Electric Drives

ELECTRIC DRIVES
INTRODUCTION TO ELECTRIC DRIVES

MODULE 1
Dr. Nik Rumzi Nik Idris

Dept. of Energy Conversion, UTM
2013
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Electrical Drives
Drives are systems employed for motion control
Require prime movers
Drives that employ electric motors as

prime movers are known as Electrical Drives
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)
• MEP 1523 will be covering variable speed drives

Example on VSD application
Constant speed Variable Speed Drives
valve
Supply
motor pump
Power Power out

In
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power Power out

In Power Power out
In
Power loss
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power Power out

In Power Power out
In
Power loss
Power loss
Mainly in valve
Conventional electric drives (variable speed)
• Bulky
• Inefficient
• inflexible
Modern electric drives (With power electronic converters)
• Small
• Efficient
• Flexible
Modern electric drives
Utility interface Machine design

Speed sensorless
Renewable energy
Machine Theory
Non-linear control
Real-time control
DSP application
PFC
Speed sensorless
Power electronic converters
• Inter-disciplinary (PE, control system, machine

design, sensors)
• Several research area
• Expanding
Components in electric drives
Motors
• DC motors - permanent magnet – wound field
• AC motors – induction, synchronous (IPMSM, SMPSM),
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
Control unit
• Complexity depends on performance requirement
• analog- noisy, inflexible, ideally has infinite bandwidth.
• digital – immune to noise, configurable, bandwidth is smaller than
the analog controller’s
• 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:
• Malfuction in power circuit may damage control circuit
• Safety for the operator
• Avoid conduction of harmonic to control circuit
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 for the reasons previously explained
• The term ‘sensorless drives’ is normally referred to the drive
system where the speed is estimated rather than measured.
Overview of AC and DC drives
Extracted from Boldea & Nasar

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
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

After semiconductor devices were introduced (1950s)
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
Classification of IM drives (Buja, Kamierkowski, “Direct torque control of PWM inverter-fed AC motors - a survey ”,
IEEE Transactions on Industrial Electronics, 2004.
Elementary principles of mechanics

v
x Newton’s law
Fm d Mv 
M Fm  Ff 
Ff dt
Linear motion, 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
 Rotational motion
- Normally is the case for electrical drives

Tl
d Jm 
Te  Tl 
Te , m dt
J
With constant J,
d  m  d 2
Te  Tl  J J 2
dt dt
• First order differential equation for angular frequency (or velocity)

• Second order differential equation for angle (or position)


For constant J, dm
Te  Tl  J
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
dm
Te  Tl  J
dt
dm dm
m Te  m Tl  m J  pD  pL  m J
dt dt
Driving
power
Change
Load in KE
power
• A step change in speed requires an infinite driving power

• Therefore  is a continuous variable
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  ò pD dt  ò pL dt  ò  mJ dt
dt
0 0 0

wD  wL  J ò md m
0
1
wD  wL  J m
2
2
A drive system that require fast acceleration must have

• large motor torque capability
• small overall moment of inertia
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:
J is purposely increased to do this job !
Combination of rotational and translational motions
Fl Fe
Te, 

r M r
Tl
v
d v 
Fe  Fl  M Te = r(Fe), Tl = r(Fl), v =r
dt
d
Te  Tl  r 2M
dt
r2M - Equivalent moment inertia of the

linearly moving mass
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
Elementary principles of mechanics – effect of gearing
m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1
Tl2
J equ  J1  a 22 J 2
m
Motor Equivalent
Te Load , Tlequ
Tlequ = Tl1 + a2Tl2
Jequ
a2 = n1/n2=2/1
Torque-speed quadrant of operation
2 1
T -ve T +ve • Quadrant of operation is
 +ve  +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
• Not all converters can
T -ve T +ve operate in 4 quadrants
 -ve  -ve
Pm +ve Pm -ve
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 • Not all converters can
m operate in 4 quadrants
m
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking
Motor steady state torque-speed characteristic (natural

characteristic)
SPEED
Synchronous mch
Induction mch
Separately / shunt DC mch
Series DC
TORQUE
By using power electronic converters, the motor characteristic

can be change at will
Load steady state torque-speed characteristic

Frictional torque (passive load) • Exist in all motor-load drive
SPEED
T~ C system simultaneously
T~ 2
• In most cases, only one or two
T~  are dominating
• Exists when there is motion
TORQUE
Coulomb friction
Viscous friction
Friction due to turbulent flow


Constant torque, e.g. gravitational torque (active load)
SPEED Gravitational torque

Vehicle drive
Te
TORQUE
TL
gM

FL
TL = rFL = r g M sin 

Hoist drive
Speed
Torque
Gravitational torque
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
steady state torque characteristics
Torque Te Tl
Steady state
speed
r3 r1r r2 Speed

Torque and speed profile
speed Speed profile

(rad/s)
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) ?

speed
(rad/s)
d
100
Te  J  B  Tl
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

= -57.67 – 66.67t

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

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?
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
Thermal considerations
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
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)
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 / t  , where t 
C
A
ph
T A T 
ph
A

1  e t / t 
Heating transient
t
t
T
T  T(0)  e  t / t
T(0)
Cooling transient
t t
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
t
Short time intermittent duty

Operation considerably less than time constant, t
Motor allowed to cool before next cycle
Motor can be overloaded until maximum temperature reached
Short time intermittent duty p1s
p1
p1n
T p1s
A
p1n
A
Tmax
t t
t1
Short time intermittent duty  
pp11nn p1ps 1s1 1eet 1 / tt 1 / t
T A  A
p1s 1 t
 t1 / t

p1n 1  e t1
T 
p1s
A

1  e t / t 
p1n
A
Tmax
t t
t1
Load cycles are repeated periodically
Motors are not allowed to completely cooled
Fluctuations in temperature until steady state temperature is reached

p1
heating coolling
heating coolling
heating coolling
t
Example of a simple case – p1 rectangular periodic pattern
pn = 100kW, nominal power

M = 800kg
= 0.92, nominal efficiency
T= 50oC, steady state temperature rise due to pn
1  p1 9000
p1  p n   1  9kW Also, A    180 W / o C
  T 50
If we assume motor is solid iron of specific heat cFE=0.48 kWs/kgoC,

thermal capacity C is given by
C = cFE M = 0.48 (800) = 384 kWs/oC
Finally t, thermal time constant = 384000/180 = 35 minutes

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

Electric Drives

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Electric Drives

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ELECTRIC DRIVES

INTRODUCTION TO ELECTRIC DRIVES

Dr. Nik Rumzi Nik Idris

Drives are systems employed for motion control

Require prime movers

Drives that employ electric motors as

• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed

• MEP 1523 will be covering variable speed drives

Example on VSD application

Constant speed Variable Speed Drives

Power Power out

Example on VSD application

Constant speed Variable Speed Drives

Power Power out

Example on VSD application

Constant speed Variable Speed Drives

Power Power out

Conventional electric drives (variable speed)

Modern electric drives (With power electronic converters)

Modern electric drives

Utility interface Machine design

• Inter-disciplinary (PE, control system, machine

Components in electric drives

Components in electric drives

Components in electric drives

Overview of AC and DC drives

Extracted from Boldea & Nasar

Overview of AC and DC drives

DC motors: Regular maintenance, heavy, expensive, speed limit

AC motors: Less maintenance, light, less expensive, high speed

Overview of AC and DC drives

Before semiconductor devices were introduced (<1950)

After semiconductor devices were introduced (1950s)

• High performance applications dominated by DC motors –

Overview of AC and DC drives

Overview of AC and DC drives

After vector control drives were introduced (1980s)

• Cost of microprocessor/semiconductors decreasing –predicted

Elementary principles of mechanics

Linear motion, constant M

• First order differential equation for speed

Elementary principles of mechanics

- Normally is the case for electrical drives

• First order differential equation for angular frequency (or velocity)

Elementary principles of mechanics

Elementary principles of mechanics

Larger net torque and smaller J gives faster acceleration

Elementary principles of mechanics

• A step change in speed requires an infinite driving power

Elementary principles of mechanics

Elementary principles of mechanics

A drive system that require fast acceleration must have

• small overall moment of inertia

As the motor speed increases, the kinetic energy also increases.

Elementary principles of mechanics

Combination of rotational and translational motions

r2M - Equivalent moment inertia of the

Elementary principles of mechanics – effect of gearing

Low speed applications use gear to utilize high speed motors

Elementary principles of mechanics – effect of gearing

Torque-speed quadrant of operation

Torque-speed quadrant of operation