

0
0.19 0.2 0.21 0.22 0.23 0.24 0.25 41
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

dm
Te  Tl  J
dt
Multiply with ω,
d dm
m Te  m Tl  m J m  pD  pL  m J
dt dt

Driving
power

Load power Change in kinetic

energy (KE)

 A step change in speed requires an infinite driving power

 Therefore  is a continuous variable. An abrupt (discontinuous) change
in ω will results in an infinite power.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

dm
Te  Tl  J
dt
dm dm
m Te  m Tl  m J  pD  pL  m J
dt dt

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

t t t
dm
wD   pD d   pL d   m J
d
d
0 0 0



w D  w L  J m dm
0
1 2 Kinetic energy
wD  wL  Jm
2
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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

 A drive system that require fast acceleration must have:

 large motor torque, Te capability

 small overall moment of inertia, J

 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:
 Inertia, J is purposely increased to do this job !

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics

Combination of Rotational and Translational motions

Fl Fe
Te, 

r M r
Tl
v Te = r(Fe)
Tl = r(Fl)
v =r
d v 
Fe  Fl  M
dt
d
Te  Tl  r 2M
dt

r2M - Equivalent moment inertia of the linearly moving mass (Jequ)

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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.

m m1
Motor Load 1, n1
Te Tl1
J2

m2
n2 Load 2,
J1 Tl2

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Elementary principles of mechanics – effect of gearing

m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1
Tl2

m
J equ  J1  a 22 J 2
Motor Equivalent
Te Load , Tlequ
Tlequ = Tl1 + a2Tl2

a2 = n1/n2=2/1
Jequ

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Motor steady state torque-speed characteristic

(natural characteristic- v and freq. are kept constant)
SPEED

Synchronous machine

Induction machine

Separately / shunt DC machine

Series DC machine

TORQUE

 By using power electronic converters, the motor characteristic can be

change at will

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Load torque
SPEED
T~ C i) Frictional torque (passive load):
• Exist in all motor-load drive
T~ 2
system simultaneously
T~ 
• In most cases, only one or two
are dominating
• Exists when there is motion
TORQUE

Type of frictional torque:

- Coulomb friction
- Viscous friction
- Friction due to turbulent flow

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Load torque
ii) Constant torque, e.g. gravitational torque (active load)
- independent of speed e.g gravity, tension etc..

SPEED Gravitational torque

Vehicle drive

Te

TORQUE TL

 gM

FL

TL = rFL = r g M sin 

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Load steady state torque-speed characteristic

Hoist drive

Speed

Torque

Gravitational torque

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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
d
steady state torque characteristics Te  Tl  J m
dt

Torque Te Tl

Steady state
speed

r3 r1 r2 Speed

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

speed
(rad/s)
Speed profile
100

10 25 45 60 t (ms)

The system is described by: Te – Tload = J(d/dt) + B

J = 0.01 kg-m2, B = 0.01 Nm/rads-1 and Tload = 5 Nm.

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

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Torque and speed profile

What is the torque profile (torque needed to be produced) ?
J = 0.01 kg-m2, B = 0.01 Nm/rads-1 and Tload = 5 Nm.
speed
(rad/s)
100

d
Te  J  B  Tload
dt

10 25 45 60 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
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= -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
Torque profile
71.67

6
5
10 25 45 60 t (ms)

-60.67
-61.67

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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.

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?

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations (own reading  )

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

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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 p2
Thermal capacity, C (Ws/oC)

Input heat power

Surface A, (m2) Emitted heat power
Surface temperature, T (oC)
(losses) (convection)

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Power balance:
dT
C  p1  p 2
dt

Heat transfer by convection:

p 2  A (T  To ) , where  is the coefficient of heat transfer

Which gives:
dT A p
 T  1
dt C C

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

T 
ph
A
1  e t /   , where  
C
A

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
ph
T A T 
ph
A
1  e t /  

Heating transient

t

T
T  T(0)  e  t / 
T(0)
Cooling transient

 t

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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
Losses due to continuous load
T A

p1n

t

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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

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Short time intermittent duty p1s
p1

p1n

T p1s
A

p1n
Tmax
A

 t 63
t1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Short time intermittent duty  
pp11nn p1ps 1s1 1eet1 / t1 / 
T A A
p1s 1 
  t1 / 

p1n 1  e t1
T 
p1s
A
1  e t /  
p1n
A
Tmax

 t
t1

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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

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Thermal considerations
Periodic intermittent duty

p1
heating coolling
heating coolling
heating coolling

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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
h = 0.92, nominal efficiency
T= 50oC, steady state temperature rise due to p n

1  p1 9000
p1  pn   1  9kW Also, A    180 W / o C
  T 50

If we assume motor is solid iron of specific heat c FE=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

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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

0
0 0.5 1 1.5 2 2.5
4
x 10
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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Ratings of converters and motors

For fast acceleration, motor torque has to be much larger than the
load torque

Transient torque limit can be several times motor rated torque

because of the large thermal capacity of the machine

Transient torque limit cannot exceed the device ratings because of

the small thermal capacity of the device

Continuous torque limit is determined by the motor ratings

To protect motor from continuous overloading, thermal protection

mechanism has to be used.

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INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Ratings of converters and motors

Torque

Transient Power limit for

torque limit transient torque

Continuous
torque limit Power limit for
continuous torque

Maximum
speed limit

Speed

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End of Part 1

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