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Lecture 2

This document discusses the dynamics of electric drives. It defines the different torque components that make up the load torque including friction, acceleration, and work torque. It also describes torque equations for electric drives and the concepts of dynamic torque. Different types of loads are classified and equivalent drive parameters are derived for loads with rotational and translational motion. Methods for measuring moment of inertia and calculating transient time and energy loss are also summarized.

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Dinesh Reddy
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73 views15 pages

Lecture 2

This document discusses the dynamics of electric drives. It defines the different torque components that make up the load torque including friction, acceleration, and work torque. It also describes torque equations for electric drives and the concepts of dynamic torque. Different types of loads are classified and equivalent drive parameters are derived for loads with rotational and translational motion. Methods for measuring moment of inertia and calculating transient time and energy loss are also summarized.

Uploaded by

Dinesh Reddy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Dynamics of Electric Drives

Dr SINDHU M R
Associate Professor,EEE
Amrita School of Engineering, Coimbatore
Dynamics of Electric Drives

• Load Torque required by the load at the shaft (𝑇𝐿 ) =


• Torque component to overcome friction and windage which accompanies
mechanical motion (𝑇𝑓𝑤 ) +
• Torque required to accelerate the load to the desired speed (𝑇𝑎 ) +
• Torque required to do the prescribed mechanical work to run the load at the
desired speed (𝑇𝜔 )
• 𝑇𝐿 = 𝑇𝑓𝑤 + 𝑇𝑎 + 𝑇𝜔
Friction and Windage Torques existing in a mechanical system
Friction Torque:
Viscous Friction

Torque required  Speed of rotation


𝑑𝜃
𝑇𝐵 = B w = B , B = Proportionality Constant
𝑑𝑡

𝐂𝐨𝐮𝐥𝐨𝐦𝐛 𝐅𝐫𝐢𝐜𝐭𝐢𝐨𝐧: Torque required is independent of speed Viscous Friction

Static Friction : Occurs due to sticking nature of surfaces.


It is very small and may be neglected

Windage Torque
Torque required by the load when air surrounding the rotating parts moves

Static Friction
Torque Equations
• Let
J = the polar moment of inertia of motor-load system, referred to the motor shaft, kg-m2
ωm = instantaneous angular velocity of the motor shaft, rad/sec.
Tm = the instantaneous value of developed motor torque, N-m.
TL = the instantaneous value of load torque, referred to a motor shaft, N-m.
𝑑𝜔 𝑑2 𝜃
• Torque required to accelerate the load to the desired speed (𝑇𝑎 ) = 𝑇𝑎 = J = J 2 Nm
𝑑𝑡 𝑑𝑡

• Torque required to do the prescribed mechanical work to run the load at the desired speed 𝑇𝜔 = 𝑇 𝜔

𝑑𝜔
• Load Torque required by the load at the shaft (𝑇𝐿 ) = J +Bw+𝑇 𝜔
𝑑𝑡
Multiquadrant Operation of Electric Drive
Four Quadrant Operation - Hoist
Equivalent Drive Parameters
Fundamental Torque Equations

Let
J = the polar moment of inertia of motor-load system, referred to the motor shaft, kg-m2
ωm = instantaneous angular velocity of the motor shaft, rad/sec.
Tm = the instantaneous value of developed motor torque, N-m.
TL = the instantaneous value of load torque, referred to a motor shaft, N-m.

𝑑(𝐽𝜔𝑚 ) 𝑑𝜔𝑚 𝑑𝐽
Tm - 𝑇𝐿 = =𝐽 + 𝜔𝑚 𝑑𝑡
𝑑𝑡 𝑑𝑡
𝑑𝜔𝑚
Tm =𝑇𝐿 + 𝐽 𝑑𝑡
Dynamic Torque - Concepts
1
• Stored Kinetic Energy = 2 𝐽𝜔𝑚 2
𝑑𝜔𝑚
• 𝑇𝑚 > 𝑇𝐿 , >0 i.e., drive undergoes acceleration (starting of motor)
𝑑𝑡
𝑑𝜔
• 𝑇𝑚 < 𝑇𝐿 , 𝑑𝑡𝑚 < 0 - i.e., drive undergoes deceleration (braking of motor)
𝑑𝜔
• 𝑇𝑚 = 𝑇𝐿 , 𝑑𝑡𝑚 = 0 - i.e., steady state
Classification of Loads
• Continuous constant Loads
• Continuous variable Loads
Continuous Constant Loads
• Pulsating Loads
• Impact loads
• Short time intermittent Loads
• Short time Loads
Short Time Intermittent Loads
Short Time Loads
Equivalent Drive Parameters
Loads with Rotational motion

𝜔𝑚1 𝑛
• = = 𝑎1
𝜔𝑚 𝑛1
1 1 1
• 2
𝐽𝜔𝑚 2 = 2 𝐽0 𝜔𝑚 2 + 2 𝐽1 𝜔𝑚1 2
• 𝐽 = 𝐽0 + 𝑎1 2 𝐽1
𝑇𝑙1 𝜔𝑚1
• 𝑇𝑚 𝜔𝑚 = 𝑇𝑙0 𝜔𝑚 +
𝜂1
𝑇𝑙1
• 𝑇𝑚 = 𝑇𝑙0 + 𝑎1 𝜂1

• 𝐽 = 𝐽0 + 𝑎1 2 𝐽1+ 𝑎2 2 𝐽2 +……………+ 𝑎𝑚 2 𝐽𝑚
𝑎1 𝑇𝑙1 𝑎2 𝑇𝑙2 𝑎𝑚 𝑇𝑙𝑚
• 𝑇𝑙 = 𝑇𝑙0 + 𝜂1
+ 𝜂2
+ ⋯+ 𝜂𝑚
Loads with Translational Motion
1 1 1
• 𝐽𝜔𝑚
2
= 2 𝐽0 𝜔𝑚 2 +2 𝑀1 𝑉1 2
2
𝑉
• J = 𝐽0 + 𝑀1 (𝜔1 )2
𝑚
𝐹1 𝑉1
• 𝑇𝑚 𝜔𝑚 = 𝑇𝑙0 𝜔𝑚 + 𝜂1
𝐹 𝑉1
• 𝑇𝑚 = 𝑇𝑙0 + 𝜂1
1 𝜔𝑚
𝑉1 2 𝑉 𝑉𝑚 2
• J=𝐽0 + 𝑀1 ( ) +𝑀2 ( 2 )2 + ⋯ + 𝑀𝑚 ( )
𝜔𝑚 𝜔𝑚 𝜔𝑚
𝐹 𝑉1 𝐹 𝑉 𝐹 𝑉
• 𝑇𝑙 = 𝑇𝑙0 + 𝜂1 + 𝜂2 (𝜔2 ) … + 𝜂𝑚 (𝜔𝑚 )
1 𝜔𝑚 2 𝑚 𝑚 𝑚
Measurement of Moment of Inertia
• Retardation Test

• P = Rate of change of kinetic energy


1
𝑑(2𝐽𝜔𝑚 2 )
=
𝑑𝑡
𝑑𝜔𝑚
=J𝜔𝑚
𝑑𝑡

1
• A = 𝐽𝜔𝑚𝑂 2
2
Time and Energy Loss in Transient Operations
𝑑𝜔
T= 𝐽 + 𝑇𝐿 + 𝐵𝜔
𝑑𝑡

𝑇𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑡𝑖𝑚𝑒 = 𝜔𝑚1 + 0.95(𝜔𝑚2 - 𝜔𝑚1 )

𝐽𝑑𝜔𝑚
dt =
𝑇 𝜔𝑚 −𝑇𝑙 (𝜔𝑚 )
𝜔 𝑑𝜔𝑚
t = J‫𝑚 𝜔׬‬2
𝑚1 𝑇 𝜔𝑚 −𝑇𝑙 (𝜔𝑚 )

𝑡
E = ‫׬‬0 𝑅𝑖 2 𝑑𝑡
References
1. S.K. Pillay, A First Course on Electric Drives, Wiley Eastern Limited 1987.
2. Gopal. K Dubey, Fundamentals of Electrical Drives, Narosa Publishing House, 2001.
3. Bimal. K. Bose, Power Electronics and AC drives’, Prentice Hall, 1986.
4. R Krishnan, Electric Motor Drives, Modelling, Analysis and Control’, Prentice Hall 2001.

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