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EEE 513 LectureModule IV

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22 views13 pages

EEE 513 LectureModule IV

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LECTURE NOTE

LECTURER: ENGR. DR. TOLA O. J COURSE: POWER ELECTRONICS CODE: EEE


513 UNIT: LEVEL: 500
MODULE IV:

ELECTRIC DRIVES CONCEPTS

An electrical drive is an industrial system which performs the conversion of


electrical energy into mechanical energy or vice versa for running and controlling
various processes.

Drives: Systems employed for motion control are called drives.

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

The basic elements of any electric drive system are as follows:

Figure: Electric Drive system

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

. 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.

Source: Usually AC or DC supply is available. When a DC motor is the choice and


the available supply is AC, it is rectified.

Power Modulator: It performs one or more of the following functions:

a. It modulates the available power from the source to drive the motor to give torque-
speed characteristics required by the load.

b. During transient operations such as starting, braking, and speed reversal, it


restricts the source and motor currents within the permissible limits. This will
prevent the excessive current drawn from the source, which may overload the supply
system and cause a voltage dip

c. It converts the form of source of energy to the form of energy required by the
motor.

d. The mode of operation such as motoring or regenerative braking is selected.

Sensors: It senses the parameters such as motor current and speed. It may be
required for protection or a closed-loop electric drive.

Controller: The desired control characteristics are obtained by use of a controller.


It operates at much lower voltage and power levels. It operates the power modulator
to give the desired performance. It may also generate commands to protect the power
modulator and electric motor.

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Input Command: It is a reference signal. It adjusts the operating point of the drive.
It forms an input to the control unit.

Importance of electric drives


Electrical drives have numerous advantages over other drives. The advantages of
electrical drives are as below:
They last longer than most types of drive systems.
They are pollution-free and they do not use flue gases.
Which is more cost-effective.
There is no requirement for gasoline storage or transportation.
It is very effective.
There are a variety of speed control options available.
They take up less space.
It is a dependable and cost-effective power source.
It can be managed from a distance.

Choice of Electrical Drives:


The choice of an electrical drive depends on a number of factors. Some
important factors are:
➢ Steady state operation requirements: (nature of speed-torque
characteristics, speed regulation,
speed range, efficiency, duty cycle, quadrants of operation, speed fluctuations,
rating etc)
➢ Transient operation requirement(values of acceleration and deceleration,
starting, braking, speed reversing)

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

➢ Requirement of sources:(types of source, its capacity, magnitude of voltage,


power factor, harmonics etc)
➢ Capital and running cost, maintenance needs, life periods
➢ Space and weight restrictions
➢ Environment and location
➢ Reliability

APPLICATION

Paper mills

Cement mills

Electric traction

Petrochemical industries

Electrical vehicles

Sugar mills and hoist

DC DRIVES

DC Motor

Separately-excited DC Motor

Self-excited DC Motor

DC Motor (Separately-excited DC Motor and Self-excited DC Motor)

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Basic characteristics

Separately-excited DC motor

V f = I f rf

Vt = Ea + I a ra

Motor armature emf or back emf

Ea = kam = kmm

Te = ka I a = km I a

Te = Dm + TL

Vt = Ea + I a ra is the torque constant Nm/A

D is viscous friction constant

m is angular speed of motor rad/sec

Electromagnetic power

P = m .Te

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Ea = kmm = 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

If no saturation in the magnetic circuit

 = kc I a

Therefore

Te = ka kc I a2 = kI a2

Ea = kam = ka kc I am = kI am

Vt = kI am + I a (ra + rs )

Vt − I a (ra + rs )
m =
kI a

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Figure (): DC motor drive system implemented with a three-phase pulse width
modulation rectifier

Figure (): Four possible quadrant modes of operation of a separately excited


dc machine.

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

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.

Third quadrant mode ( Pe = (−m )(−Te ) = positive, motoring with counterclockwise


rotation): In this operating mode the dc machine operates as a motor developing
negative torque and rotating with negative speed (i.e., counterclockwise rotation).
The quadrant of this operating mode is the third and is presented in Figure (). An
example of this mode is an electric vehicle when is running in backwards.

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Fourth quadrant mode ( Pe = (−m )(+Te ) = −ve , generating with counterclockwise


rotation): In this operating mode the dc machine produces a positive torque and
rotates with negative speed, which means that the mechanical load torque fed to the
shaft of the electric motor causes the machine to become a generator and feeds
electricity to the input source through the armature. The operating area of this mode
is the fourth quadrant of Figure (). An example of this mode is when an electric
vehicle travels downhill and the electric machine through the transmission systems
gets kinetic energy, then the electric machine operates as a generator producing
electrical energy that transfers to the input source through the power electronics
converter. During this mode the braking of the 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

1. A single-phase full converter is used to control the speed of 5 kW, 220 V,


1000 rpm separately excited DC motor, the armature resistance is 0.2 ohm
and the rated armature current is 30 A. the AC supply voltage is 230 V. the
motor voltage constant is ka = 1.668 volt/rad/sec. determine
(i) The speed of the motor
(ii) Motor torque for a firing angle  = 450 .

Assume continuous and ripple free armature current

2. A 200 V, 875 rpm, 150 A separately excited DC motor has an armature


resistance of 0.06 ohm. It is fed from a single-phase fully controlled rectifier

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

with an AC source voltage of 220 V, 50 Hz. Assuming continuous


conduction, calculate the firing angle for rated motor torque at 750 rpm.
3. The speed of a 10 kW, 220 V, 1000 rpm DC series motor is controlled using
a single-phase full converter. The combined armature and field circuit
resistance is 0.25 ohm. Determine motor current and motor torque for a
firing angle of  = 300 . assume that motor current is continuous and ripple
free, motor speed N=1000 rpm, k=0.025 N-m/A2and supply AC voltage is
240 V

Examples

1. A single-phase 230 V, 50 Hz supply feeds a separately excited dc motor through


two single-phase full converters. The firing angle for the converter for field is zero.
The field resistance is 200 Ω an d armature resistance is 0.25 Ω. The load torque is
50 N-m at 900 rpm. The torque and voltage constant are 1.1. the firing angle of
converter in the armature circuit is 450 and armature current is 50 A. find torque
developed and motor speed. Assume brush contact of 1 V/brush.

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

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

2Vm 2  230  2
Vf = cos  = cos 0 = 207.04V
 

Ea = 146.4 − 50  0.25 − 2(1) = 131.9V

Ea 131.9
= = = 115.83 rad/s
kI f 1.11.0352

 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

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

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

and consequently, the duty cycle is given by


Va 63
D = 1− = 1− = 0.475
Vbattery 120

Also, the power delivered to the battery is given by


Pdelivered = Va I a = 63 100 = 6.3kW

3. A 400 V, 3-phase ac supply feeds a separately dc motor through two 3-phase


full converters, one for armature and the other for field. The firing angle of the
field circuit converter is zero. The armature and field resistance are 0.2 Ω and 250
Ω respectively. The armature current is 60 A. the motor voltage constant is 1.3
V/A-rad/second. The speed is 1200 rpm. Determine the firing angle of the
armature circuit converter.

Solution

Field voltage

3 3Vm 3  3 400
Vf = cos  f =   2 cos(0) = 540.2V
  3

Field current

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.


LECTURE NOTE

Vf 540.2
If = = = 2.16 A
rf 250

Back emf developed

2 1200
Ea = k I f = 1.3  2.16  = 352.86V
60

Armature voltage drop

Va = Ea + I a ra = 352.86 + 60  0.2 = 364.86V

Armature circuit voltage

3 3
Va = Vm cos  a

3 3 400
364.86 =   2 cos  a
 3
 a = 47.520

If the converters are half-wave

Vmax (1 + cos  f )
3 3
Vf =
2

3 3
Va = Vmax (1 + cos  a )
2

POWER ELECTRONICS AND DRIVES 2023/2024 SESSION ENGR. DR. TOLA O. J.

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