ELECTRIC DRIVES

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)

Example on VSD application

Constant speed
valve Supply motor pump

Variable Speed Drives

Power In

Power out

Power loss
Mainly in valve

Example on VSD application

Constant speed
valve Supply motor pump Supply PEC

Variable Speed Drives

motor

pump

Power In

Power out

Power In

Power out

Power loss
Mainly in valve

Power loss

Example on VSD application

Constant speed
valve Supply motor pump Supply PEC

Variable Speed Drives

motor

pump

Power In

Power out

Power In

Power out

Power loss
Mainly in valve

Power loss

Conventional electric drives (variable speed)

Bulky Inefficient inflexible

Modern electric drives (With power electronic converters)

Small Efficient Flexible

Modern electric drives

Utility interface Renewable energy

Machine design Speed sensorless Machine Theory

Non-linear control Real-time control DSP application PFC Speed sensorless Power electronic converters

Inter-disciplinary
Several research area Expanding

Components in electric drives e.g. Single drive - sensorless vector control from Hitachi

Components in electric drives e.g. Multidrives system from ABB

Components in electric drives Motors DC motors - permanent magnet wound field AC motors induction, synchronous (IPMSM, SMPSM), brushless DC Applications, cost, environment

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

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Components in electric drives

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 controllers DSP/microprocessor flexible, lower bandwidth - DSPs perform faster operation than microprocessors (multiplication in single cycle), can perform complex estimations

Overview of AC and DC drives

Extracted from Boldea & Nasar

Overview of AC and DC drives

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

Overview of AC and DC drives 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

Elementary principles of mechanics v x Newtons law

Fm
M Ff

Fm Ff

dM v dt

Linear motion, constant M

dv d2 x Fm Ff M M 2 Ma dt dt
First order differential equation for speed Second order differential equation for displacement

Elementary principles of mechanics Tl Te , m J With constant J, Rotational motion - Normally is the case for electrical drives

Te Tl

dJm dt

dm 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)

Elementary principles of mechanics For constant J,

Te Tl J

dm dt

dm dt

Torque dynamic present during speed transient

Angular acceleration (speed)

dm dt

The larger the net torque, the faster the acceleration is.
200

speed (rad/s)

100 0 -100 -200 0.19 20

0.2

0.21

0.22

0.23

0.24

0.25

torque (Nm)

15 10 5 0 0.19

0.2

0.21

0.22

0.23

0.24

0.25

Elementary principles of mechanics Combination of rotational and translational motions Fl r Tl v M Fe r Te,

Fe Fl M

dv dt d dt

Te = r(Fe),

Tl = r(Fl),

v =r

Te Tl r 2M

r2M - Equivalent moment inertia of the linearly moving mass

Motor steady state torque-speed 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)
SPEED

T~ C T~

Exist in all motor-load drive system simultaneously In most cases, only one or two are dominating Exists when there is motion
TORQUE

T~ 2

Coulomb friction Viscous friction Friction due to turbulent flow

Load steady state torque-speed characteristic

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

Gravitational torque

Vehicle drive

Te TORQUE TL gM

FL

TL = rFL = r g M sin

Load steady state torque-speed characteristic

Hoist drive

Speed

Torque
Gravitational torque

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

Torque-speed quadrant of operation T -ve +ve Pm -ve

2
T -ve -ve Pm +ve

T +ve +ve Pm +ve

1
T

T +ve -ve Pm -ve

4-quadrant operation

Te

Te

Direction of positive (forward) speed is arbitrary chosen Direction of positive torque will produce positive (forward) speed

Quadrant 2 Forward braking Quadrant 3 Reverse motoring

Quadrant 1 Forward motoring Quadrant 4 Reverse braking

T
Te m

Te

INTRODUCTION TO ELECTRIC DRIVES - MODULE 1

Steady-state stability