EEE 513 LectureModule IV
EEE 513 LectureModule IV
They employ any of the prime movers such as diesel or petrol engines, gas or steam
turbines and electric motors for supplying mechanical energy for motion control
Electric Drives: Electric motors employed for motion control are called electric
drives
. Load: The load is the equipment designed to accomplish the given task. It can be
fan, pump, washing machine, train, trolley, lift, robot, machine tools, and mechanical
machine in the industry. These are specified by their ratings and torque-speed
characteristics.
Motor: A motor has the desired and compatible speed characteristics of the load
selected. The rating of the selected motor should be the same as that of the load.
a. It modulates the available power from the source to drive the motor to give torque-
speed characteristics required by the load.
c. It converts the form of source of energy to the form of energy required by the
motor.
Sensors: It senses the parameters such as motor current and speed. It may be
required for protection or a closed-loop electric drive.
Input Command: It is a reference signal. It adjusts the operating point of the drive.
It forms an input to the control unit.
APPLICATION
Paper mills
Cement mills
Electric traction
Petrochemical industries
Electrical vehicles
DC DRIVES
DC Motor
Separately-excited DC Motor
Self-excited DC Motor
Basic characteristics
Separately-excited DC motor
V f = I f rf
Vt = Ea + I a ra
Ea = kam = kmm
Te = ka I a = km I a
Te = Dm + TL
Electromagnetic power
P = m .Te
Ea = kmm = Vt − I a ra
Vt − I a ra Vt − I a ra
m = =
km ka
DC Series Motor
Vt = Ea + I a (ra + rs )
Te = ka I a
= kc I a
Therefore
Te = ka kc I a2 = kI a2
Vt = kI am + I a (ra + rs )
Vt − I a (ra + rs )
m =
kI a
Figure (): DC motor drive system implemented with a three-phase pulse width
modulation rectifier
First quadrant mode ( Pe = mTe = positive, motoring with clockwise rotation): In this
operating mode the dc machine operates as a motor developing positive torque and
rotates with positive speed (i.e., clockwise rotation). The quadrant of this operating
mode is the first and is presented in Figure (). An example of this mode is when an
electric vehicle runs uphill and electrical energy is taken from the batteries through
a converter, which is applied to an electric motor, and the motor converting the
electrical energy to mechanical moves the electric vehicle.
Second quadrant mode ( Pe = (+m )(−Te ) = −ve , generating with clockwise rotation): In
this operating mode, negative torque with positive speed is applied to the shaft of dc
machine converting the motoring mode to generating mode. This means that the
mechanical load is providing kinetic energy to the shaft of the electric machine
converting the motor to a generator that produces electrical energy which is fed to
the input source through the armature and the power electronics converter. The
quadrant of this operating mode is the second and is presented in Figure (). An
example of this mode is when an electric vehicle travels downhill and the electric
machine operates as a generator producing electrical power. During this mode the
braking of the electric machine is achieved and since energy is saved during this
mode this type of braking is called regenerative braking.
Depending on the motor used and the type of the input power supply the dc motor
drive systems can employ different power electronics topology:
Tutorials
Examples
Solution
2Vm 2 230 2
Vf = cos = cos 0 = 207.04V
Vf 207.04
If = = = 1.0352 A
rf 200
2Vm 2 230 2
Va = cos = cos(450 ) = 146.4V
Back emf
2Vm 2 230 2
Vf = cos = cos 0 = 207.04V
Ea 131.9
= = = 115.83 rad/s
kI f 1.11.0352
115.83
N= 60 = 60 = 1106.1 rpm
2 2
2. A small electric vehicle is powered from a 120 V battery bank and uses a series-
wound dc motor. The dc motor during motoring and regenerative modes is
controlled by the converter which is shown below. The armature resistance is 0.2
U and the armature voltage constant is 12 mV s/rad. During a downhill
regeneration mode, the motor speed is 900 rpm and the armature current is pure
dc of 100 A. Calculate the required duty cycle and the available braking power.
Solution
As can be seen from the above converter, the semiconductor devices S1 and D2
comprise a step-down converter that operates during forward motoring mode and
the semiconductor devices S2 and D1 comprise a step-up converter that operates
during forward regenerative mode. The above converter is a two-quadrant
converter that operates in the first and fourth quadrants. Due to the diode D2 the
motor armature voltage is always positive and only the armature current takes
positive and negative values. According to the above figure, the following equations
hold:
2
Eg = m K a I a = 900 −3
12 10 100
60
Eg = 113V
Va = Eg − I a Ra = 113 − 100 0.2 = 63V
Therefore, during forward regenerative mode, where the boost converter operates,
the following transfer function holds:
Va 1
=
Vbattery 1− d
Solution
Field voltage
3 3Vm 3 3 400
Vf = cos f = 2 cos(0) = 540.2V
3
Field current
Vf 540.2
If = = = 2.16 A
rf 250
2 1200
Ea = k I f = 1.3 2.16 = 352.86V
60
3 3
Va = Vm cos a
3 3 400
364.86 = 2 cos a
3
a = 47.520
Vmax (1 + cos f )
3 3
Vf =
2
3 3
Va = Vmax (1 + cos a )
2