ELEC4613 Electric Drive Systems

University of New South Wales

School of Electrical Engineering & Telecommunications

ELEC4613  ELECTRIC DRIVE SYSTEMS

Tutorial 1 - Drive fundamentals and DC motor characteristics

1. In the hoist drive system of figure 1, all frictions and the moments of inertia of the gear
wheels compared to the motor or the load are negligible.

Motor

L=1m

20:64 D = 0.5 m
a = 1/3.2
20:60
a = 1/3

Gear Box
m

Figure 1

The following are given:

The moment of inertia of the motor, Jm = 0.5 kgm2

The mass of the load, m = 500 kg.
The diameter of the drum, D = 0.5 m.
The length of the drum, L = 1 m.
The mass of the cable is negligible.

A. Determine the moment of inertia of the drum referred to the motor, assuming that the
density of the material,  = 7,900 kg/m3.
[0.52 kg-m2]

B. Determine the moment of inertia of the load referred to the motor shaft.

[0.339kg-m2]

C. Determine the total moment of inertia of the moving system. [1.359 kg-m2]

Tutorial 1- Drive fundamentals and 1 F. Rahman

DC motor characteristics July, 2017
ELEC4613 Electric Drive Systems

2. The drive of question 1 lifts and moves the load from point to point with a peak velocity
profile as indicated in figure 2.

V , m / se c

0 t1 = 4 t2 = 1 4 t3 = 2 2 T im e ,
S ec
Figure 2
(a) Calculate and plot the torque that the motor must develop in each of the three intervals 0 - t1,
t1 - t2 and t2 - t3.
[153.8, 127.7, 118.1 Nm]

(b) Discuss suitable drive system structures for this application. Assume that a separately
excited DC motor is to be used.

3. Consider the lift drive indicated in figure 3. The motor operating speed is 1465 rev/min. The
linear speed of the cage and the counterweight is v = 1 m/sec.

6 6

6
Cage 5
Flywheel
7
4

1 Motor 8
2
3 Counterweight
Coupling

Figure 3
The angular speed of the hoist wheels (4 and 5) is 2.2 rad/sec and those of the upper
deflecting wheels 6 are each 6.66 rad/sec. The moments of inertia are known:
J1 (flywheel) = 25 kgm2
J2 (motor) = 9.3 kgm2
J3 (coupling) = 2.1 kgm2
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DC motor characteristics July, 2017
ELEC4613 Electric Drive Systems

J4 = 0.6 kgm2

J5 = 260 kgm2

J6 = 9 kgm2
The mass of the payload = 1,300 kg
The mass of the counterweight = 800 kg.

A. Calculate the total inertia referred to the motor shaft. [36.539 kg-m2]

B. Assuming that the transmission efficiency is 0.8, calculate the torque that the motor
must develop and its power requirement. [40.17 Nm]

C. Calculate the required torque and power as in B but in the absence of the counterweight.

4. A transmission has a reduction ratio of n. The load has a torque-speed characteristic given
by TL = D, where  is the angular velocity of the load. Find the value of D referred to the
motor shaft.

5. Consider the drive of figure 4, where the electromagnetic coupling develops a torque which
is proportional to the relative speed between the driving part (armature) and the driven part
(hub) of the coupling.

Thus, Tc = k(m - ')

where m = the motor angular speed, and ' = the angular speed of the hub.

J’c
’

Motor
(Jm)
Load
Jc (J L)
m Hub

Figure 4

The gear transmission reduces the speed by a factor of n. The efficiency of the transmission
is unity. The moments of inertia of the system are

The motor inertia = Jm

Inertia of the driving part = Jc
Inertia of the driven part = J'c
Inertia of the load = JL

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DC motor characteristics July, 2017
ELEC4613 Electric Drive Systems

Inertia of the gear wheels are negligible. The load torque TL is assumed to be constant.

Write equations of motion referred to the motor shaft.

6. An electric motor has a linear T- characteristic given by

T = To - DmL, referred to the load.

The load torque is proportional to speed, TL = DL.

The total system inertia is JT is also referred to the load. Dynamics of the electrical circuits
are neglected.

A. Develop an expression for the speed  as a function of time with the initial condition
that at t = 0,  = 0.

B. Develop an expression for the steady-state operating speed.

C. Find expressions for the mechanical time-constant and the time taken by the drive to
reach 98% of the final speed.

7. A motor is required to drive the take-up roll (coiler) on a plastic strip line. The mandrel on
which the strip is wound is 60 cm in diameter and the roll builds up to a maximum diameter
of 200 cm. The strip emerges from the line at 20 m/sec and the tension required during
rolling is 1000 N. The motor is coupled to the mandrel trough a 5:1 reduction gearing of
0.85 efficiency. Determine the power rating and the required speed range of the motor for
this application.

8. Figure 5 shows the torque-speed characteristics of the motor and the load in the four
quadrants. Comment on the stability of the equilibrium points A, B, C and D.

Speed
T
T
A
B TL

TL TL Torque
C D
T T

Figure 5

9. A motor operating with a suitable control scheme develops a torque given by T  a  b .

The motor drives a load for which the torque is given by T  c 2 . The constants a, b and c
have positive real values. Here  is the angular speed of the load in rad/sec.

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DC motor characteristics July, 2017
ELEC4613 Electric Drive Systems

A. Find the equilibrium speeds.

B. What relation must exist between the constants for the drive to have two positive
speeds?
C. Determine the stability of the equilibrium points.

10. A motor operating with a suitable control scheme develops a torque given by T  a  b .
The motor drives a load which has a torque speed characteristic given by T  c 2  d . The
constants a, b, c and d are all positive real constants.

A. Find and expression for the equilibrium speeds in terms of the constants.
B. What relation must exist between the constants so that the drive has two positive real
speeds?
C. Will the operating points in A be stable?

11. The mass of an electric car is 900 kg including the passengers. A single motor mounted on
the front wheels drives the car, and the radius of the wheel is 0.3m. The car is going
downhill at a speed of 50 km/hr, and the slope of the hill is 30. The friction coefficient of
the road surface is assumed to be 0.3.

A. Calculate the power developed by the motor. Ignore the motor losses.
B. Assume that car takes 1 minute to reach the bottom of the hill, while running at a
constant speed of 50 km/hr. Calculate the energy generated by the motor of the car.
C. If the overhauling energy is to be returned to the 42V battery which drives the car,
calculate the rate at which this energy must be returned to the battery and the charging
current.

12. A separately exited DC motor has the following ratings:

230V, 460 rev/min, 100 A.

The motor armature resistance Ra = 0.11 . The motor drives its rated torque load which
is independent of speed. Operation below the base speed (460 rev/min) is obtained with
armature voltage control at full field and above the base speed with field control at rated
armature voltage.

A. Calculate the required armature voltage when the speed is 380 rev/min.
B. Calculate the % change in field flux if the motor is to be operated at 800 rev/min.
C. Find the required armature current for condition B and comment on whether weakening
of the field is suitable for such a load. Also comment on which type of load is suitable
for operation above base speed when the field is weakened, if the armature current is to
remain limited to its rated value.

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DC motor characteristics July, 2017
ELEC4613 Electric Drive Systems

13. The motor of problem 12 is used to brake an overhauling load regeneratively. The
overhauling load has a constant torque of 700 Nm. [A hoist or a lift is a good example]. The
available dc supply voltage is at 230V. Neglecting any other rotational losses, calculate the
speed at which the motor will hold the overhauling load.

14. A separately excited DC motor runs at 500 rev/min when operated from the rated supply
voltage of 230V. The load torque is proportional to the square of the speed and the armature
current drawn at this speed is 32 A. The armature circuit resistance is 0.7. Calculate the
required armature voltage if the speed is to be reduced by half.

15. A DC series motor drives a load whose torque is proportional to the square of the speed.
When supplied with a voltage of 200V, it draws 100 A and runs the load at 1000 rev/min.
The total resistance of the armature and the field is 0.1. Calculate the required supply
voltage to the motor if the load speed is to be reduced to 500 rev/min. Assume that the
magnetic circuit is linear and that all frictional losses are negligible.

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DC motor characteristics July, 2017