Chapter 2

Dynamic Behavior of Electric Drives

Contents

Operation of electric motors in motoring and braking modes

Referring torque and moment of inertia from one axis to other axis

Energy losses in transient

Starting of electric motors

Introduction

Fundamental Torque Equations

➢ A motor usually drives a load through some transmission system.

➢ If the load is directly coupled to motor, the load rotates at the same speed of the motor.

➢ If the load is connected to the motor through some gear mechanism, the load will rotate at a
speed other than motor speed.

➢ Sometimes the load may undergo a translational or linear motion. Whatever it may be, it is
convenient to represent the motor load system by an equivalent rotational system as shown in
figure.
Conti…

Let J = Polar moment of inertia of motor-load system referred to the motor shaft, kg-m2

Wm = instantaneous angular velocity of the motor shaft, rad/sec.

T = Instantaneous value of developed motor torque. N-m

TL = Instantaneous value of load torque (also called as resisting torque), referred to

motor shaft, N-m

Load torque includes friction and windage torque of the motor The torque equation can be written as
Conti…
Load torque includes friction and windage torque of the motor The torque equation can be written as:

𝑑 𝐽𝜔𝑚 𝑑𝜔𝑚 𝑑𝐽
𝑇 − 𝑇𝐿 = =𝐽 + 𝜔𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝐽
Considering constant moment of inertia, = 0.
𝑑𝑡

𝑑𝜔𝑚
Then 𝑇 = 𝑇𝐿 + 𝐽
𝑑𝑡

𝑑𝜔𝑚
The above equation shows the motor torque is balanced by load torque 𝑇𝐿 and a dynamic torque (𝐽 )
𝑑𝑡

➢ It is clear that the term dynamic torque is present only when speed is changing with respect to time.

➢ That means, dynamic torque exists only when motor is accelerating or decelerating (during transient
periods).
Conti…
The drive accelerates or decelerates depends on sign of the dynamic torque.

If 𝑇 > 𝑇𝐿 → dynamic torque is positive and the motor drive accelerates

𝑇 < 𝑇𝐿 → dynamic torque is negative and the motor drive decelerates

𝑇 = 𝑇𝐿 → the motor drive is in steady state with constant speed.

➢ If the motor develop a torque which is greater than load torque, the additional torque is utilized to
accelerate the motor.

➢ If the motor developing a torque which is less than load torque, the motor decelerates.

➢ If the motor is developing a torque equal to load torque, the motor drive will operate with constant
speed.

➢ If the drive requires fast transient response, the drive should develop large amount of torque when
compared to load torque and the drive should have moment of inertia as minimum as possible.
Speed torque conventions and multi quadrant operations

➢ For consideration of multi-quadrant operation of drives, it is useful to establish suitable conventions

about sign of speed and torque.

➢ The normal direction of the motor rotation is usually taken as positive and the motor torque which

produce the positive rotation of the motor is considered as positive torque.

➢ If the drive rotates in both directions, the positive speed is considered arbitrarily (randomly).

➢ In loads involving up-down motions, the speed of the motor which causes upward motion is treated as

positive speed.

➢ A motor operates in two modes, motoring (converting electrical energy into mechanical energy) and

braking/generating (converting mechanical energy into electrical energy).

Conti…

Four quadrant operation of a motor driving hoist load

Conti…

Counter weight > Empty cage weight

Counter weight < Loaded cage weight

➢ The load torque is difference of counter weight and the cage weight.

➢ For I and IV quadrants the load torque is positive as loaded cage weight is more than empty cage.

➢ For II and III quadrants the load torque is negative as empty cage weight is less than counter

weight.

➢ Power is product of torque and angular velocity, sign of power can be calculated by each quadrant

by considering sign of torque and angular velocity in that quadrant.

Conti…
Operation of hoist is explained in various quadrants as follows

Quadrant I: Loaded cage is moving upwards, the drive should rotate in counter clockwise direction
and the motor should develop torque in the same direction.

➢ Since the speed and torque are positive, the power is also positive and the mode of operation is
forward motoring.

Quadrant II: Empty cage is moving upwards, the drive should rotate in counter clockwise direction.

➢ As the counter weight is greater than empty cage, the load itself will try to drive the motor in
counter clockwise direction.

➢ To avoid accidents, the motor should develop braking torque which is opposite to the direction of
rotation. In this quadrant the speed is positive and the torque is negative, power is negative, the
mode of operation is forward braking.
Conti…
Quadrant III: Empty cage moving downwards, the drive should rotate in clockwise direction.

➢ As the counter weight is greater than empty cage, the motor has to develop reverse torque.

➢ In this quadrant the speed is negative and the torque is negative, power is positive, the mode of
operation is reverse motoring.

Quadrant IV: Loaded cage moving downwards, the drive should rotate in clockwise direction.

➢ As the loaded cage weight is greater than counter weight, the load itself will try to drive the motor
in clockwise direction.

➢ To avoid accidents, the motor should develop braking torque which is opposite to the direction of
rotation.

➢ In this quadrant the speed is negative and the torque is positive, power is negative, the mode of
operation is reverse braking.
Referring torque and moment of inertia from one axis to other axis

An electric drive in industrial applications is required to drive the different loads through different
mechanisms, such as gears, V-belts and crank shafts.

Usually the speed of the load will be different when such mechanisms are used. The load may be
either rotational or translational (linear motion). It is important to find the equivalent moment of
inertia and torque from one axis to other axis or referred to motor shaft.

Loads with rotational motion: let us consider a motor driving two loads, load (1) is directly connected
to the motor and load (2) is connected through gear wheel with teeth ratio n and n1.
Let 𝐽 → equivalent moment of inertia 𝑇𝑙 → equivalent load torque
𝐽0 → moment of inertia of motor and load 1
𝜔𝑚 → speed of the motor and the load 1
𝑇𝑙0 → torque of load 1 𝐽1 → moment of inertia of load 2
𝜔𝑚1 → speed of load 2 𝑇𝑙1 → torque of load 2
 𝒏 𝝎𝒎𝟏
𝑎1 → gear tooth ratio, and is given by 𝒂𝟏 = =
𝒏𝟏 𝝎𝒎
𝜂1 → transmission efficiency of gears

If the transmission losses are neglected, then the total (equivalent) kinetic energy is equal to the
kinetic energy of various parts.

In this case equivalent kinetic energy is equal to the kinetic energy of load (1) and load (2)
Conti…
𝟏 𝟐 𝟏 𝟏
𝑱𝝎𝒎 = 𝑱𝒐 𝝎𝒎 + 𝑱𝟏 𝝎𝟐𝒎𝟏
𝟐
𝟐 𝟐 𝟐
𝟏
Dividing the above equation by 𝝎𝒎 𝟐
𝟐

𝑱 = 𝑱𝟎 + 𝒂𝟏 𝟐 𝑱𝟏 …………………………………..(1)
Also power output of the motor must be equal to sum of total power taken by the loads, then

𝑻𝒍𝟏 𝝎𝒎𝟏
𝑻𝒍 𝝎𝒎 = 𝑻𝒍𝟎 𝝎𝒎 +
𝜼𝟏
Dividing the above equation with 𝝎𝒎
𝑻𝒍𝟏 𝝎𝒎𝟏
𝑻𝒍 = 𝑻𝒍𝟎 + …………………………(2)
𝜼𝟏 𝝎 𝒎

the above equations (1) and (2) can be rewritten in more general form when many number loads are
connected to the motor drive
Conti…
Assume that one load is directly connected to the motor and there are m number of loads with,

moment of inertia 𝑱𝟏 , 𝑱𝟐 , … … . . , 𝑱𝒎

gear ratio 𝒂𝟏 , 𝒂𝟐 , … … … , 𝒂𝒎

load torques 𝑻𝟏 , 𝑻𝟐 , … … … , 𝑻𝒎

transmission efficiencies 𝜼𝟏 , 𝜼𝟐 , … … … , 𝜼𝒎

then the equivalent moment of inertia and the equivalent toque are given by

𝑱 = 𝑱𝟎 + 𝒂𝟏 𝟐 𝑱𝟏 + 𝒂𝟐 𝟐 𝑱𝟐 + ⋯ + 𝒂𝒎 𝟐 𝑱𝒎

𝒂𝟏 𝑻𝒍𝟏 𝒂𝟐 𝑻𝒍𝟐 𝒂𝒎 𝑻𝒍𝒎

𝑻𝒍 = 𝑻𝒍𝟎 + + + ⋯+
𝜼𝟏 𝜼𝟐 𝜼𝒎
Conti…
Loads with translational motion: let us consider a motor driving two loads, load (1) is directly connected
to the motor and load (2) is connected through a transmission system converting rotational motion to linear
motion.

Let 𝐽 → equivalent moment of inertia

𝑇𝑙 → equivalent load torque referred to motor shaft

𝐽0 → moment of inertia of motor and load 1

𝜔𝑚 → speed of the motor and the load 1

𝑇𝑙0 → torque of load 1

𝑀1 → mass of load 2

𝑉1 → velocity of load 2

𝐹1 → Force with translational motion of load 2

𝜂1 transmission efficiency
Conti…
Now, if the transmission losses are neglected, then the total (equivalent) kinetic energy is equal to the
kinetic energy of various parts.
Conti…

Assume that one load is directly connected to the motor and there are m number of loads with
translational motion with,

Velocities v1, v2,………vm and Masses M1, M2, ………Mm

Calculation of time and energy loss in transient operations
➢ Starting, braking, reversing the rotation, speed changing, etc.. are transient operations.

➢ Time of transient operation depend on time constants of the system.

Transient time and energy loss can be calculated using speed – torque and speed - current
characteristic. The torque equation is given by
Conti…

➢ Above equation can be evaluated only if both the torques are expressed in terms of speed and also

they are of integral form. Otherwise the integral is evaluated graphically .

➢ Lets us assume that T and Tl expressed as a function of speed (Wm). For different speeds, calculate

the value of

➢ Plot the graph between Wm Vs

➢ The time of transient operation can be calculated by calculating the area under curve(shaded area)

as shown in figure below.

Conti…
Conti…

➢ Actually the time cannot be calculated up to final speed as it results in infinite time. So if the final

speed is Wme, the transient time is calculated up to Wm2 which is given by

Wm2 = Wm1 + 0.95 (Wme - Wm1)

➢ Energy dissipated in the motor winding during transient operation can be calculated using speed –

torque and speed – current characteristic.

Energy dissipate in a motor winding during a transient operation is given by
𝒕
𝑬= ‫𝒕𝒅 𝟐𝒊 𝑹 𝟎׬‬
Where 𝑅 = motor winding resistance
𝑖 = current flowing trough it
Example. A motor drives two loads. One has a rotational motion and coupled to the motor

trough a reduction gear with a = 0.1 and efficiency of 90%. The load has a moment of inertia

of 10𝑘𝑔 − 𝑚2 and a torque of 10 N.m. Other load has translational motion and consists of

1000 kg weight to be lifted up at a uniform speed of 1.5m/s. Coupling between this load and

the motor has an efficiency of 85%. Motor has an inertia of 0.2 𝑘𝑔 − 𝑚2 and runs at a

constant speed of 1420 rpm. Determine equivalent inertia referred to the motor shaft.
Example. A motor drives four loads, two have rotational and two translational motion. Moment of
inertia of the motor is 1.2 𝑘𝑔 − 𝑚2 . Motor runs at a speed of 1000 rpm.

Load Motion type Speed Inertia/mass Torque/Force

I Rotational 200 𝑟𝑝𝑚 7 𝑘𝑔 − 𝑚2 10 𝑁. 𝑚
II Rotational 200 𝑟𝑝𝑚 5 𝑘𝑔 − 𝑚2 6 𝑁. 𝑚
III Translational 10 𝑚/𝑠 10 𝑘𝑔 20 𝑁
IV Translational 10 𝑚/𝑠 20 𝑘𝑔 30 𝑁

Calculate the equivalent inertia of the system referred to the motor shaft and power rating of the

motor, assuming negligible loss in the transmission system.

Example.

A drive has the following parameters:

𝐽 = 10 𝑘𝑔 − 𝑚2

𝑇 = 100 − 0.1𝑁, 𝑁 − 𝑚

passive load torque 𝑇1 = 0.05𝑁, 𝑁. 𝑚

Where 𝑁 is speed in 𝑟𝑝𝑚

Initially the drive is operating in steady-state. When the motor is reversed, the characteristic
changed to 𝑇 = −100 − 0.1𝑁, 𝑁. 𝑀

Calculate the time of reversal.

Example.

A motor is used to drive a hoist. Motor characteristics are given by

Quadrants I, II and IV: T = 200 – 0.2N, N-m

Quadrants II, III and IV: T = -200-0.2N, N-m

Where N is the speed in rpm.

When hoist is loaded, the net load torque Tl = 100, N-m and when it is unloaded,
the net load torque is Tl = -80 N-m obtain equilibrium speeds for operation in all
four quadrants.
Starting of DC Motors

The basic function of a starter is to limit the current in the armature circuit during starting or

accelerating period.
Conti…

➢It may be noted that shunt field is kept independent of starting resistance. It is because
when supply is connected, it receives normal rated voltage and sets-up maximum
(rated) flux.

➢A higher value of flux results in a low operating speed and a higher motor torque for a
particular value of starting current since speed is inversely proportion to flux per pole f
whereas motor torque is proportional to product of flux per pole and armature current.

➢Hence, for a given load torque, the motor will accelerate quickly and reduces the
starting period. Thus, the heating effect to armature winding is reduced.
Conti…

Three-point Starter
Conti…

Drawbacks of 3 point starters

➢ If field flux control method of speed control is used, field current reduces

➢ This will reduces the current through NVC and the holding strength of electromagnet becomes

weak.

➢ The arm of the starter may be released during normal operation, thus this will disconnected the

motor from the line

➢ To overcome this difficulty four point starter is used.

Conti…

Four-point Starter
Conti…

Operation

The working of a four-point starter is similar to a three-point starter with slight changes.

In this case, when the plunger touches the first stud, the line current is divided into the following

three parts:

I. First part passes through starting resistance and armature (as well as in series field for
compound motors).

II. Second part passes through the field winding (and speed control resistance if applied) and

III. The third part passes through no-volt release coil and protective resistance connected in
series with the coil.
Conti…

Two point starter

Chapter two review questions

1. What is the importance of the dynamic torque?

2. Explain any one application of electric drive that works in all four quadrants.

3. Derive the expressions for equivalent moment of inertia and torque when many rotational
motion loads are connected to drive through gear mechanism.

4. Derive the expressions for equivalent moment of inertia and torque when many translational
motion loads are connected to drive through gear mechanism.

5. Explain how to find time and energy loss intransient operations.

6. Explain in detail the starting mechanisms of a DC motors.