CHAPTER V Motor Drives

Motor drive systems definitions Review of motor principles Mechanical Requirements of Motor Drives

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

Electric Motor Drives

DEFINITION: Electric drives for motor is used to draw electrical energy from the mains and supply the electrical energy to the motor at whatever voltage, current and frequency necessary to achieve the desired mechanical output. General arrangement for variable speed drive.
Power Source Controller Power Electronics Converter Motor Process/ Load

Process Control Computer

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

Example of Motor Drive System: Air Conditioning System

Power Source Power Electronics Converter
Desired temperature Desired humidity

Variable speed drive Motor Air conditioner

Temperature and humidity

Building Cooling

System Controller

Indoor temperature and humidity

Indoor sensors

Three Main Elements of Motor Drives:

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

Requirements of Drives:
Variable speed Controllable Torque
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Motor: Review of general principles

FORCE

MAGNETIC FIELD CURRENT

" Left Hand" Rule Thumb Pointing Finger Middle Finger Flux Density : B = Force : F = B Il

Force (F) Magnetic Field (Flux) ( ) Current (I)

A : Area; l : length of current carrying wire

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Flux in C-core
iron

Leakage flux

+ + + + + + + + + +

air-gap

+ Current into the paper - Current out of the the paper

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

Electric - magnetic analogy EMF Current = Resistance V I= R MMF Flux = Reluctance NI =

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

Air-gap flux densities

MMF=NI

g Area A

Reluctance of air (in the air - gap), g == o A Then,

MMF NIA o = g NI o B= = A g Note that air - gap flux density can be calculated by only knowing the MMF of the coil (NI) and the length of the gap. The flux density is limited by the saturation of the iron (1.6 - 1.8T)
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Evolution of motor geometry

+ + + + + + + + + + -

+ + + + + +

+ + + + + +

C--Core

Split air-gap

Simple motor geometry

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

Torque Production
+
.

current into the paper current out of the paper

Force

++ + +
. .

+ +++

+ + +

. .

Force

TORQUE PRODUCTION

"SLOTTING"
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. . . .

Mechanical System requirements for drives: Linear motion

fe

fL

Linear motion : FM = Fe Fl = where a= du FM = dt M d (Mu ) = M du = Ma dt dt

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

Rotating motion
f

torque

T = F .r For moment of inertia , J T = J is the angular accelaration, i.e : d = m dt Then, d m T=J dt

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

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Motor and load interaction

Jeq m TL Tem Motor Load Jeq = combined loadmotor moment of inertia m = motor speed (rad/s) TL = load torque Tem = motor torque

Tem : ElectromagneticTorque produced by the motor TL : LoadTorque, plus the bearing friction and wind resistance(drag) TJ : NetTorque = Tem TL The difference between Tem and TL causes the combined inertia ( J eq ) of the motor and the load to accelerate, TJ d m = dt J eq
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Example(1)
Jeq m TL Tem Motor Load Jeq = combined loadmotor moment of inertia m = motor speed (rad/s) TL = load torque Tem = motor torque

Using the motor-load structure as above, assume the motor has a combined inertia of 0.058kgm2. The load torque is negligible. Calculate the required electromagnetic torque if the speed is to be increased from standstill to 1,800rpm in 5 sec.
m d m = dt t (1800 0)rpm 1 min 2 = = 37.7 rad / sec 2 5 sec 60 sec rotation d Tem = J eq m = 0.058 37.7 = 1.19 N .m dt
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Example(2)
The speed profile of the rotating system shown in previous example. (Jeq=0.058kgm2) is shown below. Assume the load torque is 5 N.m. Calculate and plot, as a function of time the electromagnetic torque required from the motor
speed (rad/s) 300
Section A Section B Section C Section D Section E Section F

0.1 300

0.2

0.3

0.4

0.5

t(s)

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Torque and Power

In rotational system, if a net torque T causes the cylinder to rotate by a differential angle , the differential work done is : dW = Td If this differntial rotation takes place in d differential time dt , then power can be expressed as : dW d p= =T = T m dt dt d where m = is the angular speed of rotation. dt

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Friction
Friction within motor and load appose rotation
Examples:
Bearings (to support rotating structure) Air (drag/windage) Ditction (friction at zero speed)

Moving objects:
Coulomb friction (independent of speed) Viscous friction (increases linearly with speed)

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

Torque

Speed

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

Torque

Speed
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